An aircraft cluster automatic charging system supporting multi-degree-of-freedom landing pose

Abstract

The application discloses a kind of to support multi-degree of freedom landing pose aircraft cluster automatic charging system, belong to electric aircraft charging technical field, including charging module and charging platform;Charging module includes power receiving unit and flow guide unit;Charging platform includes platform ontology and multiple charging contact wires;Power receiving slide plate is contacted with charging contact wire and takes power when aircraft lands to charging platform, and power supply is converted after flow guide unit for aircraft.The present application is designed as the contact type power taking structure of the power receiving slide plate and the staggered arrangement of insulating piece by the charging module of aircraft end, the charging platform of ground end is designed as parallel alternate polarity charging contact wire structure, and the distance of adjacent charging contact wire is greater than the sum of the width of single power receiving slide plate and single insulating piece, so that without precision docking mechanism or electromagnetic coupling coil, only rely on the mechanical contact of power receiving slide plate and charging contact wire can meet the charging operation demand of large-scale aircraft cluster disorder return.

Description

Technical Field

[0001] This invention relates to the field of electric aircraft charging technology, and in particular to an automatic charging system for aircraft swarms that supports multi-degree-of-freedom landing postures. Background Technology

[0002] With the rapid development of electric aircraft technology, drone swarms and electric vertical takeoff and landing (eVTOL) aircraft are increasingly being used in fields such as agricultural plant protection, logistics distribution, emergency rescue, and military reconnaissance. However, how to efficiently and conveniently recharge a large number of aircraft simultaneously has become one of the core technological bottlenecks restricting their large-scale application. Especially in scenarios without fixed infrastructure, such as field operations and emergency rescue, the portability and rapid deployment capability of charging equipment directly determine the operational range and continuous operation capability of aircraft swarms.

[0003] Currently, most aircraft charging methods employ plug-and-play charging structures or electromagnetic wireless induction charging structures. While these methods provide basic power to aircraft, they still have many drawbacks in swarm field operations. For example, traditional plug-and-play charging structures rely on the standardized charging plug on the aircraft fuselage to connect to the ground charging base. The aircraft must be precisely aligned with the charging base during landing, and manual plugging and unplugging is required. If a large number of aircraft return to base, staff need to plug and charge each aircraft individually. This charging method is not only cumbersome and increases the workload of staff, but also significantly increases the charging time of the aircraft swarm, reduces charging efficiency, and causes wear and tear on the charging plug, leading to poor contact with the charging base and affecting the lifespan of the aircraft charging plug.

[0004] While traditional electromagnetic wireless inductive charging structures can transmit electrical energy through coil coupling and eliminate the need for a charging plug, they suffer from drawbacks such as low charging power, low charging efficiency, high equipment cost, and significant electromagnetic radiation. Furthermore, this charging method requires extremely high precision in the landing alignment of the aircraft. If the aircraft deviates horizontally or its fuselage yaws beyond a certain threshold, the charging power will plummet, or even the aircraft will fail to charge properly. Moreover, for large-scale aircraft swarms, requiring each aircraft to land precisely at a designated location would result in extremely complex control algorithms, making it difficult to meet the charging requirements of large-scale aircraft swarms returning to their destinations without order.

[0005] Therefore, how to solve the problems of stringent alignment accuracy requirements, cumbersome cluster charging operations, and low charging efficiency in existing aircraft charging methods, so as to better meet the charging needs of large-scale aircraft clusters returning to base in an disorderly manner, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] The main objective of this invention is to provide an automatic charging system for aircraft swarms that supports multi-degree-of-freedom landing postures. This system aims to solve the problems of existing aircraft charging methods, such as stringent alignment accuracy requirements, cumbersome swarm charging operations, and low charging efficiency, which make it difficult to meet the charging needs of large-scale aircraft swarms returning to base in an unordered manner.

[0007] To achieve the above objectives, the present invention provides an automatic charging system for aircraft swarms supporting multi-degree-of-freedom landing postures, comprising a charging module mounted on the aircraft and a charging platform laid on a support surface; the charging module includes a power receiving unit and a current guiding unit, the power receiving unit being electrically connected to the current guiding unit, and the power receiving unit including multiple power receiving plates and an insulating component arranged alternately along a preset direction; the charging platform includes a platform body and multiple charging contact lines laid on the surface of the platform body, the multiple charging contact lines being arranged in parallel and alternately connected to different terminals or different phase lines of the power supply, and the spacing between two adjacent charging contact lines being configured to be greater than the sum of the width of a single power receiving plate and the width of a single insulating component; the power receiving plate contacts the charging contact lines to draw power when the aircraft lands on the charging platform with any horizontal offset or fuselage deflection angle, and the power is converted by the current guiding unit to supply power to the aircraft.

[0008] Preferably, the charging platform includes multiple platform bodies, which are movably mounted on the bearing surface and arranged sequentially along the extension direction of the bearing surface, with any two adjacent platform bodies hinged to each other; the multiple platform bodies are spread out on the bearing surface to make the charging platform unfolded and form a large-area charging field, and the multiple platform bodies are stacked and folded together to make the charging platform folded and stored in the transport equipment.

[0009] Preferably, it further includes a support platform, the top surface of which is provided with a guide structure, and each of the multiple platform bodies is provided with a sliding seat on the side away from the hinge end, which is in sliding contact with the guide structure. The sliding seat is configured to slide along the extension direction of the support platform under the action of an external driving mechanism, so as to drive the multiple platform bodies to unfold or fold relative to the support platform.

[0010] Preferably, the support platform includes multiple supports, which are evenly and spaced apart along the preset direction. Each support includes two parallel guide rods, and any two adjacent supports are detachably connected to each other so that the two ends of the multiple guide rods are sequentially connected end to end to form the guide structure.

[0011] Preferably, each of the platform bodies is provided with a cleaning mechanism, which is used to simultaneously clean foreign objects attached to the surface of the charging contact line when the platform body is unfolded or folded.

[0012] Preferably, the receiving plate is in the form of a straight plate, an arc-shaped plate, or an elastic telescopic contact structure. The receiving plate is configured to compensate for altitude deviations or attitude tilts when the aircraft lands, so as to maintain effective contact with the charging contact line.

[0013] Preferably, the current guiding unit includes multiple rectifiers, each of which is connected to one of the multiple electric receiving plates. The multiple rectifiers are used to convert the current obtained by the electric receiving plates and output it to the power supply of the aircraft.

[0014] Preferably, the platform body is a solar panel with integrated photovoltaic modules, the photovoltaic modules are used for photoelectric conversion and generate electrical energy, and the output end of the photovoltaic modules is connected to the power supply circuit of the charging contact line.

[0015] Beneficial effects:

[0016] 1. This invention utilizes the staggered arrangement of power-receiving plates and insulating components on the charging module, along with parallel and alternating polarity charging contact lines on the charging platform. This ensures that regardless of the horizontal offset or fuselage deflection angle during landing, the power-receiving plates can reliably contact the charging contact lines to draw power, effectively eliminating the risk of charging short circuits. This not only eliminates the stringent requirements of traditional charging methods for landing alignment accuracy, eliminating the need for the aircraft to precisely align with the charging interface or coil center, but also significantly reduces the difficulty of landing control for aircraft swarms. It effectively avoids problems such as charging failure and sudden power drop caused by alignment deviations, significantly improving fault tolerance and adaptability.

[0017] 2. This invention eliminates the traditional physical charging plug and charging socket structure by having the receiving plate directly contact the charging contact line. This eliminates the need for staff to manually plug and unplug the charging connector, avoiding malfunctions such as plug wear, poor contact, and oxidation overheating caused by frequent plugging and unplugging, thus extending the service life of the charging components. It also saves the tedious operation of manually plugging and unplugging each unit during the group's return flight, greatly reducing the labor intensity of the staff. At the same time, it also eliminates the safety hazards of electric arcs and accidental electric shocks during plugging and unplugging, effectively improving the safety and convenience of charging operations.

[0018] 3. This invention utilizes a large-area charging platform combined with a structure design for interface-free, arbitrary-position charging. This allows the charging platform to simultaneously accommodate multiple aircraft equipped with charging modules for charging. Each aircraft can independently dock in any orientation and position within the charging field without interfering with others. The charging circuits of each aircraft are independent of each other. This not only enables dozens or even hundreds of aircraft to charge synchronously and without order, significantly shortening the overall recharging waiting time of the cluster, but also eliminates the need for complex cluster scheduling and sorting algorithms, reducing the development difficulty and hardware cost of the flight control system, and significantly improving the operational turnaround efficiency of large-scale aircraft clusters. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of an automatic charging system for an aircraft swarm that supports multi-degree-of-freedom landing posture according to an embodiment of the present invention;

[0021] Figure 2 This is a diagram illustrating the charging status of the platform and the aircraft during use of an automatic charging system for a cluster of aircraft that supports multi-degree-of-freedom landing postures, according to an embodiment of the present invention.

[0022] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0023] Figure 4 This is a schematic diagram of the installation of a charging module in an aircraft in an automatic charging system for an aircraft cluster that supports multi-degree-of-freedom landing posture, according to an embodiment of the present invention.

[0024] Figure 5 This is a schematic diagram of the installation of the platform body and the cleaning mechanism in an automatic charging system for an aircraft cluster that supports multi-degree-of-freedom landing posture, according to an embodiment of the present invention.

[0025] In the diagram: 100-Aircraft; 1-Charging module; 2-Charging platform; 3-Power receiving slide plate; 4-Insulating component; 5-Platform body; 6-Charging contact line; 7-Supporting platform; 8-Sliding seat; 9-Bracket; 10-Guide rod; 11-Cleaning mechanism. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0027] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0028] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0029] In the description of this application, it should be noted that the use of terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These terms are used solely for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the use of terms such as "first" and "second" in the description of this application is only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] Furthermore, the use of terms such as "horizontal" and "vertical" in the description of this application does not imply that the component is required to be absolutely horizontal or suspended, but rather that it may be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but rather that it may be slightly tilted.

[0031] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0032] Example 1:

[0033] This invention proposes an automatic charging system for aircraft swarms that supports multi-degree-of-freedom landing postures.

[0034] In one embodiment of the present invention, an automatic charging system for a cluster of aircraft supporting multi-degree-of-freedom landing postures includes a charging module 1 disposed on an aircraft 100 and a charging platform 2 laid on a supporting surface; the charging module 1 includes a power receiving unit and a current guiding unit, the power receiving unit and the current guiding unit being electrically connected, the power receiving unit including multiple power receiving plates 3 arranged alternately along a preset direction and an insulating member 4; the charging platform 2 includes a platform body 5 and multiple charging contact lines 6 laid on the surface of the platform body 5, the multiple charging contact lines 6 being arranged in parallel and alternately connected to different terminals or different phase lines of the power supply, and the spacing between two adjacent charging contact lines 6 being configured to be greater than the sum of the width of a single power receiving plate 3 and the width of a single insulating member 4; when the aircraft 100 lands on the charging platform 2 with any horizontal offset or fuselage deflection angle, the power receiving plate 3 contacts the charging contact line 6 to draw power, and after conversion by the current guiding unit, supplies power to the aircraft 100.

[0035] Working principle: such as Figures 1 to 5 As shown, in the automatic charging system for a cluster of aircraft supporting multi-degree-of-freedom landing postures of the present invention, the charging module 1 at the end of the aircraft 100 is designed as a contact-type power collection structure with alternating power receiving plates 3 and insulating parts 4, while the charging platform 2 at the ground end is designed as a structure of parallel charging contact lines 6 with alternating polarities, and the spacing between adjacent charging contact lines 6 is limited to be greater than the sum of the widths of a single power receiving plate 3 and a single insulating part 4. This forms a physical short-circuit protection charging structure based on geometric constraints, so that the present invention does not require any precision docking mechanism or electromagnetic coupling coil, and can achieve safe and reliable power transmission by relying only on simple mechanical contact.

[0036] Specifically, this embodiment discloses an automatic charging system for a cluster of aircraft supporting multi-degree-of-freedom landing postures, which mainly includes two parts: a charging module 1 and a charging platform 2. The charging module 1 is fixedly installed on the bottom of the aircraft 100 or under the landing gear, and moves with the aircraft 100. The charging platform 2 is laid on the ground, vehicle roof, or other load-bearing surface, serving as the support and power supply base for the aircraft 100's landing charging. Further, the charging module 1 in this embodiment includes a power receiving unit and a current guiding unit. The power receiving unit is exposed on the bottom surface of the charging module 1 and consists of multiple power receiving plates 3 and multiple insulating components 4 arranged alternately in a preset direction, i.e., the arrangement order is insulating component 4, power receiving plate 3, insulating component 4, power receiving plate 3… Each power receiving plate 3 is connected to the current guiding unit via an independent wire, and the power receiving plates 3 are mutually insulated and non-conductive. In addition, the charging platform 2 includes a platform body 5 and multiple charging contact lines 6 arranged on the upper surface of the platform body 5. The multiple charging contact lines 6 are arranged parallel to each other and at equal intervals. Adjacent charging contact lines 6 are respectively connected to different terminals of the power supply, that is, they are arranged alternately in the order of positive, negative, positive, negative, etc. to form multiple parallel power supply lines. The distance between two adjacent charging contact lines 6 is greater than the sum of the width of a single receiving slide plate 3 and the width of a single insulating member 4. Through this dimensional constraint, safe charging of the aircraft 100 in any attitude and position can be achieved.

[0037] Understandably, when the aircraft 100 lands on the charging platform 2 with any horizontal offset, because the receiving slide 3 and the insulating member 4 are arranged in an alternating manner, and the distance between adjacent charging contact lines 6 is greater than the total width of the receiving slide 3 and the insulating member 4, a single receiving slide 3 can only contact one charging contact line 6 at a time. The insulating members 4 on both sides cross over the two adjacent charging contact lines 6 respectively, providing physical isolation and effectively preventing short circuits between positive and negative terminals. Similarly, when the aircraft 100 lands at any fuselage deflection angle, although the receiving slide 3 and the charging contact line 6 form an obliquely crossed contact state, the insulating member 4 is wide enough to cover the distance between adjacent contact lines. The insulating member 4 can always separate adjacent receiving slide 3, thus preventing a single-phase receiving slide 3 from simultaneously contacting two charging contact lines 6 of different polarities or different phases. This ensures the charging safety of the aircraft 100 within any angle range. In addition, after each receiving plate 3 independently obtains current, the current is commutated and rectified by its corresponding current guiding unit, and then combined into a DC current of uniform polarity at the output end to charge the battery of the aircraft 100. The structural design is simple and reasonable.

[0038] Therefore, compared with the prior art, in the charging process of the aircraft 100, the present invention utilizes the staggered arrangement of the power receiving slides 3 and the insulating parts 4 on the charging module 1, and the parallel alternating polarity charging contact lines 6 on the charging platform 2, with the spacing between adjacent charging contact lines 6 being greater than the sum of the widths of a single power receiving slide 3 and a single insulating part 4. This ensures that the power receiving slides 3 can reliably contact the charging contact lines 6 to draw power regardless of the horizontal offset or fuselage deflection angle of the aircraft 100 during landing. At the same time, the insulating parts 4 physically prevent any power receiving slide 3 from simultaneously contacting two charging contact lines 6 of different polarities, effectively eliminating the risk of charging short circuits. This not only eliminates the stringent requirements for landing alignment accuracy in traditional charging methods, but also eliminates the need for the aircraft 100 to be precisely aligned with the charging platform. The electrical interface or coil center significantly reduces the landing control difficulty of the 100-unit aircraft cluster, effectively avoiding problems such as charging failure and power drop caused by alignment deviation, and significantly improving fault tolerance and adaptability. At the same time, by directly contacting the charging contact line 6 with the receiving slide plate 3, the traditional physical charging plug and charging socket structure is eliminated, thus eliminating the need for staff to manually plug and unplug the charging connector. This avoids the failures such as plug wear, poor contact, and oxidation overheating caused by frequent plugging and unplugging, extending the service life of the charging components. It also eliminates the tedious operation of manually plugging and unplugging each aircraft when the cluster returns to base, greatly reducing the labor intensity of the staff. At the same time, it also eliminates the safety hazards of electric arc and accidental electric shock during plugging and unplugging, effectively improving the safety and convenience of charging operations.

[0039] Furthermore, in the scenario of charging operations for a large-scale cluster of 100 aircraft, this invention, through the structural design of a large-area charging platform 2 combined with interface-free arbitrary posture charging, enables the charging platform 2 to simultaneously accommodate multiple aircraft 100 equipped with charging modules 1 for charging. Each aircraft 100 can independently dock in any orientation and position within the charging field without interfering with each other. The charging circuits of each aircraft 100 are independent of each other, thereby enabling not only the simultaneous and disordered charging of dozens or even hundreds of aircraft 100, significantly shortening the overall recharge waiting time of the cluster, but also eliminating the need for complex cluster scheduling and sorting algorithms, reducing the development difficulty and hardware cost of the flight control system, and significantly improving the operational turnaround efficiency of a large-scale cluster of 100 aircraft.

[0040] It is worth noting that the automatic charging system for aircraft clusters supporting multi-degree-of-freedom landing postures of this invention also incorporates mature safety protection structures to ensure electrical safety during the charging process. For example, the surface of the charging contact line 6 can be coated with a wear-resistant and oxidation-resistant conductive plating layer, such as tin plating, silver plating, or nickel plating, to improve contact conductivity and corrosion resistance, and extend its outdoor service life. The bottom surface of the receiving slide plate 3 can be provided with an elastic buffer layer or flexible conductive contacts to compensate for the impact and slight altitude deviations during the landing of the aircraft 100, ensuring uniform contact pressure and stable contact resistance. The current guiding unit can integrate overcurrent protection, overvoltage protection, and reverse connection protection circuits, automatically cutting off the charging circuit when abnormally large current or voltage occurs, preventing damage to the aircraft 100 battery or causing a safety accident. In addition, an insulated protective frame can be provided at the edge of the charging platform 2 to prevent personnel from accidentally touching the live charging contact line 6, further improving safety.

[0041] It should be noted that the preset direction mentioned in this embodiment refers to the arrangement and extension direction of the receiving plate 3 and the insulating member 4. This direction can be arranged along the longitudinal axis of the aircraft 100 fuselage, along the transverse axis of the fuselage, or along the extension direction of the landing gear, as long as the geometric constraint conditions of the receiving plate 3 and the insulating member 4 being arranged alternately in a straight line and the spacing between adjacent charging contact lines 6 being greater than the sum of the widths of a single receiving plate 3 and a single insulating member 4 are met. Different arrangement directions do not affect the core function of charging in any pose of the present invention. In addition, the number of receiving plates 3, the number of insulating members 4, and the number of charging contact lines 6 can all be adjusted according to actual needs. The more receiving plates 3 there are, the higher the reliability of single contact power extraction; the denser the charging contact lines 6 are, the larger the charging capacity per unit area of ​​the charging platform 2. Those skilled in the art can flexibly configure these according to the specifications of the aircraft 100, charging power requirements, and platform size.

[0042] In addition, this invention also includes an independent charging control module to automate the charging process. The charging control module can be integrated into one side of the charging platform 2 or inside the charging module 1 of the aircraft 100. It can monitor the charging voltage, charging current, and battery status in real time, and automatically adjust the charging power according to the battery's charging status, achieving multi-stage intelligent charging such as constant current, constant voltage, and float charging. Since the charging control module is a mature and conventional existing technology, its control logic and working principle will not be elaborated here.

[0043] Example 2:

[0044] This embodiment is a preferred implementation based on Embodiment 1, aiming to further refine the folding hinge structure of the charging platform 2. Specifically, as... Figure 1 , Figure 2 and Figure 5As shown, the charging platform 2 includes multiple platform bodies 5. The multiple platform bodies 5 are movably installed on the bearing surface and arranged sequentially along the extension direction of the bearing surface, and any two adjacent platform bodies 5 are hinged to each other. The multiple platform bodies 5 are spread out on the bearing surface to make the charging platform 2 unfolded and form a large area charging field. The multiple platform bodies 5 are stacked and folded together to make the charging platform 2 folded and stored in the transport equipment.

[0045] In this embodiment, the charging platform 2 adopts a modular folding structure with multiple platform bodies 5 hinged together, thus enabling the entire charging platform 2 to have two working states: unfolded and folded. In the unfolded state, multiple platform bodies 5 are laid flat on the bearing surface and spliced ​​together to form a continuous large-area charging field, which can accommodate multiple aircraft 100 for simultaneous charging. In the folded state, each platform body 5 rotates relative to the hinge axis, stacks together, and significantly reduces the overall volume, making it easy to store and transport. Therefore, compared with the traditional integrated fixed charging base, the folding charging platform 2 of this embodiment can be folded and folded when not in use, occupying little space and can be easily placed in the cargo compartment of a transport vehicle for transport and transfer. It can also be quickly unfolded and put into use after arriving at the work site, thereby solving the problems of traditional fixed charging equipment being bulky, difficult to transport, and unable to move synchronously with the work vehicle fleet, significantly improving the flexibility and adaptability of the charging equipment in the field.

[0046] In addition, the number of platform bodies 5 can be flexibly configured according to actual needs. That is, platform bodies 5 can be two, three, five or even more. By increasing or decreasing the number of platform bodies 5, the total area of ​​the charging platform 2 after unfolding can be adjusted to adapt to the charging needs of 100 aircraft clusters of different sizes. At the same time, the structure and size of each platform body 5 can be exactly the same, with good interchangeability, which facilitates mass production and later maintenance and replacement.

[0047] Example 3:

[0048] This embodiment is a preferred implementation based on Embodiment 2, aiming to further refine the charging platform 2. Specifically, as... Figure 1 , Figure 2 and Figure 5 As shown, it also includes a support platform 7. The top surface of the support platform 7 is provided with a guide structure. Each of the multiple platform bodies 5 is provided with a sliding seat 8 on the side away from the hinge end, which is in sliding contact with the guide structure. The sliding seat 8 is configured to slide along the extension direction of the support platform 7 under the action of an external driving mechanism, so as to drive the multiple platform bodies 5 to unfold or fold relative to the support platform 7.

[0049] In this embodiment, an independent support platform 7 is added as the base for the charging platform 2. A guide structure is provided on the support platform 7, and a sliding seat 8 is provided on the platform body 5, forming a sliding contact with the guide structure. This allows the unfolding and folding of the platform body 5 to be completed automatically under the drive of an external driving mechanism, eliminating the need for manual handling and installation piece by piece. Specifically, the support platform 7 extends horizontally, and the guide structure is arranged along the length of the support platform 7. Each platform body 5 is connected to the sliding seat 8 on the side closest to it. The sliding seat 8 is fitted into the guide structure and can slide back and forth along the guide structure. The external driving mechanism is connected to the sliding seat 8. By driving the sliding seat 8 to move along the guide structure, the external driving mechanism can unfold or fold the platform body 5 on the support platform 7. Thus, the entire charging platform 2 can be automatically unfolded and folded, greatly reducing the intensity of manual operation and significantly improving the speed and efficiency of field deployment of the charging platform 2.

[0050] Furthermore, the sliding seat 8 and the guide structure employ a limiting sliding fit, which ensures that the sliding seat 8 can move smoothly along the guide structure while limiting the displacement of the sliding seat 8 in the direction perpendicular to the sliding direction. This ensures that the platform body 5 maintains a stable movement trajectory during unfolding and folding, preventing deviation or detachment. Simultaneously, the sliding seat 8 and the platform body 5 are hinged, allowing the platform body 5 to rotate relative to the hinge point during folding to smoothly complete the folding and retraction action. When unfolded and laid flat, the platform body 5 remains horizontal and aligned under the support and limiting effect of the sliding seat 8, thus ensuring a flat and continuous charging contact surface.

[0051] Furthermore, it should be noted that the external drive mechanism can adopt various forms such as electric push rods, hydraulic cylinders, pneumatic cylinders, wire rope traction mechanisms, or rack and pinion drives, which can be flexibly selected by those skilled in the art according to the actual application scenario and drive requirements. For example, in scenarios with high requirements for drive speed, electric push rods or hydraulic cylinders can be used to achieve rapid deployment; in scenarios with high requirements for cost control, manual deployment can be achieved by using a manual crank in conjunction with wire rope traction. Understandably, through the cooperation of the sliding seat 8 and the guide structure, regardless of the drive method used, the platform body 5 can be smoothly deployed and retracted, ensuring the rapid deployment capability of the charging platform 2.

[0052] Example 4:

[0053] This embodiment is a preferred implementation based on Embodiment 3, aiming to further refine the support platform 7. Specifically, as... Figure 1 , Figure 2 and Figure 5As shown, the support platform 7 includes multiple supports 9, which are evenly and spaced apart along a preset direction. Each support 9 includes two parallel guide rods 10, and any two adjacent supports 9 can be detachably connected to each other so that the two ends of the multiple guide rods 10 are connected end to end in sequence to form a guide structure.

[0054] In this embodiment, because the support platform 7 adopts a modular splicing structure of multiple independent brackets 9, and the adjacent brackets 9 are detachably connected, the entire support platform 7 can be disassembled into multiple independent bracket units 9 for transportation and storage, and then assembled into a complete support platform 7 after arriving at the work site. Specifically, each bracket 9 includes two parallel guide rods 10, which extend along the length of the bracket 9 and serve as guide rails for the sliding seat 8. The ends of the guide rods 10 of adjacent brackets 9 are provided with matching docking structures, such as plug-in connectors, flange connecting plates, or quick-release buckles. During assembly, it is only necessary to align and lock the ends of the guide rods 10 of adjacent brackets 9 to form a continuous and complete guide structure so that the sliding seat 8 can slide smoothly.

[0055] Furthermore, multiple supports 9 are evenly and spaced along a preset direction, ensuring that the support platform 7 has sufficient rigidity and stability to support the weight of the platform body 5 and the docked aircraft 100, while also reducing the overall weight of the support platform 7, facilitating handling and assembly. The number of supports 9 can be flexibly increased or decreased according to the required length of the charging platform 2. Increasing the number of supports 9 extends the total length of the support platform 7, thereby expanding the unfolded area of ​​the charging platform 2 to accommodate the charging needs of aircraft 100 clusters of different sizes. In addition, adjustable feet or anti-slip bases can be provided at the bottom of the supports 9 to adapt to uneven ground environments and ensure that the support platform 7 remains horizontal and stable after assembly. The materials of the supports 9 can be high-strength aluminum alloy, carbon fiber composite materials, or engineering plastics, etc., to ensure structural strength while minimizing weight, facilitating manual handling and rapid assembly. It should be noted that the cross-sectional shape of the guide rod 10 can be circular, square, T-shaped, or I-shaped, etc., as long as it can form a stable sliding fit with the sliding seat 8. Those skilled in the art can flexibly choose according to the actual load and sliding accuracy requirements.

[0056] Example 5:

[0057] This embodiment is a preferred implementation based on Embodiment 2, aiming to ensure the stability and reliability of the charging contact line 6 when it contacts the receiving slide plate 3 for power extraction by adding a cleaning mechanism 11. Specifically, as shown... Figure 5 As shown, each of the multiple platform bodies 5 is equipped with a cleaning mechanism 11. The cleaning mechanism 11 is used to simultaneously clean the foreign objects attached to the surface of the charging contact line 6 when the platform body 5 is unfolded or folded.

[0058] In this embodiment, a cleaning mechanism 11 that is linked to the folding and unfolding action is added to the platform body 5, so that the cleaning mechanism 11 can automatically clean the surface of the charging contact line 6 during each unfolding or folding process of the charging platform 2. Specifically, the cleaning mechanism 11 is located at the edge of the platform body 5, and its cleaning part is in contact with the surface of the charging contact line 6; when the platform body 5 unfolds or folds, relative movement occurs between the platform bodies 5, which drives the cleaning mechanism 11 to sweep along the surface of the charging contact line 6, thereby removing foreign objects such as sand, fallen leaves, and accumulated water attached to the surface of the charging contact line 6.

[0059] Furthermore, the cleaning section of the cleaning mechanism 11 can take various forms, such as a brush, scraper, sponge, or elastic rubber strip. Different forms of cleaning sections are suitable for cleaning different types of foreign objects. For example, a brush is suitable for cleaning particulate foreign objects such as sand and dust; a scraper is suitable for scraping away viscous foreign objects such as stagnant water and mud; and a sponge is suitable for absorbing fine dust and water stains. Understandably, through the linkage design between the cleaning mechanism 11 and the folding and unfolding action of the platform body 5, the platform body 5 will automatically complete a cleaning once each time it is unfolded for use or folded for storage. For example, by setting sliders at both ends of the brush, and the sliders can slide along the extension direction of the platform body 5, when the platform body 5 is folded for storage, the platform body 5 tilts and the sliders, under the action of gravity, drive the brush to slide from top to bottom to clean sand, dust, and other foreign objects from the surface of the charging contact line 6. This ensures that the surface of the charging contact line 6 is always kept clean, effectively avoiding faults such as increased contact resistance, decreased charging power, and poor contact caused by foreign objects covering it, and significantly improving the operational reliability of the invention under complex outdoor conditions.

[0060] Example 6:

[0061] This embodiment is a preferred implementation based on any one of embodiments 1 to 5, and aims to further refine the structural form and adaptive capability of the receiving slide plate 3. Specifically, the receiving slide plate 3 is in the form of a straight plate, an arc plate, or an elastic telescopic contact structure. The receiving slide plate 3 is configured to compensate for altitude deviation or attitude tilt when the aircraft 100 lands, so as to maintain effective contact with the charging contact line 6.

[0062] In this embodiment, because the charging plate 3 adopts a variety of optional structural designs, it can adapt to the bottom mounting conditions and landing attitude characteristics of different types of aircraft 100, further improving the versatility and adaptability of the charging module 1. Specifically, as shown in the figure... Figures 2 to 4As shown, the straight-plate-shaped receiving slide 3 has a simple structure, is easy to process, and has a large contact area, making it suitable for aircraft 100 with a flat bottom and stable landing attitude; the arc-shaped receiving slide 3 can better fit the curved contour of the bottom of the aircraft 100, increasing the effective contact area, making it suitable for aircraft 100 with an arc-shaped or streamlined bottom design; the elastic telescopic contact structure has a certain telescopic stroke and elastic pressure. When there is a deviation in the landing height of the aircraft 100 or the fuselage attitude is tilted, the elastic contact can automatically compress or extend to compensate for the height difference, ensuring that it always maintains a tight electrical contact with the charging contact line 6.

[0063] Furthermore, the elastic telescopic contact structure can take various forms such as spring-loaded contact pins, elastic conductive sheets, or conductive rubber. The elastic element provides continuous contact pressure, ensuring that even with minor altitude deviations, attitude tilts, or landing impacts on the aircraft 100, the receiving part maintains stable and reliable electrical contact with the charging contact line 6, preventing contact interruptions or drastic fluctuations in contact resistance. Understandably, through the design of various charging plate forms 3, the charging module 1 of this invention can adapt to various types and specifications of aircraft 100. Whether it's a small multi-rotor UAV, a medium-sized fixed-wing UAV, or a large manned eVTOL aircraft 100, the most suitable charging plate form 3 can be selected based on its fuselage structure characteristics and landing characteristics, thereby maximizing the reliability and stability of the charging contact.

[0064] Furthermore, the arrangement direction of the charging contact plate 3 and the insulating component 4 can be flexibly selected according to the structural characteristics of the aircraft 100. They can be arranged along the longitudinal axis of the fuselage, the transverse axis of the fuselage, or the extension direction of the landing gear. Regardless of the arrangement direction, as long as the geometric constraints of the staggered arrangement of the charging contact plate 3 and the insulating component 4 and the distance between adjacent charging contact lines 6 are greater than the sum of the widths of a single charging contact plate 3 and a single insulating component 4 are met, the safe charging function of the aircraft 100 can be achieved for landing in any position.

[0065] Example 7:

[0066] This embodiment is a preferred implementation based on Embodiment 6, aiming to further refine the rectifier circuit structure of the current guiding unit. Specifically, as follows... Figures 2 to 4 As shown, the current guiding unit includes multiple rectifiers, which are connected one-to-one with multiple electric receiving slides 3. The multiple rectifiers are used to convert the current obtained by the electric receiving slides 3 and output it to the power supply of the aircraft 100.

[0067] In this embodiment, since the multiple rectifiers in the current guiding unit are connected one-to-one with the multiple charging slides 3, the current acquired by each charging slide 3 can be independently commutated and rectified without interference. Understandably, since the landing position and angle of the aircraft 100 are random, the polarity of the charging contact line 6 contacted by each charging slide 3 is also uncertain, possibly positive or negative. This embodiment, by configuring an independent rectifier for each charging slide 3, ensures that regardless of the polarity of the charging contact line 6 contacted by the charging slide 3, the rectifier can automatically convert it to a DC output in the same direction. This ensures the safety and reliability of charging when the aircraft 100 lands in any orientation from the circuit level, resulting in a simple structure, high reliability, and fast response speed.

[0068] It should be noted that the rectifier can be constructed using semiconductor devices such as diodes or thyristors. Multiple rectifiers can be combined to form a bridge rectifier circuit to improve rectification efficiency and output voltage stability. Diode rectification is simple in structure, low in cost, and highly reliable, making it suitable for low-to-medium power charging scenarios. Thyristor rectification, on the other hand, has controllable rectification capabilities, allowing adjustment of output voltage and current by controlling the conduction angle, making it suitable for high-power charging scenarios requiring precise control of charging parameters. In addition, the current guiding unit can be equipped with auxiliary circuits such as filter capacitors and voltage regulator circuits to further smooth the output voltage, reduce ripple, improve the quality of charging energy, and better protect the battery system of the aircraft 100.

[0069] Example 8:

[0070] This embodiment is a preferred implementation based on any one of embodiments 1 to 5, and aims to further refine the photovoltaic self-generation structure of the platform body 5. Specifically, as Figures 2 to 5 As shown, the platform body 5 is a solar panel with integrated photovoltaic modules. The photovoltaic modules are used for photoelectric conversion and to generate electrical energy. The output end of the photovoltaic modules is connected to the power supply circuit of the charging contact line 6.

[0071] In this embodiment, because the platform body 5 adopts a solar panel structure with integrated photovoltaic modules, the charging platform 2 itself has photovoltaic power generation capability, enabling it to generate electricity autonomously using solar energy and charge the aircraft 100 without relying entirely on an external power grid or fuel generator. Specifically, the upper surface of the platform body 5 is integrated with photovoltaic modules, which are composed of multiple solar cells connected in series or parallel, and can convert solar energy into electrical energy. The output end of the photovoltaic modules is connected to the power supply circuit of the charging contact line 6. The electrical energy generated by the photovoltaic modules is directly supplied to the charging contact line 6 after voltage stabilization and current combining, providing charging power for the aircraft 100 docked on the charging platform 2.

[0072] Furthermore, when the charging platform 2 is unfolded and laid flat outdoors, the photovoltaic modules on its upper surface can fully receive sunlight and continuously convert electricity into power. A portion of the generated electricity is directly used to charge the aircraft 100, while excess electricity can be stored in a matching energy storage battery for use at night or on cloudy or rainy days. This enables the invention to provide self-sufficient power supply in the field, especially in remote mountainous areas, deserts, and islands without grid coverage. It can continuously provide charging services to the aircraft 100 cluster solely through solar energy, greatly expanding the field operation range and continuous combat capability of the aircraft 100 cluster. In addition, this embodiment integrates the photovoltaic modules and charging contact lines 6 onto the same platform body 5, combining photovoltaic power generation and charging functions into one. This eliminates the need for additional large-area solar panels and complex transmission lines, resulting in a compact and highly integrated structure. When unfolded, the charging platform 2 serves as both a photovoltaic power generation surface and a support surface for the aircraft 100 to dock and charge, achieving dual functionality and improving space utilization. It is evident that this embodiment, through the combination of photovoltaic self-generation and a foldable portable structure, can achieve a full-process self-sufficient cluster charging capability in the field, including vehicle transportation, on-site deployment, solar power supply, and charging in any posture. It is particularly suitable for application scenarios lacking charging infrastructure, such as aircraft emergency rescue, field reconnaissance, and border patrol.

[0073] It should be noted that various types of photovoltaic modules can be selected, including monocrystalline silicon, polycrystalline silicon, and thin-film solar cells. Those skilled in the art can choose based on factors such as power generation efficiency, cost, and weight. Simultaneously, the charging platform 2 can be equipped with auxiliary equipment such as energy storage batteries, charge / discharge controllers, and inverters to form a complete off-grid photovoltaic power generation system, further improving the stability and continuity of power supply. Furthermore, the power source for the charging contact line 6 is not limited to photovoltaic power generation. In suitable scenarios, it can still be connected to the external power grid, fuel generators, or other power sources as supplements or backups. Multiple power supply methods can be flexibly switched and complemented to ensure stable operation of the charging system under various environmental conditions.

[0074] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automatic charging system for a swarm of aircraft supporting multi-degree-of-freedom landing attitudes, characterized in that, The system includes a charging module (1) mounted on the aircraft and a charging platform (2) laid on the bearing surface. The charging module (1) includes a power receiving unit and a current guiding unit. The power receiving unit is electrically connected to the current guiding unit. The power receiving unit includes multiple power receiving plates (3) arranged alternately along a preset direction and an insulating component (4). The charging platform (2) includes a platform body (5) and multiple charging contact lines (6) laid on the surface of the platform body (5). The multiple charging contact lines (6) are arranged in parallel and alternately connected to different terminals or different phase lines of the power supply. The spacing between two adjacent charging contact lines (6) is configured to be greater than the sum of the width of a single power receiving plate (3) and the width of a single insulating component (4). When the aircraft lands on the charging platform (2) with any horizontal offset or fuselage deflection angle, the power receiving plate (3) contacts the charging contact line (6) to collect power, which is then converted by the current guiding unit to supply power to the aircraft.

2. The automatic charging system for a cluster of aircraft supporting multi-degree-of-freedom landing attitudes as described in claim 1, characterized in that, The charging platform (2) includes multiple platform bodies (5), which are movably mounted on the bearing surface and arranged sequentially along the extension direction of the bearing surface, and any two adjacent platform bodies (5) are hinged to each other; the multiple platform bodies (5) are spread out on the bearing surface to make the charging platform (2) unfolded and form a large area charging field, and the multiple platform bodies (5) are stacked and folded together to make the charging platform (2) folded and stored in the transport equipment.

3. The automatic charging system for a cluster of aircraft supporting multi-degree-of-freedom landing attitudes according to claim 2, characterized in that, It also includes a support platform (7), the top surface of which is provided with a guide structure. Each of the multiple platform bodies (5) is provided with a sliding seat (8) that slides in contact with the guide structure on the side away from the hinge end. The sliding seat (8) is configured to slide along the extension direction of the support platform (7) under the action of an external driving mechanism, so as to drive the multiple platform bodies (5) to unfold or fold relative to the support platform (7).

4. The automatic charging system for a cluster of aircraft supporting multi-degree-of-freedom landing postures according to claim 3, characterized in that, The support platform (7) includes multiple brackets (9), which are evenly and spaced apart along the preset direction. Each bracket (9) includes two parallel guide rods (10), and any two adjacent brackets (9) are detachably connected to each other so that the two ends of the multiple guide rods (10) are connected end to end in sequence to form the guide structure.

5. The automatic charging system for a cluster of aircraft supporting multi-degree-of-freedom landing attitudes according to claim 2, characterized in that, Each of the platform bodies (5) is provided with a cleaning mechanism (11), which is used to clean the foreign objects attached to the surface of the charging contact line (6) when the platform body (5) is unfolded or folded.

6. An automatic charging system for a cluster of aircraft supporting multi-degree-of-freedom landing attitudes according to any one of claims 1 to 5, characterized in that, The receiving plate (3) is in the form of a straight plate, an arc plate, or an elastic telescopic contact structure. The receiving plate (3) is configured to compensate for altitude deviation or attitude tilt when the aircraft lands in order to maintain effective contact with the charging contact line (6).

7. The automatic charging system for a cluster of aircraft supporting multi-degree-of-freedom landing attitudes according to claim 6, characterized in that, The current guiding unit includes multiple rectifiers, which are connected one-to-one with multiple electric receiving slides (3). The multiple rectifiers are used to convert the current obtained by the electric receiving slides (3) and output it to the power supply of the aircraft.

8. An automatic charging system for a cluster of aircraft supporting multi-degree-of-freedom landing attitudes according to any one of claims 1 to 5, characterized in that, The platform body (5) is a solar panel with integrated photovoltaic modules. The photovoltaic modules are used for photoelectric conversion and to generate electrical energy. The output end of the photovoltaic modules is connected to the power supply circuit of the charging contact line (6).

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