Self-aligned unmanned aerial vehicle wireless charging device

Abstract

The utility model provides a self-aligning unmanned aerial vehicle wireless charging device, and relates to the wireless electric energy transmission technology. The device comprises a prismoid-shaped transmitting platform, a transmitting coil, a magnetic core, a receiving coil, an inversion module, a rectification module and a compensation module. The cross section of the frustum-shaped transmitting platform is square, the transmitting coil is tightly wound on the outer surface of the platform, and the magnetic cores are evenly attached to the inner surface of the platform at equal intervals. The inversion module converts input direct current into alternating current and is connected with the compensation module so as to be connected with the transmitting coil; induced current of the receiving coil flows into the rectification module through the compensation module, is converted into direct current and is supplied to the unmanned aerial vehicle after noise is filtered. Through the device, electric energy is transmitted from the primary side to the secondary side. According to the device, self-alignment is completed through a mechanical structure of the launching platform, adverse effects caused by deviation of the landing position of the unmanned aerial vehicle are eliminated, the charging efficiency and safety can be improved, and the cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of wireless power transmission technology, and more particularly to a self-aligning wireless charging device for drones. Background Technology

[0002] In recent years, drones have played an important role in fields such as power line inspection, vegetation monitoring, reconnaissance, and exploration due to their high flexibility, size advantage, low cost, and wide applicability. However, limited by the energy density of onboard batteries and the weight carried by drones, drones face two major challenges: insufficient endurance and limited inspection distance.

[0003] Wireless power transfer technology can power onboard batteries without physical connection, reducing the limitations of manually replacing batteries or plugging and unplugging charging cables, and making it possible for drones to charge conveniently and expand their working range.

[0004] Currently, wireless charging technology is still in the development stage, and there are still unresolved issues such as low safety during drone take-off and landing, inaccurate charging and docking positions, high losses, high costs, and weak coupling between primary and secondary sides. To address these issues, patent CN220391555U proposes a buffer structure for a drone wireless charging coil, which reduces wear and tear on the wireless charging coil, ensuring charging efficiency, and also prevents unstable grounding of the drone's landing gear, ensuring safe takeoff and landing. Patent CN218641093U proposes a charging component for drone wireless charging, which can effectively buffer and support landing drones and automatically adjust the drone's position to ensure stable charging. Patent CN219989532U proposes a device for a movable drone wireless charging transmitting coil, solving the problem of excessive eddy currents generated during drone wireless charging and reducing system losses. Patent CN215042123U proposes a drone wireless charging receiving device with advantages such as simple structure, easy installation, and low cost. Patent CN117284525A proposes a drone wireless charging coupling mechanism and charging system, with the transmitting coil having an inverted "U"-shaped three-dimensional groove structure, increasing the coupling coefficient of the coil components and ensuring energy transmission efficiency.

[0005] As can be seen from the above analysis, most existing patents provide solutions to single problems and cannot meet the needs of drones for efficient, safe and low-cost charging. Utility Model Content

[0006] To address the aforementioned technical problem of failing to meet the demands for efficient, safe, and low-cost charging of drones, this invention provides a self-aligning wireless charging device for drones. This invention improves the coupling coefficient through the design of the primary and secondary coil positions, reduces the impact of offset through the special mechanical structure of the truncated pyramid-shaped transmitting platform, and compensates for the self-inductance of the transmitting and receiving coils through a compensated topology design, thereby reducing reactive power loss during transmission and improving system efficiency.

[0007] The technical means adopted in this utility model are as follows:

[0008] A self-aligning wireless charging device for drones includes: a docking part and a charging part;

[0009] The docking section includes: a frustum-shaped transmitting platform, a transmitting coil, a magnetic core, and a receiving coil;

[0010] The frustum-shaped launch platform is hollow inside and serves as the carrier for the launch coil. The frustum-shaped launch platform, in conjunction with the receiving coil, enables the UAV to self-align during landing.

[0011] The transmitting coil is wound inside the frustum-shaped transmitting platform; the transmitting coil is the carrier of primary-side electrical energy; the magnetic core of the transmitting coil is uniformly and equidistantly attached to the inner surface of the frustum-shaped transmitting platform; the transmitting coil and the magnetic core constrain the magnetic field to form a stable magnetic field.

[0012] The receiving coil is matched to the size of the UAV and is set at the bottom of the UAV, located outside the truncated pyramid-shaped transmitting platform. The receiving coil is the carrier of secondary-side electrical energy. The receiving coil generates an induced electromotive force by capturing magnetic flux, thereby generating an induced current.

[0013] The charging unit includes an inverter module, a rectifier module, and a compensation module. The inverter module converts the DC power input from the DC power supply into AC power and connects to the compensation module, which in turn connects to the transmitting coil. The induced current flows into the rectifier module through the compensation module, and the rectifier module converts the AC power into DC power and filters out noise before supplying it to the load.

[0014] Furthermore, the inverter module includes an inverter circuit composed of four MOSFET switching transistors Q1, Q2, Q3, and Q4; the inverter module converts the input DC power into high-frequency AC power and outputs it to the transmitting coil.

[0015] Furthermore, the rectifier module includes four switching diodes D1, D2, D3, and D4, and a filter capacitor C. SF The rectifier circuit consists of the receiving coil; the rectifier module converts the AC power generated by the receiving coil into DC power and filters out noise to supply the load.

[0016] Furthermore, the compensation module includes: a primary-side LCC compensation topology circuit and a secondary-side S compensation topology circuit; the compensation module is used to compensate for the self-inductance of the transmitting coil and the receiving coil, reduce reactive power loss during transmission, and improve system efficiency.

[0017] Furthermore, the primary-side LCC compensation topology circuit includes: an inductor L f Capacitor C f1 and capacitor C f2 The circuit includes an input terminal and an output terminal of a primary-side LCC compensation topology circuit; the input terminal of the primary-side LCC compensation topology circuit is connected to the output terminal of the inverter module, and the output terminal of the primary-side LCC compensation topology circuit is connected to the input terminal of the primary-side coil.

[0018] The input terminal of the secondary S-compensation topology circuit is connected to the output terminal of the receiving coil, and the output terminal of the secondary S-compensation topology circuit is connected to the input terminal of the rectifier module.

[0019] Furthermore, the cross-section of the frustum-shaped launch platform is square; the frustum-shaped launch platform is made of acrylic sheet.

[0020] Furthermore, the transmitting coil is tightly wound from the bottom of the frustum-shaped transmitting platform to the top of the transmitting platform.

[0021] Furthermore, the magnetic core of the transmitting coil has three magnetic cores equidistantly attached to each inner surface of the frustum-shaped transmitting platform for constraining the magnetic field.

[0022] Furthermore, the ratio of the top side length to the height and bottom side length of the frustum-shaped launch platform is 2:3:4.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] 1. This utility model constrains the shape and size of the transmitting coil by using a frustum-shaped transmitting platform with a ratio of top side length to height and bottom side length of 2:3:4. The reasonable design of the magnetic core position and size further enhances the ability to constrain the magnetic field and strengthens the coupling coefficient between the primary and secondary sides.

[0025] 2. This invention reduces the amount of wire and magnetic core used by optimizing the design of the transmitting coil and magnetic core, thereby lowering costs. The square receiving coil matches the drone landing gear, improving the charging flexibility of the device.

[0026] 3. This utility model can achieve self-alignment during UAV charging through the special mechanical structure of the truncated pyramid-shaped launch platform, avoiding the adverse effects of offset on the charging process and improving transmission efficiency.

[0027] 4. This utility model compensates for the self-inductance of the transmitting and receiving coils by designing a compensation module in the charging circuit, thereby reducing reactive power loss during transmission and improving system efficiency. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the structure of this utility model;

[0030] Figure 2 This is a schematic diagram of the self-alignment adjustment process of this utility model;

[0031] Figure 3(a) is a schematic diagram of the transmitting coil structure of this utility model;

[0032] Figure 3(b) is a schematic diagram of the receiving coil structure of this utility model;

[0033] Figure 4(a) shows the simulation of the magnetic field distribution of the transmitting coil of this invention. Figure 1 ;

[0034] Figure 4(b) shows the simulation of the magnetic field distribution of the transmitting coil of this utility model. Figure 1 ;

[0035] Figure 5 This is a schematic diagram illustrating the working principle of this utility model;

[0036] Figure 6 This is a circuit structure diagram of the present invention;

[0037] Figure 7 This is a flowchart illustrating the process of this utility model.

[0038] Among them, 1. frustum-shaped launch platform; 2. magnetic core; 3. receiving coil; 4. transmitting coil; 5. unmanned aerial vehicle (UAV). Detailed Implementation

[0039] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0040] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this utility model or its application or use. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0041] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to the present invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0042] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0043] In the description of this utility model, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this utility model and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this utility model. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0044] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0045] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be construed as limiting the scope of protection of this utility model.

[0046] like Figure 1 This utility model discloses a self-aligning wireless charging device for unmanned aerial vehicles, comprising: a docking part and a charging part; the docking part includes: a frustum-shaped transmitting platform 1, a transmitting coil 4, a magnetic core 2 and a receiving coil 3; the charging part includes: an inverter module, a rectifier module and a compensation module.

[0047] The frustum-shaped launch platform 1 serves as the carrier for the distribution of the launch coils. Its unique mechanical structure enables the UAV to achieve self-alignment during landing. A magnetic core 2, attached to the inner surface of the launch platform, confines the magnetic field and improves the energy transmission efficiency of the device. The launch coils 4, tightly wound around the surface of the launch platform 1, serve as the carrier of the transmitting electrical energy. A receiving coil 3 is wound around the bottom of the UAV 5's landing gear, serving as the carrier of the receiving electrical energy. The ratio of the top side length to the height and bottom side length of the frustum-shaped launch platform 1 is 2:3:4.

[0048] In one embodiment, such as Figure 2 As shown, when the UAV lands on the frustum-shaped launch platform 1 and the launch coil 4 at an angle, due to the special mechanical structure of the frustum-shaped launch platform 1, the UAV cannot maintain its balance under its own weight. At this time, under the action of its own weight, the UAV will slide to the side with the larger offset, thereby reducing the offset. This cycle continues until the UAV is finally in a straight-above-ground position.

[0049] As shown in Figure 3(a), three magnetic cores are evenly and equidistantly attached to each inner surface of the frustum-shaped launch platform, for a total of twelve magnetic cores, to enhance the confinement of the magnetic field. As shown in Figure 3(b), the receiving coil is wound into a square planar coil in combination with the size of the UAV landing gear to cooperate with the mechanical mechanism of the charging and launching device, thereby completing the self-alignment process of the UAV landing.

[0050] As shown in Figure 4(a), when the magnetic core placed inside the frustum-shaped transmitting platform adopts the design of this embodiment, it can be seen that the overall constraint effect on the magnetic field is better, indicating that the device can perform wireless power transmission under good coupling conditions. In addition, the optimized design of the magnetic core being divided into three equal parts in this embodiment, compared with the frustum-shaped transmitting platform 1 being filled with a magnetic core, significantly reduces the cost and weight of the device. As shown in Figure 4(b), most of the magnetic field lines generated during primary measurement work pass through the frustum-shaped transmitting platform 1, indicating that the device has strong coupling capability.

[0051] In this application, as Figure 5 As shown, when the DC power supply is connected to the charging circuit in this embodiment, it is directly connected to the inverter module. The DC power supply is converted into high-frequency AC power by the inverter circuit in the inverter module and then input to the primary-side LCC compensation topology module. After compensation, the AC power is input to the transmitting coil, generating an alternating magnetic field. The receiving side captures the magnetic flux in the magnetic field through the receiving coil, thereby generating an induced electromotive force and further generating an induced current, completing the wireless transmission of electrical energy. After output from the receiving coil, the AC power is input to the rectifier module, and then passes through the rectifier circuit and filter capacitor C in the rectifier module. SF It completes the conversion from alternating current to direct current and finally supplies it to the load.

[0052] As a preferred embodiment, in this application, such as Figure 6 As shown, DC power supply U in To input the voltage of the inverter module, I in This is the input current in the inverter module. The four MOSFET switches Q1, Q2, Q3, and Q4 of the inverter module form the inverter circuit. The input DC voltage U is controlled by the switching on and off of each pair of switches. in Converted to AC square wave voltage U AB It enables the conversion of direct current to alternating current.

[0053] In a preferred embodiment, the AC power output from the inverter module is fed into the primary-side LCC compensation topology circuit, I AB This is the input current to the primary-side LCC compensation topology circuit. The primary-side LCC compensation topology circuit consists of an inductor L... f Capacitor C f1 Capacitor C f2 Composition, in which capacitor C f1 Capacitor C f2Connected in parallel, inductor L f With capacitor C f1 and capacitor C f2 Connected in series. Capacitor C f1 With transmitting coil L P Parallel connection, capacitor C f2 With transmitting coil L P Series connection. The operating conditions of the primary-side LCC compensation topology are given by the following formula:

[0054]

[0055] Among them, L f For the inductance of the primary-side LCC compensation topology network, C f1 In the primary-side LCC compensation topology network, the transmitting coil L... P A capacitor connected in parallel, C f2 In the primary-side LCC compensation topology network, the transmitting coil L... P A series capacitor. ω is the angular frequency at which the system operates.

[0056] Preferably, when the circuit simultaneously meets the above conditions, the primary-side LCC compensation topology network enters a resonant state and can operate normally. I1 is the current flowing through the transmitting coil L. P The current. The voltage U. AB With current I AB After compensation by the primary-side LCC compensation topology circuit, the input is given to the transmitting coil L. P Transmitting coil L P With receiving coil L S A magnetic field hinge is formed, and they are coupled together. Alternating current flows through the transmitting coil L. P An alternating magnetic field is generated, and the receiving coil L S The magnetic flux in the magnetic field is captured, which in turn induces an electromotive force in the receiving circuit, thereby generating an induced current. mn For the current flowing through the receiving coil L S The current. C SS To compensate for the capacitance in the secondary side S of the topology network, and with the receiving coil L S Series connection. The operating conditions of the secondary side S-compensated topology network are given by the following formula:

[0057]

[0058] Among them, C SS To compensate for the capacitance in the secondary side S of the network, L S U is the inductance of the secondary-side transmitting coil, and ω is the angular frequency of the system. mn This is the voltage input to the rectifier module. Voltage U mn With current I mnAfter being compensated by the secondary-side S-compensation topology circuit, the signal is input to the rectifier module.

[0059] In a preferred embodiment, the rectifier module includes four switching diodes D1, D2, D3, and D4, and a filter capacitor C. FS To form a rectifier circuit. Voltage U mn After being input into the rectifier module, the alternating switching of four switching diodes converts the AC power to DC power, which then passes through the filter capacitor C. FS Filter out noise. ab To connect to load R eq The voltage across the terminals, I ab For input load R eq The current, the load R in this embodiment eq Load for charging drone batteries.

[0060] Preferably, such as Figure 7 As shown, the charging process for the drone includes the following steps: First, the drone lands on the charging transmitter. If the drone is not in an aligned parking state, it will perform self-alignment to adjust its own attitude. When the drone is aligned, it will start charging stably until charging is complete.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A self-aligned drone wireless charging device, characterized in that, The utility model relates to a kind of unmanned aerial vehicle charging device, including: The docking portion and the charging portion; The docking portion includes: a frustum-shaped launching platform, a transmitting coil, a magnetic core and a receiving coil; The frustum-shaped launching platform is hollow inside, and the frustum-shaped launching platform is a carrier for the transmitting coil to be wound around;The frustum-shaped launching platform cooperates with the receiving coil to achieve self-alignment of the unmanned aerial vehicle landing; The transmitting coil is wound around the inside of the frustum-shaped launching platform;The transmitting coil is a carrier for primary-side electric energy;The magnetic core of the transmitting coil is attached to the inner surface of the frustum-shaped launching platform at equal distances;The transmitting coil and the magnetic core constrain the magnetic field to form a stable magnetic field; The receiving coil is matched in size with the unmanned aerial vehicle and is arranged at the bottom of the unmanned aerial vehicle and outside the frustum-shaped launching platform;The receiving coil is a carrier for secondary-side electric energy;The receiving coil generates an induced electromotive force by capturing magnetic flux, and then generates an induced current; The charging portion includes an inverter module, a rectifier module and a compensation module;The inverter module converts the direct current input by a direct-current power supply into alternating current and connects the compensation module, and then connects the transmitting coil;The induced current flows into the rectifier module through the compensation module, converts the alternating current into direct current through the rectifier module, filters out noise, and supplies the load.

2. The self-aligned drone wireless charging device of claim 1, wherein, The inverter module includes an inverter circuit composed of four MOSFET switching tubes Q1, Q2, Q3 and Q4;The inverter module converts the input direct current into high-frequency alternating current and outputs it to the transmitting coil.

3. The self-aligned drone wireless charging device of claim 1, wherein, The rectifier module comprises a rectifier circuit composed of D1, D2, D3, D4 four switching diodes and a filter capacitor C SF The rectifier module converts the alternating current generated by the receiving coil into direct current and filters out noise to supply the load.

4. The self-aligned drone wireless charging device of claim 1, wherein, The compensation module includes a primary LCC compensation topology circuit and a secondary S compensation topology circuit;The compensation module is used to compensate the self-inductance of the transmitting coil and the receiving coil, reduce the reactive loss in the transmission process, and improve the system efficiency.

5. The self-aligned drone wireless charging device of claim 4, wherein, The primary side LCC compensation topology circuit comprises an inductor L f , a capacitor C f1 , and a capacitor C f2 ; the primary side LCC compensation topology circuit has an input end and an output end; the input end of the primary side LCC compensation topology circuit is connected to the output end of the inverter module, and the output end of the primary side LCC compensation topology circuit is connected to the input end of the primary side coil. The input end of the secondary S compensation topology circuit is connected to the output end of the receiving coil, and the output end of the secondary S compensation topology circuit is connected to the input end of the rectifier module.

6. The self-aligned drone wireless charging device of claim 1, wherein, The cross section of the frustum-shaped launching platform is a square;The frustum-shaped launching platform is made of acrylic plate.

7. The self-aligned drone wireless charging device of claim 1, wherein, The transmitting coil is tightly wound from the bottom of the frustum-shaped launching platform to the top of the launching platform.

8. The self-aligned drone wireless charging device of claim 1, wherein, The magnetic core of the transmitting coil is attached to three magnetic cores at equal distances on each inner surface of the frustum-shaped launching platform for constraining the magnetic field.

9. The self-aligned drone wireless charging device of claim 1, wherein, The ratio of the top side length to the height and the bottom side length of the frustum-shaped launching platform is 2:3:4.

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