IPT-CPT-multiplexed unattended wireless charging system and application method therefof

Abstract

An IPT-CPT-multiplexed unattended wireless charging system and an application method thereof. The method comprises: providing a transmitting end, wherein the transmitting end comprises an IPT transmitting end and a CPT transmitting end; disposing the IPT transmitting end in a nest mechanism (100), and disposing the CPT transmitting end and a receiving end in a flight mechanism (200); and by means of the transmitting end, performing coupled charging on an aircraft of the flight mechanism (200). The nest mechanism (100) comprises a flight controller (101), a slide rail (102) disposed on the flight controller (101), and a nest body assembly (103) disposed on the flight controller (101). The IPT-CPT-multiplexed unattended wireless charging system and the application method thereof realize wireless charging for an IPT unmanned aerial vehicle or a CPT unmanned aerial vehicle; and when an unmanned aerial vehicle (203) is wirelessly charged by using one of the modes, the other coupling mechanism can form, together with a common LC resonant compensation circuit, a resonant compensation network for the former, that is, while serving as energy transmission channels, a coupling coil of an IPT system and a coupling plate of a CPT system also serve as compensation components for each other, thereby achieving full utilization of the components.

Description

An unmanned wireless charging system with IPT-CPT reuse and its application method Technical Field

[0001] This invention relates to the field of wireless charging technology, and more particularly to an unmanned wireless charging system with IPT-CPT multiplexing and its application method. Background Technology

[0002] Wireless charging technology is characterized by its simplicity, convenience, and ease of automation. Unlike wired charging, which requires plugging and unplugging a power interface, wireless charging allows drones to begin charging as soon as they land in a designated location, enabling automated and intelligent charging during missions. Therefore, applying wireless power transfer technology to the drone field can not only effectively extend the operational range of drones but also meet the needs of unattended charging operations.

[0003] Currently, the wireless power transfer technologies used in UAVs mainly include magnetic field coupling-based wireless power transfer (IPT) and electric field coupling-based wireless power transfer (CPT). The IPT coupling mechanism is actually a loosely coupled transformer that uses Faraday's principle of electromagnetic induction to achieve energy transfer. The CPT coupling mechanism can be regarded as a capacitor with air as the medium.

[0004] In practical applications, both IPT and CPT systems require specific compensation topologies to achieve system resonance and eliminate reactive power inflow in order to improve system transmission efficiency. In IPT systems, the coupling coil needs an external capacitor to compensate for the inductive reactance generated by the coil, while in CPT systems, the coupling plate needs an external inductor to compensate for the capacitive reactance generated by the plate. Both coupling mechanisms require external compensation.

[0005] Currently, there is limited research on wireless power transfer systems in the form of IPT-CPT both domestically and internationally. Most of these studies involve using both IPT and CPT to transmit energy simultaneously, or using IPT to transmit energy while CPT transmits signals. However, due to weight limitations, it is difficult to combine both IPT and CPT in the drone receiver. Therefore, it is necessary to consider drone transmitters that can simultaneously meet the requirements of both IPT and CPT drone receivers. However, existing drone wireless charging system transmitters cannot simultaneously meet the usage requirements of both IPT and CPT drone wireless charging receivers. Summary of the Invention

[0006] In view of the problems existing in the current unmanned wireless charging system for IPT-CPT reuse, the present invention is proposed.

[0007] Therefore, the purpose of this invention is to provide an IPT-CPT multiplexed unmanned wireless charging system, which aims to simultaneously meet the wireless charging receiver requirements of both IPT and CPT drones.

[0008] To solve the above-mentioned technical problems, the present invention provides the following technical solution: including setting a transmitter, wherein the transmitter includes an IPT transmitter and a CPT transmitter;

[0009] An IPT transmitter is installed in the nest mechanism, and a CPT transmitter and receiver are installed in the flight mechanism.

[0010] The transmitter is coupled to the aircraft of the flight mechanism for charging.

[0011] As a preferred embodiment of the unmanned wireless charging system for IPT-CPT reuse described in this invention, the nest mechanism includes a machine board, a slide rail disposed on the machine board, and a nest assembly disposed on the machine board.

[0012] The flight mechanism is mounted on the main plate and includes a landing platform that can slide on the slide rail, a receiving component mounted on the landing platform, a drone resting on the receiving component, and an IPT receiving coil mounted on the drone.

[0013] As a preferred embodiment of the unmanned wireless charging system with IPT-CPT reuse according to the present invention, the nest assembly includes a drone nest fixed to the board and an IPT transmitting coil disposed on the inner end face of the drone nest.

[0014] The IPT receiving coil is located on the top of the UAV and can be coupled to the IPT transmitting coil.

[0015] As a preferred embodiment of the unmanned wireless charging system for IPT-CPT multiplexing described in this invention, the receiving component includes a first CPT transmitting electrode plate disposed in the landing platform, a first dielectric plate disposed on the first CPT transmitting electrode plate, a second CPT transmitting electrode plate connected to the first dielectric plate, a second dielectric plate disposed on the second CPT transmitting electrode plate and the first CPT transmitting electrode plate, a first CPT receiving electrode plate connected to the second dielectric plate in the first CPT transmitting electrode plate, and a second CPT receiving electrode plate connected to the second dielectric plate in the second CPT transmitting electrode plate.

[0016] As a preferred embodiment of the unmanned wireless charging system for IPT-CPT reuse described in this invention, the first CPT emitting plate includes a first horizontal plate and a second horizontal plate arranged in parallel and staggered, the first horizontal plate and the second horizontal plate are connected by a vertical plate, and a first dielectric plate is provided on the second horizontal plate.

[0017] As a preferred embodiment of the unmanned wireless charging system for IPT-CPT multiplexing described in this invention, a second dielectric plate is provided on both the first horizontal plate and the second CPT emitting plate.

[0018] The upper surface of the second CPT emitter plate is flush with the upper surface of the first horizontal plate.

[0019] As a preferred embodiment of the unmanned wireless charging system for IPT-CPT reuse described in this invention, one end of the IPT transmitting coil is electrically connected to the first CPT transmitting plate;

[0020] The transmitting end specifically includes an IPT transmitting coil, a first CPT transmitting electrode plate, and a second CPT transmitting electrode plate;

[0021] The first CPT receiving electrode plate and the second CPT receiving electrode plate are respectively connected to the two support legs at the lower end of the UAV, and the first CPT receiving electrode plate and the second CPT receiving electrode plate are respectively facing the first horizontal plate and the second CPT transmitting electrode plate.

[0022] As a preferred embodiment of the unmanned wireless charging system for IPT-CPT multiplexing described in this invention, the transmitter further includes a DC power supply, a high-frequency inverter, and a primary-side compensation network connected in sequence.

[0023] The primary-side compensation network includes a primary-side compensation inductor L. fp and primary-side compensation inductor C p The primary-side compensating inductor L fp One end of the primary-side compensation inductor L is connected to one output terminal of the high-frequency inverter. fp The other end is connected to the primary-side compensating inductor C p Connected to and connected to the other end of the IPT transmitting coil, the primary-side compensating inductor C p The other end is connected to the other output terminal of the high-frequency inverter and is connected to the second CPT emitter plate.

[0024] As a preferred embodiment of the unmanned wireless charging system with IPT-CPT multiplexing described in this invention, the receiving end includes an IPT receiver and a CPT receiver. The IPT receiver specifically includes an IPT receiving coil, a secondary-side compensation network, and a secondary rectifier. The output terminal of the secondary rectifier is connected to the load R. L connect;

[0025] The first CPT emitter plate and the second CPT emitter plate constitute the primary-side compensating inductor C. fp The primary-side compensating inductor L fp Primary-side compensating inductor C p and primary-side compensation inductor C fpThis constitutes the primary-edge LCC compensation network;

[0026] The secondary edge compensation network is a secondary edge LCC compensation network that is symmetrically arranged with the original edge LCC compensation network.

[0027] The CPT receiver includes a first CPT receiving plate, a second CPT receiving plate, a secondary-side compensation network, and a secondary rectifier;

[0028] The first CPT receiving plate and the second CPT receiving plate are respectively connected to the two input terminals of the secondary-side compensation network. The output terminal of the secondary-side compensation network is connected to the secondary rectifier. The output terminal of the secondary rectifier is connected to the load R. L connect;

[0029] The primary-side compensation inductor L fp Primary-side compensating inductor C p The primary side LCL compensation network is formed by the IPT transmitting coil and the secondary side LCL compensation network, which is symmetrically arranged with respect to the primary side LCL compensation network.

[0030] In view of the problems existing in the application methods of the unmanned wireless charging system using IPT-CPT reuse, the present invention is proposed.

[0031] Therefore, the purpose of this invention is to provide an application method for an IPT-CPT reused unmanned wireless charging system, the purpose of which is to enable the IPT and CPT unmanned aerial vehicle wireless charging receivers to function normally.

[0032] To solve the above-mentioned technical problems, the present invention provides the following technical solution: when the UAV is loaded with an IPT receiver, the UAV's IPT receiving coil is coupled with the IPT transmitting coil for charging, and the first CPT transmitting plate and the second CPT transmitting plate constitute the primary side compensation capacitor;

[0033] When the UAV is equipped with a CPT receiver, the first CPT receiving plate and the second CPT receiving plate of the UAV are charged by being directly coupled to the first CPT transmitting plate and the second CPT transmitting plate, respectively. At this time, the IPT transmitting coil acts as the primary side compensation inductor.

[0034] When the IPT drone lands in the charging station, the high-frequency alternating magnetic field generated by the coil is captured by the IPT drone and induces a high-frequency alternating voltage.

[0035] When the CPT drone parks in its nest to charge, the high-frequency alternating electric field generated by the transmitting plate is captured by the receiving plate at the CPT drone end, and a high-frequency alternating voltage is induced and enters the resonant compensation circuit at the receiving end.

[0036] The beneficial effects of this invention are: enabling wireless charging of IPT or CPT drones. Furthermore, when wirelessly charging a drone using one of these methods, another coupling mechanism can work with a shared LC resonant compensation circuit to form the former's resonant compensation network. That is, the coupling coil of the IPT system and the coupling plate of the CPT system act as energy transmission channels while also serving as compensation elements for each other, thus achieving full utilization of the components. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0038] Figure 1 is a schematic diagram of the overall structure of the unmanned wireless charging system and its application method with IPT-CPT reuse in CPT mode according to the present invention.

[0039] Figure 2 is a schematic diagram of the UAV nest in IPT mode of the unmanned wireless charging system and its application method of the present invention with IPT-CPT reuse.

[0040] Figure 3 is a schematic diagram of the CPT coupling receiver component structure in CPT mode of the unmanned wireless charging system and its application method of IPT-CPT multiplexing according to the present invention.

[0041] Figure 4 is a schematic diagram of the first CPT emitter plate structure of the unmanned wireless charging system and its application method of IPT-CPT reuse of the present invention.

[0042] Figure 5 is a schematic diagram of the overall structure of the unmanned wireless charging system and its application method of the IPT-CPT reuse unmanned wireless charging system of the present invention.

[0043] Figure 6 is a topology diagram of the UAV wireless power transfer system in IPT mode of the unmanned wireless charging system and its application method of the present invention with IPT-CPT multiplexing.

[0044] Figure 7 is an equivalent circuit diagram of a bilateral LCC type IPT system in IPT mode of the unmanned wireless charging system and its application method of IPT-CPT reuse of the present invention.

[0045] Figure 8 is a topology diagram of the UAV wireless power transfer system in CPT mode of the unmanned wireless charging system and its application method of the IPT-CPT reuse of the present invention.

[0046] Figure 9 is a fully coupled capacitor model diagram of the unmanned wireless charging system and its application method with IPT-CPT reuse in the CPT mode of the present invention.

[0047] Figure 10 is an equivalent two-port network model diagram of the unmanned wireless charging system and its application method with IPT-CPT multiplexing in the CPT mode of the present invention.

[0048] Figure 11 is a bilateral LCL topology fundamental circuit diagram of the unmanned wireless charging system and its application method of IPT-CPT multiplexing in the CPT mode of the present invention.

[0049] Figure 12 shows the simulation results of the cross-coupling capacitor of the unmanned wireless charging system and its application method of IPT-CPT reuse according to the present invention.

[0050] Figure 13 shows the COMSOL electric field strength simulation results of the unmanned wireless charging system and its application method of IPT-CPT reuse of the present invention.

[0051] Figure 14 is a diagram of the common LC resonant network structure of the coupling mechanism of the unmanned wireless charging system and its application method of IPT-CPT multiplexing according to the present invention.

[0052] Figure 15 shows the inverter and rectifier output voltage and current curves in IPT mode during the simulation of the unmanned wireless charging system and its application method of IPT-CPT multiplexing according to the present invention.

[0053] Figure 16 shows the inverter and rectifier output voltage and current curves in CPT mode during the simulation of the unmanned wireless charging system and its application method of IPT-CPT multiplexing according to the present invention. Detailed Implementation

[0054] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0055] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0056] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0057] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0058] Example 1

[0059] Referring to Figures 1 to 4, the first embodiment of the present invention provides a device for an unmanned wireless charging system with IPT-CPT multiplexing, the device including a nest mechanism 100 and a flight mechanism 200.

[0060] The nesting mechanism 100 includes a base plate 101, a slide rail 102 mounted on the base plate 101, and a nesting assembly 103 mounted on the base plate 101. The nesting assembly 103 includes a UAV nest 103a fixed on the base plate 101 and an IPT transmitting coil 103b mounted on the inner end face of the UAV nest 103a. The flight mechanism 200 is mounted on the base plate 101 and includes a landing platform 201 that can slide on the slide rail 102, a receiving assembly 202 mounted in the landing platform 201, a UAV 203 resting on the receiving assembly 202, and an IPT receiving coil 204 mounted on the UAV 203.

[0061] During use, when the drone 203 lands on the landing platform 201, the landing platform 201 can transport the drone 203 to the drone nest 103a by moving on the slide rail 102. At this time, the IPT transmitting coil 103b of the drone nest 103a can couple with the IPT receiving coil 204 to charge the drone 203.

[0062] Charging the drone 203 with the IPT receiving coil 204 is existing technology and will not be described in detail here.

[0063] Furthermore, the receiving component 202 includes a first CPT transmitting electrode plate 202a disposed in the landing platform 201, a first dielectric plate 202b disposed on the first CPT transmitting electrode plate 202a, a second CPT transmitting electrode plate 202b connected to the first dielectric plate 202b, a second dielectric plate 202d disposed on the second CPT transmitting electrode plate 202b and the first CPT transmitting electrode plate 202a, a first CPT receiving electrode plate 202e connected to the second dielectric plate 202d in the first CPT transmitting electrode plate 202a, and a second CPT receiving electrode plate 202f connected to the second dielectric plate 202d in the second CPT transmitting electrode plate 202b.

[0064] The first CPT emitting electrode 202a is a folded metal electrode plate and is set in the landing platform 201. The first CPT emitting electrode 202a includes a first horizontal plate 202a-1 and a second horizontal plate 202a-3 that are arranged in parallel and staggered. The first horizontal plate 202a-1 and the second horizontal plate 202a-3 are connected by a vertical plate 202a-2. A first dielectric plate 202c is set on the second horizontal plate 202a-3. One end of the IPT emitting coil 103b is electrically connected to the first CPT emitting electrode 202a. The upper end surface of the second CPT emitting electrode 202b is flush with the upper end surface of the first horizontal plate 202a-1.

[0065] The landing platform 201 can slide out of the drone nest 103a along the slide rail 102. When the drone 203 lands, the landing platform 201 slides out of the drone nest 103a. After the drone 203 lands, the landing platform 201 and the drone 203 waiting to be charged slide back into the drone nest 103a.

[0066] Example 2

[0067] Referring to Figures 1 to 8, this is the second embodiment of the present invention, which differs from the first embodiment in that it includes the system and its use.

[0068] Compared to Embodiment 1, the transmitting end further includes an IPT transmitting coil 103b, a first CPT transmitting electrode 202a, and a second CPT transmitting electrode 202b;

[0069] The first CPT receiving electrode plate 202e and the second CPT receiving electrode plate 202f are respectively connected to the two support legs at the lower end of the UAV 203. The first CPT receiving electrode plate 202e and the second CPT receiving electrode plate 202f are respectively facing the first horizontal plate 202a-1 and the second CPT transmitting electrode plate 202b.

[0070] The transmitter can be coupled and charged with IPT UAV 203 or CPT UAV 203.

[0071] When the UAV 203 is loaded with the IPT receiver, the IPT receiving coil 204 of the UAV 203 is coupled with the IPT transmitting coil 103b for charging. At this time, the first CPT transmitting plate 202a and the second CPT transmitting plate 202b constitute the primary side compensation capacitor.

[0072] When the UAV 203 is loaded with the CPT receiver, the first CPT receiving plate 202e and the second CPT receiving plate 202f of the UAV 203 are directly coupled to the first CPT transmitting plate 202a and the second CPT transmitting plate 202b for charging. At this time, the IPT transmitting coil 103b acts as the primary side compensation inductor. That is, the coupling coil of the IPT system and the coupling plate of the CPT system act as energy transmission channels and also as compensation elements for each other, realizing the full utilization of the components.

[0073] The transmitter also includes a DC power supply, a high-frequency inverter, and a primary-side compensation network connected in sequence. The primary-side compensation network includes a primary-side compensation inductor L. fp and primary-side compensation inductor C p Primary-side compensating inductor L fp One end is connected to one output terminal of the high-frequency inverter, and the primary-side compensation inductor L fp The other end is connected to the primary-side compensating inductor C p After connection, it is connected to the other end of the IPT transmitting coil 103b, and the primary-side compensating inductor C p The other end is connected to the other output end of the high-frequency inverter and then connected to the second CPT emitter plate 202b.

[0074] During use, the drone's nest first converts DC power into high-frequency AC power in the hundreds of kHz to MHz range through a high-frequency inverter. Then, this high-frequency AC power passes through the primary-side compensation network circuit. The primary-side compensation network circuit can compensate for the reactive power of the coupling mechanism on the one hand, and play the role of filtering and impedance transformation on the other hand.

[0075] When an IPT drone parks in its nest to charge, the high-frequency alternating magnetic field generated by the coil is captured by the IPT drone, inducing a high-frequency alternating voltage. When a CPT drone parks in its nest to charge, the high-frequency alternating electric field generated by the transmitting plate is captured by the receiving plate at the CPT drone end, inducing a high-frequency alternating voltage that enters the resonant compensation circuit at the receiving end. The resonant compensation circuit at the receiving end is mainly used for impedance transformation. The secondary rectifier on the drone will transform and adjust the high-frequency alternating voltage output by the resonant compensation circuit to ultimately meet the requirements of different loads. The bridge uncontrolled rectifier circuit is currently the most commonly used rectifier circuit.

[0076] Considering that the IPT system requires capacitor compensation and the CPT system requires inductive compensation, the IPT system and the CPT system are combined. The coupling coil of the IPT system and the coupling plate of the CPT system serve as energy transmission channels and also as compensation elements for each other, thus making full use of the components.

[0077] When using an inductive power transfer coil to wirelessly charge an IPT drone, the equivalent capacitance formed by the emitting plates of the electric field coupling mechanism can be combined with a common resonant compensation circuit to form the resonant compensation network of the inductive power transfer coil.

[0078] When using an electric field-type energy transfer plate to wirelessly charge a CPT drone, the self-inductance of the transmitting coil of the inductive coupling mechanism can form a resonant compensation network for the electric field-type transmitting plate together with a common resonant compensation circuit.

[0079] Furthermore, the high-frequency inverter is a full-bridge inverter circuit composed of S1 to S4 switching transistors.

[0080] The remaining structure is the same as that in Example 1.

[0081] Example 3

[0082] Referring to Figures 1 to 16, this is the third embodiment of the present invention. The difference between this embodiment and the second embodiment is that the receiving end is an IPT receiving end, which includes an IPT receiving coil 204, a secondary compensation network and a secondary rectifier connected in sequence. The output end of the secondary rectifier is connected to the load RL.

[0083] Compared to Embodiment 2, the IPT receiving coil 204 is further disposed on the top of the drone 203. When the drone 203 is charging, the IPT receiving coil 204 is coupled with the IPT transmitting coil 103b, and the first CPT transmitting plate 202a and the second CPT transmitting plate 202b constitute the primary-side compensating inductor C. fp Primary-side compensating inductor L fp Primary-side compensating inductor C p and primary-side compensation inductor C fp The primary LCC compensation network is formed, and the secondary LCC compensation network is a secondary LCC compensation network that is symmetrically set with respect to the primary LCC compensation network.

[0084] The secondary rectifier is an uncontrolled rectifier circuit composed of diodes D1 to D4. The self-inductances of the IPT transmitting coil 103b and the IPT receiving coil 204 are L and L, respectively. p and L s C fp The capacitance between the first CPT emitting plate 202a and the second CPT emitting plate 202b is M. The mutual inductance between the IPT transmitting coil 103b and the IPT receiving coil 204 is M. The secondary compensation network includes a secondary compensation inductor L. fs Secondary side compensation capacitor C s and C fs R L The equivalent resistance of the battery load is given by the following formula:

[0085] Where k is the coupling coefficient between IPT transmitting coil 103b and IPT receiving coil 204.

[0086] The condition for a bilateral LCC compensation system to achieve perfect resonance is:

[0087] Where, ω I This is the system's resonant angular frequency at this point.

[0088] Referring to Figure 7, which is its equivalent circuit, a steady-state model is established based on the bilateral LCC type IPT system. The primary and secondary inductances, the internal resistance of the coil, the parasitic parameters of each component, and the leakage flux of the loosely coupled transformer are ignored. The fundamental equivalent method is used to analyze the system.

[0089] The equivalent load on the input side of the uncontrolled rectifier on the secondary side is R. eq =8R L / π 2 The KVL formula is written as follows:

[0090] Substitute the resonance condition:

[0091] Solving for:

[0092] Among them, Z s Z is the input impedance across the secondary receiving coil; r Z is the input impedance across the primary-side transmitting coil; p The input impedance of the system is given by ω; jω is the angular frequency in the complex frequency domain; C fs C s C is the capacitance value of the secondary-side compensation capacitor. p C fp For primary-side compensating inductance; L p For the self-inductance of IPT transmitting coil 103b; L fs The inductance value of the secondary-side compensating inductor; L fp For primary-side compensating inductance; L s For the self-inductance of the IPT receiving coil 204; I Lfp For flow through L fp The current; I p I is the current in the transmitting coil. s For receiving coil current; U o I is the load voltage; o P is the load current; o For output power; U AB R is the system input voltage obtained by the fundamental equivalent method; eq M is the equivalent load on the input side of the uncontrolled rectifier on the secondary side; L is L p and L sMutual inductance between them; ω is the system angular frequency.

[0093] Furthermore, the receiving end is a CPT receiver, which includes a first CPT receiving plate 202e, a second CPT receiving plate 202f, a secondary-side compensation network, and a secondary rectifier. The first CPT receiving plate 202e and the second CPT receiving plate 202f are respectively connected to the two input terminals of the secondary-side compensation network. The output terminal of the secondary-side compensation network is connected to the secondary rectifier, and the output terminal of the secondary rectifier is connected to the load R. L connect.

[0094] The first CPT receiving electrode plate 202e and the second CPT receiving electrode plate 202f are respectively disposed on the two support legs at the lower end of the UAV 203. When the UAV 203 is charging, the first CPT receiving electrode plate 202e and the second CPT receiving electrode plate 202f are respectively facing the first horizontal plate 202a-1 and the second CPT transmitting electrode plate 202b.

[0095] Referring to Figure 8, the primary-side compensation inductor Lfp, the primary-side compensation inductor Cp, and the IPT transmitting coil 103b constitute the primary-side LCL compensation network, and the secondary-side compensation network is a secondary-side LCL compensation network that is symmetrically arranged with respect to the primary-side LCL compensation network.

[0096] The secondary rectifier is an uncontrolled rectifier circuit composed of diodes D1 to D4, U in L is the effective value of the AC power supply, ω is the system angular frequency, and L is the effective value of the AC power supply. p For the self-inductance of IPT transmitting coil 103b, L s- and L fs To determine the inductance value of the secondary-side compensation inductor, C s This is the capacitance value of the secondary-side compensation capacitor.

[0097] P1 and P2 are the first CPT emitting plate 202a and the second CPT emitting plate 202b, respectively; P3 and P4 are the first CPT receiving plate 202e and the second CPT receiving plate 202f, respectively. In IPT mode, the coupling capacitor formed by P1 and P2 is used to compensate for the coil's self-inductance. R L This is the AC load resistor.

[0098] Referring to Figure 9, there is coupling between every two plates. These four plates can form a total of 6 coupling capacitors, namely C 12 C 13 C 14 C 23 C 24 C 34 Of these 6 capacitors, capacitor C 13 C 24 This is called the energy transfer coupling mutual capacitance, capacitor C 12 C34 This is called port self-capacitance, capacitance C 23 C 14 It is called a cross-coupling capacitor.

[0099] Referring to Figure 10, C 12 C 13 C 14 C 23 C 24 C 34 These six capacitors are connected in series and in parallel with each other, forming an equivalent two-port network model of the quadrupole coupling mechanism of the CPT system.

[0100] Referring to Figure 11, the decoupling simplification of the fundamental approximation circuit model is that, ignoring higher harmonics and without considering the losses of switching devices, the primary and secondary coupled circuits can be decoupled using the controlled voltage source substitution method.

[0101] In the fundamental approximation circuit model, parameters C1, C2, and C M They are defined as follows:

[0102] Using this topology, a constant current output unaffected by the load can be achieved at the output port, defined as:

[0103] in:

[0104] The parameter design of passive resonant elements follows the following resonance conditions:

[0105] The output current and output power are:

[0106] Where, ω C C is the system's operating angular frequency; ip C represents the equivalent capacitance value viewed from the transmitter board towards the secondary side. is C is the equivalent capacitance value viewed from the receiver board towards the primary side; P For primary-side compensating inductance; V in R is the system input voltage. L The equivalent resistance of the battery load; L is the square of the coupling coefficient; s For the self-inductance of IPT receiving coil 204; L p For the self-inductance of IPT transmitting coil 103b; L fs The inductance value of the secondary-side compensating inductor; L fp This is the primary-side compensating inductance.

[0107] System simulation verification:

[0108] Based on the COMSOL simulation platform, a UAV nest combining a stacked CPT flat plate coupling mechanism and an IPT coil was designed. The CPT coupling mechanism model is shown in Figure 3. The first CPT transmitting plate 202a, the second CPT transmitting plate 202b, the first CPT receiving plate 202e, and the second CPT receiving plate 202f are all 2mm thick aluminum plates. The first dielectric plate 202c and the second dielectric plate 202d are both made of 2mm thick quartz as dielectric.

[0109] The first CPT emitting electrode 202a has a size of 500mm × 500mm, the second CPT emitting electrode 202b has a size of 500mm × 247mm, and the first CPT receiving electrode 202e and the second CPT receiving electrode 202f both have a size of 200mm × 10mm. In order to reduce eddy current loss in IPT mode, the IPT coil is placed above the emitting electrode, and the aluminum electrode plate on the outside of the coil can also serve as a magnetic shield for the coil.

[0110] The system was simulated using the above parameters, and the simulation results were analyzed.

[0111] The terminal potentials of the four plates were set up and the parameterized scanning study was carried out. The matrix calculation results are shown in Figure 12. The six cross-coupling capacitance values ​​are 2367.4pF, 56.489pF, 0.14348pF, 0.09184pF, 56.071pF and 0.0026398pF respectively.

[0112] Referring to Figure 13, and considering safety issues, the leakage electric field strength at 850 kHz should be less than 614 V / m. The plate voltage value was substituted into the finite element simulation model to obtain the electric field strength distribution.

[0113] Based on the mathematical model and equivalent circuit derivation of the quadrupole coupling mechanism, the coupling self-capacitance (C1, C2) and coupling mutual capacity (C1, C2) corresponding to the CPT system can be obtained. M Concepts such as ) and their expressions:

[0114] It can be seen that because the area of ​​the primary-side coupling plate is relatively large compared to the secondary-side plate, it plays a major role in the six cross-coupling capacitance values. The values ​​of C1 and C... 12 The values ​​are not significantly different, so we can calculate that k c =0.1080, C ip =0.9883C1=2367.6pF.

[0115] Referring to Figure 14, if the CPT coupling mechanism and the IPT coupling mechanism are considered as a whole, a common resonant network of LC can be added at the front end. After the IPT and CPT coupling mechanisms are determined, Lp and C fp The value of L is thus determined, therefore the value of L in the common LC resonant network can be determined. fp and C p value.

[0116] As shown in the aforementioned COMSOL simulation, the coupling capacitance between the emitter plates of the CPT system is C. fp =C 12 = 2.3674nF, setting the self-inductance L of the transmitting coil of the UAV IPT system. p =28uH, the operating frequency of the IPT and CPT systems is taken as 850kHz, and C can be calculated. p =2.658nF, L fp =13.19uH.

[0117] Analysis of system transmission performance based on the above parameters:

[0118] Referring to Figures 15 and 16, the equivalent model of the system with IPT-CPT multiplexing function mentioned above was simulated using Simulink to obtain the inverter output waveform and output voltage and current waveforms in IPT mode and CPT mode. The system can achieve stable power output in both IPT mode and CPT mode.

[0119] In summary, by setting up a drone charging station that simultaneously supports both IPT and CPT charging methods, wireless charging can be provided for drones using the corresponding charging methods. When an IPT drone lands on the charging station platform, the IPT transmitting coil charges the drone. When a CPT drone lands on the charging station, the CPT transmitting plate charges the drone. The self-inductance formed by the coil and the self-capacitance formed by the plate resonate with the common resonant compensation topology. That is, IPT and CPT have multiplexing functions, and the charging mode can be switched arbitrarily between IPT mode and CPT mode to charge a specific drone, which has stronger versatility.

[0120] The remaining structure is the same as that in Example 2.

[0121] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure performing the function described herein, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0122] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the currently considered best mode for carrying out the invention, or those features that are not relevant to implementing the invention) may be omitted.

[0123] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An unmanned wireless charging system of IPT-CPT multiplexing, characterized by: The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle.

2. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 1, characterized in that: The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle.

3. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 2, characterized in that: The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle.

4. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 3, characterized in that: The application relates to a charging device for an unmanned aerial vehicle.

5. The IPT-CPT multiplexed unmanned wireless charging system of claim 4, wherein: The application relates to a charging device for an unmanned aerial vehicle.

6. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 5, characterized in that: The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle.

7. An unmanned wireless charging system for IPT-CPT multiplexing according to claim 5 or 6 characterised in that: The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. 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The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device for an unmanned aerial vehicle. The application relates to a charging device The transmitting end specifically comprises an IPT transmitting coil (103b), a first CPT transmitting electrode plate (202a) and a second CPT transmitting electrode plate (202b); The first CPT receiving electrode plate (202e) and the second CPT receiving electrode plate (202f) are respectively connected to two supporting legs at the lower end of the UAV (203), and the first CPT receiving electrode plate (202e) and the second CPT receiving electrode plate (202f) are respectively opposite to the first horizontal plate (202a-1) and the second CPT transmitting electrode plate (202b).

8. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 7, characterized in that: The transmitting end further comprises a DC power supply, a high-frequency inverter and a primary side compensation network connected in sequence; The primary side compensation network comprises a primary side compensation inductor L fp and a primary side compensation capacitor C p , one end of the primary side compensation inductor L fp is connected with one output end of the high frequency inverter, the other end of the primary side compensation inductor L fp is connected with the primary side compensation capacitor C p and the other end of the IPT transmitting coil (103b), the other end of the primary side compensation capacitor C p is connected with the other output end of the high frequency inverter and the second CPT transmitting plate (202b).

9. The unmanned wireless charging system of IPT-CPT multiplexing according to claim 8, characterized in that: The receiving end IPT receiving end and CPT receiving end, the IPT receiving end specifically includes IPT receiving coil (204), side compensation network and secondary rectifier, the output end of the secondary rectifier and load R L Connection; The first CPT emitter plate (202a) and the second CPT emitter plate (202b) constitute a primary side compensation inductor C fp , the primary side compensation inductor L fp , the primary side compensation inductor C p and the primary side compensation inductor C fp constitute a primary side LCC compensation network; The secondary side compensation network is a secondary side LCC compensation network symmetrically arranged with the primary side LCC compensation network; The CPT receiving end comprises a first CPT receiving electrode plate (202e), a second CPT receiving electrode plate (202f), a secondary side compensation network and a secondary rectifier; The first CPT receiving electrode plate (202e) and the second CPT receiving electrode plate (202f) are connected with two inputs of the secondary side compensation network respectively, an output of the secondary side compensation network is connected with a secondary rectifier, an output of the secondary rectifier is connected with a load R L Connection; The primary side compensation inductor L fp The primary side compensation inductor C p and the IPT transmitting coil (103b) constitute a primary side LCL compensation network, and the secondary side compensation network is a secondary side LCL compensation network symmetrically arranged with the primary side LCL compensation network.

10. An unmanned wireless charging system application method of IPT-CPT multiplexing, characterized in that: The IPT-CPT multiplexing unmanned wireless charging system comprising the IPT-CPT multiplexing unmanned wireless charging system of any one of claims 1-9 further comprises, When the UAV (203) is loaded with the IPT receiving end, the IPT receiving coil (204) of the UAV (203) is coupled with the IPT transmitting coil (103b) to charge, and the first CPT transmitting electrode plate (202a) and the second CPT transmitting electrode plate (202b) constitute a primary side compensation capacitor; When the UAV (203) is loaded with the CPT receiving end, the first CPT receiving electrode plate (202e) and the second CPT receiving electrode plate (202f) of the UAV (203) are respectively opposite to the first CPT transmitting electrode plate (202a) and the second CPT transmitting electrode plate (202b) to be coupled to charge, at this time, the IPT transmitting coil (103b) serves as a primary side compensation inductor; When the IPT UAV (203) stops in the nest for charging, the high-frequency alternating magnetic field generated by the coil is captured by the IPT UAV (203) and induces a high-frequency alternating voltage; When the CPT UAV (203) stops in the nest for charging, the high-frequency alternating electric field generated by the transmitting electrode plate is captured by the receiving electrode plate at the UAV end of the CPT (203) and induces a high-frequency alternating voltage into the resonance compensation circuit of the receiving end.

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