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CN-122009573-A - Unmanned aerial vehicle wireless charging system taking landing gear as receiving coil and control method thereof

CN122009573ACN 122009573 ACN122009573 ACN 122009573ACN-122009573-A

Abstract

The invention relates to the technical field of unmanned aerial vehicle charging, in particular to an unmanned aerial vehicle wireless charging system taking landing gear as a receiving coil and a control method thereof, wherein an unmanned aerial vehicle landing gear body is directly taken as a structural support piece and a wireless charging receiving coil, so that extra additional weight is fundamentally avoided when the unmanned aerial vehicle realizes wireless charging, the unmanned aerial vehicle wireless charging system does not occupy extra space of a machine body, does not influence pneumatic appearance, does not interfere with vision of an airborne camera and a sensor, adopts two receiving coils which are mutually independent and electrically isolated and are formed by left and right landing gears, and is matched with a mode decision and a control method of a transmitting end, when the unmanned aerial vehicle lands and has horizontal offset, a single coil working mode with two coils connected in parallel or on one side with stronger coupling can be automatically selected, circulation loss caused by unbalanced coupling is effectively reduced, the tolerance of the system to Liu Pianyi is remarkably improved, and higher charging efficiency can be maintained under the condition that high-precision positioning assistance is not needed.

Inventors

  • XU ZIYI

Assignees

  • 合肥芯光电源科技有限公司

Dates

Publication Date
20260512
Application Date
20260410

Claims (10)

  1. 1. Unmanned aerial vehicle wireless charging system of undercarriage body as receiving coil, characterized in that includes: The ground emission unit (1) is arranged on the unmanned aerial vehicle landing platform and comprises a double-D-shaped emission coil for generating an alternating magnetic field; The machine-mounted receiving unit (2) is arranged on the unmanned aerial vehicle body and at least comprises one of a left receiving coil and a right receiving coil, wherein the left receiving coil is made of a conductive material and forms a closed loop, and is used as a left landing gear (3) of the unmanned aerial vehicle, the right receiving coil is made of a conductive material and forms a closed loop, and is used as a right landing gear (4) of the unmanned aerial vehicle, and the left receiving coil or the right receiving coil generates induction current under the action of an alternating magnetic field to charge the unmanned aerial vehicle body; And the receiving end control module (5) is connected with the left receiving coil and the right receiving coil and selects at least one of the left receiving coil and the right receiving coil to perform charging control.
  2. 2. The unmanned aerial vehicle wireless charging system of claim 1, wherein the left and right receive coils are rectangular loops, the loop area of which is related to unmanned aerial vehicle fuselage size and electromagnetic coupling requirements, and the left and right receive coils are within the unmanned aerial vehicle fuselage projection range.
  3. 3. The unmanned aerial vehicle wireless charging system of claim 1, wherein the left and right receive coils are at an angle of no more than 25 ° from a vertical plane to a plane in which the alternating magnetic field is located when the unmanned aerial vehicle is parked at the unmanned aerial vehicle landing platform for charging.
  4. 4. The unmanned aerial vehicle wireless charging system of claim 1, wherein the dual D-shaped transmit coil is comprised of two identically shaped D-shaped coils in parallel.
  5. 5. The unmanned aerial vehicle wireless charging system of claim 4, wherein the D-shaped coil has an X-axis dimension that is greater than a sum of a distance between the left and right receiving coils in the X-direction and a preset X-axis allowable offset, and a Y-axis dimension of the D-shaped coil that is greater than a sum of a projection length of the left and right receiving coils in the Y-direction and a preset Y-axis allowable offset.
  6. 6. The unmanned aerial vehicle wireless charging system according to claim 4, wherein a plurality of strip-shaped magnetic cores (6) for guiding magnetic lines are arranged below the double-D-shaped transmitting coil, and the plurality of strip-shaped magnetic cores (6) are uniformly arranged along the Y-axis direction.
  7. 7. The unmanned aerial vehicle wireless charging system of claim 4, wherein the length L and width W of the D-shaped coil satisfy 。
  8. 8. The unmanned aerial vehicle wireless charging system of claim 1, wherein the left and right receive coils are independent of each other and electrically isolated.
  9. 9. A charge control method for the unmanned aerial vehicle wireless charging system of any of claims 1 to 8, comprising: S1, starting a double-D type transmitting coil in a low power mode, and respectively measuring the maximum power of a left receiving coil when the left receiving coil works independently And maximum power of right receiving coil when working alone According to the difference between the two modes and a preset rule, selecting one of a double-coil parallel operation mode, a left-coil single-mode operation mode and a right-coil single-mode operation mode; S2, collecting voltage and current of a rectification output end of the airborne receiving unit in real time to execute an MPPT algorithm, collecting voltage and current of a battery end to execute a charging management algorithm, and taking a smaller value of a duty ratio output by the MPPT algorithm and a duty ratio output by the charging management algorithm as a final duty ratio of the power converter.
  10. 10. The charge control method according to claim 9, wherein the preset rule is: If it is Entering a double-coil parallel operation mode; If it is Entering a left coil single-mode working mode; If it is Entering a right coil single-mode working mode; Wherein, the Is a preset threshold.

Description

Unmanned aerial vehicle wireless charging system taking landing gear as receiving coil and control method thereof Technical Field The invention relates to the technical field of unmanned aerial vehicle charging, in particular to an unmanned aerial vehicle wireless charging system taking landing gear as a receiving coil and a control method thereof. Background Unmanned aerial vehicles are increasingly widely applied to the fields of logistics distribution, inspection and monitoring, agricultural plant protection, emergency rescue and the like, however, the endurance time of the current small and medium-sized commercial unmanned aerial vehicle is generally between 20 and 40 minutes, and the unmanned aerial vehicle becomes a main bottleneck for restricting the long-time operation of the unmanned aerial vehicle. Simply increasing battery capacity can result in increased weight of the drone, affecting flight performance and handling stability, and is therefore not a viable solution. The wireless charging technology provides an effective way for prolonging the endurance time of the unmanned aerial vehicle, and in the existing unmanned aerial vehicle wireless charging technology, a receiving coil is usually installed on an unmanned aerial vehicle body or a landing gear as an additional component, and the wireless charging technology has the defects that (1) additional weight is added, the additional receiving coil and an insulation and fixing structure of the additional receiving coil can increase the take-off weight of the unmanned aerial vehicle, the flying time and the payload capacity are directly influenced, (2) the aerodynamic performance is influenced, the external coil can change the appearance of the unmanned aerial vehicle, wind resistance is increased, the flying stability is influenced, and (3) the airborne equipment is interfered, and the additional coil can shield the sight of key equipment such as a camera and a sensor. Disclosure of Invention Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle wireless charging system taking a landing gear as a receiving coil and a control method thereof, and solves the technical problems that in the existing unmanned aerial vehicle wireless charging technology, the receiving coil is usually arranged on an unmanned aerial vehicle body or the landing gear as an additional component, so that the additional weight of the unmanned aerial vehicle is increased, the aerodynamic performance is influenced and airborne equipment is interfered. In order to solve the technical problems, the invention provides the following technical scheme that an unmanned aerial vehicle wireless charging system taking a landing gear body as a receiving coil comprises: the ground emission unit is arranged on the unmanned aerial vehicle landing platform and comprises a double-D-shaped emission coil for generating an alternating magnetic field; the machine-mounted receiving unit is arranged on the unmanned aerial vehicle body and at least comprises one of a left receiving coil and a right receiving coil, wherein the left receiving coil is made of a conductive material and forms a closed loop, and is used as a left landing gear of the unmanned aerial vehicle; and the receiving end control module is connected with the left receiving coil and the right receiving coil and selects at least one of the left receiving coil and the right receiving coil to perform charging control. Preferably, the left receiving coil and the right receiving coil are rectangular annular, the loop area of the left receiving coil and the right receiving coil is related to the size of the unmanned aerial vehicle body and electromagnetic coupling requirements, and the left receiving coil and the right receiving coil are both in the projection range of the unmanned aerial vehicle body. Preferably, when the unmanned aerial vehicle is parked on the unmanned aerial vehicle landing platform for charging, the included angle between the vertical plane of the plane where the left receiving coil and the right receiving coil are located and the alternating magnetic field is not more than 25 degrees. Preferably, the double-D-shaped transmitting coil is formed by connecting two D-shaped coils with the same shape in parallel. Preferably, the X-axis dimension of the D-shaped coil is greater than the sum of the distance between the left receiving coil and the right receiving coil in the X-direction and the preset allowable offset in the X-axis direction, and the Y-axis dimension of the D-shaped coil is greater than the sum of the projection lengths of the left receiving coil and the right receiving coil in the Y-direction and the preset allowable offset in the Y-axis direction. Preferably, a plurality of ferrite magnetic strips for guiding magnetic lines are arranged below the double-D-shaped transmitting coil, and the ferrite magnetic strips are uniformly arranged along the Y-axis direction. Preferably,