阅读说明：本技术 一种充电停机坪及无人机充电系统 (Charging parking apron and unmanned aerial vehicle charging system ) 是由 吴忠深 梁昌豪 洪鹤隽 黄义钟 于 2019-09-23 设计创作，主要内容包括：本发明提供了一种充电停机坪,其特征在于,所述充电停机坪包括停机平台、充电供电模块和相互绝缘的充电正极电极板、充电负极电极板；所述充电正极电极板和充电负极电极板对称设置在所述停机平台顶面上,所述充电供电模块分别与所述充电供电模块、充电正极电极板电性连接。该充电停机坪上设置有充电电极板,相应的自动充电无人机停泊在该充电停机坪上时即可实现自动化充电,具有良好的实用性。另外,本发明还提供了一种无人机充电系统。(The invention provides a charging parking apron which is characterized by comprising a parking platform, a charging power supply module, a charging positive electrode plate and a charging negative electrode plate, wherein the charging positive electrode plate and the charging negative electrode plate are insulated from each other; the charging positive electrode plate and the charging negative electrode plate are symmetrically arranged on the top surface of the shutdown platform, and the charging power supply module is electrically connected with the charging power supply module and the charging positive electrode plate respectively. Be provided with the plate electrode that charges on this charging parking apron, corresponding automatic unmanned aerial vehicle that charges can realize automatic charging when berthing on this charging parking apron, has good practicality. In addition, the invention also provides an unmanned aerial vehicle charging system.)

1. The charging parking apron is characterized by comprising a parking platform, a charging power supply module, a charging positive electrode plate and a charging negative electrode plate which are insulated from each other;

the charging positive electrode plate and the charging negative electrode plate are symmetrically arranged on the top surface of the shutdown platform, and the charging power supply module is electrically connected with the charging power supply module and the charging positive electrode plate respectively.

2. The charging apron of claim 1, wherein the positive charging electrode plate is semi-circular or rectangular;

the charging negative electrode plate is in a semicircular ring shape or a rectangular shape.

3. The charging apron of claim 1, wherein the charging apron further comprises an apron handling module, three or more ultrasonic receiving modules and an apron communication module;

the more than three ultrasonic receiving modules are respectively and electrically connected with the apron processing module, and the apron communication module is electrically connected with the apron processing module;

any one of the three or more ultrasonic receiving modules comprises an ultrasonic receiving head;

the ultrasonic receiving heads are arranged on the shutdown platform, and the ultrasonic receiving heads of the more than three ultrasonic receiving modules are not arranged on the same straight line.

4. The charging apron of claim 3, wherein the apron communication module is a wireless transmission module.

5. The charging apron according to any one of claims 1 to 3, characterized in that the charging apron further comprises an apron box with an open top, a lifting drive module, an opening-closing cover plate and an opening-closing drive module;

the parking platform is arranged in the parking apron box body, and the lifting driving module drives the parking platform to lift in the parking apron box body;

the opening and closing cover plate is arranged on the top surface of the parking apron box body, and the opening and closing driving module drives the opening and closing cover plate to be opened or closed.

6. The charging apron of claim 5, wherein the charging power module comprises a photovoltaic panel arranged on a top surface of the opening-closing cover panel.

7. The charging apron of claim 5, further comprising a plurality of support rails, any of which are vertically disposed within the apron tank;

the lifting driving module drives the shutdown platform to move along the plurality of supporting slide rails.

8. The charging apron according to claim 5, wherein the opening cover comprises a first opening cover and a second opening cover, and the opening drive module comprises a first opening drive module and a second drive module;

the charging parking apron further comprises a plurality of opening and closing guide rails, any opening and closing guide rail in the plurality of opening and closing guide rails is arranged on the top surface of the box body of the parking apron along the horizontal direction, and the first opening and closing cover plate and the second opening and closing cover plate are respectively matched on the plurality of opening and closing guide rails;

the first opening and closing driving module drives the first opening and closing cover plate to move along the plurality of opening and closing guide rails;

the second opening and closing driving module drives the second opening and closing cover plate to move along the plurality of opening and closing guide rails.

9. An unmanned aerial vehicle charging system, the charging system comprising a charging apron and an automatically charging unmanned aerial vehicle of any one of claims 1 to 8.

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a charging parking apron and an unmanned aerial vehicle charging system.

Background

There is one type of unmanned aerial vehicle to adopt to insert electric charge mode to charge to the battery on the existing market, nevertheless adopts to insert electric charge mode to charge to the battery, needs the user additionally to carry out the operation that the charging wire was inserted, and the user need extract the charging wire after the completion of charging, and the process is comparatively loaded down with trivial details.

Disclosure of Invention

Aiming at the problem that the existing unmanned aerial vehicle is not enough in charging convenience, the invention provides a charging parking apron and an unmanned aerial vehicle charging system.

Correspondingly, the invention provides a charging parking apron which comprises a parking platform, a charging power supply module, a charging positive electrode plate and a charging negative electrode plate, wherein the charging positive electrode plate and the charging negative electrode plate are insulated from each other;

the charging positive electrode plate and the charging negative electrode plate are symmetrically arranged on the top surface of the shutdown platform, and the charging power supply module is electrically connected with the charging power supply module and the charging positive electrode plate respectively.

In an optional embodiment, the charging positive electrode plate is semi-circular or rectangular;

the charging negative electrode plate is in a semicircular ring shape or a rectangular shape.

In an optional embodiment, the charging apron further comprises an apron processing module, more than three ultrasonic receiving modules and an apron communication module;

the more than three ultrasonic receiving modules are respectively and electrically connected with the apron processing module, and the apron communication module is electrically connected with the apron processing module;

any one of the three or more ultrasonic receiving modules comprises an ultrasonic receiving head;

the ultrasonic receiving heads are arranged on the shutdown platform, and the ultrasonic receiving heads of the more than three ultrasonic receiving modules are not arranged on the same straight line.

In an optional embodiment, the apron communication module is a wireless transmission module.

In an optional embodiment, the charging apron further includes an apron box with an open top surface, a lifting driving module, an opening and closing cover plate and an opening and closing driving module;

the parking platform is arranged in the parking apron box body, and the lifting driving module drives the parking platform to lift in the parking apron box body;

the opening and closing cover plate is arranged on the top surface of the parking apron box body, and the opening and closing driving module drives the opening and closing cover plate to be opened or closed.

In an optional embodiment, the charging and power supplying module comprises a photovoltaic panel, and the photovoltaic panel is arranged on the top surface of the opening and closing cover plate.

In an optional embodiment, the charging apron further includes a plurality of supporting slide rails, and any one of the supporting slide rails is arranged in the apron box body along the vertical direction;

the lifting driving module drives the shutdown platform to move along the plurality of supporting slide rails.

In an optional embodiment, the opening and closing cover plate comprises a first opening and closing cover plate and a second opening and closing cover plate, and the opening and closing driving module comprises a first opening and closing driving module and a second driving module;

the charging parking apron further comprises a plurality of opening and closing guide rails, any opening and closing guide rail in the plurality of opening and closing guide rails is arranged on the top surface of the box body of the parking apron along the horizontal direction, and the first opening and closing cover plate and the second opening and closing cover plate are respectively matched on the plurality of opening and closing guide rails;

the first opening and closing driving module drives the first opening and closing cover plate to move along the plurality of opening and closing guide rails;

the second opening and closing driving module drives the second opening and closing cover plate to move along the plurality of opening and closing guide rails.

Correspondingly, the invention provides an unmanned aerial vehicle charging system which comprises a charging parking apron and the automatic charging unmanned aerial vehicle.

The invention provides a charging parking apron and an unmanned aerial vehicle charging system, wherein a charging electrode plate is arranged on the charging parking apron, and automatic charging can be realized when a corresponding automatic charging unmanned aerial vehicle is parked on the charging parking apron, so that the charging parking apron has good practicability; by arranging the parking apron box body, the parking apron lifting driving module and the opening and closing cover plate, the unmanned aerial vehicle can be ensured to be charged in the box body, the unmanned aerial vehicle is prevented from being exposed in a charging mode in an external environment, and the safety of the unmanned aerial vehicle during charging is improved; the photovoltaic panel is arranged on the unmanned aerial vehicle cover plate, so that the unmanned aerial vehicle can be charged by using solar energy, the charging apron has good cruising performance, and the application range of the charging apron is expanded; correspondingly, based on the unmanned aerial vehicle charging system that this charging air park established, unmanned aerial vehicle charging automation degree is high, and the security is high, and outdoor continuation of the journey performance is better, has good practicality.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 shows a schematic three-dimensional structure of an automatic charging drone according to an embodiment of the invention;

fig. 2 shows a schematic diagram of a charging structure of an automatic charging drone according to an embodiment of the invention;

fig. 3 shows a schematic circuit structure diagram of an automatic charging drone according to an embodiment of the invention;

FIG. 4 is a schematic circuit diagram of an ultrasonic generating module according to an embodiment of the present invention;

FIG. 5 illustrates a schematic three-dimensional structure of a charging apron according to an embodiment of the invention;

FIG. 6 illustrates a charging tarmac charging circuit configuration of an embodiment of the present invention;

FIG. 7 shows a schematic structural diagram of a rectangular charging electrode plate of an embodiment of the present invention;

FIG. 8 is a schematic structural view of a semi-circular charging electrode plate according to an embodiment of the present invention;

FIG. 9 illustrates a schematic structural diagram of an apron handling module of an embodiment of the invention;

FIG. 10 is a schematic diagram of an ultrasonic receiving module according to an embodiment of the present invention;

fig. 11 is a flowchart illustrating a method for guiding the drone to land and charge according to an embodiment of the present invention;

FIG. 12 shows a communication cycle flow diagram of an embodiment of the invention;

FIG. 13 illustrates spatial location Q of an embodiment of the present invention₀(x₀,y₀,z₀) And the flow of the calculation method is schematic.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Automatic unmanned aerial vehicle charges:

fig. 1 shows a schematic diagram of a three-dimensional structure of an automatic charging unmanned aerial vehicle according to an embodiment of the present invention, and an embodiment of the present invention provides an automatic charging unmanned aerial vehicle, which includes an unmanned aerial vehicle body 1 and charging support legs 5;

the number of the charging support legs 5 is more than four, the number of the charging support legs is even, and all the charging support legs are uniformly arranged below the unmanned aerial vehicle body along a circumference;

the charging support leg 5 comprises a support leg body 502 and a charging terminal 501, the upper end of the support leg body 502 is arranged on the unmanned aerial vehicle body 1, and the charging terminal 501 is arranged at the lower end of the support leg body 502;

the unmanned aerial vehicle body has rechargeable battery, charging terminal with rechargeable battery electric connection.

In the embodiment of the invention, the charging terminal 501 is arranged at the lower end of the leg body 502, when the automatic charging unmanned aerial vehicle is parked, charging can be realized as long as the charging terminal 501 is in contact with the charging electrode plate, and the practicability is good.

Optionally, the terminal 501 that charges is based on the spring 503 setting is in the stabilizer blade body 502 lower extreme, on the one hand, spring 503 can provide certain buffering to the terminal 501 that charges, avoids the terminal 501 and stabilizer blade body 502 rigid collision that charges, and on the other hand, spring 503 can provide certain buffering to this unmanned aerial vehicle that charges automatically when descending, improves the adaptability of unmanned aerial vehicle that charges automatically to the parking position.

Fig. 2 shows a schematic diagram of a charging structure of an automatic charging unmanned aerial vehicle according to an embodiment of the present invention.

The rechargeable battery is provided with a charging positive electrode and a charging negative electrode;

the charging terminal is electrically connected with the charging anode based on a first diode, the anode of the first diode is electrically connected with the charging terminal, and the cathode of the first diode is electrically connected with the charging anode;

the charging terminal is electrically connected with the charging cathode based on a second diode, the anode of the second diode is electrically connected with the charging cathode, and the cathode of the second diode is electrically connected with the charging terminal.

Taking the charging terminal a as an example, the charging terminal a is electrically connected to the charging anode based on a first diode D8, the first diode D8 is electrically connected to the charging terminal a, and the first diode D8 has a cathode electrically connected to the charging anode;

the charging terminal a is electrically connected to the charging cathode based on a second diode D1, the anode of the second diode D1 is electrically connected to the charging cathode, and the cathode of the second diode D1 is electrically connected to the charging terminal a.

Through the circuit design mode, when the charging terminal is connected with the positive electrode of an external charging power supply, the corresponding first diode is conducted, and the charging terminal is electrically connected with the charging positive electrode of the rechargeable battery; when the charging terminal is connected with the negative electrode of the external charging power supply, the corresponding second diode is conducted, and the charging terminal is electrically connected with the charging negative electrode of the rechargeable battery. Therefore, the charging terminal cannot damage the rechargeable battery no matter the charging terminal is connected with a positive power supply or a negative power supply, and meanwhile, the matched charging of the unmanned aerial vehicle rechargeable battery can be realized through the arrangement of more than four groups of charging support legs which are even groups and the matched design of the charging parking apron. The specific charging mode of the charging apron is described later by combining the structure of the charging apron.

In the prior art, a complete unmanned aerial vehicle body at least comprises the rechargeable battery, the unmanned aerial vehicle flight control module, the remote control module and the unmanned aerial vehicle driving module, wherein the rechargeable battery is used for supplying power to other modules on the unmanned aerial vehicle body, the remote control module is used for receiving remote control signals of a user, and the unmanned aerial vehicle flight control module is used for driving the unmanned aerial vehicle driving module according to the remote control signals, so that the unmanned aerial vehicle body can move according to the control direction of the user.

Optionally, in order to realize the automatic landing function of the automatic charging unmanned aerial vehicle and enable the automatic charging unmanned aerial vehicle to automatically land on the charging position of the charging parking apron, the automatic charging unmanned aerial vehicle in the embodiment of the invention further comprises an unmanned aerial vehicle processing module, an ultrasonic wave generation module and an unmanned aerial vehicle communication module.

Optionally, the unmanned aerial vehicle that charges automatically still includes power module, power module can be independent of rechargeable battery designs or power module can with rechargeable battery body designs, promptly rechargeable battery can be responsible for power module's power supply function.

The power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are respectively arranged on the unmanned aerial vehicle body, and the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are not unique in arrangement form and in arrangement position, the arrangement positions of the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module are not shown in the attached figure 1 of the embodiment of the invention, and in specific implementation, the power supply module, the unmanned aerial vehicle processing module, the ultrasonic generation module and the unmanned aerial vehicle communication module can be respectively arranged at any position on the unmanned aerial; generally, power module, unmanned aerial vehicle processing module, ultrasonic wave generation module and unmanned aerial vehicle communication module are the same with the setting position that unmanned aerial vehicle flies the accuse.

The power supply module is used for being the unmanned aerial vehicle processing module the ultrasonic wave generation module and the unmanned aerial vehicle communication module carry out direct power supply or indirect power supply, wherein, direct power supply means that the power supply module is direct to the unmanned aerial vehicle processing module, and/or the ultrasonic wave generation module and/or the unmanned aerial vehicle communication module supplies power, and indirect power supply means that the power supply module supplies power to the unmanned aerial vehicle processing module one of them or more module in ultrasonic wave generation module and the unmanned aerial vehicle communication module supplies power, supplies power to the module of not supplying power through the module that has supplied power again. In the embodiment of the present invention, the output terminal of the power supply module in the embodiment of the present invention is 5V.

Optionally, the power module can set up as an organic whole with the rechargeable battery of unmanned aerial vehicle body, promptly by the rechargeable battery of unmanned aerial vehicle body to unmanned aerial vehicle processing module the ultrasonic wave takes place module and unmanned aerial vehicle communication module and supplies power.

Specifically, the ultrasonic wave generation module comprises an ultrasonic wave emitting head 201, and the ultrasonic wave emitting head 201 is arranged at the bottom of the unmanned aerial vehicle body 1; the reason why the ultrasonic wave generating head 201 is arranged at the bottom of the unmanned aerial vehicle body 1 is that when the unmanned aerial vehicle body 1 flies, the shutdown platform is positioned below the unmanned aerial vehicle body 1, and correspondingly, the ultrasonic wave receiving head arranged on the shutdown platform faces the air; in order to guarantee that the ultrasonic receiving head can be better the receipt ultrasonic signal, ultrasonic wave generating head 201 sets up 1 bottom of unmanned aerial vehicle body. Optionally, the surface of the ultrasonic wave generating head 201 is a hemisphere surface, so as to obtain an ultrasonic wave spatial emission angle close to 180 °.

Fig. 3 shows a schematic diagram of a circuit structure of an automatic charging unmanned aerial vehicle according to an embodiment of the present invention, it should be noted that the circuit structure of the automatic charging unmanned aerial vehicle according to the embodiment of the present invention has many implementation manners, and fig. 3 shows only one implementation structure.

The power supply module is electrically connected with the ultrasonic wave generation module, and the ultrasonic wave generation module is used for sending an ultrasonic wave signal to the outside through the ultrasonic wave generation head 201; the unmanned aerial vehicle communication module is used for receiving the position signal sent by the charging apron communication module and feeding back the corresponding position signal to the unmanned aerial vehicle processing module; the power supply module is electrically connected with the unmanned aerial vehicle processing module, the unmanned aerial vehicle processing module is used for receiving position information which is transmitted by the wireless communication module and is related to the unmanned aerial vehicle, the unmanned aerial vehicle processing module processes the position information of the unmanned aerial vehicle, calculates the offset direction and the offset distance between the unmanned aerial vehicle and an accurate landing position, and sends a corresponding control signal to the unmanned aerial vehicle flight control according to the offset direction and the offset distance, so that the unmanned aerial vehicle flight control is separated from a manual control mode, and the unmanned aerial vehicle body 1 is controlled to move to the accurate landing position according to the control signal. This unmanned aerial vehicle that charges automatically breaks away from manual control at the descending in-process, but the automatic descending makes this unmanned aerial vehicle that charges have higher security in the descending stage to the settlement position on charging the air park.

The following describes modules related to the automatic charging unmanned aerial vehicle in the embodiment of the present invention one by one.

A power supply module: the power module generally is rechargeable battery, and is concrete, and the power module can integrate to the rechargeable battery of unmanned aerial vehicle body in, generally, battery voltage is 5V or 12V. In the concrete implementation, power module also can be the same structure with the rechargeable battery of unmanned aerial vehicle body.

An ultrasonic wave generation module: fig. 4 is a schematic circuit diagram of an ultrasonic generating module according to an embodiment of the present invention. The ultrasonic wave generation module of the embodiment of the invention also comprises a pulse signal generator, a switching triode Q1 and a middle-period transformer TS.

One end of a first primary of the middle transformer TS is a low-voltage input end, the low-voltage input end is electrically connected with the power supply module (5V), and the other end of the first primary of the middle transformer TS is electrically connected with a collector of the switching triode Q1;

the base electrode of the switching triode Q1 is connected with the output end of the pulse signal generator, the emitter electrode of the switching triode Q1 is grounded, and in order to adjust the base electrode conducting voltage of the switching triode Q1, a first protective resistor R1 is connected to the base electrodes of the pulse signal generator and the switching triode Q1.

The two ends of the second primary winding of the middle transformer TS are electrically connected to the two poles of the ultrasonic transmitter 201.

Optionally, when the switching transistor Q1 is turned on, the second primary stage of the middle transformer TS generates a positive voltage correspondingly due to a rising edge of the first primary stage, and when the switching transistor Q1 is turned off, the second primary stage of the middle transformer TS generates a negative voltage correspondingly due to a falling edge of the first primary stage, at this time, the ultrasonic transmitter 201 driven by the positive voltage and the negative voltage generates a positive step signal and a negative step signal instead of generating an ideal ultrasonic signal composed of unidirectional step signals, in order to enable the ultrasonic transmitter 201 to transmit an ideal ultrasonic signal, optionally, the ultrasonic generating module further includes a ground resistor R3, and one of poles of the ultrasonic transmitter 201 is grounded through the ground resistor R3. With this embodiment, the voltage in one direction of the second primary side of the intermediate transformer TS is grounded, so that the ultrasonic transmitter head 201 cannot be driven, and the ultrasonic transmitter head 201 can transmit an ideal ultrasonic signal.

Similarly, in order to regulate the voltage across the ultrasound transmitter head 201 and protect the ultrasound transmitter head 201, a second protection resistor R2 is connected in parallel to the two poles of the ultrasound transmitter head 201.

Optionally, the pulse signal generator according to the embodiment of the present invention is configured to generate a unidirectional pulse signal, and the pulse signal controls the on/off of the switching transistor Q1. Alternatively, the pulse signal generator may be a conventional pulse signal generator, and in addition, the pulse signal generator may be integrated into the drone processing module. Specifically, a base electrode of the switching triode Q1 is connected to one of the general input/output interfaces of the unmanned aerial vehicle processing module, and the high and low levels of the general input/output interface are controlled in a software control mode of the unmanned aerial vehicle processing module; in order to ensure the switching speed of the general input/output interface, the processing speed of the unmanned aerial vehicle processing module needs to reach a certain level, and the bus speed needs to meet corresponding conditions. Optionally, correspondingly, the ultrasonic emission frequency of the ultrasonic emission head 201 of the embodiment of the present invention is 40 ± 2KHz, and therefore, the frequency of the pulse signal should also be 40 ± 2 KHz.

Unmanned aerial vehicle communication module: the unmanned aerial vehicle communication module is used for receiving the position information about the automatic charging unmanned aerial vehicle sent by the charging apron communication module. Specifically, unmanned aerial vehicle communication module can be short range communication module, also can be long-range communication module. It is common, short range communication module has bluetooth communication module, WIFI communication module, loRa wireless communication module etc. and long-range communication module has satellite communication module, cellular communication module etc.. Unmanned aerial vehicle communication module and unmanned aerial vehicle processing module electric connection will be related to the information transmission to the unmanned aerial vehicle processing module of the automatic unmanned aerial vehicle position that charges.

Optionally, the unmanned aerial vehicle communication module of the embodiment of the invention is mainly used for receiving the position information about the automatic charging unmanned aerial vehicle sent by the charging apron communication module, so that the unmanned aerial vehicle communication module can be a wireless receiving module to save the manufacturing cost.

Unmanned aerial vehicle processing module: unmanned aerial vehicle processing module is used for receiving the unmanned aerial vehicle's that sends about the automatic unmanned aerial vehicle that charges positional information, the accessible positional information sends control signal to unmanned aerial vehicle flight control, replaces manual remote control operation, makes the automatic unmanned aerial vehicle that charges can descend on the preset position on charging the air park. Optionally, unmanned aerial vehicle processing module includes the treater, and the treater can be for STM32, 51 singlechip etc. have enough general purpose input/output interface's equipment, and is specific, the treater model is STM32F407VGT singlechip chip for the model.