阅读说明：本技术 无人安防组合设备的无线充电方法及系统 (Wireless charging method and system for unmanned security combination equipment ) 是由 李云辉 祝可嘉 江俊 卢杰 于 2021-09-03 设计创作，主要内容包括：本发明涉及一种无人安防组合设备的无线充电方法及系统,该方法包括如下步骤：于地面设置充电桩；于安防机器人上设置可与充电桩耦合连接的第一无线电能接收模块,以进行无线充电；于安防机器人上设置供停放无人机的停机坪；于停机坪上设置第二无线电能发射模块；于无人机上设置可与第二无线电能发射模块耦合连接的第二无线电能接收模块,进而为无人机进行无线充电。本发明的无线充电方法实现了为无人机进行无线充电,让无人机可以边飞边充电,还可以停在安防机器人的停机坪上进行无线充电,提高了无人机的续航时间,延长了无人机和安防机器人的巡逻工作时间,能够较好的完成地面和空中侦查巡逻任务。(The invention relates to a wireless charging method and a wireless charging system for unmanned security combination equipment, wherein the method comprises the following steps: arranging a charging pile on the ground; a first wireless electric energy receiving module which can be coupled with a charging pile is arranged on the security robot to carry out wireless charging; arranging an apron for parking the unmanned aerial vehicle on the security robot; arranging a second wireless power transmitting module on the parking apron; set up on unmanned aerial vehicle can with second wireless power receiving module of second wireless power transmitting module coupling connection, and then carry out wireless charging for unmanned aerial vehicle. The wireless charging method provided by the invention realizes wireless charging of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be charged while flying, and can also be stopped on a parking apron of the security robot for wireless charging, thereby improving the endurance time of the unmanned aerial vehicle, prolonging the patrol working time of the unmanned aerial vehicle and the security robot, and being capable of better completing ground and aerial patrol tasks.)

1. A wireless charging method of unmanned security combination equipment comprises an unmanned aerial vehicle and a security robot, and is characterized by comprising the following steps:

arranging a charging pile on the ground, wherein the charging pile comprises a first radio energy transmitting module;

a first radio energy receiving module which can be coupled with the first radio energy transmitting module is arranged on the security robot, and the security robot is wirelessly charged through the first radio energy transmitting module and the first radio energy receiving module;

arranging an apron for parking the unmanned aerial vehicle on the security robot;

arranging a second wireless power transmitting module on the parking apron; and

set up on the unmanned aerial vehicle can with second wireless power receiving module of second wireless power emission module coupling connection, and then pass through second wireless power emission module with second wireless power receiving module does unmanned aerial vehicle carries out wireless charging.

2. The wireless charging method for an unmanned aerial vehicle emplacement assembly as claimed in claim 1, further comprising:

monitoring the electric quantity of the unmanned aerial vehicle in real time, and judging the electric quantity of the unmanned aerial vehicle;

when the electric quantity of the unmanned aerial vehicle is lower than a set value, controlling the unmanned aerial vehicle to fly above the second wireless electric energy transmitting module for wireless charging;

when the electric quantity of the unmanned aerial vehicle is lower than a limit value, the unmanned aerial vehicle is controlled to park on the parking apron for wireless charging.

3. The wireless charging method for the placement and assembly of the unmanned aerial vehicle as claimed in claim 1, wherein the coupling strength between the second wireless power transmitting module and the second wireless power receiving module is monitored in real time while the unmanned aerial vehicle is wirelessly charged;

and judging whether the coupling strength obtained by monitoring exceeds a preset range, if so, controlling and adjusting the position of the unmanned aerial vehicle until the coupling strength is in the preset range.

4. The wireless charging method for the unmanned aerial vehicle emplacement assembly as claimed in claim 1, wherein when a second wireless power transmitting module is provided, the second wireless power transmitting module is installed on the apron through a displacement adjusting mechanism;

and adjusting the position of the second wireless power transmitting module through the displacement adjusting mechanism so that the second wireless power transmitting module corresponds to the second wireless power receiving module.

5. The wireless charging method of an unmanned aerial vehicle emplacement assembly as defined in claim 4, further comprising:

monitoring the charging voltage of the unmanned aerial vehicle during wireless charging in real time;

and judging whether the charging voltage exceeds a set voltage range, if so, adjusting the position of the second wireless electric energy transmitting module through the displacement adjusting mechanism until the charging voltage is within the set voltage range.

6. The utility model provides a wireless charging system of unmanned security combination equipment, unmanned security combination equipment includes unmanned aerial vehicle and security protection robot, its characterized in that, wireless charging system includes:

the charging pile is arranged on the ground and comprises a first radio energy transmitting module;

the first wireless electric energy receiving module is arranged on the security robot and can be coupled with the first wireless electric energy transmitting module, and the security robot is wirelessly charged through the first wireless electric energy receiving module and the first wireless electric energy transmitting module;

the parking apron is arranged on the security robot and used for parking the unmanned aerial vehicle;

the second wireless power transmitting module is arranged at the parking apron; and

locate on the unmanned aerial vehicle and can with second wireless power emission module coupling second wireless power receiving module, through second wireless power receiving module with second wireless power emission module does unmanned aerial vehicle carries out wireless charging.

7. The wireless charging system of the unmanned security combination equipment of claim 6, further comprising an electric quantity monitoring unit and a processing unit arranged on the unmanned aerial vehicle, wherein the processing unit is connected with the electric quantity monitoring unit;

the electric quantity monitoring unit is used for monitoring the electric quantity of the unmanned aerial vehicle in real time;

the processing unit is used for judging the electric quantity of the unmanned aerial vehicle, and when the electric quantity of the unmanned aerial vehicle is lower than a set value, the unmanned aerial vehicle is controlled to fly above the second wireless power transmitting module for wireless charging;

when the electric quantity of the unmanned aerial vehicle is lower than a limit value, the unmanned aerial vehicle is controlled to park on the parking apron for wireless charging.

8. The wireless charging system of the unmanned security combination equipment of claim 6, further comprising an intensity detection unit and a processing unit arranged on the unmanned aerial vehicle, wherein the processing unit is connected with the intensity detection unit;

the strength detection unit is used for detecting the coupling strength between the second wireless power transmitting module and the second wireless power receiving module in real time;

the processing unit is used for judging whether the coupling strength exceeds a preset range, and if so, controlling and adjusting the position of the unmanned aerial vehicle until the coupling strength is within the preset range.

9. The wireless charging system for unmanned security combination according to claim 6, wherein the second wireless power transmitting module is installed on the parking apron through a displacement adjusting mechanism, and the position of the second wireless power transmitting module is adjusted through the displacement adjusting mechanism so that the second wireless power transmitting module corresponds to the second wireless power receiving module.

10. The wireless charging system of the unmanned security combination equipment of claim 9, further comprising a voltage monitoring unit disposed on the unmanned aerial vehicle and a control unit disposed on the apron and in control connection with the displacement adjustment mechanism, wherein the control unit is connected with the voltage detection unit;

the voltage detection unit is used for detecting the charging voltage of the unmanned aerial vehicle during wireless charging in real time;

the control unit is used for judging whether the charging voltage exceeds a set voltage range, and if so, the displacement adjusting mechanism is controlled to adjust the position of the second wireless electric energy transmitting module until the charging voltage is within the set voltage range.

Technical Field

The invention relates to the technical field of wireless charging, in particular to a wireless charging method and a wireless charging system for unmanned security combination equipment.

Background

With the progress of science and technology, people have stronger safety awareness, use unmanned investigation equipment to carry out security and protection work, have the special advantage that the manpower does not possess in the aspects such as environmental reply, powerful. The security robot is also called a security robot, and is a robot which assists human beings to complete security protection work in a semi-autonomous or autonomous manner or under the complete control of the human beings. Drone refers to an unmanned aircraft that operates with a radio remote control device and self-contained program control means or is operated completely or intermittently autonomously by an on-board computer. The security robot carries the unmanned aerial vehicle to form unmanned security combined equipment, and when the equipment operates, the security robot carries out investigation on the ground, and the unmanned aerial vehicle executes aerial patrol tasks, so that ground and aerial full-coverage investigation tasks can be completed.

However, the duration of the unmanned aerial vehicle is short, usually between 25 minutes and 30 minutes, that is, the unmanned aerial vehicle needs to stop for charging after flying for 30 minutes, so that the service time of the unmanned security combination equipment is limited, and the wide popularization of the unmanned security combination equipment is further limited.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides a wireless charging method and a wireless charging system for unmanned security combination equipment, and solves the problem that the existing unmanned security combination equipment is limited in service time due to short endurance time of an unmanned aerial vehicle, so that the popularization of the unmanned security combination equipment is influenced.

The technical scheme for realizing the purpose is as follows:

the invention provides a wireless charging method of unmanned security combination equipment, the unmanned security combination equipment comprises an unmanned aerial vehicle and a security robot, and the wireless charging method comprises the following steps:

arranging a charging pile on the ground, wherein the charging pile comprises a first radio energy transmitting module;

a first radio energy receiving module which can be coupled with the first radio energy transmitting module is arranged on the security robot, and the security robot is wirelessly charged through the first radio energy transmitting module and the first radio energy receiving module;

arranging an apron for parking the unmanned aerial vehicle on the security robot;

arranging a second wireless power transmitting module on the parking apron; and

set up on the unmanned aerial vehicle can with second wireless power receiving module of second wireless power emission module coupling connection, and then pass through second wireless power emission module with second wireless power receiving module does unmanned aerial vehicle carries out wireless charging.

According to the wireless charging method, the second wireless power transmitting module is arranged on the security robot and can be coupled with the second wireless power receiving module arranged on the unmanned aerial vehicle, so that the unmanned aerial vehicle can be charged wirelessly, the unmanned aerial vehicle can be charged while flying, the security robot can also be parked on a parking apron of the security robot for wireless charging, the cruising time of the unmanned aerial vehicle is prolonged, the patrol working time of the unmanned aerial vehicle and the security robot is prolonged, and ground and aerial patrol tasks can be completed well.

The invention further improves the wireless charging method for placing the combined equipment on the unmanned aerial vehicle, and further comprises the following steps:

monitoring the electric quantity of the unmanned aerial vehicle in real time, and judging the electric quantity of the unmanned aerial vehicle;

when the electric quantity of the unmanned aerial vehicle is lower than a set value, controlling the unmanned aerial vehicle to fly above the second wireless electric energy transmitting module for wireless charging;

when the electric quantity of the unmanned aerial vehicle is lower than a limit value, the unmanned aerial vehicle is controlled to park on the parking apron for wireless charging.

The wireless charging method for the unmanned aerial vehicle to place the combined equipment is further improved in that when the unmanned aerial vehicle is wirelessly charged, the coupling strength between the second wireless power transmitting module and the second wireless power receiving module is monitored in real time;

and judging whether the coupling strength obtained by monitoring exceeds a preset range, if so, controlling and adjusting the position of the unmanned aerial vehicle until the coupling strength is in the preset range.

The wireless charging method for the unmanned aerial vehicle to place the combined equipment is further improved in that when a second wireless power transmitting module is arranged, the second wireless power transmitting module is arranged on the parking apron through a displacement adjusting mechanism;

and adjusting the position of the second wireless power transmitting module through the displacement adjusting mechanism so that the second wireless power transmitting module corresponds to the second wireless power receiving module.

The invention further improves the wireless charging method for placing the combined equipment on the unmanned aerial vehicle, and further comprises the following steps:

monitoring the charging voltage of the unmanned aerial vehicle during wireless charging in real time;

and judging whether the charging voltage exceeds a set voltage range, if so, adjusting the position of the second wireless electric energy transmitting module through the displacement adjusting mechanism until the charging voltage is within the set voltage range.

The invention also provides a wireless charging system of the unmanned security combination equipment, the unmanned security combination equipment comprises an unmanned aerial vehicle and a security robot, and the wireless charging system comprises:

the charging pile is arranged on the ground and comprises a first radio energy transmitting module;

the first wireless electric energy receiving module is arranged on the security robot and can be coupled with the first wireless electric energy transmitting module, and the security robot is wirelessly charged through the first wireless electric energy receiving module and the first wireless electric energy transmitting module;

the parking apron is arranged on the security robot and used for parking the unmanned aerial vehicle;

the second wireless power transmitting module is arranged at the parking apron; and

locate on the unmanned aerial vehicle and can with second wireless power emission module coupling second wireless power receiving module, through second wireless power receiving module with second wireless power emission module does unmanned aerial vehicle carries out wireless charging.

The wireless charging system of the unmanned security combination equipment is further improved in that the wireless charging system further comprises an electric quantity monitoring unit and a processing unit which are arranged on the unmanned aerial vehicle, and the processing unit is connected with the electric quantity monitoring unit;

the electric quantity monitoring unit is used for monitoring the electric quantity of the unmanned aerial vehicle in real time;

the processing unit is used for judging the electric quantity of the unmanned aerial vehicle, and when the electric quantity of the unmanned aerial vehicle is lower than a set value, the unmanned aerial vehicle is controlled to fly above the second wireless power transmitting module for wireless charging;

when the electric quantity of the unmanned aerial vehicle is lower than a limit value, the unmanned aerial vehicle is controlled to park on the parking apron for wireless charging.

The wireless charging system of the unmanned security combination equipment is further improved in that the wireless charging system further comprises an intensity detection unit and a processing unit which are arranged on the unmanned aerial vehicle, and the processing unit is connected with the intensity detection unit;

the strength detection unit is used for detecting the coupling strength between the second wireless power transmitting module and the second wireless power receiving module in real time;

the processing unit is used for judging whether the coupling strength exceeds a preset range, and if so, controlling and adjusting the position of the unmanned aerial vehicle until the coupling strength is within the preset range.

The wireless charging system of the unmanned security combination equipment is further improved in that the second wireless power transmitting module is mounted on the parking apron through a displacement adjusting mechanism, and the position of the second wireless power transmitting module can be adjusted through the displacement adjusting mechanism so that the second wireless power transmitting module corresponds to the second wireless power receiving module.

The wireless charging system of the unmanned security combination equipment is further improved in that the wireless charging system further comprises a voltage monitoring unit arranged on the unmanned aerial vehicle and a control unit arranged on the parking apron and in control connection with the displacement adjusting mechanism, wherein the control unit is connected with the voltage detecting unit;

the voltage detection unit is used for detecting the charging voltage of the unmanned aerial vehicle during wireless charging in real time;

the control unit is used for judging whether the charging voltage exceeds a set voltage range, and if so, the displacement adjusting mechanism is controlled to adjust the position of the second wireless electric energy transmitting module until the charging voltage is within the set voltage range.

Drawings

Fig. 1 is a schematic structural diagram of a wireless charging system of the unmanned security combination device of the present invention.

Fig. 2 is a schematic structural diagram of a coupling connection between a first radio energy transmitting module and a first radio energy receiving module in a wireless charging system of the unmanned security combination device.

Fig. 3 is a schematic structural diagram of a coupling connection between a second wireless power transmitting module and a second wireless power receiving module in the wireless charging system of the unmanned security combination device.

Fig. 4 is a schematic diagram of a wireless charging system of the unmanned security combination device of the present invention.

Fig. 5 is a schematic diagram of a first wireless power transmitting module and a first wireless power receiving module in the wireless charging system of the unmanned security combination device according to the present invention.

Fig. 6 is a schematic diagram of a second wireless power receiving module in the wireless charging system of the unmanned security combination device of the present invention.

Fig. 7 is a flowchart of a wireless charging method of the unmanned security combination device of the present invention.

Detailed Description

The invention is further described with reference to the following figures and specific examples.

Referring to fig. 1, the invention provides a wireless charging method and system for unmanned security combination equipment, which are used for wirelessly charging an unmanned aerial vehicle and a security robot, so that the unmanned aerial vehicle can be charged and patrolled at the same time, the endurance time of the unmanned aerial vehicle is prolonged, the working time of the unmanned aerial vehicle and the security robot is prolonged, the use requirement can be met, and the problem of short endurance time of the unmanned aerial vehicle is solved. The wireless charging of the invention provides two charging modes for the unmanned aerial vehicle, one mode is charging while flashing, the other mode is charging when the unmanned aerial vehicle stops on a parking apron of the robot, and the unmanned aerial vehicle can detect the air in the charging process. The following describes a wireless charging method and system for the unmanned security combination device according to the present invention with reference to the accompanying drawings.

Referring to fig. 1, a schematic structural diagram of a wireless charging system of the unmanned security combination equipment of the present invention is shown. The wireless charging system of the unmanned security combination equipment of the invention is described with reference to fig. 1.

As shown in fig. 1, the wireless charging system of the unmanned security combination equipment is used for wirelessly charging the unmanned security combination equipment, and the unmanned security combination equipment comprises an unmanned aerial vehicle 11 and a security robot 12, and the wireless charging system of the invention comprises a charging pile 21, a first wireless energy transmitting module 211, a first wireless energy receiving module 22, an airport apron 23, a second wireless energy transmitting module 24 and a second wireless energy receiving module, wherein the charging pile 21 is arranged on the ground, the charging pile 21 comprises the first wireless energy transmitting module 211, and the first wireless energy transmitting module 211 is arranged in the charging pile 21; the first wireless power receiving module 22 is arranged on the security robot 12, the first wireless power receiving module 22 can be coupled with the first wireless power transmitting module 211, and the security robot 12 is wirelessly charged through the first wireless power receiving module 22 and the first wireless power transmitting module 211; the parking apron 23 is arranged on the security robot 12, and the parking apron 23 is used for parking the unmanned aerial vehicle 11; the second wireless power transmitting module 24 is arranged at the apron 23; combine fig. 3 to show, on unmanned aerial vehicle 11 was located to second wireless power receiving module 25, this second wireless power receiving module 25 can with second wireless power transmitting module 24 coupling connection, carry out wireless charging for unmanned aerial vehicle 11 through second wireless power receiving module 25 and second wireless power transmitting module 24.

The unmanned aerial vehicle and the security robot can realize wireless charging, the storage batteries are arranged on the unmanned aerial vehicle and the security robot, and the storage batteries on the unmanned aerial vehicle and the security robot are charged by utilizing the wireless charging, so that power is provided for the unmanned aerial vehicle and the security robot. The charging pile 21 is fixedly arranged on the ground, when the security robot 12 needs to be charged, the security robot is controlled to move to a position close to the charging pile 21 and conduct wireless charging, and after the charging is completed, the security robot executes a ground patrol task. On security protection robot 12 was located to second wireless power emission module 24, unmanned aerial vehicle 11 can fly and carry out wireless charging to this second wireless power emission module 24's top, unmanned aerial vehicle 11 keeps synchronous motion with security protection robot 12 this moment, second wireless power emission module 24 and second wireless power receiving module 25 can let have certain displacement error between unmanned aerial vehicle 11 and security protection robot 12, it also can have higher wireless power transmission efficiency to need not accurate alignment. The unmanned aerial vehicle 11 can also be parked on the parking apron 23 and located above the second wireless power transmitting module 24, and at this time, the security robot 12 carries the unmanned aerial vehicle 11 to perform mobile patrol. Unmanned aerial vehicle 11 is carrying out the in-process that wireless charges, and the camera on unmanned aerial vehicle 11 still can continue to reconnaissance task to its place height, satisfies unmanned aerial vehicle's continuation of the journey function, and can also incessant executive task.

In a specific embodiment of the present invention, as shown in fig. 1, the wireless charging system of the present invention further includes an electric quantity monitoring unit and a processing unit, which are disposed on the unmanned aerial vehicle 11, and the processing unit is connected to the electric quantity monitoring unit; the electric quantity monitoring unit is used for monitoring the electric quantity of the unmanned aerial vehicle 11 in real time; the processing unit is used for judging the electric quantity of the unmanned aerial vehicle 11, and when the electric quantity of the unmanned aerial vehicle 11 is lower than a set value, the unmanned aerial vehicle 11 is controlled to fly above the second wireless power transmitting module 24 for wireless charging; when the electric quantity of the unmanned aerial vehicle 11 is lower than a limit value, the unmanned aerial vehicle 11 is controlled to be parked on the parking apron 23 for wireless charging.

The set value is selected between 30% and 50% of the total electric quantity of the storage battery on the unmanned aerial vehicle, when the actual electric quantity of the unmanned aerial vehicle is lower than the set value, the unmanned aerial vehicle can continuously maintain flight but the time for the unmanned aerial vehicle to continuously fly is short, and in order to meet the requirement for executing aerial reconnaissance tasks, the processing unit controls the unmanned aerial vehicle to execute a mode of charging while fins. The limiting value is selected to be between 3% and 5% of the total electric quantity of the storage battery on the unmanned aerial vehicle, the unmanned aerial vehicle cannot continuously maintain the flight state under the electric quantity, and the processing unit controls the unmanned aerial vehicle to execute a landing charging mode.

Preferably, processing unit sets up on security protection robot 12, is equipped with flight control module on unmanned aerial vehicle 11, and this processing unit and flight control module communication connection, the accessible sends control command and controls flight control module to the realization is to unmanned aerial vehicle 11's control.

Further, when the unmanned aerial vehicle 11 carries out the mode of charging while the fins, the processing unit sends the movement instruction of the security robot to the flight control module of the unmanned aerial vehicle 11, and the flight control module controls the flight of the unmanned aerial vehicle according to the movement direction and the movement speed in the movement instruction, so that the unmanned aerial vehicle and the security robot keep synchronous in movement, and the unmanned aerial vehicle and the security robot reach relative static speeds, thereby ensuring the stability of the wireless charging process.

In a specific embodiment of the present invention, the wireless charging system further includes an intensity detection unit and a processing unit, which are disposed on the unmanned aerial vehicle 11, and the processing unit is connected to the intensity detection unit; the strength detection unit is used for detecting the coupling strength between the second wireless power transmitting module 24 and the second wireless power receiving module in real time; the processing unit is used for judging whether the coupling strength exceeds a preset range, and if so, controlling and adjusting the position of the unmanned aerial vehicle 11 until the coupling strength is within the preset range.

When the processing unit judges the coupling strength, if the coupling strength is in a preset range, the processing unit does not process the coupling strength.

In the wireless charging process, the coupling strength has a certain relation with the charging efficiency, if the coupling strength exceeds a preset range, the charging efficiency is lower, and for ensuring the charging efficiency, the processing unit monitors the coupling strength in a wireless charging process in real time, controls and adjusts the position of the unmanned aerial vehicle, and further realizes that the coupling strength is controlled to be in the preset range.

Preferably, processing unit is when control unmanned aerial vehicle carries out wireless charging, and synchronous control intensity detecting element begins to operate to timely detect the coupling intensity of wireless charging.

In an embodiment of the present invention, the second wireless power transmitting module 24 is mounted on the apron 23 through a displacement adjusting mechanism, and the displacement of the second wireless power transmitting module 24 is adjusted through the displacement adjusting mechanism so that the second wireless power transmitting module 24 corresponds to the second wireless power receiving module 25.

At unmanned aerial vehicle carry out the in-process that wireless charges, security protection robot keeps removing in order lasting work of patrolling, because security protection robot probably has the condition that the road surface is uneven, go and jolt at the patrol in-process, causes unmanned aerial vehicle's wireless charging to take place the counterpoint difficulty. According to the invention, the position of the second wireless electric energy transmitting module 24 is adjusted by arranging the displacement adjusting mechanism, so that the second wireless electric energy transmitting module 24 is adjusted to the position corresponding to the second wireless electric energy receiving module 25, and the rapid alignment calibration is realized.

Preferably, the surface of the apron 23 is horizontal, and the displacement adjusting mechanism disposed on the apron 23 can adjust the lateral position and the longitudinal position of the second wireless power transmitting module 24, so as to calibrate the position of the second wireless power transmitting module 24.

Specifically, the displacement adjusting mechanism includes a pair of transverse rails, a longitudinal rail slidably disposed on the transverse rails, and a support slidably disposed on the longitudinal rail, the support is used for mounting the second wireless power transmitting module 24, the longitudinal rail can perform transverse position adjustment along the transverse rails, and the support can perform longitudinal position adjustment along the longitudinal rails, so that position adjustment of the second wireless power transmitting module 24 is realized.

In a preferred embodiment, the end of the longitudinal rail is provided with a sliding block, the sliding block is slidably arranged in the transverse rail, the transverse rail is provided with a screw rod in threaded connection with the sliding block and a driving motor for driving the screw rod to rotate, the sliding block is adjusted to move back and forth along the screw rod by controlling the rotation of the driving motor, and the screw rod is rotatably arranged in the transverse rail. Similarly, the support is also arranged in the longitudinal rail in a sliding manner through a sliding part, a thread driving rod which is arranged longitudinally and a motor for driving the thread driving rod to rotate are arranged in the longitudinal rail, the thread driving rod is connected with the sliding part in a threaded manner, the thread driving rod is rotatably arranged in the longitudinal rail, and the sliding part is adjusted to move back and forth along the thread driving rod by driving the thread driving rod to rotate through the motor.

In another preferred embodiment, a first air cylinder in driving connection with the longitudinal rail is arranged at the transverse rail, and the longitudinal rail is driven to move back and forth along the transverse rail through telescopic adjustment of the first air cylinder. The second cylinder is arranged at the longitudinal rail and is in driving connection with the support, and the support is driven to move back and forth along the longitudinal rail through the telescopic adjustment of the second cylinder.

Further, be equipped with the support on air park 23, this support is close to displacement adjustment mechanism and sets up, and the top of this support is equipped with the plummer that is located displacement adjustment mechanism top, and this plummer is used for parking unmanned aerial vehicle.

Still further, the wireless charging system of the present invention further includes a voltage detection unit disposed on the unmanned aerial vehicle 11 and a control unit disposed on the apron 23 and in control connection with the displacement adjustment mechanism, and the control unit is connected with the voltage detection unit; the voltage detection unit is used for detecting the charging voltage of the unmanned aerial vehicle during wireless charging in real time; the control unit is used for judging whether the charging voltage exceeds a set voltage range, and if so, the displacement adjusting mechanism is controlled to adjust the position of the second wireless electric energy transmitting module 24 until the charging voltage is within the set voltage range.

Preferably, the charging voltage can reflect the coupling strength of the wireless charging, that is, when the charging voltage changes, the coupling strength also changes correspondingly, in order to ensure the transmission efficiency of the wireless charging, the charging voltage of the wireless charging is monitored in real time, and the position of the second wireless power transmitting module 24 is adjusted by the displacement adjusting mechanism, so that the second wireless power transmitting module 24 corresponds to the second wireless power receiving module, and the charging voltage is ensured to be within a set voltage range.

In a specific embodiment of the invention, the parking apron 23 is installed on the security robot 12 through a lifting adjusting mechanism, the lifting adjusting mechanism can adjust the supporting height of the parking apron 23, and when the unmanned aerial vehicle 11 is parked on the parking apron 23, the height of the unmanned aerial vehicle 11 can be adjusted through the lifting adjusting mechanism, so that the unmanned aerial vehicle can execute aerial investigation tasks.

Preferably, the lifting adjusting mechanism is a driving cylinder, and the driving cylinder drives the apron 23 to perform lifting adjustment through a telescopic adjusting cylinder rod. In another preferred embodiment, the lifting adjustment mechanism is a push rod motor, and the parking apron 23 is driven to lift and adjust by adjusting the push rod in a telescopic manner.

The security robot 12 is provided with a processing unit, and the processing unit controls the lifting adjusting mechanism to operate to adjust the height of the unmanned aerial vehicle after controlling the unmanned aerial vehicle to park on the parking apron 23, so that the unmanned aerial vehicle continues to execute the investigation task.

In a specific embodiment of the present invention, as shown in fig. 4, a schematic diagram of a wireless charging system of the present invention is shown, where a charging pile of the wireless charging system of the present invention is used as a ground transmitting terminal to provide electric energy to a security robot to implement wireless charging, and at this time, the security robot is used as a charging receiving terminal, and the received electric energy exists in a load of the security robot, where the load of the security robot is a battery of the security robot. Lay the battery on the robot and provide the electric energy for unmanned aerial vehicle as the electric energy transmitting terminal, realize wireless charging, unmanned aerial vehicle is as the receiving terminal that charges.

Referring to fig. 5, the first wireless power transmitting module 211 of the present invention includes a PFC, a DC-DC voltage adjusting circuit, a DC-AC inverter circuit, a charging pile resonance coil, a weak current power circuit, and a bluetooth communication circuit, the PFC is connected to a mains supply input, the input mains supply is 220V and 50Hz, the mains supply is rectified and reduced in voltage by the PFC and the DC-DC voltage adjusting circuit to become a DC voltage of 5V to 310V, and then is converted into a high frequency electromagnetic wave of 20kHz to 6.78MHz by the DC-AC inverter circuit, and then is input to the charging pile resonance coil for transmission. The bluetooth communication circuit is used for realizing the transceiving of communication data and realizing the communication between the first radio energy transmitting module 211 and other modules. The weak current power supply circuit is used for realizing the circuit protection function and realizing overcurrent and overvoltage protection.

The first wireless electric energy receiving module comprises a robot resonance coil, an AC-DC rectifying circuit and a DC-DC voltage reduction circuit, the robot resonance coil is coupled with the charging pile resonance coil, receives high-frequency electromagnetic waves, inputs the high-frequency electromagnetic waves into the AC-DC rectifying circuit, converts the high-frequency electromagnetic waves into direct current, outputs the direct current after being regulated and controlled by the DC-DC voltage reduction circuit, and supplies the direct current to a battery for charging the battery of the security robot, and the battery can be 24V, 48V or 72V.

As shown in fig. 6, the second wireless power receiving module includes a DC-DC boost circuit, a DC-AC inverter circuit, a weak current power supply circuit, a bluetooth communication circuit, and a resonance coil of the unmanned aerial vehicle device. The power supply of the second wireless power transmitting module is from a battery of the security robot, the transmitting voltage of the second wireless power transmitting module is 100-300V direct current, and the receiving voltage of the second wireless power receiving module is 12-48V alternating current. The output signal of the second receiving end resonance coil at the second wireless power receiving module is a low-voltage direct-current signal, and the output signal can be supplied to the load of the unmanned aerial vehicle for use after passing through the booster circuit and the inverter circuit.

As shown in fig. 2, the first radio energy transmitting module 211 includes a first non-resonant coil 2111 and a first resonant coil 2112, the first non-resonant coil 2111 is coupled to the first resonant coil 2112 to serve as a transmitting end of radio energy, and the first radio energy receiving module 22 includes a first receiving end resonant coil 221, and the first receiving end resonant coil 221 is coupled to the first resonant coil 2112. Wherein the first non-resonant coil 2111 and the first resonant coil 2112 have a coil size of 240mm × 240mm, the first receiving-end resonant coil 221 has a size of 150mm × 150mm, the first non-resonant coil 2111, the first resonant coil 2112 and the first receiving-end resonant coil 221 are all square coils, the first non-resonant coil 2111 is a single-layer square coil having 5 turns, the first resonant coil 2112 and the first receiving-end resonant coil 221 are double-layer square coils having 10 turns, the eigenfrequencies of the two coils are the same, the working frequencies of the receiving end and the transmitting end are a single frequency, the eigenfrequency of the single-frequency resonant coil is a certain value within 58kHz ± 10%, the transmission of radio energy is realized at the frequency, the transmission efficiency of electric energy can be maximized, and a certain offset distance, rotation angle and transmission distance can be provided between the two resonant coils, wherein the horizontal offset distance can be + -70 mm, the rotation angle can be 0 DEG to 30 DEG, and the transmission distance can be 0 to 70 mm.

As shown in fig. 3, the second wireless power transmitting module 24 includes a second non-resonant coil 241 and a second resonant coil 242, the second wireless power receiving module 25 includes a second receiving end resonant coil 251, and the second non-resonant coil 241 and the second resonant coil 242 are coupled to serve as a transmitting end; the second receiving-end resonance coil 251 is coupled to the second resonance coil 242 to serve as a receiving end. The second non-resonant coil 241, the second resonant coil 242, and the second receiving-end resonant coil 251 are all single-layer circular coils, the number of the second non-resonant coil 241 is 3 turns, and the number of the second resonant coil 242 and the second receiving-end resonant coil 251 is 6 turns. The second non-resonant coil 241 and the second resonant coil 242 have a size of 240mm, and the second receiving-end resonant coil 251 has a size of 180 mm. The eigenfrequency of the second resonance coil 242 and the second receiving-end resonance coil 251 is the same. The input signals of the second non-resonant coil 241 and the second resonant coil 242 are low-voltage direct-current signals formed by a transmitting circuit, and the operating frequency is 1 MHz.

The invention also provides a wireless charging method of the unmanned security combination equipment, which is explained below.

As shown in fig. 7, the wireless charging method of the present invention is used for wirelessly charging an unmanned aerial vehicle and a security robot, and includes the following steps:

step S101 is executed, a charging pile is arranged on the ground, and the charging pile comprises a first radio energy transmitting module; then, step S102 is executed;

step S102 is executed, a first wireless electric energy receiving module which can be coupled and connected with a first wireless electric energy transmitting module is arranged on the security robot, and then the security robot is charged wirelessly through the first wireless electric energy transmitting module and the first wireless electric energy receiving module; then, step S103 is executed;

step S103 is executed, and an apron for parking the unmanned aerial vehicle is arranged on the security robot; then, step S104 is executed;

step S104 is executed, and a second wireless power transmitting module is arranged on the parking apron; then, step S104 is executed;

and step S104 is executed, a second wireless power receiving module which can be coupled with the second wireless power transmitting module is arranged on the unmanned aerial vehicle, and then the unmanned aerial vehicle is wirelessly charged through the second wireless power transmitting module and the second wireless power receiving module.

Preferably, the first wireless power transmitting module, the first wireless power receiving module, the second wireless power transmitting module and the second wireless power receiving module in the wireless charging method of the present invention have the same structure and principle as those in the wireless charging system, and reference may be made to the description in the wireless charging system for details, which are not repeated herein.

In a specific embodiment of the present invention, the wireless charging method further includes:

monitoring the electric quantity of the unmanned aerial vehicle in real time, and judging the electric quantity of the unmanned aerial vehicle;

when the electric quantity of the unmanned aerial vehicle is lower than a set value, controlling the unmanned aerial vehicle to fly above the second wireless electric energy transmitting module for wireless charging;

when the electric quantity of the unmanned aerial vehicle is lower than a limit value, the unmanned aerial vehicle is controlled to park on the parking apron for wireless charging.

In a specific embodiment of the invention, when the unmanned aerial vehicle is wirelessly charged, the coupling strength between the second wireless power transmitting module and the second wireless power receiving module is monitored in real time;

and judging whether the coupling strength obtained by monitoring exceeds a preset range, if so, controlling and adjusting the position of the unmanned aerial vehicle until the coupling strength is within the preset range.

In one embodiment of the invention, when the second wireless power transmitting module is arranged, the second wireless power transmitting module is arranged on the parking apron through a displacement adjusting mechanism;

the position of the second wireless power transmitting module is adjusted through the displacement adjusting mechanism so that the second wireless power transmitting module corresponds to the second wireless power receiving module.

In a specific embodiment of the present invention, the wireless charging method further includes:

monitoring the charging voltage of the unmanned aerial vehicle during wireless charging in real time;

and judging whether the charging voltage exceeds a set voltage range, if so, adjusting the position of the second wireless electric energy transmitting module through the displacement adjusting mechanism until the charging voltage is within the set voltage range.

While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.