CN117818935A - Unmanned aerial vehicle wireless charging navigation system with multiple information sources integrated - Google Patents

Abstract

The invention discloses a multi-information-source-fused unmanned aerial vehicle wireless charging navigation system, which comprises an electromagnetic positioning navigation module and a laser ranging navigation module, wherein the electromagnetic positioning navigation module is used for controlling an unmanned aerial vehicle to move above a charging platform so as to realize positioning navigation of the unmanned aerial vehicle; and the laser ranging navigation module is used for acquiring the position information of the unmanned aerial vehicle and controlling the transmitting coil on the charging platform to be aligned with the receiving coil on the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle so as to realize wireless charging of the unmanned aerial vehicle. The invention has the advantages of small multipath effect, high precision, low cost, stable operation, no interference from non-magnetic-conductive barriers, no sensitivity to environmental changes, no influence from light, no interference to other sensors and radio frequency communication equipment, and the like.

Description

A multi-source fusion wireless charging navigation system for unmanned aerial vehicles

Technical Field

The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a multi-information source fusion unmanned aerial vehicle wireless charging navigation system.

Background technique

At present, drone technology is developing rapidly, but the limited battery life of drones restricts their application effects such as autonomous cruising operations. Therefore, how to achieve close-range guidance, precise docking and energy replenishment, and effectively improve the cruising operation radius and operation efficiency of drones has become a research hotspot.

The navigation method of drones usually adopts satellite guidance plus inertial guidance. Among them, the accuracy and stability of inertial guidance are poor. In addition, due to the influence of vibration and noise during drone flight, only attitude calculation and extremely short-term displacement calculation can be achieved. The civil positioning accuracy of satellite guidance is generally several meters. Even if the differential positioning technology can keep the positioning accuracy at about 1 meter, it cannot meet the task of drones docking at designated charging platforms during autonomous cruising operations. Especially in environments with multiple obstacles or reflective surfaces such as trees and hillsides, the positioning accuracy will be further reduced. In order to achieve the precise landing of the drone on the charging platform, a close-range positioning and guidance system is also required for assistance.

At present, the commonly used short-range positioning methods include WIFI (Wireless Fidelity) positioning, Bluetooth positioning, UWB (UltraWideband) positioning, ultrasonic positioning, etc. In addition to GPS (Global Positioning System) positioning, WIFI positioning and Bluetooth positioning rely on RSSI (Received Signal Strength Indication) ranging method, with positioning accuracy ranging from 2m to 10m, and the relationship between signal attenuation and distance in RSSI ranging principle is different in different environments and equipment conditions, so the positioning result is not ideal. UWB positioning technology has a high data bandwidth, low transmission power, minimizes the error caused by multipath effect, no carrier, and uses TDOA (Time Difference Of Arrival) and AOA (Angle Of Arrival) indoor positioning system with positioning accuracy of up to 15cm and ranging range of more than 50m. However, the development of high-precision UWB system is difficult and expensive, and UWB signal occupies a wide spectrum, which may interfere with other devices. The distance measured by ultrasonic ranging is greatly affected by multipath effects and non-line-of-sight propagation, and the accuracy of ultrasonic ranging is affected by the Doppler effect and the speed of sound. The positioning error is large and the requirements for the surrounding environment are high. To achieve omnidirectional positioning, a large amount of basic hardware facilities and large-area deployment of sensors are required, which is costly.

Summary of the invention

The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, one purpose of the present invention is to provide a multi-source fusion unmanned aerial vehicle wireless charging navigation system, which has the advantages of small multipath effect, high precision, low cost, stable operation, no interference from non-magnetic obstacles, insensitive to environmental changes, not affected by light, and no interference with other sensors and radio frequency communication equipment.

To achieve the above object, the present invention is implemented through the following technical solutions:

A multi-source fusion unmanned aerial vehicle wireless charging navigation system, comprising:

The electromagnetic positioning and navigation module is used to control the drone to move above the charging platform to achieve drone positioning and navigation;

The laser ranging navigation module is used to obtain the position information of the drone and control the alignment of the transmitting coil on the charging platform and the receiving coil on the drone according to the position information of the drone to realize wireless charging of the drone.

Preferably, the system further comprises:

The charging power monitoring module is used to detect the charging power of the drone after the coil is aligned, determine the charging efficiency according to the charging power, and adjust the position of the transmitting coil to achieve the maximum efficiency when the charging efficiency does not reach the maximum efficiency.

Preferably, the electromagnetic positioning navigation module includes:

An electromagnetic generator, arranged on the charging platform, for emitting electromagnetic positioning pulses;

An electromagnetic sensor, arranged on the UAV, is used to detect the electromagnetic positioning pulse and process it to obtain a three-axis induced voltage matrix;

The first air pressure sensor and the second air pressure sensor are respectively arranged on the electromagnetic generator and the electromagnetic sensor, and are used to detect the air pressure information at the height of the electromagnetic generator and the electromagnetic sensor respectively.

Preferably, the electromagnetic positioning navigation module further includes:

The first controller is arranged on the UAV, and is used to determine the position information and the rotation angle information of the UAV according to the three-axis induced voltage matrix, and determine the relative height between the electromagnetic sensor and the electromagnetic generator according to the air pressure information, and control the UAV to move to a preset height above the charging platform according to the relative height, the position information and the rotation angle information of the UAV.

Preferably, the electromagnetic positioning navigation module further includes:

The calibration barometer is arranged in the air pressure sensor and is used to calibrate the air pressure data.

Preferably, the electromagnetic positioning navigation module further includes:

The PID control unit is used to detect the voltage of the electromagnetic positioning pulse and control the electromagnetic generator when the voltage does not reach a preset voltage so that the electromagnetic sensor can receive the electromagnetic positioning pulse corresponding to the preset voltage, thereby achieving accurate reception of the electromagnetic positioning pulse.

Preferably, the laser ranging navigation module includes:

A laser ranging sensor is arranged on the charging platform and is used to obtain the position information of the UAV located above the charging platform;

A camera module, arranged on the charging platform, for obtaining the position information of the drone through a perspective transformation method;

An adaptive alignment device and a second controller are arranged on the charging platform, and the second controller is used to control the movement of components of the adaptive alignment device according to the drone position information obtained by the laser ranging sensor and the camera module, so that the transmitting coil is adaptively aligned with the receiving coil.

Preferably, the laser ranging navigation module further includes:

The stepper motor is used to drive the components of the adaptive alignment device to move so as to achieve coil alignment.

Preferably, there are multiple electromagnetic generators.

Preferably, the plurality of electromagnetic generators are symmetrically distributed along the center point of the landing area of the charging platform.

The present invention has at least the following technical effects:

The present invention can detect and process the electromagnetic positioning pulse emitted by the electromagnetic generator through an electromagnetic sensor to obtain a three-axis induced voltage matrix, then obtain the relative height of the UAV and the charging platform through an air pressure sensor, and then determine the position information and the rotation angle information of the UAV according to the three-axis induced voltage matrix, and then control the UAV to move to a preset height above the charging platform according to the position information, the rotation angle information and the relative height of the UAV, wherein the present invention also improves the accuracy of the relative height data by calibrating the barometer, and realizes the accurate reception of the electromagnetic positioning pulse through the PID control unit; in addition, after guiding the UAV to move above the charging platform, the present invention also cooperates with the laser ranging sensor and the camera module to obtain the position information of the UAV located above the charging platform to overcome environmental interference, and realizes coil alignment through the stepping motor and the adaptive alignment device, thereby realizing wireless charging of the UAV; and the present invention also realizes charging of the UAV with maximum charging efficiency through the charging power monitoring module.

Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a structural block diagram of a multi-source fusion unmanned aerial vehicle wireless charging navigation system according to an embodiment of the present invention.

FIG. 2 is a schematic diagram showing the working principle of the electromagnetic positioning navigation module according to an embodiment of the present invention.

FIG3 is a schematic diagram showing the working principles of the laser ranging navigation module and the charging power monitoring module according to an embodiment of the present invention.

FIG4 is a schematic diagram showing the working principle of a multi-source fusion unmanned aerial vehicle wireless charging navigation system according to an embodiment of the present invention.

Detailed ways

The present embodiment is described in detail below, and examples of the embodiment are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

A multi-source fusion unmanned aerial vehicle wireless charging navigation system of this embodiment is described below with reference to the accompanying drawings.

Fig. 1 is a block diagram of a multi-source fusion unmanned aerial vehicle wireless charging navigation system according to an embodiment of the present invention. As shown in Fig. 1, the multi-source fusion unmanned aerial vehicle wireless charging navigation system 100 includes an electromagnetic positioning navigation module 10 and a laser ranging navigation module 20 connected thereto.

Among them, the electromagnetic positioning and navigation module 10 first controls the UAV to move above the charging platform to realize the positioning and navigation of the UAV, and then the laser ranging navigation module 20 obtains the UAV position information, and controls the alignment of the transmitting coil on the charging platform and the receiving coil on the UAV according to the UAV position information, thereby realizing wireless charging of the UAV.

In this embodiment, the electromagnetic positioning navigation module 10 includes an electromagnetic generator, an electromagnetic inductor, a first air pressure sensor, a second air pressure sensor, a calibration barometer, a PID control unit (proportional integral differential controller), a control relay and a first controller.

Among them, the electromagnetic generator and the electromagnetic inductor are respectively arranged on the charging platform and the drone, the first air pressure sensor and the second air pressure sensor are respectively arranged on the electromagnetic generator and the electromagnetic inductor, the calibration barometer is arranged in the air pressure sensor, the PID control unit is connected to the electromagnetic generator, and the first controller is arranged on the drone.

Specifically, when the drone enters the range of the charging platform, the electromagnetic generator will emit an electromagnetic positioning pulse, and then the electromagnetic sensor will detect the electromagnetic positioning pulse and process it to obtain a three-axis induced voltage matrix. In this embodiment, the first air pressure sensor and the second air pressure sensor are used to detect the air pressure information at the height of the electromagnetic generator and the electromagnetic sensor, respectively, and the air pressure data is calibrated by a calibration barometer to reduce the height error on the air pressure sensor to a tolerable value.

Furthermore, as shown in FIG2 , the first controller can determine the relative height between the electromagnetic sensor and the electromagnetic generator based on the air pressure data detected by the air pressure sensor, and can obtain the position information of the UAV, that is, the coordinate information of the UAV and its own rotation angle information, such as the horizontal angle information of the UAV, by performing nonlinear least squares iteration based on the relative height and the three-axis induced voltage matrix, that is, the positioning matrix, through a six-degree-of-freedom positioning algorithm, and then guide the UAV to a preset height above the charging platform based on the relative height, the position information of the UAV and its own rotation angle information, at which point the electromagnetic positioning navigation ends.

Among them, the PID control unit can be used to detect the voltage of the electromagnetic positioning pulse, and control the electromagnetic generator when the voltage does not reach the preset voltage, so that the electromagnetic sensor can receive the electromagnetic positioning pulse corresponding to the preset voltage. Thus, the proportional, integral and differential control can be used to achieve precise control of any resonant voltage on the electromagnetic generator, so that the electromagnetic sensor can receive accurate positioning information.

It should be noted that the generation and transmission of signals can be controlled by the control relays in the electromagnetic generator and the electromagnetic inductor, such as controlling the generation of electromagnetic positioning pulses and the acquisition of the positioning matrix by the first controller. In addition, for charging platforms of different shapes, there are three requirements for the placement and number of electromagnetic generators, specifically: the spacing between the electromagnetic generators is maximized; the electromagnetic generators must be symmetrically distributed about the center point of the landing area of the charging platform; and the number of electromagnetic generators is minimized.

In this embodiment, an electromagnetic sensor is installed on the drone, a plurality of electromagnetic generators are installed on the charging platform, and an air pressure sensor is installed on both the electromagnetic sensor and the electromagnetic generator. The air pressure sensor measures the rough relative heights of the electromagnetic generator and the electromagnetic sensor, and the electromagnetic positioning pulses emitted by the electromagnetic generator are detected and processed by the electromagnetic sensor to obtain a three-axis induced voltage matrix. Then, a nonlinear least squares iteration is performed to obtain the position information and rotation angle information of the drone. The above information can then be used to guide the drone to accurately move above the charging platform.

In one embodiment of the present invention, the laser ranging navigation module 20 includes a laser ranging sensor, a camera module, a stepper motor, an adaptive alignment device and a second controller arranged on a charging platform, wherein the adaptive alignment device includes a two-dimensional ball screw linear module and a two-axis gimbal.

As shown in Figure 3, the laser rangefinder sensor can scan and capture the position of the drone legs, read the distance information and angle information of the drone legs from the charging platform, and thus calculate the position coordinates of the drone legs, thereby obtaining the position information of the drone located above the charging platform, specifically the position information of the receiving coil. In order to overcome environmental interference, the camera module can also obtain the drone position information through the perspective transformation method. After obtaining the drone position information, the second controller can control the stepper motor to drive the components of the adaptive alignment device, namely the two-dimensional ball screw linear module and the two-axis gimbal installed under the charging platform, that is, the two-axis sliding controls the transmitting coil, so that the transmitting coil is adaptively aligned with the receiving coil, to achieve wireless charging of the drone.

Furthermore, the system also includes a charging power monitoring module, which is used to detect the charging power of the drone after the coil is aligned, determine the charging efficiency based on the charging power, and adjust the position of the transmitting coil to achieve the maximum charging efficiency when the charging efficiency does not reach the maximum efficiency.

Specifically, as shown in FIG3 , when wireless charging of the drone is performed, the drone charging power can be detected and the charging efficiency can be detected. When the charging efficiency does not reach the maximum charging efficiency, an adjustment instruction is output to the second controller to control the transmitting coil by two-axis sliding, and the transmitting coil is fine-tuned until the charging efficiency reaches the maximum charging efficiency. Turning off the slide controller means turning off the second controller, thereby ensuring that the charging efficiency of the drone reaches the highest.

As a specific example, as shown in FIG4, when the drone is ready to land, the electromagnetic positioning navigation system is controlled to turn on, the drone is translated, and then after determining that the drone has moved above the charging platform, the electromagnetic positioning navigation system is controlled to turn off, and then the laser ranging navigation system is turned on. At this time, the drone descends, and then the charging platform is controlled to move so that the transmitting coil and the receiving coil are aligned for wireless charging. In addition, the maximum charging power of the drone is detected to determine whether the charging efficiency of the drone is the maximum charging efficiency. If it is not the maximum charging efficiency, the laser ranging navigation system is controlled to continue working until the charging efficiency of the drone is the maximum charging efficiency, the laser ranging navigation system is controlled to turn off, and the charging system is controlled to turn on so as to charge at the maximum charging efficiency or the maximum charging power.

In summary, the present invention can detect and process the electromagnetic positioning pulses emitted by the electromagnetic generator through the electromagnetic sensor to obtain a three-axis induced voltage matrix, and then obtain the relative height of the UAV and the charging platform through the air pressure sensor, and then determine the position information and the rotation angle information of the UAV according to the three-axis induced voltage matrix, and then control the UAV to move to a preset height above the charging platform according to the position information, the rotation angle information and the relative height of the UAV, wherein the present invention also improves the accuracy of the relative height data by calibrating the barometer, and realizes the accurate reception of the electromagnetic positioning pulse through the PID control unit; in addition, after guiding the UAV to move above the charging platform, the present invention also cooperates with the laser ranging sensor and the camera module to obtain the position information of the UAV located above the charging platform to overcome environmental interference, and realizes coil alignment through the stepping motor and the adaptive alignment device, thereby realizing wireless charging of the UAV; and the present invention also realizes the maximum charging efficiency charging of the UAV through the charging power monitoring module.

It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims (10)

1. A multi-source fusion unmanned aerial vehicle wireless charging navigation system, characterized by comprising: The electromagnetic positioning and navigation module is used to control the drone to move above the charging platform to achieve drone positioning and navigation; The laser ranging navigation module is used to obtain the position information of the drone and control the alignment of the transmitting coil on the charging platform and the receiving coil on the drone according to the position information of the drone to realize wireless charging of the drone. 2. The multi-source fusion unmanned aerial vehicle wireless charging navigation system according to claim 1, characterized in that it also includes: The charging power monitoring module is used to detect the charging power of the drone after the coil is aligned, determine the charging efficiency according to the charging power, and adjust the position of the transmitting coil to achieve the maximum efficiency when the charging efficiency does not reach the maximum efficiency. 3. The multi-source fusion unmanned aerial vehicle wireless charging navigation system according to claim 1, wherein the electromagnetic positioning navigation module comprises: An electromagnetic generator, arranged on the charging platform, for emitting electromagnetic positioning pulses; An electromagnetic sensor, arranged on the UAV, is used to detect the electromagnetic positioning pulse and process it to obtain a three-axis induced voltage matrix; The first air pressure sensor and the second air pressure sensor are respectively arranged on the electromagnetic generator and the electromagnetic sensor, and are used to detect the air pressure information at the height of the electromagnetic generator and the electromagnetic sensor respectively. 4. The multi-source fusion unmanned aerial vehicle wireless charging navigation system according to claim 3, characterized in that the electromagnetic positioning navigation module further comprises: The first controller is arranged on the UAV, and is used to determine the position information and the rotation angle information of the UAV according to the three-axis induced voltage matrix, and determine the relative height between the electromagnetic sensor and the electromagnetic generator according to the air pressure information, and control the UAV to move to a preset height above the charging platform according to the relative height, the position information and the rotation angle information of the UAV. 5. The multi-source fusion unmanned aerial vehicle wireless charging navigation system according to claim 4, characterized in that the electromagnetic positioning navigation module further comprises: The calibration barometer is arranged in the air pressure sensor and is used to calibrate the air pressure data. 6. The multi-source fusion unmanned aerial vehicle wireless charging navigation system according to claim 5, characterized in that the electromagnetic positioning navigation module further comprises: The PID control unit is used to detect the voltage of the electromagnetic positioning pulse and control the electromagnetic generator when the voltage does not reach a preset voltage so that the electromagnetic sensor can receive the electromagnetic positioning pulse corresponding to the preset voltage, thereby achieving accurate reception of the electromagnetic positioning pulse. 7. The multi-source fusion unmanned aerial vehicle wireless charging navigation system according to claim 1, wherein the laser ranging navigation module comprises: A laser ranging sensor is arranged on the charging platform and is used to obtain the position information of the UAV located above the charging platform; A camera module, arranged on the charging platform, for obtaining the position information of the drone through a perspective transformation method; An adaptive alignment device and a second controller are arranged on the charging platform, and the second controller is used to control the movement of components of the adaptive alignment device according to the drone position information obtained by the laser ranging sensor and the camera module, so that the transmitting coil is adaptively aligned with the receiving coil. 8. The multi-source fusion unmanned aerial vehicle wireless charging navigation system according to claim 7, wherein the laser ranging navigation module further comprises: The stepper motor is used to drive the components of the adaptive alignment device to move so as to achieve coil alignment. 9. The multi-source fusion unmanned aerial vehicle wireless charging navigation system as described in claim 3, characterized in that there are multiple electromagnetic generators. 10. The multi-source fusion unmanned aerial vehicle wireless charging navigation system as described in claim 9 is characterized in that the multiple electromagnetic generators are symmetrically distributed along the center point of the landing area of the charging platform.