CN114583848A

CN114583848A - Wireless following charging system with safety anchor

Info

Publication number: CN114583848A
Application number: CN202210238705.1A
Authority: CN
Inventors: 吴李海
Original assignee: Anhui Alading Aerospace Co ltd
Current assignee: Anhui Alading Aerospace Co ltd
Priority date: 2022-03-11
Filing date: 2022-03-11
Publication date: 2022-06-03

Abstract

The invention provides a wireless following charging system with a safety anchor, which comprises a power supply end and a power receiving end, wherein the power supply end is used for carrying out uninterrupted wireless remote energy supply on the power receiving end, the power supply end comprises an aiming tool, a laser generator, a laser transmitter, a safety anchor laser generator, a safety anchor laser transmitter, a microwave generator and a microwave transmitter, the aiming tool comprises an optical or radar sensor, an aiming central processing unit, a first cloud platform and a second cloud platform, the power receiving end comprises a tracking tool and a moving body, the tracking tool is arranged at the appointed position of the moving body, and the tracking tool comprises a photosensitive tube, a microwave intensity testing tube, a tracking central processing unit, a third cloud platform, a fourth cloud platform, a laser power generation plate and a microwave-to-electric energy module; the invention adopts a mode of combining laser or microwave, solves the problem that the moving body in a moving state can not be supplied with energy uninterruptedly in the prior art, and has the capability of being not limited by weather and terrain.

Description

Wireless following charging system with safety anchor

Technical Field

The invention relates to the field of wireless following charging, in particular to a wireless following charging system with a safety anchor.

Background

With the development of technology, modern technology creates different moving bodies for performing tasks for different purposes, such as: balloons, airships, airplanes, gliders, gyroplanes, helicopters, ornithopters, tiltrotors, unmanned planes, missiles, satellites, space bodies and the like, as well as various vehicles on the ground, underground subways and machines, various ships on the water surface, various submarines under water, artificial creatures and the like. The moving bodies are provided with various sensors, various actuating mechanisms, networks and artificial intelligence, so that a space robot is formed, and can carry out 360-degree overall detection, task execution and the like on space, sky, ground, water surface, underwater targets and the like without dead angles. Since most of the moving bodies need energy to maintain the moving state, and the energy carried by the moving bodies is limited, the capacity of the moving bodies for completing tasks such as time, load and range is limited, and the task requirements cannot be well met. Therefore, there is a need for a wireless following charging system that can provide uninterrupted energy for a moving object in motion from a long distance (e.g. several kilometers) to provide a payload, prolong endurance time and extend movement distance.

The patent with the publication number of CN205750548U discloses an inspection system based on an unmanned aerial vehicle, which comprises the unmanned aerial vehicle and a mobile ground station, wherein the mobile ground station comprises a vehicle, a handheld unmanned aerial vehicle remote controller, an industrial personal computer, a first wireless communication module, an apron, a position positioning device, a visual positioning calibration pattern and a wireless charging emission module, and the handheld unmanned aerial vehicle remote controller, the industrial personal computer, the first wireless communication module, the apron, the position positioning device, the visual positioning calibration pattern and the wireless charging emission module are arranged on the vehicle; unmanned aerial vehicle descends on removing ground satellite station like vehicle parking apron, and power management device switches on, and charging source carries out 2 people through wireless transmitter and the wireless receiving module that charges and hugs closely but not the wire contact to the unmanned aerial vehicle that falls on the vehicle, but wireless sending module that charges sets up below the parking apron, and unmanned aerial vehicle is on the parking apron, and the wireless charging of several centimetres of between them is pressed close to. This system is with ground setting on the vehicle for the charger that unmanned aerial vehicle charges, is adorning unmanned aerial vehicle on the vehicle and is also adorning the charger, drives on one side and charges, and it is the same with the car of cell-phone on the car charges, just unmanned aerial vehicle and charger, it does not have and links to charge with the wire contact, and the wireless charging of a few centimetres of the same principle of charging with the cell-phone is wireless, certainly also need not follow the mechanism. Let the vehicle replace unmanned aerial vehicle to remove, move unmanned aerial vehicle and charge for unmanned aerial vehicle simultaneously, the vehicle drives 1 checkpoint of patrolling and examining and then lets fly unmanned aerial vehicle and accomplish the inspection of 1 point in ten minutes, regains unmanned aerial vehicle again and charges in the car, is being adorned their next checkpoint by the vehicle again to solve the problem that unmanned aerial vehicle flight efficiency is low and the time of endurance is short. This wireless charging process is not the unmanned aerial vehicle motion state, but the stop work state after unmanned aerial vehicle puts into the vehicle.

Patent publication No. CN106921202A discloses a flying power bank, which includes: the device comprises a shell, a flying device, a data transceiving module, an automatic control module, a power supply module, a wireless signal generating and transmitting device and a wireless signal receiving and charging device. The shell is provided with a USB interface, an electric quantity display is arranged on the shell and electrically connected with the power module, and a power supply identifier is arranged on the shell. The flying device is arranged on the shell, and other modules are arranged in the shell. The power module can supply power for other modules, charges for the external mobile equipment connected with the power module through the USB interface and the wireless signal generation and transmission device, and also can charge for the power module through the wireless signal reception and charging device, wherein the power module is a charge pal instead of a flying body, and the charge pal is only hung on the flying body by a passenger. The flying body and the charger are 2 independent bodies without electric connection, and are only in carrying relation. With Very High Frequency (VHF) radio charging technology, the frequency radio has no precise pointing, so it has no following mechanism.

The patent of publication No. CN107826222B discloses an automatic safe wireless charging system for unmanned cruise ship, which comprises a dock, including two parallel guide rails arranged obliquely, a floating sensor, a forked connecting seat, a T-shaped connecting seat, a dock shell, a connecting rod, a guiding device and a sliding unit, wherein the guiding device is arranged on the periphery of the dock shell and sends out a signal, a coil is arranged in the dock shell, and the dock outputs wireless charging voltage through the coil; the unmanned cruise ship is provided with a visual device for capturing signals; the wireless charging circuit receives the wireless charging voltage and converts the wireless charging voltage into a stable power supply voltage for the unmanned cruise ship or a stable charging voltage for the lithium battery; and when the lithium battery of the unmanned cruise ship is charged, the lithium battery is switched to the wireless charging dock for power supply. A coil is arranged in the dock shell, and the dock outputs wireless charging voltage through the coil; the electromagnetic coupling resonance wireless charging technology which is similar to the mobile phone wireless charging principle and is close to a few centimeters is adopted, and a following mechanism is needless to say. For example, the electromagnetic induction wireless charging, the magnetic field resonance charging and the electric field coupling wireless charging are close to the distance.

The present inventors consider that the patent of publication No. CN205750548U provides a charging system on a vehicle; the patent of publication No. CN106921202A adopts Very High Frequency (VHF) radio charging technology, which has no precise fixed point, so it has no following mechanism, because the power carried by the power bank is limited, once the power is lower than the specified power, the power bank needs to be charged, and the power supply for external mobile devices cannot be continued; the patent of publication No. CN107826222B requires the unmanned cruise ship to interrupt the work task and drive to the wireless charging dock for charging, and cannot solve the problem of charging in the work task executed after the unmanned cruise ship leaves the dock. Therefore, the prior wireless technology has the problem that the moving body in a moving state cannot be supplied with energy continuously and remotely.

Although solar energy is excellent remote energy, for high power equipment, the ultimate energy of sunlight to 250W per square meter of earth's surface is far from sufficient for rated load operation of the equipment.

The laser is the light of atom excited radiation, and when electrons in atoms absorb energy and then jump from a low energy level to a high energy level and then fall back from the high energy level to the low energy level, the released energy is released in the form of photons. The induced (excited) photon beam (laser) has highly uniform photon optical characteristics. Therefore, compared with a common light source, the laser has good monochromaticity and directivity and higher brightness. Such as fiber optic solid state lasers (LaWS) scaled to 10KW x n (where n is the number of laser beams, e.g. 100), slab solid state lasers (MLD) scaled to 600KW, Free Electron Lasers (FEL) can reach several MW.

The microwave is an electromagnetic wave with the frequency between 300MHz and 300GHz, and the microwave band comprises: decimetric waves, centimeter waves, millimeter waves, and submillimeter waves. The millimeter wave (millimetrwave) generally refers to an electromagnetic wave having a frequency band of 30 to 300GHz and a corresponding wavelength of 1 to 10 mm. Microwaves have the characteristics of easy clustering into beams, high directivity and straight line propagation, and can be used for transmitting high-frequency signals in unobstructed sight free space. The microwave has two-phase wave and three characteristics of penetration, reflection and absorption. For glass, plastic and porcelain, microwaves almost pass through without being absorbed. The microwave is absorbed into water and food, and the microwave is self-heated. And for metal objects, the microwave is reflected. High-power microwave sources are used as core devices, and research work on the high-power microwave sources is always paid attention from various countries, and microwave source devices of hundreds of megawatts and even gigawatts are continuously developed. These high power microwave source devices can be roughly classified into two types, one is relativistic devices, such as relativistic klystrons, relativistic magnetrons, relativistic backward wave tubes, magnetically insulated wire oscillators, gyrotrons, and the like; the other is a non-relativistic device such as a gyrotron and the like.

Although the laser or the microwave is emitted linearly, the laser or the microwave has the following advantages and disadvantages: for example, in severe weather (due to absorption, scattering and turbulence of the laser in the atmosphere such as rain, snow and cloud), the laser is severely depleted, even the receiving end is disconnected due to failure, the effect is poor, and the laser also has thermal halo. The laser has good effect in space or sky in short distance. The wavelength of the microwave is much larger than the diameter of the particle and belongs to the type of Rayleigh scattering, the scattering intensity is inversely proportional to the fourth power of the wavelength, and the longer the wavelength is, the smaller the scattering intensity is, so that the microwave can have the minimum scattering and the maximum transmission. The microwave has a longer wavelength than other electromagnetic waves for radiant heating, such as infrared rays, far infrared rays, etc., and thus has better penetration. Therefore, the defect that the energy supply is interrupted because the laser is easily blocked is overcome by better penetrability of the microwave, and the invention adopts a mode of combining the laser or the microwave to provide uninterrupted energy for a remote moving body.

Disclosure of Invention

The invention aims to provide a wireless following charging system, which adopts a mode of combining laser or microwave, aims to solve the problem that the moving body in a moving state cannot be supplied with energy uninterruptedly and remotely in the prior art, and has the capability of being not limited by weather and terrain.

The wireless following charging system with the safety anchor comprises a power supply end and a power receiving end, wherein the power receiving end comprises a moving body, and the power supply end is used for carrying out uninterrupted wireless remote energy supply on the power receiving end;

the power supply end comprises an aiming device, a laser generator, a laser transmitter, a safety anchor laser generator, a safety anchor laser transmitter, a microwave generator and a microwave transmitter, the sighting device comprises an optical or radar sensor, a sighting central processor, a first tripod head and a second tripod head, the aiming central processing unit is respectively and electrically connected with the optical or radar sensor, the laser generator, the safety anchor laser generator, the microwave generator, the first cradle head and the second cradle head, the laser generator is connected with the laser emitter, the microwave generator is connected with the microwave emitter, the safety anchor laser generator is connected with the safety anchor laser transmitter, the laser transmitter and the safety anchor laser transmitter are fixedly arranged on the appointed position of the first cloud deck, and the microwave transmitter is fixedly arranged on the appointed position of the second cloud deck; the optical or radar sensor is used for tracking the position of the power receiving end and transmitting a position signal of the power receiving end to the aiming central processing unit in real time;

the safety anchor laser generator is a laser generator with a safety anchor, and the safety anchor laser transmitter is a laser transmitter with a safety anchor; when the safety anchor is not anchored in place, controlling high-power laser not to be emitted so as to prevent the high-power laser from being emitted to other parts of the moving body and causing irreversible damage to the moving body;

the safety anchor laser generator is used for generating safety anchor laser, and the power of the safety anchor laser is not damaged to the irradiation of the moving body; the safety anchor laser transmitter is used for transmitting the safety anchor laser generated by the safety anchor laser generator out, and the safety anchor laser is provided with a time domain or a space domain or a frequency domain characteristic code (for example, the frequency domain is signed by a frequency and amplitude characteristic region, such as 890MHZ to 960 MHZ; the time domain is a synchronous code of a TCP/IP protocol link layer; the space domain is a two-dimensional code identification); the aiming central processing unit controls the first cloud deck and the second cloud deck to rotate to a specified angle for initial adjustment according to the position signal of the power receiving end transmitted by the optical or radar sensor in real time so that the safety anchor laser transmitter transmits the safety anchor laser to the photosensitive tube of the moving body, the photosensitive tube is a disc target structure number point photosensitive sensor with a concentric central point, the photosensitive tube transmits a characteristic code signal extracted from the safety anchor laser to the tracking central processing unit in real time, the tracking central processing unit is communicated with the aiming central processing unit, and the aiming central processing unit controls the first cloud deck and the second cloud deck to rotate to the specified angle for fine adjustment according to the photosensitive tube signal fed back by the tracking central processing unit until the safety anchor laser is aligned with the characteristic code of the photosensitive tube of the moving body in the center and the time domain or the air domain or the frequency domain, when the anchoring signal is normal, the aiming central processing unit can control the laser generator to generate laser or the microwave generator to generate microwave only when receiving the anchoring signal, and the laser emitter or the microwave emitter emits the laser or the microwave generated by the laser generator or the microwave generator, otherwise, the aiming central processing unit does not emit high-power energy wave;

the power receiving end also comprises a tracking tool, the tracking tool is arranged at a designated position of the moving body, the tracking tool comprises the photosensitive tube, a microwave intensity test tube, a tracking central processing unit, a third holder, a fourth holder, a laser power generation board and a microwave-to-electric energy conversion module, and the moving body is provided with a first power supply adjusting module, a second power supply adjusting module, a standby power supply, a multi-path power supply controller, a central processing unit and a power device; the light sensitive tube is used for detecting laser and position transmitted by the laser transmitter, the microwave intensity test tube is used for detecting microwave transmitted by the microwave transmitter, the tracking central processing unit is respectively connected with the light sensitive tube, the microwave intensity test tube, the third holder and the fourth holder in an electrical connection manner, the tracking central processing unit is used for controlling the third holder and the fourth holder to rotate to a specified angle according to received signals of the light sensitive tube and the microwave intensity test tube, the laser power generation board is fixedly arranged at a specified position of the third holder, the microwave power conversion module is fixedly arranged at a specified position of the fourth holder, the first power supply adjustment module is electrically connected with the microwave power conversion module, the second power supply adjustment module is electrically connected with the laser power generation board, and the multi-path power supply controller is respectively connected with the first power supply adjustment module, The second power supply adjusting module is electrically connected with the standby power supply, the first power supply adjusting module, the second power supply adjusting module and the standby power supply are also electrically connected with the central processing unit, and the central processing unit judges whether the electric energy of the first power supply adjusting module, the second power supply adjusting module and the standby power supply meets the power supply requirement according to the voltage signals transmitted by the first power supply adjusting module, the second power supply adjusting module and the standby power supply; the laser power generation board is used for converting received laser emitted by the laser emitter into electric energy, the microwave-to-electric energy module is used for converting microwaves received by a microwave antenna and emitted by the microwave emitter into electric energy, the first power supply adjusting module is used for outputting the electric energy converted by the microwave-to-electric energy module to the multi-path power supply controller after filtering and voltage regulating, the second power supply adjusting module is used for outputting the electric energy converted by the laser power generation board to the multi-path power supply controller after filtering and voltage regulating, the multi-path power supply controller distributes corresponding electric energy to components and the power device of the moving body needing power supply according to a control instruction of the central processing unit, and the power device is used for maintaining the motion state of the moving body;

the power device comprises an electronic speed regulator, a motor or a fuel engine or a steering engine and propellers, wherein the electronic speed regulator is electrically connected with the central processing unit, the electronic speed regulator is connected with the motor or the fuel engine or the steering engine through a universal interface, the motor or the fuel engine or the steering engine is connected with the propellers through the universal interface, the electronic speed regulators are multiple, the motor or the fuel engine or the steering engine is multiple, the propellers are multiple, each electronic speed regulator is matched with the motor or the fuel engine or the steering engine, and each motor or the fuel engine or the steering engine is matched with each propeller; the central processor controls the power output of the motor or the fuel engine or the steering engine through the electronic speed regulator, so as to control the rotating speed of the propeller.

Further, the aiming central processing unit is used for controlling output signals to drive the first holder and the second holder to rotate to specified positions by adopting a PID controller according to the position signals of the power receiving end transmitted by the optical or radar sensor after being processed and analyzed.

Furthermore, the first holder, the second holder, the third holder and the fourth holder are 2-axis or 3-axis holders or laser galvanometers.

Further, the laser power generation panel is a laser photovoltaic power generation panel.

Further, the moving body is an unmanned aerial vehicle.

Further, the first power supply adjusting module and the second power supply adjusting module comprise a filter circuit and a voltage regulating circuit.

Furthermore, the number of the power supply terminals can be multiple, so that a power supply terminal cluster is formed, energy can be provided for one or more power receiving terminals, and the power supply terminals emit energy for the remote power receiving terminals in a seamless connection mode.

Further, the PID controller is a conventional PID controller.

Further, the drones are drones flying at a specified flight altitude and flight area for performing specified tasks.

Further, the moving body has a backup power source.

Compared with the prior art, the wireless following charging system with the safety anchor comprises a power supply end and a power receiving end, wherein the power supply end is used for carrying out uninterrupted wireless remote energy supply on the power receiving end, the power supply end comprises an aiming tool, a laser generator, a laser transmitter, a safety anchor laser generator, a safety anchor laser transmitter, a microwave generator and a microwave transmitter, the aiming tool comprises an optical or radar sensor, an aiming central processing unit, a first cloud platform and a second cloud platform, the power receiving end comprises a tracking tool and a moving body, the tracking tool is arranged at a specified position of the moving body, and the tracking tool comprises a photosensitive tube, a microwave intensity testing tube, a tracking central processing unit, a third cloud platform, a fourth cloud platform, a laser power generation plate and a microwave power conversion module; the invention adopts a mode of combining laser or microwave, solves the problem that the moving body in a moving state can not be supplied with energy uninterruptedly in the prior art, and has the capability of being not limited by weather and terrain.

Drawings

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

Fig. 1 is a schematic diagram of a system structure of a wireless follow-up charging system with a security anchor according to an embodiment of the present invention.

Fig. 2 is an implementation schematic diagram of a wireless follow-up charging system with a safety anchor according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of an optical or radar sensor target capturing of a wireless follow-up charging system with a safety anchor according to an embodiment of the present invention.

Fig. 4 is a schematic diagram of a PID controller of a wireless follow-up charging system with a safety anchor according to an embodiment of the present invention.

Fig. 5 is a schematic view of an acquisition angle of a photosensitive tube or a microwave intensity testing tube of the wireless follow-up charging system with a safety anchor according to the embodiment of the present invention.

Fig. 6 is a schematic diagram of an acquisition angle of a photosensitive tube or a microwave intensity testing tube of the wireless follow-up charging system with a safety anchor according to the embodiment of the present invention.

Fig. 7 is a schematic circuit diagram of a comparison circuit of the wireless follow-up charging system with the safety anchor according to the embodiment of the present invention.

Fig. 8 is a schematic diagram of a circuit output signal of a comparison circuit of the wireless follow-up charging system with the safety anchor according to the embodiment of the present invention.

The reference symbols in the above figures are: 1. a power supply terminal; 2. a power receiving end; 11. a sight; 12. a laser generator; 121. a safety anchor laser generator; 13. a laser transmitter; 131. a safety anchor laser transmitter; 14. a microwave generator; 15. a microwave emitter; 111. an optical or radar sensor; 112. aiming the central processing unit; 113. a first pan/tilt head; 114. a second pan-tilt; 2. a power receiving end; 21. a tracking tool; 22. a moving body; 211. a photosensitive tube; 212. a microwave strength test tube; 213. tracking the central processor; 214. a third cradle head; 215. a fourth pan-tilt; 216. a laser power generation panel; 217. a microwave to electric energy conversion module; 221. a first power supply adjustment module; 222. a second power supply adjustment module; 223. a standby power supply; 224. a multi-path power supply controller; 225. a central processing unit; 226. a power plant; 2261. an electronic governor; 2262. an electric motor or fuel engine or steering engine; 2263. a propeller; 01. an uninterruptible power supply; 02. optical or electromagnetic waves; 03. laser or microwave; 021. the safety anchor is lasered.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present invention, it should be noted that when an element is referred to as being "fixed" to another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. It is to be understood that the terms "upper", "lower", "left", "right", and the like, if any, are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms in the drawings describing the positional relationships are used for illustrative purposes only and are not to be construed as limiting the present patent, and the specific meanings of the terms will be understood by those skilled in the art according to the specific circumstances.

The technical solution of the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

Referring to fig. 1 and fig. 2, the wireless following charging system with a safety anchor comprises a power supply end 1 and a power receiving end 2, wherein the power receiving end 2 comprises a moving body 22, and the power supply end 1 is used for performing uninterrupted wireless remote energy supply on the power receiving end 2;

the power supply end 1 comprises an aiming device 11, a laser generator 12, a safety anchor laser generator 121, a laser transmitter 13, a safety anchor laser transmitter 131, a microwave generator 14 and a microwave transmitter 15, wherein the aiming device 11 comprises an optical or radar sensor 111, an aiming central processing unit 112, a first cloud platform 113 and a second cloud platform 114, the aiming central processing unit 112 is respectively electrically connected with the optical or radar sensor 111, the first cloud platform 113 and the second cloud platform 114, the laser generator 12 is connected with the laser transmitter 13, the safety anchor laser generator 121 is connected with the safety anchor laser transmitter 131, the microwave generator 14 is connected with the microwave transmitter 15, the laser transmitter 13 and the safety anchor laser transmitter 131 are fixedly arranged at the appointed position of the first cloud platform 113, and the microwave transmitter 15 is fixedly arranged at the appointed position of the second cloud platform 114; the optical or radar sensor 111 is used for tracking the position of the power receiving end 2 and transmitting a position signal of the power receiving end 2 to the aiming central processing unit 112 in real time, the laser generator 12 is used for generating laser, the laser transmitter 13 is used for emitting the laser generated by the laser generator 12, the microwave generator 14 is used for generating microwave, and the microwave transmitter 15 is used for emitting the microwave generated by the microwave generator 14 through a microwave antenna; the aiming central processor 112 controls the first cloud deck 113 and the second cloud deck 114 to rotate to a specified angle according to the position signal of the power receiving end 2 transmitted by the optical or radar sensor 111 in real time, so that the laser emitter 13 emits laser towards a specified direction, and the microwave emitter 15 emits microwave towards the specified direction;

the safety anchor laser generator 121 is a laser generator with a safety anchor, and the safety anchor laser emitter 131 is a laser emitter with a safety anchor; when the safety anchor is not anchored in place, controlling high-power laser not to be emitted so as to prevent the high-power laser from being emitted to other parts of the moving body and causing irreversible damage to the moving body;

safety anchor laser generator 121 is configured to generate a safety anchor laser 021, the power of safety anchor laser 021 being non-damaging to the irradiation of mobile body 022; the safety anchor laser transmitter 131 is used for transmitting safety anchor laser 021 generated by the safety anchor laser generator 121, wherein the safety anchor laser 021 is provided with a time domain or a space domain or a frequency domain characteristic code (for example, the frequency domain is signed by a frequency and amplitude characteristic region, such as 890MHZ to 960 MHZ; the time domain is a synchronous code of a TCP/IP protocol link layer; and the space domain is a two-dimensional code identification); the aiming central processing unit 112 controls the first cloud deck 113 and the second cloud deck 114 to rotate to a specified angle for initial adjustment according to the position signal of the power receiving end 2 transmitted by the optical or radar sensor 111 in real time, so that the safety anchor laser transmitter 131 transmits the safety anchor laser 021 to the photosensitive tube 211 of the moving body 022, the photosensitive tube 211 transmits the characteristic code signal extracted from the safety anchor laser 021 to the tracking central processing unit 213 in real time, the tracking central processing unit 213 communicates with the aiming central processing unit 112, the aiming central processing unit 112 controls the first cloud deck 113 and the second cloud deck 114 to rotate to the specified angle for fine adjustment according to the photosensitive tube signal fed back by the tracking central processing unit 213 until the characteristic code of the photosensitive tube 211, which is transmitted by the safety anchor laser 021 to the moving body 022, is aligned with the characteristic code of the time domain or the space domain or the frequency domain, namely, when the aiming central processing unit 112 receives the anchoring signal normally, the laser generator 12 can be controlled to generate laser or the microwave generator 14 can generate microwave, the laser transmitter 13 or the microwave transmitter 15 transmits the laser or the microwave generated by the laser generator 12 or the microwave generator 14, otherwise, the high-power energy wave is not transmitted;

the power receiving end 2 further comprises a tracking tool 21, the tracking tool 21 is installed at a designated position of the moving body 22, the tracking tool 21 comprises a photosensitive tube 211, a microwave intensity testing tube 212, a tracking central processing unit 213, a third holder 214, a fourth holder 215, a laser power generation board 216 and a microwave-to-electric energy conversion module 217, and the moving body 22 is provided with a first power supply adjusting module 221, a second power supply adjusting module 222, a standby power supply 223, a multi-path power supply controller 224, a central processing unit 225 and a power device 226; the photosensitive tube 211 is used for detecting laser and position emitted by the laser emitter 13, the microwave intensity test tube 212 is used for detecting microwave emitted by the microwave emitter 15, the tracking central processing unit 213 is respectively electrically connected with the photosensitive tube 211, the microwave intensity test tube 212, the third holder 214 and the fourth holder 215, the tracking central processing unit 213 is used for controlling the third holder 214 and the fourth holder 215 to rotate to a specified angle according to received signals of the photosensitive tube 211 and the microwave intensity test tube 212, the laser power generation board 216 is fixedly arranged on a specified position of the third holder 214, the microwave power conversion module 217 is fixedly arranged on a specified position of the fourth holder 215, the first power supply adjusting module 221 is electrically connected with the microwave power conversion module 217, the second power supply adjusting module 222 is electrically connected with the laser power generation board 216, the multi-path power supply controller 224 is respectively electrically connected with the first power supply adjusting module 221, the second power supply adjusting module 222 and the standby power supply 223, the first power regulation module 221, the second power regulation module 222 and the standby power 223 are further electrically connected to the central processing unit 225, and the central processing unit 225 determines whether the electric energy of the first power regulation module 221, the second power regulation module 222 and the standby power 223 meets the power supply requirement according to the voltage signals transmitted by the first power regulation module 221, the second power regulation module 222 and the standby power 223; the laser power generation board 216 is configured to convert received laser light emitted by the laser emitter 13 into electric energy, the microwave-to-electric energy module 217 is configured to convert microwaves received by the microwave antenna and emitted by the microwave emitter 15 into electric energy, the first power adjustment module 221 is configured to filter and regulate the electric energy converted by the microwave-to-electric energy module 217 and output the electric energy to the multi-path power controller 224, the second power adjustment module 222 is configured to filter and regulate the electric energy converted by the laser power generation board 216 and output the electric energy to the multi-path power controller 224, the multi-path power controller 224 distributes corresponding electric energy to components and the power device 226, which need to be powered, of the moving body 22 according to a control instruction of the central processing unit 225, and the power device 226 is configured to maintain a moving state of the moving body 22;

the power device 226 comprises an electronic speed regulator 2261, a motor or a fuel engine or a steering engine 2262 and propellers 2263, wherein the electronic speed regulator 2261 is electrically connected with the central processor 225, the electronic speed regulator 2261 is connected with the motor or the fuel engine or the steering engine 2262 through a universal interface, the motor or the fuel engine or the steering engine 2262 is connected with the propellers 2263 through the universal interface, the number of the electronic speed regulators 2261 is multiple, the number of the motor or the fuel engine or the steering engine 2262 is multiple, the number of the propellers 2263 is multiple, each electronic speed regulator 2261 is matched with the motor or the fuel engine or the steering engine 2262, and each motor or the fuel engine or the steering engine 2262 is matched with each propeller 2263; the cpu 225 controls the power output of the motor or fuel engine or steering engine 2262 via the electronic governor 2261 to control the rotational speed of the propeller 2263.

The working principle of the wireless following charging system is as follows:

the power supply required by the power supply end 1 is provided by an external uninterrupted power supply 01, and the external uninterrupted power supply 01 is connected with all parts of the power supply end 1, which need to supply power, through a universal interface; the power supply terminal 1 can be fixed at a designated position or fixed on a mobile carrier;

when the moving body 22 flies in the air, the optical or radar sensor 111 tracks the position of the moving body 22 in real time and transmits a position signal of the moving body 22 to the aiming central processor 112, and the aiming central processor 112 calculates the rotation angle of the first holder 113 according to the position signal of the moving body 22, so that the safety anchor laser emitter 131 is aligned to the moving body 22, and the virtual riveting of the aiming signal is completed; then, the safety anchor laser 021 emitted by the safety anchor laser generator 121 is emitted through the safety anchor laser emitter 131, the photosensitive tube 211 installed on the moving body 22 is a disc target structure point-to-point photosensitive sensor with a central point as a concentric center, the photosensitive tube 211 transmits the detected safety anchor laser signal to the tracking central processing unit 213, the aiming central processing unit 112 controls the first cloud deck 113 and the second cloud deck 114 to rotate to a specified angle for fine adjustment according to the signal of the photosensitive tube 211 fed back by the tracking central processing unit 213 until the safety anchor laser 021 is aligned with the feature code of the right center of the photosensitive tube 211 of the moving body 22 and the time domain or the space domain or the frequency domain, that is, the anchoring signal is normal, the aiming central processing unit 112 controls the laser generator 12 to generate laser or the microwave generator 14 to generate microwave;

the photosensitive tube 211 and the microwave intensity testing tube 212 mounted on the moving body 22 detect the laser emitted by the laser emitter 13 or the microwave emitted by the microwave emitter 15, the photosensitive tube 211 transmits the detected laser signal to the tracking central processor 213, the microwave intensity testing tube 212 transmits the detected microwave signal to the tracking central processor 213, and the tracking central processor 213 calculates the rotation angles of the third holder 214 and the fourth holder 215 according to the received laser signal and microwave signal, so that the laser power generation plate 216 aligns to the laser emitted by the laser emitter 13, and the microwave-to-electric energy module 217 aligns to the microwave emitted by the microwave emitter 15; the microwave-to-electric energy module 217 converts the received microwaves into electric energy, and the electric energy is filtered and regulated by the first power supply regulation module 221 and then is transmitted to the multi-circuit power supply controller 224; the laser power generation board 216 converts the received laser into electric energy through photovoltaic effect, and the electric energy is filtered and regulated by the second power regulation module 222 and then is transmitted to the circuit power controller 224; the multi-path power controller 224 transmits the received voltage signal of each path to the central processing unit 225, the central processing unit 225 judges which path has sufficient electric power according to the received voltage signal, and controls the multi-path power controller 224 to transmit the path of electric power with sufficient electric power to the components and the power device 226 of the moving body 22 which need to be powered; for example, if the power supplied by the laser generator board 216 is sufficient, the cpu 225 controls the multi-path power controller 224 to supply power to the components of the moving body 22 and the power device 226 using the power supplied by the laser generator board 216; if the electric energy provided by the microwave-to-electric energy conversion module 217 is sufficient, the central processor 225 controls the multi-path power controller 224 to supply power to the components of the moving body 22 and the power device 226 which need to be supplied with power by using the electric energy provided by the microwave-to-electric energy conversion module 217; if the electric energy provided by the laser power generation board 216 or the microwave-to-electric energy conversion module 217 cannot meet the specified requirements, the central processor 225 controls the multi-path power controller 224 to use the standby power 223 to supply power to the components and the power device 226 of the moving body 22; when the central processor 225 detects that the voltage signal of the backup power supply 223 is lower than the specified requirement, the central processor 225 controls the multi-power controller to charge the backup power supply 223 by using the power of the laser power generation board 216 or the microwave-to-power module 217.

Thus, the power supply terminal 1 can provide working power for the moving body 22 in the flight area of the moving body 22, so that the moving body 22 realizes uninterrupted flight operation, and the situation that the flight operation is interrupted because the moving body 22 needs to be charged and returned to the ground is avoided.

The wireless following charging system with the safety anchor comprises a power supply end and a power receiving end, wherein the power supply end is used for carrying out uninterrupted wireless remote energy supply on the power receiving end, the power supply end comprises an aiming tool, a laser generator, a laser transmitter, a safety anchor laser generator, a safety anchor laser transmitter, a microwave generator, a microwave transmitter and a receiver, the aiming tool comprises an optical or radar sensor, an aiming central processing unit, a first cloud platform and a second cloud platform, the power receiving end comprises a tracking tool and a moving body, the tracking tool is installed at the designated position of the moving body, and the tracking tool comprises a photosensitive tube, a microwave intensity testing tube, a tracking central processing unit, a third cloud platform, a fourth cloud platform, a laser power generation plate and a microwave-to-electric energy conversion module; the invention adopts a mode of combining laser or microwave, solves the problem that the moving body in a moving state can not be supplied with energy uninterruptedly in the prior art, and has the capability of being not limited by weather and terrain.

As an embodiment of the present invention, the aiming central processor 112 uses the PID controller to control the output signal of the position signal of the power receiving end 2 transmitted by the optical or radar sensor 111 after being processed and analyzed to drive the first and

second holders

113 and 114 to rotate to the designated position.

As an embodiment of the present invention, the first, second, third, and

fourth stages

113, 114, 214, and 215 are 2-axis or 3-axis stages or laser galvanometers.

As an embodiment of the present invention, the laser power generation panel 216 is a laser photovoltaic power generation panel.

As an embodiment of the present invention, the moving body 22 is an unmanned aerial vehicle.

As an embodiment of the present invention, the first power regulation module 221 and the second power regulation module 222 include a filter circuit and a voltage regulation circuit.

In one embodiment of the present invention, the aiming cpu 112, the tracking cpu 213, and the cpu 225 are MCUs.

As an embodiment of the present invention, the number of the power supplying terminals 1 can be multiple, and a power supplying terminal cluster is formed, so that energy can be provided for one or more power receiving terminals 2, and the multiple power supplying terminals 1 transmit energy to the remote power receiving terminal 2 in a seamless connection manner; the unmanned aerial vehicle can continuously fly in any place of the world and never lack of electricity.

As an embodiment of the invention, the PID controller is a conventional PID controller.

As an embodiment of the present invention, the unmanned aerial vehicle is an unmanned aerial vehicle flying at a specified flying height and flying area for performing a specified task.

As one embodiment of the present invention, the moving body 22 has a backup power source.

Preferably, the multi-path power controller 224 is implemented by referring to an intelligent multi-path power switching controller with a patent number of 200620015332.8, and the microwave-to-power module 217 is implemented by referring to a microwave power conversion device with a patent number of 201610335638.

Preferably, the aiming central processor 112, the tracking central processor 213 and the central processor 225 are 32-bit MCUs, such as STM32 series, and those skilled in the art can easily implement the functions of the aiming central processor 112, the tracking central processor 213 and the central processor 225 by combining the functional descriptions of the aiming central processor 112, the tracking central processor 213 and the central processor 225 according to the product instruction manual of STM32 series.

Preferably, the first power regulation module 221 and the second power regulation module 222 are implemented by using a filter circuit and a buck-boost voltage regulation circuit, and the filter circuit and the buck-boost voltage regulation circuit are conventional and disclosed in the art and are necessary to be understood by those skilled in the art, so the implementation manner of the first power regulation module 221 and the second power regulation module 222 does not have technical difficulty or technical threshold for those skilled in the art.

Specifically, electronic governor 2261 is an already equipped device on moving body 22.

Preferably, the optical or radar sensor 111 is an optical sensor or a radar sensor or both.

Specifically, the laser generator 12, the laser emitter 13, the microwave generator 14, and the microwave emitter 15 are known and disclosed products or technologies.

Specifically, the photosensitive tube 211 and the microwave intensity testing tube 212 are existing and disclosed products or technologies.

Preferably, the uninterruptible power supply 01 is a UPS power supply.

Preferably, the first, second, third and

fourth stages

113, 114, 214 and 215 can be replaced by laser galvanometers, also called laser scanners, consisting of X-Y optical scanning heads, electronic driving amplifiers and optical mirrors, the signals provided by the aiming cpu 112 driving the X-Y optical scanning heads via the electronic driving amplifiers, thus controlling the deflection of the laser beam in the X-Y plane.

Specifically, as shown in fig. 3, if it is desired to control the point a in the first quadrant of the target captured by the optical or radar sensor 111 to the origin 0, the aiming cpu 112 calculates to obtain coordinates (X, Y) of the point a, and outputs a control signal to the servo motor of the first pan-tilt 113 or the second pan-tilt 114, so that the first pan-tilt 113 or the second pan-tilt 114 rotates X along the X-axis direction and Y along the Y-axis direction, that is, the point a falls into the target center, so that the laser or the microwave 03 emitted by the laser emitter 13 or the microwave emitter 15 always points to the laser power generation board 216 or the microwave power conversion module 217 on the moving body 22 of the power receiving end 2.

Specifically, the principle of the PID controller is as shown in fig. 4, and the PID controller forms a control deviation from a given value and an actual output value, and linearly combines the deviation in proportion, integral and differential to form a control quantity to control a controlled object. A conventional PID controller is a typical unit negative feedback control system of a linear controller. It forms a deviation from the actual output value c (t) according to the setpoint value r (t): e (t) ═ r (t) -c (t). The proportion (P), integral (I) and differential (D) of the deviation are linearly combined to form a control quantity, and the controlled object is controlled.

The functions of each link are as follows:

and (3) proportional links: the controller generates control action to reduce the error as soon as the deviation occurs. When the deviation e is 0, the control action is also 0. Thus, the proportional control is adjusted based on the deviation, i.e. there is a difference adjustment.

And (3) an integration step: the error can be memorized, the method is mainly used for eliminating static error and improving the non-difference degree of a system, the strength of the integral action depends on an integral time constant Ti, the larger the Ti is, the weaker the integral action is, and the stronger the integral action is otherwise.

And (3) a differentiation step: the method can reflect the variation trend (change rate) of the deviation signal, and can introduce an effective early correction signal into the system before the deviation signal value becomes too large, thereby accelerating the action speed of the system and reducing the regulation time.

From the perspective of time, the proportional action is used for controlling the current error of the system, the integral action is used for aiming at the history of the system error, and the differential action reflects the change trend of the system error, and the combination of the proportional action, the integral action and the differential action is the perfect combination of the past, the present and the future.

Specifically, a schematic diagram of the collection angle of the photo-sensitive tube 211 or the microwave intensity test tube 212 of the tracking device 21 is shown in fig. 5, 4 quadrants (i.e., 4 directions) are adopted to respectively and fixedly place the 4 photo-sensitive tubes 211 or the microwave intensity test tubes 212, and the intensity in the 4 directions is read out, for example, S1, S2, S3, S4, the two-dimensional coordinate corresponds to the case that the third pan/tilt 214 or the fourth pan/tilt 215 is a 2-axis pan/tilt, the x-axis is rotated by one motor in the 2-axis pan/tilt, the y-axis is rotated by the other motor in the 2-axis pan/tilt, and the motors receive signals from the PID controller to accurately operate and position. Referring to fig. 6, by the shielding effect of the shielding plate on the laser or microwave 03, for example, if the axial direction of the plane formed by the laser or microwave 03 and S1, S2, S3, S4 has an oblique angle, the laser or microwave 03 will be partially shielded by the cross shielding plate of the plane formed by S1, S2, S3, S4, which causes the values of the one or more directions to become smaller, the values of S1, S2, S3, S4 are transmitted to the tracking central processor 213, and the tracking central processor 213 outputs a control signal to the motor of the third pan-tilt 214 or the fourth pan-tilt 215 after calculating the values. For example: if the value of S1 is greater than the value of S4 along the X-axis direction, it indicates that S4 is blocked, but S1 is not, after the tracking central processor 213 calculates, it outputs an X-axis control signal to the third pan/tilt head 214 or the fourth pan/tilt head 215, and turns in the S4 direction until the value of S1 is equal to the value of S4, and the X-axis control motor on the third pan/tilt head 214 or the fourth pan/tilt head 215 stops turning. Similarly, along the y-axis direction, if the value of S1 is greater than the value of S2, it indicates that S2 is blocked, but S1 is not, the tracking central processor 213 outputs a y-axis control signal to the third cradle head 214 or the fourth cradle head 215 after calculation, and turns in the S2 direction until the value of S1 is equal to the value of S2. That is, as long as the values of S1, S2, S3, and S4 are the same, it indicates that the axial direction of the plane of the 4 quadrants on the photosensitive tube 211 or the microwave intensity test tube 212 points to the laser emitter 13 or the microwave emitter 15, and is in a steady state (i.e., the point 0 of the intersection of the X axis and the y axis is the bottom of the pan), otherwise, if it is small, it indicates that the angle facing the axial direction is deviated, and after the tracking central processor 213 calculates, the third cradle head 214 or the fourth cradle head 215 is rotated, so that the laser power generation board 216 or the microwave power conversion module 217 is driven to synchronously rotate until the tracking is performed, and the axial direction is directed to the laser emitter 13 or the microwave emitter 15 all the time. The method can also be implemented by using a comparison circuit, a schematic circuit diagram of the comparison circuit is shown in fig. 7, a schematic circuit diagram of a circuit output signal of the comparison circuit is shown in fig. 8, and along the X-axis direction, if the S1 value is greater than the S4 value, the comparison circuit outputs a positive signal to drive the X-axis control motor on the third pan/tilt 214 or the fourth pan/tilt 215 to rotate forward until the S1 value is equal to the S4 value and stops rotating (falls into the center line of the X-axis), otherwise, if the S1 value is less than the S4 value, the comparison circuit outputs a negative signal to drive the X-axis control motor on the third pan/tilt 214 or the fourth pan/tilt 215 to rotate backward until the S1 value is equal to the S4 value and stops rotating.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The wireless following charging system with the safety anchor is characterized by comprising a power supply end and a power receiving end, wherein the power receiving end comprises a moving body, and the power supply end is used for carrying out uninterrupted wireless remote energy supply on the power receiving end;

the safety anchor laser generator is used for generating safety anchor laser, and the power of the safety anchor laser is not damaged to the irradiation of the moving body; the safety anchor laser transmitter is used for transmitting the safety anchor laser generated by the safety anchor laser generator out, and the safety anchor laser is provided with a characteristic code of a time domain, a space domain or a frequency domain; the aiming central processing unit controls the first cloud deck and the second cloud deck to rotate to a specified angle for initial adjustment according to the position signal of the power receiving end transmitted by the optical or radar sensor in real time so that the safety anchor laser transmitter transmits the safety anchor laser to the photosensitive tube of the moving body, the photosensitive tube is a disc target structure number point photosensitive sensor with a concentric central point, the photosensitive tube transmits a characteristic code signal extracted from the safety anchor laser to the tracking central processing unit in real time, the tracking central processing unit is communicated with the aiming central processing unit, and the aiming central processing unit controls the first cloud deck and the second cloud deck to rotate to the specified angle for fine adjustment according to the photosensitive tube signal fed back by the tracking central processing unit until the safety anchor laser is aligned with the characteristic code of the photosensitive tube of the moving body in the center and the time domain or the air domain or the frequency domain, when the anchoring signal is normal, the aiming central processing unit can control the laser generator to generate laser or the microwave generator to generate microwave only when receiving the anchoring signal, and the laser emitter or the microwave emitter emits the laser or the microwave generated by the laser generator or the microwave generator, otherwise, the aiming central processing unit does not emit high-power energy wave;

2. The wireless following charging system with the safety anchor according to claim 1, wherein the aiming central processor is used for controlling output signals to drive the first holder and the second holder to rotate to specified positions by adopting a PID controller according to the processed and analyzed position signals of the power receiving end transmitted by the optical or radar sensor.

3. The wireless follow-up charging system with the safety anchor according to claim 2, wherein the first cradle head, the second cradle head, the third cradle head and the fourth cradle head are 2-axis or 3-axis cradle heads or laser galvanometers.

4. The wireless follow-up charging system with safety anchor of claim 1, wherein the laser power generation panel is a laser photovoltaic power generation panel.

5. The wireless follow-up charging system with safety anchor of claim 1, wherein the moving body is an unmanned aerial vehicle.

6. The wireless follow-up charging system with safety anchor of claim 1, wherein the first and second power regulation modules comprise a filter circuit and a voltage regulation circuit.

7. The wireless follow-up charging system with safety anchor as claimed in claim 1, wherein the power supply terminals can be plural, and form a power supply terminal cluster, so as to provide energy for one or more power receiving terminals, and the plural power supply terminals emit energy for the remote power receiving terminals in a seamless connection manner.

8. The wireless follow-up charging system with safety anchor of claim 2, wherein the PID controller is a conventional PID controller.

9. The wireless follow-charging system with safety anchors according to claim 5, wherein the drone is a drone flying at a specified flying height and flying area for performing a specified task.

10. The wireless follow-up charging system with safety anchor of claim 1, wherein the moving body has a backup power source.