CN110077613A - Unmanned plane charging method, system, storage medium and processor - Google Patents
Unmanned plane charging method, system, storage medium and processor Download PDFInfo
- Publication number
- CN110077613A CN110077613A CN201810074671.0A CN201810074671A CN110077613A CN 110077613 A CN110077613 A CN 110077613A CN 201810074671 A CN201810074671 A CN 201810074671A CN 110077613 A CN110077613 A CN 110077613A
- Authority
- CN
- China
- Prior art keywords
- charging
- coil
- unmanned plane
- transmitting coil
- earth station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 46
- 238000004891 communication Methods 0.000 claims description 36
- 230000005611 electricity Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000008901 benefit Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 229910052744 lithium Inorganic materials 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- H02J5/005—
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
-
- H02J7/025—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a kind of unmanned plane charging method, system, storage medium and processors.Wherein, this method comprises: after unmanned plane drops to earth station, the unmanned plane is received to the earth station and sends charge coil alignment job instruction；It is aligned job instruction according to the charge coil, controls the charging transmitting coil of the earth station in planar movement；After the charging transmitting coil is aligned with the charging receiving coil of the unmanned plane, controls the charging transmitting coil and stop movement；It controls the charging transmitting coil and electric power signal is emitted to the charging receiving coil.The present invention solves unmanned plane and carries out positioning more complicated technical problem when wireless charging.
Description
Technical field
The present invention relates to unmanned plane field, in particular to a kind of unmanned plane charging method, system, storage medium and
Processor.
Background technique
At this stage, the advantage that unmanned plane can break through landform limitation makes it be widely used in safe rescue field, but airborne
The power supply ability of battery limited and traditional electric power supply means make unmanned plane work capacity significantly limited.Traditional nothing
Man-machine electric power supply realizes that the above process is difficult to realize automatic operation by replacement rechargeable battery or contact charging, increases
The complexity and cost of labor of the continuous long working of unmanned plane.Meanwhile the machine of the electricity interface of contact-type charging device
Tool abrasion, dirt contamination may cause poor contact, and moist, conducting medium environment may cause short circuit.Wireless charging technology is
The Technology application is fed in unmanned electro-mechanical force, be can be realized by a kind of contactless charging technique based on electromagnetic induction principle
Unmanned plane automatic charging provides electric power safeguard for the continuous long working of unmanned plane.
However, existing wireless charging technology is in such a way that satellite carries out coarse positioning in conjunction with laser, infrared fine positioning
Wireless charging is carried out, still, this positioning method is more complicated.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of unmanned plane charging method, system, storage medium and processors, at least to solve
Unmanned plane carries out positioning more complicated technical problem when wireless charging.
According to an aspect of an embodiment of the present invention, a kind of unmanned plane charging method is provided, comprising: land in unmanned plane
To after earth station, the unmanned plane is received to the earth station and sends charge coil alignment job instruction；According to the charging cable
Circle alignment job instruction, controls the charging transmitting coil of the earth station in planar movement；In the charging transmitting coil and institute
After the charging receiving coil alignment for stating unmanned plane, controls the charging transmitting coil and stop movement；Control the charging emission lines
Circle emits electric power signal to the charging receiving coil.
Optionally, it is aligned in the charging transmitting coil of the earth station with the charging receiving coil of the unmanned plane
Afterwards, it controls the charging transmitting coil and stops movement further include: according to charge coil alignment job instruction, described in control
Earth station drives charging transmitting coil in planar movement, controls the charging transmitting coil and emits electric power signal；Described in reception
The stopping that unmanned plane is sent after the charging receiving coil is aligned with the charging transmitting coil is aligned the instruction of operation,
In, when the induced current of the charging receiving coil reaches maximum value, the charging receiving coil of the unmanned plane and institute
State charging transmitting coil alignment；The charging transmitting coil, which is controlled, according to the instruction for stopping alignment operation stops movement.
Optionally, controlling the charging transmitting coil includes: to receive institute to charging receiving coil transmitting electric power signal
State the wireless charging job instruction of unmanned plane transmission and the information about power of the unmanned plane；According to the wireless charging job instruction
The electric power signal of the charging transmitting coil transmitting is controlled with the information about power.
Optionally, the charging transmitting coil is controlled according to the wireless charging job instruction and the information about power to emit
Electric power signal include: the information about power for obtaining the unmanned plane in real time；The electricity of the unmanned plane is indicated in the information about power
In the case that pond is fully charged, controls the charging transmitting coil and stop transmitting electric power signal.
According to another aspect of an embodiment of the present invention, a kind of unmanned plane charging method is additionally provided, comprising: drop in unmanned plane
After falling to the ground station, Xiang Suoshu earth station sends charge coil and is aligned job instruction, wherein the earth station is according to the charging
Coil in alignment job instruction, control charging transmitting coil is in planar movement；The earth station the charging transmitting coil with
After the charging receiving coil alignment of the unmanned plane, controls the charging transmitting coil and stop movement；Receive the charging transmitting
The electric power signal that coil emits to the charging receiving coil.
Optionally, it is aligned in the charging transmitting coil of the earth station with the charging receiving coil of the unmanned plane
Afterwards, controlling the charging transmitting coil to stop movement includes: to receive the electric power signal of the charging transmit coil transmitting；Detection institute
State the faradic maximum value of charging receiving coil；After detecting the maximum value, Xiang Suoshu earth station, which sends, to stop
It is aligned the instruction of operation, is stopped so that the earth station controls the charging transmitting coil according to the instruction for stopping alignment operation
Only move.
Optionally, the electric power signal for receiving the charging transmitting coil to the charging receiving coil transmitting includes: to institute
It states earth station and sends wireless charging job instruction and information about power；The earth station is received according to the wireless charging job instruction
The charging transmitting coil, which is controlled, with the information about power emits the electric power signal emitted to the charging receiving coil.
Optionally, the electric power signal for receiving the charging transmitting coil to the charging receiving coil transmitting includes: real-time
The information about power of the unmanned plane is sent, to the earth station to prompt the earth station to fill in information about power instruction battery
Wireless charging is completed when full.
According to another aspect of an embodiment of the present invention, a kind of unmanned plane charging system is additionally provided, comprising: unmanned aerial vehicle onboard
Wireless charging module, wherein the unmanned aerial vehicle onboard wireless charging module includes: airborne communication module, is sent out for ground station
Charge coil is sent to be aligned job instruction；Charge receiving coil, for receiving electric power signal；Earth station's wireless charging module, wherein
Earth station's wireless charging module includes: earth station's communication module, carries out wireless communication, is used for the airborne communication module
Receive the charge coil alignment job instruction that the airborne communication module is sent；Charge transmitting coil, for sending electric energy
Signal；Plane slide unit, for driving charging transmitting coil in planar movement；Charge controller, for according to the charge coil
Alignment job instruction controls the plane slide unit and scans movement in plane, and sends out in the charging receiving coil and the charging
After penetrating coil in alignment, controls and scan movement described in the plane slide unit stopping.
Optionally, the plane slide unit further include: X-axis driver is connected with the charge controller, X-axis stepping electricity
Machine is connected with the X-axis driver, and X-axis rectilinear orbit is connected with the X-axis stepper motor, and slide unit is straight with the X-axis
Trajectory is connected；Y-axis driver is connected with the charge controller, y-axis stepper motor, is connected with the Y-axis driver
It connects, Y-axis rectilinear orbit is connected with the y-axis stepper motor, and the Y-axis rectilinear orbit is connected with the slide unit.
Optionally, the unmanned plane charging system includes: airborne charging circuit, is connected with the charging receiving coil,
Electric current for receiving to the charging receiving coil carries out rectification and voltage is converted；Earth station's charging circuit is connected to institute
It states between charging transmitting coil and the charge controller, for carrying out inversion.
Another aspect according to an embodiment of the present invention, additionally provides a kind of storage medium, and the storage medium includes storage
Program, wherein described program executes above-mentioned unmanned plane charging method.
Another aspect according to an embodiment of the present invention, a kind of processor, the processor is for running program, wherein institute
Above-mentioned unmanned plane charging method is executed when stating program operation.
In the present embodiment, charge coil is sent by unmanned plane ground station and is aligned job instruction, by ground station control
The plane slide unit at face station scans movement, to realize the charging transmitting coil of earth station and being aligned for charging receiving coil, thus
Earth station is completed to the wireless charging of unmanned plane.In alignment procedure, the charging transmitting coil of mobile earth station is aligned, and
It does not need control unmanned plane movement to be aligned, solves the prior art more complicated technology of alignment operation in wireless charging
Problem.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of unmanned plane charging system according to an embodiment of the present invention；
Fig. 2 is the flow chart of unmanned plane charging method according to an embodiment of the present invention；
Fig. 3 is the flow chart of the unmanned plane charging method of another embodiment according to the present invention；
Fig. 4 is the structure chart of the device of unmanned plane charging system according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
The embodiment of the invention provides a kind of unmanned plane charging systems.Fig. 1 is that unmanned plane according to an embodiment of the present invention fills
The schematic diagram of electric system.As shown in Figure 1, the unmanned plane charging system includes two parts, a part is earth station's wireless charging mould
Block 100, another part are unmanned aerial vehicle onboard wireless charging modules 200.
Unmanned aerial vehicle onboard wireless charging module 200 includes:
Airborne communication module 201 sends charge coil for ground station and is aligned job instruction；The airborne communication module
201 can be the communication modules such as WiFi communication module, mobile communication module and bluetooth communication.
Charge receiving coil 202, for receiving electric power signal；
Earth station's wireless charging module 100 includes:
Earth station's communication module 101 is carried out wireless communication with the airborne communication module 201, described airborne for receiving
The charge coil that communication module 201 is sent is aligned job instruction；Earth station's communication module 101 can be WiFi communication mould
The communication modules such as block, mobile communication module and bluetooth communication match with airborne communication module 201.
Charge transmitting coil 102, for sending electric power signal；
Plane slide unit 103, for driving charging transmitting coil 102 in planar movement；
Charge controller 104 controls the plane slide unit 103 flat for being aligned job instruction according to the charge coil
Movement is scanned in face, and after the charging receiving coil 202 and the charging transmitting coil 102 alignment, controls the plane
Slide unit 103 scans movement described in stopping.
In the present embodiment, charge coil is sent by unmanned plane ground station and is aligned job instruction, by ground station control
The plane slide unit at face station scans movement, to realize the charging transmitting coil of earth station and being aligned for charging receiving coil, thus
Earth station is completed to the wireless charging of unmanned plane.In alignment procedure, the charging transmitting coil of mobile earth station is aligned, and
It does not need control unmanned plane movement to be aligned, solves the prior art more complicated technology of alignment operation in wireless charging
Problem.
Further, the unmanned aerial vehicle onboard wireless charging module 200 of the present embodiment further includes airborne charging circuit 203, with
Charging receiving coil 202 is connected, and battery management system 204 is connected with airborne charging circuit 203, for the lithium to unmanned plane
Battery 205 charges, and airborne charging circuit 203 has rectification, voltage conversion function.
Further, earth station's wireless charging module 100 of the present embodiment further include: earth station's charging circuit 105 and fills
Electric controller 104 is connected with charging transmitting coil 102, has inversion function.
Battery management system 204 can also detect the electricity of unmanned machine battery, and to the ground by airborne communication module 201
Communication module of standing 101 sends the information about power of unmanned machine battery, and information about power is sent to charging by earth station's communication module 101
Controller 104, so that charge controller 104 controls, charging transmitting coil 102 emits electric power signal or stopping sends electric energy letter
Number.
In alignment procedure, battery management system 204 obtains charging 202 induced current of receiving coil, and by airborne logical
Letter module 201 is transmitted to earth station's communication module 101, and final feedback arrives charge controller 104.The battery management system 204 can
With real-time monitoring charging 202 induced current of receiving coil, and determine faradic maximum value, in induced current maximum,
Determine that charging receiving coil and charging transmitting coil complete alignment.
Optionally, the plane slide unit 103 further include: X-axis driver 1031 is connected with the charge controller 104,
X-axis stepper motor 1033 is connected with the X-axis driver, and X-axis rectilinear orbit 1035 is connected with the X-axis stepper motor
It connects, slide unit 1030, is connected with the X-axis rectilinear orbit 1035；Y-axis driver 1032 is connected with the charge controller,
Y-axis stepper motor 1034 is connected with the Y-axis driver, Y-axis rectilinear orbit 1036, with 1034 phase of y-axis stepper motor
Connection, the Y-axis rectilinear orbit are connected with the slide unit.
The plane slide unit of the present embodiment can be moved planar, including X-direction and Y direction.When plane slide unit moves
In dynamic process, the size of current that senses of battery management system detection charging receiving coil, when the induced current detected most
When big, determine that charging receiving coil is aligned with charging transmitting coil completion.At this point, the machine in unmanned aerial vehicle onboard wireless charging module
It carries communication module ground station communication module and sends the instruction for stopping alignment operation, charge controller controls X-axis driver and Y-axis
Driver stops movement, and then controls slide unit and stop movement, so that can produce between charging receiving coil and charging transmitting coil
Raw maximum induced current is unmanned plane charging.
According to embodiments of the present invention, a kind of embodiment of the method for unmanned plane charging method is provided, it should be noted that
The step of process of attached drawing illustrates can execute in a computer system such as a set of computer executable instructions, also,
It, in some cases, can be to be different from shown in sequence execution herein although logical order is shown in flow charts
The step of out or describing.
Fig. 2 is the flow chart of unmanned plane charging method according to an embodiment of the present invention, which can be by
Earth station executes, as shown in Fig. 2, this method comprises the following steps:
Step S302 receives unmanned plane ground station and sends charge coil alignment work after unmanned plane drops to earth station
Industry instruction；
Step S304 is aligned job instruction according to charge coil, controls the charging transmitting coil of earth station in planar movement；
Step S306, after charging transmitting coil is aligned with the charging receiving coil of unmanned plane, control charging transmitting coil
Stop movement；
Step S308, control charging transmitting coil emit electric power signal to charging receiving coil.
In the present embodiment, charge coil is sent by unmanned plane ground station and is aligned job instruction, by ground station control
The plane slide unit at face station scans movement, and charging transmitting coil is driven planar to move, to realize the charging transmitting of earth station
Coil is aligned with charging receiving coil, and then completes earth station to the wireless charging of unmanned plane.In alignment procedure, movably
The charging transmitting coil at face station is aligned, and is aligned without controlling unmanned plane movement, solves the prior art in nothing
Alignment operation more complicated technical problem when line charge electricity.
Optionally, after the charging transmitting coil of earth station is aligned with the charging receiving coil of unmanned plane, control charging hair
Ray circle stops movement further include: is being aligned job instruction according to charge coil, control earth station drives charging transmitting coil to exist
When planar movement, control charging transmitting coil emits electric power signal；Unmanned plane is received in charging receiving coil and charging emission lines
The instruction of the stopping alignment operation sent after circle alignment, wherein when the induced current for the receiving coil that charges reaches maximum value, nothing
Man-machine charging receiving coil is aligned with charging transmitting coil；Stopped according to the instruction control charging transmitting coil for stopping alignment operation
Only move.
Earth station drives charging transmitting coil in planar movement, and charging transmitting coil emits electric power signal simultaneously, nobody
The charging receiving coil of machine generates induced current, and whether unmanned machine testing induced current reaches faradic maximum value, reaching
Illustrate to charge receiving coil when to maximum value and the transmitting coil that charges has been aligned.Unmanned plane is determining charging receiving coil and is filling
In the case that electric transmitting coil has been aligned, ground station issues the instruction for stopping alignment operation, ground station reception to stopping pair
After the instruction of neat operation, control charging transmitting coil stops movement.The instruction for stopping alignment operation is sent out by airborne communication module
It send, and is received by earth station's communication module.
Optionally, control charging transmitting coil includes: to receive unmanned plane to send to charging receiving coil transmitting electric power signal
Wireless charging job instruction and unmanned plane information about power；According to wireless charging job instruction and information about power control charging hair
Penetrate the electric power signal of coil transmissions.
Optionally, according to the electric power signal packet of wireless charging job instruction and information about power control charging transmitting coil transmitting
It includes: obtaining the information about power of unmanned plane in real time；In the case where the battery of information about power instruction unmanned plane is fully charged, control charging
Transmitting coil stops transmitting electric power signal.
Before carrying out wireless charging, unmanned plane ground station sends wireless charging job instruction, and sends unmanned plane
Information about power, these information are transferred to the charge controller of earth station.The charging transmitting coil transmitting electric energy letter of earth station
Number, meanwhile, the charging receiving coil of unmanned plane receives electric power signal.The electric energy management system of unmanned plane charges to lithium battery.Nothing
Man-machine real-time ground station feeds back information about power, obtains information about power by the charge controller of earth station, when information about power indicates
In the case where filling with electricity, charge controller control charging transmitting coil stops transmitting electric power signal, completes wireless charging.
The embodiment of the invention also provides a kind of unmanned plane charging methods.Fig. 3 is the nothing of another embodiment according to the present invention
The flow chart of man-machine charging method.The unmanned plane charging method can be executed by unmanned plane, as shown in figure 3, the unmanned plane charges
Method includes:
Step S402, after unmanned plane drops to earth station, ground station sends charge coil and is aligned job instruction,
In, earth station is aligned job instruction according to charge coil, and control charging transmitting coil is in planar movement；
Step S404, after the charging transmitting coil of earth station is aligned with the charging receiving coil of unmanned plane, control charging
Transmitting coil stops movement；
Step S406 receives the electric power signal that charging transmitting coil emits to charging receiving coil.
In the present embodiment, charge coil is sent by unmanned plane ground station and is aligned job instruction, by ground station control
The plane slide unit at face station scans movement, and charging transmitting coil is driven planar to move, to realize the charging transmitting of earth station
Coil is aligned with charging receiving coil, and then completes earth station to the wireless charging of unmanned plane.In alignment procedure, movably
The charging transmitting coil at face station is aligned, and is aligned without controlling unmanned plane movement, solves the prior art in nothing
Alignment operation more complicated technical problem when line charge electricity.Unmanned plane hovers in the sky compared with the existing technology, by unmanned plane tune
Whole hovering position lands again to be aligned earth station, will not be because of nobody since the application is to drop to after earth station to be aligned again
The landing of machine leads to not the case where alignment, so that the alignment of the application is more accurate.
Optionally, after the charging transmitting coil of earth station is aligned with the charging receiving coil of unmanned plane, control charging hair
It includes: to receive the electric power signal of charging transmit coil transmitting that ray circle, which stops movement,；The induced current of detection charging receiving coil
Maximum value；After detecting maximum value, ground station sends the instruction for stopping alignment operation, so that earth station is according to stopping
The instruction control charging transmitting coil for being aligned operation stops movement.
Earth station drives charging transmitting coil in planar movement, and charging transmitting coil emits electric power signal simultaneously, nobody
The charging receiving coil of machine generates induced current, and whether unmanned machine testing induced current reaches faradic maximum value, reaching
Illustrate to charge receiving coil when to maximum value and the transmitting coil that charges has been aligned.Unmanned plane is determining charging receiving coil and is filling
In the case that electric transmitting coil has been aligned, ground station issues the instruction for stopping alignment operation, ground station reception to stopping pair
After the instruction of neat operation, control charging transmitting coil stops movement.The instruction for stopping alignment operation is sent out by airborne communication module
It send, and is received by earth station's communication module.
Optionally, receiving charging transmitting coil to the electric power signal that charging receiving coil emits includes: that ground station is sent
Wireless charging job instruction and information about power；Satellite receiver is according to wireless charging job instruction and information about power control charging hair
Penetrate the electric power signal that coil transmissions emit to charging receiving coil.
Optionally, the electric power signal for receiving charging transmitting coil to charging receiving coil transmitting includes: real-time ground station
The information about power of unmanned plane is sent, wireless charging is completed when information about power instruction battery is full of with tip ground station.
Before carrying out wireless charging, unmanned plane ground station sends wireless charging job instruction, and sends unmanned plane
Information about power, these information are transferred to the charge controller of earth station.The charging transmitting coil transmitting electric energy letter of earth station
Number, meanwhile, the charging receiving coil of unmanned plane receives electric power signal.The electric energy management system of unmanned plane charges to lithium battery.Nothing
The real-time ground station of man-machine battery management system feeds back information about power, obtains information about power by the charge controller of earth station,
In the case that information about power instruction fills with electricity, charge controller control charging transmitting coil stops transmitting electric power signal,
Complete wireless charging.
The embodiment of the invention also provides a kind of devices of unmanned plane charging system.As shown in figure 4, the unmanned plane Charging
The device of system includes unmanned plane and earth station.
The unmanned plane includes unmanned plane body 11, unmanned aerial vehicle onboard wireless charging device.The unmanned aerial vehicle onboard
Wireless charging device includes airborne equipment cabin 12, charging receiving coil 13.The airborne equipment cabin 12 is for installing unmanned plane
The equipment of airborne wireless charging module.
The earth station includes earth station's cabinet, earth station's wireless charging device.Earth station's cabinet includes one
Layer 22, three layers of platform 21, quadruple board platform platform 23.Earth station's wireless charging device include ground installation cabin 26, plane slide unit 25,
Charge transmitting coil 24.The equipment that the ground installation cabin 26 is used to install earth station's wireless charging module.Described one layer
Platform 21 is used for the installation in ground installation cabin 26.The quadruple board platform 22 is used for the installation of plane slide unit 25；Three layers of platform 23
For parking for unmanned plane.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (13)
1. a kind of unmanned plane charging method characterized by comprising
After unmanned plane drops to earth station, receives the unmanned plane and refer to earth station transmission charge coil alignment operation
It enables；
It is aligned job instruction according to the charge coil, controls the charging transmitting coil of the earth station in planar movement；
After the charging transmitting coil is aligned with the charging receiving coil of the unmanned plane, controls the charging transmitting coil and stop
Only move；
It controls the charging transmitting coil and electric power signal is emitted to the charging receiving coil.
2. the method according to claim 1, wherein the earth station the charging transmitting coil with it is described
After the charging receiving coil alignment of unmanned plane, controls the charging transmitting coil and stops movement further include:
It is being aligned job instruction according to the charge coil, the earth station is being controlled and drives charging transmitting coil in planar movement
When, it controls the charging transmitting coil and emits electric power signal；
It receives the stopping that the unmanned plane is sent after the charging receiving coil is aligned with the charging transmitting coil and is aligned work
The instruction of industry, wherein when the induced current of the charging receiving coil reaches maximum value, the charging of the unmanned plane
Take-up circle is aligned with the charging transmitting coil；
The charging transmitting coil, which is controlled, according to the instruction for stopping alignment operation stops movement.
3. the method according to claim 1, wherein the control charging transmitting coil is to the charging take-up
Circle emits electric power signal
Receive the information about power of wireless charging job instruction and the unmanned plane that the unmanned plane is sent；
The electric power signal of the charging transmitting coil transmitting is controlled according to the wireless charging job instruction and the information about power.
4. according to the method described in claim 3, it is characterized in that, being believed according to the wireless charging job instruction and the electricity
Breath controls the electric power signal that the charging transmitting coil emits
The information about power of the unmanned plane is obtained in real time；
The information about power indicate the unmanned plane battery it is fully charged in the case where, control charging transmitting coil stopping
Emit electric power signal.
5. a kind of unmanned plane charging method characterized by comprising
After unmanned plane drops to earth station, Xiang Suoshu earth station sends charge coil and is aligned job instruction, wherein the ground
It stands and job instruction is aligned according to the charge coil, control charging transmitting coil is in planar movement；
After the charging transmitting coil of the earth station is aligned with the charging receiving coil of the unmanned plane, filled described in control
Electric transmitting coil stops movement；
Receive the electric power signal that the charging transmitting coil emits to the charging receiving coil.
6. according to the method described in claim 5, it is characterized in that, the earth station the charging transmitting coil with it is described
After the charging receiving coil alignment of unmanned plane, controlling the charging transmitting coil stopping movement includes:
Receive the electric power signal of the charging transmit coil transmitting；
Detect the faradic maximum value of the charging receiving coil；
After detecting the maximum value, Xiang Suoshu earth station sends the instruction for stopping alignment operation, so that the earth station
The charging transmitting coil, which is controlled, according to the instruction for stopping alignment operation stops movement.
7. according to the method described in claim 5, it is characterized in that, receiving the charging transmitting coil to the charging take-up
Enclosing the electric power signal emitted includes:
Wireless charging job instruction and information about power are sent to the earth station；
It receives the earth station and the charging transmitting coil is controlled according to the wireless charging job instruction and the information about power
Emit the electric power signal emitted to the charging receiving coil.
8. the method according to the description of claim 7 is characterized in that receiving the charging transmitting coil to the charging take-up
Enclosing the electric power signal emitted includes:
The information about power of the unmanned plane is sent, to the earth station in real time to prompt the earth station to refer in the information about power
Show and completes wireless charging when battery is full of.
9. a kind of unmanned plane charging system characterized by comprising
Unmanned aerial vehicle onboard wireless charging module, wherein the unmanned aerial vehicle onboard wireless charging module includes:
Airborne communication module sends charge coil for ground station and is aligned job instruction；
Charge receiving coil, for receiving electric power signal；
Earth station's wireless charging module, wherein earth station's wireless charging module includes:
Earth station's communication module is carried out wireless communication with the airborne communication module, for receiving the airborne communication module hair
The charge coil alignment job instruction sent；
Charge transmitting coil, for sending electric power signal；
Plane slide unit, for driving the charging transmitting coil in planar movement；
Charge controller, it is dynamic for being scanned according to the charge coil alignment job instruction control plane slide unit in plane
Make, and after the charging receiving coil and charging transmitting coil alignment, controls and scanned described in the plane slide unit stopping
Movement.
10. unmanned plane charging system according to claim 9, which is characterized in that the plane slide unit further include:
X-axis driver is connected with the charge controller,
X-axis stepper motor is connected with the X-axis driver,
X-axis rectilinear orbit is connected with the X-axis stepper motor,
Slide unit is connected with the X-axis rectilinear orbit；
Y-axis driver is connected with the charge controller,
Y-axis stepper motor is connected with the Y-axis driver,
Y-axis rectilinear orbit is connected with the y-axis stepper motor, and the Y-axis rectilinear orbit is connected with the slide unit.
11. unmanned plane charging system according to claim 9 or 10, which is characterized in that the unmanned plane charging system packet
It includes:
Airborne charging circuit is connected with the charging receiving coil, the electric current for receiving to the charging receiving coil
Carry out rectification and voltage conversion；
Earth station's charging circuit is connected between the charging transmitting coil and the charge controller, for carrying out inversion.
12. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein described program right of execution
Benefit require any one of 1 to 4 described in unmanned plane charging method.
13. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit require any one of 1 to 4 described in unmanned plane charging method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810074671.0A CN110077613A (en) | 2018-01-25 | 2018-01-25 | Unmanned plane charging method, system, storage medium and processor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810074671.0A CN110077613A (en) | 2018-01-25 | 2018-01-25 | Unmanned plane charging method, system, storage medium and processor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110077613A true CN110077613A (en) | 2019-08-02 |
Family
ID=67412057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810074671.0A Pending CN110077613A (en) | 2018-01-25 | 2018-01-25 | Unmanned plane charging method, system, storage medium and processor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110077613A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110661310A (en) * | 2019-08-30 | 2020-01-07 | 深圳供电局有限公司 | Charging device and unmanned aerial vehicle combination |
| CN111348214A (en) * | 2020-04-07 | 2020-06-30 | 中国人民解放军陆军工程大学 | Unmanned aerial vehicle group RF wireless charging system and charging method thereof |
| CN112319833A (en) * | 2020-10-30 | 2021-02-05 | 北京京东乾石科技有限公司 | Automatic airport and unmanned aerial vehicle charging system, method, equipment and storage medium |
| CN113460317A (en) * | 2020-03-30 | 2021-10-01 | 北京二郎神科技有限公司 | Charging device and working method thereof, unmanned aerial vehicle and charging method, medium and equipment |
| CN113726032A (en) * | 2021-11-03 | 2021-11-30 | 中国科学院空天信息创新研究院 | Wireless charging method, device, medium and product |
| CN113778135A (en) * | 2021-08-06 | 2021-12-10 | 苏州荷清智能科技有限公司 | Wireless charging station for coal mine environment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104795861A (en) * | 2015-04-09 | 2015-07-22 | 天津大学 | Wireless charging system and method based on unmanned aerial vehicle |
| CN105914811A (en) * | 2016-04-21 | 2016-08-31 | 北京小米移动软件有限公司 | Wireless charging method and device |
| CN106100069A (en) * | 2016-08-16 | 2016-11-09 | 中海阳能源集团股份有限公司 | A kind of unmanned plane wireless radiofrequency charging system |
| CN106598074A (en) * | 2017-01-10 | 2017-04-26 | 湖南工学院 | Method for improving stability of unmanned aerial vehicle, and aerial photography based area dynamic patrol system |
| CN106992609A (en) * | 2017-04-27 | 2017-07-28 | 广东容祺智能科技有限公司 | One kind is based on magnetic-coupled UAV Intelligent wireless charging system altogether |
| CN206533201U (en) * | 2017-03-15 | 2017-09-29 | 无锡职业技术学院 | A kind of self-positioning unmanned plane wireless charging system |
| CN206657245U (en) * | 2017-04-22 | 2017-11-21 | 宜昌慧松电子科技有限公司 | A kind of automated wireless charging device of unmanned plane |
| US20180009527A1 (en) * | 2016-07-06 | 2018-01-11 | Qualcomm Incorporated | Magnetic Field Navigation of Unmanned Autonomous Vehicles |
-
2018
- 2018-01-25 CN CN201810074671.0A patent/CN110077613A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104795861A (en) * | 2015-04-09 | 2015-07-22 | 天津大学 | Wireless charging system and method based on unmanned aerial vehicle |
| CN105914811A (en) * | 2016-04-21 | 2016-08-31 | 北京小米移动软件有限公司 | Wireless charging method and device |
| US20180009527A1 (en) * | 2016-07-06 | 2018-01-11 | Qualcomm Incorporated | Magnetic Field Navigation of Unmanned Autonomous Vehicles |
| CN106100069A (en) * | 2016-08-16 | 2016-11-09 | 中海阳能源集团股份有限公司 | A kind of unmanned plane wireless radiofrequency charging system |
| CN106598074A (en) * | 2017-01-10 | 2017-04-26 | 湖南工学院 | Method for improving stability of unmanned aerial vehicle, and aerial photography based area dynamic patrol system |
| CN206533201U (en) * | 2017-03-15 | 2017-09-29 | 无锡职业技术学院 | A kind of self-positioning unmanned plane wireless charging system |
| CN206657245U (en) * | 2017-04-22 | 2017-11-21 | 宜昌慧松电子科技有限公司 | A kind of automated wireless charging device of unmanned plane |
| CN106992609A (en) * | 2017-04-27 | 2017-07-28 | 广东容祺智能科技有限公司 | One kind is based on magnetic-coupled UAV Intelligent wireless charging system altogether |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110661310A (en) * | 2019-08-30 | 2020-01-07 | 深圳供电局有限公司 | Charging device and unmanned aerial vehicle combination |
| CN113460317A (en) * | 2020-03-30 | 2021-10-01 | 北京二郎神科技有限公司 | Charging device and working method thereof, unmanned aerial vehicle and charging method, medium and equipment |
| CN111348214A (en) * | 2020-04-07 | 2020-06-30 | 中国人民解放军陆军工程大学 | Unmanned aerial vehicle group RF wireless charging system and charging method thereof |
| CN112319833A (en) * | 2020-10-30 | 2021-02-05 | 北京京东乾石科技有限公司 | Automatic airport and unmanned aerial vehicle charging system, method, equipment and storage medium |
| CN113778135A (en) * | 2021-08-06 | 2021-12-10 | 苏州荷清智能科技有限公司 | Wireless charging station for coal mine environment |
| CN113726032A (en) * | 2021-11-03 | 2021-11-30 | 中国科学院空天信息创新研究院 | Wireless charging method, device, medium and product |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110077613A (en) | Unmanned plane charging method, system, storage medium and processor | |
| CN107709162A (en) | Charging system based on aircraft from main boot | |
| CN106787258A (en) | Unmanned plane, charging base station, wireless charging system and method | |
| JP7006187B2 (en) | Mobiles, vehicle allocation systems, servers, and mobile vehicle allocation methods | |
| CN105763230B (en) | The autonomous base station system of packaged type multi-rotor unmanned aerial vehicle | |
| Chae et al. | The IoT based automate landing system of a drone for the round-the-clock surveillance solution | |
| CN108032742B (en) | Unmanned aerial vehicle high-altitude non-contact energy supply system and method | |
| DE102014224455B4 (en) | Method for contactless charging of an electrically powered vehicle | |
| CN108001684A (en) | Unmanned plane, cloud server, wireless charging system and method | |
| CN110234547A (en) | Unmanned plane is to Vehicular charging | |
| CN105448137B (en) | Aircraft and its control method, the intelligent management system of aircraft and method | |
| CN108422884A (en) | Electric car electric energy replenishment system based on unmanned plane | |
| CN102591357A (en) | Auxiliary control system for power line inspection unmanned aerial vehicle, and control method thereof | |
| CN207449645U (en) | Automatic charging system | |
| CN105048533A (en) | Small multi-rotor unmanned aerial vehicle automatic charging system | |
| CN108227731B (en) | Unmanned aerial vehicle anti-collision method and device | |
| DE112017006758B4 (en) | STARTUP DRONE | |
| CN206719516U (en) | System based near space stratospheric airship electromagnetic launch unmanned plane | |
| CN103488173A (en) | Multi-terrain intelligent mobile platform and control method thereof | |
| CN106998095A (en) | A kind of unmanned plane management platform | |
| CN108438254A (en) | Spacecraft system and dispositions method | |
| EP3924213A1 (en) | Docking port and battery charging depot for an unmanned aerial vehicle and a method for docking and charging the vehicle | |
| CN206401916U (en) | A kind of wireless power supply system for unmanned plane | |
| CN101955094B (en) | Multi-antenna wireless remote control system for calling elevator and control method thereof | |
| CN107031808A (en) | System and method based near space stratospheric airship electromagnetic launch unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190802 |