CN112109576A - Unmanned aerial vehicle autonomous tracking charging method and device - Google Patents

Unmanned aerial vehicle autonomous tracking charging method and device Download PDF

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Publication number
CN112109576A
CN112109576A CN202010949836.1A CN202010949836A CN112109576A CN 112109576 A CN112109576 A CN 112109576A CN 202010949836 A CN202010949836 A CN 202010949836A CN 112109576 A CN112109576 A CN 112109576A
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China
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unmanned aerial
aerial vehicle
charging
platform
target
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CN112109576B (en
Inventor
刘盼盼
鲁长波
王长富
徐万里
***
周友杰
王梦依
安高军
陈今茂
李华
徐曦萌
孙彦丽
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Institute Of Military New Energy Technology Institute Of Systems Engineering Academy Of Military Sciences
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Institute Of Military New Energy Technology Institute Of Systems Engineering Academy Of Military Sciences
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    • 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
    • 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
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • 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
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
    • H02J3/388—Islanding, i.e. disconnection of local power supply from the network
    • 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
    • H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
    • 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
    • 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
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
    • 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
    • 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
    • H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
    • H02J2310/40—The network being an on-board power network, i.e. within a vehicle
    • H02J2310/44—The network being an on-board power network, i.e. within a vehicle for aircrafts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The embodiment of the invention discloses an unmanned aerial vehicle autonomous tracking charging method and device, wherein the method comprises the following steps: the master control platform obtains a charging request sent by the unmanned aerial vehicle; determining target platform position information of a target wireless charging platform closest to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle and platform position information of each wireless charging platform; feeding back the position information of the target platform to the unmanned aerial vehicle; the charging command which is sent by the unmanned aerial vehicle and carries the charging required power is obtained, wherein the charging command is as follows: the command is sent after the unmanned aerial vehicle reaches the target wireless charging platform; the charging notice carrying the charging demand power is sent to the target wireless charging platform, so that the target wireless charging platform discharges based on the charging demand power carried by the charging notice, and the unmanned aerial vehicle charges for an airborne battery of the unmanned aerial vehicle, so that the wireless charging of the unmanned aerial vehicle is realized, and the safety is improved.

Description

Unmanned aerial vehicle autonomous tracking charging method and device
Technical Field
The invention relates to the technical field of unmanned aerial vehicle charging, in particular to an unmanned aerial vehicle autonomous tracking charging method and device.
Background
With the development of the technology, the unmanned aerial vehicle plays an increasingly prominent role in reconnaissance, cruising, communication relaying, information countermeasure and the like. Due to the limitation of the battery capacity of the unmanned aerial vehicle, the endurance time and the endurance mileage of the unmanned aerial vehicle are not enough to support the unmanned aerial vehicle to execute tasks for a long time and in a long distance. In order to ensure the task execution of the drone, how to charge the drone needs to be considered.
At present, the plug-in that the mode that charges to unmanned aerial vehicle generally adopted charges, and this type of charge mode personnel's participation degree is higher, and unmanned aerial vehicle and battery charging outfit's the interface that charges is exposed, and the danger coefficient is big.
Disclosure of Invention
The invention provides an unmanned aerial vehicle autonomous tracking charging method and device, which are used for realizing wireless charging of an unmanned aerial vehicle and improving safety. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides an autonomous tracking charging method for an unmanned aerial vehicle, where the method is applied to a general control platform of an unmanned aerial vehicle charging system, and the unmanned aerial vehicle charging system further includes: the system comprises an unmanned aerial vehicle and a wireless charging platform;
obtaining a charging request sent by an unmanned aerial vehicle, wherein the charging request is as follows: the unmanned aerial vehicle judges a request sent under the condition that the current available electric quantity value of the airborne battery of the unmanned aerial vehicle can not support the unmanned aerial vehicle to fly to each task place based on the current position information of the current position of the unmanned aerial vehicle, the obstacle position information of the corresponding current obstacle and the destination position information of the task place to be reached;
determining target platform position information of a target wireless charging platform closest to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle and platform position information of each wireless charging platform;
feeding back the position information of the target platform to the unmanned aerial vehicle;
obtaining a charging command which is sent by the unmanned aerial vehicle and carries the charging required power, wherein the charging command is as follows: a command sent by the drone after reaching the target wireless charging platform;
and sending a charging notice carrying the charging demand power to the target wireless charging platform, so that the target wireless charging platform discharges based on the charging demand power carried by the charging notice, and the unmanned aerial vehicle charges an airborne battery of the unmanned aerial vehicle.
Optionally, the wireless charging platform comprises an off-grid type microgrid module and a wireless energy transmission module;
the off-grid micro-grid module outputs direct current meeting the charging demand power to the wireless energy transmission module based on the charging demand power carried by the charging notice sent by the master control platform;
the wireless energy transmission module receives the direct current meeting the charging required power and converts the direct current meeting the charging required power into electromagnetism for discharging.
Optionally, the wireless energy transmission module includes a power controller, a full-bridge inverter circuit, a resonance compensation network, a power distribution control unit, and an array-type transmitting coil, where each transmitting coil in the array-type transmitting coil is connected in parallel; correspondingly, a receiving coil is arranged on a bracket of the unmanned aerial vehicle;
the power controller controls the full-bridge inverter circuit to convert the received direct current meeting the charging required power into high-frequency square wave electricity meeting the charging required power, and the high-frequency square wave electricity is input into the resonance compensation network;
the resonance compensation network converts the high-frequency square wave electricity into high-frequency sine alternating current meeting the charging required power and loads the high-frequency sine alternating current to the array type transmitting coil;
the power distribution control unit senses the matching condition of a receiving coil of the unmanned aerial vehicle falling to the surface of the array type transmitting coil and a target transmitting coil in the array type transmitting coil; controlling the current conduction of a corresponding branch of the target transmitting coil based on the matching condition so as to convert the high-frequency sinusoidal alternating current meeting the charging required power into electromagnetism through the target transmitting coil for discharging;
and the unmanned aerial vehicle charges the airborne battery through a receiving coil magnetically coupled with the target transmitting coil.
Optionally, the area of each transmitting coil in the array transmitting coils is larger than the area occupied by the support of the unmanned aerial vehicle; each support of the unmanned aerial vehicle is provided with a receiving coil; and/or when the unmanned aerial vehicle lands on the surface of the array type transmitting coil, the distance between the receiving coil and the surface of the array type transmitting coil is 3-5 cm.
Optionally, the off-grid microgrid module includes: at least two of the energy storage battery, the diesel generator, the photovoltaic generator and the wind driven generator and an energy distribution unit; the energy distribution unit judges whether the output power of the energy storage battery meets the charging demand power carried by the charging notice sent by the master control platform; if the direct current is judged to be satisfied, the energy storage battery is started to output the direct current satisfying the charging required power to the wireless energy transmission module; if the direct current is judged to be not satisfied, the diesel generator or the photovoltaic generator or the wind driven generator is started to output the direct current satisfying the charging required power to the wireless energy transmission module;
the photovoltaic generator and/or the wind generator may charge the energy storage battery.
Optionally, the drone includes: the device comprises a sensing device, a flight controller, a wireless energy transmission receiving end and a first wireless communication module; the sensing device senses the environmental information of the current position of the unmanned aerial vehicle and sends the environmental information to the flight controller;
the flight controller obtains environment information sensed by the sensing device, and determines current position information of the current position of the unmanned aerial vehicle and obstacle position information of a corresponding current obstacle based on the environment information; judging whether the current available electric quantity value of the airborne battery can support the airborne battery to fly to each task place or not based on the current position information of the current position, the obstacle position information of the corresponding current obstacle and the destination position information of the task place to be reached; if not, generating a charging request and sending the charging request to the first wireless communication module; obtaining target platform position information, sent by the first wireless communication module, of a target wireless charging platform closest to the unmanned aerial vehicle, fed back by the general control platform based on the charging request; judging whether the current available electric quantity value of an airborne battery of the mobile phone can support the mobile phone to travel to the target wireless charging platform or not based on the current position information, the obstacle position information and the target platform position information; if the judgment result is yes, flying to the target wireless charging platform; after the target wireless charging platform is reached, generating a charging command carrying charging required power, and sending the charging command to the first wireless communication module;
the first wireless communication module sends a charging request to the master control platform; obtaining the position information of the target platform fed back by the master control platform; sending the charging command to the master control platform;
the wireless energy transmission receiving end obtains electric energy radiated by the target wireless charging platform; and charging an airborne battery of the unmanned aerial vehicle.
Optionally, the wireless energy transmission receiving end includes a battery management assembly; the method further comprises the following steps:
the battery relevant information of the unmanned aerial vehicle airborne battery that the first wireless communication module of unmanned aerial vehicle sent is obtained and displayed, wherein, battery relevant information reads and sends the information to first wireless communication module for battery management subassembly real-time or regularly, battery relevant information includes: at least one type of information among a remaining capacity value, charge/discharge current information, charge/discharge voltage information, and battery temperature information of the on-board battery.
Optionally, the method further includes: acquiring and displaying unmanned aerial vehicle state information sent by the unmanned aerial vehicle, current position information of a current position of the unmanned aerial vehicle, and an electric quantity value required by the unmanned aerial vehicle to reach a target position, wherein the unmanned aerial vehicle state information comprises idle state information, underway state information and charging state information, and the target position comprises: the position of a final arrival place in the task places or the position of a target wireless charging platform closest to the current position of the unmanned aerial vehicle; displaying a 3D map corresponding to the current position of the unmanned aerial vehicle based on the obtained current position information of the current position of the unmanned aerial vehicle; under the condition that the unmanned aerial vehicle is in an underway state, displaying platform identification information of a target wireless charging platform closest to the current position of the unmanned aerial vehicle; under the condition that unmanned aerial vehicle is in the charged state, show the wireless charging platform's of target that unmanned aerial vehicle corresponds platform identification information, the identification information of the potential of charging, the demand power that charges, charge efficiency information and the wireless charging platform's of target surplus electric quantity value, wherein, the identification information of the potential of charging is: and identification information of a target transmitting coil matched with a receiving coil of the unmanned aerial vehicle in a transmitting coil of the target wireless charging platform.
Optionally, the method further includes: acquiring position information of a task place configured for the unmanned aerial vehicle, taking the position information as destination position information of the task place required to be reached by the unmanned aerial vehicle, and sending the destination position information to the corresponding unmanned aerial vehicle; the method comprises the steps of obtaining an upper limit electric quantity value and a lower limit electric quantity value of a charging threshold value of an airborne battery set for the unmanned aerial vehicle, and sending the upper limit electric quantity value and the lower limit electric quantity value to the corresponding unmanned aerial vehicle, wherein the current available electric quantity value is as follows: and the residual electric quantity value of the airborne battery of the unmanned aerial vehicle is different from the lower limit electric quantity value.
In a second aspect, an unmanned aerial vehicle is tracking charging device independently, the device is applied to unmanned aerial vehicle charging system's total accuse platform, unmanned aerial vehicle charging system still includes: the system comprises an unmanned aerial vehicle and a wireless charging platform; the device comprises:
a first obtaining module configured to obtain a charging request sent by an unmanned aerial vehicle, wherein the charging request is: the unmanned aerial vehicle judges a request sent under the condition that the current available electric quantity value of the airborne battery of the unmanned aerial vehicle can not support the unmanned aerial vehicle to fly to each task place based on the current position information of the current position of the unmanned aerial vehicle, the obstacle position information of the corresponding current obstacle and the destination position information of the task place to be reached;
a first determination module configured to determine target platform position information of a target wireless charging platform closest to the unmanned aerial vehicle based on current position information of the unmanned aerial vehicle and platform position information of each wireless charging platform;
a feedback module configured to feed back the target platform location information to the drone;
a second obtaining module, configured to obtain a charging command that is sent by the drone and carries a charging demand power required for charging, where the charging command is: a command sent by the drone after reaching the target wireless charging platform;
a first sending module configured to send a charging notification carrying the charging demand power to the target wireless charging platform, so that the target wireless charging platform discharges based on the charging demand power carried by the charging notification, and the unmanned aerial vehicle charges its onboard battery.
As can be seen from the above, the method and apparatus for charging an unmanned aerial vehicle by autonomous tracking provided by the embodiments of the present invention includes: the total control platform obtains the charging request that unmanned aerial vehicle sent, and wherein, the charging request is: the unmanned aerial vehicle judges a request sent under the condition that the current available electric quantity value of the airborne battery of the unmanned aerial vehicle cannot support the unmanned aerial vehicle to fly to each task place based on the current position information of the current position of the unmanned aerial vehicle, the obstacle position information of the corresponding current obstacle and the destination position information of the task place to be reached; determining target platform position information of a target wireless charging platform closest to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle and platform position information of each wireless charging platform; feeding back the position information of the target platform to the unmanned aerial vehicle; the charging command which is sent by the unmanned aerial vehicle and carries the charging required power is obtained, wherein the charging command is as follows: the command is sent after the unmanned aerial vehicle reaches the target wireless charging platform; and sending a charging notice carrying the charging required power to the target wireless charging platform so that the target wireless charging platform discharges based on the charging required power carried by the charging notice, and the unmanned aerial vehicle charges an airborne battery of the unmanned aerial vehicle.
By applying the embodiment of the invention, the unmanned aerial vehicle sends a charging request to the master control platform under the condition that the charging requirement exists, so as to obtain the target platform position information of the target wireless charging platform which is fed back by the master control platform and is closest to the position of the unmanned aerial vehicle; furthermore, the unmanned aerial vehicle can support the unmanned aerial vehicle to fly to the wireless charging platform of target under the condition that the current available electric quantity value of its airborne battery is confirmed, fly to the wireless charging platform of target, and send the charging command including the demand power of charging to total control platform, total control platform sends the notice of charging to the wireless charging platform of target, the demand power of charging that the wireless charging platform of target carried based on the notice of charging discharges, unmanned aerial vehicle charges for its airborne battery, charge for unmanned aerial vehicle through wireless charging platform, realize the wireless charging to unmanned aerial vehicle, and the safety is improved. And through the overall planning of total accuse platform, the unmanned aerial vehicle for having the demand of charging provides the target platform positional information apart from its nearest wireless charging platform of target, with can fly under the wireless charging platform's of target condition at unmanned aerial vehicle, fly to charge to the wireless charging platform of target, provide support for unmanned aerial vehicle's long distance navigation to a certain extent, it is limited to have solved unmanned aerial vehicle navigation range, the inconvenient problem of charging to a certain extent, realize the full-automatic energy supply of unmanned aerial vehicle. Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
The innovation points of the embodiment of the invention comprise:
1. the method comprises the steps that under the condition that an unmanned aerial vehicle has a charging requirement, a charging request is sent to a master control platform so as to obtain target platform position information of a target wireless charging platform which is fed back by the master control platform and is closest to the position of the unmanned aerial vehicle; furthermore, the unmanned aerial vehicle can support the unmanned aerial vehicle to fly to the wireless charging platform of target under the condition that the current available electric quantity value of its airborne battery is confirmed, fly to the wireless charging platform of target, and send the charging command including the demand power of charging to total control platform, total control platform sends the notice of charging to the wireless charging platform of target, the demand power of charging that the wireless charging platform of target carried based on the notice of charging discharges, unmanned aerial vehicle charges for its airborne battery, charge for unmanned aerial vehicle through wireless charging platform, realize the wireless charging to unmanned aerial vehicle, and the safety is improved. And through the overall planning of total accuse platform, the unmanned aerial vehicle for having the demand of charging provides the target platform positional information apart from its nearest wireless charging platform of target, with can fly under the wireless charging platform's of target condition at unmanned aerial vehicle, fly to charge to the wireless charging platform of target, provide support for unmanned aerial vehicle's long distance navigation to a certain extent, it is limited to have solved unmanned aerial vehicle navigation range, the inconvenient problem of charging to a certain extent, realize the full-automatic energy supply of unmanned aerial vehicle.
2. The wireless charging platform comprises an off-grid type micro-grid module and a wireless energy transmission module, namely, the electric energy which meets the required charging demand power of the unmanned aerial vehicle can be provided for the unmanned aerial vehicle through the off-grid type micro-grid module, the electric energy is supplemented for the unmanned aerial vehicle, and the multi-load power self-adaptive effect is achieved. The deployment range of the wireless charging platform comprising the off-grid micro-grid module can be free from the deployment limitation of a national power grid, the deployment in remote mountains and forests, offshore islands, plateau borders and other areas can be realized, and further a foundation is provided for long-distance cruising flight of the unmanned aerial vehicle in the remote mountains and forests, offshore islands, plateau borders and other areas. And through the target transmitting coil of wireless biography ability emission module, will satisfy the direct current of the demand power that charges converts into the electromagnetism to discharge, realize unmanned aerial vehicle's wireless charging, guarantee the security.
3. The transmitting coils are array transmitting coils which are connected in parallel, and the power distribution control unit of the wireless energy transmission module can sense the matching condition of the receiving coil of the unmanned aerial vehicle which is descended to the array transmitting coils and the target transmitting coils in the array transmitting coils, further, the conduction of the corresponding branch of the target transmitting coils, namely the conduction of current, and the closure of the corresponding branch of other transmitting coils, namely the closure of current, can realize the independent work of the target transmitting coils which are matched with the receiving coils of the unmanned aerial vehicle, the design has stronger fault-tolerant capability for the fixed-point landing of the unmanned aerial vehicle, so that the effective landing range of the unmanned aerial vehicle is expanded to the size of the whole array transmitting coils from the size of one transmitting coil, the requirement on the positioning precision of the unmanned aerial vehicle during the charging landing is greatly reduced, and the energy-saving effect can be achieved by controlling only the target, the electric energy transmission efficiency is improved to a certain extent.
4. The size of the receiving coil that sets up on the unmanned aerial vehicle support is less than the size of the transmitting coil that wireless charging platform set up, has realized unmanned aerial vehicle to a certain extent on receiving coil's lightweight design, unmanned aerial vehicle descend extremely during the wireless charging platform of target, receiving coil distance from ground is 3 to 5 centimetres, has improved electric energy transmission efficiency to a certain extent.
5. The second wireless communication module of the master control platform obtains battery related information sent by the unmanned aerial vehicle and displays the battery related information through the information display device, the unmanned aerial vehicle state information of the unmanned aerial vehicle, the current position information of the current position of the unmanned aerial vehicle and the electric quantity value required by the unmanned aerial vehicle to reach the target position are obtained and displayed through the information display device, different contents corresponding to the unmanned aerial vehicle are displayed when the unmanned aerial vehicle is in different states, and the visualization of the related information of the unmanned aerial vehicle and the related information of the wireless charging platform is realized.
6. The general control platform provides the configuration functions of destination position information of a task place required to be reached by the unmanned aerial vehicle, the upper limit electric quantity value and the lower limit electric quantity value of the charging threshold value of the airborne battery, and the visual remote control of the unmanned aerial vehicle can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is to be understood that the drawings in the following description are merely exemplary of some embodiments of the invention. For a person skilled in the art, without inventive effort, further figures can be obtained from these figures.
Fig. 1 is a schematic flowchart of an autonomous tracking charging method for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2A is a schematic structural diagram of an unmanned aerial vehicle charging system according to an embodiment of the present invention;
fig. 2B is another schematic structural diagram of the charging system of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 3A is a circuit diagram of the wireless energy transmission module 132;
fig. 3B is a schematic view of a scenario in which the drone lands on the surface of the array of transmit coils;
fig. 3C is a schematic view of a display interface of the information display device 122;
fig. 3D is a schematic diagram of a fault diagnosis tree in a wireless charging system;
fig. 4 is a schematic structural diagram of an autonomous tracking charging device for an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
The invention provides an unmanned aerial vehicle autonomous tracking charging method and device, which are used for realizing wireless charging of an unmanned aerial vehicle and improving safety. The following provides a detailed description of embodiments of the invention.
Fig. 1 is a schematic flow chart of an autonomous tracking charging method for an unmanned aerial vehicle according to an embodiment of the present invention, where the method is applied to a general control platform of an unmanned aerial vehicle charging system, and the unmanned aerial vehicle charging system further includes: the system comprises an unmanned aerial vehicle and a wireless charging platform; as shown in fig. 1, the method may include the steps of:
s101: obtaining a charging request sent by an unmanned aerial vehicle, wherein the charging request is as follows: the unmanned aerial vehicle judges a request sent under the condition that the current available electric quantity value of the airborne battery of the unmanned aerial vehicle can not support the unmanned aerial vehicle to fly to each task place based on the current position information of the current position of the unmanned aerial vehicle, the obstacle position information of the corresponding current obstacle and the destination position information of the task place to be reached;
s102: determining target platform position information of a target wireless charging platform closest to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle and platform position information of each wireless charging platform;
s103: feeding back the position information of the target platform to the unmanned aerial vehicle;
s104: obtaining a charging command which is sent by the unmanned aerial vehicle and carries the charging required power, wherein the charging command is as follows: a command sent by the drone after reaching the target wireless charging platform;
s105: and sending a charging notice carrying the charging demand power to the target wireless charging platform, so that the target wireless charging platform discharges based on the charging demand power carried by the charging notice, and the unmanned aerial vehicle charges an airborne battery of the unmanned aerial vehicle.
In the embodiment of the invention, the unmanned aerial vehicle charging system can comprise at least one unmanned aerial vehicle, the states of all the unmanned aerial vehicles can comprise an idle state, an underway state and a charging state, and the states of all the unmanned aerial vehicles can be the same or different. The wireless charging platform is a plurality of wireless charging platforms. In order to facilitate the management of the master control platform on the unmanned aerial vehicle and the wireless charging platform, the master control platform records the unmanned aerial vehicle identification information corresponding to each unmanned aerial vehicle and the platform identification information corresponding to the wireless charging platform. The unmanned aerial vehicle identification information can be information which can uniquely identify the unmanned aerial vehicle, such as an unmanned aerial vehicle serial number, an unmanned aerial vehicle label in an unmanned aerial vehicle charging system and the like; the platform identification information can be the information that the serial number of wireless charging platform and wireless charging platform can only mark wireless charging platform at unmanned aerial vehicle charging system's reference numeral etc..
In an implementation mode, under the condition that the unmanned aerial vehicle is in a non-idle state, the current position information of the current position of the unmanned aerial vehicle can be acquired and obtained in real time, and then the obtained current position information of the current position of the unmanned aerial vehicle is sent to a master control platform. The general control platform obtains the current position information of the current position of the unmanned aerial vehicle, and then monitoring and subsequent overall operation of the unmanned aerial vehicle can be realized.
In one implementation, a drone may include a sensing device, a flight controller, a wireless energy transfer receiving end, and a first wireless communication module.
The sensing device can sense the environmental information of the current position of the unmanned aerial vehicle and send the environmental information to the flight controller. In one case, the sensing device may include, but is not limited to, a positioning sensor and an obstacle avoidance sensor. Among others, the positioning sensors may include, but are not limited to: global positioning systems, such as: a GPS (Global positioning System), a GLONASS (GLONASS) Global satellite navigation System, a beidou satellite positioning System, an RTK carrier phase difference subsystem, an IMU (inertial measurement unit), a camera and other visual sensors, a laser radar, an ultrasonic sensor, an infrared sensor and combinations thereof. Obstacle avoidance sensors may include, but are not limited to: a visual sensor such as a camera, a lidar, an ultrasonic sensor, an infrared sensor, and combinations thereof.
The flight controller can embed a preset sensing and positioning algorithm, a preset path planning algorithm and a preset control execution algorithm. The flight controller obtains environment information sensed by the sensing device, and determines current position information of the current position of the unmanned aerial vehicle and obstacle position information of a corresponding current obstacle based on the environment information by using a preset sensing and positioning algorithm. The method comprises the steps that a preset path planning algorithm is utilized, path planning is carried out on the basis of current position information of a current position, obstacle position information of a corresponding current obstacle and destination position information of a task place needing to be reached, the current position of an unmanned aerial vehicle is determined, first path information of each task place is reached under the condition that the unmanned aerial vehicle avoids each current obstacle, the consumed electric quantity value of a path corresponding to the first path information is estimated, whether the consumed electric quantity value is not larger than the current available electric quantity value of an airborne battery of the unmanned aerial vehicle or not is judged, and whether the current available electric quantity value of the airborne battery of the unmanned aerial vehicle can support the unmanned aerial vehicle to fly to each task place or not is judged; if not, the flight controller generates a charging request and sends the charging request to the first wireless communication module.
Wherein the destination location information of the task location to be reached includes: and destination position information of a task place which is not reached yet in the process of the current flight task of the unmanned aerial vehicle.
According to the situation, a preset path planning algorithm is utilized, based on current position information of a current position, obstacle position information of a corresponding current obstacle and destination position information of a task place required to be reached, path planning is carried out, the current position of an unmanned aerial vehicle is determined, and when the unmanned aerial vehicle avoids each current obstacle, the first path information is required to meet the following constraint conditions in the process of reaching the first path information of each task place:
Figure BDA0002676559850000081
wherein D represents the distance corresponding to the first path information, V (t) represents the horizontal flying speed of the unmanned aerial vehicle,
Figure BDA0002676559850000082
Figure BDA0002676559850000083
S(t)-Sminrepresenting a current available charge value of an onboard battery of the drone, S (t) representing a current remaining charge value of the onboard battery of the drone, SminRepresents a lower charging threshold limit for the drone; and I represents the average discharging current of the airborne battery when the unmanned aerial vehicle flies at a constant horizontal speed.
The general control platform obtains the charging request sent by the unmanned aerial vehicle through the first wireless communication module through the second wireless communication module of the general control platform, and determines the wireless charging platform closest to the current position of the unmanned aerial vehicle through the processor based on the current position information of the current position of the unmanned aerial vehicle and the platform position information of each wireless charging platform, and the wireless charging platform is used as the target wireless charging platform corresponding to the unmanned aerial vehicle, and the target platform position information of the target wireless charging platform is sent to the first wireless communication module of the unmanned aerial vehicle through the second wireless communication module.
And the first wireless communication module of the unmanned aerial vehicle acquires the position information of the target platform sent by the master control platform through the second wireless communication module and sends the position information to the flight controller. The method comprises the steps that a flight controller carries out path planning by using a preset path planning algorithm based on current position information of the current position of an unmanned aerial vehicle, corresponding obstacle position information and target platform position information, determines that the unmanned aerial vehicle is at the current position, reaches second path information of a target wireless charging platform under the condition of avoiding each current obstacle, and estimates the consumed electric quantity value of a path corresponding to the second path information in flying, and judges whether the current available electric quantity value of an airborne battery of the unmanned aerial vehicle can support the unmanned aerial vehicle to fly to the target wireless charging platform or not; if the judgment result is yes, the flight controller determines flight control parameters by using a preset control execution algorithm and the second path information, and the unmanned aerial vehicle flies to the target wireless charging platform based on the flight control parameters.
In one case, the flight controller performs path planning based on current position information of a current position of the unmanned aerial vehicle, corresponding obstacle position information, and target platform position information by using a preset path planning algorithm, so as to determine that the unmanned aerial vehicle 110 is located at the current position, and when each current obstacle is avoided, in a process of reaching second path information of a target wireless charging platform, the second path information is required to satisfy the following constraint conditions:
Figure BDA0002676559850000091
wherein D2 represents the second path information, the corresponding distance, V (t) represents the horizontal flying speed of the unmanned plane,
Figure BDA0002676559850000092
S(t)-Sminrepresenting a current available charge value of an onboard battery of the drone, S (t) representing a current remaining charge value of the onboard battery of the drone, SminRepresents a lower charging threshold limit for the drone; and I represents the average discharging current of the airborne battery when the unmanned aerial vehicle flies at a constant horizontal speed.
In one case, the D2 may be a straight-line distance between the current location of the drone and the location of the target wireless charging platform.
Subsequently, after the unmanned aerial vehicle reaches the target wireless charging platform, namely lands on a charging plane of the target wireless charging platform, the first wireless communication module of the unmanned aerial vehicle sends a charging command to the master control platform, wherein the charging command carries charging demand power required by charging of the unmanned aerial vehicle; after the master control platform obtains the charging command through the second wireless communication module, the master control platform sends a charging notification carrying the charging required power to the target wireless charging platform. The charging plane of the target wireless charging platform is a plane where a transmitting coil of the subsequent target wireless charging platform is located.
The target wireless charging platform acquires the charging notification, and discharges based on the charging demand power carried by the charging notification by adopting a magnetic coupling resonance technology, namely radiates electric energy; the wireless energy transmission receiving end of the unmanned aerial vehicle obtains electric energy radiated by the target wireless charging platform to charge an airborne battery of the unmanned aerial vehicle.
Subsequently, if the electric quantity value of the airborne battery of the unmanned aerial vehicle reaches the upper limit of the charging threshold, determining that the charging of the airborne battery of the unmanned aerial vehicle is completed, planning a path by the unmanned aerial vehicle based on the sensed current position information of the current position of the unmanned aerial vehicle, the sensed obstacle position information of the corresponding current obstacle and the sensed destination position information of the task place to be reached, obtaining third path information, and judging whether the current available electric quantity value of the airborne battery can support the unmanned aerial vehicle to fly to each task place to be reached, namely, performing complete flight along the path corresponding to the third path information; if yes, flying to each task place to be reached based on the third path information, and executing the corresponding task. In one case, the drone may be on-site ready after it determines that it is performing a completed task.
In another implementation, if the flight controller determines that the current available charge value of the onboard battery of the drone is not capable of supporting the drone to fly to the target wireless charging platform, the drone may be ready in situ.
The flight controller may be any processor chip with computing power.
By applying the embodiment of the invention, the unmanned aerial vehicle sends a charging request to the master control platform under the condition that the charging requirement exists, so as to obtain the target platform position information of the target wireless charging platform which is fed back by the master control platform and is closest to the position of the unmanned aerial vehicle; furthermore, the unmanned aerial vehicle can support the unmanned aerial vehicle to fly to the wireless charging platform of target under the condition that the current available electric quantity value of its airborne battery is confirmed, fly to the wireless charging platform of target, and send the charging command including the demand power of charging to total control platform, total control platform sends the notice of charging to the wireless charging platform of target, the demand power of charging that the wireless charging platform of target carried based on the notice of charging discharges, unmanned aerial vehicle charges for its airborne battery, charge for unmanned aerial vehicle through wireless charging platform, realize the wireless charging to unmanned aerial vehicle, and the safety is improved. And through the overall planning of total accuse platform, the unmanned aerial vehicle for having the demand of charging provides the target platform positional information apart from its nearest wireless charging platform of target, with can fly under the wireless charging platform's of target condition at unmanned aerial vehicle, fly to charge to the wireless charging platform of target, provide support for unmanned aerial vehicle's long distance navigation to a certain extent, it is limited to have solved unmanned aerial vehicle navigation range, the inconvenient problem of charging to a certain extent, realize the full-automatic energy supply of unmanned aerial vehicle.
In another embodiment of the invention, the wireless charging platform comprises an off-grid type micro-grid module and a wireless energy transmission module; the off-grid micro-grid module outputs direct current meeting the charging demand power to the wireless energy transmission module based on the charging demand power carried by the charging notice sent by the master control platform;
the wireless energy transmission module receives the direct current meeting the charging required power and converts the direct current meeting the charging required power into electromagnetism for discharging.
In this implementation, in order to enlarge unmanned aerial vehicle's flight range, make its flight range no longer confine the distribution of national grid to, wireless charging platform includes off-grid type microgrid module and wireless biography can emission module. The off-grid micro-grid module outputs direct current meeting the charging demand power to the wireless energy transmission transmitting module based on the charging demand power carried by the charging notice sent by the master control platform. The wireless energy transmission module receives the direct current meeting the charging required power and converts the direct current meeting the charging required power into electromagnetism for discharging.
In another embodiment of the present invention, the wireless energy transmission module includes a power controller, a full-bridge inverter circuit, a resonance compensation network, a power distribution control unit, and an array-type transmitting coil, wherein each transmitting coil in the array-type transmitting coil is connected in parallel; correspondingly, a receiving coil is arranged on a bracket of the unmanned aerial vehicle;
the power controller controls the full-bridge inverter circuit to convert the received direct current meeting the charging required power into high-frequency square wave electricity meeting the charging required power, and the high-frequency square wave electricity is input into the resonance compensation network; the resonance compensation network converts the high-frequency square wave electricity into high-frequency sine alternating current meeting the charging required power and loads the high-frequency sine alternating current to the array type transmitting coil;
the power distribution control unit senses the matching condition of a receiving coil of the unmanned aerial vehicle falling to the surface of the array type transmitting coil and a target transmitting coil in the array type transmitting coil; controlling the current conduction of a corresponding branch of the target transmitting coil based on the matching condition so as to convert the high-frequency sinusoidal alternating current meeting the charging required power into electromagnetism through the target transmitting coil for discharging;
and the unmanned aerial vehicle charges the airborne battery through a receiving coil magnetically coupled with the target transmitting coil.
In this embodiment, the power controller may adopt a resonant pulse span modulation method to control the full-bridge inverter circuit to convert the received direct current meeting the charging demand power into the high-frequency square wave electricity meeting the charging demand power, and then input the high-frequency square wave electricity into the resonant compensation network.
The resonance compensation network converts the high-frequency square wave electricity into high-frequency sine alternating current meeting the charging required power and loads the high-frequency sine alternating current to the array type transmitting coil. In one mode, the resonance compensation network may be an LC series resonant network, an LC parallel resonant network, or an LCC series parallel resonant network.
After the array type transmitting coils are electrified, the power distribution control unit can sense the matching condition of the receiving coils of the unmanned aerial vehicle, which land on the array type transmitting coils, and the target transmitting coils in the array type transmitting coils, namely sense which transmitting coil or transmitting coils in the array type transmitting coils are matched with the receiving coils of the unmanned aerial vehicle, and the transmitting coils matched with the receiving coils of the unmanned aerial vehicle are used as the target transmitting coils. And then, the current of the corresponding branch of the target transmitting coil is controlled to be conducted according to the matching condition, namely, the corresponding branch is in a power-on state, correspondingly, the current of the corresponding branch of the non-target transmitting coil in the array type transmitting coil is not conducted, namely, the corresponding branch is in a power-off state, so that the aim that the high-frequency sine alternating current meeting the charging required power is converted into the electromagnetism through the target transmitting coil to discharge is achieved.
In one implementation, it is considered that when the transmitting coil is in a powered state and a load exists, the transmitting coil may have power consumption, that is, active power exists in a branch corresponding to the transmitting coil; under the condition that the transmitting coil is in an electrified state but no load exists, no power consumption exists in the transmitting coil, namely no active power exists in a corresponding branch of the transmitting coil. In view of this, the process of the power distribution control unit sensing the matching condition of the receiving coil of the drone landed on the surface of the array type transmitting coil and the target transmitting coil in the array type transmitting coil may be: the method comprises the steps that under the condition that all branches corresponding to all transmitting coils of an array type transmitting coil are conducted, namely electrified, the power consumption condition corresponding to all transmitting coils is determined, on the basis of the power consumption condition of all transmitting coils, the matching condition of a receiving coil of the unmanned aerial vehicle, which descends to the array type transmitting coils, and a target transmitting coil in the array type transmitting coils is sensed, wherein the power consumption condition corresponding to the transmitting coils represents that active power exists in the branch corresponding to the reflecting coil, the transmitting coils and the receiving coil of the unmanned aerial vehicle are successfully matched, the transmitting coils are determined to be the target transmitting coils, otherwise, the power consumption condition corresponding to the transmitting coils represents that the branch corresponding to the reflecting coils does not have active power, and the transmitting coils and the receiving coil of the unmanned aerial vehicle are determined to be not successfully.
Each transmitting coil in the array transmitting coil is parallel connection, when can enlarge unmanned aerial vehicle to charge to a certain extent, in the planar reducible landing position's that charges scope of wireless charging platform, this has stronger fault-tolerant ability to unmanned aerial vehicle's fixed point descending, unmanned aerial vehicle's effective descending scope is enlarged to the size of whole array transmitting coil's area by a reflection coil area size, positioning accuracy when charging to unmanned aerial vehicle requires greatly reduced. And only the branch corresponding to the target transmitting coil matched with the receiving coil of the unmanned aerial vehicle is conducted, so that the energy-saving effect is realized to a certain extent.
In another embodiment of the invention, the area of each transmitting coil in the array type transmitting coils is larger than the area occupied by the bracket of the unmanned aerial vehicle; each support of the unmanned aerial vehicle is provided with a receiving coil; and/or
When the unmanned aerial vehicle lands to the surface of the array type transmitting coil, the distance between the receiving coil and the surface of the array type transmitting coil is 3-5 cm.
For the better positioning accuracy requirement when reducing unmanned aerial vehicle and charging, the area of every transmitting coil in the array transmitting coil is greater than the area that unmanned aerial vehicle's support occupied. Considering unmanned aerial vehicle's load capacity, the receiving coil that sets up on unmanned aerial vehicle's support in this embodiment is small-size coil to realize receiving coil's lightweight design, each transmitting coil in the array transmitting coil can be with the receiving coil envelope on all supports of unmanned aerial vehicle in.
In order to guarantee the load balance of unmanned aerial vehicle, can set up a receiving coil on each support of unmanned aerial vehicle, a condition, unmanned aerial vehicle includes four supports, and is corresponding, unmanned aerial vehicle is provided with four receiving coil.
The unmanned aerial vehicle lands to array transmitting coil surface, and its all receiving coil probably match with same transmitting coil in the array transmitting coil simultaneously, fall into on same transmitting coil's the surface promptly, also can be different receiving coil and different transmitting coil match, fall into on different transmitting coil's the surface promptly, and this all can.
In a case, can call a reflection coil for a charge position, on all receiving coil that fall into same transmitting coil when unmanned aerial vehicle promptly was surperficial, all receiving coil and one of unmanned aerial vehicle charge the position and match, charge through this a charge position, on all receiving coil that fall into different transmitting coil of unmanned aerial vehicle were surperficial, all receiving coil and a plurality of charge positions of unmanned aerial vehicle match, charge through this a plurality of charge positions.
In one case, in order to improve unmanned aerial vehicle's charge efficiency, improve power transmission efficiency, when setting up receiving coil on unmanned aerial vehicle's support, can suitably adjust when unmanned aerial vehicle falls on ground, receiving coil is apart from the distance on ground, and the distance that generally can set up apart from ground is within 30 centimetres. In one implementation, the distance of the receiver coil from the array transmitter coil surface is 3 to 5 centimeters when the drone 110 lands on the array transmitter coil surface. Practice tests show that the charging efficiency of the recording battery of the unmanned aerial vehicle is higher and the electric energy transmission efficiency is higher at the distance.
For the shape of each transmitting coil of the array transmitting coil, in order to facilitate magnetic coupling of the transmitting coil with the receiving coil of the drone, the transmitting coil may be set to a centrosymmetric shape, for example: it may be elliptical or rectangular.
In another embodiment of the present invention, the off-grid microgrid module comprises: at least two of the energy storage battery, the diesel generator, the photovoltaic generator and the wind driven generator and an energy distribution unit;
the energy distribution unit judges whether the output power of the energy storage battery meets the charging demand power carried by the charging notice sent by the master control platform; if the direct current is judged to be satisfied, the energy storage battery is started to output the direct current satisfying the charging required power to the wireless energy transmission module; if the direct current is judged to be not satisfied, the diesel generator or the photovoltaic generator or the wind driven generator is started to output the direct current satisfying the charging required power to the wireless energy transmission module;
the photovoltaic generator and/or the wind generator may charge the energy storage battery.
In this implementation, the off-grid microgrid module includes multiple types of power supplies to provide electric energy for the unmanned aerial vehicle, and the off-grid microgrid module may include but is not limited to an energy storage battery, a diesel generator, a photovoltaic generator, and a wind power generator.
The control mode of the off-grid type microgrid module is a master-slave control mode, wherein the energy storage battery is a main power supply, and other types of power supplies are standby power supplies. Correspondingly, under the condition that the off-network type micro-grid module obtains the charging notice which is sent by the master control platform and provides the electric energy for the unmanned aerial vehicle, the energy distribution unit of the off-network type micro-grid module firstly judges the output power of the energy storage battery and whether the charging demand power carried by the charging notice sent by the master control platform is met; if the direct current is judged to meet the charging requirement, the energy storage battery is started to output the direct current meeting the charging requirement power to the wireless energy transmission transmitting module; if the direct current is judged to be not satisfied, the diesel generator or the photovoltaic generator or the wind driven generator is started to output the direct current satisfying the charging required power to the wireless energy transmission module.
In one case, considering that the voltage stability of different types of power supplies is different, the diesel generator can be started preferentially to output the direct current meeting the charging demand power to the wireless energy transfer transmitting module under the condition that the output power of the energy storage battery is judged and the charging demand power carried by the charging notification sent by the master control platform is not met. Under the condition that the illumination condition is determined to be better and the output voltage of the corresponding photovoltaic generator is relatively stable, the photovoltaic generator can be started to output direct current meeting the charging required power to the wireless energy transmission transmitting module. Under the condition that the wind power condition is better and the output voltage of the wind driven generator is relatively stable, the wind driven generator can be started to output direct current meeting the charging required power to the wireless energy transmission transmitting module. It is understood that the dc power output by the energy storage battery, the diesel generator, the photovoltaic generator, and the wind turbine may be constant voltage dc power.
In one case, the photovoltaic generator and/or the wind power generator may charge the energy storage battery in case the remaining amount of electricity of the energy storage battery is small, for example below a preset threshold value of the amount of electricity, or in case the wireless charging platform is idle and the amount of electricity of the energy storage battery is not full.
In another embodiment of the present invention, the wireless energy transmission receiving end comprises a battery management component; the method further comprises the following steps: the battery relevant information of the unmanned aerial vehicle airborne battery that the first wireless communication module of unmanned aerial vehicle sent is obtained and displayed, wherein, battery relevant information reads and sends the information to first wireless communication module for battery management subassembly real-time or regularly, battery relevant information includes: at least one type of information among a remaining capacity value, charge/discharge current information, charge/discharge voltage information, and battery temperature information of the on-board battery.
In this implementation, the wireless energy transmission receiving end may include a receiving coil, the onboard battery, a battery management assembly thereof, and a rectifying circuit. Correspondingly, the master control platform comprises a second wireless communication module and an information display device.
In the charging process, the receiving coil obtains high-frequency alternating current through magnetic coupling with the target transmitting coil, the high-frequency alternating current is loaded to the rectifying circuit, the rectifying circuit converts the high-frequency alternating current into constant-voltage direct current, and then the constant-voltage direct current is loaded to the airborne battery, and charging of the airborne battery is achieved. The battery management component can read the battery related information of the onboard battery in real time or at regular time and send the information to the flight controller. The battery-related information may include, but is not limited to: at least one type of information among a remaining charge value of the on-board battery, charge/discharge current information, charge/discharge voltage information, and battery temperature information.
Subsequently, the flight controller sends the battery related information to the first wireless communication module; the first wireless communication module sends the battery related information to a second wireless communication module of the master control platform; the second wireless communication module sends the battery related information to the information display device, and then the information display device obtains and displays the battery related information.
In another embodiment of the present invention, the method further comprises:
acquiring and displaying unmanned aerial vehicle state information sent by the unmanned aerial vehicle, current position information of a current position of the unmanned aerial vehicle, and an electric quantity value required by the unmanned aerial vehicle to reach a target position, wherein the unmanned aerial vehicle state information comprises idle state information, underway state information and charging state information, and the target position comprises: the position of a final arrival place in the task places or the position of a target wireless charging platform closest to the current position of the unmanned aerial vehicle;
displaying a 3D map corresponding to the current position of the unmanned aerial vehicle based on the obtained current position information of the current position of the unmanned aerial vehicle;
under the condition that the unmanned aerial vehicle is in an underway state, displaying platform identification information of a target wireless charging platform closest to the current position of the unmanned aerial vehicle;
under the condition that unmanned aerial vehicle is in the charged state, show the wireless charging platform's of target that unmanned aerial vehicle corresponds platform identification information, the identification information of the potential of charging, the demand power that charges, charge efficiency information and the wireless charging platform's of target surplus electric quantity value, wherein, the identification information of the potential of charging is: and identification information of a target transmitting coil matched with a receiving coil of the unmanned aerial vehicle in a transmitting coil of the target wireless charging platform.
In the implementation mode, the unmanned aerial vehicle can send the state information of the unmanned aerial vehicle and the current position information of the current position of the unmanned aerial vehicle and the electric quantity value required by reaching the target position to the second wireless communication module of the master control platform through the first wireless communication module under the condition that the unmanned aerial vehicle is in the underway state or the charging state in real time, the second wireless communication module sends the obtained information to the information display device, and the information display device displays the obtained information.
In one case, the unmanned aerial vehicle is provided with image acquisition equipment such as a camera, correspondingly, the unmanned aerial vehicle can send each image acquired by the image acquisition equipment to the second wireless communication module of the master control platform when being located at the current position through the first wireless communication module of the unmanned aerial vehicle, the second wireless communication module sends the acquired image to the information display device, subsequently, the master control platform can determine a 3D map corresponding to the current position of the unmanned aerial vehicle according to the current position information and each image of the current position of the unmanned aerial vehicle, and then the information display device displays the 3D map corresponding to the current position of the unmanned aerial vehicle.
In another case, the general control platform can be pre-stored with a 3D map, after the current position information of the current position of the unmanned aerial vehicle is obtained, the 3D map corresponding to the current position information of the current position of the unmanned aerial vehicle can be determined from the pre-stored 3D map, and then the information display device displays the 3D map corresponding to the current position of the unmanned aerial vehicle. The 3D map may be referred to as a three-dimensional dynamic true overview map.
It can be understood that, in order to realize better monitoring to unmanned aerial vehicle, under the condition that unmanned aerial vehicle is in the state of sailing, the information display device can also show the platform identification information of the wireless charging platform of the nearest target of current position of unmanned aerial vehicle. In one case, the identification information of any charging position in an idle state in the target wireless charging platform closest to the current position of the unmanned aerial vehicle, namely the identification information of the transmitting coil in the idle state, can be randomly displayed; or display the default display in the charging position display area.
Correspondingly, under the condition that the unmanned aerial vehicle is in the charging state, the information display device can display platform identification information of a target wireless charging platform, identification information of a charging position, charging demand power, charging efficiency information and a residual electric quantity value of the target wireless charging platform corresponding to the unmanned aerial vehicle. Wherein the charging efficiency information may be determined based on a discharging electric quantity value of the target charging platform and a charging electric quantity value of the drone.
In one case, buses and branches are arranged in the off-grid microgrid module, wherein the configuration of the buses and the branches can refer to the configuration of the buses and the branches of the microgrid module 131 in the related art, and accordingly, the master control platform can also obtain the voltage value and the current value of the buses arranged in the off-grid microgrid module and display the voltage value and the current value through the information display device.
In another embodiment of the present invention, the method further comprises: acquiring position information of a task place configured for the unmanned aerial vehicle, taking the position information as destination position information of the task place required to be reached by the unmanned aerial vehicle, and sending the destination position information to the corresponding unmanned aerial vehicle;
the method comprises the steps of obtaining an upper limit electric quantity value and a lower limit electric quantity value of a charging threshold value of an airborne battery set for the unmanned aerial vehicle, and sending the upper limit electric quantity value and the lower limit electric quantity value to the corresponding unmanned aerial vehicle, wherein the current available electric quantity value is as follows: and the residual electric quantity value of the airborne battery of the unmanned aerial vehicle is different from the lower limit electric quantity value. The upper limit electric quantity value is the above mentioned upper limit of the charging threshold, and the lower limit electric quantity value is the above mentioned lower limit of the charging threshold.
It can be understood that the communication in the wireless charging system in the embodiment of the present invention includes the following categories: communication between the interior devices of the unmanned aerial vehicle and between the interior devices of the master control platform can be bus communication, wherein can select can communication or serial port communication, for example, bus communication is between the battery management assembly of the unmanned aerial vehicle and the flight controller. The communication between the general control platform and the unmanned aerial vehicle, the wireless charging platform can be wireless communication, wherein, communication modes such as NB-IoT, LoRa, Zigbee, WIFI can be selected. When the environment of the wireless charging system is remote and no base station exists or the networking condition is not met, satellite message communication can be adopted for communication between the master control platform and the unmanned aerial vehicle and between the master control platform and the wireless charging platform.
Corresponding to the above method embodiment, an embodiment of the present invention provides an unmanned aerial vehicle charging system, as shown in fig. 2A. The system comprises: the unmanned aerial vehicle 110, the general control platform 120 and the wireless charging platform 130;
the unmanned aerial vehicle 110 is configured to judge whether the current available electric quantity value of the airborne battery can support the unmanned aerial vehicle to fly to each task place or not based on the current position information of the current position, the obstacle position information of the corresponding current obstacle and the destination position information of the task place to be reached; if not, sending a charging request to the master control platform 120; obtaining target platform position information of a target wireless charging platform 130 closest to the unmanned aerial vehicle 110, which is fed back by the master control platform 120 based on the charging request; based on the current position information, the obstacle position information and the target platform position information, judging whether the current available electric quantity value of the airborne battery can support the airborne battery to fly to the target wireless charging platform 130; if yes, flying to the target wireless charging platform 130; after the target wireless charging platform 130 is reached, a charging command carrying the charging required power required by the charging is sent to the master control platform 120; and charging the onboard battery;
the general control platform 120 is configured to determine target platform position information based on current position information of a current position of the unmanned aerial vehicle 110 and platform position information of each wireless charging platform 130 after obtaining a charging request of the unmanned aerial vehicle 110, and feed back the target platform position information to the unmanned aerial vehicle 110; after obtaining the charging command of the drone 110, sending a charging notification carrying the charging demand power to the target wireless charging platform 130;
a target wireless charging platform 130 configured to discharge based on the charging demand power carried by the charging notification.
In an embodiment of the present invention, the charging system for the unmanned aerial vehicle may include at least one unmanned aerial vehicle 110, the states of each unmanned aerial vehicle 110 may include an idle state, an underway state, and a charging state, and the states of each unmanned aerial vehicle 110 may be the same or different. The wireless charging platform is a plurality of wireless charging platforms. In order to facilitate the management of the master control platform on the unmanned aerial vehicle and the wireless charging platform, the master control platform records the unmanned aerial vehicle identification information corresponding to each unmanned aerial vehicle and the platform identification information corresponding to the wireless charging platform. The unmanned aerial vehicle identification information can be information which can uniquely identify the unmanned aerial vehicle, such as an unmanned aerial vehicle serial number, an unmanned aerial vehicle label in an unmanned aerial vehicle charging system and the like; the platform identification information can be the information that the serial number of wireless charging platform and wireless charging platform can only mark wireless charging platform at unmanned aerial vehicle charging system's reference numeral etc..
In an implementation manner, under the condition that the unmanned aerial vehicle 110 is in the non-idle state, the current position information of the current position of the unmanned aerial vehicle can be acquired and obtained in real time, and then the obtained current position information of the current position of the unmanned aerial vehicle is sent to the master control platform 120. The general control platform 120 obtains the current position information of the current position of the unmanned aerial vehicle 110, so as to realize the monitoring and subsequent overall operation of the unmanned aerial vehicle.
In one implementation, as shown in fig. 2B, the drone 110 may include a sensing device 111, a flight controller 112, a wireless energy transfer receiving end 113, and a first wireless communication module 114.
The sensing device 111 may sense environmental information of a current location of the drone, and send the environmental information to the flight controller 112. In one case, the sensing device may include, but is not limited to, a positioning sensor and an obstacle avoidance sensor. Among others, the positioning sensors may include, but are not limited to: global positioning systems, such as: a GPS (Global positioning System), a GLONASS (GLONASS) Global satellite navigation System, a beidou satellite positioning System, an RTK carrier phase difference subsystem, an IMU (inertial measurement unit), a camera and other visual sensors, a laser radar, an ultrasonic sensor, an infrared sensor and combinations thereof. Obstacle avoidance sensors may include, but are not limited to: a visual sensor such as a camera, a lidar, an ultrasonic sensor, an infrared sensor, and combinations thereof.
The flight controller 112 may embed a preset perceptual-localization algorithm, a preset path planning algorithm, and a preset control execution algorithm. The flight controller 112 obtains the environmental information sensed by the sensing device 111, and determines the current position information of the current position of the unmanned aerial vehicle and the obstacle position information of the corresponding current obstacle based on the environmental information by using a preset sensing and positioning algorithm. The method comprises the steps that a preset path planning algorithm is utilized, path planning is carried out on the basis of current position information of a current position, obstacle position information of a corresponding current obstacle and destination position information of a task place needing to be reached, the current position of an unmanned aerial vehicle is determined, first path information of each task place is reached under the condition that the unmanned aerial vehicle avoids each current obstacle, the consumed electric quantity value of a path corresponding to the first path information is estimated, whether the consumed electric quantity value is not larger than the current available electric quantity value of an airborne battery of the unmanned aerial vehicle or not is judged, and whether the current available electric quantity value of the airborne battery of the unmanned aerial vehicle can support the unmanned aerial vehicle to fly to each task place or not is judged; if not, the flight controller 112 generates a charging request and transmits the charging request to the first wireless communication module 114.
Wherein the destination location information of the task location to be reached includes: and destination position information of a task place which is not reached yet in the process of the current flight task of the unmanned aerial vehicle.
According to the situation, a preset path planning algorithm is utilized, based on current position information of a current position, obstacle position information of a corresponding current obstacle and destination position information of a task place required to be reached, path planning is carried out, the current position of an unmanned aerial vehicle is determined, and when the unmanned aerial vehicle avoids each current obstacle, the first path information is required to meet the following constraint conditions in the process of reaching the first path information of each task place:
Figure BDA0002676559850000171
wherein D represents the distance corresponding to the first path information, V (t) represents the horizontal flying speed of the unmanned aerial vehicle,
Figure BDA0002676559850000172
Figure BDA0002676559850000173
S(t)-Sminrepresenting a current available charge value of an onboard battery of the drone, S (t) representing a current remaining charge value of the onboard battery of the drone, SminRepresents a lower charging threshold limit for the drone; and I represents the average discharging current of the airborne battery when the unmanned aerial vehicle flies at a constant horizontal speed.
As shown in fig. 2B, the general control platform 120 obtains, through the second wireless communication module 121, the charging request sent by the first wireless communication module 115 by the unmanned aerial vehicle 110, determines, based on the current position information of the current position of the unmanned aerial vehicle 110 and the platform position information of each wireless charging platform 130, a wireless charging platform closest to the current position of the unmanned aerial vehicle 110, as a target wireless charging platform corresponding to the unmanned aerial vehicle, and sends the target platform position information of the target wireless charging platform to the first wireless communication module 114 of the unmanned aerial vehicle 110 through the second wireless communication module 121.
The first wireless communication module 114 of the drone 110 obtains the target platform position information sent by the general control platform 120 through the second wireless communication module 121, and sends the target platform position information to the flight controller 112. The flight controller 112 performs path planning by using a preset path planning algorithm based on the current position information of the current position of the unmanned aerial vehicle 110, the position information of the corresponding obstacle and the position information of the target platform, determines that the unmanned aerial vehicle 110 is at the current position, reaches second path information of the target wireless charging platform under the condition of avoiding each current obstacle, and estimates the consumed electric quantity value of the path corresponding to the second path information, whether the consumed electric quantity value is not greater than the current available electric quantity value of the airborne battery of the unmanned aerial vehicle or not, namely, whether the current available electric quantity value of the airborne battery of the unmanned aerial vehicle can support the unmanned aerial vehicle to fly to the target wireless charging platform or not; if yes, the flight controller 112 determines flight control parameters by using a preset control execution algorithm and the second path information, and the unmanned aerial vehicle 110 flies to the target wireless charging platform based on the flight control parameters.
In one case, the flight controller 112 performs path planning based on the current position information of the current position of the unmanned aerial vehicle 110, the position information of the corresponding obstacle, and the position information of the target platform by using a preset path planning algorithm, so as to determine that the unmanned aerial vehicle 110 is located from the current position, and when the unmanned aerial vehicle avoids each current obstacle, the second path information is required to satisfy the following constraint conditions in the process of reaching the second path information of the target wireless charging platform:
Figure BDA0002676559850000181
wherein D2 represents the second path information, the corresponding distance, V (t) represents the horizontal flying speed of the unmanned plane,
Figure BDA0002676559850000182
S(t)-Sminrepresenting a current available charge value of an onboard battery of the drone, S (t) representing a current remaining charge value of the onboard battery of the drone, SminCharger for indicating unmanned aerial vehicleA lower electrical threshold; and I represents the average discharging current of the airborne battery when the unmanned aerial vehicle flies at a constant horizontal speed.
In one case, the D2 may be a straight-line distance between the current location of the drone 110 and the location of the target wireless charging platform.
Subsequently, after the unmanned aerial vehicle 110 reaches the target wireless charging platform, that is, after the unmanned aerial vehicle lands on the charging plane of the target wireless charging platform, the first wireless communication module 114 of the unmanned aerial vehicle 110 sends a charging command to the general control platform 120, where the charging command carries charging demand power required by charging the unmanned aerial vehicle; the second wireless communication module 121 of the general control platform 120 obtains the charging command, and sends a charging notification carrying the charging required power to the target wireless charging platform 130. The charging plane of the target wireless charging platform is a plane where a transmitting coil of the subsequent target wireless charging platform is located.
The target wireless charging platform 130 obtains the charging notification, and discharges based on the charging demand power carried by the charging notification, namely, radiates electric energy, by using a magnetic coupling resonance technology; the wireless energy transmission receiving end 113 of the unmanned aerial vehicle obtains electric energy radiated by the target wireless charging platform to charge an airborne battery of the unmanned aerial vehicle.
Subsequently, if the electric quantity value of the airborne battery of the unmanned aerial vehicle reaches the upper limit of the charging threshold, determining that the charging of the airborne battery of the unmanned aerial vehicle is completed, planning a path by the unmanned aerial vehicle based on the sensed current position information of the current position of the unmanned aerial vehicle, the sensed obstacle position information of the corresponding current obstacle and the sensed destination position information of the task place to be reached, obtaining third path information, and judging whether the current available electric quantity value of the airborne battery can support the unmanned aerial vehicle to fly to each task place to be reached, namely, performing complete flight along the path corresponding to the third path information; if yes, flying to each task place to be reached based on the third path information, and executing the corresponding task. In one case, the drone may be on-site ready after it determines that it is performing a completed task.
In another implementation, if the flight controller 112 determines that the currently available charge value of the onboard battery of the drone is not capable of supporting the drone to fly to the target wireless charging platform, the drone may be on-site standby.
Flight controller 112 may be any processor chip with computing capabilities.
By applying the embodiment of the invention, the unmanned aerial vehicle sends a charging request to the master control platform under the condition that the charging requirement exists, so as to obtain the target platform position information of the target wireless charging platform which is fed back by the master control platform and is closest to the position of the unmanned aerial vehicle; furthermore, the unmanned aerial vehicle can support the unmanned aerial vehicle to fly to the wireless charging platform of target under the condition that the current available electric quantity value of its airborne battery is confirmed, fly to the wireless charging platform of target, and send the charging command including the demand power of charging to total control platform, total control platform sends the notice of charging to the wireless charging platform of target, the demand power of charging that the wireless charging platform of target carried based on the notice of charging discharges, unmanned aerial vehicle charges for its airborne battery, charge for unmanned aerial vehicle through wireless charging platform, realize the wireless charging to unmanned aerial vehicle, and the safety is improved. And through the overall planning of total accuse platform, the unmanned aerial vehicle for having the demand of charging provides the target platform positional information apart from its nearest wireless charging platform of target, with can fly under the wireless charging platform's of target condition at unmanned aerial vehicle, fly to charge to the wireless charging platform of target, provide support for unmanned aerial vehicle's long distance navigation to a certain extent, it is limited to have solved unmanned aerial vehicle navigation range, the inconvenient problem of charging to a certain extent, realize the full-automatic energy supply of unmanned aerial vehicle.
In another embodiment of the present invention, as shown in fig. 2B, the wireless charging platform 130 includes an off-grid micro grid module 131 and a wireless energy transmission module 132;
the off-grid micro-grid module 131 is configured to output direct current meeting the charging demand power to the wireless energy transmission module 132 based on the charging demand power carried by the charging notification sent by the master control platform 120;
and the wireless energy transmission module 132 is configured to receive the direct current meeting the charging requirement power and convert the direct current meeting the charging requirement power into electromagnetism for discharging.
In this implementation, in order to enlarge the flight range of the unmanned aerial vehicle and make the flight range not limited to the distribution of the national power grid, the wireless charging platform 130 includes an off-grid micro-grid module 131 and a wireless energy transmission module 132. The off-grid microgrid module 131 outputs direct current meeting the charging demand power to the wireless energy transmission transmitting module 132 based on the charging demand power carried by the charging notification sent by the master control platform 120. The wireless energy transmission module 132 receives the direct current satisfying the charging demand power, and converts the direct current satisfying the charging demand power into an electromagnetic wave for discharging.
In another embodiment of the present invention, the wireless energy transmission module 132 includes a power controller, a full-bridge inverter circuit, a resonance compensation network, a power distribution control unit, and an array-type transmitting coil, where each transmitting coil is connected in parallel; correspondingly, a receiving coil is arranged on the support of the unmanned aerial vehicle 110, and the receiving coil belongs to the unmanned energy transfer receiving end 114 of the unmanned aerial vehicle 110;
the power controller is configured to control the full-bridge inverter circuit to convert the received direct current meeting the charging demand power into high-frequency square wave electricity meeting the charging demand power, and input the high-frequency square wave electricity into the resonance compensation network;
the resonance compensation network is configured to convert the high-frequency square wave electricity into high-frequency sine alternating current meeting the charging required power and load the high-frequency sine alternating current to the array type transmitting coil;
a power distribution control unit configured to sense a matching of a receiving coil of the drone landing on a surface of the array-type transmitting coil with a target transmitting coil in the array-type transmitting coil; controlling the current conduction of the corresponding branch of the target transmitting coil based on the matching condition so as to convert the high-frequency sinusoidal alternating current meeting the charging required power into electromagnetism through the target transmitting coil for discharging;
the drone 110 charges the onboard battery through a receive coil magnetically coupled to a target transmit coil.
In this embodiment, the power controller may adopt a resonant pulse span modulation method to control the full-bridge inverter circuit to convert the received direct current meeting the charging demand power into the high-frequency square wave electricity meeting the charging demand power, and then input the high-frequency square wave electricity into the resonant compensation network.
The resonance compensation network converts the high-frequency square wave electricity into high-frequency sine alternating current meeting the charging required power and loads the high-frequency sine alternating current to the array type transmitting coil. In one mode, the resonance compensation network may be an LC series resonant network, an LC parallel resonant network, or an LCC series parallel resonant network.
After the array type transmitting coils are electrified, the power distribution control unit can sense the matching condition of the receiving coils of the unmanned aerial vehicle, which land on the array type transmitting coils, and the target transmitting coils in the array type transmitting coils, namely sense which transmitting coil or transmitting coils in the array type transmitting coils are matched with the receiving coils of the unmanned aerial vehicle, and the transmitting coils matched with the receiving coils of the unmanned aerial vehicle are used as the target transmitting coils. And then, the current of the corresponding branch of the target transmitting coil is controlled to be conducted according to the matching condition, namely, the corresponding branch is in a power-on state, correspondingly, the current of the corresponding branch of the non-target transmitting coil in the array type transmitting coil is not conducted, namely, the corresponding branch is in a power-off state, so that the aim that the high-frequency sine alternating current meeting the charging required power is converted into the electromagnetism through the target transmitting coil to discharge is achieved.
In one implementation, it is considered that when the transmitting coil is in a powered state and a load exists, the transmitting coil may have power consumption, that is, active power exists in a branch corresponding to the transmitting coil; under the condition that the transmitting coil is in an electrified state but no load exists, no power consumption exists in the transmitting coil, namely no active power exists in a corresponding branch of the transmitting coil. In view of this, the process of the power distribution control unit sensing the matching condition of the receiving coil of the drone landed on the surface of the array type transmitting coil and the target transmitting coil in the array type transmitting coil may be: the method comprises the steps that under the condition that all branches corresponding to all transmitting coils of an array type transmitting coil are conducted, namely electrified, the power consumption condition corresponding to all transmitting coils is determined, on the basis of the power consumption condition of all transmitting coils, the matching condition of a receiving coil of the unmanned aerial vehicle, which descends to the array type transmitting coils, and a target transmitting coil in the array type transmitting coils is sensed, wherein the power consumption condition corresponding to the transmitting coils represents that active power exists in the branch corresponding to the reflecting coil, the transmitting coils and the receiving coil of the unmanned aerial vehicle are successfully matched, the transmitting coils are determined to be the target transmitting coils, otherwise, the power consumption condition corresponding to the transmitting coils represents that the branch corresponding to the reflecting coils does not have active power, and the transmitting coils and the receiving coil of the unmanned aerial vehicle are determined to be not successfully.
Each transmitting coil in the array transmitting coil is parallel connection, when can enlarge unmanned aerial vehicle to charge to a certain extent, in the planar reducible landing position's that charges scope at wireless charging platform 130, this has stronger fault-tolerant ability to unmanned aerial vehicle's fixed point descending, unmanned aerial vehicle's effective descending scope is enlarged to the size of whole array transmitting coil's area by a reflection coil area size, positioning accuracy when charging to unmanned aerial vehicle requires greatly reduced. And only the branch corresponding to the target transmitting coil matched with the receiving coil of the unmanned aerial vehicle is conducted, so that the energy-saving effect is realized to a certain extent.
Fig. 3A is a schematic circuit diagram of the wireless energy transmission module 132. Here, the equivalent load shown in fig. 3A may refer to the drone located on the surface of the array-type transmitting coil of the wireless energy transmission module 132, and the compensation network of the drone portion may refer to the rectification circuit mentioned later. In one case, the power distribution control unit may be implemented by a single chip microcomputer. In one case, the power controller may be a TMS320LDF2407A controller, IR2110 driver.
In another embodiment of the invention, the area of each transmitting coil in the array type transmitting coil is larger than the area occupied by the bracket of the unmanned aerial vehicle; each support of the drone 110 is provided with a receiving coil; and/or
When the drone 110 lands on the target wireless charging platform 130, the distance from the receiving coil to the target wireless charging platform is 3 to 5 centimeters.
For the better positioning accuracy requirement when reducing unmanned aerial vehicle and charging, the area of every transmitting coil in the array transmitting coil is greater than the area that unmanned aerial vehicle's support occupied. In consideration of the load capacity of the unmanned aerial vehicle, the receiving coils disposed on the support of the unmanned aerial vehicle in this embodiment are small-sized coils to realize a light-weight design of the receiving coils, and each transmitting coil in the array type transmitting coils 1321 can envelop the receiving coils on all the supports of the unmanned aerial vehicle.
In order to guarantee load balancing of the unmanned aerial vehicle, each support of the unmanned aerial vehicle 110 may be provided with a receiving coil, and in one case, the unmanned aerial vehicle 110 includes four supports, and correspondingly, the unmanned aerial vehicle 110 is provided with four receiving coils.
The unmanned aerial vehicle lands to array transmitting coil surface, and its all receiving coil probably match with same transmitting coil in the array transmitting coil simultaneously, fall into on same transmitting coil's the surface promptly, also can be different receiving coil and different transmitting coil match, fall into on different transmitting coil's the surface promptly, and this all can.
In a case, can call a reflection coil for a charge position, on all receiving coil that fall into same transmitting coil when unmanned aerial vehicle promptly was surperficial, all receiving coil and one of unmanned aerial vehicle charge the position and match, charge through this a charge position, on all receiving coil that fall into different transmitting coil of unmanned aerial vehicle were surperficial, all receiving coil and a plurality of charge positions of unmanned aerial vehicle match, charge through this a plurality of charge positions.
In one case, in order to improve unmanned aerial vehicle's charge efficiency, improve power transmission efficiency, when setting up receiving coil on unmanned aerial vehicle's support, can suitably adjust when unmanned aerial vehicle falls on ground, receiving coil is apart from the distance on ground, and the distance that generally can set up apart from ground is within 30 centimetres. In one implementation, the distance of the receiver coil from the array transmitter coil surface is 3 to 5 centimeters when the drone 110 lands on the array transmitter coil surface. Practice tests show that the charging efficiency of the recording battery of the unmanned aerial vehicle is higher and the electric energy transmission efficiency is higher at the distance.
For the shape of each transmitting coil of the array transmitting coil, in order to facilitate magnetic coupling of the transmitting coil with the receiving coil of the drone, the transmitting coil may be set to a centrosymmetric shape, for example: it may be elliptical or rectangular. As shown in fig. 3B, a schematic view of a scene where the drone lands on the surface of the array-type transmitting coil is shown.
In another embodiment of the present invention, the off-grid microgrid module 131 comprises: at least two of the energy storage battery, the diesel generator, the photovoltaic generator and the wind driven generator and an energy distribution unit;
the energy distribution unit is configured to judge the output power of the energy storage battery and determine whether the output power meets the charging demand power carried by the charging notification sent by the master control platform 120;
if the direct current is judged to be satisfied, the energy storage battery is started to output the direct current satisfying the charging required power to the wireless energy transmission module 132; if the direct current is judged not to be satisfied, the diesel generator or the photovoltaic generator or the wind driven generator is started to output the direct current satisfying the charging required power to the wireless energy transmission module 132;
the photovoltaic generator and/or the wind generator may charge the energy storage battery.
In this implementation, the off-grid microgrid module 131 includes multiple types of power supplies to provide electric energy for the unmanned aerial vehicle, and the off-grid microgrid module 131 may include, but is not limited to, an energy storage battery, a diesel generator, a photovoltaic generator, and a wind power generator.
The control mode of the off-grid microgrid module 131 is a master-slave control mode, wherein the energy storage battery is a main power supply, and other types of power supplies are standby power supplies. Correspondingly, under the condition that the off-network microgrid module 131 obtains the charging notification for providing the electric energy for the unmanned aerial vehicle, which is sent by the master control platform 120, the energy distribution unit of the off-network microgrid module 131 first judges the output power of the energy storage battery, and whether the charging required power carried by the charging notification sent by the master control platform 120 is met; if the direct current is judged to meet the charging requirement, the energy storage battery is started to output the direct current meeting the charging requirement power to the wireless energy transmission module 132; if the direct current is judged not to be satisfied, the diesel generator, the photovoltaic generator or the wind driven generator is started to output the direct current satisfying the charging demand power to the wireless energy transmission module 132.
In one case, considering that the voltage stability of different types of power supplies is different, when the output power of the energy storage battery is determined not to satisfy the charging demand power carried by the charging notification sent by the general control platform 120, the diesel generator may be preferentially started to output the direct current satisfying the charging demand power to the wireless energy transmission module 132. Under the condition that it is determined that the illumination condition is better and the output voltage of the corresponding photovoltaic generator is relatively stable, the photovoltaic generator can be started to output the direct current meeting the charging required power to the wireless energy transmission module 132. Under the condition that the wind power condition is better and the output voltage of the wind driven generator is relatively stable, the wind driven generator can be started to output the direct current meeting the charging required power to the wireless energy transmission transmitting module 132.
It is understood that the dc power output by the energy storage battery, the diesel generator, the photovoltaic generator, and the wind turbine may be constant voltage dc power.
In one case, the photovoltaic generator and/or the wind power generator may charge the energy storage battery in case the remaining amount of the energy storage battery is small, for example below a preset threshold value of the amount of electricity, or in case the wireless charging platform is idle and the amount of electricity of the energy storage battery 1311 is not full.
In another embodiment of the present invention, the wireless energy transmitting and receiving end 114 may include a receiving coil, the onboard battery and its battery management component, and a rectifying circuit. Accordingly, the general control platform 120 includes a second wireless communication module 121 and an information display device 122.
In the charging process, the receiving coil obtains high-frequency alternating current through magnetic coupling with the target transmitting coil, the high-frequency alternating current is loaded to the rectifying circuit, the rectifying circuit converts the high-frequency alternating current into constant-voltage direct current, and then the constant-voltage direct current is loaded to the airborne battery, and charging of the airborne battery is achieved. The battery management component may read battery related information of the onboard battery in real time or on a regular basis and send it to the flight controller 112. The battery-related information may include, but is not limited to: at least one type of information among a remaining charge value of the on-board battery, charge/discharge current information, charge/discharge voltage information, and battery temperature information.
Subsequently, the flight controller 112 sends the battery related information to the first wireless communication module 114; the first wireless communication module 114 sends the battery related information to the second wireless communication module 121 of the general control platform 120; the second wireless communication module 121 transmits the battery related information to the information display device 122, and the information display device 122 obtains and displays the battery related information.
In another embodiment of the present invention, the second wireless communication module 121 is further configured to obtain unmanned aerial vehicle status information of the unmanned aerial vehicle, current location information of a current location of the unmanned aerial vehicle, and an electric quantity value required for the unmanned aerial vehicle to reach a target location, and send the information to the information display device, where the unmanned aerial vehicle status information includes idle status information, underway status information, and charging status information, and the target location includes: the position of a final arrival place in the task places or the position of a target wireless charging platform closest to the current position of the unmanned aerial vehicle;
the information display device 122 is further configured to display the obtained unmanned aerial vehicle state information of the unmanned aerial vehicle, current position information of the position where the unmanned aerial vehicle is currently located, and the electric quantity value required by the unmanned aerial vehicle to reach the target position;
the information display device 122 is further configured to display a 3D map corresponding to the current position of the unmanned aerial vehicle based on the obtained current position information of the current position of the unmanned aerial vehicle;
the information display device 122 is further configured to display platform identification information of a target wireless charging platform closest to the current position of the unmanned aerial vehicle when the unmanned aerial vehicle is in the underway state;
the information display device 122 is further configured to display platform identification information of a target wireless charging platform corresponding to the unmanned aerial vehicle, identification information of a charging location, charging demand power, charging efficiency information, and a remaining electric quantity value of the target wireless charging platform, where the identification information of the charging location is: identification information of a target transmitting coil matched with a receiving coil of the unmanned aerial vehicle in a transmitting coil of the target wireless charging platform.
In this implementation manner, the unmanned aerial vehicle can send the state information of the unmanned aerial vehicle through the first wireless communication module 114 in real time, and send the current position information of the current position of the unmanned aerial vehicle and the electric quantity value required to reach the target position to the second wireless communication module 121 of the general control platform 120 when the unmanned aerial vehicle is in the underway state or the charging state, the second wireless communication module 121 sends the obtained information to the information display device 122, and the information display device 122 displays the obtained information.
In one case, the unmanned aerial vehicle is provided with image acquisition devices such as a camera, correspondingly, when the unmanned aerial vehicle is located at the current position through the first wireless communication module 114, each image acquired by the image acquisition device is sent to the second wireless communication module 121 of the general control platform 120, the second wireless communication module 121 sends the acquired image to the information display device 122, and subsequently, the general control platform 120 can determine a 3D map corresponding to the current position of the unmanned aerial vehicle according to the current position information and each image of the current position of the unmanned aerial vehicle, and then the information display device 122 displays the 3D map corresponding to the current position of the unmanned aerial vehicle.
In another case, the general control platform 120 may have a pre-stored 3D map, and after obtaining the current position information of the current position of the unmanned aerial vehicle, the 3D map corresponding to the current position information of the current position of the unmanned aerial vehicle may be determined from the pre-stored 3D map, and then the information display device 122 displays the 3D map corresponding to the current position of the unmanned aerial vehicle. The 3D map may be referred to as a three-dimensional dynamic true overview map.
It can be understood that, in order to realize better monitoring of the unmanned aerial vehicle, under the condition that the unmanned aerial vehicle is in the underway state, the information display device 122 may also display the platform identification information of the target wireless charging platform closest to the current position where the unmanned aerial vehicle is located. In one case, the identification information of any charging position in an idle state in the target wireless charging platform closest to the current position of the unmanned aerial vehicle, namely the identification information of the transmitting coil in the idle state, can be randomly displayed; or display the default display in the charging position display area.
Correspondingly, under the condition that the unmanned aerial vehicle is in the charging state, the information display device 122 can display platform identification information of a target wireless charging platform corresponding to the unmanned aerial vehicle, identification information of a charging position, charging demand power, charging efficiency information and a residual electric quantity value of the target wireless charging platform. Wherein the charging efficiency information may be determined based on a discharging electric quantity value of the target charging platform and a charging electric quantity value of the drone.
In one case, buses and branches are provided in the off-grid microgrid module 131, wherein the configuration of the buses and the branches can refer to the configuration of the buses and the branches of the microgrid module 131 in the related art, and accordingly, the general control platform 120 can also obtain the voltage values and the current values of the buses provided in the off-grid microgrid module 131 and display the voltage values and the current values through the information display device 122. Fig. 3C is a schematic diagram of a display interface of the information display device 122.
The state information of the unmanned aerial vehicle in the underway state is arranged at the upper left corner in the figure, and comprises the state information of the unmanned aerial vehicle, namely the state shown in the figure, the current position information of the current position, namely the current position coordinate shown in the figure, the longitude, the latitude and the height of the current position, the position information of a task place which needs to be reached finally in the task place, namely the target position coordinate shown in the image, and the battery related information, namely the residual electric quantity, the current and the voltage shown in the figure; the electric quantity value required by the unmanned aerial vehicle to reach the target position, namely the 'electric quantity required by the unmanned aerial vehicle to reach the target', the platform identification information of the target wireless charging platform closest to the current position of the unmanned aerial vehicle, namely the 'charging platform' shown in the figure, and the identification information of the charging position in an idle state in the target wireless charging platform, namely the 'charging position' shown in the figure; the upper charging threshold and the lower charging threshold of the unmanned aerial vehicle can also be displayed.
The left lower corner in the figure is state information of the unmanned aerial vehicle in a charging state, the matching condition of a target transmitting coil matched with a receiving coil of the unmanned aerial vehicle, charging required power, namely 'input load power' shown in the figure, charging efficiency information, namely 'efficiency' shown in the figure, and the residual electric quantity value of a target wireless charging platform, namely 'residual electric quantity' shown in the figure can also display discharging current and voltage. The right side in the figure is a 3D map corresponding to the current position of the unmanned aerial vehicle.
In another embodiment of the present invention, the general control platform 120 may further perform a function of remotely setting related information of the unmanned aerial vehicle, and correspondingly, the general control platform 120 is further configured to obtain position information of a task location configured for the unmanned aerial vehicle, serve as destination position information of the task location required to be reached by the unmanned aerial vehicle, and send the destination position information to the corresponding unmanned aerial vehicle;
the upper limit electric quantity value and the lower limit electric quantity value of the charging threshold value of the airborne battery set for the unmanned aerial vehicle are obtained and sent to the corresponding unmanned aerial vehicle, and the current available electric quantity value is as follows: the difference value of the residual electric quantity value and the lower limit electric quantity value of the airborne battery of the unmanned aerial vehicle. The upper limit electric quantity value is the above mentioned upper limit of the charging threshold, and the lower limit electric quantity value is the above mentioned lower limit of the charging threshold.
It can be understood that the communication in the wireless charging system provided by the embodiment of the present invention includes the following categories: the communication between the internal devices of the drone and the internal devices of the general control platform may be bus communication, where can select can communication or serial communication, for example, bus communication between the battery management component 1143 of the drone and the flight controller 112. The communication between the general control platform 120 and the unmanned aerial vehicle 110 and the wireless charging platform 130 may be wireless communication, wherein communication modes such as NB-IoT, LoRa, Zigbee, WIFI and the like may be selected. When the environment of the wireless charging system is remote and there is no base station or there is no networking condition, the communication between the general control platform 120 and the unmanned aerial vehicle 110 and the wireless charging platform 130 can adopt satellite message communication.
As shown in fig. 3D, a schematic diagram of a fault diagnosis tree in a wireless charging system according to an embodiment of the present invention is provided, where a "source abnormality" fault occurs in the system when "wind turbine fault or no wind" is detected, i.e., wind turbine fault or no wind, "photovoltaic panel fault or no light" is detected, i.e., photovoltaic generator fault or no light, "diesel engine fault or no oil" is detected, i.e., diesel generator fault or no oil, and "energy storage battery fault or no power"; under the condition of a source abnormity fault or a circuit open circuit fault, the wireless energy transmission transmitting platform is abnormal, namely the wireless charging platform is abnormal; when the states of overvoltage protection, overcurrent protection, short-circuit protection and high-temperature protection are in low-temperature protection, the system has battery BMS protection faults, and when the faults of battery aging or battery BMS protection occur, the system has battery abnormity faults; under the condition of a battery abnormity fault or a circuit break fault, the wireless energy transmission receiving end is abnormal, namely the wireless energy transmission receiving end of the unmanned aerial vehicle is abnormal; when the wireless energy transmission transmitting platform is abnormal, or the wireless energy transmission receiving end is abnormal, or a space electromagnetic field is not resonated, the system has battery charging abnormity.
Corresponding to the above method embodiment, an embodiment of the present invention provides an autonomous tracking charging device for an unmanned aerial vehicle, where the device is applied to a general control platform of an unmanned aerial vehicle charging system, and the unmanned aerial vehicle charging system further includes: the system comprises an unmanned aerial vehicle and a wireless charging platform; as shown in fig. 4, the apparatus includes:
a first obtaining module 410 configured to obtain a charging request sent by a drone, where the charging request is: the unmanned aerial vehicle judges a request sent under the condition that the current available electric quantity value of the airborne battery of the unmanned aerial vehicle can not support the unmanned aerial vehicle to fly to each task place based on the current position information of the current position of the unmanned aerial vehicle, the obstacle position information of the corresponding current obstacle and the destination position information of the task place to be reached;
a first determining module 420 configured to determine, based on the current position information of the drone and the platform position information of each wireless charging platform, target platform position information of a target wireless charging platform closest to the drone;
a feedback module 430 configured to feed back the target platform location information to the drone;
a second obtaining module 440, configured to obtain a charging command that is sent by the drone and carries a charging demand power required for charging thereof, where the charging command is: a command sent by the drone after reaching the target wireless charging platform;
a first sending module 450 configured to send a charging notification carrying the charging demand power to the target wireless charging platform, so that the target wireless charging platform discharges based on the charging demand power carried by the charging notification, and the drone charges its onboard battery.
By applying the embodiment of the invention, the unmanned aerial vehicle sends a charging request to the master control platform under the condition that the charging requirement exists, so as to obtain the target platform position information of the target wireless charging platform which is fed back by the master control platform and is closest to the position of the unmanned aerial vehicle; furthermore, the unmanned aerial vehicle can support the unmanned aerial vehicle to fly to the wireless charging platform of target under the condition that the current available electric quantity value of its airborne battery is confirmed, fly to the wireless charging platform of target, and send the charging command including the demand power of charging to total control platform, total control platform sends the notice of charging to the wireless charging platform of target, the demand power of charging that the wireless charging platform of target carried based on the notice of charging discharges, unmanned aerial vehicle charges for its airborne battery, charge for unmanned aerial vehicle through wireless charging platform, realize the wireless charging to unmanned aerial vehicle, and the safety is improved. And through the overall planning of total accuse platform, the unmanned aerial vehicle for having the demand of charging provides the target platform positional information apart from its nearest wireless charging platform of target, with can fly under the wireless charging platform's of target condition at unmanned aerial vehicle, fly to charge to the wireless charging platform of target, provide support for unmanned aerial vehicle's long distance navigation to a certain extent, it is limited to have solved unmanned aerial vehicle navigation range, the inconvenient problem of charging to a certain extent, realize the full-automatic energy supply of unmanned aerial vehicle.
In another embodiment of the present invention, the wireless charging platform includes an off-grid micro-grid module and a wireless energy transmission module; the off-grid micro-grid module outputs direct current meeting the charging demand power to the wireless energy transmission module based on the charging demand power carried by the charging notice sent by the master control platform; the wireless energy transmission module receives the direct current meeting the charging required power and converts the direct current meeting the charging required power into electromagnetism for discharging.
In another embodiment of the present invention, the wireless energy transmission module includes a power controller, a full-bridge inverter circuit, a resonance compensation network, a power distribution control unit, and an array-type transmitting coil, wherein each transmitting coil in the array-type transmitting coil is connected in parallel; correspondingly, a receiving coil is arranged on a bracket of the unmanned aerial vehicle; the power controller controls the full-bridge inverter circuit to convert the received direct current meeting the charging required power into high-frequency square wave electricity meeting the charging required power, and the high-frequency square wave electricity is input into the resonance compensation network; the resonance compensation network converts the high-frequency square wave electricity into high-frequency sine alternating current meeting the charging required power and loads the high-frequency sine alternating current to the array type transmitting coil; the power distribution control unit senses the matching condition of a receiving coil of the unmanned aerial vehicle falling to the surface of the array type transmitting coil and a target transmitting coil in the array type transmitting coil; controlling the current conduction of a corresponding branch of the target transmitting coil based on the matching condition so as to convert the high-frequency sinusoidal alternating current meeting the charging required power into electromagnetism through the target transmitting coil for discharging; and the unmanned aerial vehicle charges the airborne battery through a receiving coil magnetically coupled with the target transmitting coil.
In another embodiment of the invention, the area of each transmitting coil in the array type transmitting coils is larger than the area occupied by the bracket of the unmanned aerial vehicle; each support of the unmanned aerial vehicle is provided with a receiving coil; and/or when the unmanned aerial vehicle lands on the surface of the array type transmitting coil, the distance between the receiving coil and the surface of the array type transmitting coil is 3-5 cm.
In another embodiment of the present invention, the off-grid microgrid module comprises: at least two of the energy storage battery, the diesel generator, the photovoltaic generator and the wind driven generator and an energy distribution unit;
the energy distribution unit judges whether the output power of the energy storage battery meets the charging demand power carried by the charging notice sent by the master control platform; if the direct current is judged to be satisfied, the energy storage battery is started to output the direct current satisfying the charging required power to the wireless energy transmission module; if the direct current is judged to be not satisfied, the diesel generator or the photovoltaic generator or the wind driven generator is started to output the direct current satisfying the charging required power to the wireless energy transmission module;
the photovoltaic generator and/or the wind generator may charge the energy storage battery.
In another embodiment of the invention, the drone comprises: the device comprises a sensing device, a flight controller, a wireless energy transmission receiving end and a first wireless communication module;
the sensing device senses the environmental information of the current position of the unmanned aerial vehicle and sends the environmental information to the flight controller;
the flight controller obtains environment information sensed by the sensing device, and determines current position information of the current position of the unmanned aerial vehicle and obstacle position information of a corresponding current obstacle based on the environment information; judging whether the current available electric quantity value of the airborne battery can support the airborne battery to fly to each task place or not based on the current position information of the current position, the obstacle position information of the corresponding current obstacle and the destination position information of the task place to be reached; if not, generating a charging request and sending the charging request to the first wireless communication module; obtaining target platform position information, sent by the first wireless communication module, of a target wireless charging platform closest to the unmanned aerial vehicle, fed back by the general control platform based on the charging request; judging whether the current available electric quantity value of an airborne battery of the mobile phone can support the mobile phone to travel to the target wireless charging platform or not based on the current position information, the obstacle position information and the target platform position information; if the judgment result is yes, flying to the target wireless charging platform; after the target wireless charging platform is reached, generating a charging command carrying charging required power, and sending the charging command to the first wireless communication module;
the first wireless communication module sends a charging request to the master control platform; obtaining the position information of the target platform fed back by the master control platform; sending the charging command to the master control platform;
the wireless energy transmission receiving end obtains electric energy radiated by the target wireless charging platform; and charging an airborne battery of the unmanned aerial vehicle.
In another embodiment of the present invention, the wireless energy transmission receiving end comprises a battery management component; the device further comprises: the first obtaining and displaying module is configured to obtain and display battery related information of an unmanned aerial vehicle onboard battery sent by a first wireless communication module of the unmanned aerial vehicle, wherein the battery related information is information which is read by a battery management assembly in real time or at regular time and is sent to the first wireless communication module, and the battery related information comprises: at least one type of information among a remaining capacity value, charge/discharge current information, charge/discharge voltage information, and battery temperature information of the on-board battery.
In another embodiment of the present invention, the apparatus further comprises: the second obtaining and displaying module is configured to obtain and display unmanned aerial vehicle state information sent by the unmanned aerial vehicle, current position information of a current position where the unmanned aerial vehicle is located, and an electric quantity value required by the unmanned aerial vehicle to reach a target position, wherein the unmanned aerial vehicle state information includes idle state information, underway state information and charging state information, and the target position includes: the position of a final arrival place in the task places or the position of a target wireless charging platform closest to the current position of the unmanned aerial vehicle;
displaying a 3D map corresponding to the current position of the unmanned aerial vehicle based on the obtained current position information of the current position of the unmanned aerial vehicle;
under the condition that the unmanned aerial vehicle is in an underway state, displaying platform identification information of a target wireless charging platform closest to the current position of the unmanned aerial vehicle;
under the condition that unmanned aerial vehicle is in the charged state, show the wireless charging platform's of target that unmanned aerial vehicle corresponds platform identification information, the identification information of the potential of charging, the demand power that charges, charge efficiency information and the wireless charging platform's of target surplus electric quantity value, wherein, the identification information of the potential of charging is: and identification information of a target transmitting coil matched with a receiving coil of the unmanned aerial vehicle in a transmitting coil of the target wireless charging platform.
In another embodiment of the present invention, the apparatus further comprises: the third obtaining module is configured to obtain position information of a task place configured for the unmanned aerial vehicle, serve as destination position information of the task place required to be reached by the unmanned aerial vehicle, and send the position information to the corresponding unmanned aerial vehicle; the method comprises the steps of obtaining an upper limit electric quantity value and a lower limit electric quantity value of a charging threshold value of an airborne battery set for the unmanned aerial vehicle, and sending the upper limit electric quantity value and the lower limit electric quantity value to the corresponding unmanned aerial vehicle, wherein the current available electric quantity value is as follows: and the residual electric quantity value of the airborne battery of the unmanned aerial vehicle is different from the lower limit electric quantity value.
The system and apparatus embodiments correspond to the method embodiments, and have the same technical effects as the method embodiments, and for the specific description, refer to the method embodiments. The system and device embodiments are obtained based on the method embodiments, and specific descriptions may be found in the method embodiments, which are not described herein again. Those of ordinary skill in the art will understand that: the figures are merely schematic representations of one embodiment, and the blocks or flow diagrams in the figures are not necessarily required to practice the present invention.
Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. An unmanned aerial vehicle autonomous tracking charging method is applied to a general control platform of an unmanned aerial vehicle charging system, and the unmanned aerial vehicle charging system further comprises: the system comprises an unmanned aerial vehicle and a wireless charging platform; the method comprises the following steps:
obtaining a charging request sent by an unmanned aerial vehicle, wherein the charging request is as follows: the unmanned aerial vehicle judges a request sent under the condition that the current available electric quantity value of the airborne battery of the unmanned aerial vehicle can not support the unmanned aerial vehicle to fly to each task place based on the current position information of the current position of the unmanned aerial vehicle, the obstacle position information of the corresponding current obstacle and the destination position information of the task place to be reached;
determining target platform position information of a target wireless charging platform closest to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle and platform position information of each wireless charging platform;
feeding back the position information of the target platform to the unmanned aerial vehicle;
obtaining a charging command which is sent by the unmanned aerial vehicle and carries the charging required power, wherein the charging command is as follows: a command sent by the drone after reaching the target wireless charging platform;
and sending a charging notice carrying the charging demand power to the target wireless charging platform, so that the target wireless charging platform discharges based on the charging demand power carried by the charging notice, and the unmanned aerial vehicle charges an airborne battery of the unmanned aerial vehicle.
2. The method of claim 1, wherein the wireless charging platform comprises an off-grid microgrid module and a wireless energy transmission module;
the off-grid micro-grid module outputs direct current meeting the charging demand power to the wireless energy transmission module based on the charging demand power carried by the charging notice sent by the master control platform;
the wireless energy transmission module receives the direct current meeting the charging required power and converts the direct current meeting the charging required power into electromagnetism for discharging.
3. The method of claim 2, wherein the wireless energy transmission module comprises a power controller, a full-bridge inverter circuit, a resonance compensation network, a power distribution control unit, and an array-type transmission coil, each of the array-type transmission coil being connected in parallel; correspondingly, a receiving coil is arranged on a bracket of the unmanned aerial vehicle;
the power controller controls the full-bridge inverter circuit to convert the received direct current meeting the charging required power into high-frequency square wave electricity meeting the charging required power, and the high-frequency square wave electricity is input into the resonance compensation network;
the resonance compensation network converts the high-frequency square wave electricity into high-frequency sine alternating current meeting the charging required power and loads the high-frequency sine alternating current to the array type transmitting coil;
the power distribution control unit senses the matching condition of a receiving coil of the unmanned aerial vehicle falling to the surface of the array type transmitting coil and a target transmitting coil in the array type transmitting coil; controlling the current conduction of a corresponding branch of the target transmitting coil based on the matching condition so as to convert the high-frequency sinusoidal alternating current meeting the charging required power into electromagnetism through the target transmitting coil for discharging;
and the unmanned aerial vehicle charges the airborne battery through a receiving coil magnetically coupled with the target transmitting coil.
4. The method of claim 3, wherein an area of each transmit coil of an array of transmit coils is greater than an area occupied by a support of the drone; each support of the unmanned aerial vehicle is provided with a receiving coil; and/or
When the unmanned aerial vehicle lands to the surface of the array type transmitting coil, the distance between the receiving coil and the surface of the array type transmitting coil is 3-5 cm.
5. The method of claim 2, wherein the off-grid microgrid module comprises: at least two of the energy storage battery, the diesel generator, the photovoltaic generator and the wind driven generator and an energy distribution unit;
the energy distribution unit judges whether the output power of the energy storage battery meets the charging demand power carried by the charging notice sent by the master control platform;
if the direct current is judged to be satisfied, the energy storage battery is started to output the direct current satisfying the charging required power to the wireless energy transmission module;
if the direct current is judged to be not satisfied, the diesel generator or the photovoltaic generator or the wind driven generator is started to output the direct current satisfying the charging required power to the wireless energy transmission module;
the photovoltaic generator and/or the wind generator may charge the energy storage battery.
6. The method of any of claims 1-5, wherein the drone includes: the device comprises a sensing device, a flight controller, a wireless energy transmission receiving end and a first wireless communication module;
the sensing device senses the environmental information of the current position of the unmanned aerial vehicle and sends the environmental information to the flight controller;
the flight controller obtains environment information sensed by the sensing device, and determines current position information of the current position of the unmanned aerial vehicle and obstacle position information of a corresponding current obstacle based on the environment information; judging whether the current available electric quantity value of the airborne battery can support the airborne battery to fly to each task place or not based on the current position information of the current position, the obstacle position information of the corresponding current obstacle and the destination position information of the task place to be reached; if not, generating a charging request and sending the charging request to the first wireless communication module; obtaining target platform position information, sent by the first wireless communication module, of a target wireless charging platform closest to the unmanned aerial vehicle, fed back by the general control platform based on the charging request; judging whether the current available electric quantity value of an airborne battery of the mobile phone can support the mobile phone to travel to the target wireless charging platform or not based on the current position information, the obstacle position information and the target platform position information; if the judgment result is yes, flying to the target wireless charging platform; after the target wireless charging platform is reached, generating a charging command carrying charging required power, and sending the charging command to the first wireless communication module;
the first wireless communication module sends a charging request to the master control platform; obtaining the position information of the target platform fed back by the master control platform; sending the charging command to the master control platform;
the wireless energy transmission receiving end obtains electric energy radiated by the target wireless charging platform; and charging an airborne battery of the unmanned aerial vehicle.
7. The method of claim 6, wherein the wireless energy transfer receiving end comprises a battery management component; the method further comprises the following steps:
the battery relevant information of the unmanned aerial vehicle airborne battery that the first wireless communication module of unmanned aerial vehicle sent is obtained and displayed, wherein, battery relevant information reads and sends the information to first wireless communication module for battery management subassembly real-time or regularly, battery relevant information includes: at least one type of information among a remaining capacity value, charge/discharge current information, charge/discharge voltage information, and battery temperature information of the on-board battery.
8. The method of claim 6, wherein the method further comprises:
acquiring and displaying unmanned aerial vehicle state information sent by the unmanned aerial vehicle, current position information of a current position of the unmanned aerial vehicle, and an electric quantity value required by the unmanned aerial vehicle to reach a target position, wherein the unmanned aerial vehicle state information comprises idle state information, underway state information and charging state information, and the target position comprises: the position of a final arrival place in the task places or the position of a target wireless charging platform closest to the current position of the unmanned aerial vehicle;
displaying a 3D map corresponding to the current position of the unmanned aerial vehicle based on the obtained current position information of the current position of the unmanned aerial vehicle;
under the condition that the unmanned aerial vehicle is in an underway state, displaying platform identification information of a target wireless charging platform closest to the current position of the unmanned aerial vehicle;
under the condition that unmanned aerial vehicle is in the charged state, show the wireless charging platform's of target that unmanned aerial vehicle corresponds platform identification information, the identification information of the potential of charging, the demand power that charges, charge efficiency information and the wireless charging platform's of target surplus electric quantity value, wherein, the identification information of the potential of charging is: and identification information of a target transmitting coil matched with a receiving coil of the unmanned aerial vehicle in a transmitting coil of the target wireless charging platform.
9. The method of any one of claims 1-8, further comprising:
acquiring position information of a task place configured for the unmanned aerial vehicle, taking the position information as destination position information of the task place required to be reached by the unmanned aerial vehicle, and sending the destination position information to the corresponding unmanned aerial vehicle;
the method comprises the steps of obtaining an upper limit electric quantity value and a lower limit electric quantity value of a charging threshold value of an airborne battery set for the unmanned aerial vehicle, and sending the upper limit electric quantity value and the lower limit electric quantity value to the corresponding unmanned aerial vehicle, wherein the current available electric quantity value is as follows: and the residual electric quantity value of the airborne battery of the unmanned aerial vehicle is different from the lower limit electric quantity value.
10. The utility model provides an unmanned aerial vehicle is tracking charging device independently, its characterized in that, the device is applied to unmanned aerial vehicle charging system's total accuse platform, unmanned aerial vehicle charging system still includes: the system comprises an unmanned aerial vehicle and a wireless charging platform; the device comprises:
a first obtaining module configured to obtain a charging request sent by an unmanned aerial vehicle, wherein the charging request is: the unmanned aerial vehicle judges a request sent under the condition that the current available electric quantity value of the airborne battery of the unmanned aerial vehicle can not support the unmanned aerial vehicle to fly to each task place based on the current position information of the current position of the unmanned aerial vehicle, the obstacle position information of the corresponding current obstacle and the destination position information of the task place to be reached;
a first determination module configured to determine target platform position information of a target wireless charging platform closest to the unmanned aerial vehicle based on current position information of the unmanned aerial vehicle and platform position information of each wireless charging platform;
a feedback module configured to feed back the target platform location information to the drone;
a second obtaining module, configured to obtain a charging command that is sent by the drone and carries a charging demand power required for charging, where the charging command is: a command sent by the drone after reaching the target wireless charging platform;
a first sending module configured to send a charging notification carrying the charging demand power to the target wireless charging platform, so that the target wireless charging platform discharges based on the charging demand power carried by the charging notification, and the unmanned aerial vehicle charges its onboard battery.
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CN118249482A (en) * 2024-05-20 2024-06-25 中科开创（广州）智能科技发展有限公司 Mobile charging robot and control method thereof

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