BE1026674A1 - AUXILIARY LOADING SYSTEM FOR A DRONE - Google Patents

Abstract

The invention relates to an auxiliary charging system for a drone. The auxiliary charging system for a drone, includes a charging station management module, a drone information base, an alarm module, a human-computer interaction module, a controller, an information transfer module, a drone controller, a motion control module, an image processing module, an ultrasonic altimeter, an individual information base, a GPS positioning module, a power supply and a power measuring module. The invention also relates to a method. The relationship between a flight distance and the power of a drone is analyzed, and based on an actual status of an individual drone and a distance between the drone and a charging station, the drone is assigned to a most suitable charging station to charge, so that the drone can fully utilize a battery capacity and extend a single flight time of the drone. In addition, a descending process starts at a certain distance from the charging station and lands by accelerating down and braking, saving a large amount of landing time and improving the drone's operational efficiency.

Description

AUXILIARY LOADING SYSTEM FOR A DRONE BE2019 / 5991

TECHNICAL FIELD

The present invention pertains to the field of drone application technologies and in particular relates to an auxiliary charging system for a drone.

BACKGROUND

With the rapid development of the drone industry, both commercial drones and private drones are becoming popular, and drone technologies in the market tend to mature.

In the state of the art, the main technical problem for the drone is the range. When the drone is working outside for a long time, the drone must be charged regularly. When the drone comes back to charge, the drone must maintain enough power to fly back. This process is not only time consuming, but also wastes energy, directly leading to a reduced effective flight time of the drone and low operational efficiency. To ensure the application of the drone in the commercial field, it is necessary to ensure battery life and effective flight time of the drone and to improve the operational efficiency of the drone. In the prior art, drone charging stations are being set up for this problem, the drone selects in a flight process a nearest drone charging station for charging and a basis for a state of searching a charging station is the energy storage of the drone. When the drone reaches the preset threshold value, the drone will start to search for a matching charging station. However, for different drones, different battery types and different battery life, the same energy storage can make a big difference in actual driving distances. Therefore, an electric power of the drone cannot be fully utilized, and furthermore, the operational efficiency of the drone is reduced or a specified threshold power is not sufficient for the drone to reach the charging station for charging, causing drone crashes and losses. To solve this problem, the present invention provides the following technical solutions.

SUMMARY BE2019 / 5991

An object of the present invention is to provide an auxiliary charging system for a drone. The present invention solves the following technical problems:

An important aspect of the battery life of a drone in the prior art is the following: A drone charging station is deployed.

The drone implements stamina by charging using the drone charging station. However, in the prior art, when the drone selects the drone charging station for charging, only residual power is used as the threshold to determine whether to charge a drone. It is not possible to make an analysis based on different types of drones and different statuses of actual battery life. As a result, the power of the drone is exhausted before the drone reaches the charging station, or the drone is charged nearby while the power is enough for a drone to reach the next charging station. In the former case, the drone is likely to crash, causing damage and in the latter, the effective flight time of the drone is immediately reduced, thereby reducing operational efficiency.

2. Before charging at the charging station, the drone requires landing and takeoff steps. To ensure a smooth, safe and accurate landing of the drone, a landing speed of the drone must be checked. However, if lowering the landing speed is only used to achieve this goal, the charging time may increase. How to shorten the drone's landing time and improve the loading efficiency while ensuring a smooth landing of the drone is one of the issues that needs to be solved at the moment.

The object of the present invention can be achieved by using the following technical solutions:

An auxiliary charging system for a drone, comprising: a charging station management module, a drone information base, an alarm module, a human-computer interaction module, a controller, an information transfer module, a drone controller, a motion control module, an image collection module, an image processing module, an ultrasonic altimeter, a individual BE2019 / 5991 information base, a GPS positioning module, a power supply, and a power measurement module, with a charging station management module arranged for recording location information of a charging station, operating status information of the charging station and charging status information of the charging station, a drone information base arranged for storing all drone information in the system, wherein and the drone information includes a drone number, a drone model, a drone operating time and a relationship between the flight distance and power status of the drone, an alarm module arranged to provide alarm information to send a human computer interaction module designed to establish a human-computer interaction, a controller, an information transfer module, a drone controller, a motion control module arranged for controlling and correcting a travel speed and a vertical height of the drone and a drone attitude, an image collection module designed for collecting real-time image information in the vicinity of the drone, and transmitting the collected real-time image information to the image processing module, an image processing module arranged to analyze and process an image collected by the image collection module, after which the motion control module is regulated using the drone controller to adjust the current operating condition of the drone;

an ultrasonic altimeter arranged to detect a vertical distance between the drone and the charging station and transmit the detected vertical distance to the drone controller, an individual information base arranged to enter and store corresponding drone information, the drone information being a drone number, includes a drone model and a drone operating time, a GPS positioning module arranged to collect real-time location information and real-time vertical altitude information from the drone and send the collected real-time location information and real-time vertical altitude information to the controller using the drone controller and the BE2019 / 5991 information transfer module, a power supply configured to supply energy to the drone and a power measurement module configured to measure real-time power information from the drone and transmit the measured real-time power information to the drone controller;

wherein a method of collecting the relationship between the flight distance and the power status of the drone using the drone information base comprises:

551, using the power status per w% as a unit of detection, and each time the power status of the drone decreases by w%, capturing a flight distance L of the drone in this process, resulting in L1, L2, .. Ln are obtained, where a corresponding power status range in relation to the flight distance is 0-w%, w% -2w%, ..., (100-w)% - 100%;

552, after recording the N sets of data L1, L2, ..., Ln, calculating an average value Ak of flight distances of a plurality of data sets that are in the same detection unit, and then after each a new set of data L1, L2, ..., Ln is collected replacing previously recorded data set with the new set of data L1, L2, ..., Ln;

553, after collecting a match between the flight distance Ak and the power range, setting up a coordinate system by using the power range as a horizontal coordinate axis and using the flight distance as a vertical coordinate axis, and drawing a curve graph to obtain a flight distance from the drone in one or more power ranges with a relatively low power, subtracting a preset value from a flight distance decrease trend corresponding to w% of the power with reduction of the power range the flight distance obtained, and using a flight distance obtained after subtracting as a final predicted value; wherein a method for selecting a suitable charging station by the controller based on a drone status and a charging station status comprises the following steps:

Step 1: If the drone power reaches a preset threshold θ%, the drone controller will read the drone information in the individual information base and the location information and the vertical altitude information sent by the GPS positioning module , sending the drone information, the location information and the vertical height BE2019 / 5991 information to the controller, and comparing the received individual drone information with the drone information in the drone information base by the controller to determine the relationship between the flight distance and the power status of the drone, with all drones having the same preset threshold;

Step 2: Obtain, by the controller, distances from the drone to three available charging stations based on the real-time location information of the drone sent by the GPS positioning module and charging station information stored in the charging station management module, with the three charging stations one available charging station opposite to a forward direction of the drone and two available charging stations in the forward direction of the drone, a distance from the drone to the available charging station opposite to the forward direction is Q1, a distance from the drone to a closer charging station in the forward direction is Q2, and a distance from the drone to a further charging station in the traveling direction is Q3;

Step 3: If the drone's real-time power status is in a power range, obtain it, using a subsequent power range of the power range as a reference for the calculation, based on the power range of the drone's power status and a diagram of the relationship between the flight distance and the power status in the drone information base, a distance Q that can be flown by the drone;

Step 4: comparing size ratios between Q and Q1, Q2 and Q3; where if Q is less than one of Q1, Q2 and Q3, the drone lands in its original position, the GPS positioning module continuously sends positioning information and the controller controls the alarm module to send alarm information;

if Q> Q1 and Q <Q2, the drone will return to the available charging station opposite to the forward direction for charging;

if Q> Q2 and Q <Q3, the drone travels to the nearest charging station in the travel direction for charging, if the charging station is currently in full charging status, the drone will return to the available charging station opposite to the forward direction for charging, and if both the charging station and the available charging station are opposite to the forward direction in a full charge state, the drone will land in a queue near the charging station; and in this process, a threshold value a% is set, and when the BE2019 / 5991 power status is reduced to the threshold value, the drone lands in its original position and the controller controls the alarm module to send an alarm; and

Step 5: When Q> Q3, perform the operations from Step 2 to Step 4 after the drone has traveled the distance Q2.

In one embodiment of the present invention, the power supply, the power measurement module, the GPS positioning module, the individual information base, the ultrasonic altimeter, the image collection module, the image processing module, the motion control module and the drone controller are all installed on the drone.

In an embodiment of the present invention, after a power supply to the drone is replaced, the original correspondence between the flight distance and the power status of the drone is removed from the drone information base, and a correspondence is restored.

In an embodiment of the present invention, this includes a method of landing the drone using the drone controller involves:

51. if a horizontal distance between the drone and the charging station reaches a preset value Q4, facilitating the landing of the drone, and if the GPS positioning module detects that a vertical height of the drone reaches a preset value Q5, it switching on the ultrasonic altimeter by the drone controller ,, and transferring the detected vertical height to the drone controller, the vertical height of the drone being determined by the detected value of the ultrasonic altimeter;

52. if a vertical height of the drone reaches a preset value Q6, which allows the drone to stop landing, collecting image information from a loading platform of the charging station by the image collection module, and transmitting the image information to the image processing module, read the image processing module from the corners of the loading platform to create a closed two-dimensional shape, and control it by the drone controller based on a relative location between the drone and the two-dimensional shape using the motion control module drone to land in the two-dimensional form; and

S3, a method of moving through the drone in the vertical direction is: in a BE2019 / 5991 process in which the drone starts landing to the vertical distance Q5, falling at a constant speed after a speed of the drone decreases with acceleration already up to a speed V1; when the vertical distance becomes Q5, starting with the drone decelerating with acceleration a2; when if the vertical distance becomes Q6, a speed of movement of the drone in the vertical direction is 0, and in a process in which the vertical distance changes from Q5 to Q6, a value of acceleration a2 is adjusted based on a difference value of Q5 and Q6 .

In a further solution of the present invention, infrared diodes are installed on the corners of the loading platform.

ADVANTAGES OF THE CURRENT INVENTION

1. According to the present invention, a relationship between flight distance and drone power is analyzed and based on an actual status of an individual drone and a distance between the drone and a charging station, the drone is assigned to the most suitable charging station to to allow the drone to take full advantage of the battery capacity and extend a single flight time of the drone.

2. According to the present invention, a descent process is started at a certain distance from the charging station and the landing is performed by accelerated descent and delayed descent. Compared to a conventional process of first descent at a constant speed and then delayed descent after remaining exactly above the charging station, a large amount of landing time is saved and the operational efficiency of the drone is improved.

BRIEF DESCRIPTION OF THE DRAWING

The following further describes the present invention in detail with reference to the accompanying drawing and specific embodiments.

Fig. 1 is a schematic structural diagram of a system according to the present invention.

DESCRIPTION OF EMBODIMENTS

The following clearly and fully describes the technical solutions in the BE2019 / 5991 embodiments of the present invention. Of course, the described embodiments are only some instead of all embodiments of the present invention. All other embodiments based on the embodiments of the present invention obtained by a person skilled in the art without creative efforts will be within the scope of this invention.

A drone auxiliary charging system, as shown in FIG. 1, includes a charging station management module, a drone information base, an alarm module, a human-computer interaction module, a controller, an information transfer module, a drone controller, a motion control module, an image acquisition module, an image processing module, an ultrasonic altimeter, a individual information base, a GPS positioning module, a power supply and a power measurement module, wherein the power supply, the power measuring module, the GPS positioning module, the individual information base, the ultrasonic altimeter, the image acquisition module, the image processing module, the motion control module and the drone controller are all installed on the drone.

The power supply is configured to supply power to a drone and the power measurement module is configured to: measure current power information from the drone and transmit the measured current power information from the drone to the controller.

The GPS positioning module is configured to: collect real-time location information and real-time vertical altitude information from the drone and transmit the collected real-time location information and real-time vertical altitude information to the controller using the drone controller and the information transfer module.

The individual information base is configured to enter and store corresponding drone information, the drone information including a drone number, a drone model and a drone service time.

The ultrasonic altimeter is configured to: detect a vertical distance between the be201 9/5991 drone and a charging station and send the detected vertical distance to the drone controller.

The motion control module is configured to control and correct a travel speed and a vertical height of the drone and a drone attitude.

The image collection module is configured to: collect information about a real-time image near the drone and send the collected information about the real-time image to the image processing module, and after the image processing module analyzes and processes a collected image, the motion control module is controlled by the drone controller to adjust the running status of the drone.

The charging station management module is configured to record location information of a charging station, self-status information of the charging station and charging status information of the charging station, where the self-status information of the charging station is whether the charging station is in a normal operating state and the charging status information is of the charging station or the charging station has a free place for charging and the charging station is deployed along a flight path of the drone.

The drone information base is configured to store all drone information in the system, the drone information including a drone number, a drone model and a drone operating time and a relationship between the flight distance and the power status of the drone.

A method of collecting the relationship between the flight distance and the power status of the drone using the drone information base as follows:

SS1, using the power status per w% as a unit of detection, and each time the drone's power status decreases by w%, capturing a flight distance L of the drone in this process, resulting in L1, L2, .. Ln are obtained, where a corresponding power status range in relation to the flight distance is 0-w%, w% -2w%, (100-w)% - 100%. Movement in a vertical BE2019 / 5991 direction is only important when the drone takes off and lands, movement of the drone in vertical direction is relatively small for most of the time and takeoff and landing are not common. Therefore, the power consumption due to take-off and landing is not taken into account.

552, after recording the N sets of data L1, L2, ..., Ln, calculating an average value Ak of flight distances of a plurality of data sets that are in the same detection unit, and then after each a new set of data L1, L2, ..., Ln is collected replacing previously recorded data set with the new set of data L1, L2, ..., Ln. Therefore, the authenticity of data is guaranteed and the impact of a battery loss on a walking distance from the drone is reduced.

553. To prevent the drone from crashing due to a power failure, a threshold is often set to determine whether the drone continues to fly. Therefore, in a power state range, or several, with a low power state in it, the drone can start charging and as a result, a sufficient data source cannot be obtained. Therefore, after collecting a match between the flight distance Ak and the power range, set a coordinate system by using the power range as a horizontal coordinate axis and using the flight distance as a vertical coordinate axis, and drawing a curve graph to based on a trend of decrease in flight distance corresponding to w% of the power with reduction of the power range to obtain a flight distance of the drone in one or more power ranges with relatively low power, subtracting a preset value from the flight distance obtained, and using a flight distance obtained after subtraction as a final predicted value;

After a power supply to the drone is replaced, the original correspondence between the flight distance and the power of the drone is removed from the drone information base and a correspondence is restored.

The alarm module is configured to send alarm information.

The human-computer interaction module is configured to establish an interaction between BE2019 / 5991 human and computer.

A method of selecting a suitable charging station by the controller based on a drone status and a charging station status includes the following steps:

Step 1: If the drone power reaches a preset threshold θ%, the drone controller will read the drone information in the individual information base and the location information and the vertical altitude information sent by the GPS positioning module , sending the drone information, the location information and the vertical altitude information to the controller, and comparing the received individual drone information with the drone information in the drone information base by the controller to determine the relationship between the flight distance and the power status of the drone, with all drones having the same preset threshold.

Step 2: Obtaining, by the controller, distances from the drone to three available charging stations based on the real-time location information of the drone sent by the GPS positioning module and charging station information stored in the charging station management module, with the three charging stations one available charging station opposite to a forward direction of the drone and two available charging stations in the forward direction of the drone, a distance from the drone to the available charging station opposite to the forward direction is Q1, a distance from the drone to a closer charging station in the forward direction is Q2, and a distance from the drone to a further charging station in the forward direction is Q3;

Step 3: If the real-time power status of the drone is in a power range, obtain, by using a subsequent power range of the power range as reference for the calculation, when the real-time power status is between 2w% -3w%, a range of w% -2w% as a reference, based on the power range of the power status of the drone and a diagram of the relationship between the flight distance and the power status in the drone information base, a distance Q that can be flown by the drone;

BE2019 / 5991

Step 4: comparing size ratios between Q and Q1, Q2 and Q3; where if Q is less than one of Q1, Q2 and Q3, the drone lands in its original position, the GPS positioning module continuously sends positioning information and the controller controls the alarm module to send alarm information. If Q> Q1 and Q <Q2, the drone will return to the available charging station opposite to the forward direction for charging, to avoid the previous two cases, a threshold value of θ% can be increased. If Q> Q2 and Q <Q3 the drone travels to the nearest charging station in the travel direction for charging, if the charging station is currently in full charging status, the drone will return to the available charging station opposite to the forward direction for charging, and if both the charging station and the available charging station are opposite to the forward direction in a full charge state, the drone will land in a queue near the charging station. In this process, a threshold value a% is set, and when the power status is reduced to the threshold value, the drone lands in its original position and waits for the line to retrieve it.

Step 5: When Q> Q3, perform the operations from Step 2 to Step 4 after the drone has traveled the distance Q2. A method for landing the drone accurately and quickly by using the drone controller concerns:

51. If a horizontal distance between the drone and the charging station reaches a preset value of Q4, the drone will land, that is, the drone will land while discovering that the drone is horizontally close to a charging station in order to land on time. and if the GPS positioning module detects that a vertical height of the drone reaches a preset value Q5, the drone controller turns on the ultrasonic altimeter, and transmits the detected vertical height to the drone controller, in which case, the vertical height of the drone is determined by the detected value of the ultrasonic altimeter;

52. If a vertical height of the drone reaches a preset value Q6, which allows the drone to stop landing, simultaneously collecting image information from a loading platform of the charging station by the image collection module, and sending the image information to the BE2019 / 5991 image processing module, the image processing module reading the corners of the loading platform to create a closed two-dimensional shape, and the drone controller based on a relative location between the drone and the two-dimensional shape using the motion control module regulating the drone to land in the two-dimensional form. To ensure the accuracy of corner identification, infrared diodes can be installed on the corners of the loading platform.

S3. A method of moving through the drone in a vertical direction is: in a process in which the drone begins to land to the vertical distance Q5, falling at a constant speed after a speed of the drone decreases with acceleration a1 to a speed V1; when the vertical distance becomes Q5, the drone starts decelerating with acceleration a2 and when the vertical distance becomes Q6, the drone moving speed in the vertical direction is 0. In a process where the vertical distance changes from Q5 to Q6, because a vertical height measurement module has been changed from the GPS positioning module to the ultrasonic altimeter, a large error occurs in the process, a value of the acceleration a2 is adjusted based on a difference value of Q5 and Q6. By alternating accelerated descent and delayed descent, the time to charge can be reduced compared to a constant speed descent in the prior art.

According to the method, a descending process is started at a distance Q4 from the charging station and the landing is performed by accelerated descent and delayed descent. Compared to a conventional process of first descent at a constant speed and then slow descent after staying exactly above the charging station, a large amount of landing time is saved and the drone's operational efficiency is improved.

The foregoing description is only an example and description of the construction of the present invention. Various modifications or additions made by one skilled in the art in the disclosed specific embodiment or replaced using a similar manner will be within the scope of the present invention provided that the modifications or additions or replacements do not deviate from the construction of the present invention or do not go beyond the scope BE2019 / 5991 defined by the claims.

Claims (4)

An auxiliary drone charging system, comprising: (a) a charging station management module configured to record location information of a charging station, operating status information of the charging station and charging status information of the charging station, (b) a drone information base arranged to store all drone information in the system, and and the drone information includes a drone number, a drone model, a drone operating time and a relationship between the flight distance and power status of the drone, (c) an alarm module arranged to transmit alarm information, (d) a human-computer interaction module arranged to establish human-computer interaction, (e) a controller, (f) an information transfer module, (g) a drone controller, (h) a motion control module designed to control and correct a travel speed and vertical height of the drone and a drone attitude, (i) an image collection module arranged to collect real-time image information in the vicinity of the drone, and the transmitting the collected real-time image information to the image processing module, (j) an image processing module arranged to analyze and process an image collected by the image collection module, after which the motion control module is regulated using the drone controller to adjust the current operating state of the drone; (k) an ultrasonic altimeter configured to detect a vertical distance between the drone and the charging station and transmit the detected vertical distance to the drone controller, (l) an individual information base arranged to enter and store corresponding drone information, where the drone information includes a drone number, a drone model and a drone operating time, (m) a GPS positioning module arranged to collect real-time location information and real-time vertical altitude information from the drone and transmit the collected real-time location information and real-time vertical altitude information to the controller using the drone controller and the BE2019 / 5991 information transfer module, (n) a power supply configured to supply energy to the drone and (o) a power measurement module configured to measure real-time power information from the drone and the measured send real-time power information to the drone controller; wherein a method of collecting the relationship between the flight distance and the power status of the drone using the drone information base comprises: 551, using the power status per w% as a unit of detection, and each time the power status of the drone decreases by w%, capturing a flight distance L of the drone in this process, resulting in L1, L2, .. Ln are obtained, where a corresponding power status range in relation to the flight distance is 0-w%, w% -2w%, ..., (100-w)% - 100%; 552, after recording the N sets of data L1, L2, ..., Ln, calculating an average value Ak of flight distances of a plurality of data sets that are in the same detection unit, and then after each a new set of data L1, L2, ..., Lnis amassed the replacement of previously recorded data set with the new set of data L1, L2, ..., L2; 553, after collecting a match between the flight distance Ak and the power range, setting up a coordinate system by using the power range as a horizontal coordinate axis and using the flight distance as a vertical coordinate axis, and drawing a curve graph to obtain a flight distance from the drone in one or more power ranges with a relatively low power, subtracting a preset value from a flight distance decrease trend corresponding to w% of the power with reduction of the power range the flight distance obtained, and using a flight distance obtained after subtracting as a final predicted value; wherein a method for selecting a suitable charging station by the controller based on a drone status and a charging station status comprises the following steps: Step 1: If the drone power reaches a preset threshold θ%, the drone controller will read the drone information in the individual information base and the location information and the vertical altitude information sent by the GPS positioning module , sending the drone information, the location information and the vertical height BE2019 / 5991 information to the controller, and comparing the received individual drone information with the drone information in the drone information base by the controller to determine the relationship between the flight distance and the power status of the drone, with all drones having the same preset threshold; Step 2: Obtain, by the controller, distances from the drone to three available charging stations based on the real-time location information of the drone sent by the GPS positioning module and charging station information stored in the charging station management module, with the three charging stations one available charging station opposite to a forward direction of the drone and two available charging stations in the forward direction of the drone, a distance from the drone to the available charging station opposite to the forward direction is Q1, a distance from the drone to a closer charging station in the forward direction is Q2, and a distance from the drone to a further charging station in the forward direction is Q3; Step 3: If the drone's real-time power status is in a power range, obtain it, using a subsequent power range of the power range as a reference for the calculation, based on the power range of the drone's power status and a diagram of the relationship between the flight distance and the power status in the drone information base, a distance Q that can be flown by the drone; Step 4: comparing size ratios between Q and Q1, Q2 and Q3; where if Q is less than one of Q1, Q2 and Q3, the drone lands in its original position, the GPS positioning module continuously sends positioning information and the controller controls the alarm module to send alarm information; if Q> Q1 and Q <Q2, the drone will return to the available charging station opposite to the forward direction for charging; if Q> Q2 and Q <Q3, the drone travels to the nearest charging station in the travel direction for charging, if the charging station is currently in full charging status, the drone will return to the available charging station opposite to the forward direction for charging, and if both the charging station and the available charging station are opposite to the forward direction in a full charge state, the drone will land in a queue near the charging station; in this process, a threshold a% is set, and when the BE2019 / 5991 power status is reduced to the threshold, the drone lands in its original position and the controller controls the alarm module to send an alarm; and Step 5: When Q> Q3, perform the operations from Step 2 to Step 4 after the drone has traveled the distance Q2; and where a method of landing the drone using the drone controller involves: 51. if a horizontal distance between the drone and the charging station reaches a preset value Q4, facilitating the landing of the drone, and if the GPS positioning module detects that a vertical height of the drone reaches a preset value Q5, it switching on the ultrasonic altimeter by the drone controller ,, and transferring the detected vertical height to the drone controller, the vertical height of the drone being determined by the detected value of the ultrasonic altimeter; 52. if a vertical height of the drone reaches a preset value Q6, which allows the drone to stop landing, collecting image information from a loading platform of the charging station by the image collection module, and transmitting the image information to the image processing module, read the image processing module from the corners of the loading platform to create a closed two-dimensional shape, and control it by the drone controller based on a relative location between the drone and the two-dimensional shape using the motion control module drone to land in the two-dimensional form; and 53. A method of moving through the drone in the vertical direction is: in a process in which the drone begins to land to the vertical distance Q5, falling at a constant speed after a speed of the drone decreases with acceleration already up to a speed V1 ; when the vertical distance becomes Q5, starting with the drone decelerating with acceleration a2; when if the vertical distance becomes Q6, a speed of movement of the drone in the vertical direction is 0, and in a process in which the vertical distance changes from Q5 to Q6, a value of the acceleration a2 is adjusted based on a difference value of Q5 and Q6 . The drone auxiliary charging system according to claim 1, wherein the BE2019 / 5991 power supply, the power measurement module, the GPS positioning module, the individual information base, the ultrasonic altimeter, the image collection module, the image processing module, the motion control module and the drone controller 5 are all installed on the drone. The drone auxiliary charging system according to claim 1, wherein after a power supply to the drone is replaced, the original correspondence between the flight distance and the power status of the drone is removed from the drone. 10 information base, and a correspondence is restored. The drone auxiliary charging system according to claim 1, wherein infrared diodes are installed at the corners of the loading platform.