CN106130104A - A kind of unmanned plane charging method and device - Google Patents
A kind of unmanned plane charging method and device Download PDFInfo
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- CN106130104A CN106130104A CN201610546191.0A CN201610546191A CN106130104A CN 106130104 A CN106130104 A CN 106130104A CN 201610546191 A CN201610546191 A CN 201610546191A CN 106130104 A CN106130104 A CN 106130104A
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- 238000005516 engineering process Methods 0.000 description 3
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Abstract
The embodiment of the invention discloses a kind of unmanned plane charging method and device, including: judge that unmanned plane is the need of charging；If it is, the positional information of acquisition preset range interior charging base station and charged state；Selecting charged state is idle charging base station, and drops to charged area according to the charging mark on charging base station；Wireless charging is carried out according to the wireless charging signal that charging base station provides.The present invention can improve the efficiency of unmanned plane continuation of the journey, optimizes unmanned plane continuation of the journey work.
Description
Technical field
The present embodiments relate to unmanned air vehicle technique, particularly relate to a kind of unmanned plane charging method and device.
Background technology
Along with the raising of technology, unmanned plane presents fast-developing trend, and unmanned plane continuation of the journey is of Development of UAV
Importance.
Existing unmanned plane realizes the scheme of continuation of the journey: unmanned plane self presets an electricity warning value, at flight course
In, if electricity is reduced to warning value, then unmanned plane automatically makes a return voyage and changes battery or charging.
The defect of prior art is: makes a return voyage and can consume battery electric quantity, and extends cruising time, and continuation of the journey efficiency is the lowest.
Summary of the invention
The embodiment of the present invention provides a kind of unmanned plane charging method and device, to realize improving unmanned plane continuation of the journey efficiency, excellent
Change the purpose of continuation of the journey work.
First aspect, embodiments provides a kind of unmanned plane charging method, including:
Judge that unmanned plane is the need of charging；
If it is, the positional information of acquisition preset range interior charging base station and charged state；
Selecting charged state is idle charging base station, and drops to charging zone according to the charging mark on charging base station
Territory；
Wireless charging is carried out according to the wireless charging signal that charging base station provides.
Second aspect, the embodiment of the present invention additionally provides a kind of unmanned plane charging device and includes:
Judge module, is used for judging that unmanned plane is the need of charging；
Data obtaining module, for when unmanned plane needs charging, obtains the positional information of preset range interior charging base station
And charged state；
First selects landing module, for selecting charged state to be idle charging base station, according to filling on charging base station
Electricity mark drops to charged area；
Charging module, carries out wireless charging for the wireless charging signal provided according to charging base station.
The embodiment of the present invention is by judging that unmanned plane, the need of charging, obtains preset range when unmanned plane needs charging
The positional information of interior charging base station and charged state, and select the charging base station of free time, according to the charging mark on charging base station
Knowledge drops to charged area and is charged, and solves the problem that unmanned plane can not be continued a journey in time, improves the effect of unmanned plane continuation of the journey
Rate, optimizes unmanned plane continuation of the journey work, the most effectively increases the flying radius of unmanned plane simultaneously.
Accompanying drawing explanation
The schematic flow sheet of a kind of unmanned plane charging method that Fig. 1 provides for the embodiment of the present invention one；
The schematic flow sheet of a kind of unmanned plane charging method that Fig. 2 provides for the embodiment of the present invention two；
The schematic flow sheet of a kind of unmanned plane charging method that Fig. 3 provides for the embodiment of the present invention three；
The structural representation of a kind of unmanned plane charging device that Fig. 4 provides for the embodiment of the present invention four.
Detailed description of the invention
The present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, in order to just
Part related to the present invention is illustrate only rather than entire infrastructure in description, accompanying drawing.
Embodiment one
The flow chart of a kind of unmanned plane charging method that Fig. 1 provides for the embodiment of the present invention one, the present embodiment is applicable to
Unmanned plane carries out the situation of wireless charging automatically, and the method can be performed by unmanned plane charging device, and this device can be by hard
The mode of part and/or software realizes.With reference to Fig. 1, the unmanned plane charging method that the present embodiment provides specifically includes:
S110, judge that unmanned plane is the need of charging.
Wherein it is possible to real-time judge unmanned plane is the need of charging, it is also possible to preset an electricity warning in unmanned plane
Value, when the dump energy of unmanned plane is less than this electricity warning value, it is judged that unmanned plane is the need of charging.
S120 is if it is, obtain positional information and the charged state of preset range interior charging base station.
Wherein, multiple wireless charging base station can be set in the flight range of unmanned plane, charging base station is provided with wireless
Charging platform, facilitates unmanned plane to land and carries out wireless charging.
Wherein, preset range can be relevant to the positional information of unmanned plane, and specifically, preset range can be that distance is unmanned
All regions within predeterminable range, the machine current location, predeterminable range can be a fixed value, it is also possible to according to unmanned plane
Dump energy and set, exemplary, according to unmanned plane current residual coulant meter calculate currently without man-machine fly able farthest
Distance, can be set to predeterminable range by this maximum distance, preferably the value less than this maximum distance is set to predeterminable range.
Set preset range interior mainly for determining the charging base station near unmanned plane, facilitate unmanned plane to carry out landing charging nearby.
Wherein, the positional information of charging base station can include plane coordinates position and elevation information, and unmanned plane is according to plane
Coordinate position may determine that the longitude and latitude of charging base station, finds the position of charging base station, works as according to elevation information and unmanned plane
Front flying height can determine that unmanned plane needs the height of landing, and such unmanned plane can save the charging interval with rapid descent；Charging
The charged state of base station can include idle with in charging, when the charged state of base station of charging is idle, current charging is described
Do not have unmanned plane to charge on base station, when the charged state of base station of charging is for time in charging, illustrate currently to charge base station for nothing
Man-machine charging, according to charged state, unmanned plane can be with the charging base station of prioritizing selection free time.
S130, the charging base station selecting charged state to be the free time, and drop to fill according to the charging mark on charging base station
Electricity region.
Wherein, the wireless charging platform of charging base station is provided with charged area, charged area can arrange charging mark
Drop to charged area with instruction unmanned plane, further, can be pattern identification for the charging mark on charging base station, it is possible to
To be Quick Response Code or bar code, unmanned plane is provided with the device of marks to be charged such as can identifying accordingly, such as photographic head, sweeps
Retouch device etc..
Specifically, after selecting charged state to be idle charging base station, unmanned plane is found by automatic planning navigation system
The position of charging base station, and the position of charging base station it is accurately positioned according to the charging mark on charging base station.
S140, according to charging base station provide wireless charging signal carry out wireless charging.
Wherein, charging base station can send wireless charging signal by wireless charging platform, is total to electromagnetic induction or electromagnetism
Electromagnetic wave is converted into electric energy and charges for the machine power source of unmanned plane by the mode of coupling of shaking.
The technical scheme that the present embodiment provides, by judge unmanned plane the need of charging, when unmanned plane needs to charge
The positional information of the charging base station in acquisition preset range and charged state, and select the charging base station of free time, according to charging base
Charging mark on standing drops to charged area and is charged, and solves the problem that unmanned plane can not be continued a journey in time, improves nothing
The efficiency of man-machine continuation of the journey, optimizes unmanned plane continuation of the journey work, the most effectively increases the flying radius of unmanned plane simultaneously.
On the basis of technique scheme, it is judged that unmanned plane the need of charging can be preferably according to dump energy and
Treat that flying distance is to judge that unmanned plane is the need of charging.Wherein, treat that flying distance can be specifically unmanned plane current path rule
Residue flying distance in Huaing, concrete determination methods may is that according to unmanned plane flying distance in unit quantity of electricity and residue
Coulant meter calculates the current fly able maximum distance of unmanned plane, by the maximum distance calculated with treat that flying distance is compared,
If the maximum distance calculated is less than treating flying distance, then judge that unmanned plane needs charging, if the maximum distance calculated is the least
In treating flying distance, then judge that unmanned plane need not charging.Owing to unmanned plane may be because of some during practical flight
Factor (such as burst fire) and rerouting, causes the flying distance for the treatment of of unmanned plane to change, and the electricity therefore consumed also can
Change, according to dump energy and treat that flying distance judges that unmanned plane, can be according to the reality of unmanned plane the need of charging
Border flight path judges whether unmanned plane, the need of charging, reaches warning value relative in prior art according to dump energy
Mode judge unmanned plane the need of charging, the determination methods accuracy rate in the present embodiment is higher.
On the basis of technique scheme, it is preferred that the positional information of base station of charging in obtaining preset range and charging
State can be to obtain at least one the charging base station in preset range from service platform, correspondingly obtains the position of charging base station
Confidence breath and charged state.The positional information of self and charged state can also be uploaded in service platform the most real by charging base station
The charged state of Shi Gengxin charging base station.
Specifically, own location information is sent to service platform by unmanned plane, and service platform is believed according to the position of unmanned plane
Cease screening distance unmanned plane at least one charging base station in predeterminable range, and by the positional information of charging base station and charging shape
State sends jointly to unmanned plane.
Preferably, the positional information and the charged state that obtain preset range interior charging base station can also is that monitoring preset range
The heartbeat signal that at least one charging base station interior sends, described heartbeat signal comprises positional information and the charging shape of charging base station
State；Obtain positional information and the charged state of base station of charging in heartbeat signal.Wherein, signal transceiver can be passed through in charging base station
Sending heartbeat signal, heartbeat signal may refer to the signal sent according to default frequency.Due to unmanned plane when flight usually
Be cannot connect to service platform by the interference of extraneous factor, the renewal of charging base station location is the most usually had stagnant by service platform
Rear property, therefore, in order to ensure that unmanned plane obtains the relevant information of charging base station in time, unmanned plane also can directly monitor filling of surrounding
The heartbeat signal comprising positional information and charged state that electricity base station sends, when monitoring heartbeat signal, obtains heartbeat signal
In positional information and charged state.
Embodiment two
The flow chart of a kind of unmanned plane charging method that Fig. 2 provides for the embodiment of the present invention two, as in figure 2 it is shown, aforementioned
On the basis of embodiment scheme, before S140, preferably further increase operation S210, detect that charging base station sends bag
During heartbeat signal containing charge request, send charging response to charging base station.
Wherein, charging base station can send heartbeat signal by signal transceiver, and heartbeat signal may refer to according to presetting
Frequency send signal.Unmanned plane can monitor the heartbeat signal that charging base station sends in real time, and identifies in heartbeat signal
Information, when listening to the heartbeat signal comprising charge request, sends charging response to this charging base station, and charging base station receives
Switch on power unmanned plane is charged after the charging response of unmanned plane feedback.
On the basis of technique scheme, after S140, preferably further increase operation S220, selection is charged
The charged state of charging base station be revised as in charging, and upload in service platform.So can be with real-time update charging base station
Charged state, facilitate other need charging unmanned plane effectively select, improve unmanned plane continuation of the journey efficiency.
On the basis of technique scheme, it is preferred that unmanned plane also can calculate automatically has estimated the time of charging also
Upload in service platform；Dump energy also can be uploaded to be calculated this unmanned plane by service platform in service platform by unmanned plane
Charge completion time；Charging base station can be ranked up by service platform according to the charge completion time estimated, and is carried by ranking results
Supply unmanned plane, facilitates unmanned plane to select charging base station, improves continuation of the journey efficiency.
Embodiment three
The flow chart of a kind of unmanned plane charging method that Fig. 3 provides for the embodiment of the present invention three, as it is shown on figure 3, aforementioned
On the basis of each embodiment scheme, after S120, preferably add operation S310, be when the charged state of charging base station
Time in charging, according to the positional information of charging base station, the charging base station that chosen distance unmanned plane is nearest, according on charging base station
Waiting area is dropped to etc. mark to be charged.
Wherein, charging base station can arrange waiting area, in order to unmanned plane temporarily landing etc. are to be charged, can in waiting area
Mark to be charged is set etc., is used for indicating unmanned plane to drop to waiting area medium to be charged.Can be figure etc. mark to be charged
Shape identifies, it is also possible to be Quick Response Code or bar code, unmanned plane is provided with the device of marks to be charged such as can identifying accordingly,
Such as photographic head, scanning device etc..
On the basis of technique scheme, it is preferred that unmanned plane also can obtain filling of charging base station from service platform
The electricity deadline, and when the charged state of base station of charging is in charging, select the charging base station that charge completion time is the shortest
Carry out etc. to be charged, to reduce the waiting time, such that it is able to quick charge, improve continuation of the journey efficiency.
Embodiment four
The structural representation of a kind of unmanned plane charging device that Fig. 4 provides for the embodiment of the present invention four, the present embodiment can be fitted
Automatically the situation of wireless charging is carried out for unmanned plane.As shown in Figure 4, the concrete structure of this unmanned plane charging device is as follows:
Judge module 410, is used for judging that unmanned plane is the need of charging；
Data obtaining module 420, for when unmanned plane needs charging, obtains the position letter of preset range interior charging base station
Breath and charged state；
First selects landing module 430, for selecting charged state to be idle charging base station, according on charging base station
Charging mark drops to charged area；
Charging module 440, carries out wireless charging for the wireless charging signal provided according to charging base station.
In the present embodiment, described judge module 410 specifically for:
According to dump energy and treat that flying distance judges that unmanned plane is the need of charging.
In the present embodiment, described data obtaining module 420 may include that
First acquiring unit, for obtaining at least one the charging base station in preset range, correspondingly from service platform
Obtain positional information and the charged state of charging base station.
In the present embodiment, it is also possible to including:
Detection sending module 450, during for detecting that charging base station sends the heartbeat signal comprising charge request, to charging
Base station sends charging response.
In the present embodiment, it is also possible to including:
Second selects landing module 460, for when the charged state of base station of charging is in charging, according to charging base station
Positional information, the charging base station that chosen distance unmanned plane is nearest, according to charging base station on etc. mark to be charged drop to
Treat region.
In the present embodiment, it is also possible to including:
Transmission module 470 in amendment, the charged state for the charging base station by selecting charging is revised as in charging, and uploads
In service platform.
On the basis of such scheme, described data obtaining module 420 may include that the first acquiring unit, for from clothes
Business platform obtains at least one the charging base station in preset range, correspondingly obtains positional information and the charging shape of charging base station
State also can be replaced:
Described data obtaining module 420 may include that
Monitoring means, the heartbeat signal that at least one charging base station sends in monitoring preset range, described heart beating is believed
Number comprise positional information and the charged state of charging base station；
Second acquisition unit, for obtaining positional information and the charged state of base station of charging in heartbeat signal.
The unmanned plane charging device that the present embodiment provides, the unmanned plane charging method provided with any embodiment of the present invention
Belong to same inventive concept, the unmanned plane charging method that any embodiment of the present invention is provided can be performed, possess execution method phase
The functional module answered and beneficial effect.
Note, above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The invention is not restricted to specific embodiment described here, can carry out for a person skilled in the art various obvious change,
Readjust and substitute without departing from protection scope of the present invention.Therefore, although by above example, the present invention is carried out
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
Other Equivalent embodiments more can be included, and the scope of the present invention is determined by scope of the appended claims.
Claims (14)
1. a unmanned plane charging method, it is characterised in that including:
Judge that unmanned plane is the need of charging；
If it is, the positional information of acquisition preset range interior charging base station and charged state；
Selecting charged state is idle charging base station, and drops to charged area according to the charging mark on charging base station；
Wireless charging is carried out according to the wireless charging signal that charging base station provides.
Unmanned plane charging method the most according to claim 1, it is characterised in that described judgement unmanned plane is the need of charging
Including:
According to dump energy and treat that flying distance judges that unmanned plane is the need of charging.
Unmanned plane charging method the most according to claim 1, it is characterised in that charging base station in described acquisition preset range
Positional information and charged state include:
From service platform, obtain at least one the charging base station in preset range, correspondingly obtain the positional information of charging base station
And charged state.
Unmanned plane charging method the most according to claim 1, it is characterised in that charging base station in described acquisition preset range
Positional information and charged state include:
The heartbeat signal that in monitoring preset range, at least one charging base station sends, described heartbeat signal comprises the position of charging base station
Confidence breath and charged state；
Obtain positional information and the charged state of base station of charging in heartbeat signal.
Unmanned plane charging method the most according to claim 1, it is characterised in that at the wireless charging provided according to charging base station
The signal of telecommunication also includes before carrying out wireless charging:
Detect when charging base station sends the heartbeat signal comprising charge request, send charging response to charging base station.
6. according to the unmanned plane charging method described in claim 1,3 or 4, it is characterised in that charge in obtaining preset range
Also include after the positional information of base station and charged state:
When the charged state of base station of charging is in charging, according to the positional information of charging base station, chosen distance unmanned plane is
Near charging base station, according to charging base station on etc. mark to be charged drop to waiting area.
Unmanned plane charging method the most according to claim 1, it is characterised in that at the wireless charging provided according to charging base station
The signal of telecommunication also includes after carrying out wireless charging:
The charged state selecting the charging base station of charging is revised as in charging, and uploads in service platform.
8. a unmanned plane charging device, it is characterised in that including:
Judge module, is used for judging that unmanned plane is the need of charging；
Data obtaining module, for when unmanned plane needs charging, obtains the positional information of preset range interior charging base station and fills
Electricity condition；
First selects landing module, for selecting charged state to be idle charging base station, according to the charging mark on charging base station
Know and drop to charged area；
Charging module, carries out wireless charging for the wireless charging signal provided according to charging base station.
Unmanned plane charging device the most according to claim 8, it is characterised in that described judge module specifically for:
According to dump energy and treat that flying distance judges that unmanned plane is the need of charging.
Unmanned plane charging device the most according to claim 8, it is characterised in that described data obtaining module includes:
First acquiring unit, for obtaining at least one the charging base station in preset range from service platform, correspondingly obtains
The positional information of charging base station and charged state.
11. unmanned plane charging devices according to claim 8, it is characterised in that described data obtaining module includes:
Monitoring means, the heartbeat signal that at least one charging base station sends in monitoring preset range, described heartbeat signal bag
Positional information and charged state containing charging base station；
Second acquisition unit, for obtaining positional information and the charged state of base station of charging in heartbeat signal.
12. unmanned plane charging devices according to claim 8, it is characterised in that also include detecting sending module, be used for examining
Measure charging base station when sending the heartbeat signal comprising charge request, send charging response to charging base station.
Unmanned plane charging device described in 13. according to Claim 8,10 or 11, it is characterised in that also include the second selection landing
Module, for when the charged state of base station of charging is in charging, according to the positional information of charging base station, chosen distance is unmanned
The charging base station that machine is nearest, according to charging base station on etc. mark to be charged drop to waiting area.
14. unmanned plane charging devices according to claim 8, it is characterised in that also include revising transmission module, being used for will
The charged state selecting the charging base station of charging is revised as in charging, and uploads in service platform.
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| CN201610546191.0A CN106130104B (en) | 2016-07-12 | 2016-07-12 | A kind of unmanned plane charging method and device |
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