CN106130104B - A kind of unmanned plane charging method and device - Google Patents

A kind of unmanned plane charging method and device Download PDF

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Publication number
CN106130104B
CN106130104B CN201610546191.0A CN201610546191A CN106130104B CN 106130104 B CN106130104 B CN 106130104B CN 201610546191 A CN201610546191 A CN 201610546191A CN 106130104 B CN106130104 B CN 106130104B
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China
Prior art keywords
charging
base station
unmanned plane
charging base
charged state
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CN106130104A (en
Inventor
周晓峰
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Putian Xianzhe Trade Co.,Ltd.
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Shanghai Wind Communication Technologies Co Ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02JCIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H02J7/022Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters characterised by the type of converter
    • H02J7/025Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters characterised by the type of converter using non-contact coupling, e.g. inductive, capacitive

Abstract

The embodiment of the invention discloses a kind of unmanned plane charging method and devices, comprising: judges whether unmanned plane needs to charge;If so, obtaining the location information and charged state of charging base station in preset range;It selects charged state for idle charging base station, and charged area is dropped to 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 efficiency of unmanned plane continuation of the journey, optimization unmanned plane continuation of the journey work can be improved in the present invention.

Description

A kind of unmanned plane charging method and device
Technical field
The present embodiments relate to unmanned air vehicle technique more particularly to a kind of unmanned plane charging method and devices.
Background technique
With the raising of technology, fast-developing trend is presented in unmanned plane, and unmanned plane continuation of the journey is one of Development of UAV Importance.
Existing unmanned plane realizes that the scheme of continuation of the journey is: unmanned plane itself presets an electricity warning value, in flight course In, if electricity is reduced to warning value, unmanned plane makes a return voyage automatically replaces battery or charging.
The defect of the prior art is: battery capacity can be consumed by making a return voyage, and extend cruise duration, and continuation of the journey efficiency is too low.
Summary of the invention
The embodiment of the present invention provides a kind of unmanned plane charging method and device, excellent to realize that improving unmanned plane continues a journey efficiency Change the purpose of continuation of the journey work.
In a first aspect, the embodiment of the invention provides a kind of unmanned plane charging methods, comprising:
Judge whether unmanned plane needs to charge;
If so, obtaining the location information and charged state of charging base station in preset range;
It selects charged state for idle charging base station, and charging zone is dropped to according to the charging mark on charging base station Domain;
Wireless charging is carried out according to the wireless charging signal that charging base station provides.
Second aspect, the embodiment of the invention also provides a kind of unmanned plane charging units to include:
Judgment module, for judging whether unmanned plane needs to charge;
Data obtaining module, for when unmanned plane needs to charge, obtaining the location information of charging base station in preset range And charged state;
First choice landing module, for selecting charged state for idle charging base station, according to filling on charging base station Electricity mark drops to charged area;
Charging module, the wireless charging signal for being provided according to charging base station carry out wireless charging.
The embodiment of the present invention obtains preset range when unmanned plane needs to charge by judging whether unmanned plane needs to charge The location information and charged state of interior charging base station, and idle charging base station is selected, according to the charging mark on charging base station Knowledge drops to charged area and charges, and solves the problems, such as that unmanned plane cannot continue a journey in time, improves the effect of unmanned plane continuation of the journey Rate optimizes unmanned plane continuation of the journey work, while also effectively increasing the flying radius of unmanned plane.
Detailed description of the invention
Fig. 1 is a kind of flow diagram for unmanned plane charging method that the embodiment of the present invention one provides;
Fig. 2 is a kind of flow diagram of unmanned plane charging method provided by Embodiment 2 of the present invention;
Fig. 3 is a kind of flow diagram for unmanned plane charging method that the embodiment of the present invention three provides;
Fig. 4 is a kind of structural schematic diagram for unmanned plane charging unit that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for unmanned plane charging method that the embodiment of the present invention one provides, and the present embodiment is applicable to Unmanned plane carries out the case where wireless charging automatically, and this method can be executed by unmanned plane charging unit, which can be by hard The mode of part and/or software is realized.With reference to Fig. 1, unmanned plane charging method provided in this embodiment is specifically included:
S110, judge whether unmanned plane needs to charge.
Wherein it is possible to which whether real-time judge unmanned plane needs to charge, an electricity warning can also be preset in unmanned plane Value judges whether unmanned plane needs to charge when the remaining capacity of unmanned plane is lower than the electricity warning value.
S120, if so, obtain preset range in charging base station location information and charged state.
Wherein, settable multiple wireless charging base stations in the flight range of unmanned plane, charging are provided with wirelessly on base station Charging platform facilitates unmanned plane to land and carries out wireless charging.
Wherein, preset range can be related to the location information of unmanned plane, and specifically, preset range can be apart from nobody All areas of the machine current location within pre-determined distance, pre-determined distance can be a fixed value, can also be according to unmanned plane Remaining capacity and set, illustratively, it is fly able farthest that current unmanned plane is calculated according to unmanned plane current residual electricity Distance can set the maximum distance to pre-determined distance, preferably set pre-determined distance for the value for being less than the maximum distance. The charging base station determined near unmanned plane in preset range is set, unmanned plane is facilitated to carry out landing charging nearby.
Wherein, the location information of base station of charging may include plane coordinates position and elevation information, and unmanned plane is according to plane Coordinate position can determine the longitude and latitude of charging base station, find the position of charging base station, worked as according to elevation information and unmanned plane Preceding flying height can determine the height that unmanned plane needs to land, and such unmanned plane can save the charging time with rapid descent;Charging The charged state of base station may include idle in charging, when the charged state for base station of charging is idle, illustrate current charge There is no unmanned plane charging on base station, when the charged state for base station of charging is in charging, the base station that illustrates currently to charge is being nothing Man-machine charging, according to charged state, unmanned plane can preferentially select idle charging base station.
S130, it selects charged state for idle charging base station, and is dropped to and filled according to the charging mark on charging base station Electric region.
Wherein, charge base station wireless charging platform on be provided with charged area, settable charging mark on charged area To indicate that unmanned plane drops to charged area, further, pattern identification can be for the charging mark on charging base station, it can also It is equipped with the device that the mark to be charged such as can identify accordingly to be two dimensional code or bar code, on unmanned plane, such as camera is swept Retouch device etc..
Specifically, after selecting charging base station of the charged state for the free time, unmanned plane is found by automatic planning navigation system The position of charging base station, and the position for being accurately positioned base station of charging is identified according to the charging on charging base station.
S140, wireless charging is carried out according to the wireless charging signal that charging base station provides.
Wherein, charging base station can issue wireless charging signal by wireless charging platform, total with electromagnetic induction or electromagnetism The mode of vibration coupling converts electric energy for electromagnetic wave and carrys out power source charges on the machine for unmanned plane.
Technical solution provided in this embodiment, by judging whether unmanned plane needs to charge, when unmanned plane needs to charge The location information and charged state of the charging base station in preset range are obtained, and selects idle charging base station, according to charging base Charging mark on standing drops to charged area and charges, and solves the problems, such as that unmanned plane cannot continue a journey in time, improves nothing The efficiency of man-machine continuation of the journey optimizes unmanned plane continuation of the journey work, while also effectively increasing the flying radius of unmanned plane.
Based on the above technical solution, judge unmanned plane whether need to charge preferably can be according to remaining capacity and Judge whether unmanned plane needs to charge to flying distance.Wherein, unmanned plane current path rule specifically be can be to flying distance Remaining flying distance in drawing, specific judgment method may is that flying distance and residue according to unmanned plane in unit quantity of electricity Electricity calculates unmanned plane currently fly able maximum distance, and calculated maximum distance is compared with to flying distance, If the maximum distance calculated is less than to flying distance, judge that unmanned plane needs to charge, if the maximum distance calculated is not small In to flying distance, then judging that unmanned plane does not need to charge.Since unmanned plane may be because of certain during practical flight Factor (such as burst fire) and rerouting, leads to changing to flying distance for unmanned plane, therefore the electricity consumed also can It changes, judges whether unmanned plane needs to charge according to remaining capacity and to flying distance, it can be according to the reality of unmanned plane Border flight path determines whether unmanned plane needs to charge, compared with the existing technology in whether warning value is reached according to remaining capacity Mode judge whether unmanned plane needs to charge, the judgment method accuracy rate in the present embodiment is higher.
Based on the above technical solution, it is preferred that obtain the location information of charging base station and charging in preset range State can be from least one the charging base station obtained in preset range in service platform, correspondingly obtain the position of charging base station Confidence breath and charged state.Charging base station can also upload to the location information of itself and charged state in service platform and real 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 Breath screening apart from unmanned plane in pre-determined distance at least one charging base station, and by the location information for base station of charging and charging shape State sends jointly to unmanned plane.
Preferably, obtaining the location information of charging base station and charged state in preset range can also be monitoring preset range The heartbeat signal that at least one interior charging base station issues, the heartbeat signal include the location information and charging shape of charging base station State;Obtain the location information and charged state of base station of charging in heartbeat signal.Wherein, charging base station can pass through signal transceiver Heartbeat signal is sent, heartbeat signal can refer to the signal sent according to preset frequency.Due to unmanned plane in flight usually Interference by extraneous factor cannot connect to service platform, and service platform also usually has the update of charging base station location stagnant Property afterwards, therefore, in order to guarantee that unmanned plane obtains the relevant information of charging base station in time, unmanned plane can also directly monitor filling for surrounding The heartbeat signal comprising location information and charged state that electric base station issues obtains heartbeat signal when monitoring heartbeat signal In location information and charged state.
Embodiment two
Fig. 2 is a kind of flow chart of unmanned plane charging method provided by Embodiment 2 of the present invention, as shown in Fig. 2, aforementioned On the basis of example scheme, operation S210 is preferably further increased before S140, detects that charging base station issues packet When heartbeat signal containing charge request, charging response is sent to charging base station.
Wherein, charging base station can send heartbeat signal by signal transceiver, and heartbeat signal can refer to according to default Frequency send signal.Unmanned plane can monitor the heartbeat signal that charging base station issues in real time, and identify in heartbeat signal Information sends charging response to the charging base station, charging base station receives when listening to the heartbeat signal comprising charge request Power on after the charging response of unmanned plane feedback to charge to unmanned plane.
Based on the above technical solution, operation S220 is preferably further increased after S140, selection is charged The charged state of charging base station be revised as in charging, and upload in service platform.Can so be charged base station with real-time update Charged state, facilitate other unmanned planes for charging of needs effectively to be selected, improve unmanned plane continuation of the journey efficiency.
Based on the above technical solution, it is preferred that unmanned plane can also calculate the estimated time for completing charging simultaneously automatically It uploads in service platform;Remaining capacity can also be uploaded in service platform and calculate the unmanned plane by service platform by unmanned plane Charge completion time;Service platform can be ranked up charging base station according to the charge completion time estimated, and ranking results are mentioned Unmanned plane is supplied, facilitates unmanned plane selection charging base station, improves continuation of the journey efficiency.
Embodiment three
Fig. 3 is a kind of flow chart for unmanned plane charging method that the embodiment of the present invention three provides, as shown in figure 3, aforementioned On the basis of each example scheme, operation S310 is preferably increased after S120, when the charged state of charging base station is When in charging, according to the location information of charging base station, the charging base station nearest apart from unmanned plane is selected, according on charging base station Waiting area is dropped to etc. mark to be charged.
Wherein, charge settable waiting area on base station, so as to unmanned plane temporarily land etc. it is to be charged, can in waiting area The marks to be charged such as setting, being used to indicate unmanned plane, to drop to waiting area medium to be charged.It can be figure etc. mark to be charged Shape mark, is also possible to two dimensional code or bar code, is equipped with the device that the mark to be charged such as can identify on unmanned plane accordingly, Such as camera, scanner.
Based on the above technical solution, it is preferred that unmanned plane can also obtain filling for charging base station from service platform The electric deadline, and charge base station charged state be in charging when, select the shortest charging base station of charge completion time It carries out etc. to be charged, to reduce the waiting time, so as to quick charge, improves continuation of the journey efficiency.
Example IV
Fig. 4 is a kind of structural schematic diagram for unmanned plane charging unit that the embodiment of the present invention four provides, and the present embodiment can fit The case where carrying out wireless charging automatically for unmanned plane.As shown in figure 4, the specific structure of the unmanned plane charging unit is as follows:
Judgment module 410, for judging whether unmanned plane needs to charge;
Data obtaining module 420, for when unmanned plane needs to charge, obtaining the position letter of charging base station in preset range Breath and charged state;
First choice landing module 430, for selecting charged state for idle charging base station, according on charging base station Charging mark drops to charged area;
Charging module 440, the wireless charging signal for being provided according to charging base station carry out wireless charging.
In the present embodiment, the judgment module 410 is specifically used for:
Judge whether unmanned plane needs to charge according to remaining capacity and to flying distance.
In the present embodiment, the data obtaining module 420 may include:
First acquisition unit, for from service platform obtain preset range at least one charging base station, correspondingly Obtain the location information and charged state of charging base station.
In the present embodiment, can also include:
Sending module 450 is detected, when for detecting that charging base station issues the heartbeat signal comprising charge request, to charging Base station sends charging response.
In the present embodiment, can also include:
Second selection landing module 460, for when charge base station charged state be in charging when, according to charging base station Location information, select the charging base station nearest apart from unmanned plane, according on charging base station etc. mark to be charged drop to To region.
In the present embodiment, can also include:
Uploading module 470 is modified, for the charged state of the charging base station of selection charging to be revised as in charging, and is uploaded Into service platform.
On the basis of above scheme, the data obtaining module 420 may include: first acquisition unit, be used for from clothes It is engaged in obtaining at least one charging base station in preset range in platform, correspondingly obtains the location information and charging shape of charging base station State also can be replaced:
The data obtaining module 420 may include:
Monitoring unit, for monitoring the heartbeat signal that at least one charging base station issues in preset range, the heartbeat letter Number comprising charging base station location information and charged state;
Second acquisition unit, for obtaining the location information and charged state of base station of charging in heartbeat signal.
Unmanned plane charging unit provided in this embodiment, with unmanned plane charging method provided by any embodiment of the invention Belong to same inventive concept, unmanned plane charging method provided by any embodiment of the invention can be performed, has execution method phase The functional module and beneficial effect answered.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation, It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.

Claims (6)

1. a kind of unmanned plane charging method characterized by comprising
Judge whether unmanned plane needs to charge according to remaining capacity and to flying distance;
If so, obtaining the location information and charged state of charging base station in preset range;Wherein, in the acquisition preset range The location information and charged state of charging base station include: to monitor the heartbeat that at least one charging base station issues in preset range to believe Number, the heartbeat signal includes the location information and charged state of charging base station;Obtain the position for base station of charging in heartbeat signal Information and charged state;
It selects charged state for idle charging base station, and charged area is dropped to 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 charged state of the charging base station of selection charging is revised as in charging, and is uploaded in service platform;
When the charged state for base station of charging is in charging, according to the location information of charging base station, select apart from unmanned plane most Close charging base station, according to charging base station on etc. it is to be charged mark drop to waiting area.
2. unmanned plane charging method according to claim 1, which is characterized in that base station of charging in the acquisition preset range Location information and charged state include:
From at least one the charging base station obtained in preset range in service platform, the location information of charging base station is correspondingly obtained And charged state.
3. unmanned plane charging method according to claim 1, which is characterized in that in the wireless charging provided according to charging base station Electric signal carries out before wireless charging further include:
When detecting that charging base station issues the heartbeat signal comprising charge request, charging response is sent to charging base station.
4. a kind of unmanned plane charging unit characterized by comprising
Judgment module, for judging whether unmanned plane needs to charge according to remaining capacity and to flying distance;
Data obtaining module, for when unmanned plane needs to charge, obtaining the location information of charging base station in preset range and filling Electricity condition;
First choice landing module, for selecting charged state for idle charging base station, according to the charging mark on charging base station Knowledge drops to charged area;
Second selection landing module, for when charge base station charged state be in charging when, according to charging base station position Information selects the charging base station nearest apart from unmanned plane, according on charging base station etc. mark to be charged drop to waiting area;
Charging module, the wireless charging signal for being provided according to charging base station carry out wireless charging;
Uploading module is modified, for the charged state of the charging base station of selection charging to be revised as in charging, and uploads to service In platform;
Wherein, the data obtaining module includes:
Monitoring unit, for monitoring the heartbeat signal that at least one charging base station issues in preset range, the heartbeat signal packet The location information and charged state of the base station containing charging;
Second acquisition unit, for obtaining the location information and charged state of base station of charging in heartbeat signal.
5. unmanned plane charging unit according to claim 4, which is characterized in that the data obtaining module includes:
First acquisition unit, for correspondingly obtaining from least one the charging base station obtained in service platform in preset range The location information and charged state of charging base station.
6. unmanned plane charging unit according to claim 4, which is characterized in that further include detection sending module, for examining When measuring heartbeat signal of the charging base station sending comprising charge request, charging is sent to charging base station and is responded.
CN201610546191.0A 2016-07-12 2016-07-12 A kind of unmanned plane charging method and device Active CN106130104B (en)

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