CN106681325A - Method and device for intelligently charging unmanned aerial vehicle - Google Patents
Method and device for intelligently charging unmanned aerial vehicle Download PDFInfo
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- CN106681325A CN106681325A CN201611262173.6A CN201611262173A CN106681325A CN 106681325 A CN106681325 A CN 106681325A CN 201611262173 A CN201611262173 A CN 201611262173A CN 106681325 A CN106681325 A CN 106681325A
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- 238000000034 method Methods 0.000 title claims abstract description 52
- 230000004807 localization Effects 0.000 claims description 27
- 238000012790 confirmation Methods 0.000 claims description 9
- 230000007547 defect Effects 0.000 abstract 1
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 230000005611 electricity Effects 0.000 description 7
- 230000007812 deficiency Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000007261 regionalization Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M10/00—Secondary cells; Manufacture thereof
- H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
- H01M10/44—Methods for charging or discharging
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
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- H02J7/0021—
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
Abstract
The invention discloses a method and a device for intelligently charging an unmanned aerial vehicle. The method comprises the steps of determining a standard landing point area; determining a standard charging area; receiving a landing instruction for landing to the standard landing point area; receiving a driving instruction for driving to the charging area in the landing area; and driving to the charging area for charging. The method and the device provided by the invention can settle technical defects of requirement for an operation of personnel for charging a battery and no intelligent characteristic when the electric energy of the battery is exhausted in prior art.
Description
Technical field
The invention belongs to unmanned air vehicle technique field, more particularly to a kind of method and device charged for UAV Intelligent.
Background technology
Unmanned plane (English:Aircraft), refer to and air force lift-off is obtained by the relative motion of fuselage and air
The machine of flight.Including gyroplane, helicopter, fixed-wing etc..
At present, by the way that the technologies such as information gathering, target recognition tracking have synchronously been carried out in unmanned plane in the air flight course
Gradually form one trend.
However, with the continuous development of shaping technique, the usage frequency of unmanned plane also more and more higher, immediately to unmanned plane sheet
The performance of body also requires that more and more higher, the such as cruising time of unmanned plane.And the length direct relation unmanned plane in cruising time
Work efficiency.Therefore unmanned plane is charged in time and is just particularly important.And charging modes common in prior art are all
It is that when the battery electric quantity of unmanned plane is using exhausting, homing is charged by the operation of staff to battery, complete
Into charge function.This kind of charging modes are wasted time and energy, and do not have intelligentized feature.
The content of the invention
The present invention provide it is a kind of for UAV Intelligent charge method and device, to solve it is of the prior art nobody
Machine needs to be charged battery by the operation of staff when battery electric quantity is using exhausting, and does not possess intelligent spy
The technological deficiency of point.
In a first aspect, embodiments providing a kind of method charged for UAV Intelligent, methods described includes：
Localization criteria drop point region, the standard drop point region is that landed for the unmanned plane confirms region；Positioning
Standard charging region, the standard charging region is that be charged for the unmanned plane confirms region；Receive landing
Instruct to drop to the standard drop point region；The traveling that traveling to the charged area is received in the drop point region refers to
Order；Travel to the charged area and be charged.
Optionally, before the localization criteria drop point region, methods described also includes：Pair region that can land is known
Not, it is determined that can be used for the n basic drop point region landed；A standard is positioned in described n basic drop point region to fall
Point region；Wherein, the n is greater than being equal to 2 integer.
Optionally, before the localization criteria charged area, methods described also includes：Chargeable region is known
Not, it is determined that can be used for the m basic charged area landed；A standard is positioned in described m basic drop point region to fill
Electric region；Wherein, the m is greater than being equal to 2 integer.
Optionally, it is described travel to the charged area be charged before, methods described also includes：To trace graticule
It is identified；Obtain and the standard trace graticule corresponding to standard charging region；Described traveling to the charged area is filled
Electricity also includes：Travel to the charged area according to the standard trace graticule and be charged.
Optionally, receive in the drop point region and travel to the driving instruction of the charged area, the nothing
It is man-machine in starting state.
Second aspect, the embodiment of the present invention additionally provides a kind of device charged for UAV Intelligent, described device bag
Include：Standard drop point zone location module, for localization criteria drop point region, the standard drop point region is for the unmanned plane
The confirmation region landed；Standard charging zone location module, for localization criteria charged area, the standard charging
Region is that be charged for the unmanned plane confirms region；First command reception module, for receiving landing instruction
To drop to the standard drop point region；Second command reception module, for traveling to be received in the drop point region to described
The driving instruction of charged area；Traveling module, is charged for traveling to the charged area.
Optionally, described device also includes：First area identification module, is identified, really for pair region that can land
Surely can be used for the n basic drop point region landed；First determining module, for positioning one in described n basic drop point region
The individual standard drop point region；Wherein, the n is greater than being equal to 2 integer.
Optionally, described device also includes：Second area determining module, is identified with one to chargeable region,
It is determined that can be used for the m basic charged area landed；Second determining module, for positioning in described m basic drop point region
One standard charging region；Wherein, the m is greater than being equal to 2 integer.
Optionally, described device also includes：First graticule identification module, for being identified to trace graticule；First mark
Line obtains module, for obtaining and the standard trace graticule corresponding to standard charging region；The traveling module is additionally operable to：Foundation
The standard trace graticule is travelled to the charged area and is charged.
Optionally, second command reception module is additionally operable to be received in the drop point region traveling to the charging zone
During the driving instruction in domain, the unmanned plane is in starting state.
One or more technical schemes provided in the embodiment of the present invention, at least have the following technical effect that or advantage：
When unmanned plane needs to charge, first by localization criteria drop point region and localization criteria charged area, Ran Hou
Landing instruction is received to drop to the standard drop point region, and traveling is received in the drop point region to the charged area
Driving instruction, finally travel to the charged area and be charged.Unmanned plane of the prior art is solved in battery electric quantity
During using exhausting, needing to be charged battery by the operation of staff, not possessing the technological deficiency of intelligent feature.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of description, and in order to allow the above and other objects of the present invention, feature and advantage can
Become apparent, below especially exemplified by the specific embodiment of the present invention.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are these
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the method flow schematic diagram charged for UAV Intelligent provided in an embodiment of the present invention；
Fig. 2 is the principle of device schematic diagram charged for UAV Intelligent provided in an embodiment of the present invention.
Specific embodiment
The present invention provide it is a kind of for UAV Intelligent charge method and device, to solve it is of the prior art nobody
Machine needs to be charged battery by the operation of staff when battery electric quantity is using exhausting, and does not possess intelligent spy
The technological deficiency of point.
Technical scheme in the embodiment of the present invention, general thought is as follows：
Localization criteria drop point region, the standard drop point region is that landed for the unmanned plane confirms area
Domain；Localization criteria charged area, the standard charging region is that be charged for the unmanned plane confirms region；Connect
Incorporate instruction to drop to the standard drop point region；The row of traveling to the charged area is received in the drop point region
Sail instruction；Travel to the charged area and be charged.
Said method by localization criteria drop point region and localization criteria by when unmanned plane needs to charge, being charged first
Region, then in reception landing instruction to drop to the standard drop point region, and receives traveling extremely in the drop point region
The driving instruction of the charged area, finally travels to the charged area and is charged.Solve it is of the prior art nobody
Machine needs to be charged battery by the operation of staff when battery electric quantity is using exhausting, and does not possess intelligent spy
The technological deficiency of point.
To make purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The terms "and/or", only a kind of incidence relation of description affiliated partner, represents there may be three kinds of passes
System, for example, A and/or B can be represented：Individualism A, while there is A and B, individualism B these three situations.In addition, herein
Middle character "/", typicallys represent forward-backward correlation pair as if a kind of relation of "or".
Embodiment one
The present embodiment provides a kind of method charged for UAV Intelligent, refer to Fig. 1, and methods described includes：
Step S110；Landed for the unmanned plane in localization criteria drop point region, the standard drop point region
One confirmation region；
Step S120；Localization criteria charged area, the standard charging region is charged for the unmanned plane
One confirmation region；
Step S130；Landing instruction is received to drop to the standard drop point region；
Step S140；The driving instruction of traveling to the charged area is received in the drop point region；
Step S150；Travel to the charged area and be charged.
Wherein, the species of unmanned plane has a lot, including fixed-wing unmanned plane, multi-rotor unmanned aerial vehicle or depopulated helicopter
Deng, and the method that the embodiment of the present invention is provided can apply to any unmanned plane, the embodiment of the present invention is not limited to.Change
Sentence is talked about, and the method charged for UAV Intelligent provided in an embodiment of the present invention can apply to fixed-wing unmanned plane, also may be used
To be applied to multi-rotor unmanned aerial vehicle, depopulated helicopter can also be applied to, then within protection scope of the present invention.
Specifically, with the continuous development of shaping technique, the usage frequency of unmanned plane also more and more higher, immediately to nobody
The performance of machine itself also requires that more and more higher, the such as cruising time of unmanned plane.And the length direct relation in cruising time nobody
The work efficiency of machine.Therefore unmanned plane is charged in time and is just particularly important.And Jing inventor's research finds, existing skill
Common charging modes are all the homings when the battery electric quantity of unmanned plane is using exhausting in art, by the behaviour of staff
Make (such as unloading battery) to be charged battery, complete charge function.This kind of charging modes are wasted time and energy, and do not have intelligence
The characteristics of changing.
Based on this, the embodiment of the present invention one provides the method charged for UAV Intelligent, for solving above-mentioned technology
Problem.
Below, the method charged provided by the present invention for UAV Intelligent is described in detail with reference to Fig. 1：
First, execution step S110, localization criteria drop point region, the standard drop point region is entered for the unmanned plane
One confirmation region of row landing；
Before step S110 is introduced, it is worth mentioning at this point that because unmanned plane is in the air in flight course, often away from
Base flight is more and more remote, and now then cannot complete when battery electric quantity is not enough to maintain unmanned plane during flying to destination
Flight operation.That is, during the present invention in real time, can set up several before the base of unmanned plane with destination is used for
The base station that unmanned plane charges, so when unmanned plane during flying to midway finds that battery electric quantity is not enough, then can find nearest base
Station is charged.
Certainly, here can be that the base station that unmanned plane charges is provided between unmanned plane base and destination, nobody
Machine flight is set in itself the website of unmanned plane charging to nobody in the base that base station carries out intelligent charge, or unmanned plane
Machine is charged.
Regardless of whether be the base station between unmanned plane and destination, or unmanned plane base itself, wherein entering for unmanned plane
If the drop point region of row landing can be with multiple, such as can be by drop point region 1, drop point region 2, drop point region 3, this multiple drop point
Region in embodiments of the present invention be referred to as based on drop point region.
Because the quantity in basic drop point region is multiple, and it is possible to unmanned plane and is entering for some basic drop point region
During row landing, the drop point region has been landed and has had unmanned plane, now continue to land very likely cause unmanned plane and unmanned plane it
Between collision.Therefore, it is provided in an embodiment of the present invention before regioselective standard drop point region when unmanned plane is landed
Method also includes：
Pair region that can land is identified, it is determined that can be used for the n basis drop point region landed；
A standard drop point region is positioned in described n basic drop point region.
The standard drop point region is construed as dropping to the region in drop point region without other unmanned planes, is also sky
Drop point region.Wherein, the n is greater than being equal to 2 integer.The present invention does not limit to.
You need to add is that, in embodiments of the present invention, the battery electric quantity in unmanned plane is supervised in real time increasing
The step of survey.
That is, before localization criteria drop point region, may also include：
The SOC values information of unmanned plane described in real-time monitoring；
According to the SOC values information whether the unmanned plane is needed to be charged to judge,
If so, then localization criteria drop point region.
Here, according to the SOC values information whether the unmanned plane is needed to be charged to judge, can be with
That a fixed threshold is set to the electricity of unmanned plane, such as the 20% of total electricity as charge threshold, when the electricity of unmanned plane it is low
In the 20% of total electricity, then judge to need to charge.Higher than then need not charging.
Synchronously, the state of flight information of unmanned plane is understood in time for the ease of earth station, for the electricity of real-time monitoring
Information can synchronous transmission to earth station be easy to operator to be observed.
Then, execution step S120, localization criteria charged area, the standard charging region is entered for the unmanned plane
The confirmation region that row charges；
If likewise, the charged area being charged for unmanned plane can with when it is multiple, can such as have charged area, charge
Region, charged area etc., this multiple charged area in embodiments of the present invention be referred to as based on charged area.
Because the quantity of basic charged area is multiple, and unmanned plane is possible to for before some basic charged area
When going to charge, the charged area has been landed has unmanned plane to charge, and now goes to charge before continuation and very likely causes nobody
Collision between machine and unmanned plane.Therefore, it is provided in an embodiment of the present invention before unmanned plane regioselective standard charging region
Method also includes：
Chargeable region is identified, it is determined that can be used for the m basic charged area charged；
A standard charging region is positioned in described m basic charged area.
The standard charging region is construed as the region being charged in charged area without other unmanned planes,
As empty charged area.Wherein, the m is greater than being equal to 2 integer.The present invention does not limit to.
And then, execution step S130；Landing instruction is received to drop to the standard drop point region；
Here it should be noted that receiving the driving instruction mistake of traveling to the charged area in the drop point region
Cheng Zhong, the unmanned plane is in starting state.Certainly, " starting state " here refers to that unmanned plane is in opening, immediately
Carve and prepare traveling.
Further, execution step S140；The traveling that traveling to the charged area is received in the drop point region refers to
Order；And
Execution step S150；Travel to the charged area and be charged.
Specifically, it is described travel to the charged area be charged before, methods described can also include：
Trace graticule is identified；
Obtain and the standard trace graticule corresponding to standard charging region；
It is described travel to the charged area to be charged also include：
Travel to the charged area according to the standard trace graticule and be charged.
In embodiments of the present invention, m described in the n=, that is, each basic one basis of drop point region correspondence is charged
Region, and be attached with trace graticule between each group of basic drop point region and basic charged area, to represent from the basis
Drop point region is travelled to the driving trace of basic charged area.
Based on this, then obtain and the standard trace graticule corresponding to standard charging region, can be from k bar trace graticules
Obtained, i.e. n=m=k.
Then the unmanned plane is travelled to the charged area according to the standard trace graticule and is charged.
Certainly, in embodiments of the present invention, band unmanned plane charge after electricity, can also in corresponding standard charging region,
Return instruction is received, along the corresponding standard drop point region of primary standard trace graticule return value, is then taken off.
Certainly, now after return instruction is received, there is unmanned plane to avoid former corresponding standard drop point region from landing
And the collision for causing.Also can to primary standard drop point region whether be now that sky drop point region is sentenced after return instruction is received
It is disconnected, if so, then backtracking.If it is not, then select new empty drop point region to carry out feedback taking off.
Based on same inventive concept, the embodiment of the present invention additionally provides device corresponding with method in embodiment one, sees reality
Apply example two.
Embodiment two
A kind of device is present embodiments provided, figure is refer to, described device includes：
A kind of device charged for UAV Intelligent, described device includes：
Standard drop point zone location module 210, for localization criteria drop point region, the standard drop point region is for institute
State the confirmation region that unmanned plane is landed；
Standard charging zone location module 220, for localization criteria charged area, the standard charging region is for institute
State the confirmation region that unmanned plane is charged；
First command reception module 230, for receiving landing instruction to drop to the standard drop point region；
Second command reception module, the traveling for receiving traveling to the charged area in the drop point region refers to
Order；
Traveling module 240, is charged for traveling to the charged area.
In the embodiment of the present application, described device also includes：
First area identification module, is identified for pair region that can land, it is determined that the n basis that can be used to land falls
Point region；
First determining module, for positioning a standard drop point region in described n basic drop point region；Its
In, the n is greater than being equal to 2 integer.
In the embodiment of the present application, described device also includes：
Second area determining module, is identified with one to chargeable region, it is determined that can be used to land m is basic
Charged area；
Second determining module, for positioning a standard charging region in described m basic drop point region；Its
In, the m is greater than being equal to 2 integer.
In the embodiment of the present application, described device also includes：
First graticule identification module, for being identified to trace graticule；
First graticule obtains module, for obtaining and the standard trace graticule corresponding to standard charging region；
The traveling module is additionally operable to：
Travel to the charged area according to the standard trace graticule and be charged.
In the embodiment of the present application, second command reception module is additionally operable to receive traveling extremely in the drop point region
During the driving instruction of the charged area, the unmanned plane is in starting state.
It is that the * * * * methods for implementing the embodiment of the present invention one are adopted due to the device that the embodiment of the present invention two is introduced
Device, so the method introduced based on the embodiment of the present invention one, the affiliated personnel in this area will appreciate that the concrete knot of the device
Structure and deformation, so will not be described here.The device that the method for every embodiment of the present invention one is adopted belongs to institute of the present invention
The scope to be protected.
The technical scheme provided in the embodiment of the present invention, at least has the following technical effect that or advantage：
When unmanned plane needs to charge, first by localization criteria drop point region and localization criteria charged area, Ran Hou
Landing instruction is received to drop to the standard drop point region, and traveling is received in the drop point region to the charged area
Driving instruction, finally travel to the charged area and be charged.Unmanned plane of the prior art is solved in battery electric quantity
During using exhausting, needing to be charged battery by the operation of staff, not possessing the technological deficiency of intelligent feature.
Those skilled in the art are it should be appreciated that embodiments of the invention can be provided as method, system or computer program
Product.Therefore, the present invention can be using complete hardware embodiment, complete software embodiment or with reference to the reality in terms of software and hardware
Apply the form of example.And, the present invention can be adopted and wherein include the computer of computer usable program code at one or more
The computer program implemented in usable storage medium (including but not limited to disk memory, CD-ROM, optical memory etc.) is produced
The form of product.
The present invention is the flow process with reference to method according to embodiments of the present invention, equipment (system) and computer program
Figure and/or block diagram are describing.It should be understood that can be by computer program instructions flowchart and/or each stream in block diagram
The combination of journey and/or square frame and flow chart and/or the flow process in block diagram and/or square frame.These computer programs can be provided
The processor of general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that produced for reality by the instruction of computer or the computing device of other programmable data processing devices
The device of the function of specifying in present one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or multiple square frames.
These computer program instructions may be alternatively stored in can guide computer or other programmable data processing devices with spy
In determining the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory is produced to be included referring to
Make the manufacture of device, the command device realize in one flow process of flow chart or one square frame of multiple flow processs and/or block diagram or
The function of specifying in multiple square frames.
These computer program instructions also can be loaded in computer or other programmable data processing devices so that in meter
Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented process, so as in computer or
The instruction performed on other programmable devices is provided for realizing in one flow process of flow chart or multiple flow processs and/or block diagram one
The step of function of specifying in individual square frame or multiple square frames.
, but those skilled in the art once know basic creation although preferred embodiments of the present invention have been described
Property concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to include excellent
Select embodiment and fall into having altered and changing for the scope of the invention.
Obviously, those skilled in the art can carry out various changes and modification without deviating from this to the embodiment of the present invention
The spirit and scope of bright embodiment.So, if these modifications of the embodiment of the present invention and modification belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to comprising these changes and modification.
Claims (10)
1. it is a kind of for UAV Intelligent charge method, it is characterised in that methods described includes：
Localization criteria drop point region, the standard drop point region is that landed for the unmanned plane confirms region；
Localization criteria charged area, the standard charging region is that be charged for the unmanned plane confirms region；
Landing instruction is received to drop to the standard drop point region；
The driving instruction of traveling to the charged area is received in the drop point region；
Travel to the charged area and be charged.
2. the method for claim 1, it is characterised in that before the localization criteria drop point region, methods described is also
Including：
Pair region that can land is identified, it is determined that can be used for the n basis drop point region landed；
A standard drop point region is positioned in described n basic drop point region；
Wherein, the n is greater than being equal to 2 integer.
3. the method for claim 1, it is characterised in that before the localization criteria charged area, methods described is also
Including：
Chargeable region is identified, it is determined that can be used for the m basic charged area landed；
A standard charging region is positioned in described m basic drop point region；
Wherein, the m is greater than being equal to 2 integer.
4. the method for claim 1, it is characterised in that it is described travel to the charged area be charged before,
Methods described also includes：
Trace graticule is identified；
Obtain and the standard trace graticule corresponding to standard charging region；
It is described travel to the charged area to be charged also include：
Travel to the charged area according to the standard trace graticule and be charged.
5. the method for claim 1, it is characterised in that：
Traveling is received in the drop point region to the driving instruction of the charged area, the unmanned plane is in startup
State.
6. it is a kind of for UAV Intelligent charge device, it is characterised in that described device includes：
Standard drop point zone location module, for localization criteria drop point region, the standard drop point region be for it is described nobody
The confirmation region that machine is landed；
Standard charging zone location module, for localization criteria charged area, the standard charging region be for it is described nobody
The confirmation region that machine is charged；
First command reception module, for receiving landing instruction to drop to the standard drop point region；
Second command reception module, for the driving instruction for receiving traveling to the charged area in the drop point region；
Traveling module, is charged for traveling to the charged area.
7. device as claimed in claim 6, it is characterised in that described device also includes：
First area identification module, is identified for pair region that can land, it is determined that can be used for the n basic drop point area landed
Domain；
First determining module, for positioning a standard drop point region in described n basic drop point region；Wherein, institute
State n to be greater than being equal to 2 integer.
8. device as claimed in claim 6, it is characterised in that described device also includes：
Second area determining module, is identified with one to chargeable region, it is determined that the m basis that can be used to land is charged
Region；
Second determining module, for positioning a standard charging region in described m basic drop point region；Wherein, institute
State m to be greater than being equal to 2 integer.
9. device as claimed in claim 6, it is characterised in that described device also includes：
First graticule identification module, for being identified to trace graticule；
First graticule obtains module, for obtaining and the standard trace graticule corresponding to standard charging region；
The traveling module is additionally operable to：
Travel to the charged area according to the standard trace graticule and be charged.
10. method as claimed in claim 6, it is characterised in that：
Second command reception module is additionally operable to be received in the drop point region traveling of traveling to the charged area and refers to
During order, the unmanned plane is in starting state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262173.6A CN106681325A (en) | 2016-12-30 | 2016-12-30 | Method and device for intelligently charging unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611262173.6A CN106681325A (en) | 2016-12-30 | 2016-12-30 | Method and device for intelligently charging unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106681325A true CN106681325A (en) | 2017-05-17 |
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| CN201611262173.6A Pending CN106681325A (en) | 2016-12-30 | 2016-12-30 | Method and device for intelligently charging unmanned aerial vehicle |
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Cited By (1)
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| CN106992573A (en) * | 2017-05-18 | 2017-07-28 | 北京科技大学 | Multi-rotor unmanned aerial vehicle charging system and method |
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| CN106992573B (en) * | 2017-05-18 | 2023-06-20 | 北京科技大学 | Multi-rotor unmanned aerial vehicle charging system and method |
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Application publication date: 20170517 |