CN107168363B - A kind of control method and device of aerial charging flight instruments - Google Patents
A kind of control method and device of aerial charging flight instruments Download PDFInfo
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- CN107168363B CN107168363B CN201710397490.7A CN201710397490A CN107168363B CN 107168363 B CN107168363 B CN 107168363B CN 201710397490 A CN201710397490 A CN 201710397490A CN 107168363 B CN107168363 B CN 107168363B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plant in aircraft; Aircraft characterised thereby
- B64D27/02—Aircraft characterised by the type or position of power plant
- B64D27/24—Aircraft characterised by the type or position of power plant using steam, electricity, or spring force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Abstract
The invention discloses a kind of control methods of aerial charging flight instruments, are related to unmanned plane wireless charging field, the method includes：Obtain the wireless charging nodal information on the first course line of flight instruments flight；The wireless charging nodal information includes the charge efficiency distributed intelligence of the wireless charging node；According to the charge efficiency distributed intelligence, the flight parameter of the flight instruments is determined；The flight parameter includes flying speed and/or flight power；According to the flight parameter, the flight instruments is controlled to fly.Meanwhile the invention also discloses a kind of control devices of aerial charging flight instruments.The present invention effectively improves the efficiency of whole wireless charging by the region of different charge efficiencies, flying using different flying speeds.Specifically, the flying speed in high recharge efficiency area is less than or equal to the flying speed in low charge efficiency area, increase flight instruments are in the charging time in high recharge efficiency area, the whole charge efficiency of promotion.
Description
Technical field
The present invention relates to the wireless charging field of aircraft, more particularly to a kind of control method of aerial charging flight instruments
And device.
Background technology
With the development of e-commerce industry, more and more people by doing shopping on the net.And match therewith
It is the development of logistic industry.Unmanned plane delivery at present still has technical problem, for example, unmanned plane cruising ability is poor, it is impossible to have
Realize logistics distribution task in effect ground.On the one hand, if the battery capacity of increase unmanned plane, improves unmanned plane main screw lift, carry
Height delivery cost, on the other hand, smaller battery capacity, unmanned plane dispenses cargo apart from limited.Meanwhile unmanned plane is answered other
It with field, such as takes photo by plane, also still remains cruising ability problem.
If CN201710372424.4 provides a kind of aerial charging method of flight instruments, apparatus and system, in the present invention,
Flight instruments fly on first line of flight for including wireless charging node, realize and fly in charging, effectively increase
The cruising ability of flight instruments, meanwhile, smaller battery can be selected without flight instruments, reduces main screw lift, reduces flight
Energy consumption.
However, there are still parts for the technology, wireless charging distance is limited in the prior art, such as preferably wireless charging
Distance is 9m, can there are wireless charging clear area, wireless chargings if distance is 20m-30m between selecting existing street lamp distance
Efficiency is poor.
Invention content
In view of the drawbacks described above of the prior art, the technical problems to be solved by the invention are to provide a kind of aerial charging and fly
The control method that luggage is put, it is intended to according to wireless charging node efficiency distributed intelligence, obtain the flight parameter of flight instruments, improve
Whole wireless charging efficiency.
To achieve the above object, in preferred first embodiment, a kind of control of aerial charging flight instruments is provided
Method, the method includes：
Obtain the wireless charging nodal information on the first course line of flight instruments flight；The wireless charging nodal information packet
Include the charge efficiency distributed intelligence of the wireless charging node；
According to the charge efficiency distributed intelligence, the flight parameter of the flight instruments is determined.
Preferably, after the flight parameter for determining the flight instruments, the method further includes：Joined according to the flight
Number controls the flight instruments to fly.
In one embodiment, the wireless charging nodal information on first course line for obtaining flight instruments flight,
It further includes：
According to the flight position information of the flight instruments, obtain and the flight position information corresponding described first
Course line and/or the wireless charging node；
Obtain the charge efficiency distributed intelligence of the wireless charging node.
In one embodiment, it is described according to the charge efficiency distributed intelligence, determine the flight of the flight instruments
Parameter；According to the flight parameter, the flight instruments is controlled to fly, are further included：
According to the charge efficiency distributed intelligence, several charging zones are marked off；
According to the pre-set flight parameter to match with each charging zone, the flight instruments are configured and described are filled each
The flight parameter in electric area.
Preferably, the charge efficiency distributed intelligence includes the nothing of several charge efficiencies of the wireless charging node
Line charging zone；The wireless charging area includes efficient charging zone and inefficient charging zone；The flight instruments are in the efficient charging
The flying speed in area is less than or equal to the inefficient charging zone.
Preferably, the wireless charging area further includes charging blind area.
In one embodiment, it is described according to the charge efficiency distributed intelligence, determine the flight of the flight instruments
Parameter further includes：
Obtain the charge efficiency distribution function of the wireless charging node；
Set flying speed variable；
Based on the flying speed variable and the charge efficiency distribution function, charging function is established；The charging function
It is relative to the single wireless charging node, the flight instruments carry out the charging function that wireless charging obtains electricity；
Based on the flying speed variable, electric quantity consumption function is established；The electric quantity consumption function is that completion is single described
The electric quantity consumption function of wireless charging node flight；
According to the charging function and the electric quantity consumption function, establish electricity and have a net increase of function；
Function is had a net increase of under maximum value or maximum condition, to solve the flight parameter in the electricity.
In one embodiment, the method further includes：
Acquire the remaining capacity information of the flight instruments；
According to the remaining capacity information and the charge efficiency distributed intelligence, the flight instruments are configured each described
The flight parameter in wireless charging area.
In one embodiment, it further includes：
Obtain the relative bearing relationship of current flight device and the wireless charging node；
According to the relative bearing relationship, the wireless charging for adjusting the wireless charging receiver of the flight instruments receives
Angle；And/or according to the relative bearing relationship, the transmission wireless charging launch angle adjustment to the wireless charging node refers to
It enables.
Based on the deficiencies of the prior art part, the invention also discloses it is a kind of it is aerial charging flight instruments control device,
Described device includes：
Wireless charging nodal information acquisition module, for obtaining the wireless charging section on the first course line of flight instruments flight
Point information；The wireless charging nodal information includes the charge efficiency distributed intelligence of the wireless charging node；
Flight parameter solves module, for according to the charge efficiency distributed intelligence, determining the flight of the flight instruments
Parameter.
Preferably, described device further includes：Flight control modules, for according to the flight parameter, controlling the flight
Device flies.
In one embodiment, wireless charging nodal information acquisition module, further includes：
Radio node acquiring unit for the flight position information according to the flight instruments, obtains and the flight position
Corresponding first course line of confidence manner of breathing and/or the wireless charging node；
Charge efficiency distributed acquisition unit, for obtaining the charge efficiency distributed intelligence of the wireless charging node.
In one embodiment, the flight parameter solves module, further includes：
Charging zone division unit, for according to the charge efficiency distributed intelligence, marking off several charging zones；
Flight parameter dispensing unit, for according to the pre-set flight parameter to match with each charging zone, institute to be configured
State the flight parameter of the flight instruments in each charging zone.
Preferably, the charge efficiency distributed intelligence includes the nothing of several charge efficiencies of the wireless charging node
Line charging zone；The wireless charging area includes efficient charging zone and inefficient charging zone；The flight instruments are in the efficient charging
The flying speed in area is less than or equal to the inefficient charging zone.
Preferably, the wireless charging area further includes charging blind area.
In one embodiment, the flight parameter solves module, further includes：
Charge efficiency distribution function acquiring unit, for obtaining the charge efficiency distribution function of the wireless charging node；
Flying speed specification of variables unit, for setting flying speed variable；
Charging function establishes unit, for being based on the flying speed variable and the charge efficiency distribution function, establishes
Charge function；The charging function is relative to the single wireless charging node, and the flight instruments carry out wireless charging and obtain
Obtain the charging function of electricity；
Electric quantity consumption function establishes unit, for being based on the flying speed variable, establishes electric quantity consumption function；The electricity
Amount cost function is the electric quantity consumption function for completing the single wireless charging node flight；
Electricity has a net increase of function and establishes unit, for according to the charging function and the electric quantity consumption function, establishing electricity
Have a net increase of function；
Flight parameter unit is solved, for having a net increase of function under maximum value or maximum condition, to solve institute in the electricity
State flight parameter.
In one embodiment, described device further includes：
Flight parameter control regulation and control module, for acquiring the remaining capacity information of the flight instruments；According to the residue
Information about power and the charge efficiency distributed intelligence are configured flight of the flight instruments in each wireless charging area and join
Number.
In one embodiment, described device further includes：
Relative bearing acquisition module closes for obtaining current flight device and the relative bearing of the wireless charging node
System；
Wireless charging angle adjusting, for according to the relative bearing relationship, adjusting the wireless of the flight instruments
The wireless charging receiving angle of charging receiver；And/or according to the relative bearing relationship, to the wireless charging node
Send wireless charging launch angle adjust instruction.
The method, apparatus of the present invention and the type of unit are not particularly limited, and can realize the various of function of the present invention
Method, apparatus and unit are within the scope of the present invention.
The beneficial effects of the invention are as follows：The present invention using different flying speeds by the region of different charge efficiencies, being flown
Row effectively improves the efficiency of whole wireless charging.Specifically, the flying speed in high recharge efficiency area is less than or equal to low charging
The flying speed of efficiency area, increase flight instruments are in the charging time in high recharge efficiency area, the whole charge efficiency of promotion.
Description of the drawings
Fig. 1 is that the flow of the control method of a kind of aerial charging flight instruments that the embodiment of the invention provides is shown
It is intended to；
Fig. 2 is the flow of the control method of a kind of aerial charging flight instruments that another specific embodiment of the present invention provides
Schematic diagram；
Fig. 3 is the flow of the control method of a kind of aerial charging flight instruments that still another embodiment of the present invention provides
Schematic diagram；
Fig. 4 is the flow of the control method of a kind of aerial charging flight instruments that yet another embodiment of the present invention provides
Schematic diagram；
Fig. 5 is the principle of the control method of a kind of aerial charging flight instruments that the embodiment of the invention provides
Figure；
Fig. 6 is the principle of the control method of a kind of aerial charging flight instruments that another specific embodiment of the present invention provides
Figure；
Fig. 7 is the structural frames of the control device of a kind of aerial charging flight instruments that the embodiment of the invention provides
Figure；
Fig. 8 is the structure of the control device of a kind of aerial charging flight instruments that another specific embodiment of the present invention provides
Block diagram.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples：
As shown in figures 1-8, in the first embodiment of the invention, a kind of control method of aerial charging flight instruments is provided,
The method includes：
Obtain the wireless charging nodal information on the first course line of flight instruments flight；The wireless charging nodal information packet
Include the charge efficiency distributed intelligence of the wireless charging node；
According to the charge efficiency distributed intelligence, the flight parameter of the flight instruments is determined.
Preferably, the flight parameter includes flying speed and/or flight power；
Preferably, after the flight parameter for determining the flight instruments, the method further includes：Joined according to the flight
Number controls the flight instruments to fly.
In typical case, unmanned vehicle is that have operator to carry out flight manipulation, so, exist for the prior art
The problem of, only the aerial charging preferably corresponding flight parameter of charge efficiency need to be informed operator, you can realize efficient nothing
Micro USB electricity.
Preferably, in the example of automatic Pilot unmanned vehicle, the controller of aircraft is controlled by flight parameter to fly
Row device flies.Preferably, manual remote control or operate aircraft example in, by flight parameter by display, voice, sense of touch,
The modes such as sense of taste inform operator, and control aircraft flight with aircraft control person.Wherein, sense of touch includes vibration.
Optionally, flight parameter further includes flying height, it is preferred that flying height is the more excellent charge efficiency pair of wireless charging
The height answered.
Based on above-mentioned steps, in the region of different charge efficiencies, flown using different flying speeds, effectively improve whole nothing
The efficiency of micro USB electricity.Specifically, the flying speed in high recharge efficiency area is less than or equal to the flying speed in low charge efficiency area,
Increase flight instruments in the charging time in high recharge efficiency area, the whole charge efficiency of promotion.
Both the flying speed and flight power are associated with the charge efficiency distributed intelligence.
In the present embodiment, the wireless charging nodal information on first course line for obtaining flight instruments flight, is also wrapped
It includes：
According to the flight position information of the flight instruments, obtain and the flight position information corresponding described first
Course line and/or the wireless charging node；
Obtain the charge efficiency distributed intelligence of the wireless charging node.
Based on above-mentioned steps, by obtaining charge efficiency distributed intelligence, to be obtained not according to charge efficiency distributed intelligence
Same flying speed.Meanwhile in this step, according to flight position information, convenient for determining current wireless charging electrical nodes, for this
The wireless charging of flight instruments need to only consider the charge profile efficiency of the radio node in the region.
As shown in figure 3, in the present embodiment, it is described according to the charge efficiency distributed intelligence, determine the flight instruments
Flight parameter；According to the flight parameter, the flight instruments is controlled to fly, are further included：
According to the charge efficiency distributed intelligence, several charging zones are marked off；
According to the pre-set flight parameter to match with each charging zone, the flight instruments are configured and described are filled each
The flight parameter in electric area.
Preferably, the charge efficiency distributed intelligence includes the nothing of several charge efficiencies of the wireless charging node
Line charging zone；The wireless charging area includes efficient charging zone and inefficient charging zone；The flight instruments are in the efficient charging
The flying speed in area is less than or equal to the inefficient charging zone.
Preferably, the wireless charging area further includes charging blind area.
Based on above-mentioned steps, charging zone is divided into several blocks, and flight instruments are adjusted as a whole with each block
Flying speed, convenient for control.
As shown in figure 4, it is optional, it is in another embodiment, described according to the charge efficiency distributed intelligence, it determines described
The flight parameter of flight instruments；The flight parameter includes flying speed and/or flight power, further includes：
Obtain the charge efficiency distribution function of the wireless charging node；
Set flying speed variable；
Based on the flying speed variable and the charge efficiency distribution function, charging function is established；The charging function
It is relative to the single wireless charging node, the flight instruments carry out the charging function that wireless charging obtains electricity；
Based on the flying speed variable, electric quantity consumption function is established；The electric quantity consumption function is that completion is single described
The electric quantity consumption function of wireless charging node flight；
According to the charging function and the electric quantity consumption function, establish electricity and have a net increase of function；
Function is had a net increase of under maximum value or maximum condition, to solve the flight parameter in the electricity.
Based on above-mentioned steps, flying speed can obtain preferably scheme, improve whole charge efficiency.
It is noted that charge efficiency distribution function can be solved by theoretical modeling, practical measurement can also be passed through
It obtains；Charging function can be solved with theoretical modeling, can according to experience obtain charging function；Electric quantity consumption function and flight
Speed and/or flight power are related, theoretical can solve, and can also be obtained by testing to measure.
As shown in Fig. 2, in the present embodiment, the method further includes：
Acquire the remaining capacity information of the flight instruments；
According to the remaining capacity information and the charge efficiency distributed intelligence, the flight instruments are configured each described
The flight parameter in wireless charging area.
Based on above-mentioned steps, the regulation and control flying speed of flight instruments and/or flight power are carried out according to remaining capacity information.
When remaining capacity is more, without excessively considering charge efficiency problem, and when remaining capacity is less, then further concern charging
Efficiency.
Preferably, if remaining capacity is higher than first threshold, the flight instruments is controlled to fly with First Speed.
In the present embodiment, the method further includes：
Obtain the relative bearing relationship of current flight device and the wireless charging node；
According to the relative bearing relationship, the wireless charging for adjusting the wireless charging receiver of the flight instruments receives
Angle；And/or according to the relative bearing relationship, the transmission wireless charging launch angle adjustment to the wireless charging node refers to
It enables.
Based on above-mentioned steps, by adjusting wireless charging angle, charge efficiency is improved.
The inventive principle of the present embodiment is：By, using flying at low speed, increasing wireless charging in high recharge efficiency region
Time improves wireless charging electricity, while in low charge efficiency region using high-speed flight, to obtain more in high recharge efficiency
The time of region flight, improve wireless charging whole efficiency.
It is noted that in an embodiment of the present invention, flight instruments are unmanned plane.Optionally, relative bearing relationship
Determine determined by the communication device on flight instruments, wireless charging node；Optionally, using Wi-Fi, bluetooth, infrared ray,
RFID, UWB, ultra wide band, RFID, ZigBee, scene Recognition positioning and/or ultrasonic technology realize that relative position determines.
Optionally, relative bearing relationship is determined by GPS information, i.e., is believed according to the GPS of flight instruments and wireless charging node
Breath obtains relative bearing relationship.Optionally, the first GPS information of flight instruments, the 2nd GPS letters of wireless charging node are obtained
Breath, wherein, the first GPS information is that real-time acquisition obtains, and the second GPS information optionally, is obtained for acquisition in real time, it is preferred that
It is the GPS position information to prestore.
Optionally, wireless charging node is provided on the street lamp of Highways '.
For example it is assumed that distance is generally 30m between highway lamp, optimal charging radius is 9m, and the radius that preferably charges is
9m-12m, charging blind area are more than 12m.As shown in figure 5, according to charge efficiency, chargeable area is divided into charging and is charged blind
Area.As shown in fig. 6, the corresponding course line section of a wireless charging node is divided by efficient charging zone, low according to charge efficiency
Imitate charging zone and charging blind area.It is noted that in Fig. 5, Fig. 6, flight instruments 1 fly along first line of flight 3,
In, several wireless charging nodes 2 are included on first line of flight 3.
As shown in figures 1-8, in second embodiment of the invention, a kind of control device of aerial charging flight instruments is provided
100, described device includes：
Wireless charging nodal information acquisition module 101, for obtaining the wireless charging on the first course line of flight instruments flight
Electrical nodes information；The wireless charging nodal information includes the charge efficiency distributed intelligence of the wireless charging node；
Flight parameter solves module 102, for according to the charge efficiency distributed intelligence, determining flying for the flight instruments
Row parameter；
Flight control modules, for according to the flight parameter, the flight instruments being controlled to fly.
The flight parameter includes flying speed and/or flight power；
Both the flying speed and flight power are associated with the charge efficiency distributed intelligence.
In the present embodiment, wireless charging nodal information acquisition module 101, further includes：
Radio node acquiring unit 1011 for the flight position information according to the flight instruments, is obtained and is flown with described
Corresponding first course line of line position confidence manner of breathing and/or the wireless charging node；
Charge efficiency distributed acquisition unit 1012, for obtaining the charge efficiency distributed intelligence of the wireless charging node.
As shown in fig. 7, in the present embodiment, the flight parameter solves module 102, further includes：
Charging zone division unit 1021, for according to the charge efficiency distributed intelligence, marking off several charging zones；
Flight parameter dispensing unit 1022, for according to the pre-set flight parameter to match with each charging zone, matching
Put the flight parameter of the flight instruments in each charging zone.
Preferably, the charge efficiency distributed intelligence includes the nothing of several charge efficiencies of the wireless charging node
Line charging zone；The wireless charging area includes efficient charging zone and inefficient charging zone；The flight instruments are in the efficient charging
The flying speed in area is less than or equal to the inefficient charging zone.
Preferably, the wireless charging area further includes charging blind area.
As shown in figure 8, optional, in another embodiment, the flight parameter solves module 102, further includes：
Charge efficiency distribution function acquiring unit 1023, for obtaining the charge efficiency of wireless charging node distribution letter
Number；
Flying speed specification of variables unit 1024, for setting flying speed variable；
Charging function establishes unit 1025, for being based on the flying speed variable and the charge efficiency distribution function,
Establish charging function；The charging function is relative to the single wireless charging node, and the flight instruments carry out wireless charging
Electricity obtains the charging function of electricity；
Electric quantity consumption function establishes unit 1026, for being based on the flying speed variable, establishes electric quantity consumption function；Institute
It is the electric quantity consumption function for completing the single wireless charging node flight to state electric quantity consumption function；
Electricity has a net increase of function and establishes unit 1027, for according to the charging function and the electric quantity consumption function, establishing
Electricity has a net increase of function；
Flight parameter unit 1028 is solved, for having a net increase of function under maximum value or maximum condition, to ask in the electricity
Solve the flight parameter.
In the present embodiment, described device further includes：
Flight parameter control regulation and control module 103, for acquiring the remaining capacity information of the flight instruments；According to described surplus
Remaining information about power and the charge efficiency distributed intelligence are configured flight of the flight instruments in each wireless charging area and join
Number.
Preferably, if remaining capacity is higher than first threshold, the flight instruments is controlled to fly with First Speed.
In the present embodiment, described device further includes：
Relative bearing acquisition module 104, for obtaining the relative bearing of current flight device and the wireless charging node
Relationship；
Wireless charging angle adjusting 105, for according to the relative bearing relationship, adjusting the nothing of the flight instruments
The wireless charging receiving angle of line charging receiver；And/or according to the relative bearing relationship, to the wireless charging node
Transmission wireless charging launch angle adjust instruction.
Those skilled in the art is apparent that, for convenience and succinctly, above-mentioned terminal, module
Specific work process can refer to preceding method embodiment corresponding process, function and technique effect also can refer to preceding method
Embodiment, which is not described herein again.
Those of ordinary skill in the art may realize that each exemplary lists described with reference to the embodiments described herein
Member and method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is performed with hardware or software mode, specific application and design constraint depending on technical solution.Professional technician
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
Scope of the present application.
Those of ordinary skill in the art may realize that carry out step fractionation by method herein, merge, should not still
Think, beyond scope of the present application, the modules of device herein, equipment to be carried out splitting into submodule or be merged into
One big module, still it is not considered that beyond scope of the present application.
If the function is realized in the form of SFU software functional unit and is independent product sale or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, the technical solution of the application is substantially in other words
The part contribute to the prior art or the part of the technical solution can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be
People's computer, server or network equipment etc.) perform each embodiment the method for the application all or part of step.
And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory, random access memory, magnetic disc or
The various media that can store program code such as CD.
The preferred embodiment of the present invention described in detail above.It should be appreciated that those of ordinary skill in the art without
Creative work is needed according to the present invention can to conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be in the protection domain being defined in the patent claims.
Claims (8)
1. a kind of control method of aerial charging flight instruments, which is characterized in that the method includes：
Obtain the wireless charging nodal information on the first course line of flight instruments flight；The wireless charging nodal information includes institute
State the charge efficiency distributed intelligence of wireless charging node；
According to the charge efficiency distributed intelligence, the flight parameter of the flight instruments is determined；
It is described according to the charge efficiency distributed intelligence, determine the flight parameter of the flight instruments, further include：
Obtain the charge efficiency distribution function of the wireless charging node；
Set flying speed variable；
Based on the flying speed variable and the charge efficiency distribution function, charging function is established；The charging function is phase
For the single wireless charging node, the flight instruments carry out the charging function that wireless charging obtains electricity；
Based on the flying speed variable, electric quantity consumption function is established；The electric quantity consumption function is that completion is single described wireless
The electric quantity consumption function of charge node flight；
According to the charging function and the electric quantity consumption function, establish electricity and have a net increase of function；
Function is had a net increase of under maximum value or maximum condition, to solve the flight parameter in the electricity.
2. the control method of a kind of aerial charging flight instruments as described in claim 1, which is characterized in that described in the basis
Charge efficiency distributed intelligence determines the flight parameter of the flight instruments；According to the flight parameter, the flight instruments are controlled
Flight, further includes：
According to the charge efficiency distributed intelligence, several charging zones are marked off；
According to the pre-set flight parameter to match with each charging zone, the flight instruments are configured in each charging zone
The flight parameter.
3. a kind of control method of aerial charging flight instruments as described in any one in claim 1-2, which is characterized in that
The method further includes：
Acquire the remaining capacity information of the flight instruments；
According to the remaining capacity information and the charge efficiency distributed intelligence, the flight instruments are configured in each wireless charging
The flight parameter in area.
4. a kind of control method of aerial charging flight instruments as described in any one in claim 1-2, which is characterized in that
The method further includes：
Obtain the relative bearing relationship of current flight device and the wireless charging node；
According to the relative bearing relationship, the wireless charging acceptance angle of the wireless charging receiver of the flight instruments is adjusted
Degree；And/or according to the relative bearing relationship, wireless charging launch angle adjust instruction is sent to the wireless charging node.
5. a kind of control device of aerial charging flight instruments, which is characterized in that described device includes：
Wireless charging nodal information acquisition module, for obtaining the wireless charging node letter on the first course line of flight instruments flight
Breath；The wireless charging nodal information includes the charge efficiency distributed intelligence of the wireless charging node；
Flight parameter solves module, for according to the charge efficiency distributed intelligence, determining the flight parameter of the flight instruments；
The flight parameter solves module, further includes：
Charge efficiency distribution function acquiring unit, for obtaining the charge efficiency distribution function of the wireless charging node；
Flying speed specification of variables unit, for setting flying speed variable；
Charging function establishes unit, for being based on the flying speed variable and the charge efficiency distribution function, establishes charging
Function；The charging function is relative to the single wireless charging node, and the flight instruments carry out wireless charging and obtain electricity
The charging function of amount；
Electric quantity consumption function establishes unit, for being based on the flying speed variable, establishes electric quantity consumption function；The electricity disappears
Consumption function is the electric quantity consumption function for completing the single wireless charging node flight；
Electricity has a net increase of function and establishes unit, for according to the charging function and the electric quantity consumption function, establishing electricity and having a net increase of
Function；
Flight parameter unit is solved, for having a net increase of function under maximum value or maximum condition, to solve described fly in the electricity
Row parameter.
A kind of 6. control device of aerial charging flight instruments as claimed in claim 5, which is characterized in that the flight parameter
Module is solved, is further included：
Charging zone division unit, for according to the charge efficiency distributed intelligence, marking off several charging zones；
Flight parameter dispensing unit, for according to the pre-set flight parameter to match with each charging zone, described fly to be configured
Luggage puts the flight parameter in each charging zone.
7. a kind of control device of aerial charging flight instruments as described in any one in claim 5-6, which is characterized in that
Described device further includes：
Flight parameter control regulation and control module, for acquiring the remaining capacity information of the flight instruments；According to the remaining capacity
Flight parameter of the flight instruments in each wireless charging area is configured in information and the charge efficiency distributed intelligence.
8. a kind of control device of aerial charging flight instruments as described in any one in claim 5-6, which is characterized in that
Described device further includes：
Relative bearing acquisition module, for obtaining the relative bearing relationship of current flight device and the wireless charging node；
Wireless charging angle adjusting, for according to the relative bearing relationship, adjusting the wireless charging of the flight instruments
The wireless charging receiving angle of reception device；And/or according to the relative bearing relationship, nothing is sent to the wireless charging node
Micro USB electricity launch angle adjust instruction.
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| CN201710397490.7A CN107168363B (en) | 2017-05-31 | 2017-05-31 | A kind of control method and device of aerial charging flight instruments |
| CN201810238473.3A CN108502174B (en) | 2017-05-31 | 2017-05-31 | Control method and device for aerial charging flight device |
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| CN201710397490.7A CN107168363B (en) | 2017-05-31 | 2017-05-31 | A kind of control method and device of aerial charging flight instruments |
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| JP6725197B1 (en) * | 2019-02-20 | 2020-07-15 | 三菱ロジスネクスト株式会社 | Power supply system for unmanned air vehicles |
| CN113997803B (en) * | 2021-10-26 | 2023-11-03 | 南京壮大智能科技研究院有限公司 | Aircraft flight control method based on non-contact network wireless power supply |
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| US10150375B2 (en) * | 2014-04-18 | 2018-12-11 | Hyundai America Technical Center, Inc. | Method for pairing wireless charging system to vehicle |
| CN104469878B (en) * | 2014-10-20 | 2019-03-01 | 东华理工大学 | A method of the clustering routing suitable for contactless charging WSN network |
| WO2016122965A1 (en) * | 2015-01-28 | 2016-08-04 | Lockheed Martin Corporation | In-situ power charging |
| KR20160104385A (en) * | 2015-02-26 | 2016-09-05 | 경상대학교산학협력단 | Unmanned aerial vehicle, unmanned aerial vehicle charging system and control method thereof |
| CN104979885A (en) * | 2015-06-27 | 2015-10-14 | 云南电网有限责任公司电力科学研究院 | Power transmission line inspection unmanned aerial vehicle wireless operation-continuing method |
| CN105172613A (en) * | 2015-10-27 | 2015-12-23 | 厦门新页科技有限公司 | Charging method for electric vehicle |
| CN105449876B (en) * | 2015-12-07 | 2018-08-24 | 浙江大学 | A kind of autonomous wireless charging system of power-line patrolling multi-rotor aerocraft |
| CN205509532U (en) * | 2015-12-30 | 2016-08-24 | 浙江机电职业技术学院 | Rechargeable unmanned vehicles that magnetic resonance is wireless |
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| Publication number | Publication date |
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| CN107168363A (en) | 2017-09-15 |
| CN108502174B (en) | 2020-11-24 |
| CN108502174A (en) | 2018-09-07 |
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