CN108422884A - Electric car electric energy replenishment system based on unmanned plane - Google Patents
Electric car electric energy replenishment system based on unmanned plane Download PDFInfo
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- CN108422884A CN108422884A CN201810295583.3A CN201810295583A CN108422884A CN 108422884 A CN108422884 A CN 108422884A CN 201810295583 A CN201810295583 A CN 201810295583A CN 108422884 A CN108422884 A CN 108422884A
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Classifications
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- 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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by 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
- 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
- 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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
-
- 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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
-
- 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
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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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
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- 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
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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
- 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
- Y02T90/12—Electric charging stations
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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
- 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
-
- 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
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention discloses the electric car electric energy replenishment system based on unmanned plane.The system comprises unmanned planes, electric vehicle and via communication network and the unmanned plane, the connected background control center of electric vehicle, the electric vehicle includes electric energy detection device, roof fixing device, charging platform, alignment device, first communication device and first control device, the unmanned plane includes second control device, energy storage device, positioning and tracking device, secondary communication device and range finder, the electric vehicle sends charge request, the background control center sends charging instruction to the unmanned plane, the unmanned plane carries electric energy and marches to the electric vehicle overhead, authentication is realized with the electric vehicle, the unmanned plane drops on the electric vehicle and transmits electric energy to it.The present invention carries electric energy using unmanned plane and carries out wireless charging to electric vehicle, realizes the quick electric energy supplement of electric vehicle, meets electric vehicle power demand anywhere or anytime.
Description
Technical field
The present invention relates to the electric car electric energy replenishment systems based on unmanned plane.
Background technology
Unmanned plane is the not manned aircraft manipulated using radio robot and the program second control device provided for oneself.Machine
On without cockpit, but the equipment such as automatic pilot, program second control device are installed.On ground, naval vessels or machine tool remote control station
Personnel are by equipment such as radar, data radio stations, to it into line trace, positioning, remote control, telemetering and Digital Transmission.Unmanned plane has
Small, low cost, it is easy to use the features such as, it is breakthrough that the development of modern information technologies makes the performance of unmanned plane and function have
Raising.Unmanned plane also has both express delivery function, reaches one between article side, unmanned plane and reception this three of article side as long as sending
The communication protocol of cause, unmanned plane can any given positions of flying to such as belongings.
Electric vehicle blowout increases, and this completely new trip mode is increasingly pursued, according to statistics, pure electric automobile
Private purchase volume shares trip field close to 70%, as pure electric automobile enters so that the promoted extension of new energy vehicle is into one
Step expands, and still, can mating facility related to electric vehicle popularization interconnect, and becomes and restricts the one of its development key
Ring, especially electrically-charging equipment.For travelling the electric vehicle on photovoltaic highway, can be had under normal circumstances by photovoltaic highway
Photo-voltaic power supply provides electric energy supplement, still, existing photo-voltaic power supply due to being affected by meteorological condition, in plum rain season or
In the case that sunshine is less, photo-voltaic power supply is easy to electric energy storage deficiency, can not be electric vehicle of the traveling on photovoltaic highway
Enough electric energy are provided, once electric vehicle electric energy is insufficient, it usually needs to charging station, public parking equipped with electrically-charging equipment
The charging pile etc. of position, parking lot or roadside setting goes to charge, and builds these electrically-charging equipments and roadside is laid with charging pile and usually needs
Want larger construction and maintenance cost, and to these place chargings be also frequently encountered queuing time is long, electrically-charging equipment therefore
The high problem of barrier rate, user's use feeling is bad, reduces acceptance of the people to electric vehicle indirectly.
In the prior art, the electrical charging method of electric vehicle includes contact charging and wireless charging.Wireless charging makes
With convenient, safety, no-spark and Danger Electric shock risk, no dust accumulation and contact loss, no mechanical wear and corresponding maintenance issues can fit
Answer a variety of adverse circumstances and weather.Wireless charging is easy to implement unmanned automatic charging and mobile charging, is travelled needed for guarantee
Under the premise of mileage, the power battery capacity of electric vehicle outfit can be greatly decreased by frequent charge, mitigate car body weight,
The effective rate of utilization for improving energy, promotes the marketization of electric vehicle.
Therefore, how to realize that carrying out wireless charging to electric vehicle whenever and wherever possible becomes urgent problem to be solved.
Invention content
In order to overcome the deficiencies of the prior art, the present invention provides the electric car electric energy replenishment system based on unmanned plane, mesh
Be using unmanned plane carry electric energy to electric vehicle carry out wireless charging, realize electric vehicle quick, multiple electric energy supplement,
Meet electric vehicle power demand anywhere or anytime.
The present invention is based on schemes below to realize：
Electric car electric energy replenishment system based on unmanned plane comprising unmanned plane, electric vehicle and via communication network
The background control center being connected with the unmanned plane, electric vehicle,
The electric vehicle includes：Electric energy detection device, the real-time electric energy for detecting the electric vehicle；Roof is fixed
Device, for fixing the unmanned plane；Charging platform is stopped for the unmanned plane and carries out electric energy transmission；Alignment device is used
In the electric energy transmitting coil for the electric energy receiving coil and the unmanned plane for being directed at the electric vehicle；First communication device is used for
With the short distance data interaction of the unmanned plane；And first control device, the first control device are filled with the electric energy detection
It sets, roof fixing device, charging platform, first communication device are connected with alignment device；
The unmanned plane includes：Second control device takes off, advances, lands and hovers for controlling unmanned plane；Energy storage fills
It sets, for carrying electric energy；Positioning and tracking device, for being positioned and being tracked to electric vehicle；Secondary communication device, for
The short distance data interaction of the electric vehicle；Range finder, for detecting the unmanned plane and the electric vehicle roof
The distance between charging platform.
In the present invention, the electric vehicle sends charge request by the first control device, in the Background control
The heart sends charging instruction to the unmanned plane, and the unmanned plane carries electric energy and marches to the electricity by the positioning and tracking device
Electrical automobile overhead, with the electric vehicle carry out data interaction, realize authentication, the unmanned plane detect its with it is described electronic
The distance between automobile, and drop to and transmit electric energy on the electric vehicle to it, electric vehicle passes through communication network in the present invention
Network sends charge request to background control center, and background control center allocates corresponding unmanned plane and carries electric energy to the electronic vapour
Vehicle carries out electric energy supplement, meets electric vehicle power demand anywhere or anytime, in addition, the unmanned plane leads in short range
It crosses wireless communication and carries out data interaction with the electric vehicle, realize authentication matching, and accurately visit by range finder
The unmanned plane is surveyed at a distance from the electric vehicle, ensures that the unmanned plane is accurate, safe falling is on the electric vehicle,
Before charging process starts, electric energy dispatch coil is aligned by the electric vehicle using alignment device, improves wireless power transmission
Efficiency.
Preferably, the charge request includes：It is vehicle identity information, vehicle model, electrical energy demands, current vehicle speed, current
Position, travel direction.
Specifically, the electric vehicle can carry out authentication by the background control center, after certification is passed through
Vehicle identity information is stored in the database of the background control center, ensure the electric vehicle have charge requirement when
It waits, can preferentially obtain the support of the background control center and obtains electric energy supplement in time.
Specifically, since the electric vehicle of each producer production is all not quite similar on length, height and width, so really
Determining vehicle model contributes to the unmanned plane accurately to drop on target electric vehicle.
Specifically, the electrical energy demands are the amount of the electric energy of electric vehicle request supplement, and the unmanned plane is according to institute
State the amount that electrical energy demands determine the electric energy carried.
Specifically, after the electric vehicle sends charge request, the control of its speed is existed before unmanned plane landing
Current vehicle speed when charge request is sent, the background control center is contributed to be based on Optimum cost principle, accurate judgement in this way
The unmanned plane needs the electric energy carried and needs to send away with charge free the unmanned plane in which service station, avoids carrying electric energy mistake
Cause the unmanned plane overload more, or carry electric energy it is very few cause electric vehicle charge requirement cannot meet or it is described nobody
Machine can not return to service station etc., can also avoid sending away with charge free the farther unmanned plane of distance objective electric vehicle, cause resource
Waste.
Specifically, the current location, travel direction further help the background control center accurately to send with charge free suitably
Unmanned plane carries out electric energy supplement.
Preferably, the electric vehicle further includes an auto-power-off device, is that the electric vehicle fills in the unmanned plane
In electric process, when the electric energy detection device detects that batteries of electric automobile volume reaches its upper volume bound, triggering is described certainly
Dynamic circuit breaker electric installation disconnects charging circuit, prevents from causing cell damage to over-charging of battery.
Preferably, the unmanned plane further has power plant, take-off and landing device and avoidance detection device.The unmanned plane
Control the power plant, take-off and landing device operating mode, so that the unmanned function taken off, advance and is landed, the unmanned plane
The obstacle information detected also according to the avoidance detection device carries out analysis calculating, and controls the power plant and rise and fall
The operating mode of device makes the unmanned plane success avoiding obstacles, avoids the collision of the unmanned plane and barrier.Specifically
Ground, the operating mode of the unmanned plane include at least and take off, advance, land and hover, the operation rules of these operating modes by
User is preset in the second control device, and the second control device of unmanned plane refers to according to the control that these preset rules generate
It enables to control the operating mode of unmanned plane.
Further, the avoidance detection device is infrared sensor, ultrasonic sensor, laser sensor or vision
It is any in sensor.The avoidance detection device detects front obstacle information, e.g., height, width and the nothing of barrier
The obstacle information is sent to the second control device by man-machine distance, the current gait of march of unmanned plane etc., and described
Two control devices calculate analysis and obtain avoidance flight path, and control the operating mode of the power plant and take-off and landing device, make
The unmanned plane is advanced along the avoidance flight path, and the unmanned plane is avoided to collide and be damaged with barrier.
Further, the avoidance detector is ultrasonic sensor, and the ultrasonic sensor is arranged along multiple directions
On the unmanned plane, such setting can not only monitor peripheral obstacle when unmanned plane is advanced, but can take off in unmanned plane, under
Speed is avoided to encounter very much barrier or ground soon when drop and landing.
Preferably, the positioning and tracking device further comprises camera and Computer Vision unit.The camera
Video image is obtained, the Computer Vision unit pre-processes image, and image matter is improved by image filtering technology
Then amount is detected classification extraction to the target electric vehicle of movement, is finally positioned to the target electric vehicle of extraction
Tracking.
Further, the detection of the target electric vehicle moved using optical flow method, frame difference method, Background difference etc.,
The extraction and classification that target electric vehicle feature is carried out using shape feature method or motion feature method, can pass through the side based on region
Method, the method for feature based, the method based on deforming template realize the tracking of video image based on the method for model.Specifically
Ground, can be used the tracking that track algorithm based on region carries out target electric vehicle, i.e., target that present frame detects is electronic
Automobile is matched with the target electric vehicle in former frame, to achieve the purpose that be continuously tracked.
Preferably, the range finder is radar detedtor.Radar sends out radio wave or light wave, then receives back
Wave signal, because the speed of electromagnetic wave and light wave is it is known that be all light velocity c, can be according to transmitting and the time for receiving echo
To calculate the distance and speed of target electric vehicle.The unmanned plane adjusts itself according to the distance of target electric vehicle with speed
Flying speed and operating mode, to drop on the electric vehicle.
Preferably, the alignment device includes ultrasonic probe, motor and controller.The motor includes making receiving coil
The X-axis motor of left and right directions translation and the y-axis motor for making receiving coil front-rear direction translate, with array side on the receiving coil
Multiple ultrasonic probes are arranged in formula, and the ultrasonic probe detects the position of the transmitting coil of the unmanned plane, the controller
Location information according to ultrasonic probe detection controls the translation of the x-axis motor, y-axis motor, so that the unmanned plane
Electric energy transmitting coil be aligned with the electric energy receiving coil of the electric vehicle, improve electric energy efficiency of transmission.
Preferably, the first communication device, secondary communication device include NFC communication device, it is Bluetooth communication device, infrared
Any one of communication device, wireless WiFi communication device.
Preferably, the communication network includes any in mobile communications network, Networks of Fiber Communications, satellite communication network
Kind.
Preferably, a kind of electric power replenishing method of the electric car electric energy replenishment system based on unmanned plane, including following step
Suddenly：
Step 1, electric vehicle electric energy detection device when detecting vehicle not enough power supply, by first control device to
Background control center sends charge request, and the background control center receives, handles the charge request and sent to unmanned plane
Charging instruction, the charging instruction include the position and speed information of electric vehicle；
Step 2, the unmanned plane receive charging instruction by secondary communication device, and unmanned plane is controlled by second control device
Operating mode, and locating and tracking is carried out to electric vehicle by positioning and tracking device, control the unmanned plane march to it is described
Electric vehicle overhead；
Step 3, the unmanned plane and the electric vehicle are by the first communication device, secondary communication device into line number
According to interaction, identities match is realized, after successful match, the electric vehicle opens charging platform；
Step 4, the unmanned plane detect the distance between itself and the electric vehicle charging platform by range finder
And its operating mode is controlled, so that the unmanned plane is dropped on the electric vehicle charging platform；
Step 5, the electric vehicle are directed at the electric energy dispatch coil of the unmanned plane and electric vehicle by alignment device,
The unmanned plane is fixed by roof fixing device；
Step 6, the unmanned plane second control device transmit electric energy by the energy storage device to the electric vehicle.
Compared with prior art, the beneficial effects of the present invention are 1) present invention in, electric vehicle is sent out by communication network
Charge request, background control center is sent to handle charge request and send charging instruction to unmanned plane, the unmanned plane carries electric energy
The electric vehicle overhead is marched to by positioning and tracking device, data interaction is carried out with the electric vehicle, realizes that identity is recognized
Card, the unmanned plane drop on the electric vehicle and transmit electric energy to it, meet electric vehicle charge requirement anywhere or anytime,
And the electric vehicle can charge, time-saving and efficiency ensure that the cruising ability of electric vehicle, carry without parking in traveling
User experience has been risen, has promoted a wide range of popularization and application of electric vehicle, while this electric energy arbitrary way does not have to build
Excessive electrically-charging equipment reduces electrically-charging equipment capital construction cost；2) present invention in, the unmanned plane by radio communication with it is described
Electric vehicle carries out data interaction, realizes authentication matching, and pass through unmanned plane described in range finder accurately detecting and institute
The speed of the distance and the electric vehicle of electric vehicle is stated, the speed and operating mode of unmanned plane itself are then adjusted, is ensured
The unmanned plane is accurate, safe falling is on the electric vehicle；3) in the present invention, the electric vehicle utilizes alignment device tune
The position all around of whole electric energy receiving coil makes electric energy induction dispatch coil alignment, improves the transmission of wireless induction electric energy
Efficiency.
Description of the drawings
Fig. 1 is the schematic flow diagram of the electric car electric energy replenishment system based on unmanned plane of the present invention；
Fig. 2 is the schematic block diagram according to the electric car electric energy replenishment system based on unmanned plane of embodiment.
Specific implementation mode
Clear, complete description is carried out to the technical solution of various embodiments of the present invention below with reference to attached drawing, it is clear that retouched
A part of the embodiment that hair embodiment is only the present invention is stated, instead of all the embodiments.Based on the embodiment of the present invention, originally
Field those of ordinary skill obtained all other embodiment without making creative work, belongs to this hair
Bright protected range.
The present invention provides the electric car electric energy replenishment system based on unmanned plane comprising unmanned plane, electric vehicle and warp
The background control center being connected with the unmanned plane, electric vehicle by communication network.The electric vehicle includes：Electric energy detection fills
It sets, the real-time electric energy for detecting the electric vehicle；Roof fixing device, for fixing the unmanned plane；Charging platform is used
It is stopped in the unmanned plane and carries out electric energy transmission；Alignment device, for be aligned the electric vehicle electric energy receiving coil and
The electric energy transmitting coil of the unmanned plane；First communication device, for the short distance data interaction with the unmanned plane；With first
Control device, the first control device communicate dress with the electric energy detection device, roof fixing device, charging platform, first
It sets and is connected with alignment device.The unmanned plane includes：Second control device takes off, advances, lands and hangs for controlling unmanned plane
Stop；Energy storage device, for carrying electric energy；Positioning and tracking device, for being positioned and being tracked to electric vehicle；Second communication dress
It sets, for the short distance data interaction with the electric vehicle；Range finder, for detect the unmanned plane with it is described electronic
The distance between automobile charging platform.
In specific implementation, the unmanned plane, electric vehicle are led to by communication network and the background control center
Letter connection, the communication network can be selected from any one of mobile communications network, Networks of Fiber Communications and satellite communication network.
In specific implementation, the first communication device, secondary communication device include that NFC communication device, bluetooth are logical
Any one of T unit, infrared communications set, wireless WiFi communication device.Preferably, described first can be communicated
Device is set as NFC communication device, and the secondary communication device is set as NFC communication device.Specifically, NFC is a kind of short distance
Connection protocol, it is safe, rapid and automatically communicate to provide various equipment rooms, compared with other connection types in wireless communication,
NFC is a kind of secret communication mode of short distance.
In specific implementation, the background control center includes information process unit and storage unit, the storage unit
It is stored with the data interaction information with the electric vehicle, unmanned plane, described information processing unit is believed according to these data interactions
It ceases to the electric vehicle, unmanned plane and sends instruction.
In specific implementation, the first control device of the electric vehicle can be the control mould for being integrated with embedded chip
Block carries out processing for the data information to reception and sends control instruction to other devices.
In specific implementation, the electric vehicle further includes an auto-power-off device, is described electronic in the unmanned plane
In automobile charging process, when the electric energy detection device detects that batteries of electric automobile volume reaches its upper volume bound, triggering
The auto-power-off device disconnects charging circuit, prevents from causing cell damage to over-charging of battery.
In specific implementation, the electric energy detection device is the sensor that can detect power change information.
In specific implementation, the roof fixing device of the electric vehicle may be configured as air bag.
In specific implementation, the alignment device includes ultrasonic probe, motor and controller.The motor includes making to connect
The X-axis motor of take-up circle left and right directions translation and the y-axis motor for making receiving coil front-rear direction translate, on the receiving coil with
Multiple ultrasonic probes are arranged in array way, and the ultrasonic probe detects the position of the transmitting coil of the unmanned plane, described
Controller controls the translation of the x-axis motor, y-axis motor according to the location information that the ultrasonic probe detects, so that described
The electric energy transmitting coil of unmanned plane is aligned with the electric energy receiving coil of the electric vehicle, improves electric energy efficiency of transmission.
In specific implementation, the electric energy detection device detects the dump energy of the batteries of electric automobile, will indicate surplus
The dump energy signal of remaining electric energy is sent to the first control device, and the first control device is filled by first communication
It sets to the background control center and sends charge request；In the unmanned plane is the electric vehicle charging process, the electricity
Energy detection device detection cell volume is automatically powered off when the battery of the electric vehicle reaches its cell volume described in triggering
Device.
In specific implementation, the charging platform is wireless charging platform, and electric energy reception is set in the wireless charging platform
Coil, the unmanned plane drop on the wireless charging platform, using wireless induction electric energy transmission principle, will be stored in described
Electric energy in unmanned plane is transmitted to the electric energy receiving coil by its electric energy transmit coil.In practical applications, the charging
Platform further includes protective device and lifting gear, and the protective device is connected with the first control device, when first control
Device processed receives the electric vehicle, information is completed in the authentication matching of unmanned plane, control the protective device open with
The charging platform is shown, the operating mode of the lifting gear is then controlled, make the charging platform along vertically to
Top ramps up certain distance, is dropped to without barrier on the charging platform convenient for the unmanned plane.
In specific implementation, the positioning and tracking device further comprises camera and Computer Vision unit.It is described
Camera obtains video image, and the Computer Vision unit pre-processes image, improved by image filtering technology
Picture quality, then to the target electric vehicle of movement be detected classification extraction, finally to the target electric vehicle of extraction into
Row locating and tracking.Further, the inspection of the target electric vehicle moved using optical flow method, frame difference method, Background difference etc.
It surveys, the extraction and classification of target electric vehicle feature is carried out using shape feature method or motion feature method, it can be by being based on region
Method, the method for feature based, the method based on deforming template or the tracking of video image is realized based on the method for model.
Preferably, the tracking that the track algorithm based on region carries out target electric vehicle can be used, i.e., detect present frame
Target electric vehicle matched with the target electric vehicle in former frame, to achieve the purpose that be continuously tracked.
In specific implementation, the range finder is radar detedtor.When unmanned plane marches to the electronic vapour of the target
When vehicle overhead, pass through the distance between the radar detedtor sensorcraft and target electric vehicle and target electric vehicle
Speed, the unmanned plane adjusts the speed and Working mould of itself according to the speed and distance detected by second control device
Formula makes the unmanned plane be dropped to when consistent with target electric vehicle speed on the electric vehicle charging platform.
In specific implementation, the energy storage device of the unmanned plane carries：The electric energy supplemented for the electric vehicle
And the unmanned plane itself travels to and fro between the electric energy between service station.The energy storage device is accumulator, and the electric vehicle is sent
After charge request, the background control center handles charge request and sends charging instruction to the unmanned plane, and the charging refers to
The position and speed information including at least electric vehicle, the unmanned plane is enabled to carry accumulator and march on the electric vehicle
Sky, and drop on the electric vehicle and electric energy transmission is carried out to it.In practical applications, the electric vehicle is sending charging
When request, it can ask conveying that can reach the electric energy of the batteries of electric automobile upper volume bound, or request conveying is enough to allow institute
The electric energy that electric vehicle marches to the next service station in front is stated, the electric vehicle car owner can voluntarily select according to vehicle demand
It selects.
In specific implementation, the second control device of the unmanned plane controls the work of the power plant, take-off and landing device
Pattern enables the unmanned plane to take off, advance and land.The second control device of the unmanned plane can be integrated with it is embedded
The control module of chip is returned for handling the background control center, the information that electric vehicle is sent and unmanned plane itself detection
The information returned, and control the operating mode of unmanned plane itself.The unmanned plane also has power plant, take-off and landing device and avoidance inspection
Device is surveyed, the second control device of the unmanned plane is analyzed according to the obstacle information that the avoidance detection device detects
It calculates, and controls the operating mode of the power plant and take-off and landing device, make the unmanned plane success avoiding obstacles, avoid institute
State the collision of unmanned plane and barrier.In practical applications, the avoidance detection device is infrared sensor, supersonic sensing
It is any in device, laser sensor or visual sensor.The avoidance detection device detects front obstacle information, e.g., barrier
Hinder the height of object, width, at a distance from unmanned plane, the current gait of march of unmanned plane etc., the obstacle information is sent to institute
State second control device, the second control device calculates analysis and obtains avoidance flight path, and control the power plant and
The operating mode of take-off and landing device makes the unmanned plane advance along the avoidance flight path, avoids the unmanned plane and barrier
It collides and is damaged.Preferably, the avoidance detector can be ultrasonic sensor, the ultrasonic sensor edge
Multiple directions are arranged on the unmanned plane, and such setting can not only monitor peripheral obstacle when unmanned plane is advanced, but also can be
Unmanned plane avoids speed from encountering very much barrier or ground soon when taking off, decline and land.
In specific implementation, using described, electric car electric energy replenishment system based on unmanned plane carries out the side of electric energy supplement
Method includes：
1) electric energy detection device of electric vehicle is when detecting vehicle not enough power supply, by first control device to from the background
Control centre sends charge request, and the background control center receives, handles the charge request and sent to unmanned plane and charged
Instruction, the charging instruction includes the position and speed information of electric vehicle.The charge request includes vehicle identity information, vehicle
Model, electrical energy demands, current vehicle speed, current location and travel direction.The vehicle identity information is logical for the electric vehicle
Cross the background control center certification by and the data information that is stored in its database, after can guarantee that certification passes through in this way
Electric vehicle can preferentially obtain the support of the background control center and obtain electric energy benefit in time when having charge requirement
It fills；The vehicle model is the parameters such as length, height, width, the date of production of electric vehicle, determines that the vehicle model helps
It is accurately dropped on target electric vehicle in the unmanned plane；The electrical energy demands are the electric energy of electric vehicle request supplement
Amount, the unmanned plane according to the electrical energy demands determine carry electric energy amount；After the electric vehicle sends charge request,
Its speed is controlled into the current vehicle speed when sending charge request before unmanned plane landing, contributes to the backstage in this way
Control centre is based on Optimum cost principle, and unmanned plane needs the electric energy carried and needs which service station described in accurate judgement
Unmanned plane send with charge free away, avoid carrying electric energy and excessively cause the unmanned plane overload, or carry that electric energy is very few to be caused
Electric vehicle charge requirement cannot meet or the unmanned plane can not return to service station etc., can also avoid distance objective is electronic
The farther unmanned plane of automobile is sent with charge free away, is resulted in waste of resources；The current location, travel direction further help the backstage
Control centre accurately sends suitable unmanned plane with charge free and carries out electric energy supplement.The background control center is institute according to the charge request
It states electric vehicle and matches corresponding unmanned plane.
2) unmanned plane receives charging instruction by secondary communication device, and the work of unmanned plane is controlled by second control device
Operation mode, and by positioning and tracking device to electric vehicle carry out locating and tracking, control the unmanned plane march to it is described electronic
Automobile overhead.The charging instruction includes the position and speed information of electric vehicle, and the unmanned plane carries electric energy and passes through second
Control device controls itself operating mode, and by positioning and tracking device to electric vehicle carry out locating and tracking, march to it is described
Electric vehicle overhead；After the selected unmanned plane to match of the background control center, by the authentication information of the unmanned plane
It is sent to the electric vehicle, while the authentication information of the electric vehicle is sent to the unmanned plane, in order to institute
State electric vehicle, unmanned plane carries out data interaction in short distance by radio communication, be mutually distinguishable authentication information, realize
Identities match.When carrying out identities match, the electric vehicle sends to the unmanned plane and carries the unmanned plane identity information
Instruction, the unmanned plane sends the instruction for carrying the electric vehicle identity information to the electric vehicle, the unmanned plane,
The identity information of electric vehicle is unique, ensures that the electric vehicle is correctly matched with the unmanned function.The unmanned plane
Model, the information such as electric energy can be carried be stored in advance in the database of the background control center, the background control center
According to the charge request of the electric vehicle, the unmanned plane of dimension is matched for the electric vehicle, is sent out to the unmanned plane
Control instruction, the second control device of the unmanned plane is sent to receive control instruction, control the operating mode of the unmanned plane, pass through
Positioning and tracking device makes the unmanned plane take off and marches to the electric vehicle overhead.The unmanned plane during traveling,
The obstacle information in front of advancing is detected by ultrasonic sensor, the second control device carries out the obstacle information
Analysis calculates, and obtains avoidance flight path, and the second control device controls the unmanned plane switching working mode, makes its success
Avoiding obstacles avoid the unmanned plane from being collided with barrier and damage.
3) unmanned plane carries out data friendship with the electric vehicle by the first communication device, secondary communication device
Mutually, identities match is realized, after successful match, the electric vehicle opens charging platform；When the unmanned plane passes through the positioning
After tracks of device marches to the electric vehicle overhead, the positioning and tracking device shoots the electric vehicle by camera
Roof image, and give the unmanned plane second control device, the unmanned plane to confirm that itself is in the roof image feedback
Above the electric vehicle, the unmanned plane second control device sends authentication information, the body by NFC communication device
Part authentication information is the electric vehicle authentication information that background control center is sent to the unmanned plane, the electronic vapour
Vehicle confirms the authentication information and feeds back the authentication information of the unmanned plane, and the unmanned plane confirms the electronic vapour
The authentication information that vehicle is sent, authentication matching are completed, and the electric vehicle receives identities match and completes after instructing,
First control device controls the charging platform and shows and be raised above.
4) unmanned plane detects the distance between itself and the electric vehicle charging platform by radar detedtor and controls
Its operating mode is made, the unmanned plane is made to drop on the electric vehicle charging platform；The unmanned plane passes through radar detection
Device detects the speed of the distance between itself and the electric vehicle charging platform and the electric vehicle, and the of the unmanned plane
Two control devices adjust the operating mode and gait of march of itself, make the unmanned plane when consistent with the electric vehicle speed
It drops on the charging platform of the electric vehicle.
5) electric vehicle is directed at the electric energy dispatch coil of the unmanned plane and electric vehicle by alignment device, passes through
Roof fixing device fixes the unmanned plane；Unmanned plane landing and on the charging platform after, the electric vehicle the
One control device controls the alignment device and adjusts the electric energy receiving coil to charge in tablet so that the electric energy receives line
Circle is aligned with the electric energy transmit coil of the unmanned plane, improves the effect that the unmanned plane carries out electric energy transmission to the electric vehicle
After the electric energy dispatch coil alignment of rate, the unmanned plane and electric vehicle charging platform, the electric vehicle first control device
It controls the roof fixing device and fixes the unmanned plane.
6) the unmanned plane second control device transmits electric energy by the energy storage device to the electric vehicle；The nothing
It is man-machine be fixed after, the electric vehicle first control device sends charging to the unmanned plane and is ready for ready information and refers to
It enables, after the unmanned plane receives instruction, switching working mode, the second control device controls the energy storage device and passes through electric energy
Transmit coil sends electric energy, and the electric energy receiving coil of the electric vehicle charging tablet receives electric energy.
Embodiment 1
In the present embodiment, the electric car electric energy replenishment system based on unmanned plane is realized by system APP, the system
The APP that unites is interior to be equipped with control module 1, request sending module 2, locating and tracking module 3, roof fixed module 4, contraposition module 5, display
Module 6, voice module 7, communication module 8 and distance measurement module 9.The control module 1 control the request sending module 2,
The operation of locating and tracking module 3, roof fixed module 4, contraposition module 5, display module 6, voice module 7 and communication module 8.With
After the system APP is installed at family, the icon of the system APP can be searched by in-vehicle display, the system APP passes through display
Module 6 shows that its control interface, user can open the control interface by clicking the system APP icons, or directly logical
System APP is crossed described in voice control to run, the system APP by voice module 7 to the phonetic order of user carry out conversion and
Output.
When the electric energy detection device of the electric vehicle detects battery power deficiency, electric energy shortage signal is sent to institute
Control module 1 is stated, the control module 1 prompts whether car owner needs transmission charging to ask by 7 output order of the voice module
Instruction is asked, after car owner agrees to send instruction, the request sending module 2 sends charge request to background control center.It is described
Background control center handles charge request and sends charging instruction to the unmanned plane, and the charging instruction includes at least electronic vapour
The position and speed information of vehicle, the unmanned plane carrying march to the electric vehicle overhead, and the locating and tracking module 3 receives
The positioning of the unmanned plane is with electric energy track information and by the display module 6 can include in the control interface by described information
On.The unmanned plane carries out data interaction by the communication module 8 and the electric vehicle, carries out identity information identification, real
Existing identities match, after successful match, the unmanned plane detects it by the distance measurement module 9 and charges from the electric vehicle
The speed of the distance of platform and the electric vehicle, and control the operating mode and speed of the unmanned plane so that it is described nobody
Machine is dropped to when consistent with the electric vehicle speed on the electric vehicle charging platform, and the contraposition module 5 carries out electricity
Can dispatch coil contraposition, after the completion of contraposition, the roof fixed module 4 control the roof fixing device fix it is described nobody
Machine, the control module 1 send the instruction that can receive electric energy supplement, and the unmanned plane switching working mode controls the nothing
It is man-machine to transmit electric energy to the electric vehicle.The electric energy transmission situation can be shown in the control interface by display module 6
On.At the beginning and end of electric energy supplement, the voice module 7 carries out voice prompt.The communication module 8 can be NFC logical
Believe module.
For the electric vehicle travelled on photovoltaic highway, in the condition that sunshine is sufficient, solar conversion efficiency is high
Under, the photo-voltaic power supply of the photovoltaic highway is enough to supply the power demands of the electric vehicle, but in plum rain season or sunshine
Under conditions of deficiency, solar conversion efficiency are low, the photo-voltaic power supply is not enough to the power demands of supply electric vehicle, the electricity
Electrical automobile can carry out electric energy supplement by system APP transmission charge requests, to ensure the power demand of electric vehicle,
And charge request can be transmitted whenever and wherever possible, improve the usage experience of user.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution recorded in previous embodiment, either which part or all technical features are equal
It replaces；And these modifications or replacements, technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. the electric car electric energy replenishment system based on unmanned plane, which is characterized in that including unmanned plane, electric vehicle and via logical
The background control center that communication network is connected with the unmanned plane, electric vehicle,
The electric vehicle includes：Electric energy detection device, the real-time electric energy for detecting the electric vehicle；Roof fixes dress
It sets, for fixing the unmanned plane；Charging platform is stopped for the unmanned plane and conveys electric energy to the electric vehicle；It is right
Position device, the electric energy transmitting coil of electric energy receiving coil and the unmanned plane for being directed at the electric vehicle；First communication
Device, for being communicatively coupled with the unmanned plane, background control center；And first control device, the first control dress
It sets and is connected with the electric energy detection device, roof fixing device, charging platform, first communication device and alignment device；
The unmanned plane includes：Second control device takes off, advances, lands and hovers for controlling unmanned plane；Energy storage device,
For carrying electric energy；Positioning and tracking device, for being positioned and being tracked to electric vehicle；Secondary communication device is used for and institute
State electric vehicle, background control center is communicatively coupled；Range finder, for detecting the unmanned plane and the electronic vapour
The distance between vehicle roof charging platform.
2. the electric car electric energy replenishment system based on unmanned plane as described in claim 1, which is characterized in that the charging is asked
Ask including：Vehicle identity information, vehicle model, electrical energy demands, current vehicle speed, current location, travel direction.
3. the electric car electric energy replenishment system based on unmanned plane as described in claim 1, which is characterized in that the electronic vapour
Vehicle further includes an auto-power-off device, in the unmanned plane is the electric vehicle charging process, when the electric energy detection fills
It sets when detecting that batteries of electric automobile volume reaches its upper volume bound, triggers the auto-power-off device, disconnect charging circuit, prevent
Cell damage only is caused to over-charging of battery.
4. the electric car electric energy replenishment system based on unmanned plane as described in claim 1, which is characterized in that the unmanned plane
Further there is power plant, take-off and landing device and avoidance detection device.
5. the electric car electric energy replenishment system based on unmanned plane as described in claim 1, which is characterized in that it is described positioning with
Track device further comprises camera and Computer Vision unit.
6. the electric car electric energy replenishment system based on unmanned plane as described in claim 1, which is characterized in that the distance is visited
Survey device is radar detedtor.
7. the electric car electric energy replenishment system based on unmanned plane as described in claim 1, which is characterized in that the alignment device
Including ultrasonic probe, motor and controller.
8. the electric car electric energy replenishment system based on unmanned plane as described in claim 1, which is characterized in that first communication
Device, secondary communication device include in NFC communication device, Bluetooth communication device, infrared communications set, wireless WiFi communication device
It is any.
9. the electric car electric energy replenishment system based on unmanned plane as described in claim 1, which is characterized in that the communication network
Including any one of mobile communications network, Networks of Fiber Communications, satellite communication network.
10. a kind of electric power replenishing method of the electric car electric energy replenishment system based on unmanned plane as described in claim 1,
It is characterized in that, includes the following steps：
Step 1, electric vehicle electric energy detection device when detecting vehicle not enough power supply, by first control device to backstage
Control centre sends charge request, and the background control center receives, handles the charge request and sent to unmanned plane and charged
Instruction, the charging instruction includes the position and speed information of electric vehicle；
Step 2, the unmanned plane receive charging instruction by secondary communication device, and the work of unmanned plane is controlled by second control device
Operation mode, and by positioning and tracking device to electric vehicle carry out locating and tracking, control the unmanned plane march to it is described electronic
Automobile overhead；
Step 3, the unmanned plane carry out data friendship with the electric vehicle by the first communication device, secondary communication device
Mutually, identities match is realized, after successful match, the electric vehicle opens charging platform；
Step 4, the unmanned plane detect the distance between itself and the electric vehicle charging platform by range finder and control
Its operating mode is made, the unmanned plane is made to drop on the electric vehicle charging platform；
Step 5, the electric vehicle are directed at the electric energy dispatch coil of the unmanned plane and electric vehicle by alignment device, pass through
Roof fixing device fixes the unmanned plane；
Step 6, the unmanned plane second control device transmit electric energy by the energy storage device to the electric vehicle.
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| CN113533771B (en) * | 2021-07-22 | 2022-05-17 | 中国农业大学 | System and method for accurately measuring and calculating slip ratio of wheeled tractor |
| CN115534711A (en) * | 2022-09-30 | 2022-12-30 | 湖北文理学院 | Wireless charging method, device, equipment and storage medium for electric automobile |
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