CN108819743A - The method and device of unmanned plane automatic localization wireless charging - Google Patents
The method and device of unmanned plane automatic localization wireless charging Download PDFInfo
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- CN108819743A CN108819743A CN201810575061.9A CN201810575061A CN108819743A CN 108819743 A CN108819743 A CN 108819743A CN 201810575061 A CN201810575061 A CN 201810575061A CN 108819743 A CN108819743 A CN 108819743A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/42—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for mass transport vehicles, e.g. buses, trains or 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
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
-
- 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
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses the method and devices of unmanned plane automatic localization wireless charging, device includes that the data transmit-receive module connecting with control module, RTK positioning rover station, electric quantity monitoring module, electric module and unmanned machine battery connect, wireless charging base station includes the wireless charging platform for sending the RTK base station of coordinate information to unmanned plane RTK positioning rover station and charging to unmanned plane, and RTK base station is placed in wireless charging platform.When method includes that electric quantity monitoring module detects unmanned plane battery capacity lower than given threshold, electric quantity monitoring module issues charging instruction to control module, control module issues automatic localization instruction to RTK positioning rover station, RTK positions rover station automatic localization closest to the wireless charging base station of the unmanned plane, then it charges in selected wireless charging base station, last unmanned machine battery continues operation of cruising after being full of.This unmanned plane can carry out automatic localization and charging to wireless charging base station, improve unmanned plane for a long time, the inspection ability of long range.
Description
Technical field
The present invention relates to unmanned plane charging technique fields, and in particular to the method and dress of unmanned plane automatic localization wireless charging
It sets.
Background technique
UAV, abbreviation unmanned plane (UAV) are a kind of new concept flight equipments being in rapid development,
Have many advantages, such as maneuverability, rapid reaction, unmanned flight, operation require it is low, take off without runway or other ancillary equipments.Nothing
It is man-machine by carry multiclass sensor, image real-time Transmission, high-risk areas detecting function etc., and currently, unmanned plane may be implemented
Use scope spread to military affairs, scientific research, civilian three big field, and application is very wide.
In civilian and scientific research field, in order to make unmanned plane that there are more purposes, such as coastal waters prospecting or highway,
Railroad maintenance, the unmanned plane of the purposes such as electric inspection process, not only need to carry on unmanned plane various equipment but also flying distance and
Flight time is longer.In such unmanned plane, since flying distance is longer, Portable device is more, and unmanned plane own wt increases, and needs
Bigger power is consumed to guarantee the normal flight of unmanned plane, but battery capacity entrained by unmanned plane is limited, and then makes
Unmanned plane cruising ability Shortcomings are obtained, need constantly to replace battery to meet normal work demand.If unmanned plane is common
More rotary aircrafts, in the case where operating at full capacity, cruise duration is usually no more than 30 minutes.Obviously, it is above-mentioned nobody
The insufficient of machine cruising ability is very inconvenient, especially information in the field collection and detecting for executing various tasks.
When unmanned plane electricity is relatively low, unmanned plane also needs to return to predetermined position according to manipulation instruction and carry out battery altering, such nothing
Doubt the flight risk that also will increase unmanned plane.Therefore it needs to need to carry out charging continuation of the journey to it in flight course.But existing
Have in technology, automatic charging continuation of the journey can not be realized under conditions of no artificially control, meets the needs of middle-long distance flight.
Summary of the invention
The technical problem to be solved by the present invention is to the deficiencies in the prior art, and it is an object of the present invention to provide unmanned plane automatic localization without
The method and device of line charge electricity.
The present invention is achieved through the following technical solutions：
The device of unmanned plane automatic localization wireless charging, including unmanned plane and wireless charging base station, the unmanned plane are equipped with
For receiving control instruction and sending the data transmit-receive module of data information, for handling a received control instruction and according to institute
The control module that control instruction controls the operation of the unmanned plane is stated, the RTK positioning for being positioned to unmanned plane
Rover station, the electric quantity monitoring module for detecting to unmanned plane battery capacity is wireless for charging to unmanned machine battery
Charging module, the data transmit-receive module, RTK positioning rover station, electric quantity monitoring module are connect with control module respectively, the nothing
Line charging module is connect with unmanned machine battery, and the wireless charging base station includes for sending to unmanned plane RTK positioning rover station
The RTK base station of coordinate information and the wireless charging platform that wireless charging is carried out to unmanned plane, RTK base station are placed in wireless charging
In level platform.
Preferred embodiment, the wireless charging module include wireless charging board and the infrared ray transmitting positioned at uav bottom
Device, the wireless charging platform are equipped with open-topped bowl-type auxiliary positioning plate, and the bottom of the bowl-type auxiliary positioning plate is equipped with
With wireless charging board carry out wireless charging cylindrical wireless charging stake, the center of cylindrical wireless charging stake be equipped with
The infrared receiver of RF transmitter cooperation, the infrared receiver and RF transmitter are for confirming unmanned plane
Wireless charging board is located at wireless charging platform and successfully aligns.
Preferred embodiment, the RTK base station include RTK module, RTK-GPS antenna, data transmit-receive module and power supply, described
RTK-GPS antenna, data transmit-receive module and power supply are connect with RTK module respectively, and the RTK module for providing survey station in real time
Three-dimensional localization of the point in specified coordinate system as a result, and reach a centimetre class precision, RTK base station by data transmit-receive module and
RTK-GPS antenna sends its observation and survey station point coordinate information to RTK positioning rover station together, and RTK positions rover station not
The data from RTK base station are only received by data transmit-receive module and RTK-GPS antenna, while acquiring GPS observation data, and
Composition difference observation is handled in real time, provides centimeter-level positioning result.
Preferred embodiment, the cylinder wireless charging stake bottom are equipped with elevating mechanism, and the lifting structure connects in infrared ray
When receipts device receives RF transmitter signal, infrared receiver issues driving signal, the elevating mechanism to elevating mechanism
It drives cylindrical wireless charging stake to move upwards to be bonded with the bottom of wireless charging board, cylindrical wireless charging stake starts to nobody
Machine battery charges.
Preferred embodiment, the uav bottom are additionally provided with undercarriage, are equipped with universal wheel in the bottom of undercarriage, described universal
The wireless charging board and bowl-type auxiliary positioning plate automatic aligning for cooperating unmanned plane are taken turns, which is with unmanned plane itself
The physical features automatic aligning of gravity.
Preferred embodiment, the wireless charging platform are connect with box-type substation, and box-type substation is supplied by wind power generating set
Electricity.
The method of unmanned plane automatic localization wireless charging provided by the invention, includes the following steps：
Step 1：When the electric quantity monitoring module of unmanned plane detects unmanned plane battery capacity lower than given threshold, electric quantity monitoring
Module issues charging instruction to control module, and control module issues automatic localization instruction, RTK positioning stream to RTK positioning rover station
Wireless charging base station of the dynamic station automatic localization closest to the unmanned plane；
Step 2：Unmanned plane drops on the charging base station after selecting closest to wireless charging base station and carries out nothing to unmanned plane
Line charge electricity；
Step 3：Unmanned plane electric quantity monitoring module detects that the fully charged backward control module of unmanned machine battery issues cruise and refers to
It enables, control module controls unmanned plane and continues cruise operation.
Preferred embodiment, the step 1 are specially：RTK base station in wireless charging base station is equipped with RTK module, RTK module
Three-dimensional localization of the survey station point in specified coordinate system is provided as a result, RTK base station passes through data to RTK positioning rover station in real time
Transceiver module and RTK-GPS antenna send its observation and survey station point coordinate information to RTK together and position rover station, and RTK is fixed
Bit flow station not only passes through data transmit-receive module and RTK-GPS antenna receives the data from RTK base station, is acquired simultaneously
GPS observes data, and forms difference observation and handled in real time, provides centimeter-level positioning result.
Preferred embodiment, the step 2 specifically, unmanned plane during on the selected charging base station of landing, start bit
In the RF transmitter of uav bottom, RF transmitter carries out essence with infrared receiver on wireless charging platform is located at
Certainly position, when infrared receiver receives RF transmitter signal, infrared receiver is to cylindrical wireless charging stake
Elevating mechanism issue driving signal, elevating mechanism drives cylindrical wireless charging stake to move upwards the bottom with wireless charging board
Fitting, cylindrical wireless charging stake start to carry out wireless charging to unmanned machine battery.
Compared with prior art, the present invention having the following advantages and benefits：Unmanned plane automatic localization of the invention
Wireless charging device can charge unmanned plane and the automatic Dock With Precision Position of wireless charging base station, can be realized filling automatically for unmanned plane
Electricity and continue a journey for a long time, meet unmanned plane long-range flight needs.The present apparatus uses RTK location technology, RTK location technology
It can be that unmanned plane and wireless charging base station carry out precise positioning in the measurement method that field obtains centimeter-level positioning precision in real time
It is transmitted with data, unmanned plane is enable to carry out automatic localization and charging to wireless charging base station, improve unmanned plane for a long time, it is long
The inspection ability of distance.
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the embodiment of the present invention, constitutes one of the application
Point, do not constitute the restriction to the embodiment of the present invention.In the accompanying drawings：
Fig. 1 is unmanned plane basic structure block diagram of the invention；
Fig. 2 is RTK base station basic structure block diagram of the invention；
Fig. 3 is charging method embodiment flow chart of the invention；
Fig. 4 is wireless charging module structural schematic diagram of the invention.
Label and corresponding parts title in attached drawing：
1- bowl-type auxiliary positioning plate, 2- cylinder wireless charging stake, 3- infrared receiver, 4- elevating mechanism.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this
Invention is described in further detail, and exemplary embodiment of the invention and its explanation for explaining only the invention, are not made
For limitation of the invention.
Embodiment
As depicted in figs. 1 and 2, the device of unmanned plane automatic localization wireless charging of the present invention, including unmanned plane and wireless charging
Electric base station, unmanned plane are equipped with for receiving control instruction and sending the data transmit-receive module of data information, are received for handling
Control instruction and the operation of the unmanned plane is controlled according to the control instruction control module, for unmanned plane
The RTK positioning rover station positioned, the electric quantity monitoring module for being detected to unmanned plane battery capacity, for unmanned electromechanical
The wireless charging module that pond is charged.Data transmit-receive module, RTK positioning rover station, electric quantity monitoring module respectively with control mould
Block connection, wireless charging module are connect with unmanned machine battery, and wireless charging base station includes for positioning rover station to unmanned plane RTK
It sends the RTK base station of coordinate information and carries out the wireless charging platform of wireless charging to unmanned plane, RTK base station is placed in nothing
In line charging platform.RTK base station includes RTK module, RTK-GPS antenna, data transmit-receive module and power supply, the RTK-GPS
Antenna, data transmit-receive module and power supply are connect with RTK module respectively, and RTK module is sat for providing survey station point in real time specified
For three-dimensional localization in mark system as a result, positioning reaches a centimetre class precision, RTK base station passes through data transmit-receive module and RTK-GPS days
Line sends its observation and survey station point coordinate information to RTK positioning rover station together, and RTK positioning rover station not only passes through data
Transceiver module and RTK-GPS antenna receive the data from RTK base station, while acquiring GPS observation data, and form difference sight
Measured value is handled in real time, provides centimeter-level positioning result.
As shown in figure 4, wireless charging module includes the wireless charging board and RF transmitter positioned at uav bottom, nothing
Line charging platform is equipped with open-topped bowl-type auxiliary positioning plate 1, and the bottom of bowl-type auxiliary positioning plate 1 is equipped with and wireless charging board
The cylindrical wireless charging stake 2 for carrying out wireless charging is equipped in the center of cylindrical wireless charging stake 2 and emits with infrared ray
The infrared receiver 3 of device cooperation, infrared receiver 3 and RF transmitter are used to confirm the wireless charging board position of unmanned plane
It is successfully aligned in wireless charging platform.Electromagnetism sense can be used in wireless charging board and the specific structure mode of cylindrical wireless charging stake
It answers or the schemes such as electromagentic resonance coupling, this is the common technique of this field, then this does not do repetition and repeat.This cylinder wireless charging
2 bottoms of stake are equipped with elevating mechanism 4, and lifting structure 4 is when infrared receiver connects 3 and receives RF transmitter signal, infrared ray
Receiver 3 issues driving signal to elevating mechanism 4, and elevating mechanism 4 drives cylindrical wireless charging stake 2 to move upwards and wireless charging
The bottom of battery plate is bonded, and after cylindrical wireless charging stake 2 rises in place, cylindrical wireless charging stake 2 starts to unmanned machine battery
It charges.
Preferred embodiment scheme, uav bottom are additionally provided with undercarriage, are equipped with universal wheel, universal wheel in the bottom of undercarriage
For cooperating the wireless charging board and 1 automatic aligning of bowl-type auxiliary positioning plate of unmanned plane, due to certainly during unmanned plane decline
Body shake or by flow perturbation can not automatic aligning when, universal wheel can cooperate the wireless charging board of unmanned plane and bowl-type auxiliary fixed
Position plate 1 carries out automatic aligning according to the physical features of unmanned plane self gravity, and bowl-type auxiliary positioning plate 1 is that unmanned plane declines process
Middle offer decline guiding.
Preferred embodiment scheme, wireless charging platform are connect with box-type substation, and box-type substation is by wind power generating set
Power supply.This programme is suitable for remote mountain area, desert or Oversea wind power generation region, which can be nearest for unmanned plane
Charge power supply is provided.
Fig. 3 is the flow chart of the embodiment of the method for unmanned plane automatic localization wireless charging provided by the invention, this method packet
Include following steps：
Step 1：When the electric quantity monitoring module of unmanned plane detects unmanned plane battery capacity lower than given threshold, electric quantity monitoring
Module issues charging instruction to control module, and control module issues automatic localization instruction, RTK positioning stream to RTK positioning rover station
Wireless charging base station of the dynamic station automatic localization closest to the unmanned plane；
Wherein the RTK positioning rover station in step 1 is with wireless charging base station positioning interaction mode：In wireless charging base station
RTK base station be equipped with RTK module, RTK module in real time to RTK positioning rover station provide survey station point in specified coordinate system
Three-dimensional localization is as a result, RTK base station passes through data transmit-receive module and RTK-GPS antenna for its observation and survey station point coordinate information
Send RTK positioning rover station to together, RTK position rover station not only by data transmit-receive module and RTK-GPS antenna receive come
From the data of RTK base station, while GPS observation data are acquired, and form difference observation and handled in real time, provided li
Meter level positioning result.
Step 2：Unmanned plane drops on the charging base station after selecting closest to wireless charging base station and carries out nothing to unmanned plane
Line charge electricity；
Wherein for step 2 specifically, unmanned plane is during on the selected charging base station of landing, starting is located at unmanned plane bottom
The RF transmitter in portion, RF transmitter carry out precise positioning with infrared receiver on wireless charging platform is located at,
When infrared receiver receives RF transmitter signal, elevating mechanism of the infrared receiver to cylindrical wireless charging stake
Driving signal is issued, elevating mechanism drives cylindrical wireless charging stake to move upwards and is bonded with the bottom of wireless charging board, cylinder
Shape wireless charging stake starts to carry out wireless charging to unmanned machine battery.
Step 3：Unmanned plane electric quantity monitoring module detects that the fully charged backward control module of unmanned machine battery issues cruise and refers to
It enables, control module controls unmanned plane and continues cruise operation.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not intended to limit the present invention the foregoing is merely a specific embodiment of the invention
Protection scope, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should all include
Within protection scope of the present invention.
Claims (9)
1. the device of unmanned plane automatic localization wireless charging, including unmanned plane and wireless charging base station, which is characterized in that the nothing
The man-machine data transmit-receive module being equipped with for receiving control instruction and sending data information, the received control instruction for handling
And the control module that the operation of the unmanned plane is controlled according to the control instruction, for what is positioned to unmanned plane
RTK positions rover station, the electric quantity monitoring module for detecting to unmanned plane battery capacity, for charging to unmanned machine battery
Wireless charging module, the data transmit-receive module, RTK positioning rover station, electric quantity monitoring module connect with control module respectively,
The wireless charging module is connect with unmanned machine battery, and the wireless charging base station includes flowing for positioning to unmanned plane RTK
It stands the wireless charging platform for sending the RTK base station of coordinate information and carrying out wireless charging to unmanned plane, RTK base station is placed in
In wireless charging platform.
2. the device of unmanned plane automatic localization wireless charging according to claim 1, which is characterized in that the wireless charging
Module includes the wireless charging board and RF transmitter positioned at uav bottom, and the wireless charging platform is equipped with top opening
Bowl-type auxiliary positioning plate, the bottom of the bowl-type auxiliary positioning plate is equipped with the cylinder that wireless charging is carried out with wireless charging board
Wireless charging stake is equipped with the infrared receiver cooperated with RF transmitter in the center of cylindrical wireless charging stake,
The infrared receiver and RF transmitter are for confirming that the wireless charging board of unmanned plane is located at the success of wireless charging platform
Contraposition.
3. the device of unmanned plane automatic localization wireless charging according to claim 1, which is characterized in that the RTK benchmark
It stands including RTK module, RTK-GPS antenna, data transmit-receive module and power supply, the RTK-GPS antenna, data transmit-receive module and electricity
Source is connect with RTK module respectively, and the RTK module for providing three-dimensional localization knot of the survey station point in specified coordinate system in real time
Fruit, and reach a centimetre class precision, RTK base station passes through data transmit-receive module and RTK-GPS antenna for its observation and survey station point
Coordinate information sends RTK positioning rover station to together, and RTK positioning rover station not only passes through data transmit-receive module and RTK-GPS days
Line receives the data from RTK base station, while acquiring GPS observation data, and form difference observation and handled in real time, gives
Centimeter-level positioning result out.
4. the device of unmanned plane automatic localization wireless charging according to claim 2, which is characterized in that the cylinder nothing
Line charging pile bottom be equipped with elevating mechanism, the lifting structure when infrared receiver receives RF transmitter signal,
Infrared receiver issues driving signal to elevating mechanism, the elevating mechanism drive cylindrical wireless charging stake move upwards with
The bottom of wireless charging board is bonded, and cylindrical wireless charging stake starts to charge to unmanned machine battery.
5. the device of unmanned plane automatic localization wireless charging according to claim 2, which is characterized in that the unmanned plane bottom
Portion is additionally provided with undercarriage, is equipped with universal wheel in the bottom of undercarriage, the universal wheel is used to cooperate the wireless charging board of unmanned plane
With bowl-type auxiliary positioning plate automatic aligning, which is the physical features automatic aligning with unmanned plane self gravity.
6. the device of unmanned plane automatic localization wireless charging according to claim 2, which is characterized in that the wireless charging
Platform is connect with box-type substation, and box-type substation is powered by wind power generating set.
7. the method for unmanned plane automatic localization wireless charging, which is characterized in that include the following steps：
Step 1：When the electric quantity monitoring module of unmanned plane detects unmanned plane battery capacity lower than given threshold, electric quantity monitoring module
Charging instruction is issued to control module, control module issues automatic localization instruction to RTK positioning rover station, and RTK positions rover station
Wireless charging base station of the automatic localization closest to the unmanned plane；
Step 2：Unmanned plane drops on the charging base station after selecting closest to wireless charging base station and carries out wireless charging to unmanned plane
Electricity；
Step 3：Unmanned plane electric quantity monitoring module detects that the fully charged backward control module of unmanned machine battery issues cruise instruction, control
Molding block controls unmanned plane and continues cruise operation.
8. the method for unmanned plane automatic localization wireless charging according to claim 7, which is characterized in that step 1 tool
Body is：RTK base station in wireless charging base station is equipped with RTK module, and RTK module provides survey to RTK positioning rover station in real time
Three-dimensional localization of the website in specified coordinate system is as a result, RTK base station is seen by data transmit-receive module and RTK-GPS antenna
Measured value and survey station point coordinate information send RTK positioning rover station to together, and RTK positioning rover station not only passes through data transmit-receive module
The data from RTK base station are received with RTK-GPS antenna, while being acquired GPS observation data, and form difference observation
It is handled in real time, provides centimeter-level positioning result.
9. the method for unmanned plane automatic localization wireless charging according to claim 7, which is characterized in that step 2 tool
Body is that for unmanned plane during on the selected charging base station of landing, starting is located at the RF transmitter of uav bottom, red
Outside line transmitter carries out precise positioning with infrared receiver on wireless charging platform is located at, and receives in infrared receiver red
When outside line launcher signal, infrared receiver issues driving signal, elevator to the elevating mechanism of cylindrical wireless charging stake
Structure drives cylindrical wireless charging stake to move upwards and is bonded with the bottom of wireless charging board, and cylindrical wireless charging stake starts to nothing
Man-machine battery carries out wireless charging.
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| CN201810575061.9A CN108819743A (en) | 2018-06-06 | 2018-06-06 | The method and device of unmanned plane automatic localization wireless charging |
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Application publication date: 20181116 |