CN108829138A - A kind of unmanned plane charging level ground distribution and finding method based on cellular base station - Google Patents
A kind of unmanned plane charging level ground distribution and finding method based on cellular base station Download PDFInfo
- Publication number
- CN108829138A CN108829138A CN201810587870.1A CN201810587870A CN108829138A CN 108829138 A CN108829138 A CN 108829138A CN 201810587870 A CN201810587870 A CN 201810587870A CN 108829138 A CN108829138 A CN 108829138A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- level ground
- charging level
- charging
- base station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000001413 cellular effect Effects 0.000 title claims abstract description 32
- 230000005611 electricity Effects 0.000 claims abstract description 19
- 230000006698 induction Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/02—Reservations, e.g. for tickets, services or events
-
- 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]
Landscapes
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Tourism & Hospitality (AREA)
- Physics & Mathematics (AREA)
- Human Resources & Organizations (AREA)
- General Business, Economics & Management (AREA)
- Marketing (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Strategic Management (AREA)
- Economics (AREA)
- Entrepreneurship & Innovation (AREA)
- Development Economics (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention discloses the charging of the unmanned plane based on cellular base station level ground distribution and finding method, specifically implements in accordance with the following steps：Step 1 arranges charging level ground according to honeycomb web frame；Step 2, unmanned plane judge whether to enter charge mode according to electricity, if needing to charge, start charge mode, and select optimal charging level ground position；Step 3, unmanned plane drop to optimal charging level ground position and charge；After step 4, charging complete, unmanned plane opens mission mode, continue to complete dispatching task, the present invention by the dense distribution characteristic of base station and the advantages of electric energy can be provided in conjunction with the coverage property of Cellular Networks, unmanned plane fast and accurately to search out optimal charge level ground to charge, the cruise duration of unmanned plane increases.
Description
Technical field
The invention belongs to unmanned plane charging technique fields, and in particular to a kind of unmanned plane charging level ground point based on cellular base station
Cloth and finding method.
Background technique
Since the flexibility of unmanned plane is high, mobility is good, and reaction speed is fast, and operation requires the advantages that lower, gradually
Start in military affairs, civilian, the fields such as science and technology play an important role.Nowadays, express delivery unmanned plane just comes into being, although nobody
Machine brings great convenience to logistics, but its cruising ability problem is also one of the topic of people's fierceness discussion, it is desirable to
Winged is long, and battery capacity must be big, and battery weight necessarily increases, and consumption power also increases, to the load capacity of unmanned plane
Also limitation can be generated.This basic battery technology is now again without very big breakthrough.
Currently, electronic multi-rotor unmanned aerial vehicle is main unmanned plane type in the market, such as in southwestern first express delivery
Unmanned plane belongs to small-sized short distance type, can carry 10-15 kilograms of cargo, and continuation of the journey range can be 10-15 kilometers of flight, cruise duration
40 minutes, flying height was 120 meters or so, this is not obviously able to satisfy the condition that express delivery needs full-time employment.In addition to this, work as nothing
When man-machine electricity is relatively low, unmanned plane, which also needs to return to charging station, carries out battery altering or charging, also not only will increase nobody in this way
The flight risk of machine, and will cause many meaningless energy consumptions.Automobile wireless charging technique is had begun now to city
Field is released, and the high equipment of power consumption this for unmanned plane can be combined with wireless charging technology.Give unmanned plane wireless charging Denso
Setting needs power supply, and unmanned plane cruising ability is short also to require that around charging unit is more, and in small towns, suburb, mobile base station can
To provide electricity, and rural area base station is generally separated by 3-4 kilometers, is just met for required condition.Drone flying height is on 100 meters of left sides
The right side, wireless charging device can be installed at the top of base station by the height of base station at 35-45 meters or so, in the mistake for finding charging level ground
Cheng Zhong, unmanned plane need to only navigate to the charging level ground of optimum position, and the wireless charging device at the top of base station completes charging process, because
This proposes unmanned plane charging level ground arrangement and finds path planning scheme.
Summary of the invention
The unmanned plane charging level ground distribution and finding method that the object of the present invention is to provide a kind of based on cellular base station, can be fast
Speed accurately searches out optimal charge level ground, so that the cruise duration of unmanned plane increases.
The technical scheme adopted by the invention is that a kind of unmanned plane charging level ground distribution and searching side based on cellular base station
Method is specifically implemented in accordance with the following steps：
Step 1 arranges charging level ground according to honeycomb web frame；
Step 2, unmanned plane judge whether to enter charge mode according to electricity, if needing to charge, start charge mode, and select
Optimal charging level ground position；
Step 3, unmanned plane drop to optimal charging level ground position and charge；
After step 4, charging complete, unmanned plane opens mission mode, continues to complete dispatching task.
The features of the present invention also characterized in that
In step 1, the placement process on the charging level ground is specially：Dispatching region is covered with honeycomb web frame, each
The central point of Cellular Networks determines a base station, and on one charging level ground of each base station top layout.
The charging level ground includes identification beacon module and GPS module, the identification beacon module and GPS module respectively with it is logical
Believe module connection, further includes power supply module and charging induction zone module.
Detailed process is as follows for step 2：
Power module in step 2.1, unmanned plane detects cells electricity, when battery capacity is not more than 20%, electricity
Controller of the source module into unmanned plane sends signal, and unmanned plane opens charge mode；
Step 2.2, unmanned plane start to search for the charging that power supply module is idle state in a certain range of this Cellular Networks
Level ground, if this range has the charging level ground under multiple idle states, by the distance-taxis between unmanned plane position and multiple charging level ground positions
Find out the charging level ground position of the shortest distance；
Step 2.3, unmanned plane are sent by data transmit-receive module to the power supply module on the charging level ground of the shortest distance pre-
About charge information, after reserving successfully, unmanned plane feeds back the information of identification code of itself in the charging level ground, meanwhile, which will
The state of power supply module is changed to reserve.
In step 2.2, when 10%≤battery capacity≤20%, the search radius of unmanned plane is 6km~8km, searches for angle
It is 90 degree, the direction of search is the heading of the unmanned plane；When battery capacity is less than 10%, the search radius of unmanned plane is
3km~4km, search angle are 90 degree, and the direction of search is the heading of the unmanned plane.
The detailed process of step 3 is：
When unmanned plane is flown according to the GPS position information on reservation charging level ground to the charging level ground, charging level ground passes through communication
Information of identification code is sent to unmanned plane and matched by module, if successful match, unmanned plane continues filling in the charging level ground of landing
Electric induction area starts to charge, and the state of power supply module is changed in charging by charging level ground.
The detailed process of step 4 is：
After charging complete, the power module in unmanned plane sends charge completion information to controller, and controller controls nobody
Machine opens mission mode, while sending charge completion information to the charging level ground, and the state of power supply module is changed to the free time by level ground of charging,
Unmanned plane flies away from the charging level ground, continues to complete dispatching task.
The invention has the advantages that
A kind of unmanned plane charging level ground distribution and finding method based on cellular base station, is placed in base for unmanned plane wireless charging level ground
It stands top, guarantees sufficient power supply, unmanned plane need to only navigate to its position and rest on above charging level ground and can complete to charge, and save
Human resources have been saved, and have reduced the cost of charging station construction, have shortened the height of required decline when unmanned plane charging, from
And reduce meaningless energy consumption；The dense distribution characteristic of base station and the advantages of electric energy can be provided covering in conjunction with Cellular Networks
Lid characteristic enables unmanned plane fast and accurately to search out optimal charge level ground and charges, and the cruise duration of unmanned plane increases；
Falling of being likely to cause is recharged in order to avoid being exhausted by battery, using the mechanism of giving warning in advance, unmanned plane electricity is divided into several
A grade searches for charging level ground in advance and charges, in addition, charging level ground is divided into three kinds of states, avoids touching between machine in charging process
It hits, carries out multiple UAVs charging process orderly.
Detailed description of the invention
Fig. 1 is the distribution map on charging level ground in the present invention；
Fig. 2 is the basic structure schematic diagram on charging level ground in the present invention；
Fig. 3 is the basic structure schematic diagram of unmanned plane in the present invention；
Fig. 4 is that the battery capacity of unmanned plane in the present invention is greater than 10% and search range schematic diagram when less than 20%；
Fig. 5 be the battery capacity of unmanned plane in the present invention less than 10% when search range schematic diagram.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of unmanned plane charging level ground distribution and finding method based on cellular base station of the present invention, it is specifically real in accordance with the following steps
It applies：
Step 1 arranges charging level ground according to honeycomb web frame；
When one timing of overlay area, it is minimum that Cellular Networks cover used number of nodes, therefore will dispense region Cellular Networks
Structure covering determines a base station in the central point of each Cellular Networks, and on one charging level ground of each base station top layout, such as schemes
Shown in 1.
As shown in Fig. 2, the wireless charging level ground in the present invention includes five modules：Communication module, identification beacon module, power supply
Module, charging induction zone module, GPS module, identification beacon module and GPS module are connect with communication module respectively, wherein charging
Level ground power supply module is divided into three states：Free time has reserved, in use；The identification beacon on charging level ground for unmanned plane identification and is sought
It looks for；GPS module is for positioning charging level ground position.
Step 2, unmanned plane judge whether to enter charge mode according to electricity, if needing to charge, start charge mode, and select
Optimal charging level ground position；
As shown in figure 3, the unmanned plane in the present invention includes three modules, control module, data transmit-receive module and power supply mould
Block.Wherein data transmit-receive module be used to receive charging level ground position and status information or to charging level ground send information；Control module
According to the data or instruction control unmanned plane during flying received；Power module belongs to the battery for supporting wireless charging, battery
Inside have a voltameter, the remaining capacity in real-time monitoring battery, battery capacity is divided into three phases by unmanned plane：Electricity
Greater than 20%, unmanned plane can at least fly two cellular distances at this time, and battery belongs to the electricity sufficient stage；10%≤battery electricity
When amount≤20%, unmanned plane can fly one to two cellular distances at this time, and battery belongs to electricity alert status；Electricity is less than
When 10%, unmanned plane can only fly in this honeycomb at this time, and battery belongs to electricity warning stage.
Unmanned plane also includes the unique identifier of itself, is matched for discriminating whether with the charging level ground reserved, and ability is matched
It charges.
Detailed process is as follows：
Step 2.1, as shown in figure 4, power module moment inspection when unmanned plane dispenses cargo toward the direction AB, in unmanned plane
Cells electricity is surveyed, when battery capacity is lower than 20%, controller of the power module into unmanned plane sends signal, unmanned plane
Open charge mode；
Step 2.2, unmanned plane start to search for the charging that power supply module is idle state in a certain range of this Cellular Networks
Level ground, if this range has the charging level ground under multiple idle states, by the distance-taxis between unmanned plane position and multiple charging level ground positions
The charging level ground position of the shortest distance is found out, if the charging level ground within the scope of this without idle state, unmanned plane continues flight search；
Step 2.3, unmanned plane are sent by data transmit-receive module to the power supply module on the charging level ground of the shortest distance pre-
About charge information, after reserving successfully, unmanned plane feeds back the information of identification code of itself in the charging level ground, meanwhile, which will
The state of power supply module is changed to reserve.
Wherein, when 10%≤battery capacity≤20%, the search range of unmanned plane is the fan section in the direction AB, such as Fig. 4 institute
Show, radius is 6km~8km, i.e., the distance of two Cellular Networks, to avoid turning back, flight goes to charge, and search angle is 90 degree, search
Direction is the heading of the unmanned plane, and search range is this Cellular Networks；When battery capacity is less than 10%, at this point, electricity
Will exhaust, search range reduces one times and finds suitable charging level ground, as shown in figure 5, the search radius of unmanned plane be 3km~
4km is equivalent to the distance of a Cellular Networks, and search angle is 90 degree, and the direction of search is the heading of the unmanned plane.The present invention
Middle consideration charging level ground is enough, guarantees to find charging level ground when search range is enough big.
Step 3, unmanned plane drop to optimal charging level ground position and charge；
When unmanned plane is flown according to the GPS position information on reservation charging level ground to the charging level ground, charging level ground passes through communication
Information of identification code is sent to unmanned plane and matched by module, if successful match, unmanned plane continues filling in the charging level ground of landing
Electric induction area starts to charge, and the state of power supply module is changed in charging by charging level ground.
During landing, unmanned plane constantly detects the vertical range of itself and charging level ground by infrared range-measurement system, slowly
Decline, charging induction zone in charging level ground is generally more slightly larger than unmanned plane charging induction region, allows reasonable drop error.
After step 4, charging complete, unmanned plane opens mission mode, continues to complete dispatching task.
After charging complete, the power module in unmanned plane sends charge completion information to controller, and controller controls nobody
Machine opens mission mode, while sending charge completion information to the charging level ground, and the state of power supply module is changed to the free time by level ground of charging,
Unmanned plane flies away from the charging level ground, continues to complete dispatching task.
A kind of unmanned plane charging level ground distribution and finding method, the dense distribution of base station based on cellular base station of the invention is special
Property and the advantages of electric energy can be provided in conjunction with the coverage property of Cellular Networks, unmanned plane is fast and accurately searched out most preferably
Charging level ground is charged, and the cruise duration of unmanned plane increases；Falling of being likely to cause is recharged in order to avoid being exhausted by battery,
Using the mechanism of giving warning in advance, unmanned plane electricity is divided into several grades searches for charging level ground in advance and charge, in addition, the level ground that will charge
It is divided into three kinds of states, avoids colliding between machine in charging process, carry out multiple UAVs charging process orderly.
Claims (7)
1. a kind of unmanned plane charging level ground distribution and finding method based on cellular base station, which is characterized in that specifically according to following step
It is rapid to implement：
Step 1 arranges charging level ground according to honeycomb web frame；
Step 2, unmanned plane judge whether to enter charge mode according to electricity, if needing to charge, start charge mode, and select best
Charging level ground position；
Step 3, unmanned plane drop to optimal charging level ground position and charge；
After step 4, charging complete, unmanned plane opens mission mode, continues to complete dispatching task.
2. a kind of unmanned plane charging level ground distribution and finding method, feature based on cellular base station as described in claim 1 exists
In in step 1, the placement process on the charging level ground is specially：Dispatching region is covered with honeycomb web frame, in each Cellular Networks
Central point determine a base station, and on one charging level ground of each base station top layout.
3. a kind of unmanned plane charging level ground distribution and finding method, feature based on cellular base station as described in claim 1 exists
In, the charging level ground include identification beacon module and GPS module, the identification beacon module and GPS module respectively with communicate mould
Block connection further includes power supply module and charging induction zone module.
4. a kind of unmanned plane charging level ground distribution and finding method, feature based on cellular base station as claimed in claim 3 exists
In detailed process is as follows for step 2：
Power module in step 2.1, unmanned plane detects cells electricity, when battery capacity is not more than 20%, power supply mould
Controller of the block into unmanned plane sends signal, and unmanned plane opens charge mode；
Step 2.2, unmanned plane start to search for the charging level ground that power supply module is idle state in a certain range of this Cellular Networks, if
This range has the charging level ground under multiple idle states, and the distance-taxis between unmanned plane position and multiple charging level ground positions is found out most
Short-range charging level ground position；
Step 2.3, unmanned plane send reservation to the power supply module on the charging level ground of the shortest distance by data transmit-receive module and fill
Power information, after reserving successfully, unmanned plane feeds back the information of identification code of itself in the charging level ground, meanwhile, which will power
The state of module is changed to reserve.
5. a kind of unmanned plane charging level ground distribution and finding method, feature based on cellular base station as claimed in claim 4 exists
In in step 2.2, when 10%≤battery capacity≤20%, the search radius of unmanned plane is 6km~8km, and search angle is 90
Degree, the direction of search are the heading of the unmanned plane；When battery capacity is less than 10%, the search radius of unmanned plane be 3km~
4km, search angle are 90 degree, and the direction of search is the heading of the unmanned plane.
6. a kind of unmanned plane charging level ground distribution and finding method, feature based on cellular base station as claimed in claim 4 exists
In the detailed process of step 3 is：
When unmanned plane is flown according to the GPS position information on reservation charging level ground to the charging level ground, charging level ground passes through communication module
Information of identification code is sent to unmanned plane to match, if successful match, unmanned plane continues to land in the charging sense on the charging level ground
Area is answered to start to charge, the state of power supply module is changed in charging by charging level ground.
7. a kind of unmanned plane charging level ground distribution and finding method, feature based on cellular base station as claimed in claim 6 exists
In the detailed process of step 4 is：
After charging complete, the power module in unmanned plane sends charge completion information to controller, and controller control unmanned plane is opened
Mission mode is opened, while sending charge completion information to the charging level ground, the state of power supply module is changed to the free time by level ground of charging, nobody
Machine flies away from the charging level ground, continues to complete dispatching task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810587870.1A CN108829138A (en) | 2018-06-08 | 2018-06-08 | A kind of unmanned plane charging level ground distribution and finding method based on cellular base station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810587870.1A CN108829138A (en) | 2018-06-08 | 2018-06-08 | A kind of unmanned plane charging level ground distribution and finding method based on cellular base station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108829138A true CN108829138A (en) | 2018-11-16 |
Family
ID=64143600
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810587870.1A Pending CN108829138A (en) | 2018-06-08 | 2018-06-08 | A kind of unmanned plane charging level ground distribution and finding method based on cellular base station |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108829138A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203087A (en) * | 2019-05-17 | 2019-09-06 | 西安理工大学 | Charge level ground system and its charging method for the unmanned plane base station autonomous landing 5G |
| CN110209203A (en) * | 2019-06-27 | 2019-09-06 | 西安理工大学 | Unmanned aerial vehicle flight path planing method based on the charging level ground continuation of the journey of the base station 5G |
| CN110310520A (en) * | 2019-06-14 | 2019-10-08 | 西安理工大学 | The aerial virtual fence method of the wireless ultraviolet light on unmanned plane recharging level ground |
| CN110348611A (en) * | 2019-06-21 | 2019-10-18 | 西安理工大学 | The optimum allocation method and system on a kind of networking unmanned plane reservation base station 5G charging level ground |
| CN112286226A (en) * | 2020-10-29 | 2021-01-29 | 西北工业大学 | Unmanned aerial vehicle management system |
| CN114476109A (en) * | 2022-01-05 | 2022-05-13 | 军事科学院系统工程研究院军事新能源技术研究所 | Vehicle-mounted wireless charging device for unmanned aerial vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105932737A (en) * | 2016-05-31 | 2016-09-07 | 夏烬楚 | Distributed charging management system and method for unmanned aerial vehicle |
| CN106130104A (en) * | 2016-07-12 | 2016-11-16 | 上海与德通讯技术有限公司 | A kind of unmanned plane charging method and device |
| CN106209206A (en) * | 2016-07-12 | 2016-12-07 | 上海与德通讯技术有限公司 | A kind of unmanned plane charging base station and system |
| CN106908074A (en) * | 2017-03-10 | 2017-06-30 | 湖北文理学院 | Charging intelligent searching system and method |
| CN108001684A (en) * | 2017-11-30 | 2018-05-08 | 上海拓攻机器人有限公司 | Unmanned plane, cloud server, wireless charging system and method |
-
2018
- 2018-06-08 CN CN201810587870.1A patent/CN108829138A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105932737A (en) * | 2016-05-31 | 2016-09-07 | 夏烬楚 | Distributed charging management system and method for unmanned aerial vehicle |
| CN106130104A (en) * | 2016-07-12 | 2016-11-16 | 上海与德通讯技术有限公司 | A kind of unmanned plane charging method and device |
| CN106209206A (en) * | 2016-07-12 | 2016-12-07 | 上海与德通讯技术有限公司 | A kind of unmanned plane charging base station and system |
| CN106908074A (en) * | 2017-03-10 | 2017-06-30 | 湖北文理学院 | Charging intelligent searching system and method |
| CN108001684A (en) * | 2017-11-30 | 2018-05-08 | 上海拓攻机器人有限公司 | Unmanned plane, cloud server, wireless charging system and method |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203087A (en) * | 2019-05-17 | 2019-09-06 | 西安理工大学 | Charge level ground system and its charging method for the unmanned plane base station autonomous landing 5G |
| CN110310520A (en) * | 2019-06-14 | 2019-10-08 | 西安理工大学 | The aerial virtual fence method of the wireless ultraviolet light on unmanned plane recharging level ground |
| CN110348611A (en) * | 2019-06-21 | 2019-10-18 | 西安理工大学 | The optimum allocation method and system on a kind of networking unmanned plane reservation base station 5G charging level ground |
| CN110209203A (en) * | 2019-06-27 | 2019-09-06 | 西安理工大学 | Unmanned aerial vehicle flight path planing method based on the charging level ground continuation of the journey of the base station 5G |
| CN112286226A (en) * | 2020-10-29 | 2021-01-29 | 西北工业大学 | Unmanned aerial vehicle management system |
| CN114476109A (en) * | 2022-01-05 | 2022-05-13 | 军事科学院系统工程研究院军事新能源技术研究所 | Vehicle-mounted wireless charging device for unmanned aerial vehicle |
| CN114476109B (en) * | 2022-01-05 | 2024-07-16 | 军事科学院系统工程研究院军事新能源技术研究所 | Vehicle-mounted wireless charging device for unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108829138A (en) | A kind of unmanned plane charging level ground distribution and finding method based on cellular base station | |
| JP6897495B2 (en) | Vehicle allocation system and vehicle allocation method | |
| US11420530B2 (en) | System and methods for a charging network of mobile power transmitters | |
| CN107108029B (en) | Carry unmanned vehicle | |
| CN108520375B (en) | Distributed logistics system and method based on base station | |
| CN205178538U (en) | Electric vehicle removes wireless charging system | |
| CN205049974U (en) | Automatic charging system of portable website that charges, unmanned aerial vehicle and unmanned aerial vehicle | |
| CN107657334A (en) | A kind of loading unmanned plane scheduling system, method and service end for goods delivery | |
| CN105790350A (en) | Energy supply station and energy supply method | |
| CN109789794A (en) | System, the method and apparatus of the electric power acquisition based on induction for the battery power supply vehicles | |
| CN106532818A (en) | Automatic endurance charging pile for rotor wing unmanned aerial vehicle and automatic endurance method therefor | |
| CN111347897B (en) | Mutual power borrowing system of unmanned vehicle and control method thereof | |
| CN105226836A (en) | A kind of can the unmanned plane of automatic charging, unmanned plane charging system and charging method | |
| KR101679823B1 (en) | Unmanned aerial vehicle and battery charging method thereof | |
| CN110234547A (en) | Unmanned plane is to Vehicular charging | |
| CN107953798B (en) | Electric vehicle navigation method and system based on energy storage charging pile electric quantity guidance | |
| CN110348611A (en) | The optimum allocation method and system on a kind of networking unmanned plane reservation base station 5G charging level ground | |
| AU2018393346B2 (en) | Electric vehicle navigation method and system based on power guidance of energy-storage charging pile | |
| CN110254737B (en) | Multifunctional unmanned aerial vehicle comprehensive management platform and control method thereof | |
| WO2022110116A1 (en) | Flight charging method and system and charging unmanned aerial vehicle | |
| CN205489663U (en) | Energy depot | |
| CN205304797U (en) | Wireless charging system | |
| CN106998095A (en) | A kind of unmanned plane management platform | |
| CN111452647B (en) | Multi-unmanned aerial vehicle three-dimensional charging system and charging position assignment method | |
| CN110884310A (en) | Flying automobile and power supply method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181116 |
|
| RJ01 | Rejection of invention patent application after publication |