CN110509806A - Localization method, unmanned plane and the charging platform of unmanned plane wireless charging - Google Patents
Localization method, unmanned plane and the charging platform of unmanned plane wireless charging Download PDFInfo
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- CN110509806A CN110509806A CN201910903194.9A CN201910903194A CN110509806A CN 110509806 A CN110509806 A CN 110509806A CN 201910903194 A CN201910903194 A CN 201910903194A CN 110509806 A CN110509806 A CN 110509806A
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- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000004807 localization Effects 0.000 title claims abstract description 26
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- 230000005611 electricity Effects 0.000 claims description 39
- 230000005540 biological transmission Effects 0.000 claims description 30
- 238000004590 computer program Methods 0.000 claims description 16
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- 238000001514 detection method Methods 0.000 description 4
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Classifications
-
- 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
- B60L53/30—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
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
-
- 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
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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
-
- 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)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
Present applicant proposes localization method, unmanned plane and the charging platforms of a kind of unmanned plane wireless charging, wherein, the localization method of above-mentioned unmanned plane wireless charging includes: to obtain the charging platform at a distance from the unmanned plane within a predetermined range when unmanned plane currently meets wireless charging condition；Wireless charging request is sent to the charging platform；Receive the wireless charging response that the charging platform is sent；It after the location information of the charging platform obtained according to the unmanned plane drops to the predetermined position above the charging platform, is communicated with the charging platform, receives the position correction information that the charging platform is sent；It is positioned according to the position correction information.The application may be implemented when being powered by way of wireless charging to unmanned plane, charging platform sends position correction information to unmanned plane, it positions unmanned plane according to above-mentioned position correction information, improves the positioning accuracy of wireless charging, and then improve the efficiency of wireless charging.
Description
[technical field]
This application involves wireless charging technical field more particularly to a kind of localization method of unmanned plane wireless charging, nobody
Machine and charging platform.
[background technique]
UAV, abbreviation unmanned plane, with maneuverability, rapid reaction, unmanned flight, operation require it is low,
The advantages that taking off without runway or other ancillary equipments.Unmanned plane may be implemented image and pass in real time by carrying multiclass sensor
Defeated, high-risk areas detecting function etc., and currently, the use scope of unmanned plane has 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 various equipment on unmanned plane, and 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, to understand
The certainly problem of the cruising ability deficiency of unmanned plane, it is existing in the related technology, propose by way of wireless charging to unmanned plane
It is powered, but in the existing scheme for carrying out wireless charging to unmanned plane, unmanned plane generally uses global positioning system
(Global Positioning System；Hereinafter referred to as: GPS), the modes such as laser or image recognition determine charging platform
Position, has that positioning accuracy is lower, causes the efficiency of wireless charging lower.
[summary of the invention]
The embodiment of the present application provides localization method, unmanned plane and the charging platform of a kind of unmanned plane wireless charging, with reality
When being powered by way of wireless charging to unmanned plane now, charging platform sends position correction information to unmanned plane, makes
Unmanned plane is positioned according to above-mentioned position correction information, improves the positioning accuracy of wireless charging, and then improve wireless charging
Efficiency.
In a first aspect, the embodiment of the present application provides a kind of localization method of unmanned plane wireless charging, comprising: work as unmanned plane
When currently meeting wireless charging condition, the charging platform at a distance from the unmanned plane within a predetermined range, the charging are obtained
Platform setting is provided with wireless charging transmit circuit in ground surface end, the charging platform；It is sent to the charging platform wireless
Charge request；The wireless charging response that the charging platform is sent is received, the wireless charging response is the charging platform root
According to the status information of the charging platform, determines and sent after the charging platform has the ability for unmanned plane charging
's；According to the unmanned plane obtain charging platform location information drop to the predetermined position above the charging platform it
Afterwards, it is communicated with the charging platform, receives the position correction information that the charging platform is sent；According to the position correction
Information is positioned, so that the unmanned plane drops to position indicated by the position correction information on the charging platform.
Wherein in one possible implementation, described to be positioned according to the position correction information, so that described
Unmanned plane drops on the charging platform after position indicated by the position correction information, further includes: passes through the nothing
Wireless charging on man-machine receives the electromagnetic wave that circuit receives the wireless charging transmit circuit transmitting of the charging platform, to institute
It states unmanned plane and carries out wireless charging.
Wherein in one possible implementation, the wireless charging on the unmanned plane receives circuit and is arranged in the nothing
On man-machine undercarriage.
Wherein in one possible implementation, it includes following one that the unmanned plane, which currently meets wireless charging condition,
Or combination: the unmanned plane current residual electricity reaches preset power threshold；The unmanned plane executes cruise task and works as front and continued
Boat mileage reaches scheduled course continuation mileage；The unmanned plane currently meets preset charging strategy.
Second aspect, the embodiment of the present application provide a kind of localization method of unmanned plane wireless charging, comprising: receive unmanned plane
The wireless charging of transmission is requested, when the wireless charging request is that the unmanned plane currently meets wireless charging condition, obtain with
After the charging platform of the distance of the unmanned plane within a predetermined range, what Xiang Suoshu charging platform was sent, the charging platform
Setting is provided with wireless charging transmit circuit in ground surface end, the charging platform；According to the status information of the charging platform,
After determining that the charging platform has the ability for unmanned plane charging, Xiang Suoshu unmanned plane sends wireless charging response；
It detects that the unmanned plane has dropped to after the predetermined position above the charging platform, is communicated with the unmanned plane,
Position correction information is sent to the unmanned plane, so that the unmanned plane is positioned according to the position correction information.
In one of possible implementation, after the transmission position correction information to the unmanned plane, further includes:
Circuit transmission electromagnetic wave is received by wireless charging of the wireless charging transmit circuit of the charging platform on the unmanned plane,
To carry out wireless charging to the unmanned plane.
In one of possible implementation, the status information according to the charging platform determines the charging
It includes: the transmitting function according to the wireless charging transmit circuit of the charging platform that platform, which has the ability for unmanned plane charging,
Charge power needed for the wireless charging of rate and the unmanned plane receives circuit, determination can carry out simultaneously on the charging platform
The amount threshold of the unmanned plane of charging, and it is described to determine that the quantity of the unmanned plane currently to charge on the charging platform is less than
Amount threshold.
In one of possible implementation, before the transmission position correction information to the unmanned plane, further includes:
After being communicated with the unmanned plane, according to filling for the quantity of the unmanned plane to have charged on the charging platform and place
Electric position, the unmanned plane to be communicated determine charge position, using the charge position as the position correction information.
In one of possible implementation, the status information according to the charging platform determines the charging
It includes: to obtain wireless charging transmit circuit included by the charging platform that platform, which has the ability for unmanned plane charging,
Quantity, wherein a wireless charging transmit circuit of the charging platform is used to carry out wireless charging for a frame unmanned plane, described
The distance between any two wireless charging transmit circuit included by charging platform is greater than or equal to preset distance threshold；Really
Quantity before settled in the unmanned plane of charging platform charging is less than the transmitting electricity of wireless charging included by the charging platform
The quantity on road.
In one of possible implementation, before the transmission position correction information to the unmanned plane, further includes:
After being communicated with the unmanned plane, according to the position of wireless charging transmit circuit idle on the charging platform, choosing
It is selected as the wireless charging transmit circuit that the unmanned plane charges, with the wireless charging transmit circuit in the charging platform
On position as the position correction information.
The third aspect, the embodiment of the present application provide a kind of unmanned plane, comprising: receiver, transmitter, memory and processing
Device；The processor is connect with the receiver, the transmitter and the memory；The memory is calculated for storing
Machine program；The processor, for executing the computer program stored on the memory, when unmanned plane currently meets wireless charging
When electric condition, the charging platform at a distance from the unmanned plane within a predetermined range is obtained, the charging platform is arranged on ground
It holds, is provided with wireless charging transmit circuit in the charging platform；The transmitter, it is wireless for being sent to the charging platform
Charge request；The receiver, the wireless charging response sent for receiving the charging platform, the wireless charging response are
The charging platform determines that the charging platform has for unmanned plane charging according to the status information of the charging platform
It is sent after ability；And the charging platform is dropped in the location information of the charging platform obtained according to the unmanned plane
It after the predetermined position of top, is communicated with the charging platform, receives the position correction information that the charging platform is sent；
The processor is also used to be positioned according to the position correction information, so that the unmanned plane drops to the chargin level
Position indicated by the position correction information on platform.
In one of possible implementation, the unmanned plane further include: wireless charging receives circuit；The wireless charging
Electricity receives circuit, for being positioned in the processor according to the position correction information, so that the unmanned plane drops to
On the charging platform after position indicated by the position correction information, the wireless charging transmitting of the charging platform is received
The electromagnetic wave of circuit transmission, to carry out wireless charging to the unmanned plane.
In one of possible implementation, the wireless charging receives the undercarriage that the unmanned plane is arranged in circuit
On.
Fourth aspect, the embodiment of the present application provide a kind of charging platform, and the charging platform setting is described to fill in ground surface end
Level platform includes: receiver, transmitter, memory and processor；The processor and the receiver, the transmitter and institute
State memory connection；The memory, for storing computer program；The receiver, for receiving the nothing of unmanned plane transmission
Line charge request, when wireless charging request is that the unmanned plane currently meets wireless charging condition, obtain with it is described nobody
After the charging platform of the distance of machine within a predetermined range, what Xiang Suoshu charging platform was sent；The processor, for executing
The computer program stored on memory is stated, according to the status information of the charging platform, determining that the charging platform has is
The ability of the unmanned plane charging；The transmitter, for determining that the charging platform has for the nothing in the processor
After the ability of man-machine charging, Xiang Suoshu unmanned plane sends wireless charging response；And detecting that the unmanned plane landed
It after predetermined position above to the charging platform, is communicated with the unmanned plane, Xiang Suoshu unmanned plane sends position school
Positive information, so that the unmanned plane is positioned according to the position correction information.
In one of possible implementation, the charging platform further include: wireless charging transmit circuit；The nothing
Line charge electricity transmit circuit is used for after the transmitter sends position correction information to the unmanned plane, Xiang Suoshu unmanned plane
On wireless charging receive circuit transmission electromagnetic wave, with to the unmanned plane carry out wireless charging.
In one of possible implementation, the processor, specifically for the wireless charging according to the charging platform
Charge power needed for the wireless charging of the transmission power of electric transmit circuit and the unmanned plane receives circuit, determination are filled described
The amount threshold for the unmanned plane that can be charged simultaneously on level platform, and determine the nothing currently to charge on the charging platform
Man-machine quantity is less than the amount threshold.
In one of possible implementation, the processor is also used to send out in the transmitter to the unmanned plane
Before sending position correction information, after being communicated with the unmanned plane, according to the nothing to have charged on the charging platform
The charge position of man-machine quantity and place, the unmanned plane to be communicated determine charge position, using the charge position as
The position correction information.
In one of possible implementation, the processor, specifically for obtaining included by the charging platform
The quantity of wireless charging transmit circuit, wherein a wireless charging transmit circuit of the charging platform be used for for a frame nobody
Machine carries out wireless charging, and the distance between any two wireless charging transmit circuit included by the charging platform is greater than or waits
In preset distance threshold；And it determines and is currently less than the charging platform in the quantity of the unmanned plane of charging platform charging
The quantity of included wireless charging transmit circuit.
In one of possible implementation, the processor is also used to send out in the transmitter to the unmanned plane
Before sending position correction information, after being communicated with the unmanned plane, according to wireless charging idle on the charging platform
The position of electric transmit circuit is selected as the wireless charging transmit circuit that the unmanned plane charges, with wireless charging hair
Position of the transmit-receive radio road on the charging platform is as the position correction information.
5th aspect, the embodiment of the present application provide a kind of non-transitorycomputer readable storage medium, are stored thereon with meter
Calculation machine program realizes the method that first aspect provides when the computer program is executed by processor.
6th aspect, the embodiment of the present application provide a kind of non-transitorycomputer readable storage medium, are stored thereon with meter
Calculation machine program realizes the method that second aspect provides when the computer program is executed by processor.
In above technical scheme, when unmanned plane currently meets wireless charging condition, obtain at a distance from above-mentioned unmanned plane
Charging platform within a predetermined range, Xiang Shangshu charging platform send wireless charging request, then receive above-mentioned charging platform hair
The wireless charging response sent, wherein above-mentioned wireless charging response is status information of the charging platform according to above-mentioned charging platform, really
There is fixed above-mentioned charging platform the ability for the charging of above-mentioned unmanned plane to send later.In the charging platform obtained according to unmanned plane
Location information drop to after the predetermined position above charging platform, communicated with above-mentioned charging platform, receive and above-mentioned fills
The position correction information that level platform is sent, is finally positioned according to above-mentioned position correction information, is filled so that unmanned plane drops to
Position indicated by the position correction information on level platform, so as to realize by way of wireless charging to unmanned plane
When being powered, charging platform sends position correction information to unmanned plane, carries out unmanned plane according to above-mentioned position correction information
Positioning improves the positioning accuracy of wireless charging, and then improves the efficiency of wireless charging.
[Detailed description of the invention]
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for this field
For those of ordinary skill, without creative efforts, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the flow chart of localization method one embodiment of the application unmanned plane wireless charging；
Fig. 2 is the flow chart of another embodiment of the localization method of the application unmanned plane wireless charging；
Fig. 3 is the flow chart of the localization method further embodiment of the application unmanned plane wireless charging；
Fig. 4 is the flow chart of the localization method further embodiment of the application unmanned plane wireless charging；
Fig. 5 is the structural schematic diagram of the application unmanned plane one embodiment；
Fig. 6 is the structural schematic diagram of the application charging platform one embodiment.
[specific embodiment]
In order to better understand the technical solution of the application, the embodiment of the present application is retouched in detail with reference to the accompanying drawing
It states.
It will be appreciated that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Base
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall in the protection scope of this application.
The term used in the embodiment of the present application is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The application.In the embodiment of the present application and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning.
Fig. 1 is the flow chart of localization method one embodiment of the application unmanned plane wireless charging, as shown in Figure 1, above-mentioned
The localization method of unmanned plane wireless charging may include:
Step 101, it when unmanned plane currently meets wireless charging condition, obtains at a distance from above-mentioned unmanned plane in predetermined model
Interior charging platform is enclosed, above-mentioned charging platform setting is provided with wireless charging transmit circuit in ground surface end, above-mentioned charging platform.
Wherein, above-mentioned preset range can voluntarily be set according to system performance and/or realization demand etc. in specific implementation
Fixed, the present embodiment is not construed as limiting the size of above-mentioned preset range, for example, above-mentioned preset range can be and unmanned plane
Distance is less than or equal to 200 meters of range.
In the present embodiment, charging platform setting can be set according to scheduled distance interval (such as: 1000 meters) in ground surface end
It sets, in this way, unmanned plane is when executing cruise task, it, can if detecting that above-mentioned unmanned plane currently meets wireless charging condition
To obtain the charging platform at a distance from above-mentioned unmanned plane within a predetermined range, and then wireless charging request is issued, overcoming needs
The defect of cruise task can be just continued to execute by replacing battery.
Wherein, it may include following one or combination that above-mentioned unmanned plane, which currently meets wireless charging condition:
1) unmanned plane current residual electricity reaches preset power threshold；
2) unmanned plane executes cruise task and current course continuation mileage reaches scheduled course continuation mileage；
3) unmanned plane currently meets preset charging strategy.
Specifically, above-mentioned preset power threshold can in specific implementation, certainly according to system performance and/or realization demand etc.
Row setting, the present embodiment is not construed as limiting the size of above-mentioned preset power threshold, for example, above-mentioned preset power threshold can be with
It is the 10% of the battery total electricity loaded in unmanned plane, in this way, when unmanned plane detects that current residual electricity reaches in unmanned plane
The battery total electricity of loading 10% when, unmanned plane needs to obtain distance charging platform within a predetermined range；
Above-mentioned scheduled course continuation mileage can be the sum of above-mentioned preset range and predetermined mileage (setting according to actual needs),
When unmanned plane executes cruise task, if detecting that the current course continuation mileage of above-mentioned unmanned plane reaches in above-mentioned scheduled continuation of the journey
Journey, no matter then whether unmanned plane has executed above-mentioned cruise task, unmanned plane is required to obtain the charging of distance within a predetermined range
Platform；
Above-mentioned preset charging strategy can reach the flight of scheduled duration and/or unmanned plane for the flight time of unmanned plane
Distance reaches preset distance etc., and the present embodiment is not construed as limiting the particular content of above-mentioned preset charging strategy, if unmanned plane is worked as
Before meet preset charging strategy, then need to obtain distance charging platform within a predetermined range.
Step 102, Xiang Shangshu charging platform sends wireless charging request.
Step 103, the wireless charging response that above-mentioned charging platform is sent is received, above-mentioned wireless charging response is charging platform
According to the status information of above-mentioned charging platform, determines and sent after above-mentioned charging platform has the ability for the charging of above-mentioned unmanned plane
's.
Step 104, the location information of the charging platform obtained according to unmanned plane drops to pre- above above-mentioned charging platform
It after positioning is set, is communicated with above-mentioned charging platform, receives the position correction information that above-mentioned charging platform is sent.
Wherein, above-mentioned predetermined position can be above-mentioned charging platform top, and with above-mentioned charging platform at a distance of pre- spacing
From position, above-mentioned preset distance can in specific implementation, according to the sets itselfs such as system performance and/or realization demand, this
Embodiment is not construed as limiting the size of above-mentioned preset distance, for example, above-mentioned preset distance can be 5 meters.
It, can after unmanned plane obtains the charging platform at a distance from above-mentioned unmanned plane within a predetermined range in the present embodiment
To get the location information of above-mentioned charging platform, after the wireless charging response for receiving charging platform, unmanned plane can be with
Landed according to the location information of the charging platform of acquisition, it, can be with after dropping to the predetermined position above charging platform
It is communicated again with charging platform, receives the position correction information that above-mentioned charging platform is sent, wherein above-mentioned position correction information
It is used to indicate the specific location that unmanned plane lands on above-mentioned charging platform.
Step 105, it is positioned according to above-mentioned position correction information, so that unmanned plane drops to institute on above-mentioned charging platform
Rheme sets position indicated by control information.
Further, after step 105, circuit can also be received by the wireless charging on unmanned plane and receive above-mentioned charging
The electromagnetic wave of the wireless charging transmit circuit transmitting of platform, to carry out wireless charging to above-mentioned unmanned plane.
In the present embodiment, the wireless charging on above-mentioned unmanned plane, which receives circuit, can be set the undercarriage in above-mentioned unmanned plane
On, certainly above-mentioned wireless charging receives the other positions that above-mentioned unmanned plane can also be arranged in circuit, and the present embodiment is to wireless charging
Electricity receives setting position of the circuit on above-mentioned unmanned plane and is not construed as limiting.
Specifically, the wireless charging transmitting electricity that circuit receives above-mentioned charging platform is received by the wireless charging on unmanned plane
The electromagnetic wave of road transmitting can be with are as follows: emits the wireless charging that the wireless charging on unmanned plane receives circuit and above-mentioned charging platform
Circuit carries out electromagnetic coupling, to receive the electromagnetic wave of above-mentioned wireless charging transmit circuit transmitting, carries out to realize to unmanned plane
Wireless charging.
Since wireless charging is to be charged by electromagnetic coupling to unmanned plane, the wireless charging in unmanned plane is received
The relative position of the wireless charging transmit circuit of circuit and charging platform can cause large effect to the efficiency of wireless charging,
In the present embodiment, after unmanned plane drops to the predetermined position above charging platform, pass through the position school of charging platform transmission
Positive information is positioned, and is received the accuracy that circuit is aligned with wireless charging transmit circuit so as to improve wireless charging, is mentioned
The positioning accuracy of high wireless charging, and then improve the efficiency of wireless charging.
In the localization method of above-mentioned unmanned plane wireless charging, when unmanned plane currently meets wireless charging condition, obtain with
The charging platform of the distance of above-mentioned unmanned plane within a predetermined range, Xiang Shangshu charging platform send wireless charging request, then connect
Receive the wireless charging response that above-mentioned charging platform is sent, wherein above-mentioned wireless charging response is charging platform according to above-mentioned charging
The status information of platform determines transmission after above-mentioned charging platform has the ability for the charging of above-mentioned unmanned plane.According to nothing
The location information of the charging platform of man-machine acquisition drops to after the predetermined position above charging platform, with above-mentioned charging platform into
Row communication receives the position correction information that above-mentioned charging platform is sent, is finally positioned according to above-mentioned position correction information, with
So that unmanned plane is dropped to position indicated by the position correction information on charging platform, passes through wireless charging so as to realize
When the mode of electricity is powered unmanned plane, charging platform sends position correction information to unmanned plane, makes unmanned plane according to above-mentioned
Position correction information is positioned, and improves the positioning accuracy of wireless charging, and then improve the efficiency of wireless charging.
Fig. 2 is the flow chart of another embodiment of the localization method of the application unmanned plane wireless charging, as shown in Fig. 2, on
The localization method for stating unmanned plane wireless charging may include:
Step 201, the wireless charging request that unmanned plane is sent is received, above-mentioned wireless charging request is that unmanned plane currently meets
When wireless charging condition, after obtaining the charging platform at a distance from above-mentioned unmanned plane within a predetermined range, Xiang Shangshu chargin level
What platform was sent, above-mentioned charging platform setting is provided with wireless charging transmit circuit in ground surface end, above-mentioned charging platform.
Wherein, above-mentioned preset range can voluntarily be set according to system performance and/or realization demand etc. in specific implementation
Fixed, the present embodiment is not construed as limiting the size of above-mentioned preset range, for example, above-mentioned preset range can be and unmanned plane
Distance is less than or equal to 200 meters of range.
In the present embodiment, charging platform setting can be set according to scheduled distance interval (such as: 1000 meters) in ground surface end
It sets, in this way, unmanned plane is when executing cruise task, it, can if detecting that above-mentioned unmanned plane currently meets wireless charging condition
To obtain the charging platform at a distance from above-mentioned unmanned plane within a predetermined range, and then wireless charging request is issued, overcoming needs
The defect of cruise task can be just continued to execute by replacing battery.
Wherein, it may include following one or combination that above-mentioned unmanned plane, which currently meets wireless charging condition:
1) unmanned plane current residual electricity reaches preset power threshold；
2) unmanned plane executes cruise task and current course continuation mileage is less than remaining cruise mileage；
3) unmanned plane currently meets preset charging strategy.
Specifically, above-mentioned preset power threshold can in specific implementation, certainly according to system performance and/or realization demand etc.
Row setting, the present embodiment is not construed as limiting the size of above-mentioned preset power threshold, for example, above-mentioned preset power threshold can be with
It is the 10% of the battery total electricity loaded in unmanned plane, in this way, when unmanned plane detects that current residual electricity reaches in unmanned plane
The battery total electricity of loading 10% when, unmanned plane needs to obtain distance charging platform within a predetermined range；
Above-mentioned scheduled course continuation mileage can be the sum of above-mentioned preset range and predetermined mileage (setting according to actual needs),
When unmanned plane executes cruise task, if detecting that the current course continuation mileage of above-mentioned unmanned plane reaches in above-mentioned scheduled continuation of the journey
Journey, no matter then whether unmanned plane has executed above-mentioned cruise task, unmanned plane is required to obtain the charging of distance within a predetermined range
Platform；
Above-mentioned preset charging strategy can reach the flight of scheduled duration and/or unmanned plane for the flight time of unmanned plane
Distance reaches preset distance etc., and the present embodiment is not construed as limiting the particular content of above-mentioned preset charging strategy, if unmanned plane is worked as
Before meet preset charging strategy, then need to obtain distance charging platform within a predetermined range.
Step 202, it according to the status information of above-mentioned charging platform, determines that above-mentioned charging platform has and is filled for above-mentioned unmanned plane
After the ability of electricity, Xiang Shangshu unmanned plane sends wireless charging response.
Step 203, detect that above-mentioned unmanned plane has dropped to after the predetermined position above charging platform, with it is above-mentioned nobody
Machine is communicated, Xiang Shangshu unmanned plane send position correction information so that above-mentioned unmanned plane according to above-mentioned position correction information into
Row positioning.
Wherein, above-mentioned predetermined position can be above-mentioned charging platform top, and with above-mentioned charging platform at a distance of pre- spacing
From position, above-mentioned preset distance can in specific implementation, according to the sets itselfs such as system performance and/or realization demand, this
Embodiment is not construed as limiting the size of above-mentioned preset distance, for example, above-mentioned preset distance can be 5 meters.
It, can after unmanned plane obtains the charging platform at a distance from above-mentioned unmanned plane within a predetermined range in the present embodiment
To get the location information of above-mentioned charging platform, after the wireless charging response for receiving charging platform, unmanned plane can be with
Landed according to the location information of the charging platform of acquisition, it, can be with after dropping to the predetermined position above charging platform
It is communicated again with charging platform, receives the position correction information that above-mentioned charging platform is sent, wherein above-mentioned position correction information
It is used to indicate the specific location that unmanned plane lands on above-mentioned charging platform.
It further, can also be by the wireless charging transmit circuit of above-mentioned charging platform to above-mentioned nothing after step 203
Wireless charging on man-machine receives circuit transmission electromagnetic wave, to carry out wireless charging to above-mentioned unmanned plane.
Specifically, the wireless charging on the wireless charging transmit circuit of above-mentioned charging platform and unmanned plane can be received into electricity
Road carries out electromagnetic coupling, receives circuit transmission electromagnetic wave with the wireless charging on above-mentioned unmanned plane, to realize to unmanned plane
Carry out wireless charging.
Since wireless charging is to be charged by electromagnetic coupling to unmanned plane, the wireless charging in unmanned plane is received
The relative position of the wireless charging transmit circuit of circuit and charging platform can cause large effect to the efficiency of wireless charging,
In the present embodiment, after unmanned plane drops to the predetermined position above charging platform, charging platform sends position to unmanned plane
Control information improves wireless charging so that unmanned plane can be positioned by the position correction information that charging platform is sent
The accuracy that circuit is aligned with wireless charging transmit circuit is received, and then the positioning accuracy of wireless charging can be improved, improves nothing
The efficiency of line charge electricity.
In the localization method of above-mentioned unmanned plane wireless charging, after receiving the wireless charging request that unmanned plane is sent, according to
The status information of above-mentioned charging platform, after determining that above-mentioned charging platform has the ability for the charging of above-mentioned unmanned plane, Xiang Shangshu
Unmanned plane sends wireless charging response, and upper after detecting that unmanned plane has dropped to the predetermined position above charging platform
It states unmanned plane to be communicated, Xiang Shangshu unmanned plane sends position correction information, so that above-mentioned unmanned plane is according to above-mentioned position correction
Information is positioned, and so as to realize when being powered by way of wireless charging to unmanned plane, charging platform is to nothing
Man-machine transmission position correction information positions unmanned plane according to above-mentioned position correction information, improves the positioning of wireless charging
Precision, and then improve the efficiency of wireless charging.
Fig. 3 is the flow chart of the localization method further embodiment of the application unmanned plane wireless charging, as shown in figure 3, this
Apply in embodiment illustrated in fig. 2, step 202 may include:
Step 301, according to the nothing of the transmission power of the wireless charging transmit circuit of above-mentioned charging platform and above-mentioned unmanned plane
Charge power needed for line charge electricity receives circuit determines the quantity for the unmanned plane that can be charged simultaneously on above-mentioned charging platform
Threshold value, and determine that the quantity of the unmanned plane currently to charge on above-mentioned charging platform is less than above-mentioned amount threshold.
Specifically, the biggish wireless charging transmit circuit of a transmission power can be set on above-mentioned charging platform, so
The transmission power of the wireless charging transmit circuit of above-mentioned charging platform is received into circuit divided by the wireless charging of above-mentioned unmanned plane afterwards
Required charge power, the amount threshold for the unmanned plane that determination can charge on above-mentioned charging platform simultaneously are then sharp
The unmanned plane no more than above-mentioned amount threshold is given to charge simultaneously with above-mentioned wireless charging transmit circuit.
In this way, if the quantity of the unmanned plane currently to charge on above-mentioned charging platform is less than above-mentioned amount threshold, on
It states charging platform and determines that itself has the ability for the charging of above-mentioned unmanned plane.
Step 302, wireless charging response is sent to unmanned plane.
In this way, step 203 may include:
Step 303, detect that above-mentioned unmanned plane has dropped to the predetermined position above charging platform.
Step 304, after being communicated with above-mentioned unmanned plane, according to the number of the unmanned plane to have charged on charging platform
The charge position of amount and place, the unmanned plane to be communicated determines charge position, using above-mentioned charge position as above-mentioned position
Control information.
Specifically, in the present embodiment, charging platform can be that at least two frame unmanned planes charge, if having there is nobody
Machine charges on charging platform, then charging platform just need according to the quantity of unmanned plane to have charged on charging platform and
The charge position at place determines the clear position on above-mentioned charging platform, and then selection is suitably for being led to from clear position
The position of the unmanned plane charging of letter, using the position that selects as above-mentioned position correction information.In specific implementation, above-mentioned charge position
Set to be the position for the central point that one piece of rectangular area that unmanned plane charges is suitably on charging platform.
Step 305, it is communicated with above-mentioned unmanned plane, Xiang Shangshu unmanned plane sends position correction information, so that above-mentioned nothing
It is man-machine to be positioned according to above-mentioned position correction information.
Fig. 4 is the flow chart of the localization method further embodiment of the application unmanned plane wireless charging, as shown in figure 4, this
Apply in embodiment illustrated in fig. 2, step 202 may include:
Step 401, the quantity of wireless charging transmit circuit included by above-mentioned charging platform is obtained, wherein above-mentioned charging
One wireless charging transmit circuit of platform is used to carry out wireless charging for a frame unmanned plane, appoints included by above-mentioned charging platform
The distance between two wireless charging transmit circuits of anticipating are greater than or equal to preset distance threshold.
Wherein, above-mentioned preset distance threshold can in specific implementation, certainly according to system performance and/or realization demand etc.
Row setting, the present embodiment is not construed as limiting the size of above-mentioned preset distance threshold, as long as can be to avoid any two wireless charging
Electromagnetic interference is generated between electric transmit circuit.
Step 402, determine that being currently less than above-mentioned charging platform in the quantity of the unmanned plane of above-mentioned charging platform charging is wrapped
The quantity of the wireless charging transmit circuit included.
Multiple wireless charging transmit circuits, a wireless charging transmitting electricity can be set in the present embodiment, on charging platform
Road is used to carry out wireless charging for a frame unmanned plane, has detected unmanned plane drop in each wireless charging transmit circuit region
After falling, starts corresponding wireless charging transmit circuit and wireless charging is carried out to unmanned plane, in this way, if currently in above-mentioned charging
The quantity of the unmanned plane of platform charging is less than the quantity of wireless charging transmit circuit included by above-mentioned charging platform, then above-mentioned to fill
Level platform determines that itself has the ability for the charging of above-mentioned unmanned plane.
In specific implementation, it when multiple wireless charging transmit circuits are arranged on above-mentioned charging platform, needs to avoid wireless
Electromagnetic interference between charging transmit circuit, it is therefore desirable to make on charging platform between any two wireless charging transmit circuit
Distance is greater than or equal to preset distance threshold；Alternatively, any two wireless charging can also be avoided to send out using other modes
Electromagnetic interference between transmit-receive radio road, the present embodiment are not construed as limiting this.
Step 403, Xiang Shangshu unmanned plane sends wireless charging response.
In this way, step 203 may include:
Step 404, detect that above-mentioned unmanned plane has dropped to the predetermined position above charging platform.
Step 405, it after being communicated with above-mentioned unmanned plane, is sent out according to wireless charging idle on above-mentioned charging platform
The position of transmit-receive radio road is selected as the wireless charging transmit circuit that above-mentioned unmanned plane charges, and emits electricity with above-mentioned wireless charging
Position of the road on charging platform is as above-mentioned position correction information.
Include multiple wireless charging transmit circuits on charging platform in the present embodiment, therefore is carried out with above-mentioned unmanned plane
After communication, above-mentioned unmanned plane can be selected as according to the position of wireless charging transmit circuit idle on above-mentioned charging platform
The wireless charging transmit circuit to charge, using position of the above-mentioned wireless charging transmit circuit on charging platform as upper rheme
Set control information.Specifically, position of the above-mentioned wireless charging transmit circuit on charging platform can be sent out for above-mentioned wireless charging
Position of the central point of transmit-receive radio road on charging platform.
Step 406, Xiang Shangshu unmanned plane sends position correction information, so that above-mentioned unmanned plane is believed according to above-mentioned position correction
Breath is positioned.
Fig. 5 is the structural schematic diagram of the application unmanned plane one embodiment, this may be implemented in the unmanned plane in the present embodiment
Apply for the localization method for the unmanned plane wireless charging that embodiment illustrated in fig. 1 provides.As shown in figure 5, above-mentioned unmanned plane may include:
Receiver 51, transmitter 52, memory 54 and processor 55；Processor 55 and receiver 51, transmitter 52 and memory 54 connect
It connects；
Wherein, memory 54, for storing computer program；
Processor 55, for executing the computer program stored on memory 54, when unmanned plane currently meets wireless charging
When condition, the charging platform at a distance from above-mentioned unmanned plane within a predetermined range is obtained, above-mentioned charging platform is arranged in ground surface end,
Wireless charging transmit circuit is provided in above-mentioned charging platform.
Wherein, above-mentioned preset range can voluntarily be set according to system performance and/or realization demand etc. in specific implementation
Fixed, the present embodiment is not construed as limiting the size of above-mentioned preset range, for example, above-mentioned preset range can be and unmanned plane
Distance is less than or equal to 200 meters of range.
In the present embodiment, charging platform setting can be set according to scheduled distance interval (such as: 1000 meters) in ground surface end
It sets, in this way, unmanned plane is when executing cruise task, it, can if detecting that above-mentioned unmanned plane currently meets wireless charging condition
To obtain the charging platform at a distance from above-mentioned unmanned plane within a predetermined range, and then wireless charging request is issued, overcoming needs
The defect of cruise task can be just continued to execute by replacing battery.
Wherein, it may include following one or combination that above-mentioned unmanned plane, which currently meets wireless charging condition:
1) unmanned plane current residual electricity reaches preset power threshold；
2) unmanned plane executes cruise task and current course continuation mileage reaches scheduled course continuation mileage；
3) unmanned plane currently meets preset charging strategy.
Specifically, above-mentioned preset power threshold can in specific implementation, certainly according to system performance and/or realization demand etc.
Row setting, the present embodiment is not construed as limiting the size of above-mentioned preset power threshold, for example, above-mentioned preset power threshold can be with
It is the 10% of the battery total electricity loaded in unmanned plane, in this way, when unmanned plane detects that current residual electricity reaches in unmanned plane
The battery total electricity of loading 10% when, unmanned plane needs to obtain distance charging platform within a predetermined range；
Above-mentioned scheduled course continuation mileage can be the sum of above-mentioned preset range and predetermined mileage (setting according to actual needs),
When unmanned plane executes cruise task, if detecting that the current course continuation mileage of above-mentioned unmanned plane reaches in above-mentioned scheduled continuation of the journey
Journey, no matter then whether unmanned plane has executed above-mentioned cruise task, unmanned plane is required to obtain the charging of distance within a predetermined range
Platform；
Above-mentioned preset charging strategy can reach the flight of scheduled duration and/or unmanned plane for the flight time of unmanned plane
Distance reaches preset distance etc., and the present embodiment is not construed as limiting the particular content of above-mentioned preset charging strategy, if unmanned plane is worked as
Before meet preset charging strategy, then need to obtain distance charging platform within a predetermined range.
Transmitter 52, for sending wireless charging request to above-mentioned charging platform.
Receiver 51, the wireless charging response sent for receiving above-mentioned charging platform, on above-mentioned wireless charging response is
Charging platform is stated according to the status information of above-mentioned charging platform, determines that above-mentioned charging platform has the energy for the charging of above-mentioned unmanned plane
It is sent after power；And it is dropped on above-mentioned charging platform in the location information of the charging platform obtained according to above-mentioned unmanned plane
It after the predetermined position of side, is communicated with above-mentioned charging platform, receives the position correction information that above-mentioned charging platform is sent；
Wherein, above-mentioned predetermined position can be above-mentioned charging platform top, and with above-mentioned charging platform at a distance of pre- spacing
From position, above-mentioned preset distance can in specific implementation, according to the sets itselfs such as system performance and/or realization demand, this
Embodiment is not construed as limiting the size of above-mentioned preset distance, for example, above-mentioned preset distance can be 5 meters.
In the present embodiment, after processor 55 obtains the charging platform at a distance from above-mentioned unmanned plane within a predetermined range,
The available location information to above-mentioned charging platform, after receiver 51 receives the wireless charging response of charging platform,
Processor 55 can control unmanned plane according to the location information of the charging platform of acquisition and land, on dropping to charging platform
It after the predetermined position of side, can be communicated again with charging platform, the position that above-mentioned charging platform is sent is received by receiver 51
Set control information, wherein above-mentioned position correction information is used to indicate the specific location that unmanned plane lands on above-mentioned charging platform.
Processor 55 is also used to be positioned according to above-mentioned position correction information, so that unmanned plane drops to charging platform
Position indicated by the upper position correction information.
Further, above-mentioned unmanned plane can also include: that wireless charging receives circuit 53；
Wireless charging receives circuit 53, for being positioned in processor 55 according to above-mentioned position correction information, so that nothing
It is man-machine to drop on charging platform after position indicated by the position correction information, receive the wireless charging of above-mentioned charging platform
The electromagnetic wave of electric transmit circuit transmitting, to carry out wireless charging to above-mentioned unmanned plane.
In the present embodiment, above-mentioned wireless charging receives circuit 53 and can be set on the undercarriage of above-mentioned unmanned plane, certainly
Above-mentioned wireless charging receives the other positions that above-mentioned unmanned plane can also be arranged in circuit 53, and the present embodiment receives wireless charging
Setting position of the circuit on above-mentioned unmanned plane is not construed as limiting.
Specifically, wireless charging receive circuit 53, specifically for the wireless charging transmit circuit with above-mentioned charging platform into
Row electromagnetic coupling carries out wireless charging to unmanned plane to realize to receive the electromagnetic wave of above-mentioned wireless charging transmit circuit transmitting
Electricity.
Since wireless charging is to be charged by electromagnetic coupling to unmanned plane, the wireless charging in unmanned plane is received
The relative position of the wireless charging transmit circuit of circuit and charging platform can cause large effect to the efficiency of wireless charging,
In the present embodiment, after unmanned plane drops to the predetermined position above charging platform, processor 55 is sent by charging platform
Position correction information positioned, receive the essence that is aligned with wireless charging transmit circuit of circuit so as to improve wireless charging
Exactness improves the positioning accuracy of wireless charging, and then improves the efficiency of wireless charging.
In above-mentioned unmanned plane, when unmanned plane currently meets wireless charging condition, processor 55 is obtained and above-mentioned unmanned plane
Distance charging platform within a predetermined range, transmitter 52 sends wireless charging request to above-mentioned charging platform, then receives
Device 51 receives the wireless charging response that above-mentioned charging platform is sent, wherein above-mentioned wireless charging response is charging platform according to upper
The status information for stating charging platform determines transmission after above-mentioned charging platform has the ability for the charging of above-mentioned unmanned plane.In
After the location information of the charging platform obtained according to unmanned plane drops to the predetermined position above charging platform, with above-mentioned charging
Platform is communicated, and receiver 51 receives the position correction information that above-mentioned charging platform is sent, and last processor 55 is according to above-mentioned
Position correction information is positioned, so that unmanned plane drops to position indicated by the position correction information on charging platform,
So as to realize when being powered by way of wireless charging to unmanned plane, charging platform sends position school to unmanned plane
Positive information positions unmanned plane according to above-mentioned position correction information, improves the positioning accuracy of wireless charging, and then improve nothing
The efficiency of line charge electricity.
Fig. 6 is the structural schematic diagram of the application charging platform one embodiment, and the charging platform in the present embodiment can be real
The localization method for the unmanned plane wireless charging that existing the application Fig. 2~embodiment illustrated in fig. 4 provides.Above-mentioned charging platform is arranged on ground
Face end, as shown in fig. 6, above-mentioned charging platform may include: receiver 61, transmitter 62, memory 64 and processor 65；Processing
Device 65 is connect with receiver 61, transmitter 62 and memory 64；
Memory 64, for storing computer program.
Receiver 61, for receiving the wireless charging request of unmanned plane transmission, above-mentioned wireless charging request is that unmanned plane is worked as
Before when meeting wireless charging condition, after obtaining the charging platform at a distance from above-mentioned unmanned plane within a predetermined range, Xiang Shangshu
What charging platform was sent.
Wherein, above-mentioned preset range can voluntarily be set according to system performance and/or realization demand etc. in specific implementation
Fixed, the present embodiment is not construed as limiting the size of above-mentioned preset range, for example, above-mentioned preset range can be and unmanned plane
Distance is less than or equal to 200 meters of range.
In the present embodiment, charging platform setting can be set according to scheduled distance interval (such as: 1000 meters) in ground surface end
It sets, in this way, unmanned plane is when executing cruise task, it, can if detecting that above-mentioned unmanned plane currently meets wireless charging condition
To obtain the charging platform at a distance from above-mentioned unmanned plane within a predetermined range, and then wireless charging request is issued, overcoming needs
The defect of cruise task can be just continued to execute by replacing battery.
Wherein, it may include following one or combination that above-mentioned unmanned plane, which currently meets wireless charging condition:
1) unmanned plane current residual electricity reaches preset power threshold；
2) unmanned plane executes cruise task and current course continuation mileage is less than remaining cruise mileage；
3) unmanned plane currently meets preset charging strategy.
Specifically, above-mentioned preset power threshold can in specific implementation, certainly according to system performance and/or realization demand etc.
Row setting, the present embodiment is not construed as limiting the size of above-mentioned preset power threshold, for example, above-mentioned preset power threshold can be with
It is the 10% of the battery total electricity loaded in unmanned plane, in this way, when unmanned plane detects that current residual electricity reaches in unmanned plane
The battery total electricity of loading 10% when, unmanned plane needs to obtain distance charging platform within a predetermined range；
Above-mentioned scheduled course continuation mileage can be the sum of above-mentioned preset range and predetermined mileage (setting according to actual needs),
When unmanned plane executes cruise task, if detecting that the current course continuation mileage of above-mentioned unmanned plane reaches in above-mentioned scheduled continuation of the journey
Journey, no matter then whether unmanned plane has executed above-mentioned cruise task, unmanned plane is required to obtain the charging of distance within a predetermined range
Platform；
Above-mentioned preset charging strategy can reach the flight of scheduled duration and/or unmanned plane for the flight time of unmanned plane
Distance reaches preset distance etc., and the present embodiment is not construed as limiting the particular content of above-mentioned preset charging strategy, if unmanned plane is worked as
Before meet preset charging strategy, then need to obtain distance charging platform within a predetermined range.
Processor 65 is believed for executing the computer program stored on memory 64 according to the state of above-mentioned charging platform
Breath determines that above-mentioned charging platform has the ability for the charging of above-mentioned unmanned plane；
Transmitter 62, for processor 65 determine above-mentioned charging platform have for the charging of above-mentioned unmanned plane ability it
Afterwards, Xiang Shangshu unmanned plane sends wireless charging response；And detecting that above-mentioned unmanned plane dropped to above charging platform
It after predetermined position, is communicated with above-mentioned unmanned plane, Xiang Shangshu unmanned plane sends position correction information, so that above-mentioned unmanned plane
It is positioned according to above-mentioned position correction information.
Further, above-mentioned charging platform can also include: wireless charging transmit circuit 63；
Wireless charging transmit circuit 63 is used for after transmitter 62 sends position correction information to above-mentioned unmanned plane, to
Wireless charging on unmanned plane receives circuit transmission electromagnetic wave, to carry out wireless charging to above-mentioned unmanned plane.
In the present embodiment, wireless charging transmit circuit 63, specifically for on unmanned plane wireless charging receive circuit into
Row electromagnetic coupling receives circuit transmission electromagnetic wave with the wireless charging on above-mentioned unmanned plane, carries out to realize to unmanned plane
Wireless charging.
In a kind of implementation of the present embodiment, processor 65, specifically for the wireless charging according to above-mentioned charging platform
Charge power needed for the wireless charging of the transmission power of transmit circuit and above-mentioned unmanned plane receives circuit is determined in above-mentioned charging
The amount threshold for the unmanned plane that can be charged simultaneously on platform, and determine nobody currently to charge on above-mentioned charging platform
The quantity of machine is less than above-mentioned amount threshold.
Specifically, the biggish wireless charging transmit circuit of a transmission power can be set on above-mentioned charging platform, then
Processor 65 connects the transmission power of the wireless charging transmit circuit of above-mentioned charging platform divided by the wireless charging of above-mentioned unmanned plane
Charge power needed for receiving circuit, the amount threshold for the unmanned plane that determination can charge on above-mentioned charging platform simultaneously,
Then the unmanned plane no more than above-mentioned amount threshold is given to charge simultaneously using above-mentioned wireless charging transmit circuit.
In this way, locating if the quantity of the unmanned plane currently to charge on above-mentioned charging platform is less than above-mentioned amount threshold
It manages device 65 and determines that charging platform has the ability for the charging of above-mentioned unmanned plane.
Further, processor 65 are also used to before transmitter 62 sends position correction information to above-mentioned unmanned plane, In
After being communicated with unmanned plane, according to the charge position of the quantity of the unmanned plane to have charged on charging platform and place, it is
The unmanned plane communicated determines charge position, using above-mentioned charge position as above-mentioned position correction information.
Specifically, in the present embodiment, charging platform can be that at least two frame unmanned planes charge, if having there is nobody
Machine charges on charging platform, then processor 65 just need according to the quantity of unmanned plane to have charged on charging platform and
The charge position at place determines the clear position on above-mentioned charging platform, and then selection is suitably for being led to from clear position
The position of the unmanned plane charging of letter, using the position that selects as above-mentioned position correction information.In specific implementation, above-mentioned charge position
Set to be the position for the central point that one piece of rectangular area that unmanned plane charges is suitably on charging platform.
In another implementation of the present embodiment, processor 65, specifically for obtaining included by above-mentioned charging platform
The quantity of wireless charging transmit circuit, wherein a wireless charging transmit circuit of above-mentioned charging platform be used for for a frame nobody
Machine carries out wireless charging, and the distance between any two wireless charging transmit circuit included by above-mentioned charging platform is greater than or waits
In preset distance threshold；And it determines and is currently less than above-mentioned charging platform in the quantity of the unmanned plane of above-mentioned charging platform charging
The quantity of included wireless charging transmit circuit.
Wherein, above-mentioned preset distance threshold can in specific implementation, certainly according to system performance and/or realization demand etc.
Row setting, the present embodiment is not construed as limiting the size of above-mentioned preset distance threshold, as long as can be to avoid any two wireless charging
Electromagnetic interference is generated between electric transmit circuit.
Multiple wireless charging transmit circuits, a wireless charging transmitting electricity can be set in the present embodiment, on charging platform
Road is used to carry out wireless charging for a frame unmanned plane, has detected unmanned plane drop in each wireless charging transmit circuit region
After falling, starts corresponding wireless charging transmit circuit and wireless charging is carried out to unmanned plane, in this way, if currently in above-mentioned charging
The quantity of the unmanned plane of platform charging is less than the quantity of wireless charging transmit circuit included by above-mentioned charging platform, then processor
65 determine that above-mentioned charging platform has the ability for the charging of above-mentioned unmanned plane.
In specific implementation, it when multiple wireless charging transmit circuits are arranged on above-mentioned charging platform, needs to avoid wireless
Electromagnetic interference between charging transmit circuit, it is therefore desirable to make on charging platform between any two wireless charging transmit circuit
Distance is greater than or equal to preset distance threshold；Alternatively, any two wireless charging can also be avoided to send out using other modes
Electromagnetic interference between transmit-receive radio road, the present embodiment are not construed as limiting this.
Further, processor 65 are also used to before transmitter 62 sends position correction information to above-mentioned unmanned plane, In
After being communicated with above-mentioned unmanned plane, according to the position of wireless charging transmit circuit idle on above-mentioned charging platform, selection
For the wireless charging transmit circuit that above-mentioned unmanned plane charges, with above-mentioned wireless charging transmit circuit on above-mentioned charging platform
Position as above-mentioned position correction information.
Include multiple wireless charging transmit circuits on charging platform in the present embodiment, therefore is carried out with above-mentioned unmanned plane
After communication, processor 65 can be selected as according to the position of wireless charging transmit circuit idle on above-mentioned charging platform
The wireless charging transmit circuit that unmanned plane charges is stated, is made with position of the above-mentioned wireless charging transmit circuit on charging platform
For above-mentioned position correction information.Specifically, position of the above-mentioned wireless charging transmit circuit on charging platform can be above-mentioned nothing
Position of the central point of line charge electricity transmit circuit on charging platform.
In above-mentioned charging platform, after receiver 61 receives the wireless charging request that unmanned plane is sent, 65 basis of processor
The status information of above-mentioned charging platform, after determining that above-mentioned charging platform has the ability for the charging of above-mentioned unmanned plane, transmitter
62 send wireless charging response to above-mentioned unmanned plane, and it is pre- above charging platform to detect that unmanned plane has dropped in processor 65
It after positioning is set, is communicated with above-mentioned unmanned plane, transmitter 62 sends position correction information to above-mentioned unmanned plane, so that above-mentioned
Unmanned plane is positioned according to above-mentioned position correction information, so as to realize by way of wireless charging to unmanned plane into
When row power supply, charging platform sends position correction information to unmanned plane, determines unmanned plane according to above-mentioned position correction information
The positioning accuracy of wireless charging is improved, and then improves the efficiency of wireless charging in position.
The embodiment of the present application also provides a kind of non-transitorycomputer readable storage medium, is stored thereon with computer journey
The unmanned plane wireless charging of the application embodiment illustrated in fig. 1 offer may be implemented in sequence, above-mentioned computer program when being executed by processor
The localization method of electricity.
The embodiment of the present application also provides a kind of non-transitorycomputer readable storage medium, is stored thereon with computer journey
Sequence, above-mentioned computer program may be implemented when being executed by processor unmanned plane that the application Fig. 2~embodiment illustrated in fig. 4 is provided without
The localization method of line charge electricity.
Above-mentioned non-transitorycomputer readable storage medium can appointing using one or more computer-readable media
Meaning combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.Computer can
Reading storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device
Or device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes:
Electrical connection, portable computer diskette, hard disk, random access memory (RAM), read-only storage with one or more conducting wires
Device (Read Only Memory；Hereinafter referred to as: ROM), erasable programmable read only memory (Erasable
Programmable Read Only Memory；Hereinafter referred to as: EPROM) or flash memory, optical fiber, portable compact disc are read-only deposits
Reservoir (CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer
Readable storage medium storing program for executing can be any tangible medium for including or store program, which can be commanded execution system, device
Either device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium other than computer readable storage medium, which can send, propagate or
Transmission is for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In --- wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
Can with one or more programming languages or combinations thereof come write for execute the application operation computer
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.In
It is related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (Local
Area Network；Hereinafter referred to as: LAN) or wide area network (Wide Area Network；Hereinafter referred to as: WAN) it is connected to user
Computer, or, it may be connected to outer computer (such as being connected using ISP by internet).
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present application, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the application
Embodiment person of ordinary skill in the field understood.
Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination " or " in response to detection ".Similarly, depend on context, phrase " if it is determined that " or " if detection
(condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when the detection (condition of statement
Or event) when " or " in response to detection (condition or event of statement) ".
It should be noted that terminal involved in the embodiment of the present application can include but is not limited to personal computer
(Personal Computer；Hereinafter referred to as: PC), personal digital assistant (Personal Digital Assistant；Below
Referred to as: PDA), radio hand-held equipment, tablet computer (Tablet Computer), mobile phone, MP3 player, MP4 player etc..
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown
Or the mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that device (can be personal computer, server or network equipment etc.) or processor (Processor) execute the application
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory；Hereinafter referred to as: ROM), random access memory (Random Access Memory；Hereinafter referred to as: RAM),
The various media that can store program code such as magnetic or disk.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (10)
1. a kind of localization method of unmanned plane wireless charging characterized by comprising
When unmanned plane currently meets wireless charging condition, the chargin level at a distance from the unmanned plane within a predetermined range is obtained
Platform, the charging platform setting are provided with wireless charging transmit circuit in ground surface end, the charging platform；
Wireless charging request is sent to the charging platform；
The wireless charging response that the charging platform is sent is received, the wireless charging response is the charging platform according to
The status information of charging platform determines transmission after the charging platform has the ability for unmanned plane charging；
According to the unmanned plane obtain charging platform location information drop to the predetermined position above the charging platform it
Afterwards, it is communicated with the charging platform, receives the position correction information that the charging platform is sent；
It is positioned according to the position correction information, so that the unmanned plane drops to the position school on the charging platform
Position indicated by positive information.
2. the method according to claim 1, wherein described positioned according to the position correction information, with
Drop to the unmanned plane on the charging platform after position indicated by the position correction information, further includes:
The wireless charging transmit circuit transmitting that circuit receives the charging platform is received by the wireless charging on the unmanned plane
Electromagnetic wave, with to the unmanned plane carry out wireless charging.
3. existing the method according to claim 1, wherein the wireless charging on the unmanned plane receives circuit setting
On the undercarriage of the unmanned plane.
4. method according to claim 1 to 3, which is characterized in that the unmanned plane currently meets wireless charging
Condition includes following one or combination:
The unmanned plane current residual electricity reaches preset power threshold；
The unmanned plane executes cruise task and current course continuation mileage reaches scheduled course continuation mileage；
The unmanned plane currently meets preset charging strategy.
5. a kind of localization method of unmanned plane wireless charging characterized by comprising
The wireless charging request that unmanned plane is sent is received, the wireless charging request is that the unmanned plane currently meets wireless charging
When condition, after obtaining the charging platform at a distance from the unmanned plane within a predetermined range, what Xiang Suoshu charging platform was sent,
The charging platform setting is provided with wireless charging transmit circuit in ground surface end, the charging platform；
According to the status information of the charging platform, determine the charging platform have for unmanned plane charging ability it
Afterwards, Xiang Suoshu unmanned plane sends wireless charging response；
It detects that the unmanned plane has dropped to after the predetermined position above the charging platform, is led to the unmanned plane
Letter, Xiang Suoshu unmanned plane sends position correction information, so that the unmanned plane is positioned according to the position correction information.
6. according to the method described in claim 5, it is characterized in that, it is described to the unmanned plane send position correction information it
Afterwards, further includes:
Circuit transmission electricity is received by wireless charging of the wireless charging transmit circuit of the charging platform on the unmanned plane
Magnetic wave, to carry out wireless charging to the unmanned plane.
7. according to the method described in claim 5, it is characterized in that, the status information according to the charging platform, determines
It is that the ability that the unmanned plane charges includes: that the charging platform, which has,
Electricity is received according to the wireless charging of the transmission power of the wireless charging transmit circuit of the charging platform and the unmanned plane
Charge power needed for road determines the amount threshold for the unmanned plane that can be charged simultaneously on the charging platform, and really
The quantity of the unmanned plane to charge on the charging platform before settled is less than the amount threshold.
8. the method according to the description of claim 7 is characterized in that it is described to the unmanned plane send position correction information it
Before, further includes:
After being communicated with the unmanned plane, according to the quantity of the unmanned plane to have charged on the charging platform and place
Charge position, the unmanned plane to be communicated determines charge position, using the charge position as the position correction information.
9. a kind of unmanned plane characterized by comprising receiver, transmitter, memory and processor；The processor and institute
State receiver, the transmitter is connected with the memory；
The memory, for storing computer program；
The processor, for executing the computer program stored on the memory, when unmanned plane currently meets wireless charging
When condition, the charging platform at a distance from the unmanned plane within a predetermined range is obtained, the charging platform is arranged in ground surface end,
Wireless charging transmit circuit is provided in the charging platform；
The transmitter, for sending wireless charging request to the charging platform；
The receiver, the wireless charging response sent for receiving the charging platform, the wireless charging response is described
Charging platform determines that the charging platform has the ability for unmanned plane charging according to the status information of the charging platform
It sends later；And it is dropped to above the charging platform in the location information of the charging platform obtained according to the unmanned plane
Predetermined position after, communicated with the charging platform, receive the position correction information that the charging platform is sent；
The processor is also used to be positioned according to the position correction information, so that the unmanned plane drops to described fill
Position indicated by the position correction information on level platform.
10. a kind of charging platform, which is characterized in that the charging platform is arranged in ground surface end, and the charging platform includes: to receive
Device, transmitter, memory and processor；The processor is connect with the receiver, the transmitter and the memory；
The memory, for storing computer program；
The receiver, for receiving the wireless charging request of unmanned plane transmission, the wireless charging request is the unmanned plane
When currently meeting wireless charging condition, after obtaining the charging platform at a distance from the unmanned plane within a predetermined range, to institute
State charging platform transmission；
The processor is believed for executing the computer program stored on the memory according to the state of the charging platform
Breath determines that the charging platform has the ability for unmanned plane charging；
The transmitter, for the processor determine the charging platform have for the unmanned plane charging ability it
Afterwards, Xiang Suoshu unmanned plane sends wireless charging response；And detecting that the unmanned plane dropped on the charging platform
It after the predetermined position of side, is communicated with the unmanned plane, Xiang Suoshu unmanned plane sends position correction information, so that the nothing
It is man-machine to be positioned according to the position correction information.
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Address after: 100094 9 / F, 10 / F, building 1, zone 1, 81 Beiqing Road, Haidian District, Beijing Applicant after: Beijing baicaibang Technology Co.,Ltd. Address before: 100085 Beijing Haidian District city information industry base development road 1, 3 tier 3001 Applicant before: Beijing Bai Caibang Technology Co.,Ltd. |
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Application publication date: 20191129 |