CN111071090B - Unmanned aerial vehicle charging guiding method and device under accurate guiding energy supplementing platform - Google Patents
Unmanned aerial vehicle charging guiding method and device under accurate guiding energy supplementing platform Download PDFInfo
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- CN111071090B CN111071090B CN201911414417.1A CN201911414417A CN111071090B CN 111071090 B CN111071090 B CN 111071090B CN 201911414417 A CN201911414417 A CN 201911414417A CN 111071090 B CN111071090 B CN 111071090B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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
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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
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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- Power Engineering (AREA)
- Transportation (AREA)
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- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses an unmanned aerial vehicle charging guiding method and device under an accurate guiding energy supplementing platform, wherein the method comprises the following steps: the system master station reads the current electric quantity and the current position information of the unmanned aerial vehicle and judges whether the current electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity or not; if so, the system master station sends a charging control instruction to an accurate guide energy supplementing platform adjacent to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle; the accurate guiding energy supplementing platform establishes communication with the unmanned aerial vehicle and acquires a relative distance with the unmanned aerial vehicle based on the received charging control instruction; when the relative distance between the unmanned aerial vehicle and the precise guiding energy supplementing platform is within a first preset range, the precise guiding energy supplementing platform guides the unmanned aerial vehicle to approach by adopting an ultra wide band technology; when the relative distance between the unmanned aerial vehicle and the precise guiding energy supplementing platform is within a second preset range, the precise guiding energy supplementing platform guides the unmanned aerial vehicle to land accurately by adopting a short-range dynamic electromagnetic positioning technology; accurate guide can be mended the platform and charge to unmanned aerial vehicle after falling. The method ensures that the unmanned aerial vehicle finishes the inspection work at one time.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle charging guiding method and device under an accurate guiding energy supplementing platform.
Background
With the development of scientific technology and the wide application of civil unmanned aerial vehicle technology, automation, informatization and intellectualization of routing inspection work on a power transmission line are gradually realized. At present, the unmanned aerial vehicle is used for replacing electric power workers to carry out related work, and the unmanned aerial vehicle becomes the first choice of quick inspection and intelligent inspection, and the economical efficiency and the rapidity which are not possessed by manual inspection are brought into play in practical application. However, along with the expansion of unmanned aerial vehicle patrol team, the patrol scope becomes wide thereupon, and unmanned aerial vehicle patrol and examine and just gradually expose more difficult point and problem: the flight time of the unmanned aerial vehicle is limited, equipment in a far area cannot be detected, and meanwhile, for equipment in a cruising range, the inspection work on the power transmission line cannot be completed at one time; aiming at the problem of endurance of the unmanned aerial vehicle, the difficulty of endurance by manually replacing a battery in a severe outdoor environment of a power transmission line cannot be overcome, and the labor cost is too high; if unmanned aerial vehicle is at the unable timely supply of in-process electric quantity that cruises, will increase ground equipment and personnel's safety risk.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an unmanned aerial vehicle charging guiding method and device under an accurate guiding energy compensation platform.
In order to solve the technical problem, an embodiment of the present invention provides a method for controlling charging of an unmanned aerial vehicle under an accurate guidance energy compensation platform, where the method includes:
the method comprises the steps that a system master station reads current electric quantity and current position information of an unmanned aerial vehicle and judges whether the current electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity or not;
if so, the system master station sends a charging control instruction to an accurate guiding energy supplementing platform adjacent to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle;
the accurate guiding energy supplementing platform establishes communication with the unmanned aerial vehicle and acquires a relative distance between the accurate guiding energy supplementing platform and the unmanned aerial vehicle based on the received charging control instruction;
when the relative distance between the unmanned aerial vehicle and the precise guiding energy supplementing platform is within a first preset range, the precise guiding energy supplementing platform guides the unmanned aerial vehicle to approach by adopting an ultra wide band technology;
when the relative distance between the unmanned aerial vehicle and the precise guiding energy supplementing platform is within a second preset range, the precise guiding energy supplementing platform guides the unmanned aerial vehicle to land precisely by adopting a short-range dynamic electromagnetic positioning technology;
accurate guide benefit can the platform to the unmanned aerial vehicle after falling charge.
Optionally, the accurate guide can be mended platform adopts ultra wide band technique guide unmanned aerial vehicle is close to including:
each UWB ranging module in the accurate guiding energy supplementing platform sequentially sends UWB signals to an airborne mobile UWB module of the unmanned aerial vehicle;
the airborne mobile UWB module of the unmanned aerial vehicle acquires distance information between the airborne mobile UWB module and each UWB ranging module based on the received UWB signals;
an airborne operation processing module of the unmanned aerial vehicle establishes an equation set based on the distance information of each UWB ranging module, and obtains an optimal estimation value of the position of the unmanned aerial vehicle according to a corresponding positioning calculation algorithm;
and the flight control module of the unmanned aerial vehicle guides the unmanned aerial vehicle to fly right above the specified position of the accurate guide energy supplementing platform based on the optimal estimated value of the position of the unmanned aerial vehicle.
Optionally, the accurate guide can platform of mending adopts short range dynamic electromagnetic positioning technique to guide the accurate landing of unmanned aerial vehicle includes:
the transmitting sensor of the accurate guide energy supplementing platform transmits electromagnetic waves to the air;
the method comprises the steps that a magnetic field measuring device of the unmanned aerial vehicle obtains a magnetic field vector of the position where the unmanned aerial vehicle is located;
the electric field measuring device of the unmanned aerial vehicle acquires an electric field vector of the position where the unmanned aerial vehicle is located;
an airborne operation processing module of the unmanned aerial vehicle acquires spatial position data of the unmanned aerial vehicle and the specified position of the accurate guiding energy supplementing platform based on the magnetic field vector and the electric field vector;
the flight control module of the unmanned aerial vehicle guides the unmanned aerial vehicle to land at the specified position of the accurate guiding energy supplementing platform based on the spatial position data.
Optionally, accurate guide can be mended the platform and to falling after unmanned aerial vehicle charges and includes:
the accurate guide energy supplementing platform judges whether the self idle battery is charged or not;
if so, the accurate guide energy supplementing platform starts a built-in automatic replacing device to replace the battery of the unmanned aerial vehicle after the unmanned aerial vehicle falls;
if not, the unmanned aerial vehicle after accurate guide benefit can the platform to falling carries out wireless response and charges.
Optionally, accurate guide can be mended the platform and to falling after unmanned aerial vehicle carries out wireless response and charges and include:
the accurate guide energy supplementing platform controls the sending induction device to be connected with the external power supply module to generate an alternating magnetic field;
the receiving induction device of the unmanned aerial vehicle receives the electromagnetic signal sent by the sending induction device in a magnetic field coupling mode, is connected with the battery management module of the unmanned aerial vehicle to generate induction current, and charges the induction current into the battery of the unmanned aerial vehicle;
the sensing module of the unmanned aerial vehicle judges whether the battery capacity of the unmanned aerial vehicle is full;
if so, the communication module of the unmanned aerial vehicle issues a power-off control command to the accurate guiding energy supplementing platform;
the accurate guide energy supplementing platform controls the sending induction device to be disconnected with the external power supply module based on the received power-off control command.
In addition, the embodiment of the present invention further provides an unmanned aerial vehicle charging guiding device under the accurate guiding energy-supplementing platform, and the device includes:
the system comprises a judging module, a judging module and a judging module, wherein the judging module is used for judging whether the current electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity or not based on the current electric quantity and the current position information of the unmanned aerial vehicle read by a system main station;
the sending module is used for sending a charging control instruction to an accurate guiding energy supplementing platform adjacent to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle read by the system main station;
the acquisition module is used for establishing communication with the unmanned aerial vehicle and acquiring a relative distance between the unmanned aerial vehicle and the charging control command received by the accurate guiding energy supplementing platform;
the first guiding module is used for controlling the accurate guiding energy supplementing platform to guide the unmanned aerial vehicle to approach by adopting an ultra-wideband technology when the relative distance between the first guiding module and the unmanned aerial vehicle is within a first preset range;
the second guiding module is used for controlling the accurate guiding energy supplementing platform to guide the unmanned aerial vehicle to accurately land by adopting a short-range dynamic electromagnetic positioning technology when the relative distance between the second guiding module and the unmanned aerial vehicle is within a second preset range;
the charging module is used for controlling the accurate guiding energy supplementing platform to charge the unmanned aerial vehicle after the unmanned aerial vehicle falls.
Optionally, the first guiding module is further configured to control each UWB ranging module in the accurate guiding energy supplementing platform to sequentially send UWB signals to an airborne mobile UWB module of the unmanned aerial vehicle; controlling an airborne mobile UWB module of the unmanned aerial vehicle to acquire distance information between the airborne mobile UWB module and each UWB ranging module based on the received UWB signals; an airborne operation processing module for controlling the unmanned aerial vehicle establishes an equation set based on the distance information of each UWB ranging module, and obtains an optimal estimation value of the position of the unmanned aerial vehicle according to a corresponding positioning calculation algorithm; and controlling a flight control module of the unmanned aerial vehicle to guide the unmanned aerial vehicle to fly right above the specified position of the accurate guide energy supplementing platform based on the optimal estimated value of the position of the unmanned aerial vehicle.
Optionally, the second guiding module is further configured to control an emission sensor of the accurate guiding energy supplementing platform to emit electromagnetic waves into the air; controlling a magnetic field measuring device of the unmanned aerial vehicle to obtain a magnetic field vector of the position where the unmanned aerial vehicle is located; controlling an electric field measuring device of the unmanned aerial vehicle to obtain an electric field vector of the position where the unmanned aerial vehicle is located; controlling an airborne operation processing module of the unmanned aerial vehicle to acquire spatial position data of the unmanned aerial vehicle and the specified position of the accurate guiding energy supplementing platform based on the magnetic field vector and the electric field vector; and controlling a flight control module of the unmanned aerial vehicle to guide the unmanned aerial vehicle to land at the specified position of the accurate guide energy supplementing platform based on the spatial position data.
Optionally, the charging module is further configured to control the accurate guidance energy supplementing platform to determine whether the idle battery of the accurate guidance energy supplementing platform completes charging; if so, controlling the accurate guide energy supplementing platform to start a built-in automatic replacing device, and replacing the battery of the unmanned aerial vehicle after the unmanned aerial vehicle falls; if not, control accurate guide benefit can the platform to the unmanned aerial vehicle after falling carry out wireless response and charge.
Optionally, the charging module is further configured to control the accurate guidance energy supplementing platform to control the sending induction device to be connected with an external power supply module, so as to generate an alternating magnetic field; controlling a receiving induction device of the unmanned aerial vehicle to receive an electromagnetic signal sent by a sending induction device in a magnetic field coupling mode, connecting the receiving induction device with a battery management module of the unmanned aerial vehicle to generate induction current, and charging the induction current into a battery of the unmanned aerial vehicle; controlling a sensing module of the unmanned aerial vehicle to judge whether the battery capacity of the unmanned aerial vehicle is full; if so, controlling a communication module of the unmanned aerial vehicle to issue a power-off control command to the accurate guiding energy supplementing platform; and controlling the accurate guide energy supplementing platform to control the sending induction device to be disconnected with the external power supply module based on the received power-off control command.
In the embodiment of the invention, in order to solve the problem that electric energy cannot be timely supplemented in the cruising process of an unmanned aerial vehicle, the accurate guiding energy supplementing platform built on an intelligent tower is provided. In the charging guiding process of the unmanned aerial vehicle, the unmanned aerial vehicle is guided to accurately land by adopting the ultra-wideband technology and the short-range dynamic electromagnetic positioning technology respectively according to the relative position of the unmanned aerial vehicle; and then selecting a charging mode for the unmanned aerial vehicle after landing according to the actual condition of the accurate guide energy supplementing platform to supplement energy. The unmanned aerial vehicle charging guiding method can effectively prolong the inspection time of the unmanned aerial vehicle on the power transmission line, ensure that the unmanned aerial vehicle can finish the inspection work at one time, and save manpower and financial resources to a certain extent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural component diagram of an accurate guidance energy compensation platform disclosed in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a specific structural component of the precise guiding energy compensating platform disclosed in the embodiment of the present invention;
fig. 3 is a schematic structural component diagram of the unmanned aerial vehicle disclosed by the embodiment of the invention;
fig. 4 is a schematic flowchart of a charging guidance method under an accurate guidance energy compensation platform according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart illustrating guiding an approaching unmanned aerial vehicle using UWB technology according to an embodiment of the present invention;
FIG. 6 is a schematic flow chart of guiding an UAV to land by using a short-range dynamic electromagnetic positioning technique according to an embodiment of the present invention;
fig. 7 is a schematic flowchart of a wireless inductive charging process for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 8 is a schematic structural component view of a charging guiding device under an accurate guiding energy compensation platform according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic structural composition diagram of an accurate guidance energy compensation platform in an embodiment of the present invention, where the accurate guidance energy compensation platform includes: the device comprises an energy supplementing device, a UWB module and an external photovoltaic panel; the UWB module including respectively with first UWB ranging module, second UWB ranging module and the third UWB ranging module that the ability device is connected mends, external photovoltaic board sets up the both ends of accurate guide ability platform of mending.
In the embodiment of the invention, the UWB module is used for guiding an unmanned aerial vehicle to accurately land at the specified position of the accurate guiding energy supplementing platform, the energy supplementing device is used for carrying out wired charging or wireless charging or battery replacement on the unmanned aerial vehicle, and the external photovoltaic panel is used for providing electric energy for the accurate guiding energy supplementing platform.
It should be noted that when the UWB technology is used for positioning and guiding, it is to be ensured that each UWB ranging module is arranged on the accurate guiding energy compensating platform according to a certain geometric layout and a fixed relative position. In an embodiment of the present invention, a full triangle with the energy complementing device as a center is formed among the first UWB ranging module, the second UWB ranging module, and the third UWB ranging module.
Fig. 2 is a schematic diagram illustrating a specific structural composition of an accurate guidance energy supplementing platform in an embodiment of the present invention, where the accurate guidance energy supplementing platform includes an energy supplementing device, a first UWB distance measuring module, a second UWB distance measuring module, a third UWB distance measuring module, and an external photovoltaic panel; the energy supplementing device comprises a control module, a switch module, a signal transmitting circuit, a transmitting sensor, an external power supply module, a sending induction device, a traction device and a self-replacing device.
Specifically, the control module comprises a first controller and a second controller, and the switch module comprises a first switch and a second switch; the external power supply module comprises a direct-current power supply, an inverter circuit and a first compensation circuit which are sequentially connected. The first UWB ranging module, the second UWB ranging module, the third UWB ranging module and the first switch are respectively connected with the first controller, the first controller is connected with the signal transmitting circuit through the first switch, and the signal transmitting circuit is connected with the transmitting sensor; the self-replacing device, the traction device and the second switch are respectively connected with the second controller, the traction device is connected with the direct-current power supply, the first compensation circuit is connected with the second switch and is connected with the sending induction device through the second switch; the first controller and the second controller are respectively connected with a wireless internet of things communication module.
It should be noted that the system running around the first controller is mainly used for processing the positioning information of the unmanned aerial vehicle and guiding the unmanned aerial vehicle to accurately land at the specified position of the accurate guiding energy supplementing platform; and the system running around the second controller is mainly used for controlling the unmanned aerial vehicle after landing to perform charging energy compensation.
Fig. 3 is a schematic structural composition diagram of an unmanned aerial vehicle according to an embodiment of the present invention, where the unmanned aerial vehicle includes a measurement module, an airborne mobile UWB module, an airborne arithmetic processing module, a flight control module, a communication module, a sensing module, a battery management module, and a receiving and sensing device; the battery management module comprises a battery, a DC-DC circuit, a rectifying circuit and a second compensating circuit which are connected in sequence; the measuring module comprises a magnetic field measuring device and an electric field measuring device.
Specifically, the magnetic field measuring device, the electric field measuring device, the airborne mobile UWB module, the flight control module, the sensing module and the communication module are respectively connected with the airborne operation processing module, the sensing module is connected with the battery, and the second compensation circuit is connected with the receiving induction device.
It should be noted that, magnetic field measuring device electric field measuring device the machine carries and removes UWB module with receive induction system and equally divide and do not set up on unmanned aerial vehicle's the undercarriage, wherein, magnetic field measuring device with electric field measuring device is used for detecting unmanned aerial vehicle and is in magnetic field vector and electric field vector under the current position, machine carries and removes UWB module be used for acquireing with accurate guide can fill each UWB ranging module's of platform distance information, receive induction system and be used for receiving the electromagnetic signal that accurate guide can fill the platform and send.
Based on the precise guidance energy supplementing platform and the unmanned aerial vehicle related to the embodiment of the invention, fig. 4 to 7 illustrate the unmanned aerial vehicle charging guidance method under the precise guidance energy supplementing platform in detail.
Fig. 4 shows a schematic flow chart of an unmanned aerial vehicle charging guidance method under an accurate guidance energy supplementing platform in the embodiment of the present invention, where the method includes the following steps:
s101, a system master station reads the current electric quantity and the current position information of an unmanned aerial vehicle and judges whether the current electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity or not;
specifically, when the unmanned aerial vehicle approaches to an intelligent tower, a wireless internet of things communication module integrated on the intelligent tower is wirelessly connected with a communication module of the unmanned aerial vehicle; the unmanned aerial vehicle sends the current electric quantity and the current position information to the wireless internet of things communication module; the wireless internet of things communication module sends the current electric quantity and the current position information of the unmanned aerial vehicle to the system main station in a step-by-step sending mode based on a peripheral remote antenna; the system master station judges whether the received current electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity; if yes, go to step S102; if not, the process returns to step S101.
It should be noted that the preset electric quantity is estimated according to the farthest distance between two adjacent intelligent towers on the cruise planned path of the unmanned aerial vehicle, and when the unmanned aerial vehicle approaches any one of the intelligent towers, the current electric quantity is fed back to the system master station for management control, so that the preset electric quantity at least needs to meet the energy consumption of the unmanned aerial vehicle during the farthest distance flight between the two adjacent intelligent towers.
S102, the system main station sends a charging control instruction to an accurate guiding energy supplementing platform adjacent to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle;
specifically, the system master station generates the charging control instruction according to the judgment result of step S101; comparing the current position information of the unmanned aerial vehicle with the stored position information of each intelligent tower on the power transmission line, and outputting the intelligent tower closest to the unmanned aerial vehicle; and finally, after the charging control command is issued to a wireless Internet of things communication module of the intelligent tower through a peripheral remote antenna, the charging control command is sent to an accurate guiding energy supplementing platform integrated on the intelligent tower through twisted pair connection.
S103, the accurate guiding energy supplementing platform establishes communication with the unmanned aerial vehicle and acquires a relative distance between the accurate guiding energy supplementing platform and the unmanned aerial vehicle based on the received charging control instruction;
specifically, the accurate guide can be mended the platform and is passed through wireless thing allies oneself with communication module sends the coordinate information of assigned position to unmanned aerial vehicle, unmanned aerial vehicle's airborne operation processing module calculates according to the GPS locating information of self the assigned position with unmanned aerial vehicle's relative distance, and pass through wireless thing allies oneself with communication module will relative distance send to the accurate guide can mend the first controller of platform.
S104, when the relative distance between the unmanned aerial vehicle and the precise guiding energy supplementing platform is within a first preset range, the precise guiding energy supplementing platform guides the unmanned aerial vehicle to approach by adopting an ultra-wideband technology;
in the embodiment of the invention, when the first controller of the accurate guiding energy supplementing platform judges that the relative distance between the first controller and the unmanned aerial vehicle is within the first preset range, each UWB ranging module in the accurate guiding energy supplementing platform is controlled to start running, and the ultra wideband technology (UWB) is utilized to guide the unmanned aerial vehicle to approach. Fig. 5 is a schematic flow chart illustrating guiding an approach of a drone by using UWB technology in an embodiment of the present invention, where the specific implementation process is as follows:
s201, sequentially sending UWB signals to an airborne mobile UWB module of the unmanned aerial vehicle by each UWB ranging module in the accurate guiding energy supplementing platform;
it should be noted that the UWB signal is a position coordinate of each UWB ranging module, and in the embodiment of the present invention, the accurate guiding and energy supplementing platform is provided with three UWB ranging modules. When the relative positions of the first UWB ranging module, the second UWB ranging module and the third UWB ranging module are fixed, the control module of the accurate guiding energy supplementing platform utilizes a differential GPS algorithm to perform coordinate conversion on each UWB ranging module, acquires the position coordinates of each UWB ranging module under the measuring coordinate system by establishing the measuring coordinate system and sends the position coordinates to the corresponding UWB ranging module.
S202, an airborne mobile UWB module of the unmanned aerial vehicle acquires distance information between the airborne mobile UWB module and each UWB ranging module based on the received UWB signals;
s203, an airborne operation processing module of the unmanned aerial vehicle establishes an equation set based on the distance information of each UWB ranging module, and obtains an optimal estimation value of the position of the unmanned aerial vehicle according to a corresponding positioning calculation algorithm;
s204, the flight control module of the unmanned aerial vehicle guides the unmanned aerial vehicle to fly right above the specified position of the accurate guiding energy supplementing platform based on the optimal estimated value of the position of the unmanned aerial vehicle.
It should be noted that the first preset range is defined according to actual needs, for example, the first preset range is defined to be 5m to 30m in the embodiment of the present invention.
S105, when the relative distance between the unmanned aerial vehicle and the precise guiding energy supplementing platform is within a second preset range, the precise guiding energy supplementing platform guides the unmanned aerial vehicle to land precisely by adopting a short-range dynamic electromagnetic positioning technology;
in the embodiment of the invention, the first controller of the accurate guiding energy supplementing platform acquires the relative distance with the unmanned aerial vehicle in real time, and when the relative distance with the unmanned aerial vehicle is judged to be within the second preset range, the first controller controls each UWB ranging module in the accurate guiding energy supplementing platform to stop running, closes the first switch, and switches to the short-range dynamic electromagnetic positioning technology to guide the unmanned aerial vehicle to accurately land. Fig. 6 shows a schematic flow chart of guiding an unmanned aerial vehicle to land by using a short-range dynamic electromagnetic positioning technology in an embodiment of the present invention, which includes the following specific steps:
s301, the emission sensor of the accurate guide energy supplementing platform emits electromagnetic waves to the air;
specifically, the first controller sends a signal emission instruction to the signal emission circuit based on the closed state of the first switch, the signal emission circuit generates an emission driving signal and then performs filtering amplification, and the emission sensor is driven to work by the amplified emission driving signal and emits electromagnetic waves to the air.
It should be noted that the signal transmitting circuit includes a signal generator, an amplitude amplifying circuit, a power amplifying circuit and an overvoltage protection circuit, and when the signal generator receives the signal transmitting instruction, the signal generator generates three sinusoidal signals with the same amplitude and different frequencies, and the amplitude amplifying circuit, the power amplifying circuit and the overvoltage protection circuit, which are connected in series in sequence, perform filtering and amplifying processing on the three sinusoidal signals.
S302, a magnetic field vector of the position where the unmanned aerial vehicle is located is obtained by a magnetic field measuring device of the unmanned aerial vehicle;
it should be noted that the magnetic field measuring device of the unmanned aerial vehicle is composed of three magnetic field detection coils which are perpendicular to each other in pairs, so as to measure three components of the magnetic field vector.
S303, acquiring an electric field vector of the position where the unmanned aerial vehicle is located by an electric field measuring device of the unmanned aerial vehicle;
it should be noted that the electric field measuring device of the unmanned aerial vehicle is composed of three two-by-two perpendicular insulating epoxy rods to measure three components of the electric field vector.
S304, an airborne operation processing module of the unmanned aerial vehicle acquires spatial position data of the unmanned aerial vehicle and the specified position of the accurate guiding energy supplementing platform based on the magnetic field vector and the electric field vector;
specifically, according to step S302 and step S303, the magnetic field vector B (x, y, z) and the electric field vector E (x, y, z) are known;
the calculated displacement vector is: d (x, y, z) ═ E (x, y, z), epsilon is the air dielectric constant;
the magnetic field strength is calculated as: h (x, y, z) ═ B (x, y, z)/μ, μ is permeability;
acquiring spatial position data of the unmanned aerial vehicle and the specified position of the accurate guide energy supplementing platform by using Maxwell equations:
wherein J is current density, q is charge, (x, y, z) is space coordinate of the unmanned aerial vehicle, (x0,y0,z0) And the space coordinate of the specified position of the accurate guide energy supplementing platform is obtained.
S305, the flight control module of the unmanned aerial vehicle guides the unmanned aerial vehicle to land at the specified position of the accurate guiding energy supplementing platform based on the spatial position data.
Specifically, the flight control module of the unmanned aerial vehicle adjusts the direction and the posture of the unmanned aerial vehicle according to the spatial position data.
It should be noted that the second preset range is defined according to actual needs, for example, the first preset range is defined to be less than 5m in the embodiment of the present invention.
S106, the unmanned aerial vehicle after the accurate guide energy supplementing platform falls is charged.
In the embodiment of the invention, the accurate guide energy supplementing platform preferentially judges whether the self idle battery finishes charging or not, and the idle battery is arranged in the automatic replacing device; if so, the second controller of the accurate guide energy supplementing platform controls the automatic replacing device to be started, and the unmanned aerial vehicle after the unmanned aerial vehicle falls down is replaced by a battery; otherwise, the wireless induction charging mode is started. Fig. 7 shows a schematic flow chart of wireless inductive charging for an unmanned aerial vehicle in an embodiment of the present invention, which includes the following specific steps:
s401, the accurate guide energy supplementing platform control sending induction device is connected with an external power supply module to generate an alternating magnetic field;
it should be noted that the external power module includes the dc power supply, the inverter circuit and the first compensation circuit, which are connected in sequence, and the dc power output by the dc power supply is processed by the inverter circuit and the first compensation circuit to generate a sinusoidal high-frequency current.
Specifically, a second controller of the accurate guide energy supplementing platform controls the second switch to be closed, at the moment, the sending induction device is connected with the external power supply module, and the sine high-frequency current output by the external power supply module passes through the sending induction device to excite the alternating magnetic field.
S402, a receiving induction device of the unmanned aerial vehicle receives an electromagnetic signal sent by a sending induction device in a magnetic field coupling mode, is connected with a battery management module of the unmanned aerial vehicle to generate induction current, and charges the induction current into a battery of the unmanned aerial vehicle;
specifically, the battery management module comprises the battery, the DC-DC circuit, the rectification circuit and the second compensation circuit which are connected in sequence, the receiving induction device of the unmanned aerial vehicle receives the alternating current sent by the sending induction device in a magnetic field coupling mode, the alternating current is processed by the second compensation circuit and the rectification circuit and then outputs direct current, and the direct current can be input by the battery and is converted into the direct current which can be input by the battery through the DC-DC circuit and then is recharged into the battery of the unmanned aerial vehicle.
S403, judging whether the battery capacity of the unmanned aerial vehicle is full or not by a sensing module of the unmanned aerial vehicle;
specifically, in the charging process of the unmanned aerial vehicle, a sensing module of the unmanned aerial vehicle queries the battery power of the unmanned aerial vehicle in real time and judges whether preset maximum power data is reached; if yes, the sensing module of the unmanned aerial vehicle sends a charging completion instruction to the airborne operation processing module, and step S404 is continuously executed; otherwise, return to execute step S403.
S404, a communication module of the unmanned aerial vehicle issues a power-off control command to the accurate guiding energy supplementing platform;
s405, the accurate guide energy supplementing platform controls the sending induction device to be disconnected with the external power supply module based on the received power-off control command.
Specifically, the second controller of accurate guide benefit ability platform passes through wireless thing allies oneself with communication module receives behind the outage control command, the closure the second switch cuts off send induction system with external power supply module's connection, the completion is right unmanned aerial vehicle battery charges.
It should be noted that, the accurate guidance energy supplementing platform further provides a wired charging mode, and the specific steps are as follows: the second controller of the accurate guide energy supplementing platform controls the traction device to stretch out a negative charging interface, and controls the unmanned aerial vehicle to discharge a negative charging wire, and the negative charging wire is adsorbed on the negative charging interface through a magnetic joint at the tail end; in a similar way, the second controller controls the traction device to enable the positive charging interface to be in butt joint with the positive charging wire emitted by the unmanned aerial vehicle.
The negative electrode charging interface and the positive electrode charging interface are provided with lantern rings in different colors, the unmanned aerial vehicle can identify the lantern rings in different colors according to a machine vision system, and the gesture of the unmanned aerial vehicle is adjusted to complete the butt joint of the charging wire and the charging interface.
Correspondingly, fig. 8 is a schematic structural composition diagram of a charging guiding device under an accurate guiding energy compensation platform in an embodiment of the present invention, where the charging guiding device includes:
the judging module 501 is configured to judge whether the current electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity or not based on the current electric quantity and the current position information of the unmanned aerial vehicle read by the system master station;
a sending module 502, configured to send a charging control instruction to an accurate guidance energy supplementing platform adjacent to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle read by the system master station;
an obtaining module 503, configured to establish communication with the unmanned aerial vehicle and obtain a relative distance between the unmanned aerial vehicle and the accurate guidance energy supplementing platform based on the charging control instruction received by the accurate guidance energy supplementing platform;
the first guiding module 504 is configured to control the accurate guiding energy compensating platform to guide the unmanned aerial vehicle to approach the unmanned aerial vehicle by using an ultra wide band technology when a relative distance between the first guiding module and the unmanned aerial vehicle is within a first preset range;
specifically, the first guiding module 504 is further configured to control each UWB ranging module in the accurate guiding energy supplementing platform to sequentially send UWB signals to an airborne mobile UWB module of the unmanned aerial vehicle; controlling an airborne mobile UWB module of the unmanned aerial vehicle to acquire distance information between the airborne mobile UWB module and each UWB ranging module based on the received UWB signals; an airborne operation processing module for controlling the unmanned aerial vehicle establishes an equation set based on the distance information of each UWB ranging module, and obtains an optimal estimation value of the position of the unmanned aerial vehicle according to a corresponding positioning calculation algorithm; and controlling a flight control module of the unmanned aerial vehicle to guide the unmanned aerial vehicle to fly right above the specified position of the accurate guide energy supplementing platform based on the optimal estimated value of the position of the unmanned aerial vehicle.
A second guiding module 505, configured to control the accurate guiding energy supplementing platform to guide the unmanned aerial vehicle to accurately land by using a short-range dynamic electromagnetic positioning technology when a relative distance between the unmanned aerial vehicle and the accurate guiding energy supplementing platform is within a second preset range;
specifically, the second guiding module 505 is further configured to control an emission sensor of the precise guiding energy supplementing platform to emit an electromagnetic wave into the air; controlling a magnetic field measuring device of the unmanned aerial vehicle to obtain a magnetic field vector of the position where the unmanned aerial vehicle is located; controlling an electric field measuring device of the unmanned aerial vehicle to obtain an electric field vector of the position where the unmanned aerial vehicle is located; controlling an airborne operation processing module of the unmanned aerial vehicle to acquire spatial position data of the unmanned aerial vehicle and the specified position of the accurate guiding energy supplementing platform based on the magnetic field vector and the electric field vector; and controlling a flight control module of the unmanned aerial vehicle to guide the unmanned aerial vehicle to land at the specified position of the accurate guide energy supplementing platform based on the spatial position data.
And a charging module 506 for controlling the accurate guiding energy supplementing platform to charge the unmanned aerial vehicle after the unmanned aerial vehicle falls.
Specifically, the charging module 506 is further configured to control the accurate guidance energy supplementing platform to determine whether the idle battery of the accurate guidance energy supplementing platform completes charging; if so, controlling the accurate guide energy supplementing platform to start a built-in automatic replacing device, and replacing the battery of the unmanned aerial vehicle after the unmanned aerial vehicle falls; if not, control accurate guide benefit can the platform to the unmanned aerial vehicle after falling carry out wireless response and charge.
When the unmanned aerial vehicle is in the wireless induction charging mode, the charging module 506 is further configured to control the accurate guidance energy supplementing platform to control the sending induction device to be connected with the external power supply module, so as to generate an alternating magnetic field; controlling a receiving induction device of the unmanned aerial vehicle to receive an electromagnetic signal sent by a sending induction device in a magnetic field coupling mode, connecting the receiving induction device with a battery management module of the unmanned aerial vehicle to generate induction current, and charging the induction current into a battery of the unmanned aerial vehicle; controlling a sensing module of the unmanned aerial vehicle to judge whether the battery capacity of the unmanned aerial vehicle is full; if so, controlling a communication module of the unmanned aerial vehicle to issue a power-off control command to the accurate guiding energy supplementing platform; and controlling the accurate guide energy supplementing platform to control the sending induction device to be disconnected with the external power supply module based on the received power-off control command.
In the embodiment of the invention, in order to solve the problem that electric energy cannot be timely supplemented in the cruising process of an unmanned aerial vehicle, the accurate guiding energy supplementing platform built on an intelligent tower is provided. In the charging guiding process of the unmanned aerial vehicle, the unmanned aerial vehicle is guided to accurately land by adopting the ultra-wideband technology and the short-range dynamic electromagnetic positioning technology respectively according to the relative position of the unmanned aerial vehicle; and then selecting a charging mode for the unmanned aerial vehicle after landing according to the actual condition of the accurate guide energy supplementing platform to supplement energy. The unmanned aerial vehicle charging guiding method can effectively prolong the inspection time of the unmanned aerial vehicle on the power transmission line, ensure that the unmanned aerial vehicle can finish the inspection work at one time, and save manpower and financial resources to a certain extent.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable storage medium, and the storage medium may include: a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, or the like.
In addition, the method and the device for guiding charging of the unmanned aerial vehicle under the precise guiding energy supplementing platform provided by the embodiment of the invention are described in detail, a specific embodiment is adopted to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. The utility model provides an unmanned aerial vehicle guide method that charges under accurate guide benefit ability platform, which is characterized in that the method includes:
the method comprises the steps that a system master station reads current electric quantity and current position information of an unmanned aerial vehicle, and judges whether the current electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity, wherein the preset electric quantity at least needs to meet energy consumption of the unmanned aerial vehicle when the unmanned aerial vehicle flies at the farthest distance between two adjacent intelligent towers;
if so, the system master station sends a charging control instruction to an accurate guiding energy supplementing platform adjacent to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle;
the accurate guiding energy supplementing platform establishes communication with the unmanned aerial vehicle and acquires a relative distance between the accurate guiding energy supplementing platform and the unmanned aerial vehicle based on the received charging control instruction;
when the relative distance between the unmanned aerial vehicle and the precise guiding energy supplementing platform is within a first preset range, the precise guiding energy supplementing platform guides the unmanned aerial vehicle to approach by adopting an ultra wide band technology;
when the relative distance between the unmanned aerial vehicle and the precise guiding energy supplementing platform is within a second preset range, the precise guiding energy supplementing platform guides the unmanned aerial vehicle to land precisely by adopting a short-range dynamic electromagnetic positioning technology;
the accurate guiding energy supplementing platform charges the unmanned aerial vehicle after the unmanned aerial vehicle falls;
wherein, accurate guide benefit can the platform to fall after unmanned aerial vehicle charges including:
the accurate guide energy supplementing platform judges whether the self idle battery is charged or not;
if so, the accurate guide energy supplementing platform starts a built-in automatic replacing device to replace the battery of the unmanned aerial vehicle after the unmanned aerial vehicle falls;
if not, the unmanned aerial vehicle after accurate guide benefit can the platform to falling carries out wireless response and charges.
2. The unmanned aerial vehicle charging guidance method of claim 1, wherein the accurate guidance energy supplementing platform guides the unmanned aerial vehicle to approach by using ultra wide band technology comprises:
each UWB ranging module in the accurate guiding energy supplementing platform sequentially sends UWB signals to an airborne mobile UWB module of the unmanned aerial vehicle;
the airborne mobile UWB module of the unmanned aerial vehicle acquires distance information between the airborne mobile UWB module and each UWB ranging module based on the received UWB signals;
an airborne operation processing module of the unmanned aerial vehicle establishes an equation set based on the distance information of each UWB ranging module, and obtains an optimal estimation value of the position of the unmanned aerial vehicle according to a corresponding positioning calculation algorithm;
and the flight control module of the unmanned aerial vehicle guides the unmanned aerial vehicle to fly right above the specified position of the accurate guide energy supplementing platform based on the optimal estimated value of the position of the unmanned aerial vehicle.
3. The method for guiding unmanned aerial vehicle charging according to claim 1, wherein the guiding the unmanned aerial vehicle to land accurately by the accurate guiding energy supplementing platform using a short-range dynamic electromagnetic positioning technology comprises:
the transmitting sensor of the accurate guide energy supplementing platform transmits electromagnetic waves to the air;
the method comprises the steps that a magnetic field measuring device of the unmanned aerial vehicle obtains a magnetic field vector of the position where the unmanned aerial vehicle is located;
the electric field measuring device of the unmanned aerial vehicle acquires an electric field vector of the position where the unmanned aerial vehicle is located;
an airborne operation processing module of the unmanned aerial vehicle acquires spatial position data of the unmanned aerial vehicle and the specified position of the accurate guiding energy supplementing platform based on the magnetic field vector and the electric field vector;
the flight control module of the unmanned aerial vehicle guides the unmanned aerial vehicle to land at the specified position of the accurate guiding energy supplementing platform based on the spatial position data.
4. The unmanned aerial vehicle charging guidance method of claim 1, wherein the accurate guidance energy supplementing platform wirelessly inductively charging the unmanned aerial vehicle after landing comprises:
the accurate guide energy supplementing platform controls the sending induction device to be connected with the external power supply module to generate an alternating magnetic field;
the receiving induction device of the unmanned aerial vehicle receives the electromagnetic signal sent by the sending induction device in a magnetic field coupling mode, is connected with the battery management module of the unmanned aerial vehicle to generate induction current, and charges the induction current into the battery of the unmanned aerial vehicle;
the sensing module of the unmanned aerial vehicle judges whether the battery capacity of the unmanned aerial vehicle is full;
if so, the communication module of the unmanned aerial vehicle issues a power-off control command to the accurate guiding energy supplementing platform;
the accurate guide energy supplementing platform controls the sending induction device to be disconnected with the external power supply module based on the received power-off control command.
5. The utility model provides an unmanned aerial vehicle guiding device that charges under accurate guide ability platform, a serial communication port, the device includes:
the system comprises a judging module, a judging module and a control module, wherein the judging module is used for judging whether the current electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity or not based on the current electric quantity and the current position information of the unmanned aerial vehicle read by a system main station, and the preset electric quantity at least needs to meet the energy consumption of the unmanned aerial vehicle when the unmanned aerial vehicle flies at the farthest distance between two adjacent intelligent towers;
the sending module is used for sending a charging control instruction to an accurate guiding energy supplementing platform adjacent to the unmanned aerial vehicle based on the current position information of the unmanned aerial vehicle read by the system main station;
the acquisition module is used for establishing communication with the unmanned aerial vehicle and acquiring a relative distance between the unmanned aerial vehicle and the charging control command received by the accurate guiding energy supplementing platform;
the first guiding module is used for controlling the accurate guiding energy supplementing platform to guide the unmanned aerial vehicle to approach by adopting an ultra-wideband technology when the relative distance between the first guiding module and the unmanned aerial vehicle is within a first preset range;
the second guiding module is used for controlling the accurate guiding energy supplementing platform to guide the unmanned aerial vehicle to accurately land by adopting a short-range dynamic electromagnetic positioning technology when the relative distance between the second guiding module and the unmanned aerial vehicle is within a second preset range;
the charging module is used for controlling the accurate guiding energy supplementing platform to charge the unmanned aerial vehicle after the unmanned aerial vehicle falls down;
the charging module is also used for controlling the accurate guide energy supplementing platform to judge whether the self idle battery finishes charging; if so, controlling the accurate guide energy supplementing platform to start a built-in automatic replacing device, and replacing the battery of the unmanned aerial vehicle after the unmanned aerial vehicle falls; if not, control accurate guide benefit can the platform to the unmanned aerial vehicle after falling carry out wireless response and charge.
6. The unmanned aerial vehicle charging guide apparatus of claim 5,
the first guiding module is further used for controlling each UWB ranging module in the accurate guiding energy supplementing platform to sequentially send UWB signals to an airborne mobile UWB module of the unmanned aerial vehicle; controlling an airborne mobile UWB module of the unmanned aerial vehicle to acquire distance information between the airborne mobile UWB module and each UWB ranging module based on the received UWB signals; an airborne operation processing module for controlling the unmanned aerial vehicle establishes an equation set based on the distance information of each UWB ranging module, and obtains an optimal estimation value of the position of the unmanned aerial vehicle according to a corresponding positioning calculation algorithm; and controlling a flight control module of the unmanned aerial vehicle to guide the unmanned aerial vehicle to fly right above the specified position of the accurate guide energy supplementing platform based on the optimal estimated value of the position of the unmanned aerial vehicle.
7. The unmanned aerial vehicle charging guide apparatus of claim 5,
the second guiding module is also used for controlling the emission sensor of the accurate guiding energy supplementing platform to emit electromagnetic waves to the air; controlling a magnetic field measuring device of the unmanned aerial vehicle to obtain a magnetic field vector of the position where the unmanned aerial vehicle is located; controlling an electric field measuring device of the unmanned aerial vehicle to obtain an electric field vector of the position where the unmanned aerial vehicle is located; controlling an airborne operation processing module of the unmanned aerial vehicle to acquire spatial position data of the unmanned aerial vehicle and the specified position of the accurate guiding energy supplementing platform based on the magnetic field vector and the electric field vector; and controlling a flight control module of the unmanned aerial vehicle to guide the unmanned aerial vehicle to land at the specified position of the accurate guide energy supplementing platform based on the spatial position data.
8. The unmanned aerial vehicle charging guide apparatus of claim 5,
the charging module is also used for controlling the accurate guide energy supplementing platform to control the sending induction device to be connected with the external power supply module so as to generate an alternating magnetic field; controlling a receiving induction device of the unmanned aerial vehicle to receive an electromagnetic signal sent by a sending induction device in a magnetic field coupling mode, connecting the receiving induction device with a battery management module of the unmanned aerial vehicle to generate induction current, and charging the induction current into a battery of the unmanned aerial vehicle; controlling a sensing module of the unmanned aerial vehicle to judge whether the battery capacity of the unmanned aerial vehicle is full; if so, controlling a communication module of the unmanned aerial vehicle to issue a power-off control command to the accurate guiding energy supplementing platform; and controlling the accurate guide energy supplementing platform to control the sending induction device to be disconnected with the external power supply module based on the received power-off control command.
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| CN113759940A (en) * | 2020-10-09 | 2021-12-07 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle landing method and device, unmanned aerial vehicle system, airport, equipment and medium |
| CN112308997A (en) * | 2020-10-27 | 2021-02-02 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle inspection system, inspection method, device, equipment and medium |
| CN112319833B (en) * | 2020-10-30 | 2022-08-12 | 北京京东乾石科技有限公司 | Automatic airport and unmanned aerial vehicle charging system, method, equipment and storage medium |
| CN112297937B (en) * | 2020-11-17 | 2022-03-18 | 南京大学 | Multi-unmanned aerial vehicle and multi-charging base station charging scheduling method and device |
| CN113715668B (en) * | 2021-11-01 | 2022-04-15 | 中国科学院空天信息创新研究院 | Automatic charging method and system for unmanned aerial vehicle |
| CN113726032A (en) * | 2021-11-03 | 2021-11-30 | 中国科学院空天信息创新研究院 | Wireless charging method, device, medium and product |
| CN114771330A (en) * | 2022-06-20 | 2022-07-22 | 西南交通大学 | Unmanned aerial vehicle charging method and system based on integration of communication perception, calculation and energy transfer |
| CN116119063B (en) * | 2022-12-14 | 2023-09-15 | 山东省煤田地质局第四勘探队 | Mapping unmanned aerial vehicle energy supplementing relay platform and application method |
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