CN111216572A - Wireless charging method for unmanned aerial vehicle cluster - Google Patents
Wireless charging method for unmanned aerial vehicle cluster Download PDFInfo
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- CN111216572A CN111216572A CN202010125230.6A CN202010125230A CN111216572A CN 111216572 A CN111216572 A CN 111216572A CN 202010125230 A CN202010125230 A CN 202010125230A CN 111216572 A CN111216572 A CN 111216572A
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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
- B60L53/10—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
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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
- Y02T90/14—Plug-in electric vehicles
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a wireless charging method for an unmanned aerial vehicle cluster, and belongs to the field of unmanned aerial vehicle charging. The invention comprises the following steps: 1) establishing a wireless charging station array and a ground control base station on the ground based on the unmanned aerial vehicle cluster; 2) unmanned aerial vehicles in the unmanned aerial vehicle cluster send current task data, energy information and position information to the ground control base station; the ground control base station calculates energy consumption by using the energy consumption model and transmits the result back to the corresponding unmanned aerial vehicle and the wireless charging station; and the charging switch of the unmanned aerial vehicle and the wireless charging station determine whether to start or not according to the return result. The charging method of the unmanned aerial vehicle cluster solves the problem of insufficient endurance when the unmanned aerial vehicle cluster executes tasks, and greatly widens the application scenes of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle charging, and particularly relates to a wireless charging method for an unmanned aerial vehicle cluster.
Background
Unmanned aerial vehicles, as autonomous aircraft, play a difficult-to-replace role in modern applications. Unmanned aerial vehicle networking is also becoming more common in modern applications. However, the unmanned aerial vehicle network has many unmanned aerial vehicles, and the task execution time is long, so that the situation that the battery power is not enough to support the whole cluster to complete the task often occurs. The conventional solutions to the problems are roughly as follows: the first is to increase battery capacity, but this solution can result in increased weight on the drone, reducing its payload. The second is landing charging in the task execution process, and the scheme is time-consuming and labor-consuming and is not practical in practical application. The third is to install the solar energy collecting plate for unmanned aerial vehicle additional, turns into unmanned aerial vehicle's electric quantity with it through collecting solar radiation, and this kind of method needs the solar energy collecting plate of large tracts of land, faces the not enough condition of solar energy that leads to because of environmental problem moreover, therefore this method is not applicable to the cell type, and the task of many times, long voyage. The fourth is that dispose unmanned aerial vehicle wireless charging station in each place that unmanned aerial vehicle carries out the task, and this kind of method charges to single-time unmanned aerial vehicle has good utility, but when having many-time unmanned aerial vehicle to charge simultaneously, and this kind of scheme is difficult to select specifically to be which frame and charges, and is not intelligent enough when facing unmanned aerial vehicle cluster charges.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a wireless charging method for an unmanned aerial vehicle cluster.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a wireless charging method of an unmanned aerial vehicle cluster comprises the following steps:
1) establishing a wireless charging station array and a ground control base station on the ground based on the unmanned aerial vehicle cluster;
2) unmanned aerial vehicles in the unmanned aerial vehicle cluster send current task data and energy information to the ground control base station;
the ground control base station calculates energy consumption by using the energy consumption model and transmits the result back to the corresponding unmanned aerial vehicle;
the ground control base station controls the corresponding wireless charging stations in the wireless charging station array to start and stop according to the result, and the charging switch of the unmanned aerial vehicle determines whether to start or not according to the returned result;
the mission information includes airline completion and location information.
Further, if the feedback result in the step 2) is that the electric quantity of the unmanned aerial vehicle is smaller than a preset value, the ground control base station controls the corresponding charging station in the wireless charging station array to start and emit electromagnetic waves, and meanwhile, the unmanned aerial vehicle opens a charging switch to charge until the electric quantity of the unmanned aerial vehicle reaches the preset value;
the electromagnetic wave of wireless charging station transmission can reach the unmanned aerial vehicle position.
Further, if the unmanned aerial vehicle does not receive the return result of the step 2) within the preset time, the unmanned aerial vehicle turns on the charging switch and spirals at the original position, and the ground control base station controls the corresponding charging stations in the wireless charging station array to start so as to emit electromagnetic waves to charge the unmanned aerial vehicle until the unmanned aerial vehicle can receive the return result;
the electromagnetic wave of wireless charging station transmission can reach unmanned aerial vehicle loss of contact department.
Further, if the unmanned aerial vehicle does not receive the return result of the step 2) within the preset time, the ground control base station moves to the position corresponding to the position where the unmanned aerial vehicle is disconnected from the ground.
Further, when the unmanned aerial vehicle clusters are uniformly distributed at the same height in the step 1), dividing square grids on uniformly distributed planes, wherein the unmanned aerial vehicles are all positioned in the square grids, and arranging wireless charging stations on the ground corresponding to the vertexes of the square grids;
the side length of the square network is D, and the charging radius of the wireless charging station is CrThen, then
Further, add on the unmanned aerial vehicle and be equipped with solar energy collecting plate.
Compared with the prior art, the invention has the following beneficial effects:
the invention relates to a wireless charging method of an unmanned aerial vehicle cluster, which comprises the steps of deploying a wireless charging station and a ground control base station in an unmanned aerial vehicle task execution region, and scheduling an unmanned aerial vehicle needing charging and the wireless charging station deployed in the local by the ground control base station to finish charging; the charging method of the unmanned aerial vehicle cluster solves the problem of insufficient endurance when the unmanned aerial vehicle cluster executes tasks, and greatly widens the application scenes of the unmanned aerial vehicle.
Furthermore, the invention can ensure that the electric quantity of each unmanned aerial vehicle in the unmanned aerial vehicle cluster is not lower than a preset value.
Further, when unmanned aerial vehicle can't receive the passback result, judge this unmanned aerial vehicle and ground control basic station temporarily lost the antithetical couplet promptly, unmanned aerial vehicle spirals and opens the switch that charges in the antithetical couplet ground this moment, and ground control basic station also can't receive the information that this antithetical couplet unmanned aerial vehicle sent again, and ground control basic station control wireless charging station loses to alling with the position transmission electromagnetic wave to unmanned aerial vehicle, carries out wireless charging for antithetical couplet unmanned aerial vehicle.
Further, the ground control basic station will remove to losing the unmanned aerial vehicle direction of alliing oneself with, makes losing the unmanned aerial vehicle of alliing oneself with reconnecting through the change position.
Furthermore, the unmanned aerial vehicle clusters are uniformly distributed at the same height, the plane where the unmanned aerial vehicle clusters are located is divided into a plurality of square grids, the wireless charging stations are arranged at the top points of the square grids, and the side length of each small grid can be determined by calculating the wireless charging range. When the side length D of the grid is less than
In time, all unmanned aerial vehicles can be charged; when the length D of the grid side is larger than
When the charging radius of the unmanned aerial vehicle is doubled, the unmanned aerial vehicle is not in the charging range and cannot be charged in situ; when grid side length D is far larger than charging radius C of unmanned aerial vehiclerIn time, most drones will not be able to charge in place. In summary,
the unmanned aerial vehicle wireless charging system has the advantages that wireless charging of the unmanned aerial vehicles in situ is guaranteed to be carried out as much as possible, and economic loss caused by the arrangement of too many wireless charging stations is avoided.
Furthermore, the solar energy collecting plate is additionally arranged on the unmanned aerial vehicle, when solar energy is sufficient, the unmanned aerial vehicle can supplement the electric quantity by solar energy, the wireless charging cost is saved, when the solar energy is insufficient to supplement the electric quantity, the ground control base station commands the wireless charging station to directionally emit electromagnetic waves to the unmanned aerial vehicle to be charged, the charging is completed, and the electric quantity of the unmanned aerial vehicle is ensured to be sufficient all the time.
Drawings
Fig. 1 is a network configuration diagram of the unmanned aerial vehicle cluster charging of the present invention;
fig. 2 is a flow chart of unmanned aerial vehicle cluster charging;
fig. 3 is a flowchart of charging of the loss-of-connection drone.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, fig. 1 shows an unmanned plane cluster of the present inventionThe charged network forms a diagram, unmanned aerial vehicle clusters are approximately and uniformly distributed in a large network, the large network is divided into a plurality of small grids according to the charging range of a wireless charging station, the fixed point of each small grid is the wireless charging station, and meanwhile, the ground control base station 4 can move according to the actual situation; the unmanned aerial vehicles with determined positions are assumed to be uniformly distributed in a 2A multiplied by 2A network, and the charging radius of wireless charging stations in the network is CrThe charging range of the wireless charging station is CrIs a circle with radius and taking the wireless charging station as the center of the circle. For each communication interval, the drone transmits position data and energy information to the ground control base station. If the ground control base station calculates energy consumption by using an energy model and the unmanned aerial vehicle needs to be charged, the ground control base station divides an original network into a plurality of grids with the same size in order to share the energy level, the position information and the path planning with the ground control base station. The vertex of the mesh is taken as a wireless charging station C in FIG. 1p，CpRepresenting unmanned aerial vehicle charging stations at the grid vertices.
To make the calculation more convenient, the side length D of each grid should be divisible by 2A. Thus, the calculated value of D, the number of required wireless charging stations and the coverage area of charging can be calculated. To determine the size of the charging grid, the length of the side D is determined by the charging diameter 2CrThe relationship between the two can be obtained:
the first relationship: all drones in the grid can be charged, wherein the maximum value of D is
The second relationship: when D is greater than
In time, some unmanned aerial vehicles in the middle of being located the net will be unable to charge.
In order to shorten the charging path length and optimize the charging performance, the value of D is located as much as possible
In this layout, if the four wireless charging stations located at the upper left corner are E, F, G, H charging points, the dashed lines indicate the charging range.
After the grid size is determined, the ground control base station broadcasts the location of the wireless charging station to the drone. And each unmanned aerial vehicle calculates the received power according to the distance between the unmanned aerial vehicle and the wireless charging station. If the coordinate of the ith unmanned aerial vehicle in fig. 1 is (x)i,yi)。
E, F, G, H points of charge located in the grid with respective coordinates
The distances between the ith unmanned aerial vehicle and the four wireless charging stations can be calculated by using the following formula:
now, the total energy received by the ith drone from the four wireless charging stations 3 is calculated as follows:
β is a constant used for adjusting the short-distance transmission of the free space propagation model of Fries;
the simplest mode of electromagnetic wave propagation in space is a free space propagation model, which assumes that the radio loss is only related to the propagation distance and the frequency of the electromagnetic wave, and when the frequency is given, the free space propagation is represented by the formula:
wherein G isTGain for the transmit antenna; gRIs the gain of the receiving antenna; l ispIs a system loss factor independent of propagation; λ is the wavelength; d is the distance between the emission source and the receiver, PrIs the source power, Ptthe power received by the receiver is mostly isotropic medium in the earth's atmosphere, and since it is a short-distance transmission, this formula needs to introduce compensation, so beta is introduced to compensate.
Referring to fig. 2, fig. 2 is a flowchart of charging a cluster of unmanned aerial vehicles; each unmanned aerial vehicle in the unmanned aerial vehicle cluster sends self task information and electric quantity information to the ground control base station, the task information comprises current air route completion degree and current position information, the ground control base station receives the information sent by each unmanned aerial vehicle, energy consumption is calculated by using an energy consumption model, and the result is transmitted back to the corresponding unmanned aerial vehicle and the corresponding wireless charging station.
For the condition of normal communication of the unmanned aerial vehicles, if information sent by k unmanned aerial vehicles is calculated by the ground control base station, the unmanned aerial vehicles are judged to need to be charged, the charging switches of the k unmanned aerial vehicles are turned on, the ground control base station controls the wireless charging stations which are close to the k unmanned aerial vehicles to be turned on so as to emit electromagnetic waves to the positions where the k unmanned aerial vehicles are located, the k unmanned aerial vehicles start to be charged at the moment, and the unmanned aerial vehicles continue to execute tasks in the whole process; when unmanned aerial vehicle flies away from the current region, if still need to charge, then the electromagnetic wave is launched to the unmanned aerial vehicle position that has not yet reached the default to the corresponding wireless charging station in ground control base station control next region, and the process more than the circulation is until the electric quantity of waiting to charge unmanned aerial vehicle is higher than the default, and the completion of charging, unmanned aerial vehicle close the wireless switch that charges, and ground control base station control wireless charging station stops launching the electromagnetic wave.
Referring to fig. 3, fig. 3 is a flow chart that the unmanned aerial vehicle that loses allies oneself with charges, to the condition that has unmanned aerial vehicle to lose allies oneself with, if the ith unmanned aerial vehicle loses allies oneself with, the ground control basic station can not receive the information that ith unmanned aerial vehicle sent this moment, ground control basic station control is apart from the nearest wireless charging station that ith unmanned aerial vehicle sent position information last time to the direction transmission electromagnetic wave that ith unmanned aerial vehicle sent position information last time place, ith unmanned aerial vehicle can not receive ground control basic station passback result simultaneously, this unmanned aerial vehicle terminates current task immediately this moment, switch to the mode of spiraling and open wireless charging switch, ensure that oneself has the electric quantity that fills sufficient before reacquiring the connection. Once the connection is reacquired, the ith drone can continue to perform the task.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (6)
1. A wireless charging method for an unmanned aerial vehicle cluster is characterized by comprising the following steps:
1) establishing a wireless charging station array and a ground control base station on the ground based on the unmanned aerial vehicle cluster;
2) unmanned aerial vehicles in the unmanned aerial vehicle cluster send current task data and energy information to the ground control base station;
the ground control base station calculates energy consumption by using an energy consumption model and returns the result to the corresponding unmanned aerial vehicle;
the ground control base station controls the corresponding wireless charging stations in the wireless charging station array to start and stop according to the result, and the charging switch of the unmanned aerial vehicle determines whether to start or not according to the returned result;
the task information includes airline completion and location information.
2. The wireless charging method for the unmanned aerial vehicle cluster according to claim 1, wherein if the returned result in step 2) is that the electric quantity of the unmanned aerial vehicle is less than a preset value, the ground control base station controls the corresponding charging station in the wireless charging station array to start and emit electromagnetic waves, and the unmanned aerial vehicle turns on a charging switch to charge until the electric quantity of the unmanned aerial vehicle reaches the preset value;
the electromagnetic wave that wireless charging station launched can reach the unmanned aerial vehicle position.
3. The wireless charging method for the unmanned aerial vehicle cluster according to claim 1, wherein if the unmanned aerial vehicle does not receive the return result of step 2) within a preset time, the unmanned aerial vehicle turns on the charging switch and spirals at the original position, and the ground control base station controls the corresponding charging stations in the wireless charging station array to start so as to emit electromagnetic waves to charge the unmanned aerial vehicle until the unmanned aerial vehicle can receive the return result;
the electromagnetic wave transmitted by the wireless charging station can reach the unmanned aerial vehicle loss of contact.
4. The wireless charging method for the unmanned aerial vehicle cluster according to claim 3, wherein if the unmanned aerial vehicle does not receive the return result of step 2) within a preset time, the ground control base station moves at a position corresponding to a position where the ground is disconnected from the unmanned aerial vehicle.
5. The wireless charging method of the unmanned aerial vehicle cluster according to claim 1, wherein when the unmanned aerial vehicle cluster is uniformly distributed at the same height in step 1), square grids are divided on the uniformly distributed plane, the unmanned aerial vehicles are all located in the square grids, and wireless charging stations are arranged on the ground corresponding to the vertexes of the square grids;
the side length of the square network is D, and the charging radius of the wireless charging station is CrThe relationship between the two is as follows:
6. the wireless charging method for the unmanned aerial vehicle cluster according to claim 1, wherein a solar energy collecting plate is additionally installed on the unmanned aerial vehicle.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112140913A (en) * | 2020-09-10 | 2020-12-29 | 军事科学院系统工程研究院军事新能源技术研究所 | Remote wireless charging method, device and system for unmanned aerial vehicle |
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| CN103368751A (en) * | 2013-07-01 | 2013-10-23 | 杭州电子科技大学 | Non-contact type charging node deploying method facing to sensor network |
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