CN112140913B

CN112140913B - Remote wireless charging method, device and system for unmanned aerial vehicle

Info

Publication number: CN112140913B
Application number: CN202010949840.8A
Authority: CN
Inventors: 鲁长波; 徐万里; 王长富; 王旭东; 刘盼盼; 周友杰; 马东恺; 安高军; 陈今茂; 徐磊; 徐曦萌; 孙彦丽; 郑哲
Original assignee: Institute Of Military New Energy Technology Institute Of Systems Engineering Academy Of Military Sciences
Current assignee: Institute Of Military New Energy Technology Institute Of Systems Engineering Academy Of Military Sciences
Priority date: 2020-09-10
Filing date: 2020-09-10
Publication date: 2023-03-28
Anticipated expiration: 2040-09-10
Also published as: CN112140913A

Abstract

The embodiment of the invention discloses a remote wireless charging method, a device and a system for an unmanned aerial vehicle, wherein the method comprises the following steps: when a charging request sent by an unmanned aerial vehicle is received, performing identity authentication on the unmanned aerial vehicle; if the identity authentication is passed, determining the charging priority of the unmanned aerial vehicle according to relevant factors of the charging requirement of the unmanned aerial vehicle; the relevant factors comprise task information currently executed by the unmanned aerial vehicle, a charge state and a distance to a charging range; determining a target charging track corresponding to the charging priority, and sending a corresponding charging flight path for the unmanned aerial vehicle; and if the unmanned aerial vehicle is detected to enter the target charging track according to the charging flight path, controlling a transmitting antenna array to transmit a microwave signal so as to charge the unmanned aerial vehicle. Through adopting above-mentioned technical scheme, solved the problem that unmanned aerial vehicle charges and lines up, promoted charging efficiency.

Description

Remote wireless charging method, device and system for unmanned aerial vehicle

Technical Field

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a remote wireless charging method, device and system for an unmanned aerial vehicle.

Background

With the wide application of high and new technology to unmanned aerial vehicles, the effect of the unmanned aerial vehicle on aspects such as intelligence reconnaissance, border cruising, communication relaying and information confrontation is gradually prominent. However, due to the limitation of battery capacity, the endurance time and endurance mileage of the unmanned aerial vehicle are not enough to support the unmanned aerial vehicle to execute tasks for a long time and a long distance. In order to widely apply the unmanned aerial vehicle, a high-efficiency and convenient energy supplement supporting facility is established by using an energy supply technology.

Currently, charging technologies of the unmanned aerial vehicle include wired charging, magnetic coupling charging, microwave charging and the like. The wired charging is troublesome in operation, manual connection of personnel is needed, manpower cannot be liberated, and due to wired connection, the cable has a damaged risk during outdoor long-term operation, and great potential safety hazards exist. Magnetic coupling formula charges, though cancelled the constraint of cable, nevertheless because magnetic coupling formula charging distance is near, need frequent take off and land of unmanned aerial vehicle with this kind of charging mode, has reduced work efficiency, and the runway that descends and take off still provided new requirement to the place of charging to the unmanned aerial vehicle of stationary vane simultaneously, and is very inconvenient. Microwave formula is wireless to be charged can carry out long distance transmission of electricity to unmanned aerial vehicle, and unmanned aerial vehicle can charge aloft, need not to descend. Simultaneously because the technical characterstic of the wireless defeated energy of microwave, can charge for a plurality of unmanned aerial vehicle simultaneously. However, on the premise that the number of the charging platforms is limited, the unmanned aerial vehicle needs to be charged in a queue, and the charging efficiency of the unmanned aerial vehicle is influenced.

Disclosure of Invention

The embodiment of the invention discloses a remote wireless charging method, device and system for an unmanned aerial vehicle, which solve the problem of charging queue of the unmanned aerial vehicle and improve the charging efficiency.

In a first aspect, an embodiment of the present invention discloses a remote wireless charging method for an unmanned aerial vehicle, which is applied to a transmission control end, and the method includes:

when a charging request sent by an unmanned aerial vehicle is received, performing identity authentication on the unmanned aerial vehicle;

if the identity authentication is passed, determining the charging priority of the unmanned aerial vehicle according to relevant factors of the charging requirement of the unmanned aerial vehicle; the relevant factors comprise task information currently executed by the unmanned aerial vehicle, a charge state and a distance to a charging range;

determining a target charging track corresponding to the charging priority, and sending a corresponding charging flight path for the unmanned aerial vehicle;

if the unmanned aerial vehicle is detected to enter the target charging track according to the charging flight path, controlling a transmitting antenna array to transmit a microwave signal so as to charge the unmanned aerial vehicle;

the transmitting antenna adopts a double-fed microstrip dual-polarized antenna as an antenna unit, two feed ports of each antenna unit are mutually a receiving and transmitting port, and the receiving and transmitting polarization is orthogonal;

the antenna unit is composed of four coaxial feed ports, four half-wavelength resonators and a slotted radiation patch, every two opposite ports of the antenna unit are connected with a 180-degree phase-shifting power divider, and the sum port of the power dividers is the actual feed port of the antenna.

Optionally, determining the charging priority of the unmanned aerial vehicle according to the relevant factors of the charging demand of the unmanned aerial vehicle includes:

for any one relevant factor, determining the relative priority of the relevant factor relative to other relevant factors;

and determining the charging priority of the unmanned aerial vehicle according to the weight value corresponding to the relative priority.

Optionally, for any one of the related factors, the related factor includes a plurality of classified sub-factors;

correspondingly, for any sub-factor, determining the relative priority of the sub-factor relative to other sub-factors, wherein the relative priority is represented by a preset number;

constructing a weight matrix based on a plurality of relative priorities, wherein the elements of the ith row and the j column in the weight matrix are the relative priority ratios of the corresponding sub-factors;

correspondingly, according to the weight value corresponding to the relative priority, determining the charging priority of the unmanned aerial vehicle includes:

determining a feature vector of the weight matrix, and taking elements in the feature vector as weight values corresponding to each sub-factor;

and determining the charging priority of the unmanned aerial vehicle according to the weight value corresponding to the sub-factor.

Optionally, before detecting that the unmanned aerial vehicle enters the target charging track according to the charging flight path, the method further includes:

if the number of the unmanned aerial vehicles which are being charged in the target charging track reaches the preset number threshold value and the priority of the unmanned aerial vehicle to be charged at present is higher than that of the unmanned aerial vehicle which is being charged, the unmanned aerial vehicle which is being charged on the target charging track is adjusted according to the priority of the unmanned aerial vehicle.

Optionally, the method further includes: and determining the position of the unmanned aerial vehicle, and adjusting the microwave emission direction according to the position.

Optionally, the method further includes: if charging abnormity is detected, searching a corresponding fault reason from a preset fault tree according to the charging abnormity state;

the preset fault tree is obtained by classifying different faults.

Optionally, the method further includes: and displaying the current electric quantity, the charging cruising speed and the microwave transmitting power of each unmanned aerial vehicle.

Optionally, the transmitting antenna is of a half-thirty-two-surface structure, each surface is formed by a direction backtracking antenna array, and a non-metal protective shell is installed outside the transmitting antenna.

In a second aspect, an embodiment of the present invention further provides a remote wireless charging apparatus for an unmanned aerial vehicle, where the apparatus includes:

the identity authentication module is configured to authenticate the identity of the unmanned aerial vehicle when receiving a charging request sent by the unmanned aerial vehicle;

the charging priority determining module is configured to determine the charging priority of the unmanned aerial vehicle according to relevant factors of the unmanned aerial vehicle charging requirement if the identity authentication passes; the relevant factors comprise task information currently executed by the unmanned aerial vehicle, a charge state and a distance to a charging range;

a charging flight path sending module configured to determine a target charging trajectory corresponding to the charging priority, and send a corresponding charging flight path for the drone;

a charging module configured to control a transmit antenna array to transmit a microwave signal to charge the unmanned aerial vehicle if it is detected that the unmanned aerial vehicle enters the target charging track according to the charging flight path;

Optionally, the charging priority determining module includes:

a relative priority determining unit configured to determine, for any one of the related factors, a relative priority of the related factor with respect to other related factors;

a charging priority determining unit configured to determine a charging priority of the unmanned aerial vehicle according to a weight value corresponding to the relative priority.

correspondingly, the relative priority determining unit is specifically configured to:

for any sub-factor, determining the relative priority of the sub-factor relative to other sub-factors, wherein the relative priority is represented by a preset number;

correspondingly, the charging priority determining unit is specifically configured to:

Optionally, the apparatus further comprises:

the charging track adjusting module is configured to adjust the charging track of the unmanned aerial vehicle charging on the target charging track according to the priority level of the unmanned aerial vehicle if the number of the unmanned aerial vehicles charging in the target charging track reaches a preset number threshold value and the priority level of the unmanned aerial vehicle to be charged is higher than that of the unmanned aerial vehicle charging before the unmanned aerial vehicle enters the target charging track according to the charging flight path.

Optionally, the apparatus further comprises:

a microwave direction adjustment module configured to: and determining the position of the unmanned aerial vehicle, and adjusting the microwave emission direction according to the position.

Optionally, the apparatus further comprises:

a fault detection module configured to: if charging abnormity is detected, searching a corresponding fault reason from a preset fault tree according to the charging abnormity state;

the preset fault tree is obtained by classifying different faults.

Optionally, the apparatus further comprises:

the display module is configured to display the current electric quantity, the charging cruising speed and the microwave transmitting power of each unmanned aerial vehicle.

Optionally, the transmitting antenna is of a half-thirty-dihedron structure, each face is formed by a direction backtracking antenna array, and a non-metal protective shell is installed outside the transmitting antenna.

In a third aspect, an embodiment of the present invention further discloses a remote wireless charging system for an unmanned aerial vehicle, where the system includes:

the system comprises a ground charging platform and an aerial powered device, wherein the ground control platform comprises a microwave transmitting end and a transmitting control end, and the aerial powered device comprises an unmanned aerial vehicle and a microwave receiving end; wherein the content of the first and second substances,

the unmanned aerial vehicle is used for sending a charging request and charging related information to the transmitting control terminal when detecting that the current electric quantity is lower than the set electric quantity, wherein the charging related information comprises identity information, position information, electric quantity information and task information;

the transmission control end is used for carrying out identity authentication on the unmanned aerial vehicle according to the identity information when receiving a charging request sent by the unmanned aerial vehicle; if the identity authentication is passed, determining the charging priority of the unmanned aerial vehicle according to relevant factors of the unmanned aerial vehicle charging demand, and selecting a corresponding charging flight path and a target charging track for the unmanned aerial vehicle according to the charging priority;

the unmanned aerial vehicle is used for entering the target charging track according to the charging flight path;

the transmitting control end controls a transmitting antenna array in a microwave transmitting end to transmit a microwave signal according to the charging priority if the unmanned aerial vehicle is detected to enter the target charging track;

the unmanned aerial vehicle receives the microwave signal through a receiving antenna in a microwave receiving end on the target charging track so as to charge;

According to the technical scheme provided by the embodiment of the invention, the charging priority of the unmanned aerial vehicle can be determined according to the task information, the charge state and the distance to the charging range currently executed by the unmanned aerial vehicle, so that the target charging track corresponding to the charging priority of the unmanned aerial vehicle can be selected for the unmanned aerial vehicle, the problem of charging queue of the unmanned aerial vehicle is solved, and the charging efficiency of the unmanned aerial vehicle is improved. In addition, in the embodiment of the invention, the transmitting antenna adopts a double-fed microstrip dual-polarized antenna as the antenna unit, two feed ports of each antenna unit are mutually a receiving and transmitting port, the receiving and transmitting polarization is orthogonal, and the isolation degree of the antenna is improved.

The invention comprises the following steps:

1. the charging priority of the unmanned aerial vehicle can be determined according to the task information, the charge state and the distance to the charging range of the unmanned aerial vehicle, so that the target charging track corresponding to the charging priority of the unmanned aerial vehicle can be selected for the unmanned aerial vehicle, the problem of unmanned aerial vehicle charging queuing is solved, the charging efficiency of the unmanned aerial vehicle is improved, and the method is one of the invention points.

2. The charging tracks are designed into the multistage tracks, and the number of the antenna subarrays corresponding to the charging tracks of different levels is different, so that the charging speeds of the charging tracks of different levels are different, and the unmanned aerial vehicle with high priority can be rapidly charged.

3. When the unmanned aerial vehicle enters the target charging track, the transmitting antenna array is controlled to directionally transmit microwaves according to the flying position of the unmanned aerial vehicle so as to focus on the receiving antenna of each unmanned aerial vehicle, and the microwave transmitting direction is adjusted according to the movement of the position of the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to be in a high-efficiency charging state in the whole process, and the charging efficiency of the unmanned aerial vehicle is further improved.

4. The invention discloses a method for detecting whether the efficiency of an unmanned aerial vehicle is too low in the charging process through the efficiency of microwave transmitting power and receiving power and a given formula, and adjusting the flight orbit of the unmanned aerial vehicle in time, so that the problem of low charging efficiency of the unmanned aerial vehicle is solved, and the method is one of the invention points.

5. In the charging process, the maximum charging power acceptable for the current battery can be calculated according to the charging capacity corresponding to the temperature, the charge state and the health state of the battery, so that the transmitting power of the transmitting antenna can be adjusted according to the maximum charging power to prevent the transmitting power from being too large or too small, and the charging efficiency is optimal.

6. The transmitting terminal antenna is designed into a half 32-face body, and each face is composed of a direction backtracking antenna, so that the unmanned aerial vehicle can be wirelessly charged in a long distance at 360 degrees without dead angles, and the problems of dynamic tracking and small charging range of microwave wireless charging are solved.

7. The transmitting antenna adopts a double-fed microstrip dual-polarized antenna as an antenna unit, two feed ports of each antenna unit are mutually a receiving and transmitting port, the receiving and transmitting polarization is orthogonal, and the isolation of the antenna is improved by adopting a differential feed technology. In addition, the antenna unit is composed of 4 coaxial feed ports, four half-wavelength resonators and a slotted radiation patch, every two opposite ports of the antenna are connected with a 180-degree phase-shifting power divider, and the ports of the power dividers are actual feed ports of the antenna. By the arrangement, after the position signal of the unmanned aerial vehicle is received from an unknown target, the antenna can automatically transmit a beam of electromagnetic wave to aim at the position of the unmanned aerial vehicle, and the position information of the unmanned aerial vehicle does not need to be known in advance.

8. The transmitting terminal antenna is designed by adopting a multi-angle focusing array antenna, and the transmitting antenna is designed by using a time-frequency efficient proper modulation technology, so that microwaves transmitted by a plurality of antenna units can be focused at one point, the purpose of changing charging power is achieved, the problem that the charging power can not be changed because only one power is used for charging during wireless charging is solved, and the invention is one of the invention points.

9. The receiving antenna is a cylindrical surface microstrip patch array antenna with a low profile close to a plane antenna, is conformal under the wing in a patch form to form compact arrangement, solves the problem of large air resistance and large load pressure of the unmanned aerial vehicle brought by the receiving antenna, and is one of the invention points of the invention.

10. The invention provides a visual operation display interface, which displays the charging condition of the unmanned aerial vehicles, the current electric quantity of each unmanned aerial vehicle, the charging cruising speed and the microwave transmitting power, can acquire and store the data and the sampling frequency of the microwave transmitting power so as to monitor the charging state of the unmanned aerial vehicles in real time, and is one of the invention points of the invention.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1a is a schematic flowchart of a remote wireless charging method for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 1b is a schematic diagram of a microwave wireless charging system according to an embodiment of the present invention;

fig. 1c is a schematic structural diagram of a transmitting antenna according to an embodiment of the present invention;

fig. 1d is a schematic structural diagram of an antenna unit according to an embodiment of the present invention;

fig. 1e is a schematic diagram of an antenna sub-array according to an embodiment of the present invention;

fig. 2 is a schematic flowchart of a remote wireless charging method for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a schematic flowchart of a remote wireless charging method for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 4 is a block diagram illustrating a structure of a remote wireless charging apparatus for an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 5 is a block diagram of a remote wireless charging system of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 6a is a flowchart illustrating a charging process of a transmitting end according to an embodiment of the present invention;

fig. 6b is a flowchart illustrating charging of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 6c is a schematic view of a display interface of a wireless charging system according to an embodiment of the present invention;

fig. 6d is a schematic diagram of a fault tree model 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.

It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Example one

Referring to fig. 1a, fig. 1a is a schematic flow chart illustrating a remote wireless charging method for an unmanned aerial vehicle according to an embodiment of the present invention. The method is applied to the field of unmanned aerial vehicles, can be executed by a charging device of the unmanned aerial vehicle, can be realized in a software and/or hardware mode, and can be generally integrated in a transmitting control end of the unmanned aerial vehicle. As shown in fig. 1a, the method provided in this embodiment specifically includes:

110. when receiving the charging request that unmanned aerial vehicle sent, carry out authentication to unmanned aerial vehicle.

Exemplarily, when detecting that the current electric quantity is lower than the set electric quantity, the unmanned aerial vehicle can send a charging request to the transmission control terminal through the communication system during the task execution process, and simultaneously send the ID number, the position information, the electric quantity information, the task information and the like of the unmanned aerial vehicle. After receiving the information, the transmission control end can perform identity authentication on the unmanned aerial vehicle according to the ID number of the unmanned aerial vehicle, for example, the ID number of the unmanned aerial vehicle can be retrieved in a preset database, and if the ID number exists in the preset database, the identity authentication of the unmanned aerial vehicle is confirmed to pass.

120. And if the identity authentication is passed, determining the charging priority of the unmanned aerial vehicle according to relevant factors of the charging requirement of the unmanned aerial vehicle.

The relevant factors comprise task information currently executed by the unmanned aerial vehicle, the state of charge and the distance to the charging range. The task information currently executed by the unmanned aerial vehicle can be divided into rescue tasks, detection tasks, search tasks, patrol tasks and the like according to task types. Charging priorities corresponding to different relevant factors are different, for example, the priority of the rescue task is higher than that of the patrol task; the state of charge is 20% of the charging priority of the unmanned aerial vehicle, which is higher than the charging priority of the unmanned aerial vehicle with the state of charge of 50%; the charging priority of the unmanned aerial vehicle whose distance to the charging range is 6 km is lower than that of the unmanned aerial vehicle whose distance to the charging range is 3 km. In the embodiment, the charging priority of the unmanned aerial vehicle is determined, and the target charging track corresponding to the charging priority of the unmanned aerial vehicle can be selected for the unmanned aerial vehicle, so that the problem of charging queue of the unmanned aerial vehicle is solved, and the charging efficiency of the unmanned aerial vehicle is improved.

130. And determining a target charging track corresponding to the charging priority, and sending a corresponding charging flight path for the unmanned aerial vehicle.

In this embodiment, the charging tracks are multi-stage tracks, and the number of the antenna subarrays corresponding to the charging tracks of different levels is different, so that the charging speeds of the charging tracks of different levels are different, and thus, the unmanned aerial vehicle with high priority can be rapidly charged, which is one of the invention points of the present invention.

For example, the design of the charging track may be adjusted according to the charging distance, the size of the transmitting antenna and the number of drones. Specifically, referring to fig. 1b, fig. 1b is a schematic diagram of a microwave wireless charging according to an embodiment of the present invention, as shown in fig. 1b, in the embodiment, a charging track is designed as a fast charging track, a medium-speed charging track and a high-speed charging track. Wherein, the flying period of the rapid charging orbit is shortest, the rapid charging orbit is closest to the transmitting antenna, and the distance is 500 meters. When the unmanned aerial vehicle flies on the track to be charged, the number of the received antenna array blocks is the largest, the area is the largest, and meanwhile, the loss of microwaves in the space is the smallest, so that the unmanned aerial vehicle is charged fastest on the track. In this way, the medium-speed charging track has a medium charging speed, and the distance from the microwave transmitting antenna is 750 meters. The slow charging track is the slowest to charge, and the distance from the slow charging track to the microwave transmitting antenna is the farthest, and is 1000 meters. In this embodiment, the charging priority may be divided into three types, which correspond to the high-speed charging track, the medium-speed charging track, and the low-speed charging track, respectively.

In this embodiment, after determining the charging priority of the unmanned aerial vehicle, a corresponding charging flight path may be selected for the unmanned aerial vehicle, and the path information is sent to the unmanned aerial vehicle. The drone may fly to the target charging track according to this path information. In the flight process, the unmanned aerial vehicle can cruise at a fixed speed and send position information to the emission control end in real time.

140. And if the unmanned aerial vehicle is detected to enter the target charging track, controlling the transmitting antenna array to transmit a microwave signal so as to charge the unmanned aerial vehicle.

It should be noted that, when the unmanned aerial vehicle flies to the target charging track according to the charging flight path, if it is detected that the number of the unmanned aerial vehicles being charged in the target charging track reaches the preset number threshold and the priority of the unmanned aerial vehicle to be charged currently is higher than the priority of the unmanned aerial vehicle being charged currently, the unmanned aerial vehicle being charged on the target charging track is subjected to track adjustment according to the priority of the unmanned aerial vehicle, so that the unmanned aerial vehicle can enter the target charging track to be charged without queuing. For example, on the target charging trajectory a corresponding to the current drone a, if the priority of the drone B being charged is lower than the priority of the current drone a, the charging trajectory of the drone B is adjusted to a charging trajectory B one step lower in charging rate than the target charging trajectory a, for example, if the target charging trajectory corresponding to the drone a is a high-speed charging trajectory, the target charging trajectory of the drone B is adjusted to a medium-speed charging trajectory.

It should be further noted that, if the target charging track corresponding to the current unmanned aerial vehicle is a low-speed charging track, the number of the unmanned aerial vehicles being charged on the low-speed charging track reaches a preset number threshold, and the priority of the unmanned aerial vehicle to be charged is higher than the priority of the unmanned aerial vehicle being charged, the unmanned aerial vehicle being charged on the target charging track is controlled to fly away from the track for queuing according to the priority of the unmanned aerial vehicle, so that the unmanned aerial vehicle to be charged with high priority can enter the target charging track for charging without queuing, which is one of the invention points of the present invention.

In this embodiment, when the transmission control end detects that the unmanned aerial vehicle enters the target charging flight track corresponding to the priority of the unmanned aerial vehicle, the antenna array corresponding to the position of the unmanned aerial vehicle on the target charging flight track is started to charge the unmanned aerial vehicle, so that the unmanned aerial vehicle with the high charging priority can complete charging more quickly to continue to execute tasks. In addition, when the unmanned aerial vehicle cruises and charges on the target charging track, the unmanned aerial vehicle can send self electric quantity information and position information to the transmitting control terminal at regular intervals to assist the unmanned aerial vehicle to wirelessly charge, and when the unmanned aerial vehicle detects that the self electric quantity meets the requirement, the unmanned aerial vehicle breaks away from the charging track to continuously execute the task.

Specifically, when the unmanned aerial vehicle is detected to enter the target charging track, the transmitting antenna array can be controlled to directionally transmit microwaves according to the flight position of the unmanned aerial vehicle so as to focus on the receiving antenna of each unmanned aerial vehicle, and the microwave transmitting direction is adjusted according to the movement of the position of the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to be in a high-efficiency charging state in the whole process, and the charging efficiency of the unmanned aerial vehicle is further improved.

Preferably, fig. 1c is a schematic structural diagram of a transmitting antenna according to an embodiment of the present invention. As shown in fig. 1c, transmitting antenna adopts half thirty dihedron structures, and each face comprises direction backtracking antenna array, can 360 no dead angles carry out remote wireless charging to unmanned aerial vehicle, improves the dynamic tracking that the microwave is wireless charges and the problem that charging range is little. In addition, the non-metal protective shell is arranged outside the transmitting antenna, so that the transmitting antenna can be protected from environmental erosion in outdoor use, and the efficiency of microwave wireless charging cannot be influenced.

In addition, the transmitting antenna adopts a double-fed microstrip dual-polarized antenna as an antenna unit. The two feeding ports of each unit are mutually transceiving ports, and transceiving polarization is orthogonal. Fig. 1d is a schematic structural diagram of an antenna unit according to an embodiment of the present invention, as shown in fig. 1d, the antenna unit includes four coaxial feed ports, four half-wavelength resonators, and a slotted radiation patch, where each two opposite ports of the antenna unit are connected to a 180 ° phase-shifting power divider, and a port of the power divider is an actual feed port of an antenna.

Further, based on the design of the antenna elements, the antenna may adopt an array form, and fig. 1e is a schematic diagram of an antenna sub-array provided in the embodiment of the present invention, as shown in fig. 1e, a transmit antenna array may be designed according to an array distribution of 1.

The advantage of the above design mode adopted in this embodiment is that after receiving a signal from an unknown target, the antenna can automatically forward a beam of electromagnetic waves to align to the incoming wave direction without knowing the position information of the incoming wave in advance, that is, without knowing the position information of the unmanned aerial vehicle in advance, which is one of the inventions of the present invention. In addition, the embodiment adopts a multi-angle focusing array antenna design, designs the transmitting antenna by using a time-frequency efficient proper modulation technology, and can focus microwaves transmitted by a plurality of antenna units at one point so as to achieve the purpose of changing the charging power, and solves the problems that only one power can be used for charging during wireless charging and the size of the charging power cannot be changed.

The technical scheme that this embodiment provided can confirm unmanned aerial vehicle's the priority of charging through the task information, the state of charge and the distance to the charging range according to unmanned aerial vehicle current execution to can charge the track for this unmanned aerial vehicle selection rather than the target that the priority of charging corresponds, solve the problem that unmanned aerial vehicle charges and queues up, improve unmanned aerial vehicle's charge efficiency. In addition, the transmitting terminal antenna is designed into a half 32-face body, each face is composed of a direction backtracking antenna, the unmanned aerial vehicle can be wirelessly charged in a long distance at 360 degrees without dead angles, and the problems of dynamic tracking and small charging range of microwave wireless charging are solved.

Further, in the charging process, through confirming unmanned aerial vehicle's position, can be according to this position adjustment microwave transmission direction.

For example, the determination of the position of the drone may be achieved by:

with unmanned aerial vehicle all design into unified continuation of journey speed on charging the track, the transmission control end can deduce its subsequent position according to the positional information when unmanned aerial vehicle gets into the track to can predetermine the microwave emission procedure that charges and let antenna emission microwave follow unmanned aerial vehicle. In addition, the transmission control end can also be positioned according to the coordinates in the position information sent by the unmanned aerial vehicle. The accurate position of the unmanned aerial vehicle can be obtained by adopting the two modes, so that the direction of the microwave transmitted by the transmitting antenna is controlled, and the microwave transmitted by the transmitting antenna can track the unmanned aerial vehicle more accurately and dynamically.

After the position of the unmanned aerial vehicle is determined, the transmitting control end can control the transmitting antenna array to directionally transmit microwaves according to the position information of the unmanned aerial vehicle, focus the microwaves on the receiving antenna of each unmanned aerial vehicle, and adjust the transmitting direction of the microwaves according to the movement of the position of the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to be in a high-efficiency charging state in the whole process.

Furthermore, in the charging process, the transmitting control end can receive the maximum charging power sent by the unmanned aerial vehicle, and adjust the transmitting power of the transmitting antenna according to the maximum charging power so as to prevent the transmitting power from being too large or too small, thereby enabling the charging efficiency to be optimal. The maximum charging power can be calculated by the unmanned aerial vehicle according to the charging capacity corresponding to the temperature, the charge state and the health state of the battery, and the method is one of the invention points of the invention.

Further, in the charging process, if charging abnormity is detected, searching a corresponding fault reason from a preset fault tree according to the charging abnormity state; the preset fault tree is obtained by classifying different faults, and is one of the invention points of the invention.

Furthermore, in the charging process, the current electric quantity, the charging cruise speed and the microwave transmitting power of each unmanned aerial vehicle can be displayed so as to realize the implementation monitoring of the charging process, and the method is one of the points of the invention.

Example two

Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a remote wireless charging method for an unmanned aerial vehicle according to an embodiment of the present invention. On the basis of the above embodiments, the present embodiment optimizes the determination step of the charging priority of the unmanned aerial vehicle. As shown in fig. 2, the method includes:

210. when receiving the charging request sent by the unmanned aerial vehicle, identity authentication is carried out on the unmanned aerial vehicle.

220. And if the identity authentication is passed, determining the relative priority of the relevant factors relative to other relevant factors for any one relevant factor of the charging demand of the unmanned aerial vehicle.

Wherein, unmanned aerial vehicle charges relevant factor of demand and includes: the current task information, the state of charge and the distance to the charging range of the unmanned aerial vehicle. The different conditions of the three factors are compared pairwise, and corresponding weights can be worked out according to the relative priority of each condition, namely the charging priority of the unmanned aerial vehicle is comprehensively judged according to the three factors to calculate the charging priority.

Illustratively, for any one of the related factors, the related factor includes a plurality of sub-factors after classification. For example, the task information of the unmanned aerial vehicle is divided into three types according to task types, wherein the first type is a rescue task, the second type is a detection and search task, and the third type is a patrol task; the charge state of the unmanned aerial vehicle is divided into three types by taking 20% and 50% as boundary lines, wherein the three types are respectively 0-20%, 20-50% and 50-100%; the distance between the unmanned aerial vehicle and the charging range is divided into two types, namely, the distance is less than 5km and the distance is greater than 5 km.

In this embodiment, for any one of the related factors, determining the relative priority of the related factor with respect to other related factors may include:

for any sub-factor, determining the relative priority of the sub-factor relative to other sub-factors, wherein the relative priority is represented by a preset number; based on a plurality of relative priorities, a weight matrix is constructed, and the ratio of the relative priorities of the elements of the ith row and the j column in the weight matrix, which are corresponding sub-factors, is one of the invention points of the invention.

Specifically, the relative priority, i.e., the degree of importance, of each sub-factor compared to the other sub-factors may be specified according to actual application requirements, and may be represented by numbers 1-5, for example, and the degree of importance may be specified according to the number size. Wherein 1 indicates that two conditions are equally important, and 5 indicates that the former is more important than the latter, thereby constructing an 8 x 8 weight matrix, wherein the element a in the matrix _ij The ratio of the importance of the sub-factors corresponding to i rows and j rows is shown in table 1 below.

TABLE 1 weight matrix table

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230. And determining the charging priority of the unmanned aerial vehicle according to the weight value corresponding to the relative priority.

Exemplarily, after obtaining the weight matrix, determining a feature vector of the weight matrix, and taking an element in the feature vector as a weight value corresponding to each sub-factor; according to the weighted value, the charging priority of the unmanned aerial vehicle can be determined.

In particular, each row vector of the matrix can be divided into

Carrying out geometric averaging and then carrying out normalization to obtain the weight and the characteristic vector W represented by each sub-factor _i The vector W is a feature vector of the matrix, and its elements are corresponding weights, and the specific formula is as follows:

specifically, the weight matrix shown in Table 1 above has eigenvectors W = (0.4022, 0.1238,0.0784,0.1838,0.0784,0.0508,0.0490, 0.0337) ^T Wherein the elements respectively correspond to the weight of each relevant factor. In practical application, the importance degree between different conditions can be changed according to practical situations, and charging priorities with different directions are obtained.

240. And determining a target charging track corresponding to the charging priority, and sending a corresponding charging flight path for the unmanned aerial vehicle.

250. And if the unmanned aerial vehicle is detected to enter the target charging track, controlling the transmitting antenna array to transmit a microwave signal so as to charge the unmanned aerial vehicle.

On the basis of the above embodiment, the determining step of the charging priority of the unmanned aerial vehicle is optimized, two different situations among three factors of task information, the state of charge and the distance to the charging range are compared, and corresponding weights can be made according to the relative priority of each situation, so that the charging priority of the unmanned aerial vehicle is determined, and the problem that in the prior art, the charging priority cannot be determined according to the residual electric quantity of the unmanned aerial vehicle and the important degree of the executed task, and the charging queue is caused is solved.

EXAMPLE III

Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a remote wireless charging method for an unmanned aerial vehicle according to an embodiment of the present invention. The method is applied to the field of unmanned aerial vehicles, can be executed by a charging device of the unmanned aerial vehicle, can be realized in a software and/or hardware mode, and can be generally integrated in the unmanned aerial vehicle. As shown in fig. 3, the method provided in this embodiment specifically includes:

310. and when the current electric quantity is detected to be lower than the set electric quantity, sending a charging request and charging related information to the transmitting control terminal.

The charging related information comprises identity information, position information, electric quantity information and task information.

320. And entering a target charging track according to the charging flight path sent by the transmitting control terminal.

The target charging track corresponds to the charging priority of the unmanned aerial vehicle, the charging priority is determined according to relevant factors of the charging requirement of the unmanned aerial vehicle after the identity authentication of the unmanned aerial vehicle passes, and specific determination modes of the charging priority can be seen in the embodiment, which is not repeated herein.

330. And receiving the microwave signals transmitted by the transmitting antenna array through the receiving antenna on the target charging track so as to charge.

The receiving antenna is a cylindrical surface microstrip patch array antenna. The inner surface of the receiving antenna is a grounding plate, the outer surface of the receiving antenna is a metal patch and a feed network, and the middle of the receiving antenna is a dielectric plate. The array unit of the receiving antenna is a rectangular patch after grooving, the antenna feeds through a microstrip line, energy is equally divided into four units by a power device, and the four units form a group to enable the patch to be common with the lower surface of the wing. The effective aperture of the receiving antenna may be 2 square meters. The problem that the air resistance of the unmanned aerial vehicle is large and the load pressure is large due to the receiving antenna is solved, and the unmanned aerial vehicle is one of the invention points.

Further, all design into unified continuation of journey speed with unmanned aerial vehicle on the track that charges, the transmission control end can deduce its subsequent position according to the positional information when unmanned aerial vehicle gets into the track to can predetermine the microwave transmission procedure that charges and let antenna emission microwave follow unmanned aerial vehicle, and the transmission control end can fix a position according to the coordinate in the positional information that unmanned aerial vehicle sent. The accurate position of the unmanned aerial vehicle can be obtained by adopting the two modes, so that the direction of the microwave transmitted by the transmitting antenna is controlled, and the microwave transmitted by the transmitting antenna can track the unmanned aerial vehicle more accurately and dynamically.

Further, during unmanned aerial vehicle charges, send positional information and electric quantity information to transmission control end at regular intervals, if unmanned aerial vehicle detects that the electric quantity is too low, continue to charge in the track flight that charges. If the unmanned aerial vehicle detects that the electric quantity is charged to the set threshold value, the unmanned aerial vehicle returns to the home to continue to execute the task, and the method is one of the invention points of the invention.

Furthermore, in the charging process of the unmanned aerial vehicle, the unmanned aerial vehicle end can calculate the actual transmission efficiency of the microwave signal according to the receiving power and the transmitting power of the transmitting end, and if the fact that the difference between the actual transmission efficiency and the ideal transmission efficiency is larger than a preset difference threshold value is determined, the flight orbit of the unmanned aerial vehicle is corrected, and the method is one of the invention points.

Specifically, the actual transmission efficiency and the ideal transmission efficiency of the microwave signal can be determined according to the following formulas:

wherein eta ₁ Is the actual transmission efficiency of the microwave signal; eta ₂ The ideal transmission efficiency of the microwave signal; p _t Is the transmit power of the transmit antenna; p is _r The received power for the drone; g _t A transmit antenna gain; a. The _er Is the effective aperture of the receiving antenna; r is the distance between the drone and the transmitting antenna.

In this embodiment, if the difference between the actual transmission efficiency and the ideal transmission efficiency is greater than the preset difference threshold, it indicates that the gain of the transmitting antenna is too low during actual charging, and indicates that the receiving antenna and the transmitting antenna are not aligned at this time, and then it is immediately detected whether the unmanned aerial vehicle is on the correct flight track.

Specifically, the distance between the microwave transmitting antenna and the high-speed charging track is 500 meters, the distance between the microwave transmitting antenna and the medium-speed charging track is 750 meters, and the distance between the microwave transmitting antenna and the low-speed charging track is 1000 meters. The total gain of the transmitting antenna is 52dB, and the effective aperture of the receiving antenna is 2 square meters. According to the ideal transmission efficiency formula, the following can be obtained: for the first unmanned aerial vehicle on the track that charges at high speed, the ideal transmission efficiency of microwave signal is 10.1%, for the second unmanned aerial vehicle on the track that charges at the intermediate speed, the ideal transmission efficiency of microwave signal is 4.5%, and for the third unmanned aerial vehicle on the track that charges at the low-speed, the ideal transmission efficiency of microwave signal is 2.5%.

In addition, be 400 watts when the required charging power of first unmanned aerial vehicle according to self battery condition, the required charging power of second unmanned aerial vehicle according to self battery condition is 360 watts, the required charging power of third unmanned aerial vehicle according to self battery condition is 300 watts, in the above-mentioned actual transmission efficiency formula, the power of transmission end to the transmission of first unmanned aerial vehicle is 3960 watts, be 8000 watts to the transmission power of second unmanned aerial vehicle, the transmission power to third unmanned aerial vehicle is 12000 watts, and the charging power that first unmanned aerial vehicle detected is 375 watts, the charging power that second unmanned aerial vehicle detected is 320 watts, the charging power that third unmanned aerial vehicle detected is 120 watts. According to the above actual transmission efficiency formula, it can be obtained: to first unmanned aerial vehicle, the actual transmission efficiency of microwave signal is 9.5%, to second unmanned aerial vehicle, the actual transmission efficiency of microwave signal is 4%, and to third unmanned aerial vehicle, the actual transmission efficiency of microwave signal is 1%. For the three unmanned aerial vehicles, the difference between the actual transmission efficiency and the ideal transmission efficiency of the microwave signals of the respective calculators can be obtained as follows: the difference between the actual transmission efficiency and the ideal transmission efficiency that third unmanned aerial vehicle corresponds is greater than preset difference threshold (generally 1%), and at this moment, it indicates that this third unmanned aerial vehicle needs to carry out flight trajectory correction.

The technical scheme that this embodiment provided, after the flight path that charges of receiving transmission control end, can get into the target track of charging according to the flight path that should charge, because this target charge the track corresponding with unmanned aerial vehicle's the priority of charging, and the priority of should charging is confirmed according to the relevant factor of unmanned aerial vehicle demand of charging, consequently, can obtain quick charge on the track of charging of the target that corresponds to unmanned aerial vehicle that the priority is higher, the problem of unmanned aerial vehicle charging queuing has been solved, charging efficiency has been improved.

Example four

Fig. 4 is a block diagram of a remote wireless charging device of an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 4, the device includes: an identity authentication module 510, a charging priority determination module 520, a charging flight path transmission module 530, and a charging module 540, wherein,

an identity authentication module 510 configured to authenticate the identity of the drone when receiving a charging request sent by the drone;

a charging priority determination module 520 configured to determine a charging priority of the drone according to relevant factors of the charging demand of the drone if the identity authentication passes; the relevant factors comprise task information currently executed by the unmanned aerial vehicle, a charge state and a distance to a charging range;

a charging flight path sending module 530 configured to determine a target charging track corresponding to the charging priority and send a corresponding charging flight path for the drone;

a charging module 540 configured to control a transmit antenna array to transmit a microwave signal to charge the drone if it is detected that the drone enters the target charging track according to the charging flight path.

Optionally, the charging priority determining module includes:

a relative priority determination unit configured to determine, for any one of the correlation factors, a relative priority of the correlation factor with respect to other correlation factors;

Optionally, the apparatus further comprises:

the preset fault tree is obtained by classifying different faults.

Optionally, the apparatus further comprises:

the display module is configured to display the current electric quantity, the charging cruise speed and the microwave emission power of each unmanned aerial vehicle.

The charging device of the unmanned aerial vehicle, provided by the embodiment of the invention, can execute the charging method of the unmanned aerial vehicle, provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details that are not described in detail in the above embodiments may be referred to a charging method of the drone provided by any embodiment of the present invention.

EXAMPLE five

Fig. 5 is a block diagram of a remote wireless charging system of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 5, the system includes a ground charging platform 610 and an aerial powered device 620; the ground control platform 610 includes a microwave transmitting end 611 and a transmitting control end 612, and the aerial powered device 620 includes an unmanned aerial vehicle 621 and a microwave receiving end 622; wherein the content of the first and second substances,

the unmanned aerial vehicle 621 is configured to send a charging request and charging related information to the transmission control terminal 612 when it is detected that the current electric quantity is lower than a set electric quantity, where the charging related information includes identity information, location information, electric quantity information, and task information;

the transmission control terminal 612 is configured to perform identity authentication on the unmanned aerial vehicle according to the identity information of the unmanned aerial vehicle when receiving a charging request sent by the unmanned aerial vehicle; if the identity authentication is passed, determining the charging priority of the unmanned aerial vehicle according to relevant factors of the charging requirement of the unmanned aerial vehicle, and selecting a corresponding charging flight path and a target charging track for the unmanned aerial vehicle according to the charging priority;

the unmanned aerial vehicle 621 is used for entering a target charging track according to a charging flight path;

the transmitting control end 612, if detecting that the unmanned aerial vehicle enters the target charging track, controls a transmitting antenna array in the microwave transmitting end to transmit a microwave signal according to the charging priority;

the unmanned aerial vehicle 621 receives a microwave signal through a receiving antenna in the microwave receiving end on the target charging track to perform charging.

In this embodiment, the specific design structures of the transmitting antenna and the receiving antenna may refer to the description of the above embodiments, and are not described in detail in this embodiment.

Specifically, fig. 6a is a flowchart of a charging process of a transmitting terminal according to an embodiment of the present invention, and fig. 6b is a flowchart of a charging process of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 6a, from the total control platform of transmitting terminal, when it discerns that the unmanned aerial vehicle identity is correct, receive unmanned aerial vehicle's the request of charging, judge its priority of charging according to position information, electric quantity information, the task information that unmanned aerial vehicle sent, then charge quantity according to current unmanned aerial vehicle, for unmanned aerial vehicle planning charge cruise route, later unmanned aerial vehicle enters into the track that charges according to the instruction after, charges for it. Every certain cycle, the platform is always controlled to the transmitting terminal can receive the position that unmanned aerial vehicle sent and come and electric quantity information and rectify self microwave emission direction to judge according to the unmanned aerial vehicle electric quantity, if the unmanned aerial vehicle electric quantity does not reach the completion standard of charging then continue to charge, if reached the standard of charging, then stop charging. As shown in fig. 6b, when the unmanned aerial vehicle detects that the electric quantity is too low in the task execution, the unmanned aerial vehicle sends an ID number and a charging request to the transmitting terminal, and sends position information, task information and electric quantity information, then performs uniform cruise charging according to the charging flight track given by the transmitting terminal master control platform, detects whether the electric quantity of the unmanned aerial vehicle meets the charging finishing standard or not while sending the position information and the electric quantity information to the transmitting terminal master control platform at regular intervals during charging, continues cruise charging if the electric quantity does not meet the charging finishing standard, and departs from the charging track to execute the task if the electric quantity meets the charging standard.

Further, the transmission control terminal 612 includes a display interface, fig. 6c is a schematic view of a display interface of the wireless charging system according to the embodiment of the present invention, and as shown in fig. 6c, the display interface is used for displaying the number of the unmanned aerial vehicles being charged, the current electric quantity of each unmanned aerial vehicle, the remaining electric quantity, the charging cruise speed, and the microwave transmission power, so as to monitor the charging condition of the unmanned aerial vehicles in real time. In addition, the invention also can collect and store the data of the microwave transmitting power and the sampling frequency for displaying, and is one of the invention points of the invention.

Further, in this embodiment, the transmission control section further has a fault diagnosis function and a fault monitoring function, and may specifically be implemented in the following manner:

when the system finds that the battery cannot be charged, the system automatically records the fault state, then selects the characteristic parameters Mi with instant property, automatically classifies and selects the fault based on the constructed fault tree model, and finds out the reason of the fault, namely the fault type Xi, so as to realize the rapid diagnosis of the charging fault. The fault tree model is obtained by classifying different faults.

Specifically, fig. 6d is a schematic diagram of a fault tree model according to an embodiment of the present invention, as shown in fig. 6d, when it is determined that the battery cannot be charged, it may be determined from the fault tree model shown in fig. 6d whether the fault state is abnormal in microwave transmission, or abnormal in the receiving unit, or abnormal in the battery; if the microwave transmission is abnormal, after the characteristic parameter M1 is obtained, whether the unmanned aerial vehicle deviates from the track or the beam tracking delay can be further determined.

The long-range wireless charging system of unmanned aerial vehicle that this embodiment provided, including microwave transmitting terminal, transmission control end, unmanned aerial vehicle and microwave receiving terminal. The transmission control end can determine the charging priority of the unmanned aerial vehicle according to the task information, the charge state and the distance from the unmanned aerial vehicle to the charging range, and therefore the target charging track corresponding to the charging priority of the unmanned aerial vehicle can be selected for the unmanned aerial vehicle. After the unmanned aerial vehicle enters the target charging track according to the charging flight path, the receiving antenna in the microwave receiving end can receive the microwave signal, and the charging is carried out. The problem that unmanned aerial vehicle charges and lines up has been solved in this embodiment setting like this, has improved unmanned aerial vehicle's charge efficiency. In addition, the visual operation show interface in the transmission control end that this embodiment provided has demonstrated unmanned aerial vehicle's the condition of charging, every unmanned aerial vehicle's current electric quantity, the cruise speed that charges, microwave transmitting power and the real time monitoring of charging platform, can gather storage microwave transmitting power's data and sampling frequency.

In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which essentially or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, or a network device, etc., and may specifically be a processor in the computer device) to execute part or all of the steps of the above methods of the embodiments of the present invention.

It will be understood by those skilled in the art that all or part of the steps of the methods of the above embodiments may be implemented by program instructions associated with hardware, and the program may be stored in a computer-readable storage medium, which includes Read-Only Memory (ROM), random Access Memory (RAM), programmable Read-Only Memory (PROM), erasable Programmable Read-Only Memory (EPROM), one-time Programmable Read-Only Memory (OTPROM), electrically Erasable Programmable Read-Only Memory (EEPROM), an optical Disc-Read-Only Memory (CD-ROM) or other storage medium, a magnetic tape, or any other medium capable of storing data for a computer or other computer.

The remote wireless charging method, the device and the system for the unmanned aerial vehicle disclosed by the embodiment of the invention are described in detail, a specific example is applied in the method 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

1. The utility model provides an unmanned aerial vehicle's long-range wireless charging method, is applied to transmission control end, its characterized in that includes:

if the identity authentication is passed, determining the charging priority of the unmanned aerial vehicle according to relevant factors of the unmanned aerial vehicle charging demand; the relevant factors comprise task information currently executed by the unmanned aerial vehicle, a charge state and a distance to a charging range;

the antenna unit is composed of four coaxial feed ports, four half-wavelength resonators and a slotted radiation patch, every two opposite ports of the antenna unit are connected with a 180-degree phase-shifting power divider, and the ports of the power dividers are actual feed ports of the antenna.

2. The method of claim 1, wherein determining the charging priority of the drone based on factors related to the charging demand of the drone comprises:

3. The method of claim 2, wherein for any one of the related factors, the related factor comprises a plurality of classified sub-factors;

accordingly, for any one correlation factor, determining the relative priority of the correlation factor with respect to other correlation factors includes:

4. The method of claim 1, wherein prior to detecting that the drone follows the charging flight path into the target charging trajectory, the method further comprises:

5. The method according to any one of claims 1-4, further comprising:

and determining the position of the unmanned aerial vehicle, and adjusting the microwave emission direction according to the position.

6. The method of claim 1, further comprising:

if charging abnormity is detected, searching a corresponding fault reason from a preset fault tree according to the charging abnormity state;

the preset fault tree is obtained by classifying different faults.

7. The method of claim 1, further comprising:

and displaying the current electric quantity, the charging cruising speed and the microwave transmitting power of each unmanned aerial vehicle.

8. The method according to claim 1, wherein the transmitting antenna is of a half-thirty-dihedron structure, each face is composed of a direction backtracking antenna array, and a non-metal protective shell is mounted outside the transmitting antenna.

9. The utility model provides an unmanned aerial vehicle's long-range wireless charging device which characterized in that includes:

the charging priority determining module is configured to determine the charging priority of the unmanned aerial vehicle according to relevant factors of the unmanned aerial vehicle charging demand if identity authentication is passed; the relevant factors comprise task information currently executed by the unmanned aerial vehicle, a charge state and a distance to a charging range;

10. The utility model provides an unmanned aerial vehicle's long-range wireless charging system which characterized in that includes: the system comprises a ground charging platform and an aerial powered device, wherein the ground control platform comprises a microwave transmitting end and a transmitting control end, and the aerial powered device comprises an unmanned aerial vehicle and a microwave receiving end; wherein, the first and the second end of the pipe are connected with each other,

the transmission control end is used for carrying out identity authentication on the unmanned aerial vehicle according to the identity information when receiving a charging request sent by the unmanned aerial vehicle; if the identity authentication is passed, determining the charging priority of the unmanned aerial vehicle according to relevant factors of the charging requirement of the unmanned aerial vehicle, and selecting a corresponding charging flight path and a target charging track for the unmanned aerial vehicle according to the charging priority;

the transmitting control end controls a transmitting antenna array in the microwave transmitting end to transmit a microwave signal according to the charging priority if the unmanned aerial vehicle is detected to enter the target charging track;