CN112379690A - Automatic charging and cruising method for unmanned aerial vehicle and unmanned aerial vehicle system - Google Patents
Automatic charging and cruising method for unmanned aerial vehicle and unmanned aerial vehicle system Download PDFInfo
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- CN112379690A CN112379690A CN202011225329.XA CN202011225329A CN112379690A CN 112379690 A CN112379690 A CN 112379690A CN 202011225329 A CN202011225329 A CN 202011225329A CN 112379690 A CN112379690 A CN 112379690A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/36—Arrangements for testing, measuring or monitoring the electrical condition of accumulators or electric batteries, e.g. capacity or state of charge [SoC]
- G01R31/385—Arrangements for measuring battery or accumulator variables
- G01R31/387—Determining ampere-hour charge capacity or SoC
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/60—Efficient propulsion technologies, e.g. for aircraft
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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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Abstract
The invention discloses an unmanned aerial vehicle automatic charging cruise method and an unmanned aerial vehicle system, which comprise the following steps: s1, charging and entering a charging mode by an unmanned aerial vehicle at a ground charging station, entering a cruising preparation mode after charging is completed, if a cruising task is accessed in the charging mode, executing step S2, and if the cruising task is accessed in the cruising preparation mode, executing step S3; s2, judging the electric quantity required by the task, if the current electric quantity meets the requirement of accessing the cruise task, executing a step S3, otherwise, continuing to charge, and executing a step S3 when the current electric quantity meets the requirement of accessing the cruise task; s3, executing the accessed cruise task; and S4, returning after the cruise task is accessed and executed, entering a ground charging station and executing the step S1. Through above-mentioned scheme, unmanned aerial vehicle can be started by ground charging station, returns to charging after accomplishing the task of cruising according to setting for the route, and target task need not artifical the participation so automatic cycle, has effectively solved the problem that meets among the prior art.
Description
Technical Field
The invention relates to an unmanned aerial vehicle automatic charging cruise method and an unmanned aerial vehicle system.
Background
The unmanned aerial vehicle is called unmanned aerial vehicle for short, and is an aerial vehicle which can finish unmanned flight by a remote control technology and an automatic control technology. Generally, according to energy structure classification, unmanned aerial vehicles are divided into: electric unmanned aerial vehicle, oil move unmanned aerial vehicle and oil point hybrid unmanned aerial vehicle etc.. The electric unmanned aerial vehicle has the characteristics of simple structure, high stability, strong maneuverability, strong environment adaptability and the like, and is widely applied to the related fields of routing inspection, relaying, disaster prevention, weather, logistics and the like.
Generally, in related fields such as routing inspection, relay, disaster prevention and weather, the geographic position is remote, the operation environment is severe, even in places where construction personnel are not easy to reach, and the unmanned aerial vehicle platform completes related work through manual remote control or short-time and small-range automatic cruising.
In unmanned aerial vehicle platform course of operation, unmanned aerial vehicle utilizes battery or solar hybrid battery to supply with as the energy, and unmanned aerial vehicle platform carries on battery weight limitedly to unmanned aerial vehicle's flight time has been restricted, simultaneously, battery charging needs the supplementary completion of staff. Therefore, it is necessary to provide an unmanned aerial vehicle platform capable of automatically charging and automatically cruising to complete a specific task, the automatic charging/cruising unmanned aerial vehicle can perfectly realize the flight functions of large-range, multi-frequency and unmanned control, and the multiple automatic charging/cruising unmanned aerial vehicle platforms can effectively realize the special work of continuous aerial inspection, relaying, meteorological collection and the like, thereby greatly improving the efficiency of workers and reducing the working intensity.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle automatic charging cruise method and an unmanned aerial vehicle.
In order to solve the problems, the invention provides an automatic charging and cruising method for an unmanned aerial vehicle, which is characterized by comprising the following steps:
s1, the unmanned aerial vehicle is charged at a ground charging station and enters a charging mode, the unmanned aerial vehicle enters a cruising preparation mode after charging is completed, if a cruising task is accessed in the charging mode, the step S2 is executed, and if the cruising task is accessed in the cruising preparation mode, the step S3 is executed;
s2, judging the electric quantity needed by the task, if the current electric quantity meets the requirement of accessing the cruise task, executing the step S3, otherwise, continuing to charge, and executing the step S3 when the current electric quantity meets the requirement of accessing the cruise task;
s3, executing the accessed cruise task;
and S4, returning after the cruise task is completed, entering a ground charging station and executing the step S1.
As a further improvement of the invention, the method also comprises the following steps:
s3.1, monitoring whether the flight state of the unmanned aerial vehicle meets set conditions in real time in the cruising flight process of the unmanned aerial vehicle, and if not, executing step S3.1.5
And S.1.5, the unmanned aerial vehicle lands in an emergency mode and sends distress signals to the ground control station.
As a further improvement of the present invention, step S1 or step S2 further includes self-checking of the drone, and when the drone finds that the set conditions for flight cannot be met during self-checking, the execution of the cruise task is suspended, emergency landing is performed, and a distress signal and position information are sent to the ground control station.
As a further improvement of the present invention, in step S4, if the unmanned aerial vehicle accesses a new cruise task, the new cruise task is preferentially executed, and after the new cruise task is completely executed, the original cruise task is executed.
As a further improvement of the present invention, in step S4, the drone can transmit real-time data back to the ground station when cruising, and receive the command from the ground station.
As a further improvement of the present invention, in the step S2, when the current electric quantity does not satisfy the requirement for accessing the cruise task, the charging is continued to the set time, and then the determination is made, until the determination result is that the current electric quantity satisfies the requirement for accessing the cruise task, the step S3 is executed.
As a further improvement of the present invention, in step S1, the positioning system of the drone calibrates the null point of the drone.
Another subject of the invention is an automatic-charging cruise drone system, comprising an aircraft body powered by electric energy, a ground charging station providing said aircraft body with electric power, and functional means assembled on said aircraft body, able to perform set external functions, characterized in that said aircraft body comprises:
the energy supply module is electrically connected with each power utilization module and does not supply power to the power utilization module;
the charging module is matched with the ground charging station and provides a complete set for charging the energy supply module;
the navigation positioning module is used for providing navigation and positioning for the flight of the aircraft body;
the data transmission module is communicated with the ground control station and is used for transmitting data and/or pictures and/or videos;
and the flight control module is used for controlling the aircraft main body and/or the functional device to execute flight action and/or external function action according to an input command, and controlling the aircraft main body to return to the ground equipment for charging after each task is executed.
As a further improvement of the invention, the method also comprises the following steps:
and the charging detection module is connected with the flight control module, when the unmanned aerial vehicle main body is charged in the ground charging station, the charging detection module is started before the flight command received by the flight control module actuator, the charging detection module detects whether the current electric quantity can meet the task requirement, if the task requirement is met, the flight control module to which the unmanned aerial vehicle main body belongs executes the flight command, and if not, the unmanned aerial vehicle main body continues to be charged.
The unmanned aerial vehicle has the beneficial effects that through the scheme, the unmanned aerial vehicle can start from a ground charging station and return to charge after completing the cruise task according to the set route, so that the target task is completed in an automatic cycle manner without manual participation, and the problems in the prior art are effectively solved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
In the figure: 1-an aircraft body; 2-a ground charging station; 3-a functional device; 102-an energy supply module; 104-a charging module; 106-a navigation positioning module; 108-a data transmission module; 110-flight control module.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1, the present invention comprises the steps of:
s1, the unmanned aerial vehicle is charged at the ground charging station 2 and enters a charging mode, the unmanned aerial vehicle enters a cruising preparation mode after charging is completed, if a cruising task is accessed in the charging mode, the step S2 is executed, and if the cruising task is accessed in the cruising preparation mode, the step S3 is executed;
s2, judging the electric quantity needed by the task, if the current electric quantity meets the requirement of accessing the cruise task, executing the step S3, otherwise, continuing to charge, and executing the step S3 when the current electric quantity meets the requirement of accessing the cruise task;
s3, executing the accessed cruise task;
and S4, returning after the cruise task is completed, entering a ground charging station 2 and executing the step S1.
As a further improvement of the invention, the method also comprises the following steps:
s3.1, monitoring whether the flight state of the unmanned aerial vehicle meets set conditions in real time in the cruising flight process of the unmanned aerial vehicle, and if not, executing step S3.1.5
And S.1.5, the unmanned aerial vehicle lands in an emergency mode and sends distress signals to the ground control station.
As a further improvement of the present invention, step S1 or step S2 further includes self-checking of the drone, and when the drone finds that the set conditions for flight cannot be met during self-checking, the execution of the cruise task is suspended, emergency landing is performed, and a distress signal and position information are sent to the ground control station.
As a further improvement of the present invention, in step S4, if the unmanned aerial vehicle accesses a new cruise task, the new cruise task is preferentially executed, and after the new cruise task is completely executed, the original cruise task is executed.
As a further improvement of the present invention, in step S4, the drone can transmit real-time data back to the ground station when cruising, and receive the command from the ground station.
As a further improvement of the present invention, in the step S2, when the current electric quantity does not satisfy the requirement for accessing the cruise task, the charging is continued to the set time, and then the determination is made, until the determination result is that the current electric quantity satisfies the requirement for accessing the cruise task, the step S3 is executed.
As a further improvement of the present invention, in step S1, the positioning system of the drone calibrates the null point of the drone.
Another subject of the present invention is an automatic charging cruise unmanned aerial vehicle system, comprising an aircraft body 1, a ground charging station 2 and a function device 3, wherein the aircraft body 1 is powered by electric energy, the ground charging station 2 provides power for the aircraft body 1, and the function device 3 is mounted on the aircraft body 1 and can realize a set external function, the automatic charging cruise unmanned aerial vehicle system is characterized in that the aircraft body 1 comprises:
the energy supply module 102 is electrically connected with each power utilization module and does not supply power to the power utilization module;
a charging module 104, which is matched with the ground charging station 2, wherein the charging module 104 provides matching for charging the energy supply module 102;
a navigation and positioning module 106 for providing navigation and positioning for the flight of the aircraft body 1;
a data transmission module 108, which is in communication with the ground control station and is used for data and/or picture and/or video transmission;
and the flight control module 110 is used for controlling the aircraft body 1 and/or the functional device 3 to execute a flight action and/or an external function action according to an input command, and controlling the aircraft body 1 to return to the ground equipment for charging after each task is executed.
As a further improvement of the invention, the method also comprises the following steps:
the charging detection module is connected with the flight control module 110, when the main body of the unmanned aerial vehicle is charged in the ground charging station 2, the charging detection module is started before a flight command received by an actuator of the flight control module 110, the charging detection module detects whether the current electric quantity can meet a task requirement, if the task requirement is met, the flight control module 110 which the unmanned aerial vehicle belongs to executes the flight command, and if not, the charging is continued.
The first embodiment is as follows:
(1) the aircraft body 1 is charged at a ground charging station 2;
(2) when a task is accessed, the flight control module 110 in the aircraft body 1 calculates the electric quantity required by the task to be accessed, the charging module 104 judges whether the current electric quantity ratio meets the electric quantity requirement of the task to be executed, and if the current electric quantity meets the condition, the flight control module 110 controls the unmanned aerial vehicle body to take off and execute the task;
(3) in the process of executing the task, the flight control module 110 carries out self-checking on each flight parameter of the unmanned aerial vehicle, if the flight parameter does not accord with the flight condition, the forced landing is started, and a distress signal and a position are sent to the ground platform;
(4) after the task is executed, the flight control module 110 determines whether there is an additional task to be accessed, or whether it is necessary to transfer the control right to the ground station, if not, the aircraft body 1 returns to the ground station to charge, and so on.
Example two:
(1) the aircraft body 1 is charged at a ground charging station 2;
(2) entering a cycle preparation mode after charging is finished;
(3) in the process of executing the task, the flight control module 110 carries out self-checking on each flight parameter of the unmanned aerial vehicle, if the flight parameter does not accord with the flight condition, the forced landing is started, and a distress signal and a position are sent to the ground platform;
(4) after the task is executed, the flight control module 110 determines whether there is an additional task to be accessed, or whether it is necessary to transfer the control right to the ground station, if not, the aircraft body 1 returns to the ground station to charge, and so on.
Unmanned aerial vehicle charges under unmanned supplementary condition and cruises many times, and through above-mentioned technical scheme, the unmanned aerial vehicle platform can be followed ground charging station 2 and returned after accomplishing the task of crusing according to setting for the route and charge to target task is accomplished in automatic cycle, has effectively solved the problem that meets among the prior art.
The functional device in the invention generally comprises auxiliary equipment such as a camera and the like, and is used for taking pictures, recording videos and the like.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle automatic charging cruise method is characterized by comprising the following steps:
s1, the unmanned aerial vehicle is charged at a ground charging station and enters a charging mode, the unmanned aerial vehicle enters a cruising preparation mode after charging is completed, if a cruising task is accessed in the charging mode, the step S2 is executed, and if the cruising task is accessed in the cruising preparation mode, the step S3 is executed;
s2, judging the electric quantity needed by the task, if the current electric quantity meets the requirement of accessing the cruise task, executing the step S3, otherwise, continuing to charge, and executing the step S3 when the current electric quantity meets the requirement of accessing the cruise task;
s3, executing the accessed cruise task;
and S4, returning after the cruise task is completed, entering a ground charging station and executing the step S1.
2. The unmanned aerial vehicle automatic charging cruise method according to claim 1, further comprising:
s3.1, monitoring whether the flight state of the unmanned aerial vehicle meets set conditions in real time in the cruising flight process of the unmanned aerial vehicle, and if not, executing step S3.1.5
And S.1.5, the unmanned aerial vehicle lands in an emergency mode and sends distress signals to the ground control station.
3. The automatic unmanned aerial vehicle charging cruise method according to claim 2, wherein the unmanned aerial vehicle self-test is further included in step S1 or step S2, and when the unmanned aerial vehicle self-test finds that the set conditions for flight cannot be met, the execution of the cruise task is stopped, emergency landing is performed, and a distress signal and position information are sent to the ground control station.
4. The automatic unmanned aerial vehicle charging cruise method according to claim 3, wherein in step S4, if the unmanned aerial vehicle accesses a new cruise task, the new cruise task is preferentially executed, and after the new cruise task is executed, the original cruise task is executed.
5. The unmanned aerial vehicle automatic charging cruise method according to claim 4, wherein in step S4, the unmanned aerial vehicle can transmit real-time data back to the ground station and receive a command from the ground station when cruising.
6. The unmanned aerial vehicle automatic charging cruise method according to claim 5, wherein in step S2, when the current electric quantity does not meet the requirement for accessing the cruise task, the charging is continued to the set time and then the determination is made until the current electric quantity meets the requirement for accessing the cruise task as a result of the determination, and step S3 is executed.
7. The automatic unmanned aerial vehicle charging cruise method according to claim 6, wherein in step S1, the unmanned aerial vehicle positioning system performs zero calibration on the unmanned aerial vehicle.
8. An automatic unmanned aerial vehicle system that cruises charges, includes aircraft main part, ground charging station and functional device, and wherein, this aircraft main part provides flight power by the electric energy, ground charging station is for the aircraft main part provides the power, functional device assembles in the aircraft main part, and it can realize the outside function of settlement, its characterized in that, the aircraft main part includes:
the energy supply module is electrically connected with each power utilization module and does not supply power to the power utilization module;
the charging module is matched with the ground charging station and provides a complete set for charging the energy supply module;
the navigation positioning module is used for providing navigation and positioning for the flight of the aircraft body;
the data transmission module is communicated with the ground control station and is used for transmitting data and/or pictures and/or videos;
and the flight control module is used for controlling the aircraft main body and/or the functional device to execute flight action and/or external function action according to an input command, and controlling the aircraft main body to return to the ground equipment for charging after each task is executed.
9. The auto-charging cruise drone system according to claim 8, further comprising:
and the charging detection module is connected with the flight control module, when the unmanned aerial vehicle main body is charged in the ground charging station, the charging detection module is started before the flight command received by the flight control module actuator, the charging detection module detects whether the current electric quantity can meet the task requirement, if the task requirement is met, the flight control module to which the unmanned aerial vehicle main body belongs executes the flight command, and if not, the unmanned aerial vehicle main body continues to be charged.
10. The system of claim 9, wherein the navigation positioning module performs zero calibration on the main body of the drone when the main body of the drone is charging.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113110583A (en) * | 2021-04-23 | 2021-07-13 | 沃杰(北京)科技有限公司 | Full-automatic relay cruise method and system for unmanned aerial vehicle |
| CN113156997A (en) * | 2021-04-29 | 2021-07-23 | 南京邮电大学 | Autonomous release and recovery system, control method and method for inspection unmanned aerial vehicle |
| CN113168775A (en) * | 2021-02-24 | 2021-07-23 | 华为技术有限公司 | Driving assistance method, shutdown slot, chip, electronic device and storage medium |
| CN114572398A (en) * | 2022-03-24 | 2022-06-03 | 上海顺诠科技有限公司 | Charging and inspection succession system and method for air-land unmanned aerial vehicle |
| CN115685975A (en) * | 2022-09-14 | 2023-02-03 | 国家电网公司西南分部 | No-signal off-line operation method and system for power transmission line inspection robot |
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