CN113459858B - Plant protection unmanned aerial vehicle charging system and charging method - Google Patents
Plant protection unmanned aerial vehicle charging system and charging method Download PDFInfo
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- CN113459858B CN113459858B CN202111033543.XA CN202111033543A CN113459858B CN 113459858 B CN113459858 B CN 113459858B CN 202111033543 A CN202111033543 A CN 202111033543A CN 113459858 B CN113459858 B CN 113459858B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
- Y02T90/167—Systems integrating technologies related to power network operation and communication or information technologies for supporting the interoperability of electric or hybrid vehicles, i.e. smartgrids as interface for battery charging of electric vehicles [EV] or hybrid vehicles [HEV]
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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
- Y04—INFORMATION OR COMMUNICATION TECHNOLOGIES HAVING AN IMPACT ON OTHER TECHNOLOGY AREAS
- Y04S—SYSTEMS INTEGRATING TECHNOLOGIES RELATED TO POWER NETWORK OPERATION, COMMUNICATION OR INFORMATION TECHNOLOGIES FOR IMPROVING THE ELECTRICAL POWER GENERATION, TRANSMISSION, DISTRIBUTION, MANAGEMENT OR USAGE, i.e. SMART GRIDS
- Y04S30/00—Systems supporting specific end-user applications in the sector of transportation
- Y04S30/10—Systems supporting the interoperability of electric or hybrid vehicles
- Y04S30/12—Remote or cooperative charging
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of unmanned aerial vehicle endurance, and discloses a plant protection unmanned aerial vehicle charging system and a charging method, wherein the plant protection unmanned aerial vehicle charging system comprises a master control unit, a docking station, an airborne terminal, a distance triggering module, an idle detection unit, a remote terminal, a scheduling mechanism and a priority judgment unit, when the idle detection unit detects that an air park corresponding to an unmanned aerial vehicle is idle in the docking station, the unmanned aerial vehicle which is charged in the future is guided to land on the idle air park, and when the air park which does not correspond to the specification of the unmanned aerial vehicle is detected to be idle, the master control unit executes different operations according to the priorities judged by the priority judgment unit, and the execution operation is the priority charging of the unmanned aerial vehicle with high priority. The invention furthest reduces the waste of the time of the unmanned aerial vehicle during charging waiting, improves the utilization rate of charging equipment and also furthest improves the punctuality of the unmanned aerial vehicle operation.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle endurance, in particular to a plant protection unmanned aerial vehicle charging system and a charging method.
Background
Along with the development of science and technology, unmanned aerial vehicle is also more and more ripe in the application in the agricultural, to large-scale experimental plot and contract the field, unmanned aerial vehicle's application has reduced the planting degree of difficulty greatly, and especially the pesticide sprays the aspect, and unmanned aerial vehicle's popularization has reduced artificial input, and sprays efficiency height.
At present, large-scale experimental field and contract the field and adopt a plurality of unmanned aerial vehicle to carry out spraying of pesticide simultaneously mostly, because unmanned aerial vehicle's characteristic, its operating duration is influenced by the electric quantity great, and unmanned aerial vehicle battery charging outfit's application has then accelerated unmanned aerial vehicle's the speed of charging. But because the quantity of battery charging outfit is far less than unmanned aerial vehicle's quantity, therefore unmanned aerial vehicle's the unmanned aerial vehicle that usually returns earlier charges, because unmanned aerial vehicle operating time is different, some unmanned aerial vehicle probably operating time is earlier than the unmanned aerial vehicle that is charging, but because it returns to charge late, and unable normal charge, this unmanned aerial vehicle that has just led to operating time to be abundant waits to send out the time overlength after charging, the unmanned aerial vehicle that operating time is earlier then missed battery charging outfit, and can't carry out the operation on time, especially some crops that the pesticide spraying cycle is short, traditional charge mode very easily delays the time that the pesticide sprays, lead to the pesticide to spray untimely, influence the growth of crops.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a plant protection unmanned aerial vehicle charging system and a charging method.
In order to achieve the purpose, the invention adopts the following technical scheme:
a charging method for a plant protection unmanned aerial vehicle comprises a charging system for the plant protection unmanned aerial vehicle, wherein the charging system for the plant protection unmanned aerial vehicle comprises a master control unit, a stop station, an airborne terminal, a distance triggering module, an idle detection unit, a remote terminal, a scheduling mechanism and a priority judging unit; the system comprises a plurality of parking ramps, cameras, an idle detection unit, an airborne terminal, a distance triggering module, a master control unit and a priority judging unit, wherein the parking ramps are arranged in the parking station, the cameras are installed on the periphery of the parking station, the idle detection unit is installed on the parking ramps of the parking station, the airborne terminal is installed on the unmanned aerial vehicle, the distance triggering module is installed on the parking station, and the master control unit and the priority judging unit are arranged at any position of the parking station;
the parking apron is provided with a plurality of specifications and used for providing charging service for unmanned aerial vehicles with different specifications;
the idle detection unit is connected with the master control unit and used for detecting whether the unmanned aerial vehicle stops on the parking apron or not and sending the detected parking condition to the master control unit;
the remote terminal is a mobile device with a communication function, the remote terminal is connected with the airborne terminal, an unmanned aerial vehicle operator sets task information of the unmanned aerial vehicle through the remote terminal, the task information comprises the operation time, the charging period and the charging duration of the unmanned aerial vehicle, and the task information is stored in the airborne terminal;
the airborne terminals are connected with the master control unit through the communication module, corresponding numbers are stored in the airborne terminals of the unmanned aerial vehicles, and the numerical values of the numbers correspond to the specifications of the unmanned aerial vehicles;
the distance triggering module is used for setting a triggering range, the triggering range is set in a circumference which takes the stop as the circle center and takes the triggering distance as the radius, and when the unmanned aerial vehicle needing to be charged enters the triggering distance, the distance triggering module sends information to the master control unit;
the priority judging unit is used for judging the priority of the unmanned aerial vehicle entering the stop station according to the operation time, the charging period and the charging duration of the unmanned aerial vehicle;
the general control unit stores parking apron specification information and unmanned aerial vehicle number information matched with parking aprons of various specifications, is connected with the distance triggering module, and determines the specification of the unmanned aerial vehicle according to the number information of the airborne terminal;
the dispatching mechanism is installed in the parking station, and the master control unit sends an instruction to the dispatching mechanism through the communication module so as to control the operation of the dispatching mechanism.
The airborne terminal comprises a GPS positioning module and an RTK mobile base station, the GPS positioning module is used for acquiring the position information of the unmanned aerial vehicle needing to be charged, the GPS positioning module sends the position information to the master control unit through the communication module, and the distance triggering module judges whether the unmanned aerial vehicle reaches a triggering range according to the position information.
The idle detection unit comprises a sensor and a collecting camera, the sensor is arranged on the parking apron and used for detecting whether the unmanned aerial vehicle is parked on the parking apron, the collecting camera is used for monitoring the parking condition of the unmanned aerial vehicle and transmitting the parking condition to the master control unit, and the position of the unmanned aerial vehicle is adjusted by the master control unit control scheduling mechanism.
The parking apron is provided with a locking mechanism, and when the unmanned aerial vehicle falls onto the parking apron and is charged, the unmanned aerial vehicle is locked by the locking mechanism; when unmanned aerial vehicle stops charging, locking mechanical system removes the locking to unmanned aerial vehicle.
The priority judging module has a data comparison function.
Dispatch mechanism is including setting up at inside moving mechanism and the transport mechanism of parking stall, transport mechanism sets up moving mechanism is last, just moving mechanism drive transport mechanism removes to arbitrary one air park side, be provided with in the transport mechanism and press splenium, every the side on air park all is provided with the extrusion formula switch, works as during transport mechanism transport unmanned aerial vehicle, press splenium to support the extrusion formula switch, make the air park outage when extrusion formula switch pressurized.
The moving mechanism comprises a longitudinal electric guide rail a, a transverse electric guide rail b is slidably matched on the electric guide rail a, the electric guide rail b can move along the extending direction of the electric guide rail a, and the whole electric guide rail b can move along the vertical direction of the electric guide rail a.
The carrying mechanism comprises a lifting device, a support is mounted at the top end of the lifting device, a transverse moving cylinder is arranged on the support, a sliding plate is fixedly connected with a telescopic shaft of the transverse moving cylinder, a pushing cylinder is arranged on one side of the sliding plate, and an output shaft of the pushing cylinder can slidably penetrate through the sliding plate and is fixedly connected with a scheduling fork.
A plant protection unmanned aerial vehicle charging method comprises the following steps:
s001, when the unmanned aerial vehicle needing to be charged enters a triggering range, the distance triggering module sends information to the master control unit, and the master control unit identifies the number of an airborne terminal of the unmanned aerial vehicle and determines the specification of the unmanned aerial vehicle;
s002, the idle detection unit receives the unmanned aerial vehicle specification determined by the master control unit, detects whether an unmanned aerial vehicle with the specification is in an idle state or not in the parking station, sends the detection result to the master control unit, and the master control unit executes different operations according to the detection result;
s003, if an air park corresponding to the specification of the unmanned aerial vehicle is idle in the parking station, the main control unit guides the unmanned aerial vehicle to enter the idle air park for charging;
if the parking station is not internally provided with a parking apron with the corresponding unmanned aerial vehicle specification in an idle state, the master control unit executes different operations according to the priority judged by the priority judging mechanism;
step S004, if the priority of the unmanned aerial vehicle entering the trigger range is higher than that of the unmanned aerial vehicle with the same specification which is being charged in the parking station, the master control unit controls the scheduling mechanism to schedule the unmanned aerial vehicle with the lowest priority in the parking station to idle parking stations with other specifications, and the master control unit guides the unmanned aerial vehicle to be charged to enter the scheduled parking station for charging;
if the priority of the unmanned aerial vehicle entering the trigger range is lower than the priorities of all unmanned aerial vehicles with the same specification in the parking station, the master control unit guides the unmanned aerial vehicle to enter an idle parking apron with other specifications;
step S005, when the unmanned aerial vehicle to be charged is parked on parking aprons of other specifications, when the unmanned aerial vehicle corresponding to the parking apron temporarily parked thereon flies and the parking apron of the specification is insufficient, the master control unit controls the scheduling mechanism to schedule the unmanned aerial vehicle temporarily parked on the other parking aprons which are not fully parked, and the unmanned aerial vehicle driving in is given way out of the parking aprons;
and S006, after the unmanned aerial vehicles in the same specification are charged in the parking station, the master control unit controls the scheduling mechanism to schedule the charged unmanned aerial vehicles to idle parking stalls in other specifications, and schedules the unmanned aerial vehicles temporarily parked on the parking stalls in other specifications with the highest priority to idle parking stalls which are vacated.
The priority determination in step S003 is as follows:
A. judging the operation time of the unmanned aerial vehicle entering the trigger range, and comparing the operation time with the operation time of the unmanned aerial vehicle with the same specification charged in the stop station;
B. if the operation time of the unmanned aerial vehicle entering the trigger range is later than that of all the unmanned aerial vehicles with the same specification charged in the stop station, judging that the priority of the unmanned aerial vehicle is lower than that of the other unmanned aerial vehicles with the same specification which are being charged;
C. if the operation time of the unmanned aerial vehicle entering the trigger range is earlier than that of any unmanned aerial vehicle with the same specification charged in the stop station, further comparing the charging period with the charging duration;
if the remaining charging time of the unmanned aerial vehicles with the same specification in the stop station, the charging period of the unmanned aerial vehicle entering the trigger range and the current time point are earlier than the operation time of the unmanned aerial vehicle entering the trigger range, judging that the priority of the unmanned aerial vehicle is lower than that of the unmanned aerial vehicles with the same specification which are being charged;
if the remaining charging time of the unmanned aerial vehicle with the same specification in the parking station, the charging period of the unmanned aerial vehicle entering the triggering range and the current time point are later than the next operation time of the unmanned aerial vehicle entering the triggering range, the priority of the unmanned aerial vehicle is judged to be higher than that of the unmanned aerial vehicle with the same specification in the parking station which is being charged.
Compared with the prior art, the invention has the following advantages:
the invention can standardize the charging process of the unmanned aerial vehicle, can ensure the operation time of the unmanned aerial vehicle as much as possible, and when the unmanned aerial vehicle newly entering the triggering range enters the gap of the stop station, the central control unit has enough time to judge and operate, thereby ensuring that the unmanned aerial vehicle with high priority can be normally charged. The invention furthest reduces the waste of the time of the unmanned aerial vehicle during charging waiting, improves the utilization rate of charging equipment and also furthest improves the punctuality of the unmanned aerial vehicle operation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced 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 the drawings without creative efforts.
Fig. 1 is a schematic diagram of a charging system of a plant protection unmanned aerial vehicle according to the present invention;
fig. 2 is a system flow chart of the charging system of the plant protection unmanned aerial vehicle of the present invention;
fig. 3 is a schematic structural diagram of a scheduling mechanism of a charging system of a plant protection unmanned aerial vehicle according to the present invention;
fig. 4 is a partial enlarged view of the scheduling mechanism of the plant protection unmanned aerial vehicle charging system of the present invention;
fig. 5 is a partial cross-sectional view of the plant protection unmanned aerial vehicle charging system scheduling mechanism of the present invention;
fig. 6 is an operation flowchart of the charging method of the plant protection unmanned aerial vehicle of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
10. a docking station; 20. a master control unit; 30. a scheduling mechanism; 31. a moving mechanism; 311. an electric guide rail a; 312. an electric guide rail b; 32. a carrying mechanism; 321. a lifting device; 322. a support; 323. a transverse moving cylinder; 324. a sliding plate; 325. a push cylinder; 326. a dispatching fork; 33. a pressing part; 34. an extrusion type switch; 351. installing a shell; 352. a servo motor; 353. a frame; 354. a rack; 355. a gear a; 356. a gear b; 40. a distance triggering module; 50. an idle detection unit; 60. a remote terminal; 70. a priority determination unit; 80. and (4) an airborne terminal.
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.
As shown in fig. 1 and fig. 2, a method for charging a plant protection unmanned aerial vehicle includes a plant protection unmanned aerial vehicle charging system, where the plant protection unmanned aerial vehicle charging system includes a general control unit 20, a docking station 10, an onboard terminal 80, a distance triggering module 40, a camera, an idle detection unit 50, a remote terminal 60, a scheduling mechanism 30, and a priority determination unit 70;
a plurality of parking aprons are arranged in the parking station 10, cameras are installed on the periphery of the parking station 10, the idle detection unit 50 is installed on the parking aprons of the parking station 10, the airborne terminal 80 is installed on the unmanned aerial vehicle, the distance triggering module 40 is installed on the parking station 10, and the master control unit 20 and the priority determination unit 70 can be arranged on any position of the parking station 10. It should be noted that specific installation positions of the total control unit 20, the distance triggering module 40, the camera, the idle detection unit 50, and the priority determination unit 70 are not specifically limited, and the specific installation positions may be selected according to actual situations, so that some modules or units are not shown in fig. 1;
the parking apron is provided with a plurality of specifications and used for providing charging service for unmanned aerial vehicles with different specifications;
a camera for monitoring the condition of the entire docking station 10;
the idle detection unit 50 is connected with the master control unit 20 and is used for detecting whether the unmanned aerial vehicle stops on the parking apron and sending the detected parking condition to the master control unit 20;
the remote terminal 60 is a mobile device with a communication function, the remote terminal 60 is connected with the airborne terminal 80, an unmanned aerial vehicle operator sets task information of the unmanned aerial vehicle through the remote terminal 60, the task information comprises the operation time, the charging period and the charging duration of the unmanned aerial vehicle, and the task information is stored in the airborne terminal 80;
the airborne terminals 80 are connected with the master control unit 20 through the communication module, the corresponding numbers are stored in the airborne terminals 80 on each unmanned aerial vehicle, the numerical values of the numbers correspond to the specifications of the unmanned aerial vehicles, and the specific numbers are 1, 2 and 3 … … 100, wherein 1-10 are unmanned aerial vehicles of A specifications, 11-20 are unmanned aerial vehicles of B specifications, and the like, so that the specifications of the unmanned aerial vehicles can be digitalized, and subsequent rapid identification is facilitated;
the distance triggering module 40 is used for setting a triggering range, the triggering range is set to be the circle center of the stop station 10, the triggering range is set to be the inside of a circle with the triggering distance as the radius, when the unmanned aerial vehicle needing to be charged enters the triggering range, the distance triggering module 40 sends information to the master control unit 20, and the triggering range is set to be enough for the master control unit 20 to make judgment and response before the unmanned aerial vehicle flies into the stop station 10, so that the unmanned aerial vehicle does not fly into the stop station 10 when any stop is made, the unmanned aerial vehicle is prevented from waiting around the stop station 10 in a spiral mode, and a certain effect of reducing waiting time is achieved;
the priority determination unit 70 is configured to determine the priority of the unmanned aerial vehicle entering the docking station 10 according to the operation time, the charging period, and the charging duration of the unmanned aerial vehicle;
the general control unit 20 stores parking apron specification information and unmanned aerial vehicle number information matched with the parking aprons of various specifications, the general control unit 20 is connected with the distance triggering module 40, the general control unit 20 determines the specifications of the unmanned aerial vehicles according to the number information of the airborne terminal 80, and the general control unit 20 at least comprises a main control program, a data processing module, a control module, a storage module, an external data interface, a network connection module, a communication module, an RTK ground base station and a picture comparison module so as to realize various functions required by the invention;
the scheduling mechanism 30 is installed inside the docking station 10, and the general control unit 20 sends an instruction to the scheduling mechanism 30 through the communication module to control the operation of the scheduling mechanism 30;
when the idle detection unit 50 detects that an idle parking apron corresponding to the unmanned aerial vehicle is located inside the parking station 10, guiding the unmanned aerial vehicle charged in the front to land on the idle parking apron; when detecting that there is no apron corresponding to the specification of the unmanned aerial vehicle is idle, the general control unit 20 executes different operations according to the priority judged by the priority judging unit 70, and the executed operations are to preferentially charge the unmanned aerial vehicle with a high priority.
Idle detecting element 50 is including setting up sensor and the collection camera on the air park, and the sensor is used for detecting whether stop the unmanned aerial vehicle on the air park, gathers the camera and is used for monitoring unmanned aerial vehicle's the situation of stopping and gives total controlling element 20 with this situation of stopping transmission, controls dispatch mechanism 30 by total controlling element 20 and adjusts the unmanned aerial vehicle position. When unmanned aerial vehicle berthhed on the parking apron, if unmanned aerial vehicle's position deviation appeared, lead to the unable normal power supply of parking apron, the picture that the camera was taken out this moment can have great difference with standard parking position's picture, and total accuse unit 20 then can control scheduling mechanism 30 and adjust unmanned aerial vehicle's position this moment to it can normally charge. The picture of standard parking position is in advance with unmanned aerial vehicle place the parking apron on, adjusts its position, makes it normally charge, then shoots gained picture, as for the process of picture comparison module to the picture comparison, the application has been very popularized among the prior art, does not make specific repeated description here again.
The tarmac is provided with a locking mechanism (not shown) which may be a motorized clip or other motorized clamp. When the unmanned aerial vehicle falls onto the parking apron and is charged, the locking mechanism locks the unmanned aerial vehicle; when unmanned aerial vehicle stops charging, locking mechanical system removes the locking to unmanned aerial vehicle. Locking mechanical system's settlement for protect unmanned aerial vehicle, especially under the outdoor environment, prevent that unmanned aerial vehicle from appearing the skew in the charging process, and after unmanned aerial vehicle finishes charging, locking mechanical system then unlocks, can not influence unmanned aerial vehicle's normal take-off.
The priority determination module 70 has a data comparison function, and is configured to compare the operation time, the charging period, and the charging duration of the unmanned aerial vehicle.
As shown in fig. 1, 3 and 4, the scheduling mechanism 30 includes a moving mechanism 31 and a conveying mechanism 32 which are arranged inside the docking station 10, the conveying mechanism 32 is arranged on the moving mechanism 31, the moving mechanism 31 drives the conveying mechanism 32 to move to any one of the side surfaces of the docking station, a pressing portion 33 is arranged on the conveying mechanism 32, a pressing switch 34 is arranged on each side surface of the docking station, when the unmanned aerial vehicle is conveyed by the conveying mechanism 32, the pressing portion 33 abuts against the pressing switch 34, the docking station is powered off when the pressing switch 34 is pressed, the locking mechanism releases the locking of the unmanned aerial vehicle at this time, the moving mechanism 31 can drive the conveying mechanism 32 to move to any one of the side surfaces of the docking station, and the unmanned aerial vehicle is conveyed away from the docking station through the conveying mechanism 32 so as to give way for the unmanned aerial vehicle with a high subsequent priority. It should be noted here that the drones of different specifications can only be powered on when they land on the apron corresponding to the specification.
As shown in fig. 4, the moving mechanism 31 includes a longitudinal motor-driven rail a311, a transverse motor-driven rail b312 is slidably mounted on the motor-driven rail a311, the motor-driven rail b312 is movable along the extending direction of the motor-driven rail a311, and the motor-driven rail b312 is movable along the vertical direction of the motor-driven rail a311 as a whole. Firstly, the motor-driven rail b312 can move along the motor-driven rail a311 to be freely moved in the longitudinal direction, and secondly, the whole motor-driven rail b312 can be laterally moved to make the motor-driven rail b312 reach the side surface of any apron, so that the subsequent conveying operation can be normally completed.
Specifically, as shown in fig. 4 and 5, a mounting housing 351 is mounted on the top of the electric rail a311, a servo motor 352 is disposed inside the mounting housing 351, a square hole is formed in the top of the mounting housing 351, a gear a355 is disposed inside the square hole, a gear b356 engaged with the gear a355 is mounted on an output shaft of the servo motor 352, a frame 353 is mounted above the mounting housing 351, the electric rail b312 is slidably fitted inside the frame 353, and a rack 354 is disposed at the bottom of the electric rail b312 and engaged with the gear a 355. This design allows the motor-driven rail b312 to be entirely moved laterally, determines the lateral movement direction according to the rotation direction of the servo motor 352, and pulls the rack 354 to move through the gear b356 and the gear a355 when the servo motor 352 rotates, thereby achieving the entire movement of the motor-driven rail b 312.
It should be noted that the traverse member is only an example, and other structures capable of driving the motor-driven rail b312 to traverse should also fall within the scope of the present invention.
The carrying mechanism 32 comprises a lifting device 321 (here, a lifting cylinder), a support 322 is mounted at the top end of the lifting device 321, a traverse cylinder 323 is arranged on the support 322, a sliding plate 324 is fixedly connected to a telescopic shaft of the traverse cylinder 323, a pushing cylinder 325 is arranged on one side of the sliding plate 324, an output shaft of the pushing cylinder 325 slidably penetrates through the sliding plate 324 and is fixedly connected with a scheduling fork 326, when the carrying mechanism 32 reaches the side of a specified parking apron, the lifting device 321 is operated to jack up the support 322, then the traverse cylinder 323 adjusts the position of the sliding plate 324, the scheduling fork 326 is ejected out through the pushing cylinder 325 to be inserted into a gap between the unmanned aerial vehicle and the parking apron, then the lifting device 321 is lifted up again to empty the unmanned aerial vehicle, and then the unmanned aerial vehicle is carried to the specified position according to a set path.
The using process of the invention is as follows: when the unmanned aerial vehicle to be charged enters a triggering range, the distance triggering module 40 sends information to the master control unit 20, the master control unit 20 determines the specification of the unmanned aerial vehicle according to the number of the airborne terminal 80, then the idle detection unit 50 detects whether an apron suitable for the unmanned aerial vehicle with the specification is in an idle state in the parking station 10 or not, and sends a detection result to the master control unit 20, the master control unit 20 executes different operations according to the detection result, and if the apron with the specification is idle in the parking station 10, the master control unit 20 guides the unmanned aerial vehicle to enter the idle apron for charging; if the parking station 10 has no parking apron corresponding to the specification in the idle state, the master control unit 20 executes different operations according to the priority level judged by the priority judging mechanism 70;
when the priority of the unmanned aerial vehicle entering the trigger range is higher than that of the unmanned aerial vehicle with the same specification which is being charged in the docking station 10, the master control unit 20 controls the scheduling mechanism 30 to schedule the unmanned aerial vehicle with the lowest priority in the docking station 10 to idle parking aprons with other specifications, and the master control unit 20 guides the unmanned aerial vehicle to be charged to enter the scheduled parking apron for charging; if the priority of the unmanned aerial vehicle entering the triggering range is lower than the priorities of all unmanned aerial vehicles with the same specification in the docking station 10, the master control unit 20 guides the unmanned aerial vehicle to enter idle parking aprons with other specifications, when the unmanned aerial vehicle to be charged is docked on the parking aprons with other specifications, and when the unmanned aerial vehicle corresponding to the parking aprons temporarily parked on the unmanned aerial vehicle flies and the parking aprons with the specifications are insufficient, the master control unit 20 controls the scheduling mechanism 30 to schedule the temporarily docked unmanned aerial vehicle to the parking aprons with other specifications which are not full, and the unmanned aerial vehicle driving in is given way out of the parking aprons; when the unmanned aerial vehicles in the same specification are charged in the docking station 10, the master control unit 20 controls the scheduling mechanism 30 to schedule the charged unmanned aerial vehicles to idle parking ramps in other specifications, and schedule the unmanned aerial vehicles temporarily parked on the parking ramps in other specifications with the highest priority to idle parking ramps which are left empty for charging.
As shown in fig. 6, a charging method for a plant protection unmanned aerial vehicle includes the following steps:
step S001, when the unmanned aerial vehicle needing to be charged enters a triggering range, the distance triggering module 40 sends information to the master control unit 20, and the master control unit 20 identifies the number of the airborne terminal 80 of the unmanned aerial vehicle and determines the specification of the unmanned aerial vehicle;
step S002, the idle detection unit 50 receives the unmanned aerial vehicle specification determined by the master control unit 20, detects whether an apron suitable for the unmanned aerial vehicle of the specification is in an idle state in the docking station 10, sends the detection result to the master control unit 20, and the master control unit 20 executes different operations according to the detection result;
step S003, if the parking apron corresponding to the specification of the unmanned aerial vehicle is idle in the parking station 10, the master control unit 20 guides the unmanned aerial vehicle to enter the idle parking apron for charging;
if the parking station 10 does not have a parking apron with the specification corresponding to the unmanned aerial vehicle, the master control unit 20 executes different operations according to the priority level judged by the priority judging mechanism 70;
step S004, if the priority of the unmanned aerial vehicle entering the trigger range is higher than that of the unmanned aerial vehicle with the same specification which is being charged in the docking station 10, the master control unit 20 controls the scheduling mechanism 30 to schedule the unmanned aerial vehicle with the lowest priority in the docking station 10 to idle parking ramps with other specifications, and the master control unit 20 guides the unmanned aerial vehicle to be charged to enter the scheduled parking ramps for charging;
if the priority of the unmanned aerial vehicle entering the triggering range is lower than the priorities of all unmanned aerial vehicles with the same specification at the 10 parts of the parking station, the master control unit 20 guides the unmanned aerial vehicle to enter the idle parking apron with other specifications;
step S005, when the unmanned aerial vehicle to be charged is parked on the parking apron of other specifications, when the unmanned aerial vehicle corresponding to the parking apron temporarily parked thereon flies and the parking apron of the specification is insufficient, the master control unit 20 controls the scheduling mechanism 30 to schedule the unmanned aerial vehicle temporarily parked on the parking apron of other specifications which is not full, and the unmanned aerial vehicle entering the parking apron is made way;
step S006, after the unmanned aerial vehicles in the same specification are charged in the docking station 10, the master control unit 20 controls the scheduling mechanism 30 to schedule the charged unmanned aerial vehicles to idle parking stalls in other specifications, and schedule the unmanned aerial vehicles temporarily parked on the parking stalls in other specifications with the highest priority to idle parking stalls in the empty parking stalls for charging.
In step S003, the priority determination method is as follows:
A. judging the operation time of the unmanned aerial vehicle entering the triggering range, and comparing the operation time with the operation time of the unmanned aerial vehicle with the same specification charged in the stop station 10;
B. if the operation time of the unmanned aerial vehicle entering the trigger range is later than that of all the unmanned aerial vehicles with the same specification charged in the stop station 10, judging that the priority of the unmanned aerial vehicle is lower than that of the other unmanned aerial vehicles with the same specification which are being charged;
C. if the operation time of the unmanned aerial vehicle entering the trigger range is earlier than that of any unmanned aerial vehicle with the same specification charged in the stop station 10, further comparing the charging period with the charging duration;
if the remaining charging time of the unmanned aerial vehicle of the specification in the stop station 10, the charging period of the unmanned aerial vehicle entering the triggering range and the current time point are earlier than the operation time of the unmanned aerial vehicle entering the triggering range, determining that the priority of the unmanned aerial vehicle is lower than that of the unmanned aerial vehicle of the specification being charged;
if the remaining charging time of the unmanned aerial vehicle of the specification in the docking station 10 + the unmanned aerial vehicle charging period entering the triggering range + the current time point is later than the next operation time of the unmanned aerial vehicle entering the triggering range, it is determined that the priority of the unmanned aerial vehicle is higher than that of the unmanned aerial vehicle of the specification in the docking station 10.
Adopt this mode to come to unmanned aerial vehicle's the integration of charging, can effectually reduce the mixed and disorderly phenomenon of unmanned aerial vehicle charging sequence, it has fully considered unmanned aerial vehicle's specification, the activity duration, the cycle of charging, charge long and the inside condition of stop 10, it is more orderly to make unmanned aerial vehicle's charging process, it is long when having reduced the waiting that unmanned aerial vehicle charges greatly, especially, be fit for some large-scale experimental plots and contract the field and use, whole process of charging has reduced artificial input simultaneously, its application prospect is more considerable.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention. Structures, devices, and methods of operation not specifically described or illustrated herein are generally practiced in the art without specific recitation or limitation.
Claims (8)
1. The charging method of the plant protection unmanned aerial vehicle is characterized by comprising a charging system of the plant protection unmanned aerial vehicle, wherein the charging system of the plant protection unmanned aerial vehicle comprises a master control unit, a stop station, an airborne terminal, a distance triggering module, an idle detection unit, a remote terminal, a scheduling mechanism, a priority judging unit and a camera; the system comprises a plurality of parking ramps, cameras, an idle detection unit, an airborne terminal, a distance triggering module, a master control unit and a priority judging unit, wherein the parking ramps are arranged in the parking station, the cameras are installed on the periphery of the parking station, the idle detection unit is installed on the parking ramps of the parking station, the airborne terminal is installed on the unmanned aerial vehicle, the distance triggering module is installed on the parking station, and the master control unit and the priority judging unit are arranged at any position of the parking station;
the parking apron is provided with a plurality of specifications and used for providing charging service for unmanned aerial vehicles with different specifications;
the idle detection unit is connected with the master control unit and used for detecting whether the unmanned aerial vehicle stops on the parking apron or not and sending the detected parking condition to the master control unit;
the remote terminal is a mobile device with a communication function, the remote terminal is connected with the airborne terminal, an unmanned aerial vehicle operator sets task information of the unmanned aerial vehicle through the remote terminal, the task information comprises the operation time, the charging period and the charging duration of the unmanned aerial vehicle, and the task information is stored in the airborne terminal;
the airborne terminals are connected with the master control unit through the communication module, corresponding numbers are stored in the airborne terminals of the unmanned aerial vehicles, and the numerical values of the numbers correspond to the specifications of the unmanned aerial vehicles;
the distance triggering module is used for setting a triggering range, the triggering range is set in a circumference which takes the stop as the circle center and takes the triggering distance as the radius, and when the unmanned aerial vehicle needing to be charged enters the triggering distance, the distance triggering module sends information to the master control unit;
the priority judging unit is used for judging the priority of the unmanned aerial vehicle entering the stop station according to the operation time, the charging period and the charging duration of the unmanned aerial vehicle;
the general control unit stores parking apron specification information and unmanned aerial vehicle number information matched with parking aprons of various specifications, is connected with the distance triggering module, and determines the specification of the unmanned aerial vehicle according to the number information of the airborne terminal;
the dispatching mechanism is arranged in the stop, and the master control unit sends an instruction to the dispatching mechanism through the communication module so as to control the operation of the dispatching mechanism;
the charging method comprises the following steps:
s001, when the unmanned aerial vehicle needing to be charged enters a triggering range, the distance triggering module sends information to the master control unit, and the master control unit identifies the number of an airborne terminal of the unmanned aerial vehicle and determines the specification of the unmanned aerial vehicle;
s002, the idle detection unit receives the unmanned aerial vehicle specification determined by the master control unit, detects whether an unmanned aerial vehicle with the specification is in an idle state or not in the parking station, sends the detection result to the master control unit, and the master control unit executes different operations according to the detection result;
s003, if an air park corresponding to the specification of the unmanned aerial vehicle is idle in the parking station, the main control unit guides the unmanned aerial vehicle to enter the idle air park for charging;
if the parking station is not internally provided with a parking apron with the corresponding unmanned aerial vehicle specification in an idle state, the master control unit executes different operations according to the priority judged by the priority judging mechanism;
the priority determination method comprises the following steps:
A. judging the operation time of the unmanned aerial vehicle entering the trigger range, and comparing the operation time with the operation time of the unmanned aerial vehicle with the same specification charged in the stop station;
B. if the operation time of the unmanned aerial vehicle entering the trigger range is later than that of all the unmanned aerial vehicles with the same specification charged in the stop station, judging that the priority of the unmanned aerial vehicle is lower than that of the other unmanned aerial vehicles with the same specification which are being charged;
C. if the operation time of the unmanned aerial vehicle entering the trigger range is earlier than that of any unmanned aerial vehicle with the same specification charged in the stop station, further comparing the charging period with the charging duration;
if the remaining charging time of the unmanned aerial vehicle of the specification in the stop station, the charging period of the unmanned aerial vehicle entering the trigger range and the current time point are earlier than the operation time of the unmanned aerial vehicle entering the trigger range, judging that the priority of the unmanned aerial vehicle is lower than that of the unmanned aerial vehicle of the specification which is being charged;
if the remaining charging time of the unmanned aerial vehicle of the specification in the docking station, the charging period of the unmanned aerial vehicle entering the triggering range and the current time point are later than the next operation time of the unmanned aerial vehicle entering the triggering range, judging that the priority of the unmanned aerial vehicle is higher than that of the unmanned aerial vehicle of the specification in the docking station which is being charged;
step S004, if the priority of the unmanned aerial vehicle entering the trigger range is higher than that of the unmanned aerial vehicle with the same specification which is being charged in the parking station, the master control unit controls the scheduling mechanism to schedule the unmanned aerial vehicle with the lowest priority in the parking station to idle parking stations with other specifications, and the master control unit guides the unmanned aerial vehicle to be charged to enter the scheduled parking station for charging;
if the priority of the unmanned aerial vehicle entering the trigger range is lower than the priorities of all unmanned aerial vehicles with the same specification in the parking station, the master control unit guides the unmanned aerial vehicle to enter an idle parking apron with other specifications;
step S005, when the unmanned aerial vehicle to be charged is parked on parking aprons of other specifications, when the unmanned aerial vehicle corresponding to the parking apron temporarily parked thereon flies and the parking apron of the specification is insufficient, the master control unit controls the scheduling mechanism to schedule the unmanned aerial vehicle temporarily parked on the other parking aprons which are not fully parked, and the unmanned aerial vehicle driving in is given way out of the parking aprons;
and S006, after the unmanned aerial vehicles in the same specification are charged in the parking station, the master control unit controls the scheduling mechanism to schedule the charged unmanned aerial vehicles to idle parking stalls in other specifications, and schedules the unmanned aerial vehicles temporarily parked on the parking stalls in other specifications with the highest priority to idle parking stalls which are vacated.
2. The charging method for the plant protection unmanned aerial vehicle according to claim 1, wherein the airborne terminal comprises a GPS positioning module and an RTK mobile base station, the GPS positioning module is used for acquiring the position information of the unmanned aerial vehicle to be charged, the GPS positioning module sends the position information to the master control unit through the communication module, and the distance triggering module judges whether the unmanned aerial vehicle reaches the triggering range according to the position information.
3. The plant protection unmanned aerial vehicle charging method according to claim 1, wherein the idle detection unit comprises a sensor and a collecting camera, the sensor is arranged on the parking apron and used for detecting whether the unmanned aerial vehicle is parked on the parking apron, the collecting camera is used for monitoring the parking condition of the unmanned aerial vehicle and transmitting the parking condition to the master control unit, and the master control unit controls the scheduling mechanism to adjust the position of the unmanned aerial vehicle.
4. The plant protection unmanned aerial vehicle charging method according to claim 1, wherein a locking mechanism is arranged on the parking apron, the locking mechanism locks the unmanned aerial vehicle when the unmanned aerial vehicle falls on the parking apron and the charging is switched on, and the locking mechanism unlocks the unmanned aerial vehicle when the unmanned aerial vehicle stops charging.
5. The charging method for plant protection unmanned aerial vehicle according to claim 1, wherein the priority determination unit has a data comparison function.
6. The plant protection unmanned aerial vehicle charging method according to claim 1, wherein the scheduling mechanism comprises a moving mechanism and a carrying mechanism which are arranged inside the docking station, the carrying mechanism is arranged on the moving mechanism, the moving mechanism drives the carrying mechanism to move to any one side of the parking apron, a pressing portion is arranged on the carrying mechanism, a pressing switch is arranged on each side of the parking apron, when the carrying mechanism carries the unmanned aerial vehicle, the pressing portion abuts against the pressing switch, and when the pressing switch is pressed, the parking apron is powered off.
7. The charging method for plant protection unmanned aerial vehicle according to claim 6, wherein the moving mechanism comprises a longitudinal electric rail a, a transverse electric rail b is slidably mounted on the electric rail a, the electric rail b can move along the extending direction of the electric rail a, and the whole electric rail b can move along the vertical direction of the electric rail a.
8. The charging method for plant protection unmanned aerial vehicle according to claim 7, wherein the carrying mechanism comprises a lifting device, a bracket is mounted on the top end of the lifting device, a traversing cylinder is arranged on the bracket, a sliding plate is fixedly connected to a telescopic shaft of the traversing cylinder, a pushing cylinder is arranged on one side of the sliding plate, and an output shaft of the pushing cylinder slidably penetrates through the sliding plate and is fixedly connected with the dispatching fork.
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| CN114476109A (en) * | 2022-01-05 | 2022-05-13 | 军事科学院系统工程研究院军事新能源技术研究所 | Vehicle-mounted wireless charging device for unmanned aerial vehicle |
| CN114815889A (en) * | 2022-04-28 | 2022-07-29 | 江苏省环境科学研究院 | Unmanned aerial vehicle airport monitoring control system based on big data |
| CN114771330A (en) * | 2022-06-20 | 2022-07-22 | 西南交通大学 | Unmanned aerial vehicle charging method and system based on integration of communication perception, calculation and energy transfer |
| CN116844381A (en) * | 2023-06-06 | 2023-10-03 | 广州思谋信息科技有限公司 | Unmanned aerial vehicle shutdown management system and method based on artificial intelligence |
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