CN113460317B - Charging device and working method thereof, unmanned aerial vehicle and charging method, medium and equipment - Google Patents

Charging device and working method thereof, unmanned aerial vehicle and charging method, medium and equipment Download PDF

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Publication number
CN113460317B
CN113460317B CN202010239551.9A CN202010239551A CN113460317B CN 113460317 B CN113460317 B CN 113460317B CN 202010239551 A CN202010239551 A CN 202010239551A CN 113460317 B CN113460317 B CN 113460317B
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aerial vehicle
unmanned aerial
charging
propeller
air
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CN113460317A (en
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崔鹏
陈思瀚
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Beijing Airlango Technology Co ltd
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Beijing Airlango Technology Co ltd
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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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • 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
    • 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
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The disclosure relates to a charging device for charging an unmanned aerial vehicle and a working method thereof, and the unmanned aerial vehicle and a charging method, medium and equipment thereof. The working method of the charging device for charging the unmanned aerial vehicle comprises the following steps: locking the unmanned aerial vehicle on a supporting platform of the charging device; after the unmanned aerial vehicle is locked, controlling an air blowing device to blow air to a propeller of the unmanned aerial vehicle so as to charge the unmanned aerial vehicle through rotation of the propeller; receiving a charging completion signal sent by the unmanned aerial vehicle; controlling the blowing device to stop blowing in response to receiving the charging completion signal; and unlocking the unmanned aerial vehicle. Like this, saved connector and high-power coil such as charging connector of easy loss, reduced unmanned aerial vehicle dead weight, improved battery utilization efficiency to operation maintenance cost has been reduced.

Description

Charging device and working method thereof, unmanned aerial vehicle and charging method, medium and equipment
Technical Field
The disclosure relates to the field of unmanned aerial vehicle control, in particular to a charging device for charging an unmanned aerial vehicle and a working method thereof, the unmanned aerial vehicle and a charging method, medium and equipment thereof.
Background
An unmanned plane, called unmanned plane for short, is an unmanned plane operated by radio remote control equipment and a self-contained program control device, and comprises an unmanned helicopter, a fixed wing plane, a multi-rotor aircraft, an unmanned airship, an unmanned parachute plane and the like.
The unmanned aerial vehicle is divided according to different application fields, the unmanned aerial vehicle can be divided into three categories of military use, civil use and consumption level, and the requirements of different types of unmanned aerial vehicles on performance are heavier. Wherein, consumer-grade unmanned aerial vehicle generally adopts the lower many rotor platforms of cost for leisure usage such as aerial photography, recreation. The unmanned aerial vehicle can complete complex aerial flight tasks and various load tasks under the unmanned condition, and can be regarded as an aerial robot.
In the related art, two schemes are generally adopted when the unmanned aerial vehicle is charged. First, it is necessary to connect the connectors of the unmanned aerial vehicle side and the charging equipment side by the automation equipment. Because unmanned aerial vehicle adopts the heavy current connector usually, consequently, the number of times in plug life-span is lower, can't recycle for a long time, this cost with regard to greatly increased unmanned aerial vehicle. Secondly, a wireless charging system is adopted. Because unmanned aerial vehicle charging current is great, consequently, adopt wireless transmission to need arrange great induction coil at unmanned aerial vehicle end, this has just increased unmanned aerial vehicle dead weight to unmanned aerial vehicle's flight efficiency has been reduced, battery loss cost has been increased.
Disclosure of Invention
The charging device comprises a charging device body, a charging device body and a charging device.
In order to achieve the above object, the present disclosure provides a working method of a charging device for charging an unmanned aerial vehicle, the method including:
locking the unmanned aerial vehicle on a supporting platform of the charging device;
after the unmanned aerial vehicle is locked, controlling an air blowing device to blow air to a propeller of the unmanned aerial vehicle so as to charge the unmanned aerial vehicle through rotation of the propeller;
receiving a charging completion signal sent by the unmanned aerial vehicle;
controlling the blowing device to stop blowing in response to receiving the charging completion signal;
and unlocking the unmanned aerial vehicle.
Optionally, lock unmanned aerial vehicle on charging device's supporting platform includes:
receiving a locking signal sent by the unmanned aerial vehicle;
and responding to the received locking signal, and locking the unmanned aerial vehicle on the supporting platform.
Optionally, after the step of locking the drone on the support platform of the charging device, the method further comprises:
controlling the support platform to rotate to calibrate the position of the propeller relative to the blower device.
Optionally, the controlling the rotation of the support platform includes:
acquiring the rotating speed of blades of the propeller;
and under the condition that the rotating speed of the blades of the propeller is less than a preset rotating speed threshold value, controlling the supporting platform to rotate until the rotating speed of the blades of the propeller is greater than or equal to the preset rotating speed threshold value.
The present disclosure also provides a charging method for an unmanned aerial vehicle, which is applied to an unmanned aerial vehicle, and the method includes:
after an unmanned aerial vehicle is locked on a supporting platform of a charging device for charging the unmanned aerial vehicle, controlling the unmanned aerial vehicle to enter a charging mode;
in the charging mode, when a motor in the unmanned aerial vehicle rotates under the driving action of the rotation of a propeller of the unmanned aerial vehicle, the battery of the unmanned aerial vehicle is charged by using electric energy generated by the rotation of the motor;
determining whether charging is finished according to the state information of the battery;
in response to determining that charging is complete, sending a charging complete signal to the charging device to stop rotation of the propeller;
exiting the charging mode.
Optionally, the propeller is rotated by the blowing action of a blowing device on the charging device. The method further comprises the following steps:
detecting the rotating speed of the propeller blades;
sending the rotational speed to the charging device, the rotational speed being used to calibrate the position of the propeller relative to the blower device.
Optionally, the method further comprises:
after the unmanned aerial vehicle lands on the supporting platform, the unmanned aerial vehicle sends a locking signal to the charging device, so that the charging device locks the unmanned aerial vehicle on the supporting platform.
The present disclosure also provides an unmanned aerial vehicle's charging device, include:
a support platform for supporting the drone;
control module and locking portion, wherein:
the control module is used for controlling the locking part so as to lock the unmanned aerial vehicle on the supporting platform; and after the unmanned aerial vehicle is locked on the supporting platform, the air blowing device is controlled to blow air to the propeller of the unmanned aerial vehicle, so that the unmanned aerial vehicle is charged through rotation of the propeller.
Optionally, the air blowing device includes a plurality of air blowers disposed on the supporting platform, the plurality of air blowers correspond to a plurality of propellers of the unmanned aerial vehicle one to one, and each air blower is used for blowing air to the corresponding propeller.
Optionally, each of the air blowers includes a plurality of air outlet nozzles, and the plurality of air outlet nozzles of each of the air blowers correspond to the plurality of blades of the propeller corresponding to the air blower one to one.
Optionally, each air outlet of the plurality of air outlet openings is spiral, so that the air outlet of each blower forms a vortex.
Optionally, the charging device further comprises:
and the driving device is connected with the supporting platform and used for driving the supporting platform to rotate under the condition of receiving a rotation driving command so as to calibrate the position of the propeller relative to the air blowing device.
Optionally, the control module is connected to the driving device, and the control module is further configured to receive a rotation speed of blades of the propeller, and send the rotation driving instruction when the rotation speed is less than a predetermined rotation speed threshold.
Optionally, the control module is further configured to control the blowing device to stop blowing air and control the locking portion to unlock the unmanned aerial vehicle in response to receiving a charging completion signal sent by the unmanned aerial vehicle.
The present disclosure also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above-described method provided by the present disclosure.
The present disclosure also provides an electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the above-described method provided by the present disclosure.
The present disclosure also provides an unmanned aerial vehicle, comprising a battery, a motor, a propeller, and a controller, the propeller being connected to the motor, the controller being configured to perform the steps of the above method provided by the present disclosure.
Through above-mentioned technical scheme, after unmanned aerial vehicle was locked at charging device's supporting platform, control air-blast device charges for unmanned aerial vehicle to unmanned aerial vehicle's screw blast air to the rotation through the screw. Like this, saved connector and high-power coil such as charging connector of easy loss, reduced unmanned aerial vehicle dead weight, improved battery utilization efficiency to operation maintenance cost has been reduced.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a flowchart of a charging method of an unmanned aerial vehicle according to an exemplary embodiment;
fig. 2 is a flowchart of a charging method of a drone provided by an exemplary embodiment;
fig. 3 is a block diagram of a charging device of an unmanned aerial vehicle according to an exemplary embodiment;
fig. 4 is a schematic diagram of a charging device of the unmanned aerial vehicle provided in an exemplary embodiment for charging;
fig. 5 is a block diagram of a drone provided by an exemplary embodiment;
FIG. 6 is a block diagram of an electronic device, shown in an exemplary embodiment.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, the use of directional words such as "up and down" generally refers to directions relative to the drone when normally flying, without being stated to the contrary.
Fig. 1 is a flowchart of a charging method for an unmanned aerial vehicle according to an exemplary embodiment. The method is applied to a charging device for charging the unmanned aerial vehicle, and as shown in fig. 1, the method may include the following steps.
And S11, locking the unmanned aerial vehicle on a supporting platform of the charging device.
And S12, after the unmanned aerial vehicle is locked, controlling the air blowing device to blow air to the propeller of the unmanned aerial vehicle so as to charge the unmanned aerial vehicle through rotation of the propeller.
And S13, receiving a charging completion signal sent by the unmanned aerial vehicle.
And step S14, in response to receiving the charging completion signal, controlling the air blowing device to stop blowing air.
And S15, unlocking the unmanned aerial vehicle.
Wherein, unmanned aerial vehicle's charging device can include supporting platform, locking portion and air blast device. The supporting platform is used for supporting the unmanned aerial vehicle. Locking portion is used for locking unmanned aerial vehicle on supporting platform. The air blowing device is used for locking the unmanned aerial vehicle at the supporting platform back in locking portion, to unmanned aerial vehicle's screw blast air to rotate through the screw and charge for unmanned aerial vehicle.
The charging device of the drone may be set on the ground or on a building. The supporting platform can provide the platform of descending for unmanned aerial vehicle. Unmanned aerial vehicle can directly descend on supporting platform. For example, the driver can control the unmanned aerial vehicle to land on the supporting platform through the remote controller.
When unmanned aerial vehicle descends on supporting platform, the driver can lock unmanned aerial vehicle on supporting platform through dedicated remote controller control locking portion. The locking portion can be implemented as various types of devices that can lock unmanned aerial vehicle on supporting platform immovable, for example, buckle formula, spacing slot type etc.. Locking device can lock unmanned aerial vehicle's undercarriage on supporting platform. Locking unmanned aerial vehicle behind supporting platform, just can not blow away unmanned aerial vehicle from supporting platform because of air-blast device's blast air.
This scheme is applicable to the unmanned aerial vehicle that has the screw, and this kind of unmanned aerial vehicle relies on the battery to drive the motor rotatory when flying, and the rotation of motor drives the screw and rotates to promote the air downwards, unmanned aerial vehicle can lift off the flight. After unmanned aerial vehicle fell, the air-blast device can blast air and make the screw rotate to drive the motor and rotate. At this moment, the motor of the unmanned aerial vehicle is used as a generator, and kinetic energy generated by the rotation of the motor is converted into electric energy to be stored in the battery. The internal structure of the drone is described in detail below.
After the charging is finished, the charging device can also automatically control to stop charging. In the charging process, the unmanned aerial vehicle can monitor the state of charge of the battery in real time. When it is determined that the charging device is fully charged, the unmanned aerial vehicle may transmit a charging completion signal to the charging device. When the blowing device stops blowing, the battery is no longer charged. After the unmanned aerial vehicle is unlocked, the unmanned aerial vehicle can fly off. Like this, unmanned aerial vehicle can initiatively send the completion signal that charges when judging full charge, triggers the air-blast device and stops the blast air, and the battery stops to charge, and degree of automation is higher.
Through above-mentioned technical scheme, after unmanned aerial vehicle was locked at charging device's supporting platform, control air-blast device was to unmanned aerial vehicle's screw blast air to rotate through the screw and charge for unmanned aerial vehicle. Like this, saved connector and high-power coil such as charging connector of easy loss, reduced unmanned aerial vehicle dead weight, improved battery utilization efficiency to operation maintenance cost has been reduced.
Wireless communication can be carried out between unmanned aerial vehicle and the charging device. When unmanned aerial vehicle need charge, can send locking signal to charging device. In a further embodiment, on the basis of fig. 1, the step of locking the drone on the support platform of the charging device (step S11) may comprise: receiving a locking signal sent by an unmanned aerial vehicle; and locking the unmanned aerial vehicle on the supporting platform in response to receiving the locking signal.
The unmanned aerial vehicle and the charging device can be in wireless communication through related wireless communication technologies. Unmanned aerial vehicle can be after descending on supporting platform, detects the state of charge of self battery, if be less than predetermined threshold value, then can send locking signal to charging device. After receiving the locking signal, the charging device can control the locking part to lock the landing gear of the unmanned aerial vehicle on the supporting platform.
In this embodiment, unmanned aerial vehicle can initiatively send locking signal when judging that need charge, triggers the flow of locking and charging, and the degree of automation of charging is higher.
Or, it may be detected whether the drone lands on the support platform by the charging device. Whether unmanned aerial vehicle lands on supporting platform can be judged through the loading capacity on the monitoring supporting platform. For example, if it is detected that the payload on the support platform is greater than a predetermined threshold, it may be determined that a drone is landing on the support platform. After charging device judges that there is unmanned aerial vehicle to fall, just can this unmanned aerial vehicle of automatic control locking portion locking.
Preferably, the air blowing means blows air to the position of the propeller so that the propeller can be rotated. The closer the blower device is to the propeller, the better the blowing effect. Sometimes when the drone lands on the support platform, the relative position of the propeller and the blower device is not good. If the propeller is located at a distance from the blower unit, the blower unit may require a large wind force and a long time to blow the propeller. At this time, adjustment is needed, and a good air blowing effect can be achieved. In a further embodiment, on the basis of fig. 1, after the step of locking the drone on the support platform of the charging device, the method may further comprise: the support platform is controlled to rotate to calibrate the position of the propeller relative to the blower device.
Can set up charging device's supporting platform into rotatable (around the axis of ordinates) to it is rotatory to drive unmanned aerial vehicle, and like this, a plurality of screws rotate around unmanned aerial vehicle's center, have reached the effect of adjustment screw position. When the distance between the propeller and the air blowing device is small, the propeller can stop rotating, and at the moment, the energy conversion rate is high and the loss is small.
The rotation of the support platform can be controlled by a user through a special switch when observing that the calibration is needed, and can also be triggered by automatic control of the charging device. In another embodiment, the step of controlling the rotation of the support platform may include: acquiring the rotating speed of a blade of a propeller; and under the condition that the rotating speed of the blades of the propeller is less than a preset rotating speed threshold value, controlling the supporting platform to rotate until the rotating speed of the blades of the propeller is greater than or equal to the preset rotating speed threshold value.
The rotational speed of the paddle of screw can be that the rotational speed sensor who sets up in unmanned aerial vehicle detects and sends for charging device after obtaining. When the rotating speed of the blades is smaller than the preset rotating speed threshold value, the distance between the air outlet pipe opening of the air blower and the propeller is considered to be too far, the position of the propeller relative to the air blower needs to be calibrated, and at the moment, the charging device can generate and send a rotation driving command. When the rotating speed of the blades is larger than or equal to the preset rotating speed threshold value, the distance between the air outlet pipe opening of the air blower and the propeller is considered to be appropriate, and calibration is not needed. In this embodiment, the charging device can automatically calibrate the position of the propeller relative to the blowing device according to the rotating speed of the blades, and the accuracy of control is high.
The disclosure also provides a charging method of the unmanned aerial vehicle, which is applied to the unmanned aerial vehicle. Fig. 2 is a flowchart of a charging method for a drone according to an exemplary embodiment. As shown in fig. 2, the method may include the following steps.
Step S21, after the unmanned aerial vehicle is locked on a supporting platform of a charging device for charging the unmanned aerial vehicle, controlling the unmanned aerial vehicle to enter a charging mode.
Step S22, in the charging mode, when a motor in the unmanned aerial vehicle rotates under the driving action of the rotation of a propeller of the unmanned aerial vehicle, the battery of the unmanned aerial vehicle is charged by using electric energy generated by the rotation of the motor.
Step S23, determining whether charging is completed according to the state information of the battery.
And step S24, in response to the charging completion, sending a charging completion signal to the charging device to stop the rotation of the propeller.
Step S25, the charging mode is exited.
The drone may include a battery, a controller, a motor, and a propeller. The motor is connected with the screw propeller, and the rotation of the screw propeller drives the motor to rotate. The controller is connected with the motor and the battery, and the controller is used for charging the battery by utilizing the electric energy generated by the rotation of the motor.
During charging, the drone may monitor the state information (e.g., state of charge) of the battery in real time. When it is determined that the charging device is fully charged, the unmanned aerial vehicle may transmit a charging completion signal to the charging device. When the charging device receives the charging completion signal, the rotation of the propeller is controlled to stop. The unmanned aerial vehicle exits from the charging mode, and after the unmanned aerial vehicle is unlocked, the unmanned aerial vehicle can fly off again. Like this, unmanned aerial vehicle can initiatively send the completion signal that charges when judging full charge to make the battery stop charging, degree of automation is higher.
Through above-mentioned technical scheme, after unmanned aerial vehicle was locked at charging device's supporting platform, the rotation through the screw charges for unmanned aerial vehicle. Like this, saved connector and high-power coil such as charging connector of easy loss, reduced unmanned aerial vehicle dead weight, improved battery utilization efficiency to operation maintenance cost has been reduced.
There are a number of ways to control the rotation of the propeller to rotate the motor. For example, the propeller is rotated by the blowing action of a blowing device on the charging device. This embodiment corresponds to the embodiment of fig. 1. When unmanned aerial vehicle fell on supporting platform and when locked, the screw was blown by the air-blast device, drove the motor and rotates, and unmanned aerial vehicle can turn into motor pivoted kinetic energy electric energy storage in the battery. The battery is charged by arranging the air blowing device in the charging device to blow air to the propeller, and the method is simple and has good effect.
In a further embodiment, on the basis of fig. 2, the method may further comprise: detecting the rotating speed of a blade of the propeller; the rotational speed is transmitted to the charging device, which is used to calibrate the position of the propeller relative to the blower device.
In this embodiment, the drone is able to detect the speed of rotation of the blades to calibrate the position of the propeller relative to the blowing device according to this speed of rotation. The drone may include a speed sensor and an output module. The rotation speed sensor is used for detecting the rotation speed of the blades of the propeller. The rear output module is connected with a rotation speed sensor and is used for outputting rotation speed, and the rotation speed is used for calibrating the position of the propeller relative to the air blowing device. The speed sensor may be provided on the propeller. The output module may output the rotational speed to a control module of the charging device. When the rotation speed received by the control module is less than the preset rotation speed threshold value, a rotation driving command can be sent to the driving device to drive the supporting platform to rotate so as to calibrate the position of the propeller relative to the air blowing device. Like this, unmanned aerial vehicle can be accurately the rotational speed of the outside output paddle to accurately trigger the calibration of the position of screw, charge for the high efficiency and provide reliable foundation, consequently, reduced the waste of the energy.
In yet another embodiment, the method may further comprise: after unmanned aerial vehicle descends to supporting platform, send locking signal to charging device to make charging device with unmanned aerial vehicle locking on supporting platform.
After the unmanned aerial vehicle lands on the supporting platform, for example, the state of charge of a battery of the unmanned aerial vehicle can be detected, and if the state of charge is smaller than a predetermined threshold value, a locking signal is sent to the charging device. After receiving the locking signal, the charging device can control the locking part to lock the landing gear of the unmanned aerial vehicle on the supporting platform.
In this embodiment, unmanned aerial vehicle can initiatively send locking signal when judging that need charge, triggers the flow of locking and charging, and the degree of automation of charging is higher.
The present disclosure also provides an unmanned aerial vehicle, comprising a battery, a motor, a propeller, and a controller, the propeller being connected to the motor, the controller being configured to perform the steps of the above method for an unmanned aerial vehicle.
The present disclosure also provides a charging device for the unmanned aerial vehicle. Fig. 3 is a block diagram of a charging device of a drone according to an exemplary embodiment. As shown in fig. 3, the charging device 10 of the drone may include a support platform 11, a locking portion 12, and a control module 13.
The support platform 11 is used for supporting the unmanned aerial vehicle.
Control module 13 is used for controlling locking portion 12 to lock unmanned aerial vehicle on supporting platform 11, and after unmanned aerial vehicle was locked at supporting platform 11, control air-blast device was to unmanned aerial vehicle's screw blast air, charge for unmanned aerial vehicle through the rotation of screw. The drone may include a cradle. The locking portion 12 can lock the unmanned aerial vehicle on the support platform 11 through the support of the unmanned aerial vehicle.
Through above-mentioned technical scheme, after unmanned aerial vehicle was locked at charging device's supporting platform, control air-blast device was to unmanned aerial vehicle's screw blast air to rotate through the screw and charge for unmanned aerial vehicle. Like this, saved connector and high-power coil such as charging connector of easy loss, reduced unmanned aerial vehicle dead weight, improved battery utilization efficiency to operation maintenance cost has been reduced.
In an embodiment, the air blowing device may include a plurality of air blowers disposed on the supporting platform, the plurality of air blowers corresponding to the plurality of propellers of the unmanned aerial vehicle one-to-one, each air blower being configured to blow air to the corresponding propeller.
Fig. 4 is a schematic diagram of a charging device of a drone provided in an exemplary embodiment for charging. As shown in fig. 4, the charging device includes four blowers 141 provided on the support platform 11. The drone 20 comprises four propellers 24, each propeller 24 being provided with four blades 241. The four air blowers 141 correspond to the four propellers 24 of the drone one by one. Screw 24 evenly distributed is around unmanned aerial vehicle, and air-blower 141 is evenly distributed also around supporting platform 11, and every air-blower 141's center all equals with supporting platform 11's distance, all equals the distance in screw 24 center and unmanned aerial vehicle center. In this way, each blower 141 blows air to one corresponding propeller 24, and the blowing distance is short, so that the effect is good, energy is saved, and the charging efficiency is high.
In yet another embodiment, each blower may include a plurality of outlet nozzles, the plurality of outlet nozzles of each blower corresponding one-to-one to the plurality of blades of the propeller corresponding to the blower. As shown in fig. 4, each blower 141 may include four air outlet nozzles 142, and the four air outlet nozzles 142 of each blower 141 correspond to the four blades 241 of the propeller 24 corresponding to the blower one by one. Like this, every air-out mouth of pipe 142 is used for to a paddle 241 air-out, and the distance of blowing is short, has saved the energy, and charging efficiency is high.
Each of the plurality of outlet nozzles may have a spiral shape as shown in fig. 4, so that the outlet air of each blower 141 forms a vortex. When the supporting platform is along the horizontal direction, the air outlet direction of the air outlet pipe opening 142 forms an acute angle with the vertical direction, and can be upward or downward. When the propeller is above the air outlet pipe orifice, the air outlet direction can be obliquely upward. When the propeller is positioned below the air outlet pipe orifice, the air outlet direction can be obliquely downward. Like this, compare for vertical upwards or decurrent direction with the air-out direction of air-out mouth of pipe 142, the air-out direction of spiral air-out mouth of pipe 142 has the angle of slope, helps forming the vortex, can increase the conversion efficiency that the screw converts wind energy into kinetic energy.
If the position of the propeller is far from the position of the blower when the drone lands on the support platform 11, the blower may require a greater wind force and a longer time to blow the propeller to rotate. At this moment, can set up charging device's supporting platform into rotatable to it is rotatory to drive unmanned aerial vehicle, thereby reaches the effect of adjustment screw position. In this embodiment, the charging device 10 of the drone may also include a drive device.
Drive means may be associated with the support platform 11 for driving the support platform 11 in rotation upon receipt of a rotation drive command to calibrate the position of the propeller relative to the blower device.
When unmanned aerial vehicle was locked on supporting platform, supporting platform 11's rotation (around the axis of ordinates) can drive unmanned aerial vehicle's rotation (around the axis of ordinates) to it rotates around unmanned aerial vehicle's center to drive a plurality of screws. When the propeller is rotated to the position shown in fig. 4, i.e. the distance between the propeller and the blowing device is small, the rotation can be stopped, at which time the energy conversion rate is large and the losses are small.
Wherein, the rotation driving instruction can be sent by the user by triggering a special switch arranged on the charging device. Or the user can remotely control the charging device through a special remote controller.
In yet another embodiment, the rotational drive command may also be issued by the charging device when a low rotational speed of the blades is detected. In this embodiment, the control module may be connected to the driving device, and the control module is further configured to receive a rotation speed of the blades of the propeller, and send a rotational driving command if the rotation speed is less than a predetermined rotation speed threshold.
The rotational speed of the paddle of screw can be that the rotational speed sensor who sets up in unmanned aerial vehicle detects and sends for control module after obtaining. When the rotating speed of the blades is smaller than a preset rotating speed threshold value, the distance between the air outlet pipe opening of the air blower and the propeller is considered to be too far, the position of the propeller relative to the air blower needs to be calibrated, and the control module can generate and send a rotation driving instruction at the moment. When the rotating speed of the blades is larger than or equal to the preset rotating speed threshold value, the distance between the air outlet pipe opening of the air blower and the propeller is considered to be appropriate, and calibration is not needed. In this embodiment, the charging device can automatically calibrate the position of the propeller relative to the air blowing device according to the rotating speed of the blades, and the accuracy of control is high.
In another embodiment, the control module 13 is further configured to control the blowing device to stop blowing air and control the locking part to unlock the unmanned aerial vehicle in response to receiving a charging completion signal sent by the unmanned aerial vehicle.
In the charging process, the unmanned aerial vehicle can monitor the state of charge of the battery in real time. When judging that it is full charge, unmanned aerial vehicle can send the completion signal of charging to charging device. When the blowing device stops blowing, the battery is no longer charged. After the unmanned aerial vehicle is unlocked, the unmanned aerial vehicle can fly off.
In this embodiment, unmanned aerial vehicle can initiatively send the completion signal that charges when judging to full charge to trigger the air-blast device and stop the blast air, the battery stops to charge, and degree of automation is higher.
The present disclosure also provides an unmanned aerial vehicle. Fig. 5 is a block diagram of a drone provided in an exemplary embodiment. As shown in fig. 5, the drone may include a battery 21, a controller 22, a motor 23, and a propeller 24. Wherein, the motor 23 is connected with the propeller 24, the rotation of the propeller 24 drives the motor 23 to rotate, and the motor 23 is used as a generator, so that the rotation kinetic energy of the propeller 24 is converted into electric energy. The propeller 24 is used to provide flight power for the drone and to convert wind energy into rotational kinetic energy. The controller 22 is connected to the motor 23 and to the battery 21 for charging the battery 21 with the electric power generated by the rotation of the motor 23. The unmanned aerial vehicle can also include the support, and unmanned aerial vehicle is locked to charging device through the support on. The battery 21 is used for storing the electric energy converted by the motor 23 and supplying the electric energy to the outside.
When unmanned aerial vehicle fell on supporting platform and locked, screw 24 was blown by the air-blast device, drove motor 23 and rotates, and controller 22 among the unmanned aerial vehicle can convert motor 23 pivoted kinetic energy into electric energy storage in battery 21.
The working mode of the unmanned aerial vehicle can be divided into a charging mode and a flying mode. The controller 22 may control the ac power generated by the rotation of the motor 23 to be converted into dc power to be charged into the battery 21 when the drone is in the charging mode. The controller 22 may include a circuit switching module 221 and a rectifying module 222.
The circuit switching module 221 is connected to the motor 23, and is configured to transmit a first ac signal generated by rotation of the motor 23 to the rectifying module 222 when the unmanned aerial vehicle is in the charging mode. The rectifying module 222 is connected to the circuit switching module 221, and is configured to convert the first ac signal into a first dc signal for charging the battery. The circuit switching module 221 may be a device for signal transmission. When the first direct current signal is converted, the first direct current signal can be directly input into the battery. In the embodiment, the battery is charged by converting alternating current and direct current signals through the rectifying module, and the method is simple, reliable and high in efficiency.
In another embodiment, the rectified electrical signal may be further regulated and then input to the battery. In the embodiment of fig. 5, the controller 22 may also include a voltage regulation module 223. The rectifying module 222 may be connected to the battery 21 through a voltage stabilizing module 223, and the voltage stabilizing module 223 is configured to stabilize the first direct current signal and transmit the stabilized electric signal to the battery 21 to charge the battery 21.
The rectifying module 222 and the voltage stabilizing module 223 may be integrated, and in this embodiment, the alternating current output by the motor 23 is rectified and stabilized to generate a direct current with a stable voltage, so that the voltage for charging the battery is stable, and the charging effect is good.
In the above embodiment, the circuit switching module 221 may be used for electrical signal transmission in the charging mode, and in other embodiments, the circuit switching module 221 may also be used for electrical signal transmission in the flight mode. In the embodiment of fig. 5, the controller 22 may also include an inverter module 224. The battery 21 and the circuit switching module 221 are further connected through an inverter module 224, and the inverter module 224 is configured to convert a second direct current signal output by the battery 21 into a second alternating current signal and transmit the second alternating current signal to the circuit switching module 221. Correspondingly, the circuit switching module 221 is further configured to transmit the second ac signal output by the inverter module 224 to the motor 23 when the unmanned aerial vehicle is in the flight mode, and the motor 23 is used as a motor to drive the propeller to rotate, so as to provide flight power for the unmanned aerial vehicle.
The circuit switching module 221 may be a router, which transmits the electrical signal to different directions in different modes. In the flight mode, the ac signal output from the inverter module 224 is transmitted to the motor 23, and in the charge mode, the ac signal generated by the motor 23 is transmitted to the rectifier module 222 for battery charging. In this way, through the bidirectional transmission function of the circuit switching module 221, smooth switching of the flow direction of the electric signal of the unmanned aerial vehicle in the flight mode and the charging mode is realized.
In a further embodiment, the drone is able to detect the speed of rotation of the blades to calibrate the position of the propeller relative to the blowing device according to this speed of rotation. In this embodiment, the propeller is rotated by the blower device. The drone may also include a speed sensor and an output module.
The rotation speed sensor is used for detecting the rotation speed of the propeller blades. The output module is connected with a rotation speed sensor and is used for outputting rotation speed, and the rotation speed is used for calibrating the position of the propeller relative to the air blowing device. The speed sensor may be provided on the propeller. The output module may include a display screen or the like. When the output module is a display screen, a user can control the support platform to rotate according to the rotating speed displayed by the display screen. In addition, the output module can also output the rotating speed to a control module of the charging device. When the rotation speed received by the control module is less than the predetermined rotation speed threshold value, a rotation driving instruction can be sent to the driving device to drive the supporting platform to rotate so as to calibrate the position of the propeller relative to the blowing device.
In this embodiment, unmanned aerial vehicle can be accurately the rotational speed of outside output paddle to accurately trigger the calibration of the position of screw, charge for the high efficiency and provide reliable foundation, consequently, reduced the waste of the energy.
The present disclosure also provides an electronic device comprising a memory and a processor. The memory has stored thereon a computer program. The processor is used for executing the computer program in the memory so as to realize the steps of the charging method of the unmanned aerial vehicle.
Fig. 6 is a block diagram illustrating an electronic device 600 in accordance with an example embodiment. As shown in fig. 6, the electronic device 600 may include: a processor 601 and a memory 602. The electronic device 600 may also include one or more of a multimedia component 603, an input/output (I/O) interface 604, and a communications component 605.
The processor 601 is configured to control the overall operation of the electronic device 600, so as to complete all or part of the steps in the charging method of the unmanned aerial vehicle. The memory 602 is used to store various types of data to support operation at the electronic device 600, such as instructions for any application or method operating on the electronic device 600 and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and so forth. The Memory 602 may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically Erasable Programmable Read-Only Memory (EEPROM), erasable Programmable Read-Only Memory (EPROM), programmable Read-Only Memory (PROM), read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk or optical disk. The multimedia components 603 may include a screen and audio components. Wherein the screen may be, for example, a touch screen and the audio component is used for outputting and/or inputting audio signals. For example, the audio component may include a microphone for receiving an external audio signal. The received audio signal may further be stored in the memory 602 or transmitted through the communication component 605. The audio assembly also includes at least one speaker for outputting audio signals. The I/O interface 604 provides an interface between the processor 601 and other interface modules, such as a keyboard, mouse, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless Communication, such as Wi-Fi, bluetooth, near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, or combinations thereof, which is not limited herein. The corresponding communication component 605 may therefore include: wi-Fi module, bluetooth module, NFC module, etc.
In an exemplary embodiment, the electronic Device 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above-mentioned charging method of the drone.
In another exemplary embodiment, a computer readable storage medium comprising program instructions is also provided, which when executed by a processor, implement the steps of the charging method of a drone described above. For example, the computer readable storage medium may be the memory 602 including program instructions, which are executable by the processor 601 of the electronic device 600 to perform the charging method of the drone described above.
The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details in the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that the various features described in the foregoing embodiments may be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure as long as it does not depart from the gist of the present disclosure.

Claims (12)

1. A method of operating a charging device for charging an unmanned aerial vehicle, the method comprising:
locking the unmanned aerial vehicle on a supporting platform of the charging device;
after the unmanned aerial vehicle is locked, controlling an air blowing device to blow air to a propeller of the unmanned aerial vehicle so as to charge the unmanned aerial vehicle through rotation of the propeller;
receiving a charging completion signal sent by the unmanned aerial vehicle;
controlling the blowing device to stop blowing in response to receiving the charging completion signal;
unlocking the unmanned aerial vehicle;
after the step of locking the drone on the support platform of the charging device, the method further comprises:
controlling the support platform to rotate to calibrate the position of the propeller relative to the blower device;
the control the supporting platform rotates, include:
acquiring the rotating speed of the propeller blades;
and under the condition that the rotating speed of the blades of the propeller is less than a preset rotating speed threshold value, controlling the supporting platform to rotate until the rotating speed of the blades of the propeller is greater than or equal to the preset rotating speed threshold value.
2. The method of claim 1, wherein locking the drone to a support platform of the charging device comprises:
receiving a locking signal sent by the unmanned aerial vehicle;
and responding to the received locking signal, and locking the unmanned aerial vehicle on the supporting platform.
3. A charging method of an unmanned aerial vehicle is applied to the unmanned aerial vehicle, and is characterized by comprising the following steps:
after an unmanned aerial vehicle is locked on a supporting platform of a charging device for charging the unmanned aerial vehicle, controlling the unmanned aerial vehicle to enter a charging mode;
in the charging mode, when a motor in the unmanned aerial vehicle rotates under the driving action of the rotation of a propeller of the unmanned aerial vehicle, the battery of the unmanned aerial vehicle is charged by using electric energy generated by the rotation of the motor;
determining whether charging is finished according to the state information of the battery;
in response to determining that charging is complete, sending a charging complete signal to the charging device to stop rotation of the propeller;
exiting the charging mode;
the propeller is rotated by the blowing action of a blowing device on the charging device, the method further comprising:
detecting the rotating speed of the blades of the propeller;
sending the rotational speed to the charging device, the rotational speed being used to calibrate the position of the propeller relative to the blower device.
4. The method of claim 3, further comprising:
after the unmanned aerial vehicle lands on the supporting platform, the unmanned aerial vehicle sends a locking signal to the charging device, so that the charging device locks the unmanned aerial vehicle on the supporting platform.
5. The utility model provides an unmanned aerial vehicle's charging device which characterized in that includes:
a support platform for supporting the drone;
the control module is used for controlling the locking part so as to lock the unmanned aerial vehicle on the supporting platform, and controlling the air blowing device to blow air to a propeller of the unmanned aerial vehicle after the unmanned aerial vehicle is locked on the supporting platform so as to charge the unmanned aerial vehicle through rotation of the propeller;
the driving device is connected with the supporting platform and used for driving the supporting platform to rotate under the condition of receiving a rotation driving instruction so as to calibrate the position of the propeller relative to the air blowing device;
the control module is connected with the driving device and is further used for receiving the rotating speed of the propeller blades of the propeller and sending the rotating driving instruction under the condition that the rotating speed is smaller than a preset rotating speed threshold value.
6. The charging device of claim 5, wherein the air blowing device comprises a plurality of air blowers arranged on the supporting platform, the plurality of air blowers correspond to a plurality of propellers of the unmanned aerial vehicle one by one, and each air blower is used for blowing air to the corresponding propeller.
7. The charging device of claim 6, wherein each of the air blowers includes a plurality of air outlet nozzles, the plurality of air outlet nozzles of each of the air blowers corresponding to the plurality of blades of the propeller corresponding to the air blower.
8. The charging device of claim 7, wherein each outlet of the plurality of outlets is spiral shaped such that the outlet of each blower forms a vortex.
9. The charging device according to any one of claims 5 to 8, wherein the control module is further configured to control the blowing device to stop blowing air and control the locking portion to unlock the unmanned aerial vehicle in response to receiving a charging completion signal sent by the unmanned aerial vehicle.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
11. An electronic device, comprising:
a memory having a computer program stored thereon;
a processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-4.
12. A drone, comprising a battery, a motor, a propeller connected to the motor, and a controller for performing the steps of the method of any one of claims 3 to 4.
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