CN113954664A - Vehicle-mounted unmanned aerial vehicle wireless charging method and system - Google Patents
Vehicle-mounted unmanned aerial vehicle wireless charging method and system Download PDFInfo
- Publication number
- CN113954664A CN113954664A CN202111268853.XA CN202111268853A CN113954664A CN 113954664 A CN113954664 A CN 113954664A CN 202111268853 A CN202111268853 A CN 202111268853A CN 113954664 A CN113954664 A CN 113954664A
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- vehicle
- electric
- euav
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 43
- 238000004364 calculation method Methods 0.000 claims abstract description 35
- 238000005070 sampling Methods 0.000 claims abstract description 9
- 230000007613 environmental effect Effects 0.000 claims abstract description 8
- 238000012216 screening Methods 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 15
- 230000003068 static effect Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 5
- 230000008901 benefit Effects 0.000 abstract description 7
- 230000003993 interaction Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 4
- 238000005457 optimization Methods 0.000 description 4
- 230000006399 behavior Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000007726 management method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010035664 Pneumonia Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
-
- 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
- B60L53/64—Optimising energy costs, e.g. responding to electricity rates
-
- 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
- B60L53/66—Data transfer between charging stations and vehicles
- B60L53/665—Methods related to measuring, billing or payment
-
- 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
- Y02T90/12—Electric charging stations
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses a wireless charging method and system for a vehicle-mounted unmanned aerial vehicle. Firstly, accurately sampling uncertain state characteristics of the unmanned aerial vehicle, and evaluating and classifying sampling information; secondly, providing a plurality of unmanned aerial vehicle-electric vehicle transaction modes by combining environmental information, path planning and the like, and realizing maximum mutual benefit and win-win of the unmanned aerial vehicle and the electric vehicle through energy distribution and income estimation; finally, unmanned aerial vehicle can select the matching end electric automobile that charges information that the system was screened, the end electric automobile that charges of matching by oneself. According to the vehicle-mounted unmanned aerial vehicle wireless charging method and system, the flexibility of the electric vehicle can be fully utilized to supply power to the unmanned aerial vehicle, the appropriate energy provider can be conveniently and quickly screened for the unmanned aerial vehicle through an energy calculation and price estimation algorithm, energy interaction between the energy provider and the energy provider is completed, and the maneuverability and the endurance mileage of the unmanned aerial vehicle are improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a wireless charging method and system for a vehicle-mounted unmanned aerial vehicle.
Background
In recent years, the global drone industry has kept growing at a high rate, with application scenarios and major markets transitioning from military to commercial and consumer drones. The unmanned aerial vehicle market in China is developed and cultivated for more than 50 years, and a large number of core technologies and application scenes are accumulated. In 2016, the market size of the unmanned aerial vehicle industry in China is about 91 hundred million yuan, and by 2019, the number reaches 290 hundred million yuan. With the overall spread of 5G and the gradual maturity of 5G + drone technology, the drone market scale will expand rapidly, with an overall scale of over 750 billions projected to 2025. The application field of unmanned aerial vehicles is expanding and extending at high speed. The unmanned aerial vehicle application industry develops from aerial photography entertainment to the civil fields of energy power inspection, agricultural plant protection, unmanned aerial vehicle logistics, security and rescue and the like. Particularly under the epidemic situation of new coronary pneumonia, the demand of the fields is greatly increased.
Along with the increasing market demand of unmanned aerial vehicles, the bottleneck of the cruising ability of unmanned aerial vehicles is gradually highlighted. At present, the cruising ability of commercial unmanned aerial vehicle is generally about half an hour, and the cruising ability of commercial unmanned aerial vehicle can not satisfy the unmanned aerial vehicle of long-time operation once only. Therefore, the improvement of the cruising ability of the unmanned aerial vehicle is an important technical guarantee for the development of the unmanned aerial vehicle.
The existing approaches for increasing the cruising power of an unmanned aerial vehicle are generally divided into two types: carry more batteries or make multiple power supplies. Unmanned aerial vehicle's structure and volume have restricted the volume of its battery, and then have restricted battery capacity for through promoting battery capacity, this method difficulty of extension dead time is heavy. Traditional wired charging at a fixed location with multiple trips requires more manpower management. The wireless charging technology is an important way for improving the endurance of the unmanned aerial vehicle, can supply electric energy for the unmanned aerial vehicle for multiple times, avoids extra manpower wiring operation, is expected to fundamentally solve the performance bottleneck of limited reserve power supply of the unmanned aerial vehicle and short voyage and voyage, and effectively improves the maneuvering capability and the continuous combat capability of the unmanned aerial vehicle.
But there is still obvious technical barrier in unmanned aerial vehicle is used to current wireless charging technology: how the maximize realizes wireless charging to unmanned aerial vehicle's mobility, how to lay and to let unmanned aerial vehicle reduce the round trip distance that charges promptly, reduce extra consumption, really optimize unmanned aerial vehicle's mobility, the equipment maintenance of being convenient for again simultaneously is one of the research direction that unmanned aerial vehicle wireless charging technique urgently needed to consider. Therefore, the invention provides a wireless charging system design based on an electric automobile and an unmanned aerial vehicle.
The electric automobile has very strong mobility as the provider of electric energy, can reduce unmanned aerial vehicle and come and go the time and the energy loss in place of charging, accomplishes unmanned aerial vehicle's charging anytime and anywhere. The owner of the electric automobile can earn certain income from the electric automobile, and both parties can achieve mutual profit and win-win.
In addition, the wireless charging precision of unmanned aerial vehicle can be improved in the wireless charging of vehicular unmanned aerial vehicle. The positioning system of the unmanned aerial vehicle is divided into a GPS system and a visual positioning system, the precision difference between the GPS system and the visual positioning system is large, for example, a Xinntom 4ADVANCED unmanned aerial vehicle (Phantom 4ADVANCED) is taken as an example, the visual positioning in the horizontal hovering precision is 0.3m, and the GPS positioning precision is +/-1.5 m. And unmanned aerial vehicle mainly uses GPS positioning system as the main when outdoor operation, mainly because open place vision positioning system can't gather effective data so do not participate in the work. If adopt the wireless charging of vehicular unmanned aerial vehicle, electric automobile can regard as effectual vision positioning data to adopt the vision positioning of high accuracy to seek for unmanned aerial vehicle and find wireless charger.
Disclosure of Invention
The invention aims to provide a vehicle-mounted unmanned aerial vehicle wireless charging method and system, which can be used for performing a series of energy distribution and benefit prediction such as energy numerical calculation and price calculation by dynamically sampling and analyzing the charging behavior of an unmanned aerial vehicle, performing system algorithm optimization on the targets, accurately matching and identifying a charging end electric vehicle, greatly saving time and reducing extra consumption.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention firstly provides a wireless charging method for a vehicle-mounted unmanned aerial vehicle, which comprises the following steps:
s1, information acquisition: the method comprises the steps of collecting information of an unmanned aerial vehicle to be charged and a charging end electric vehicle in an energy pool in real time, and collecting environmental information, traffic information and path planning, wherein the electric vehicle in the energy pool is an electric vehicle which provides energy for the unmanned aerial vehicle according to a protocol;
s2, selecting a transaction mode: the transaction mode is divided into three scenarios:
scene one: taking the position of the electric automobile as a transaction place: the situation is that the electric automobile is relatively static, and the unmanned aerial vehicle flies to the position of the electric automobile to complete the charging process;
scene two: the position of the unmanned aerial vehicle is used as a transaction place: the situation is that the unmanned aerial vehicle is relatively static, and the electric vehicle drives to the position where the unmanned aerial vehicle is located to complete the charging process;
scene three: taking the optimal place selected by the system as a trading place: the transaction place of the scene is a certain position between the unmanned aerial vehicle and the electric vehicle, and the electric vehicle and the unmanned aerial vehicle respectively drive to the position to complete the charging process;
s3, energy calculation and price estimation: respectively calculating the total electric quantity required by the unmanned aerial vehicle and the energy required to be provided by the electric automobile under three scenes, and estimating the Price through a formula (1) or a formula (2):
Price＝EEV_Supply*Charging_price(1)
Price＝EEV_Supply*Charging_price-EEV_Supply(P_initial+Cost_d)(2)
EEV _ Supply is energy required to be provided by the electric automobile, Charging _ price is Charging electricity price, P _ initial is buying electricity price of the automobile, and Cost _ d is battery loss of the automobile;
s4, screening and matching: through energy calculation and price estimation, with the charging end electric automobile that the price is the lowest as first choice, select one to three charging end electric automobile that meet the requirements, send the information of these charging end electric automobile to the unmanned aerial vehicle end, unmanned aerial vehicle does final selection through the controller, then sends unmanned aerial vehicle's acceptance information to selected charging end electric automobile, accomplishes the whole process of screening matching.
Further, in step S1, the real-time information of the to-be-charged drone includes the serial number N of the drone, the real-time geographic location of the drone, the total Battery capacity EUAV _ Battery of the drone, the Current Battery capacity EUAV _ Current of the drone, and the initial Battery capacity required by the drone
EUAV_0＝EUAV_Battery-EUAV_Current。
Further, in step S1, the real-time information of the charging-end electric vehicle in the energy battery includes the license plate number L of the electric vehicle in the energy battery, the geographical location of the electric vehicle in the energy battery, the battery information, and the purchase price.
Further, in the first scenario of step S2, the efficiency of the flight mileage of the unmanned aerial vehicle is: η _ UAV, drone extra flight distance is: d _ UAV; the Extra electric quantity required by the unmanned aerial vehicle is EUAV _ Extra ═ D _ UAV/η _ UAV; the Current electric quantity of the unmanned aerial vehicle battery under the situation meets the Extra electric quantity of the unmanned aerial vehicle flying to the position of the electric vehicle, namely EUAV _ Current > EUAV _ Extra.
Further, in a second scenario of step S2, the driving distance of the electric vehicle is: d _ EV, the mileage efficiency of the electric vehicle is as follows: η _ EV, the electric vehicle needs to provide additional electric power, EEV _ Extra ═ D _ EV/η _ EV.
Further, in scenario three of step S2, assuming that the current capacity of the drone battery is sufficient to support the extra capacity for flying to the location, the electric vehicle will also provide the extra capacity to travel to the location.
Further, in step S3, the total power required by the drone is based on three scenarios:
the calculation formula of the total electric quantity required by the unmanned aerial vehicle in the first scene is as follows:
EUAV_Total＝EUAV_0+EUAV_Extra；
the calculation formula of the total electric quantity required by the unmanned aerial vehicle in the second scene is as follows:
EUAV_Total＝EUAV_0；
the total electric quantity calculation formula required by the unmanned aerial vehicle in the third scene is as follows:
EUAV_Total＝EUAV_0+EUAV_Extra；
wherein, EUAV _ Total is the Total electric quantity that unmanned aerial vehicle needs, EUAV _0 is the initial electric quantity that unmanned aerial vehicle needs, and EUAV _ Extra needs Extra electric quantity for unmanned aerial vehicle.
Further, in step S3, the energy required to be provided by the electric vehicle is performed based on three scenarios:
the calculation formula of the energy required to be provided by the electric vehicle in the first scenario is as follows:
EEV _ Supply ═ EUAV _ Total/charger efficiency;
the energy calculation formula required to be provided by the electric automobile in the scene two is as follows:
EEV _ Supply ═ EUAV _ 0/charger efficiency + EEV _ Extra;
the energy calculation formula required to be provided by the electric automobile in the third scenario is as follows:
EEV _ Supply ═ EUAV _ Total/charger efficiency + EEV _ Extra;
the electric vehicle is provided with an electric vehicle driving range, wherein EEV _ Supply is energy required to be provided by the electric vehicle, EUAV _ Total is Total electric quantity required by the unmanned aerial vehicle, EUAV _0 is initial electric quantity required by the unmanned aerial vehicle, EEV _ Extra is electric quantity required to be additionally provided by the electric vehicle, EEV _ Extra is D _ EV/eta _ EV, D _ EV is driving range of the electric vehicle, and eta _ EV is mileage efficiency of the electric vehicle.
Further, in step S4, the information sent to the charging-side electric vehicle at the unmanned aerial vehicle end includes a charging location, a charging price, a charging time, and a license plate number.
The invention also provides a vehicle-mounted unmanned aerial vehicle wireless charging system, which comprises an electric vehicle and a cloud controller, wherein the electric vehicle is charged by the vehicle-mounted UAV wirelessly, so as to realize the charging method, and the cloud controller comprises the following components:
the signal acquisition module is used for acquiring real-time information of the unmanned aerial vehicle to be charged and the charging end electric vehicle after the unmanned aerial vehicle to be charged sends a charging request, and sending sampling information to the transaction mode selection module;
the transaction mode selection module is used for selecting an unmanned aerial vehicle electric vehicle transaction mode by combining environmental information and path planning and screening out transaction places;
the energy calculation and price estimation module is used for calculating the total electric quantity required by the unmanned aerial vehicle, the energy required by the electric vehicle and the charging price under different transaction modes;
the screening and matching module is used for selecting the most matched charging end electric vehicle from the charging end energy pool according to energy calculation and price estimation and sending the relevant information of the charging end electric vehicle to the unmanned aerial vehicle; the unmanned aerial vehicle makes final selection through the controller, then sends unmanned aerial vehicle's receipt information to selected charge end electric automobile, accomplishes the whole process of screening matching.
Compared with the prior art, the invention has the beneficial effects that:
according to the vehicle-mounted unmanned aerial vehicle wireless charging method and system, the flexibility of the electric vehicle can be fully utilized to supply power to the unmanned aerial vehicle, the appropriate energy provider can be conveniently and quickly screened for the unmanned aerial vehicle through an energy calculation and price estimation algorithm, energy interaction between the energy provider and the energy provider is completed, and the maneuverability and the endurance mileage of the unmanned aerial vehicle are improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
Fig. 1 is a flow of a wireless charging method for a vehicle-mounted unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a model of a wireless charging system for a vehicle-mounted unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
The invention provides a wireless charging method and a wireless charging system for a vehicle-mounted unmanned aerial vehicle, which are used for performing a series of energy distribution and benefit prediction such as energy numerical calculation and price calculation through dynamic sampling analysis of charging behaviors of the unmanned aerial vehicle, performing system algorithm optimization on the targets, accurately matching and identifying a charging end electric vehicle, greatly saving time and reducing extra consumption.
The charging behavior of the unmanned aerial vehicle is obviously affected by target tasks, weather and other random events, and the unmanned aerial vehicle is not possible to be completely static in the air, and the charging system is a system with dynamic load characteristics.
Therefore, firstly, accurate sampling needs to be carried out on uncertain state characteristics of the unmanned aerial vehicle, and sampling information is evaluated and classified; secondly, providing a plurality of unmanned aerial vehicle-electric vehicle transaction modes by combining environmental information, path planning and the like, and realizing maximum mutual benefit and win-win of the unmanned aerial vehicle and the electric vehicle through energy distribution and income estimation; finally, unmanned aerial vehicle can select the matching end electric automobile that charges information that the system was screened, the end electric automobile that charges of matching by oneself.
For a better understanding of the present solution, the method of the present invention is described in detail below with reference to the accompanying drawings.
The invention provides a wireless charging method for a vehicle-mounted unmanned aerial vehicle, which comprises the following steps as shown in figure 1:
(1) information collection
The information acquisition of the unmanned aerial vehicle is mainly an unmanned aerial vehicle number (N), a real-time geographic position (UAV _ x, UAV _ y, UAV _ z), a total electric quantity of the unmanned aerial vehicle Battery (EUAV _ Battery), a Current electric quantity of the unmanned aerial vehicle Battery (EUAV _ Current), and an initial electric quantity EUAV _0 required by the unmanned aerial vehicle, which is EUAV _ Battery-EUAV _ Current.
The information acquisition of the charging end electric vehicle mainly comprises an electric vehicle license plate number (L), a geographic position (EV _ x, EV _ y and EV _ z), battery information, a purchase price and the like in an energy battery.
The electric automobile in the energy pool is an electric automobile with a protocol for providing energy for the unmanned aerial vehicle, and the system can be guaranteed to search the charging end electric automobile in the region at any time.
The information collection of the optimization part also comprises environmental information, traffic information and the like.
(2) Transaction mode selection
Because no matter be unmanned aerial vehicle or electric automobile, all have very strong mobility, so the screening in transaction place has very strong variety to extend the variety of transaction mode. In this part of the study, the transaction mode is divided into three scenarios:
scene one: taking the position of the electric automobile as a transaction place:
this scenario is that electric automobile is relatively static (if the driver is not in the car, can select the opening of remote control charging mode), and unmanned aerial vehicle flies to electric automobile place position and accomplishes the charging process. Considering that the flight of the unmanned aerial vehicle is not affected by the ground traffic condition, the time required for flight may be shorter than the driving time of the vehicle, and the system takes the scene as the first choice transaction mode.
Unmanned aerial vehicle flight mileage efficiency: η _ UAV, drone extra flight distance: d _ UAV, the unmanned aerial vehicle needs Extra electric power as EUAV _ Extra ═ D _ UAV/η _ UAV;
the condition that the situation is established is that the Current electric quantity of the unmanned aerial vehicle battery meets the Extra electric quantity of the unmanned aerial vehicle flying to the position of the electric vehicle, namely EUAV _ Current > EUAV _ Extra;
scene two: the position of the unmanned aerial vehicle is used as a transaction place:
this sight is that unmanned aerial vehicle is static, and electric automobile traveles to unmanned aerial vehicle position and accomplishes the charging process. Driving distance of the electric automobile: d _ EV, electric vehicle mileage efficiency: eta _ EV, the electric vehicle needs to provide additional electric quantity as EEV _ Extra ═ D _ EV/eta _ EV;
scene three: taking the optimal place selected by the system as a trading place:
the transaction place of the scene is a certain position between the unmanned aerial vehicle and the electric vehicle, and the transaction place is screened out through path planning and optimization of the system. On the premise that the current electric quantity of the unmanned aerial vehicle battery is enough to support the extra electric quantity flying to the position, the electric vehicle can also provide the extra electric quantity to drive to the position, and the advantage is that compared with a scene two, the charging waiting time can be effectively shortened.
(3) Energy calculation and price estimation
The energy calculation is respectively carried out based on three scenes.
Calculating the total electric quantity required by the unmanned aerial vehicle in the first scene:
EUAV_Total＝EUAV_0+EUAV_Extra；
energy required to be provided by the electric automobile:
EEV _ Supply ═ EUAV _ Total/charger efficiency;
calculating the total electric quantity needed by the unmanned aerial vehicle in the second scene:
EUAV_Total＝EUAV_0；
energy required to be provided by the electric automobile:
EEV _ Supply ═ EUAV _ 0/charger efficiency + EEV _ Extra;
calculating the total electric quantity required by the unmanned aerial vehicle in the third scene:
EUAV_Total＝EUAV_0+EUAV_Extra；
energy required to be provided by the electric automobile:
EEV _ Supply ═ EUAV _ Total/charger efficiency + EEV _ Extra.
Price estimation:
the Charging price (Charging _ price) is an optimized value, and the Charging price can be priced in various ways. If the target Charging end vehicle is determined from the evaluation dimension of the Charging expense paid by the unmanned aerial vehicle, the Charging end vehicle with the minimum Charging expense can be determined as the target Charging end vehicle, and the Charging expense can be obtained by calculating the Price (Price) EEV _ Supply _ Charging _ Price, that is, the Charging expense to be paid by the client vehicle calling the Charging end vehicle can be obtained by multiplying the electric energy to be consumed by the Charging end vehicle by the preset selling Price.
Certainly, according to different application scenarios, the earnings of the charging-end vehicles can also be used as a screening target, price estimation can obtain a purchase price (P _ initial) and battery information from vehicle parameters reported by each charging-end vehicle, obtain battery loss (Cost _ d) of each charging-end vehicle from the battery information, and calculate an expected price of each charging-end vehicle for charging the client unmanned aerial vehicle by using a preset price calculation formula based on the purchase price, the battery loss, the electric energy to be consumed and a preset sell price of the electric energy management system of the electric vehicle of each charging-end vehicle. The price calculation formula may be:
Price＝EEV_Supply*Charging_price-EEV_Supply(P_initial+Cost_d)
in order to create the maximum benefit for the driver of the charging-end vehicle, the charging-end vehicle for which the calculated expected benefit is the greatest may be determined as the final target charging-end vehicle. Therefore, in the action that the target charging end vehicle provides the charging service for the client unmanned aerial vehicle, the client unmanned aerial vehicle can obtain the convenient charging service, the target charging end vehicle can obtain a certain reward, and mutual profit and win-win between the two parties are realized.
(4) Screening and matching
The cloud controller can screen out one to three charging end electric vehicles meeting the requirements through energy calculation and price estimation, the screening standard in the system is that from the perspective of the unmanned aerial vehicle, the charging end electric vehicle with the lowest price is the first choice, information (charging position, charging price, charging time, license plate) and the like of the charging end electric vehicles are sent to the end of the unmanned aerial vehicle through the cloud controller, and the unmanned aerial vehicle can make final selection through the controller. Then sending the receiving information of the unmanned aerial vehicle to the selected charging end electric vehicle, and finishing the whole process of screening and matching.
The invention provides a vehicle-mounted unmanned aerial vehicle wireless charging system, as shown in fig. 2, comprising an electric vehicle and a cloud controller, wherein the electric vehicle is used for wirelessly charging a vehicle-mounted UAV, so as to realize the charging method, and the cloud controller comprises:
the signal acquisition module is used for acquiring real-time information of the unmanned aerial vehicle to be charged and the charging end electric vehicle after the unmanned aerial vehicle to be charged sends a charging request, and sending sampling information to the transaction mode selection module;
the transaction mode selection module is used for selecting an unmanned aerial vehicle electric vehicle transaction mode by combining environmental information and path planning and screening out transaction places;
the energy calculation and price estimation module is used for calculating the total electric quantity required by the unmanned aerial vehicle, the energy required by the electric vehicle and the charging price under different transaction modes;
the screening and matching module is used for selecting the most matched charging end electric vehicle from the charging end energy pool according to energy calculation and price estimation and sending the relevant information of the charging end electric vehicle to the unmanned aerial vehicle; the unmanned aerial vehicle makes final selection through the controller, then sends unmanned aerial vehicle's receipt information to selected charge end electric automobile, accomplishes the whole process of screening matching.
The accurate matching process of the charging end electric automobile is that after the unmanned aerial vehicle sends a charging request to the cloud controller, the system signal acquisition module firstly carries out real-time information acquisition (geographical position information, battery energy information and the like) on the unmanned aerial vehicle to be charged, then the transaction mode selection module selects the transaction mode of the unmanned aerial vehicle electric automobile, the transaction place is selected, in a preset range, the energy numerical value calculation and the price estimation module in the system are used for calculating, and the screening and matching module carries out screening according to energy calculation and price estimation, the most matched charging end electric automobile is selected from the charging end energy pool, and relevant information of the charging end electric automobile is sent to the unmanned aerial vehicle. Unmanned aerial vehicle can seek appointed charging end electric automobile according to system's instruction to confirm charging end electric automobile through license plate discernment.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or equivalents may be substituted for some of the technical features thereof, but such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The vehicle-mounted unmanned aerial vehicle wireless charging method is characterized by comprising the following steps:
s1, information acquisition: the method comprises the steps of collecting information of an unmanned aerial vehicle to be charged and a charging end electric vehicle in an energy pool in real time, and collecting environmental information, traffic information and path planning, wherein the electric vehicle in the energy pool is an electric vehicle which provides energy for the unmanned aerial vehicle according to a protocol;
s2, selecting a transaction mode: the transaction mode is divided into three scenarios:
scene one: taking the position of the electric automobile as a transaction place: the situation is that the electric automobile is relatively static, and the unmanned aerial vehicle flies to the position of the electric automobile to complete the charging process;
scene two: the position of the unmanned aerial vehicle is used as a transaction place: the situation is that the unmanned aerial vehicle is relatively static, and the electric vehicle drives to the position where the unmanned aerial vehicle is located to complete the charging process;
scene three: taking the optimal place selected by the system as a trading place: the transaction place of the scene is a certain position between the unmanned aerial vehicle and the electric vehicle, and the electric vehicle and the unmanned aerial vehicle respectively drive to the position to complete the charging process;
s3, energy calculation and price estimation: respectively calculating the total electric quantity required by the unmanned aerial vehicle and the energy required to be provided by the electric automobile under three scenes, and estimating the Price through a formula (1) or a formula (2):
Price＝EEV_Supply*Charging_price(1)
Price＝EEV_Supply*Charging_price-EEV_Supply(P_initial+Cost_d)(2)
EEV _ Supply is energy required to be provided by the electric automobile, Charging _ price is Charging electricity price, P _ initial is buying electricity price of the automobile, and Cost _ d is battery loss of the automobile;
s4, screening and matching: through energy calculation and price estimation, with the charging end electric automobile that the price is the lowest as first choice, select one to three charging end electric automobile that meet the requirements, send the information of these charging end electric automobile to the unmanned aerial vehicle end, unmanned aerial vehicle does final selection through the controller, then sends unmanned aerial vehicle's acceptance information to selected charging end electric automobile, accomplishes the whole process of screening matching.
2. The wireless charging method for the vehicle-mounted unmanned aerial vehicle as claimed in claim 1, wherein in step S1, the real-time information of the unmanned aerial vehicle to be charged includes a number N of the unmanned aerial vehicle, a real-time geographic location of the unmanned aerial vehicle, a total Battery capacity EUAV _ Battery of the unmanned aerial vehicle, a Current Battery capacity EUAV _ Current of the unmanned aerial vehicle, and an initial Battery capacity required by the unmanned aerial vehicle
EUAV_0＝EUAV_Battery-EUAV_Current。
3. The vehicle-mounted unmanned aerial vehicle wireless charging method according to claim 1, wherein in step S1, the real-time information of the charging-end electric vehicle in the energy battery comprises a license plate number L of the electric vehicle in the energy battery, a geographical position of the electric vehicle in the energy battery, battery information, and a price of the bought electricity.
4. The vehicle-mounted unmanned aerial vehicle wireless charging method according to claim 1, wherein in the first scenario of step S2, the unmanned aerial vehicle mileage efficiency is: η _ UAV, drone extra flight distance is: d _ UAV; the Extra electric quantity required by the unmanned aerial vehicle is EUAV _ Extra ═ D _ UAV/η _ UAV; the Current electric quantity of the unmanned aerial vehicle battery under the situation meets the Extra electric quantity of the unmanned aerial vehicle flying to the position of the electric vehicle, namely EUAV _ Current > EUAV _ Extra.
5. The vehicle-mounted unmanned aerial vehicle wireless charging method according to claim 1, wherein in a second scenario of step S2, the driving distance of the electric vehicle is: d _ EV, the mileage efficiency of the electric vehicle is as follows: η _ EV, the electric vehicle needs to provide additional electric power, EEV _ Extra ═ D _ EV/η _ EV.
6. The vehicle-mounted unmanned aerial vehicle wireless charging method of claim 1, wherein in scenario three of step S2, on the premise that the current electric quantity of the unmanned aerial vehicle battery is sufficient to support the extra electric quantity for flying to the location, the electric vehicle will also provide the extra electric quantity to travel to the location.
7. The vehicle-mounted unmanned aerial vehicle wireless charging method according to claim 1, wherein in step S3, the total electric quantity required by the unmanned aerial vehicle is respectively performed based on three scenarios:
the calculation formula of the total electric quantity required by the unmanned aerial vehicle in the first scene is as follows:
EUAV_Total＝EUAV_0+EUAV_Extra；
the calculation formula of the total electric quantity required by the unmanned aerial vehicle in the second scene is as follows:
EUAV_Total＝EUAV_0；
the total electric quantity calculation formula required by the unmanned aerial vehicle in the third scene is as follows:
EUAV_Total＝EUAV_0+EUAV_Extra；
wherein, EUAV _ Total is the Total electric quantity that unmanned aerial vehicle needs, EUAV _0 is the initial electric quantity that unmanned aerial vehicle needs, and EUAV _ Extra needs Extra electric quantity for unmanned aerial vehicle.
8. The vehicle-mounted unmanned aerial vehicle wireless charging method according to claim 1, wherein in the step S3, the energy required to be provided by the electric vehicle is respectively performed based on three scenes:
the calculation formula of the energy required to be provided by the electric vehicle in the first scenario is as follows:
EEV _ Supply ═ EUAV _ Total/charger efficiency;
the energy calculation formula required to be provided by the electric automobile in the scene two is as follows:
EEV _ Supply ═ EUAV _ 0/charger efficiency + EEV _ Extra;
the energy calculation formula required to be provided by the electric automobile in the third scenario is as follows:
EEV _ Supply ═ EUAV _ Total/charger efficiency + EEV _ Extra;
the electric vehicle is provided with an electric vehicle driving range, wherein EEV _ Supply is energy required to be provided by the electric vehicle, EUAV _ Total is Total electric quantity required by the unmanned aerial vehicle, EUAV _0 is initial electric quantity required by the unmanned aerial vehicle, EEV _ Extra is electric quantity required to be additionally provided by the electric vehicle, EEV _ Extra is D _ EV/eta _ EV, D _ EV is driving range of the electric vehicle, and eta _ EV is mileage efficiency of the electric vehicle.
9. The vehicle-mounted unmanned aerial vehicle wireless charging method according to claim 1, wherein in step S4, the information sent to the charging-side electric vehicle at the unmanned aerial vehicle end includes a charging position, a charging price, a charging time, and a license plate number.
10. An on-vehicle unmanned aerial vehicle wireless charging system, comprising an electric vehicle and a cloud controller for on-vehicle UAV wireless charging, so as to implement the charging method of claims 1-9, wherein the cloud controller comprises:
the signal acquisition module is used for acquiring real-time information of the unmanned aerial vehicle to be charged and the charging end electric vehicle after the unmanned aerial vehicle to be charged sends a charging request, and sending sampling information to the transaction mode selection module;
the transaction mode selection module is used for selecting an unmanned aerial vehicle electric vehicle transaction mode by combining environmental information and path planning and screening out transaction places;
the energy calculation and price estimation module is used for calculating the total electric quantity required by the unmanned aerial vehicle, the energy required by the electric vehicle and the charging price under different transaction modes;
the screening and matching module is used for selecting the most matched charging end electric vehicle from the charging end energy pool according to energy calculation and price estimation and sending the relevant information of the charging end electric vehicle to the unmanned aerial vehicle; the unmanned aerial vehicle makes final selection through the controller, then sends unmanned aerial vehicle's receipt information to selected charge end electric automobile, accomplishes the whole process of screening matching.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111268853.XA CN113954664B (en) | 2021-10-29 | 2021-10-29 | Vehicle-mounted unmanned aerial vehicle wireless charging method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111268853.XA CN113954664B (en) | 2021-10-29 | 2021-10-29 | Vehicle-mounted unmanned aerial vehicle wireless charging method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113954664A true CN113954664A (en) | 2022-01-21 |
| CN113954664B CN113954664B (en) | 2023-09-05 |
Family
ID=79468189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111268853.XA Active CN113954664B (en) | 2021-10-29 | 2021-10-29 | Vehicle-mounted unmanned aerial vehicle wireless charging method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113954664B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105302150A (en) * | 2015-11-30 | 2016-02-03 | 上海理工大学 | Unmanned aircraft infinite endurance system |
| CN106816967A (en) * | 2017-03-29 | 2017-06-09 | 武汉大学 | For the resonance coupling system and dynamic charging method of the continuation of the journey of unmanned plane dynamic radio |
| US20170267343A1 (en) * | 2016-03-16 | 2017-09-21 | Fujitsu Limited | Unmanned aerial vehicle operation systems |
| KR20180050069A (en) * | 2016-11-04 | 2018-05-14 | 주식회사 웨이브쓰리디 | Automatic charging system for unmanned aerial vehicle |
| WO2018108018A1 (en) * | 2016-12-15 | 2018-06-21 | 比亚迪股份有限公司 | Charging control method and device for vehicle |
| CN108880662A (en) * | 2018-07-16 | 2018-11-23 | 深圳大学 | A kind of optimization method of wireless messages and energy transmission based on unmanned plane |
| CN108955711A (en) * | 2018-08-24 | 2018-12-07 | 广东工业大学 | A kind of air navigation aid applied to electric car intelligent recharge and discharge |
| CN109088450A (en) * | 2018-07-20 | 2018-12-25 | 安徽工业大学 | A kind of electric car and its wireless charge-discharge system, charging method |
| US20190025830A1 (en) * | 2017-07-24 | 2019-01-24 | Walmart Apollo, Llc | Wireless charging and protection for unmanned delivery aerial vehicles |
| CN109740974A (en) * | 2019-03-08 | 2019-05-10 | 电子科技大学 | Electric car fills feed matching process under driving mode |
| US20200039373A1 (en) * | 2018-08-02 | 2020-02-06 | Walmart Apollo, Llc | Systems and methods for charging an unmanned aerial vehicle with a host vehicle |
| CN111688510A (en) * | 2019-03-15 | 2020-09-22 | 上海汽车集团股份有限公司 | Unmanned aerial vehicle charging method, scheduling center and charging system |
| CN112026575A (en) * | 2020-07-27 | 2020-12-04 | 深圳技术大学 | Automatic charging system of electric automobile based on cloud platform and management system thereof |
-
2021
- 2021-10-29 CN CN202111268853.XA patent/CN113954664B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105302150A (en) * | 2015-11-30 | 2016-02-03 | 上海理工大学 | Unmanned aircraft infinite endurance system |
| US20170267343A1 (en) * | 2016-03-16 | 2017-09-21 | Fujitsu Limited | Unmanned aerial vehicle operation systems |
| KR20180050069A (en) * | 2016-11-04 | 2018-05-14 | 주식회사 웨이브쓰리디 | Automatic charging system for unmanned aerial vehicle |
| WO2018108018A1 (en) * | 2016-12-15 | 2018-06-21 | 比亚迪股份有限公司 | Charging control method and device for vehicle |
| CN106816967A (en) * | 2017-03-29 | 2017-06-09 | 武汉大学 | For the resonance coupling system and dynamic charging method of the continuation of the journey of unmanned plane dynamic radio |
| US20190025830A1 (en) * | 2017-07-24 | 2019-01-24 | Walmart Apollo, Llc | Wireless charging and protection for unmanned delivery aerial vehicles |
| CN108880662A (en) * | 2018-07-16 | 2018-11-23 | 深圳大学 | A kind of optimization method of wireless messages and energy transmission based on unmanned plane |
| CN109088450A (en) * | 2018-07-20 | 2018-12-25 | 安徽工业大学 | A kind of electric car and its wireless charge-discharge system, charging method |
| US20200039373A1 (en) * | 2018-08-02 | 2020-02-06 | Walmart Apollo, Llc | Systems and methods for charging an unmanned aerial vehicle with a host vehicle |
| CN108955711A (en) * | 2018-08-24 | 2018-12-07 | 广东工业大学 | A kind of air navigation aid applied to electric car intelligent recharge and discharge |
| CN109740974A (en) * | 2019-03-08 | 2019-05-10 | 电子科技大学 | Electric car fills feed matching process under driving mode |
| CN111688510A (en) * | 2019-03-15 | 2020-09-22 | 上海汽车集团股份有限公司 | Unmanned aerial vehicle charging method, scheduling center and charging system |
| CN112026575A (en) * | 2020-07-27 | 2020-12-04 | 深圳技术大学 | Automatic charging system of electric automobile based on cloud platform and management system thereof |
Non-Patent Citations (3)
| Title |
|---|
| 左先旺;: "一种基于下一目的地的电动汽车行程规划系统", no. 11, pages 78 - 80 * |
| 李鹏程;丛中笑;杨婧;: "一种电动汽车智能充电最优引导优化模型", 电器与能效管理技术, no. 18 * |
| 杜鹤民: "基于UCD和TRIZ理论的低空载人飞行器设计研究", 现代制造工程, no. 7 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113954664B (en) | 2023-09-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| DE102013202059B4 (en) | CHARGER INFRASTRUCTURE FOR ELECTRIC VEHICLES (EVs) WITH OPTIMUM LOCATION SELECTION FOR CHARGING STATIONS | |
| US11087422B2 (en) | Method and device for determining a configuration for deployment of a public transportation system | |
| Mehar et al. | Sustainable transportation management system for a fleet of electric vehicles | |
| CN106908075A (en) | Big data is gathered with processing system and based on its electric automobile continuation of the journey method of estimation | |
| CN111341136A (en) | Passenger-riding parking method, system and storage medium based on vehicle-road cooperation | |
| US20190275894A1 (en) | System and method for distributed energy exchange using a token ecosystem | |
| CN113034210A (en) | Vehicle running cost evaluation method based on data driving scene | |
| CN111612122A (en) | Method and device for predicting real-time demand and electronic equipment | |
| CN108827332A (en) | Combination of paths planing method, system, equipment and the storage medium driven with subway | |
| Zhang et al. | pCruise: Reducing cruising miles for taxicab networks | |
| CN111580561A (en) | Unmanned aerial vehicle scheduling method and system based on particle swarm optimization and readable storage medium | |
| CN109976327A (en) | A kind of patrol robot | |
| US10416678B2 (en) | Recharging an aircraft in a region using areas of increased sunlight within the region | |
| CN114779830A (en) | Inspection unmanned aerial vehicle electric quantity monitoring and management method and system based on dynamic threshold | |
| CN114694389B (en) | Queuing vehicle identification method, queuing vehicle identification system, queuing vehicle identification equipment and queuing vehicle identification medium for power exchange station | |
| Trippe et al. | Mobility model for the estimation of the spatiotemporal energy demand of battery electric vehicles in Singapore | |
| EP4282695A1 (en) | Method and apparatus for providing a charging time window for an electric vehicle | |
| Un-Noor et al. | Range extension of battery electric trucks in drayage operations with wireless opportunity charging at port terminals | |
| CN113085832B (en) | Energy management method for extended range hybrid vehicle | |
| Sadhukhan et al. | Optimal placement of electric vehicle charging stations in a distribution network | |
| CN113954664B (en) | Vehicle-mounted unmanned aerial vehicle wireless charging method and system | |
| CN116203984A (en) | UAM site selection evaluation method and unmanned aerial vehicle routing planning method | |
| CN113222248B (en) | Automatic taxi-driving charging pile selection method | |
| Khalid et al. | A reinforcement learning based path guidance scheme for long-range autonomous valet parking in smart cities | |
| Shi et al. | Collaborative Planning of Parking Spaces and AGVs Path for Smart Indoor Parking System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |