CN114454760B - Charging method, device, system, equipment and medium - Google Patents

Charging method, device, system, equipment and medium Download PDF

Info

Publication number
CN114454760B
CN114454760B CN202111614538.8A CN202111614538A CN114454760B CN 114454760 B CN114454760 B CN 114454760B CN 202111614538 A CN202111614538 A CN 202111614538A CN 114454760 B CN114454760 B CN 114454760B
Authority
CN
China
Prior art keywords
charging
connection module
charged
charging connection
plug
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.)
Active
Application number
CN202111614538.8A
Other languages
Chinese (zh)
Other versions
CN114454760A (en
Inventor
熊智豪
杨余
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Xaircraft Technology Co Ltd
Original Assignee
Guangzhou Xaircraft Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangzhou Xaircraft Technology Co Ltd filed Critical Guangzhou Xaircraft Technology Co Ltd
Priority to CN202111614538.8A priority Critical patent/CN114454760B/en
Publication of CN114454760A publication Critical patent/CN114454760A/en
Application granted granted Critical
Publication of CN114454760B publication Critical patent/CN114454760B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • 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
    • 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
    • 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
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The application provides a charging method, a charging device, a charging system, charging equipment and a charging medium. The charging method comprises the following steps: the method comprises the steps that a device to be charged obtains position information of a second charging connection module of the charging device, wherein at least one rotor wing is arranged on a first charging connection module of the device to be charged; and the device to be charged controls at least one rotor to rotate according to the position information so as to draw the first charging connection module to move to the second charging connection module and is electrically connected with the second charging connection module so as to charge the device to be charged. According to the application, the first charging connection module of the device to be charged of the unmanned equipment and the second charging connection module of the charging module can be accurately docked for charging, so that the problem that the first charging connection module or the second charging connection module is damaged in the docking process is avoided.

Description

Charging method, device, system, equipment and medium
Technical Field
The application relates to the technical field of unmanned charging, in particular to a charging method, a device, a system, equipment and a medium.
Background
The existing unmanned charging technology mostly adopts a charging mode of a mechanical arm or a lifting device, and after the device to be charged stops at a charging stop position, a charging plug is sent to a designated position through the mechanical arm or the lifting device to be in butt joint with the device to be charged and charged. The unmanned charging scheme has higher requirements on the docking precision during charging, such as a charging docking mode of a mechanical arm and a lifting platform, and needs to accurately dock a charging plug with a device to be charged, so that larger deviation is not allowed, and if the deviation is too large, the plug or the device to be charged is damaged.
Disclosure of Invention
In view of the above, the embodiments of the present application are directed to providing a charging method, device, system and medium, so as to solve the problem that a charging plug and a charging device cannot be accurately docked when an unmanned device is automatically charged.
A first aspect of the present application provides a charging method for an unmanned apparatus, applied to a charging system of the unmanned apparatus, the charging method comprising: the method comprises the steps that a device to be charged obtains position information of a second charging connection module of the charging device, wherein at least one rotor wing is arranged on a first charging connection module of the device to be charged; the device to be charged controls at least one rotor to rotate according to the position information so as to draw the first charging connection module to move to the second charging connection module, and is electrically connected with the second charging connection module so as to charge the device to be charged.
In some embodiments, the to-be-charged device obtains location information of a second charging connection module of the charging device, including: the device to be charged acquires the position information of the second charging connection module from the charging device, wherein the method further comprises: the device to be charged acquires type information and/or identification information of the second charging connection module from the charging device; and the device to be charged determines a second charging connection module matched with the first charging connection module according to the type information and/or the identification information.
In some embodiments, the method further comprises: the device to be charged controls the cabin door of the device to be charged to be opened so as to release the first charging connection module;
Wherein, with the second connection module electricity that charges is connected, include: the device to be charged controls the electromagnetic component of the first charging connection module to generate a magnetic field so that the first charging connection module is electrically connected with the second charging connection module through magnetic force;
Wherein the method further comprises: and after the charging device is connected with the second charging connection module and the first charging connection module, controlling at least one rotor to be closed.
In some embodiments, the method further comprises: after the charging of the device to be charged is completed, the first charging connection module is controlled to be disconnected with the second charging connection module; the device to be charged controls the rotation of at least one rotor wing to pull the first charging connection module away from the second charging connection module.
In some embodiments, the method further comprises: the charging device acquires type information and/or identification information of a first charging connection module from a device to be charged; and the charging device determines a second charging connection module matched with the first charging connection device according to the type information and/or the identification information, and controls the cabin door of the charging device to be opened so as to expose the second charging connection module.
In some embodiments, the device to be charged comprises an unmanned aerial vehicle or an unmanned aerial vehicle, the first charging connection module comprises a plug, and the second charging connection module comprises a socket.
The second aspect of the present application provides a charging method of unmanned equipment, applied to a device to be charged, the charging method comprising: acquiring position information of a second charging connection module of the charging device, wherein at least one rotor wing is arranged on a first charging connection module of the device to be charged; and controlling at least one rotor to rotate according to the position information so as to draw the first charging connection module to move to the second charging connection module, and electrically connecting the first charging connection module and the second charging connection module so as to charge the device to be charged.
A third aspect of the present application provides a charging method for an unmanned apparatus, applied to a charging device, the charging method comprising: the charging device is in communication connection with the device to be charged so as to send first position information of the charging device to the device to be charged; the first charging connection module is electrically connected with the device to be charged through the second charging connection module so as to charge the device to be charged.
In some embodiments, the charging method further comprises: acquiring type information and/or identification information of a first charging connection module of the device to be charged from the device to be charged; and determining a second charging connection module matched with the first charging connection device according to the type information and/or the identification information, and controlling the cabin door of the charging device to open so as to expose the second charging connection module.
In some embodiments, the first charging connection module comprises a plug, the second charging connection module comprises a socket with an electromagnetic component disposed thereon, wherein the charging method further comprises: and acquiring second position information of the device to be charged, and controlling the electromagnetic component to generate a magnetic field when the distance between the plug and the socket is determined to be smaller than a preset threshold according to the second position information, so that the plug is electrically connected with the socket through magnetic force.
A fourth aspect of the present application provides a charging apparatus for an unmanned device, comprising: the second communication module is in communication connection with the device to be charged so as to send the first position information of the charging device to the device to be charged; the second charging connection module is used for being electrically connected with the first charging connection module of the device to be charged so as to charge the device to be charged.
In some embodiments, the first charging connection module comprises a plug, the second charging connection module comprises a socket, the second communication module is further used for acquiring type information and/or identification information of the first charging connection module from the device to be charged, and the second control module is further used for determining the socket matched with the plug according to the type information and/or the identification information and controlling the cabin door of the charging device to be opened so as to expose the socket.
A fifth aspect of the present application provides a charging system, comprising: the charging device of any one of the above embodiments, and a device to be charged, wherein the device to be charged includes: the first communication module is used for acquiring the position information of the second charging connection module of the charging device; the first charging connection module is used for being electrically connected with the second charging connection module; at least one rotor wing arranged on the first charging connection module; the first control module is used for controlling at least one rotor to rotate according to the position information so as to draw the first charging connection module to move to the second charging connection module, and is electrically connected with the second charging connection module so as to charge the device to be charged.
A sixth aspect of the present application provides a charging apparatus comprising: a processor; a memory for storing processor-executable instructions, wherein the processor is configured to perform the charging method of any of the embodiments described above.
A seventh aspect of the present application provides a computer-readable storage medium storing a computer program for executing the charging method of any one of the above embodiments.
According to the technical scheme, the rotor wing is arranged on the first charging connection module of the device to be charged, and the rotor wing is controlled to pull the first charging connection module to move to the second charging connection module according to the position information of the second charging connection module of the charging device, so that the first charging connection module and the second charging connection module can be accurately abutted to charge, and the problem that the charging connection module is damaged in the abutting process is avoided.
Drawings
Fig. 1 is a flow chart of a charging method according to an embodiment of the application.
Fig. 2 is a flow chart of a charging method according to another embodiment of the application.
Fig. 3 is a flowchart of a charging method according to another embodiment of the application.
Fig. 4 is a flowchart of a charging method according to another embodiment of the application.
Fig. 5 is a flowchart of a charging method according to another embodiment of the application.
Fig. 6 is a flowchart of a charging method according to another embodiment of the application.
Fig. 7 is a schematic structural diagram of a charging system according to an embodiment of the application.
Fig. 8 is a block diagram of a charging system according to an embodiment of the present application.
Fig. 9 is a block diagram of a device to be charged of an unmanned apparatus according to an embodiment of the present application.
Fig. 10 and 11 are schematic structural diagrams of a first charging connection module according to an embodiment of the application.
Fig. 12 is a block diagram of a charging device of an unmanned device according to an embodiment of the present application.
Fig. 13 is a schematic structural diagram of a socket according to an embodiment of the application.
Fig. 14 is a block diagram of a charging device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The existing unmanned charging scheme has the defects that the requirement on the docking precision during charging is high, the design structure is complex, and the existing unmanned charging scheme is difficult to be compatible with different devices to be charged. Because the structures, the sizes and the like of different devices to be charged are different, the structure of each device to be charged needs to be specially designed, so that the manufacturing cost is very high, and the device to be charged cannot be applied to different scenes.
In order to solve the above problems, the unmanned charging scheme provided by the embodiment of the application can solve the automatic charging problem of the to-be-charged device of unmanned equipment (such as an unmanned plane, an unmanned vehicle and the like), so that when the to-be-charged equipment is insufficient in electric quantity and automatically stops at an unmanned docking station after operation, unmanned automatic charging can be performed, and the docking system can reach real unmanned and release manpower.
Fig. 1 is a flowchart illustrating a charging method of an unmanned device according to an embodiment of the present application. The charging method includes the following. The charging method may be performed by the device to be charged and/or the charging device of the above-described embodiments, and thus a detailed description is omitted.
In step S110, the device to be charged acquires position information of a second charging connection module of the charging device, where at least one rotor is disposed on the first charging connection module of the device to be charged. Specifically, the device to be charged acquires the position information of the second charging connection module from the charging device.
In step S120, the device to be charged controls at least one rotor to rotate according to the position information to pull the first charging connection module to move toward the second charging connection module, and is electrically connected to the second charging connection module, so as to charge the device to be charged.
According to the technical scheme, the rotor wing is arranged on the first charging connection module of the device to be charged, and the rotor wing is controlled to pull the first charging connection module to move to the second charging connection module according to the position information of the second charging connection module of the charging device, so that the first charging connection module and the second charging connection module can be accurately abutted to charge, and the problem that the charging connection module is damaged in the abutting process is avoided.
Optionally, as another embodiment, the to-be-charged device acquires position information of a second charging connection module of the charging device, including: the device to be charged acquires the position information of the second charging connection module from the charging device, and the charging method further comprises the following steps: the device to be charged acquires the type information and/or the identification information of the second charging connection module from the charging device, and determines the second charging connection module matched with the plug according to the type information and/or the identification information.
Optionally, as another embodiment, the above charging method further includes: the device to be charged controls the cabin door of the device to be charged to be opened so as to release the first charging connection module; the device to be charged also controls the electromagnetic component of the first charging connection module to generate a magnetic field so that the plug is electrically connected with the second charging connection module through magnetic force; after the second charging connection module is connected with the first charging connection module, the device to be charged controls at least one rotor to be closed.
Optionally, as another embodiment, the above charging method further includes: after the charging of the device to be charged is completed, the first charging connection module is controlled to be disconnected with the second charging connection module; the device to be charged controls the rotation of at least one rotor wing to pull the first charging connection module away from the second charging connection module.
Optionally, as another embodiment, the above charging method further includes: the charging device acquires type information and/or identification information of a first charging connection module from a device to be charged; and the charging device determines a second charging connection module matched with the first charging connection device according to the type information and/or the identification information, and controls the cabin door of the charging device to be opened so as to expose the second charging connection module.
Alternatively, as another embodiment, the charging method includes the following steps.
In step S1010, the device to be charged enters a charging stop area. When the electric quantity of the energy storage power supply reaches an alarm value or is controlled to be required to be charged, the device to be charged ends the current state and returns to the charging stopping area to be charged.
In step S1020, the first communication module is communicatively connected to the second communication module to obtain information of the second charging connection module connected to the first charging connection module. Specifically, the information includes location information, type information, and/or identification information, and the like.
In step S1030, the second control module matches the corresponding second charging connection module according to the information of the first charging connection module. Specifically, the second control module matches the corresponding socket according to the information of the first charging connection module, including type information and/or identification information, that is, model number and/or identity number, acquired by the second communication module, and controls to open the cabin door of the charging device so as to expose the corresponding socket.
In step S1040, the first control module controls the first charging connection module and the second control module controls the second charging connection module so that the two charging connection modules are electrically connected to each other.
In step S1050, after the charging is completed, the first control module controls the first charging connection module, and the second control module controls the second charging connection module, so that the two charging connection modules are disconnected from each other.
In step S1060, the device to be charged leaves the charging dock area.
Alternatively, as another embodiment, the charging method includes the following steps.
In step S1110, the first control module controls the door of the device to be charged to open so as to release the first charging connection module.
In step S1120, the rotor pulls the plug included in the first control module to the position of the corresponding socket.
In step S1130, the first control module controls to open the electromagnetic component on the plug, and the second control module controls to open the electromagnetic component on the socket, so that the plug and the socket are in butt joint.
Step S1140, the rotor is turned off and charging is started.
Fig. 2 is a flow chart of a charging method according to another embodiment of the application. Different types of plugs and/or sockets involve different positioning methods, as shown in fig. 2, the charging method comprising the following steps.
In step S1210, the first control module and/or the second control module determines whether the plug and/or the socket type is the first type or the second type. The pins and/or receptacles of the first type have a central and axisymmetric shape, and the remaining pins and/or receptacles not having a central and axisymmetric shape are of the second type.
Specifically, the plug may be of different types and have different shapes according to different charging voltage levels or other requirements of the device to be charged. The plugs may be classified into a first type and a second type according to shape. The pins of the first type of plug have a center-symmetrical as well as an axis-symmetrical shape, for example, the pins may be cylindrical, circular ring-shaped, etc., and embodiments of the present application are not limited thereto. The pins of the second type plug do not have a central symmetry and an axial symmetry, for example, the pins may be arranged in a triangle, a line, or the like, and the embodiment of the present application is not limited thereto.
When the pins and/or jacks are all of the first type, steps S1110 to S1140 are performed.
When the pins and/or the jacks are all of the second type, and the positioning members on the plug are magnetic field sensors, steps S1220 to S1260 are performed.
In step S1220, the first control module controls the door of the device to be charged to open so as to release the first charging connection module.
In step S1230, the second control module controls the opening of the electromagnetic component on the receptacle.
In step S1240, the first control module controls the rotor wing to pull the plug to the position of the corresponding socket according to the signal acquired by the magnetic field sensor on the plug until the signal meets the preset strength.
In step S1250, the first control module controls to open the electromagnetic component on the plug, and the second control module controls to open the electromagnetic component on the socket, so that the plug is docked with the socket.
Step S1260, the rotor is closed, and charging is started.
When the plug and the socket are of the second type, in order to prevent the contact pin and the jack from being incapable of being plugged, namely, the contact pin and the jack deviate in angle due to the in-line arrangement of the contact pin and the jack, the magnetic field sensor can be used for determining when to start the electromagnetic component, and the contact pin and the jack are accurately butted under the attraction of magnetic force generated by the electromagnetic components of the two sides.
Fig. 3 is a flowchart of a charging method according to another embodiment of the application. As shown in fig. 3, the charging method includes the following steps.
In step S1310, the first control module and/or the second control module determines whether the plug and/or the socket type is the first type or the second type.
When the pins and/or jacks are all of the first type, steps S1110 to S1140 are performed.
When the pins and/or the sockets are all of the second type and the positioning members on the plug are position sensors, steps S1320 to S1350 are performed.
In step S1320, the first control module controls the door of the device to be charged to open so as to release the first charging connection module.
In step S1330, the first control module controls the rotor wing to pull the plug to the position of the corresponding socket according to the signal sensed by the position sensor on the plug until the signal meets the preset condition.
In step S1340, the first control module controls to open the electromagnetic component on the plug, and the second control module controls to open the electromagnetic component on the socket, so as to enable the plug and the socket to be in butt joint.
In step S1350, the rotor is turned off and charging is started.
When the plug and the socket are of the second type, in order to prevent the contact pin and the jack from being incapable of being plugged, namely, the contact pin and the jack deviate in angle due to the in-line arrangement of the contact pin and the jack, the position sensor can determine when to start the electromagnetic component, and the contact pin and the jack are accurately butted under the attraction of magnetic force generated by the electromagnetic components of the two sides.
Fig. 4 is a flowchart of a charging method according to another embodiment of the application. As shown in fig. 4, the charging method includes the following steps.
Step S1410, the first control module controls to disconnect the electromagnetic component on the plug, and the second control module controls to disconnect the electromagnetic component on the socket, so that the plug and the socket are disconnected from magnetic attraction;
Step S1420, the first control module controls to open the rotor, pull the plug back to the device to be charged, close the cabin door, and control the cable recovery component to act, so that the cable is recovered into the accommodation cabin;
In step S1430, the second control module controls retraction of the receptacle and closes a door of the charging device.
In summary, the application can solve the problem of automatic charging of the device to be charged (unmanned aerial vehicle, unmanned vehicle, etc.), so that the device to be charged can perform unmanned automatic charging when the electric quantity is insufficient after operation and automatically stops at an unmanned stop, and the automatic charging system can reach real unmanned operation to release manpower.
It should be understood that the charging method provided by the embodiments of fig. 1 to 4 in the present application may be performed by a charging device and/or a device to be charged; or by a third party control platform or third party controller or the like (e.g., a server or central computer located at a centralized control center).
Fig. 5 is a flowchart of a charging method according to another embodiment of the application. The method is performed by a charging device. The charging method may be performed by the charging device of the above-described embodiment, and thus a detailed description is omitted. As shown in fig. 5, the charging method includes the following steps.
Step S1510, communicatively connects with the device to be charged to send the first location information of the charging device to the device to be charged.
Step S1520 is electrically connected to the first charging connection module of the device to be charged through the second charging connection module, so as to charge the device to be charged.
According to the technical scheme, the rotor wing is arranged on the first charging connection module of the device to be charged, and the rotor wing is controlled to pull the first charging connection module to move to the second charging connection module according to the position information of the second charging connection module of the charging device, so that the first charging connection module and the second charging connection module can be accurately abutted to charge, and the problem that the charging connection module is damaged in the abutting process is avoided.
In some embodiments, the charging method further comprises: acquiring type information and/or identification information of a first charging connection module of the device to be charged from the device to be charged; and determining a second charging connection module matched with the first charging connection device according to the type information and/or the identification information, and controlling the cabin door of the charging device to open so as to expose the second charging connection module.
In some embodiments, the first charging connection module comprises a plug, the second charging connection module comprises a socket with an electromagnetic component disposed thereon, wherein the charging method further comprises: and acquiring second position information of the device to be charged, and controlling the electromagnetic component to generate a magnetic field when the distance between the plug and the socket is determined to be smaller than a preset threshold according to the second position information, so that the plug is electrically connected with the socket through magnetic force.
Fig. 6 is a flowchart of a charging method according to another embodiment of the application. The charging method may be performed by the device to be charged of the above-described embodiment, as shown in fig. 6, and includes the following steps.
In step S1610, position information of a second charging connection module of the charging device is obtained, where at least one rotor is disposed on a first charging connection module of the device to be charged.
Step S1620 controls at least one rotor to rotate according to the position information to pull the first charging connection module to move to the second charging connection module and electrically connect with the second charging connection module so as to charge the device to be charged.
Fig. 7 is a schematic structural diagram of a charging system according to an embodiment of the application. As shown in fig. 7, the device to be charged 11 may include an unmanned aerial vehicle or an unmanned vehicle. The charging device 13 may comprise a charging cabin and a hatch for charging the drone or the drone. In one embodiment, the first charging connection module of the device to be charged 11 includes a plug 12, and the second charging connection module of the charging device 13 includes a socket 15, which may be, of course, the first charging connection module includes a socket, and the second charging connection module includes a plug, so long as the electrical connection between the device to be charged 11 and the charging device 13 can be achieved. The plug 12 with the rotor wing of the device 11 to be charged stretches into the charging device 13, the charging device 13 is arranged inside the bearing platform 14, and when charging is needed, a cabin door of the charging device 13 is opened, so that the plug 12 can conveniently enter a charging cabin and is electrically connected with the socket 15, and the device 11 to be charged is charged.
It should be understood that the structure of the charging device and the device to be charged shown in fig. 7 is only for illustrating the charging system of the present application, and in fact, the shapes of the device to be charged and the charging device may be adaptively adjusted according to different usage situations, for example, when the device to be charged is a flying device, the charging may be performed by hovering without stopping, and for example, the charging device may also be disposed inside a wall.
Fig. 8 is a block diagram of a charging system according to an embodiment of the present application. As shown in fig. 8, the charging system includes a device to be charged 100, and a charging device 400. When the electric quantity of the to-be-charged device 100 is insufficient, the to-be-charged device will enter a charging stop area, and the to-be-charged device 400 is automatically connected to obtain the charged electric quantity.
It should be noted that, the specific structures of the charging device 100 and the charging device 400 are described in the previous embodiments, and the specific structures are not described herein again.
Fig. 9 is a block diagram of a device to be charged of an unmanned apparatus according to an embodiment of the present application. As shown in fig. 9, the device to be charged 100 includes: a first communication module 110, configured to obtain location information of a second charging connection module of the charging device; a first charging connection module 120 for electrically connecting with a charging device; at least one rotor disposed on the first charging connection module 120; the first control module 130 is configured to control at least one rotor to rotate according to the position information, so as to pull the first charging connection module 120 to move toward the second charging connection module, and electrically connect with the second charging connection module, so as to charge the device to be charged.
In some embodiments, the first charging connection module comprises a cable and plug and the second charging connection module comprises a socket. The cable is connected with the plug, and at least one rotor is arranged on the plug. The cable is made of a material with good flexibility and relatively light weight, so that at least one rotor wing can be loaded lighter and the control force is reduced. Specifically, the bending performance of the cable is good, and under the condition that the plug is connected with the socket, the relative positions of the device to be charged and the charging device can be adjusted within a certain range. In other words, compared with the structure that the charging plug is sent to a fixed position through the mechanical arm or the lifting device, the first charging connection module adopts the structure that the cable and the plug with the rotor wing can enable the device to be charged to stop in the area of the preset range of the charging device, and the device to be charged can be charged without stopping in the fixed position, so that the flexibility and the accuracy of charging are improved, and the damage to the plug or the device to be charged caused by the deviation of the position of the device to be charged from the preset position is avoided.
It should be understood that the longer the length of the cable, the greater the flexibility of the device to be charged in the charged state, that is, the greater the range of the area in which the device to be charged can be electrically connected to the charging device, and the specific length of the cable can be adaptively adjusted according to the requirement of the device to be charged.
In some embodiments, the unmanned device may be an unmanned plane or an unmanned vehicle, which is not limited in particular by the embodiment of the present application.
According to the technical scheme, the rotor wing is arranged on the first charging connection module of the device to be charged, and the rotor wing is controlled to pull the first charging connection module to move to the second charging connection module according to the position information of the second charging connection module of the charging device, so that the first charging connection module and the second charging connection module can be accurately abutted to charge, and the problem that the charging connection module is damaged in the abutting process is avoided. Meanwhile, the device to be charged does not need to be stopped at a fixed position, and the device to be charged can be charged only by the distance between the device to be charged and the second charging connection module of the charging device within a preset range, so that the charging flexibility is improved.
Fig. 10 and 11 are schematic structural diagrams of a first charging connection module according to an embodiment of the application.
As shown in fig. 10, which shows a side view of the first charging connection module. The first charging connection module comprises a cable 1, a rotor 2 and a plug 3. One end of the cable 1 is connected with the plug 3, and the other end is connected to a storage battery of the device to be charged, other energy storage modules or jacks of the charging device. The rotor 2 is arranged around the plug 3 for moving the plug 3 to the vicinity of the charging device.
As shown in fig. 11, which shows a front view of the first charging connection module. The plug 3 is embedded in the rotor support 4, the rotor support 4 stretches out a plurality of support legs 5 all around, and the rotor 2 is arranged at the tail end of the support legs 5.
In some specific embodiments, the pins 6 of the plug 3 have a cylindrical structure, and the tips of the pins 6 have a circular arc structure or a semicircular structure or a conical structure, so as to reduce structural damage during docking. In other specific embodiments, the pins 6 are annular protruding electrodes, and the inner and outer sides of the top ends of the annular protruding electrodes are provided with arc transitions or chamfers, which are also used to reduce structural damage during butt joint.
The structural design of the plug 3 can reduce the requirement on the docking precision during automatic charging, allows larger deviation, reduces the damage probability of the plug 3 or the device to be charged, has simpler design structure, is compatible with different devices to be charged, reduces the cost, and can be applied to different scenes and devices to be charged.
In some embodiments, as shown in fig. 10 and 11, the plug 3 is provided with an electromagnetic component 7, and the first control module is further configured to control the electromagnetic component 7 on the plug 3 to generate a magnetic field so that the plug 3 is electrically connected with the socket by magnetic force when it is determined that the distance between the plug and the socket is less than a preset threshold according to the position information. In addition, the first control module is further used for controlling at least one rotor to be closed after the second charging connection module is connected with the first charging connection module.
In some embodiments, the electromagnetic component 7 is a ring-shaped electromagnet and the pin 6 is disposed in a nonmagnetic region in the middle of the ring-shaped electromagnet.
In some specific embodiments, the electromagnetic component 7 is a solenoid disposed around the pin 6 of the plug 3, and when the plug 3 of the device to be charged approaches the socket of the charging device (for example, the optimal position near the socket may be preset in advance or determined by sensing by a sensor), the first control module controls to open the solenoid to generate a strong magnetic force so that the pin 6 of the plug 3 is accurately docked with the jack of the socket of the charging device. In other embodiments, the electromagnetic member may be configured in other shapes, and only a magnetic force is generated to engage the plug and the socket that are adjacent to each other, without regard to the angle of alignment of the plug and the socket.
In some specific embodiments, the plug is further provided with a positioning member for aligning the plug with the charging device.
When the plug does not have a central and axisymmetric shape, i.e. the plug is of the second type, the angle of alignment of the plug and the receptacle has to be taken into account. For example, in the case that the plug is in a linear arrangement of a plurality of pins, the plurality of pins in the linear arrangement need to be aligned with the plurality of jacks in the linear arrangement of the corresponding socket, and then accurate butt joint is performed under the attraction of magnetic force generated by electromagnetic components of both sides, otherwise, the angles of the pins and the jacks deviate due to the linear arrangement of the pins and the jacks, and the pins and the jacks cannot be plugged.
In some specific embodiments, the positioning component on the plug comprises a magnetic field sensor, and when a signal acquired by the magnetic field sensor reaches a certain intensity, the first control module controls the electromagnetic component on the plug to generate a magnetic field so as to be electrically connected with the charging device.
Specifically, the magnetic field sensor is a giant magnetoresistance (Giant Magneto Resistance, GMR) magnetic field sensor. The sensitivity of the GMR magnetic field sensor to the magnetic field is related to the direction, a sensitive axis marked on the appearance structure is the direction of the sensor which is most sensitive to the magnetic field, when the sensitive axis is not parallel to the magnetic field direction, the sensitivity is reduced, the relation is s θ＝s0 cos theta, wherein s θ is the sensitivity when the included angle between the magnetic field direction and the sensitive axis of the sensor is theta, and s 0 is the sensitivity when the magnetic field direction is parallel to the sensitive axis of the sensor. The position of the GMR magnetic field sensor on the plug is preset, so that when the contact pin of the plug is aligned with the jack of the corresponding socket, the signal acquired by the GMR magnetic field sensor reaches the preset strength.
In the actual charging process, when the signal acquired by the GMR magnetic field sensor reaches the preset strength, the plug and the socket are aligned, and at the moment, the first control module controls the electromagnetic component on the plug to be opened so as to generate a magnetic field, so that the contact pin of the plug is accurately abutted with the jack of the socket of the charging device under magnetic attraction. If the signal acquired by the magnetic field sensor does not reach the preset intensity, the first control module controls the rotor wing to continuously pull the plug to find the optimal position close to the socket.
In other specific embodiments, the positioning component on the plug includes a position sensor, the socket is provided with an object to be measured at a corresponding position, when the rotor wing traction plug approaches the socket of the charging device, the position sensor senses a signal of the object to be measured, and when the signal reaches a preset condition (for example, position), the first control module controls the electromagnetic component on the plug to open so as to generate a magnetic field, so that the contact pin of the plug and the jack of the socket of the charging device are accurately butted under magnetic attraction. If the position sensor does not sense the preset condition, the first control module controls the rotor to continuously pull the plug to find the optimal position close to the socket.
In some specific embodiments, the at least one rotor includes a plurality of rotors, and the first control module controls the movement direction of the first charging connection module according to the rotational speeds of the plurality of rotors.
Specifically, the first control module judges whether the plug reaches an optimal position close to the socket according to real-time position information transmitted by the first communication module, wherein the optimal position is preset in advance or a position enabling a signal acquired by the GMR magnetic field sensor to reach preset intensity. If the first control module determines that the plug does not reach the optimal position near the receptacle, the rotational speeds of the plurality of rotors are controlled to move the plug in a direction of connection with the charging device, i.e., in a direction of approaching the optimal position near the receptacle.
The rotating speed of each rotor wing in the plurality of rotor wings can be controlled respectively so as to achieve the purpose of controlling the direction.
In some specific embodiments, the first communication module is configured to obtain type information and/or identification information of the second charging connection module from the charging device, and determine, according to the type information and/or the identification information, the second charging connection module that matches the first charging connection module.
Specifically, the first communication module communicates with the charging device to obtain information of the charging device, such as a position, a model number, an identity number, and the like, and determines the charging device matched with the plug according to the information of the model number and/or the identity number.
In some specific embodiments, the device to be charged is provided with a housing compartment and a compartment door and a cable recovery member, the first charging connection module being housed in the housing compartment in the non-charging state; the first control module is also used for controlling the cabin door to be opened after the device to be charged enters the charging stop area so as to release the first charging connection module, and controlling the cable recovery component to act after the charging is completed so as to recover the cable into the accommodating cabin.
Specifically, the accommodation compartment and the cabin door are disposed at a bottom of a device to be charged (e.g., an unmanned aerial vehicle) or at a side of the device to be charged (e.g., an unmanned aerial vehicle) to facilitate the access of the first charging connection module. When the charging is completed, the first control module controls the cable recycling component to act so as to recycle the cable into the accommodating cabin.
In some specific embodiments, the first control module is further configured to control the first charging connection module to disconnect from the second charging connection module after the charging is completed, and to control the at least one rotor to rotate to pull the first charging connection module away from the second charging connection module.
Fig. 12 is a block diagram of a charging device of an unmanned device according to an embodiment of the present application. The charging device 400 of the present embodiment is used in cooperation with the device to be charged 100 shown in fig. 9.
As shown in fig. 12, the charging device 400 includes: the second communication module 410 is in communication connection with the device to be charged, so as to send the first position information of the charging device to the device to be charged; the second charging connection module 420 is configured to electrically connect with the first charging connection module of the device to be charged, so as to charge the device to be charged.
In some embodiments, the first charging connection module includes a plug and the second charging connection module includes a receptacle that mates with the plug, the receptacle including a receptacle.
Fig. 13 is a schematic structural diagram of a socket according to an embodiment of the application. As shown in fig. 13, the second charging connection module includes a socket 8 on which an electromagnetic member 10 is provided.
The second communication module is also used for acquiring second position information of the device to be charged. As shown in fig. 12, the charging device 400 further includes: and a second control module 430 for controlling the electromagnetic component on the socket to generate a magnetic field so that the plug is electrically connected with the socket by magnetic force when the distance between the plug and the socket is determined to be less than the preset threshold according to the second position information.
Specifically, the second control module controls the electromagnetic component on the socket to generate or break the magnetic field, that is, before charging, the second control module controls the electromagnetic component on the socket to generate the magnetic field, and after charging, the second control module controls the electromagnetic component on the socket to break the magnetic field. The electromagnetic parts on the socket correspond to the electromagnetic parts arranged on the plug, and the polarities are opposite.
In some specific embodiments, as shown in fig. 10 and 11, the electromagnetic component 7 on the plug 3 is a solenoid disposed about the pin 6, and optionally, as shown in fig. 13, the electromagnetic component 10 on the receptacle 8 is also a solenoid disposed about the receptacle 9. When the plug of the device to be charged approaches to the socket of the charging device (for example, the optimal position near the socket can be preset in advance or sensed and judged by a sensor), the first control module and the second control module control and open the corresponding electromagnetic coils to generate strong magnetic force, so that the contact pin of the plug and the jack of the socket are accurately butted under the attraction of the magnetic force. In other embodiments, the electromagnetic components on the socket may be configured in other shapes, and only magnetic force is needed to attract the plug and the socket close to each other, without considering the problem of the alignment angle of the plug and the socket.
It will be appreciated that the solution of the application may also provide an electromagnetic component on one of the socket and the plug, and a ferrous component on the other of the socket and the plug that is capable of generating an attractive force with the electromagnetic component.
In some embodiments, the receptacle is further provided with a positioning member for aligning the receptacle with the plug.
When the receptacle does not have a central and axisymmetric shape, i.e. the receptacle is of the second type, the angle problem of alignment of the plug and the receptacle needs to be taken into account. For example, in the case that the plug is in a linear arrangement of a plurality of pins, the plurality of pins in the linear arrangement need to be aligned with the plurality of jacks in the linear arrangement of the corresponding socket, and then the pins are butted under the attraction of magnetic force generated by electromagnetic components of the two parties, otherwise, the angles of the pins and the jacks deviate due to the linear arrangement of the pins and the jacks, and the pins and the jacks cannot be plugged.
In some specific embodiments, when the positioning component on the plug comprises a magnetic field sensor, no positioning component is needed to be additionally arranged on the socket, and the electromagnetic component on the socket is used as the positioning component to generate a magnetic field for sensing by the magnetic field sensor. In other specific embodiments, when the positioning component on the plug is a position sensor, the socket sets an object to be measured at a corresponding position as the positioning component, when the rotor wing pulls the plug to approach the socket of the charging device, the position sensor senses a signal of the object to be measured, and when the signal reaches a preset condition (for example, a position), the second control module controls to open the electromagnetic component to generate a strong magnetic force, so that the plug can be accurately abutted with the jack of the socket.
In some specific embodiments, the second communication module is further configured to obtain type information and/or identification information of the first charging connection module from the device to be charged, and the second control module is further configured to determine a socket matched with the plug according to the type information and/or the identification information, and control the door of the charging device to open so as to expose the socket.
Specifically, the second control module determines the socket matched with the plug according to the information, such as the position, the model number, the identity number and the like, of the first charging connection module, which is acquired by the second communication module, and according to the information of the model number and/or the identity number. After determining the receptacle to mate with the plug, the second control module controls opening of the door of the charging device to expose the receptacle.
Next, a charging device according to an embodiment of the present application is described with reference to fig. 14. Fig. 14 illustrates a block diagram of a charging device according to an embodiment of the present application.
As shown in fig. 14, the charging device 1400 includes one or more processors 1410 and a memory 1420.
The processor 1410 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the charging device 1400 to perform desired functions.
Memory 1420 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or nonvolatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 1410 to implement the charging methods and/or other desired functions of the various embodiments of the present application described above.
In one example, the charging device 1400 may further include: an input device 1430 and an output device 1440, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
When the charging device is a stand-alone device, the input device 1430 may be a communication network connector. In addition, the input device 1430 may also include, for example, a keyboard, mouse, and the like.
The output device 1440 may output various information to the outside, including location information, type information, identification information, and/or the like. The output devices 1440 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the charging device 1400 relevant to the present application are shown in fig. 14 for simplicity, components such as buses, input/output interfaces, and the like being omitted. In addition, charging device 1400 may include any other suitable components depending on the particular application.
In addition to the methods and apparatus described above, embodiments of the application may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform steps in a charging method according to the various embodiments of the application described above.
The computer program product may write program code for performing operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, which, when being executed by a processor, cause the processor to perform steps in a charging method according to the above-described various embodiments of the present application.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.

Claims (12)

1. A method of charging an unmanned device, comprising:
The method comprises the steps that a device to be charged obtains position information of a second charging connection module of the charging device, wherein at least one rotor wing is arranged on the first charging connection module of the device to be charged;
The device to be charged controls the at least one rotor wing to rotate according to the position information so as to draw the first charging connection module to move to the second charging connection module, and is electrically connected with the second charging connection module so as to charge the device to be charged;
the device to be charged comprises an unmanned aerial vehicle or an unmanned aerial vehicle, the first charging connection module comprises a plug, and the second charging connection module comprises a socket;
wherein the method further comprises:
the device to be charged acquires type information and/or identification information of the second charging connection module from the charging device;
And the device to be charged determines a second charging connection module matched with the first charging connection module according to the type information and/or the identification information.
2. The charging method according to claim 1, wherein the device to be charged acquires position information of a second charging connection module of the charging device, comprising: and the device to be charged acquires the position information of the second charging connection module from the charging device.
3. The charging method according to claim 1, characterized by further comprising:
The device to be charged controls the cabin door of the device to be charged to be opened so as to release the first charging connection module;
wherein, with the second connection module electricity that charges is connected, include:
the device to be charged controls the electromagnetic component of the first charging connection module to generate a magnetic field so that the first charging connection module is electrically connected with the second charging connection module through magnetic force,
Wherein the method further comprises: and after the second charging connection module is connected with the first charging connection module, the device to be charged controls the at least one rotor to be closed.
4. The charging method according to claim 1, characterized by further comprising:
after the device to be charged is charged, the first charging connection module is controlled to be disconnected with the second charging connection module;
The device to be charged controls the rotation of the at least one rotor wing to pull the first charging connection module away from the second charging connection module.
5. The charging method according to claim 1, characterized by further comprising:
the charging device acquires type information and/or identification information of the first charging connection module from the device to be charged;
and the charging device determines a second charging connection module matched with the first charging connection module according to the type information and/or the identification information, and controls the opening of a cabin door of the charging device so as to expose the second charging connection module.
6. A charging method of an unmanned device, applied to a device to be charged, the charging method comprising:
Acquiring position information of a second charging connection module of the charging device, wherein at least one rotor wing is arranged on a first charging connection module of the device to be charged;
controlling the at least one rotor to rotate according to the position information so as to draw the first charging connection module to move towards the second charging connection module and electrically connect with the second charging connection module so as to charge the device to be charged;
the device to be charged comprises an unmanned aerial vehicle or an unmanned aerial vehicle, the first charging connection module comprises a plug, and the second charging connection module comprises a socket;
wherein the method further comprises:
Acquiring type information and/or identification information of the second charging connection module from the charging device;
And determining a second charging connection module matched with the first charging connection module according to the type information and/or the identification information.
7. A charging method of unmanned equipment, applied to a charging device, characterized in that the charging method comprises the following steps:
the charging device is in communication connection with a device to be charged so as to send first position information of the charging device to the device to be charged;
The device comprises a first charging connection module, a second charging connection module, a first rotary wing and a second rotary wing, wherein the first charging connection module is electrically connected with the first charging connection module of the device to be charged, and at least one rotary wing is arranged on the first charging connection module of the device to be charged, so that the device to be charged can control the at least one rotary wing to rotate according to first position information of the charging device to pull the first charging connection module to move to the second charging connection module, and the device to be charged is charged;
the device to be charged comprises an unmanned aerial vehicle or an unmanned aerial vehicle, the first charging connection module comprises a plug, and the second charging connection module comprises a socket;
wherein the method further comprises:
acquiring type information and/or identification information of a first charging connection module of the device to be charged from the device to be charged;
and determining the second charging connection module matched with the first charging connection module according to the type information and/or the identification information, and controlling the cabin door of the charging device to be opened so as to expose the second charging connection module.
8. The charging method according to claim 7, wherein the first charging connection module includes a plug, the second charging connection module includes a socket, an electromagnetic component is provided on the socket,
Wherein, the charging method further comprises:
And acquiring second position information of the device to be charged, and controlling the electromagnetic component to generate a magnetic field when the distance between the plug and the socket is determined to be smaller than a preset threshold according to the second position information, so that the plug is electrically connected with the socket through magnetic force.
9. A charging device for an unmanned device, comprising:
The second communication module is in communication connection with the device to be charged so as to send the first position information of the charging device to the device to be charged;
The first charging connection module is used for being electrically connected with the first charging connection module of the device to be charged, and at least one rotor wing is arranged on the first charging connection module of the device to be charged, so that the device to be charged can control the rotation of the at least one rotor wing according to the first position information of the charging device to draw the first charging connection module to move to the second charging connection module, and the device to be charged can be charged;
the device to be charged comprises an unmanned aerial vehicle or an unmanned aerial vehicle, the first charging connection module comprises a plug, and the second charging connection module comprises a socket;
Wherein the apparatus further comprises a second control module;
The second communication module is further used for acquiring type information and/or identification information of the first charging connection module from the device to be charged, and the second control module is further used for determining a socket matched with the plug according to the type information and/or the identification information and controlling a cabin door of the charging device to be opened so as to expose the socket.
10. A charging system for an unmanned device, comprising: the charging device and the device to be charged as claimed in claim 9,
Wherein, wait the charging device includes:
the first communication module is used for acquiring the position information of the second charging connection module of the charging device;
The first charging connection module is used for being electrically connected with the second charging connection module;
At least one rotor wing arranged on the first charging connection module;
The first control module is used for controlling the rotation of the at least one rotor wing according to the position information so as to draw the first charging connection module to move to the second charging connection module, and is electrically connected with the second charging connection module so as to charge the device to be charged;
the device to be charged comprises an unmanned aerial vehicle or an unmanned aerial vehicle, the first charging connection module comprises a plug, and the second charging connection module comprises a socket;
The first communication module is further used for acquiring type information and/or identification information of the second charging connection module from the charging device; and determining a second charging connection module matched with the first charging connection module according to the type information and/or the identification information.
11. A charging apparatus, characterized by comprising:
A processor;
a memory for storing the processor-executable instructions,
Wherein the processor is configured to perform the charging method of any one of the preceding claims 1 to 8.
12. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the charging method according to any one of the above claims 1 to 8.
CN202111614538.8A 2021-12-24 2021-12-24 Charging method, device, system, equipment and medium Active CN114454760B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111614538.8A CN114454760B (en) 2021-12-24 2021-12-24 Charging method, device, system, equipment and medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111614538.8A CN114454760B (en) 2021-12-24 2021-12-24 Charging method, device, system, equipment and medium

Publications (2)

Publication Number Publication Date
CN114454760A CN114454760A (en) 2022-05-10
CN114454760B true CN114454760B (en) 2024-07-05

Family

ID=81407886

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111614538.8A Active CN114454760B (en) 2021-12-24 2021-12-24 Charging method, device, system, equipment and medium

Country Status (1)

Country Link
CN (1) CN114454760B (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN207916601U (en) * 2017-12-12 2018-09-28 北京京东尚科信息技术有限公司 Aircraft and cradle, charging system applied to it
CN111469698A (en) * 2020-05-09 2020-07-31 郑州正方科技有限公司 Positioning control system and control method for charging head and charging seat
CN112757936A (en) * 2020-12-28 2021-05-07 山东鲁能软件技术有限公司智能电气分公司 Automatic charging system and method suitable for unmanned electric vehicle

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103976693B (en) * 2014-06-02 2016-03-16 金陵科技学院 A kind of self-rechargeable multifunctional domestic housework robot
EP3657613B1 (en) * 2017-07-19 2023-08-16 Hangzhou Hikrobot Co., Ltd. Alignment mechanism, charging device, and charging system for automatic charging
CN108128475A (en) * 2017-12-13 2018-06-08 福州堂影智能科技有限公司 A kind of unmanned plane automatic charging equipment
CN108891296A (en) * 2018-08-09 2018-11-27 杭州迪洛智能设备有限公司 A kind of automatic alignment apparatus for unmanned plane charging
CN113335129B (en) * 2021-07-08 2024-01-09 广州小鹏汽车科技有限公司 Charging control method, vehicle, charging gun, charging device, and storage medium
CN113629433A (en) * 2021-07-27 2021-11-09 王蓉 Intelligent grabbing and positioning method for charging pile
CN215552633U (en) * 2021-07-29 2022-01-18 汇充新能源科技(天津)有限公司 Automatic connection type charging pile with positioning function

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN207916601U (en) * 2017-12-12 2018-09-28 北京京东尚科信息技术有限公司 Aircraft and cradle, charging system applied to it
CN111469698A (en) * 2020-05-09 2020-07-31 郑州正方科技有限公司 Positioning control system and control method for charging head and charging seat
CN112757936A (en) * 2020-12-28 2021-05-07 山东鲁能软件技术有限公司智能电气分公司 Automatic charging system and method suitable for unmanned electric vehicle

Also Published As

Publication number Publication date
CN114454760A (en) 2022-05-10

Similar Documents

Publication Publication Date Title
US11721995B2 (en) Battery management system
Suzuki et al. Automatic battery replacement system for UAVs: Analysis and design
US10554060B2 (en) Systems and methods for charging via USB port
US8103886B2 (en) Dedicated power supply apparatus, terminal, power supply system, and power supply method
WO2019140617A1 (en) Battery control method, battery control system, unmanned aerial vehicle, and battery
US10793016B2 (en) Automatic parking system with charging function and parking and charging method thereof
US20200269976A1 (en) Unmanned aerial vehicle for infrastructure maintenance
CN101461117B (en) Electronic device and connector fitting method
CN103869892B (en) Battery cover discharges
WO2021142597A1 (en) Battery control method and device, and storage medium
US20200376967A1 (en) Vehicle drive system
CN114454760B (en) Charging method, device, system, equipment and medium
JP2023139076A (en) System and method for pre-charge testing to prevent misuse of electric vehicle charging station
WO2019061519A1 (en) Foot frame sleeve for unmanned aerial vehicle, connecting component, and charging system and method for unmanned aerial vehicle
CN1484162A (en) Notobook computer capable of recharging portable electronic equipment
KR102436511B1 (en) Mobile x-ray apparatus and power controlling method in the mobile x-ray apparatus
CN211786023U (en) Short circuit detection circuit of battery charging outfit output
CN106385069A (en) Automatic butting charging device
US20220097544A1 (en) Charging system and information processing device
CN113928164A (en) Battery replacing mechanism, battery replacing system and battery replacing method
CN105514694A (en) Connector for connecting charging device and rechargeable battery
CN110509795B (en) Automatic charging method and device for mobile trolley and plug-in type charging male head assembly
CN205725038U (en) Robot cradle and robot
CN206164221U (en) Unmanned aerial vehicle gets electric installation on line
CN114336988A (en) Charging system, charging method and product for charging inspection device

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