CN116890670A - Unmanned aerial vehicle multi-mode charging management system and method based on flight mode - Google Patents
Unmanned aerial vehicle multi-mode charging management system and method based on flight mode Download PDFInfo
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- 238000010277 constant-current charging Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 10
- 238000010280 constant potential charging Methods 0.000 claims description 7
- 238000010281 constant-current constant-voltage charging Methods 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 230000009977 dual effect Effects 0.000 abstract description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—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
- B60L53/10—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
- B60L53/14—Conductive 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
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/007—Helicopter portable landing pads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
- B64F1/025—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables using decelerating or arresting beds
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
- H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/007—Regulation of charging or discharging current or voltage
- H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/10—Air crafts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Transportation (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Sustainable Energy (AREA)
- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The application discloses an unmanned aerial vehicle multi-mode charging method based on a flight mode, which comprises the following steps of: step one: detecting the remaining battery energy of the unmanned aerial vehicle, and judging whether charging is needed or not: if the unmanned aerial vehicle does not need to be charged, the unmanned aerial vehicle stands by; if the flying task needs to be charged, continuously judging whether the flying task is received or not; if the flight mission is not received, charging to the preset electric quantity; if the flying mission is received, the flying mission content is divided into a rotor wing mode and a fixed wing mode according to the flying mode, the energy required by each mode of the unmanned aerial vehicle is estimated, and the total charging energy is obtained; step two: and carrying out charging management on the unmanned aerial vehicle based on the obtained total charging energy. The method can more accurately estimate the charging energy required by the task based on the flight mode; the multi-mode charging can more effectively manage and maintain the battery; the most suitable charging mode can be selected based on task and environmental factors, which is beneficial to prolonging the service life of the battery and fully playing the function of dual redundancy.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle charging, in particular to an unmanned aerial vehicle multi-mode charging management system and method based on a flight mode.
Background
An unmanned aerial vehicle automatic airport is an automated device that can provide docking storage and automatic charging for an unmanned aerial vehicle. The existing unmanned aerial vehicle automatic airport adopts a single mode of contact charging, wireless charging or solar charging to realize charging of the unmanned aerial vehicle battery, and because only one charging mode is adopted, a charging system is easy to overload for a long time, the reliability of a charging device is reduced, the failure rate of the charging system is increased, and after a charging module fails, the whole system falls into a stagnation state and cannot automatically charge the unmanned aerial vehicle battery.
In order to solve the defects of high failure rate, poor stability, high maintenance cost and the like caused by a single charging mode, an unmanned aerial vehicle automatic airport charging system with contact charging and wireless charging functions exists at present. However, in the existing system, the mode selection strategies for contact charging and wireless charging are single, and the multi-dimensional analysis of the external environment, the health state of the charging system, the state of a machine nest platform and the like is not performed, so that the charging mode cannot be reasonably and finely selected, and adverse effects such as abnormal charging, reduction of the service lives of a charging module and a battery, increase of maintenance time and cost and the like are easily caused.
Meanwhile, in order to effectively manage the charging device to reasonably charge the unmanned aerial vehicle battery, unnecessary power resource waste is reduced, charging efficiency is improved, and energy required by the unmanned aerial vehicle to execute tasks is needed to be estimated. In the prior art, although there is a method for estimating the energy required by the unmanned aerial vehicle to execute the task according to the flight distance and average power of the unmanned aerial vehicle, no fine calculation is performed according to the flight modes of the unmanned aerial vehicle at different stages and the energy loss under different environments, especially the composite wing unmanned aerial vehicle, a plurality of different modes exist, such as a rotor wing mode, a fixed wing mode and a transitional mode, the energy loss difference of the unmanned aerial vehicle under the different modes is larger, if the energy estimation is performed according to the traditional method, the estimation accuracy is easy to be low, and the referenceability is poor. Therefore, a more refined and accurate unmanned aerial vehicle energy prediction method is needed to effectively manage and guide the unmanned aerial vehicle charging module to reasonably charge the unmanned aerial vehicle battery.
Disclosure of Invention
Aiming at the defects of the prior art, the application aims to provide an unmanned aerial vehicle multi-mode charging management system and method based on a flight mode, which solve the technical problems of low accuracy and poor referenceability of a charging energy estimation method in the prior art.
In order to solve the technical problems, the application adopts the following technical scheme: a unmanned aerial vehicle multimode charging method based on a flight mode comprises the following steps:
step one: detecting the remaining battery energy of the unmanned aerial vehicle, and judging whether charging is needed or not:
if the unmanned aerial vehicle does not need to be charged, the unmanned aerial vehicle stands by;
if the unmanned aerial vehicle needs to be charged, continuously judging whether the unmanned aerial vehicle receives a flight task or not;
if the flight task is not received, charging the unmanned aerial vehicle to a preset electric quantity;
if the unmanned aerial vehicle receives the flight mission, dividing the flight mission into a rotor wing mode and a fixed wing mode according to the flight mode, and estimating the energy required by the rotor wing mode and the energy required by the fixed wing mode of the unmanned aerial vehicle;
obtaining total charging energy based on the energy required by the rotor wing mode and the energy required by the fixed wing mode, wherein the total charging energy comprises the energy required by the rotor wing mode, the energy required by the fixed wing mode, the back-flying energy and a preset allowance;
step two: and carrying out charging management on the unmanned aerial vehicle based on the obtained total charging energy.
The application also has the following technical characteristics:
the required energy of the rotor wing mode and the required energy of the fixed wing mode specifically comprise:
dividing the rotor wing mode into a vertical take-off stage and a vertical landing stage, and obtaining the energy required by the rotor wing mode based on the energy required by the lifting and lowering of the lifting and lowering height and the lifting and lowering of the unit height respectively;
dividing the fixed wing modes into a cruising stage, a spiral climbing stage and a spiral descending stage, and obtaining the energy required by the fixed wing modes based on the rated cruising energy of the unmanned aerial vehicle in the cruising stage, the energy required by the spiral climbing stage and the spiral descending stage and the energy and resistance consumption required by the unmanned aerial vehicle against environmental factors.
The criteria for judging whether charging is needed are: whether the current battery remaining energy reaches less than a preset threshold;
if the flight mission is not received, charging to the preset electric quantity specifically comprises:
when the flight mission is not received and the remaining energy of the battery meets a preset charging condition, charging the battery to the preset energy;
when the flight mission is not received and the remaining battery energy does not meet a preset charging condition, no charging is required.
The preset energy is 75% -85% of the total energy of the battery.
The charging process is divided into two charging stages of constant-current charging and constant-voltage charging, and the constant-current charging is switched to the constant-voltage charging when the electric quantity of the battery reaches a preset value.
The unmanned aerial vehicle multi-mode charging management system based on the flight mode comprises a machine nest, wherein the machine nest comprises a cabin body and a rotary platform arranged at the top of the cabin body, and a clamping mechanism and a wireless charging coil are arranged on the rotary platform; the clamping mechanism is provided with a contact charging device;
the rotating platform is used for parking the unmanned aerial vehicle, and the contact charging device is used for carrying out wired charging on the unmanned aerial vehicle;
the unmanned aerial vehicle multi-mode charging management system based on the flight mode further comprises an energy estimation module, an environment state detection module and a charging strategy module, wherein the energy estimation module and the environment state detection module are respectively connected with the charging strategy module;
the energy estimation module is used for measuring the residual energy of the battery and receiving the flight task of the unmanned aerial vehicle, and determining the task content of the unmanned aerial vehicle for executing the flight task; the task content is divided into a rotor wing mode and a fixed wing mode according to the flight mode; estimating the energy required by each mode of the unmanned aerial vehicle to obtain total charging energy;
the environment state detection module comprises an external environment state detection module and a self-charging system detection module, wherein the external environment state detection module is used for detecting external environment information, and the self-charging system detection module is used for detecting information of self-influencing a charging selection mode to obtain a contact charging state and a wireless charging state;
the charging strategy module is used for determining a charging mode based on the contact charging state obtained by detection of the environmental state detection module, the wireless charging state and the total charging energy obtained by the energy estimation module.
The unmanned aerial vehicle multimode charging method based on the flight mode is carried out by adopting the unmanned aerial vehicle multimode charging management system based on the flight mode, and comprises the following steps of:
step 1, after the unmanned aerial vehicle falls, the clamping mechanism clamps the unmanned aerial vehicle in place;
step 2, an energy estimation module detects the residual energy of the unmanned aerial vehicle battery and judges whether the battery reaches less than a preset threshold value or not;
step 3, if the charging is not needed, the system stands by and continues to judge the charging state until the energy condition needing to be charged is reached;
step 4, if charging is needed, the energy estimation module judges whether the unmanned aerial vehicle has a flight task or not;
step 5, if no flight task exists, the charging energy is designed to be 75% -85% of the total energy of the battery;
step 6, if a flight mission exists, dividing the flight mission into a rotor wing mode and a fixed wing mode according to the flight mode, estimating energy required by the rotor wing mode and the fixed wing mode of the unmanned plane, and adding the obtained energy required by the rotor wing mode and the fixed wing mode to obtain total charging energy;
step 7, the environment state detection module receives and detects the states of an external environment and a self-charging system;
step 8, the charging strategy module classifies and sorts the states according to the charging conditions, judges the charging mode and charges the states;
and 9, finishing charging and executing tasks.
In step 6:
the energy required by the rotor mode comprises the energy required by the vertical take-off stage and the energy required by the vertical landing stage;
the energy required by the fixed wing mode comprises the energy required by a cruising stage, the energy required by a spiral climbing stage and the energy required by a spiral descending stage;
the states of the external environment and the self-charging system include: one of a normal contact state of charge, an improper contact state of charge, or a damaged contact state of charge, and one of a normal wireless state of charge, an improper wireless state of charge, or a damaged wireless state of charge.
Step 8 comprises the steps of:
when the contact charging state is normal, the contact charging is carried out;
when the contact state of charge is poor, evaluate the wireless state of charge:
when the wireless charging state is normal, wireless charging is performed;
when the wireless charging state is poor, performing contact charging;
when the wireless charging state is damaged, carrying out contact charging;
when the contact state of charge damages, evaluate wireless state of charge:
when the wireless charging state is normal, wireless charging is performed;
when the wireless charging state is poor, wireless charging is performed;
when the wireless charging state is damaged, maintenance is needed;
the charging process is divided into two charging stages of constant-current charging and constant-voltage charging, and the constant-current charging is switched to the constant-voltage charging when the electric quantity of the battery reaches a preset value.
Compared with the prior art, the application has the following technical effects:
the method can more accurately estimate the charging energy required by the task based on the flight mode; the multi-mode charging can more effectively manage and maintain the battery; the most suitable charging mode can be selected based on task and environmental factors, which is beneficial to prolonging the service life of the battery and fully playing the function of dual redundancy.
Drawings
Fig. 1 is a schematic diagram of an unmanned aerial vehicle multi-mode charging management system based on a flight mode according to an embodiment of the present application;
fig. 2 is a schematic diagram of a structure of an unmanned aerial vehicle nest according to an embodiment of the present application;
fig. 3 is a schematic diagram of a charging principle of two modes according to an embodiment of the present application.
Meaning of the individual reference numerals in the drawings:
the device comprises a 1-aircraft nest, a 2-aircraft nest top cover, a 3-cabin body, a 4-rotary platform, a 5-clamping mechanism, a 6-wireless charging coil, a 7-contact charging device, an 8-unmanned aerial vehicle, a 9-parking apron, a 10-balance charging module, an 11-unmanned aerial vehicle motor control board and a 12-battery pack;
the wireless charging system comprises a 6-1 wireless charging transmitting end power panel, a 6-2 wireless charging transmitting end power supply, a 6-3 wireless charging transmitting end coil, a 6-4 wireless charging receiving end coil and a 6-5 wireless charging receiving end control panel;
7-1 contact charging negative electrode, 7-2 contact charging positive electrode, 7-3 unmanned aerial vehicle contact charging positive electrode and 7-4 unmanned aerial vehicle contact charging negative electrode.
The following examples illustrate the application in further detail.
Detailed Description
In order to make the technical scheme of the present application better understood by those skilled in the art, the following specific embodiments of the present application are given in conjunction with the accompanying drawings, and it should be noted that the present application is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical scheme of the present application fall within the protection scope of the present application.
The reference numerals (e.g. 1,2,3 and … …) of the drawings in the present document are based on the positional relationship of the different drawings, and the corresponding meanings are different, so the scope of protection is not to be construed as being limited thereby.
The use of the terms "rotated" and the like in relation to orientation or positional relationship as used herein is merely for convenience of description and to simplify the description, and does not indicate or imply that the devices or elements referred to must have a particular manner of rotation, "inner" and "outer" refer to the inner and outer of the respective component profiles, and the terms mentioned above are not to be construed as limiting the application.
The mathematical symbols used in the present application are for convenience in describing the principle of the method and do not represent a specific meaning, and the above symbols should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying a number of technical features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
In the present application, unless otherwise indicated, the terms "recommended value" and the like are to be construed broadly and may be values recommended by the present application, may be greater than the recommended value, or may be less than the recommended value. The specific meaning of the above terms in the present application can be understood by those skilled in the art according to the specific circumstances.
All parts of the application, unless otherwise specified, are known in the art.
Example 1:
a unmanned aerial vehicle multimode charging method based on a flight mode comprises the following steps:
step one: detecting the remaining battery energy of the unmanned aerial vehicle, and judging whether charging is needed or not:
if the unmanned aerial vehicle does not need to be charged, the unmanned aerial vehicle stands by;
if the unmanned aerial vehicle needs to be charged, continuously judging whether the unmanned aerial vehicle receives a flight task or not;
if the flight task is not received, charging the unmanned aerial vehicle to a preset electric quantity;
if the unmanned aerial vehicle receives the flight mission, dividing the flight mission into a rotor wing mode and a fixed wing mode according to the flight mode, and estimating the energy required by the rotor wing mode and the energy required by the fixed wing mode of the unmanned aerial vehicle;
obtaining total charging energy based on the energy required by the rotor wing mode and the energy required by the fixed wing mode, wherein the total charging energy comprises the energy required by the rotor wing mode, the energy required by the fixed wing mode, the back-flying energy and a preset allowance;
step two: and carrying out charging management on the unmanned aerial vehicle based on the obtained total charging energy.
As one preferable example of the present embodiment:
the required energy of the rotor wing mode and the required energy of the fixed wing mode specifically comprise:
dividing the rotor wing mode into a vertical take-off stage and a vertical landing stage, and obtaining the energy required by the rotor wing mode based on the energy required by the lifting and lowering of the lifting and lowering height and the lifting and lowering of the unit height respectively;
dividing the fixed wing modes into a cruising stage, a spiral climbing stage and a spiral descending stage, and obtaining the energy required by the fixed wing modes based on the rated cruising energy of the unmanned aerial vehicle in the cruising stage, the energy required by the spiral climbing stage and the spiral descending stage and the energy and resistance consumption required by the unmanned aerial vehicle against environmental factors.
As one preferable example of the present embodiment:
the criteria for judging whether charging is needed are: whether the current battery remaining energy reaches less than a preset threshold;
the preset threshold value range is 70% -25% of the total energy of the battery, and is preferably 30%;
in the first step, if the flight mission is not received, charging to the preset electric quantity specifically includes:
when the flight mission is not received and the remaining energy of the battery meets a preset charging condition, charging the battery to the preset energy;
when the flight mission is not received and the remaining battery energy does not meet a preset charging condition, no charging is required.
As one preferable example of the present embodiment:
the preset energy is 75% -85% of the total energy of the battery, preferably 80%
As one preferable example of the present embodiment:
the charging process is divided into two charging stages of constant-current charging and constant-voltage charging, and the constant-current charging is switched to the constant-voltage charging when the electric quantity of the battery reaches a preset value.
The preset value is 80% of the target charging energy, namely in the charging process, in order to prolong the service life of the battery, constant current charging is adopted for the first 80% of energy, and constant voltage charging is adopted for the second 20% of energy.
Example 2:
in order to facilitate understanding of the charging implementation process, an unmanned aerial vehicle 8 is also shown in fig. 2. As shown in fig. 2, an unmanned aerial vehicle honeycomb comprises a machine nest 1 and an unmanned aerial vehicle 8, wherein the top of the machine nest 1 is covered with an organic nest top cover 2, the machine nest 1 comprises a cabin body 3 and a rotary platform 4 arranged at the top of the cabin body 3, and a clamping mechanism 5 and a wireless charging coil 6 are arranged on the rotary platform 4; the clamping mechanism 5 is provided with a contact charging device 7.
The rotating platform 4 is used for parking the unmanned aerial vehicle, the clamping mechanism 5 is used for clamping and centering the parked unmanned aerial vehicle, and the contact charging device 7 is used for carrying out wired charging on the unmanned aerial vehicle; the rotary platform 4 is connected to the clamping mechanism 5 via the apron 9.
The wireless charging coil 6 comprises a wireless charging transmitting end power panel 6-1, a wireless charging transmitting end power supply 6-2 and a wireless charging transmitting end coil 6-3 which are arranged below the parking apron 9, and a wireless charging receiving end coil 6-4 and a wireless charging receiving end control panel 6-5 are correspondingly arranged on the unmanned aerial vehicle 8; the wireless charging transmitting terminal power panel 6-1, the wireless charging transmitting terminal power supply 6-2 and the wireless charging transmitting terminal coil 6-3 form a transmitting terminal, and the wireless charging receiving terminal coil 6-4 and the wireless charging receiving terminal control panel 6-5 form a receiving terminal.
The contact charging device 7 comprises a contact charging negative electrode 7-1 and a contact charging positive electrode 7-2 which are arranged on the clamping mechanism 5 and are respectively used for connecting an unmanned aerial vehicle contact charging negative electrode 7-4 and an unmanned aerial vehicle contact charging positive electrode 7-3 which are arranged on the landing gear of the unmanned aerial vehicle 8, so that contact charging is realized.
As shown in fig. 2, the unmanned aerial vehicle 8 is further provided with a balance charging module 10, an unmanned aerial vehicle circuit control board 11, and a battery pack 12.
The balance charging module 10 is connected to the battery pack 12 during charging, and balances the charging voltage of the battery cells inside the battery.
The unmanned aerial vehicle multimode charging management system based on the flight mode further comprises an energy estimation module, an environment state detection module and a charging strategy module, wherein the energy estimation module and the environment state detection module are respectively connected with the charging strategy module.
The energy estimation module is used for detecting the remaining energy of the battery and receiving the flight task of the unmanned aerial vehicle, and determining the task content of the unmanned aerial vehicle for executing the flight task; the task content is divided into a rotor wing mode and a fixed wing mode according to the flight mode; and estimating the energy required by each mode of the unmanned aerial vehicle, and obtaining the total charging energy.
The environment state detection module comprises an external environment state detection module and a self-charging system detection module, wherein the external environment state detection module is used for detecting external environment information, and the self-charging system detection module is used for detecting information of self-influencing a charging selection mode to obtain a contact charging state and a wireless charging state.
The charging strategy module is used for determining a charging mode based on the contact charging state obtained by detection of the environmental state detection module, the wireless charging state and the total charging energy obtained by the energy estimation module.
According to the unmanned aerial vehicle multi-mode charging management system based on the flight mode, the energy required by a task can be estimated more accurately through the energy estimation module; the charging strategy module performs charging management through information obtained based on the environment state detection module and the energy estimation module. The multi-mode charging can more effectively manage and maintain the battery; the most suitable charging mode can be selected based on task and environmental factors, which is beneficial to prolonging the service life of the battery and fully playing the function of dual redundancy.
The specific process of wireless charging is as follows:
the wireless charging transmitting end power supply 6-2 is connected with an external 220v alternating current power supply and then is connected with the wireless charging transmitting end power panel 6-1 to be converted into high-frequency high-voltage alternating current;
the wireless charging transmitting end power panel 6-1 is connected with the wireless charging transmitting end coil 6-3;
when an external power supply is connected, the wireless charging transmitting end coil 6-3 and the wireless charging receiving end coil 6-4 are subjected to electromagnetic coupling to carry out wireless charging, and the wireless charging distance is 20cm;
the wireless charging receiving end coil 6-4 is fixed at the lower position of the abdomen of the unmanned aerial vehicle, and the wireless charging receiving end coil 6-4 is connected with the wireless charging receiving end control board 6-5 to output direct-current voltage;
the wireless charging receiving end control board 6-5 is connected with the battery pack 12 for charging after passing through the unmanned aerial vehicle circuit control board 11 on the unmanned aerial vehicle;
the balance charging module 10 is connected with the battery pack 12 during charging, and the charging electricity of the battery core inside the battery is balanced until the required electric quantity is charged.
The contact charging method comprises the following specific processes:
the unmanned aerial vehicle contact charging positive electrode 7-3 is communicated with the contact charging positive electrode 7-2;
the unmanned aerial vehicle contact charging negative electrode 7-4 is communicated with the contact charging negative electrode 7-1;
the contact charging negative electrode 7-1 and the contact charging positive electrode 7-2 are respectively connected with the battery pack 12 through an unmanned aerial vehicle circuit control board 11 on the unmanned aerial vehicle 8;
the battery pack 12 is charged, and the balance charging module 10 is connected with the battery pack 12 during charging to balance the charging voltage of the battery cells in the battery until the required electric quantity is charged.
Example 3:
the application provides a unmanned aerial vehicle multi-mode charging method based on a flight mode,
the method comprises the following steps:
step 1, after the unmanned aerial vehicle falls, the clamping mechanism clamps the unmanned aerial vehicle in place;
step 2, an energy estimation module detects the residual energy of the unmanned aerial vehicle battery and judges whether the battery reaches less than a preset threshold value or not; the preset threshold value range is 70% -25% of the total energy of the battery, and is preferably 30%;
step 3, if the charging is not needed, the system stands by and continues to judge the charging state until the energy condition needing to be charged is reached;
step 4, if charging is needed, the energy estimation module judges whether the unmanned aerial vehicle has a flight task or not;
step 5, if no flight mission exists, the charging energy is designed to be 75% -85% of the total energy of the battery, preferably 80%
Step 6, if a flight mission exists, dividing the flight mission into a rotor wing mode and a fixed wing mode according to the flight mode, estimating energy required by the rotor wing mode and the fixed wing mode of the unmanned plane, and adding the obtained energy required by the rotor wing mode and the fixed wing mode to obtain total charging energy;
step 7, the environment state detection module receives and detects the states of an external environment and a self-charging system;
step 8, the charging strategy module classifies and sorts the states according to the charging conditions, judges the charging mode and charges the states;
and 9, finishing charging and executing tasks.
Step 6 comprises the steps of:
the energy required by the rotor mode comprises the energy required by the vertical take-off stage and the energy required by the vertical landing stage;
the energy required by the fixed wing mode comprises the energy required by a cruising stage, the energy required by a spiral climbing stage and the energy required by a spiral descending stage;
the energy definition and calculation mode of each stage is as follows:
vertical takeoff phase energy: flying height H Hanging up * Energy E required per unit height Hanging up ：
Energy required for vertical landing phase: vertical landing height H of unmanned aerial vehicle Drop down * Energy E required per unit height Drop down ；
Cruise phase energy: the energy required by rated cruising of the unmanned aerial vehicle without considering environmental factors is added to the energy required by the unmanned aerial vehicle to fight the environmental factors and the resistance consumption is added to the unmanned aerial vehicle;
E cruising device ＝P Cruising device ·T Cruising device +E Environment 1 +E Resistance 1
A cruise spiral climbing stage and a descending stage: the energy required in the spiral climbing stage and the spiral descending stage is more than the energy required by the unmanned aerial vehicle for resisting environmental factors and the resistance consumption;
E climbing up ＝P Climbing up ·T Climbing up +E Environment 2 +E Resistance 2
E Descent down ＝P Descent down ·T Descent down +E Environment 3 +E Resistance 3
Before executing the task, the energy required for charging not only comprises the energy required for the task, but also needs to consider the return energy, namely:
mission energy = rotor modal energy (vertical takeoff energy + vertical landing energy) +fixed wing modal energy (cruise energy)
Charging energy = mission required energy + return energy
Assuming the required energy of the rotor mode is E 1 The method comprises the steps of carrying out a first treatment on the surface of the The average power of the fixed wing mode is E 2 The method comprises the steps of carrying out a first treatment on the surface of the The energy required for the task is estimated as:
E 1 ＝E take-off +E Drop down
E 2 ＝E Cruising device +E Climbing up +E Descent down
E i ＝E 1 +E 2
Assuming that the return energy is the total nominal energy E 0 30% of the total amount of the battery, the energy required for charging is:
E＝E i +30％*E 0
the total rated energy is the total energy of the fully charged battery, namely the rated energy of the battery, and can be manually obtained during installation or the energy information parameters of the battery can be obtained in real time by control software during charging.
In order to ensure the safe return of the unmanned aerial vehicle, the charging energy further considers a preset margin E Allowance of The energy required for charging at this time is:
E＝E i +30％*E 0 +E allowance of
Step 7 comprises the steps of:
the states of the external environment and the self-charging system include: one of a normal contact state of charge, an improper contact state of charge, or a damaged contact state of charge, and one of a normal wireless state of charge, an improper wireless state of charge, or a damaged wireless state of charge.
The contact charge state is determined to be bad when one of the following states occurs:
1.3% < electrical impedance <5%;2. the air humidity is greater than 75%;
the contact charge state is determined to be damaged when one of the following states occurs:
1. electrical impedance >5%;2. the contact point is abnormal; 3. the power conversion module is abnormal; 4. the temperature in the nest is over high by more than 50 ℃;5. the temperature of the battery is more than 50 ℃;
the wireless charging state is determined to be bad when one of the following states occurs:
1. 20cm < landing gear to charging platform distance <22cm; 2. 75% < effective charge area <100%; 3. task interval time <50% full time; 4. ups state down; 5. the battery life exceeds 80% of the charge cycle.
The wireless charging state is determined to be damaged when one of the following states occurs:
1. landing gear to charging platform distance >22cm; 2. effective charge area <75%; 3. aging a wireless charging board circuit; 4. drying the electrolyte; 5. the platform is provided with metal foreign matters; 6. the power conversion module is abnormal; 7. the temperature in the nest is over-high and is more than 50 ℃; 8. the temperature of the battery itself is >80 ℃.
Wherein:
1) The electrical impedance is calculated by the following formula: assuming that the current at the contact is I and the power is P, the electrical impedance R is:
R＝P/I 2
2) Abnormal state at the contact point: detecting dust deposit on the contact, water on the contact, damage to the contact and aging of the charging circuit in an image recognition mode;
the contact charging power supply conversion module is abnormal: the switching voltage is too large (more than 50.4V) or too small (less than 21V), the charging current is more than 20A, and the charging current is less than the minimum charging current of the battery (0.01C of the battery capacity);
aging of the wireless charging board circuit: long-time working, dust and bearing cause fan aging;
drying the electrolyte: the electrolytic capacitor works for a long time, the internal electrolyte is dried up, the environment is bad, and the failure of the electrolytic capacitor is accelerated;
the wireless charging power supply conversion module is abnormal: the switching voltage is too large (54V) or too small (less than 21V), the charging current is more than 20A, and the charging current is less than the minimum charging current of the battery (0.01C of the battery capacity);
ups status downlink: to save energy and reduce loss, contact charging is performed preferentially;
step 8 comprises the steps of:
when the contact charging state is normal, the contact charging is carried out;
when the contact state of charge is poor, evaluate the wireless state of charge:
when the wireless charging state is normal, wireless charging is performed;
when the wireless charging state is poor, performing contact charging;
when the wireless charging state is damaged, carrying out contact charging;
when the contact state of charge is damaged, evaluate the wireless state of charge:
when the wireless charging state is normal, wireless charging is performed;
when the wireless charging state is poor, wireless charging is performed;
when the wireless charging state is damaged, maintenance is needed;
in the charging process, in order to prolong the service life of the battery, constant-current charging is adopted for the first 80% of energy, and constant-voltage charging is adopted for the second 20% of energy.
The energy estimation and charging mode selection realization cases of unmanned aerial vehicle flight tasks are as follows:
empty state (26.5 Kg):
task description:
the unmanned plane flies vertically to a height of 50m relative to a flying spot at a starting point, and the vertical rising speed is 2m/s;
the unmanned plane spirals to the north around a point 200m away from the starting point to a height of 100m relative to the flying point, the spiral length is 600m, and the spiral rising speed is 10m/s;
the unmanned plane faces to the east, keeps high flight 30.268Km, and has cruising speed of 21.2m/s;
the unmanned plane is directed south, the altitude flight is kept for 15.441km, and the cruising speed is 21.2m/s;
the unmanned plane faces the west, keeps high flight 50.745km, and cruises at a speed of 21.2m/s;
the unmanned plane faces north, keeps high flight 15.435km, and has cruising speed of 21.2m/s;
the unmanned plane keeps high flight 21.651km to a point 200m far to the east from the starting point, and the cruising speed is 21.2m/s;
the unmanned plane spirals around the point to a height of 50m relative to the flying point, the spiral length is 1080m, and the speed of the spiral descending stage is 10m/s;
the unmanned aerial vehicle starts to vertically drop, the drop height is 50m, and the vertical drop speed is 1.6m/s.
The total length of the task is 135.32km, and the total length of the task is 108.74min.
Decomposing the task into the following steps according to the flight mode:
the total energy of the cell was 2280wh, and the expected percentage of required full energy was:
1250.21/2280+0.3≈0.85
assuming a current remaining energy of 40%, the energy required to complete this task is 85%, 45% charge is required,
if the task takes off for one hour, the charging efficiency of the contact charging is 92%, the efficiency of the wireless charging is 80%, the safety current of the contact charging and the wireless charging is 15000mA, the battery capacity is 25000mA, and the required charging energy is as follows:
25000*0.45＝11250mA
time required for contact charging: 11250/0.92/15000 x 1.2 x 60 ≡58.7min
Time required for wireless charging: 11250/0.8/15000 x 1.2 x 60 ≡67.5min >60min
Thus, the final selected charging mode is contact charging.
2) If the task take-off time is pending, the charging time is not considered:
if Ups is in the working state at this time, in order to reduce the loss of energy, contact charging with higher charging efficiency is preferentially adopted, after contact charging is tried, contact charging current is found to be larger than 20A, charging current is too high, potential safety hazards exist, the wireless charging is switched to wireless charging, and the wireless charging duration is estimated to be 67.5min.
The above is merely a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that may be made by those skilled in the art without creative efforts within the technical scope of the present application should be covered in the scope of the present application.
Claims (10)
1. The unmanned aerial vehicle multimode charging method based on the flight mode is characterized by comprising the following steps of:
step one: detecting the remaining battery energy of the unmanned aerial vehicle, and judging whether charging is needed or not:
if the unmanned aerial vehicle does not need to be charged, the unmanned aerial vehicle stands by; if the unmanned aerial vehicle needs to be charged, continuously judging whether the unmanned aerial vehicle receives a flight task or not;
if the flight task is not received, charging the unmanned aerial vehicle to a preset electric quantity; if the unmanned aerial vehicle receives the flight mission, dividing the flight mission into a rotor wing mode and a fixed wing mode according to the flight mode, and estimating the energy required by the rotor wing mode and the energy required by the fixed wing mode of the unmanned aerial vehicle;
obtaining total charging energy based on the energy required by the rotor wing mode and the energy required by the fixed wing mode, wherein the total charging energy comprises the energy required by the rotor wing mode, the energy required by the fixed wing mode, the back-flying energy and a preset allowance;
step two: and carrying out charging management on the unmanned aerial vehicle based on the obtained total charging energy.
2. The method of claim 1, wherein,
the required energy of the rotor wing mode and the required energy of the fixed wing mode specifically comprise:
dividing the rotor wing mode into a vertical take-off stage and a vertical landing stage, and obtaining the energy required by the rotor wing mode based on the energy required by the lifting and lowering of the lifting and lowering height and the lifting and lowering of the unit height respectively;
dividing the fixed wing modes into a cruising stage, a spiral climbing stage and a spiral descending stage, and obtaining the energy required by the fixed wing modes based on the rated cruising energy of the unmanned aerial vehicle in the cruising stage, the energy required by the spiral climbing stage and the spiral descending stage and the energy and resistance consumption required by the unmanned aerial vehicle against environmental factors.
3. The method of claim 1, wherein the criterion for determining whether charging is required in the first step is: whether the current battery remaining energy is smaller than a preset threshold;
in the first step, if the flight mission is not received, charging to the preset electric quantity specifically includes:
when the flight mission is not received and the remaining energy of the battery meets a preset charging condition, charging the battery to the preset energy;
when the flight mission is not received and the remaining battery energy does not meet a preset charging condition, no charging is required.
4. A method according to claim 3, wherein the predetermined energy is 75% -85% of the total energy of the battery.
5. A method according to any one of claims 1-4, characterized in that the charging process is divided into two charging phases, constant-current charging and constant-voltage charging, and the constant-current charging is switched to constant-voltage charging when the battery charge reaches a preset value.
6. The unmanned aerial vehicle multi-mode charging management system based on the flight mode comprises a machine nest (1), wherein the machine nest (1) comprises a cabin body (3) and a rotary platform (4) arranged at the top of the cabin body (3), and a clamping mechanism (5) and a wireless charging coil (6) are arranged on the rotary platform (4); a contact charging device (7) is arranged on the clamping mechanism (5);
the rotating platform (4) is used for parking the unmanned aerial vehicle, and the contact charging device (7) is used for carrying out wired charging on the unmanned aerial vehicle;
the unmanned aerial vehicle multi-mode charging management system based on the flight mode is characterized by further comprising an energy estimation module, an environment state detection module and a charging strategy module, wherein the energy estimation module and the environment state detection module are respectively connected with the charging strategy module;
the energy estimation module is used for measuring the residual energy of the battery and receiving the flight task of the unmanned aerial vehicle, and determining the task content of the unmanned aerial vehicle for executing the flight task; the task content is divided into a rotor wing mode and a fixed wing mode according to the flight mode; estimating the energy required by each mode of the unmanned aerial vehicle to obtain total charging energy;
the environment state detection module comprises an external environment state detection module and a self-charging system detection module, wherein the external environment state detection module is used for detecting external environment information, and the self-charging system detection module is used for detecting information of self-influencing a charging selection mode to obtain a contact charging state and a wireless charging state;
the charging strategy module is used for determining a charging mode based on the contact charging state obtained by detection of the environmental state detection module, the wireless charging state and the total charging energy obtained by the energy estimation module.
7. The unmanned aerial vehicle multimode charging method based on the flight mode is characterized by comprising the following steps of:
step 1, after the unmanned aerial vehicle falls, the clamping mechanism clamps the unmanned aerial vehicle in place;
step 2, an energy estimation module detects the residual energy of the unmanned aerial vehicle battery and judges whether the battery is smaller than a preset threshold value or not;
step 3, if the charging is not needed, the system stands by and continues to judge the charging state until the energy condition needing to be charged is reached;
step 4, if charging is needed, the energy estimation module judges whether the unmanned aerial vehicle has a flight task or not;
step 5, if no flight task exists, the charging energy is designed to be 75% -85% of the total energy of the battery;
step 6, if a flight mission exists, dividing the flight mission into a rotor wing mode and a fixed wing mode according to the flight mode, estimating energy required by the rotor wing mode and the fixed wing mode of the unmanned plane, and adding the obtained energy required by the rotor wing mode and the fixed wing mode to obtain total charging energy;
step 7, the environment state detection module receives and detects the states of an external environment and a self-charging system;
step 8, the charging strategy module classifies and sorts the states according to the charging conditions, judges the charging mode and charges the states;
and 9, finishing charging and executing tasks.
8. The method of claim 7, wherein in step 6:
the energy required by the rotor mode comprises the energy required by the vertical take-off stage and the energy required by the vertical landing stage;
the energy required by the fixed wing mode comprises the energy required by a cruising stage, the energy required by a spiral climbing stage and the energy required by a spiral descending stage;
the states of the external environment and the self-charging system include: one of a normal contact state of charge, an improper contact state of charge, or a damaged contact state of charge, and one of a normal wireless state of charge, an improper wireless state of charge, or a damaged wireless state of charge.
9. The method of claim 8, wherein step 8 comprises the steps of:
when the contact charging state is normal, the contact charging is carried out;
when the contact state of charge is poor, evaluate the wireless state of charge:
when the wireless charging state is normal, wireless charging is performed;
when the wireless charging state is poor, performing contact charging;
when the wireless charging state is damaged, carrying out contact charging;
when the contact state of charge is damaged, evaluate the wireless state of charge:
when the wireless charging state is normal, wireless charging is performed;
when the wireless charging state is poor, wireless charging is performed;
when the wireless state of charge is damaged, maintenance is required.
10. A method according to any one of claims 7-9, characterized in that the charging process is divided into two charging phases, constant-current charging and constant-voltage charging, and the constant-current charging is switched to constant-voltage charging when the battery charge reaches a preset value.
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