CN212889911U - Three-dimensional charging system of many unmanned aerial vehicles - Google Patents

Three-dimensional charging system of many unmanned aerial vehicles Download PDF

Info

Publication number
CN212889911U
CN212889911U CN202020723862.8U CN202020723862U CN212889911U CN 212889911 U CN212889911 U CN 212889911U CN 202020723862 U CN202020723862 U CN 202020723862U CN 212889911 U CN212889911 U CN 212889911U
Authority
CN
China
Prior art keywords
charging
unmanned aerial
aerial vehicle
dimensional code
module
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
CN202020723862.8U
Other languages
Chinese (zh)
Inventor
李宇翔
陈浩耀
姜欣
刘云辉
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.)
Harbin Institute Of Technology shenzhen Shenzhen Institute Of Science And Technology Innovation Harbin Institute Of Technology
Original Assignee
Harbin Institute Of Technology shenzhen Shenzhen Institute Of Science And Technology Innovation Harbin Institute Of Technology
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 Harbin Institute Of Technology shenzhen Shenzhen Institute Of Science And Technology Innovation Harbin Institute Of Technology filed Critical Harbin Institute Of Technology shenzhen Shenzhen Institute Of Science And Technology Innovation Harbin Institute Of Technology
Priority to CN202020723862.8U priority Critical patent/CN212889911U/en
Application granted granted Critical
Publication of CN212889911U publication Critical patent/CN212889911U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Landscapes

  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

The utility model provides a three-dimensional charging system of many unmanned aerial vehicles, including unmanned aerial vehicle and charging platform, be equipped with charging device and two-dimensional code recognizer on the unmanned aerial vehicle, charging platform be last be equipped with the charging base that the charging device cooperation is connected, charging device can with another the last charging device of unmanned aerial vehicle connects, be equipped with the confession on the charging base the first two-dimensional code label of two-dimensional code recognizer discernment. Unmanned aerial vehicle stacks on charging platform with range upon range of mode, has realized the effect that a charging seat charges for many unmanned aerial vehicles simultaneously, simultaneously through charging server's overall arrangement, and unmanned aerial vehicle's the time of charging reduces gradually along with the increase of the number of piles, can make the unmanned aerial vehicle that is located the top layer fill the electricity and carry out next task the fastest, has both improved charge efficiency, has also improved unmanned aerial vehicle's availability factor.

Description

Three-dimensional charging system of many unmanned aerial vehicles
Technical Field
The utility model belongs to unmanned aerial vehicle field of charging especially relates to a three-dimensional charging system of many unmanned aerial vehicles.
Background
In recent years, along with the continuous progress and development of unmanned aerial vehicle technology, unmanned aerial vehicles are more and more widely applied, and the unmanned aerial vehicle relates to a plurality of fields such as military affairs, civilian use, agriculture, aerial photography and the like. The unmanned aerial vehicle is an aircraft which utilizes a wireless remote control or control program to execute a specific aviation task, and refers to an aerial aircraft which does not carry operators, adopts aerodynamic force to provide required lift force for the aircraft, can automatically fly or remotely guide, and can be used for one time or recycled. The unmanned aerial vehicle can adapt to dangerous tasks, such as military investigation, electric power line patrol, disaster rescue and the like, and has the characteristics of low cost, strong maneuverability, diversified tasks, strong survival capability and the like. However, the design of the unmanned aerial vehicle system also has strict limitations in the aspects of size, weight, battery capacity and the like, so that the problems of short endurance mileage, long charging time and the like of most unmanned aerial vehicles are caused, particularly for a general single-layer unmanned aerial vehicle charging platform, when an unmanned aerial vehicle is charged at each charging position, the unmanned aerial vehicle at the subsequent charging position can continue to be charged when the unmanned aerial vehicle at the current charging position is required to be fully charged, and the unmanned aerial vehicle in the waiting process cannot perform other operations, so that the single-layer charging platform has the problem of low operation efficiency.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a three-dimensional charging system of many unmanned aerial vehicles aims at solving the problem that the individual layer charging platform has the operating efficiency low.
The utility model discloses a realize like this, a three-dimensional charging system of many unmanned aerial vehicles, including unmanned aerial vehicle and charging platform, be equipped with charging device and two-dimensional code recognizer on the unmanned aerial vehicle, charging platform be last be equipped with the charging base that the charging device cooperation is connected, charging device can with another charging device on the unmanned aerial vehicle connects, be equipped with the confession on the charging base the first two-dimensional code label of two-dimensional code recognizer discernment.
The utility model discloses a further technical scheme is: unmanned aerial vehicle still includes chassis, a plurality of robot arm subassembly and control box, a plurality of robot arm subassembly evenly distributed is in around the chassis, the robot arm subassembly includes horn, driving motor and screw, the one end of horn with the chassis is connected, driving motor locates the other end of horn, the screw with driving motor connects, the control box is located the chassis top, the control box top is equipped with the second two-dimensional code label, the two-dimensional code recognizer is located chassis bottom.
The utility model discloses a further technical scheme is: the control box includes:
the wireless communication module is used for communicating with the charging platform;
the battery module is used for supplying power to the unmanned aerial vehicle;
the charging control module is used for adjusting and controlling current and voltage in the unmanned aerial vehicle;
the motor driving module is used for controlling the rotating speed of the driving motor;
the positioning module is used for the unmanned aerial vehicle to acquire self position data;
and the microprocessor module is used for providing signals for the motor driving module to control the motor driving module to fly, reading the data of the positioning module and the two-dimensional code recognizer, controlling the wireless communication module to receive and transmit data, and controlling the charging control module to be switched on or switched off and reading the residual electric quantity of the machine body.
The utility model discloses a further technical scheme is: the charging device comprises a plurality of conductive seats and a plurality of conductive support rods, the number of the conductive seats corresponds to that of the conductive seats, the conductive seats are located at the top of the chassis and distributed around the control box, the conductive support rods are arranged at the bottom of the chassis, and the conductive support rods are connected with the corresponding conductive seats.
The utility model discloses a further technical scheme is: the charging platform comprises a charging server, a plurality of charging bases and a supporting seat, the plurality of charging bases are arranged on the supporting seat, the charging bases are connected with the charging server and provide electric energy for the charging server, and charging holes are formed in the charging bases and used for being connected with the conductive supporting rods.
The utility model has the advantages that: unmanned aerial vehicle stacks on charging platform with range upon range of mode, has realized the effect that a charging seat charges for many unmanned aerial vehicles simultaneously, simultaneously through charging server's overall arrangement, and unmanned aerial vehicle's the time of charging reduces gradually along with the increase of the number of piles, can make the unmanned aerial vehicle that is located the top layer fill the electricity and carry out next task the fastest, has both improved charge efficiency, has also improved unmanned aerial vehicle's availability factor.
Drawings
Fig. 1 is a top view of the unmanned aerial vehicle of the present invention;
fig. 2 is a front view of the utility model unmanned aerial vehicle;
fig. 3 is a top view of the charging platform of the present invention;
fig. 4 is the utility model discloses the range upon range of schematic diagram that charges of unmanned aerial vehicle.
Detailed Description
Reference numerals: 1-chassis, 2-horn, 3-driving motor, 4-propeller, 5-second two-dimensional code label, 6-control box, 7-two-dimensional code recognizer, 8-conductive seat, 9-conductive support rod, 10-charging server, 11-support seat, 12-charging base, 13-first two-dimensional code label, 14-charging hole.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Fig. 1-2 show unmanned aerial vehicle's whole outward appearance, unmanned aerial vehicle includes chassis 1, a plurality of horn subassembly and control box 6, a plurality of horn subassembly evenly distributed is in around chassis 1, the horn subassembly includes horn 2, driving motor 3 and screw 4, horn 2's one end with chassis 1 is connected, driving motor 3 locates horn 2's the other end, screw 4 with driving motor 3 connects, control box 6 locates 1 top on the chassis, 6 tops of control box are equipped with second two-dimensional code label 5, two-dimensional code recognizer 7 is located 1 bottom on the chassis. Unmanned aerial vehicle passes through control box 6 control driving motor 3 starts the drive screw 4 rotates, realizes unmanned aerial vehicle's flight. Wherein second two-dimensional code label 5 adopts general QR two-dimensional code for provide two-dimensional code serial number and positional data, every unmanned aerial vehicle has only two-dimensional code, two-dimensional code recognizer 7 is used for scanning two-dimensional code information on charging base 12 or other unmanned aerial vehicles. The horn 2 is equipped with four at least, electrically conductive seat 8 and electrically conductive branch 9 are equipped with four at least.
The control box 6 is the important core of unmanned aerial vehicle, its inside includes: the device comprises a wireless communication module, a battery module, a power-on control module, a motor driving module, a microprocessor module and a positioning module. And the wireless communication module is used for communicating the unmanned aerial vehicle with the charging server 10 or other scheduling systems, and can adopt low-power-consumption communication technologies such as WIFI, infrared, Bluetooth and ZigBee. The battery module is used for providing electric energy for each power utilization module of the unmanned aerial vehicle, the power-on control module can be used for connecting an external power supply to charge the power utilization module, and a lithium battery can be adopted. A charging control module: the charging circuit comprises a voltage stabilizing circuit, a relay and a battery charging circuit; the voltage stabilizing circuit is used for adjusting the output voltage of the battery to the voltage required by other power utilization modules, can detect the residual electric quantity of the battery and transmits the residual electric quantity to the microprocessor; the relay is used for controlling the on-off of the conductive support rod 9 and a battery charging circuit, the microprocessor sends signals to control the on-off, when the charging platform is landed on, the relay is switched on to charge the system, and the relay is switched off in other states. The battery charging circuit provides stable charging voltage and current for the battery. And the motor driving module is used for controlling the rotation of each motor, receiving the control signal from the microprocessor module and controlling the rotating speed of the motor. And the positioning module is used for the unmanned aerial vehicle to obtain the position of the unmanned aerial vehicle, provides position data for the microprocessor module, and can adopt wireless positioning technologies such as GPS and GNSS. The microprocessor module, unmanned aerial vehicle's core component can provide signal control self flight for motor drive module, can read orientation module and two-dimensional code identification module's data, and automatic planning flight path controls wireless communication module transceiver data, controls the switch-on or disconnection of charging control module and reads the residual capacity.
Fig. 3 shows the whole charging platform, wherein the supporting seat 11 is used for bearing the charging base 12 and the charging server 10, and is a flat plane, and the size of the supporting seat 11 can be designed according to the number of the charging base 12 and the position of the charging server 10. Every charging base 12 has only first two-dimensional code label 13, charge on 14 electrode of hole and the unmanned aerial vehicle electrically conductive seat 8 keep unanimous, the direction of two-dimensional code is installed according to the rule of electrode. Electrodes on the diagonal lines are consistent, wherein one pair is a positive electrode, the other pair is a negative electrode, and the electrodes correspond to two diagonal directions of the two-dimensional code. The conductive holes corresponding to the diagonals of the two position detection patterns in the two-dimensional code are positive electrode interfaces, and the diagonal direction of only one position detection pattern is a negative electrode interface. The two electrodes of each conductive hole diagonal line are connected through conducting wires, the four conductive holes 14 of each charging base 12 are connected to the charging server 10 through positive and negative conducting wires, and the charging server 10 provides charging voltage and current. The arrangement of charging base 12 is the array form, and the interval should be greater than twice unmanned aerial vehicle maximum width to guarantee unmanned aerial vehicle's normal flight. The number of charging base 12 can be according to the target capacity of charging platform, pile up the number of piles and design, and the biggest unmanned aerial vehicle number of piles that can bear of every base can be designed according to unmanned aerial vehicle's size, and unmanned aerial vehicle can not exceed the design upper limit of its number of piles when piling up to charge, avoids taking place the slope and collapses. The charging server 10 comprises a voltage-stabilized power supply, a computer, a wireless communication module and a human-computer interface module; the voltage-stabilized power supply provides stable electric energy for each charging base 12; the wireless communication module is used for communicating with the unmanned aerial vehicle; the computer carries out data interaction through wireless communication module and unmanned aerial vehicle, reads each unmanned aerial vehicle's residual capacity to for its distribution position of charging, can guarantee that the unmanned aerial vehicle that is full of the electricity at first appears at the top in order to improve the operating rate of system, and carry out the record to unmanned aerial vehicle's approach and departure. The computer can calculate the required charging time of the drones in the field, can sequence them, and display the results to a human-machine interface module or for other dispatch systems. The human-computer interface module comprises human-computer interaction equipment such as a display, a keyboard and a mouse and is used for receiving user input and feeding back information for a user, and the user can define the charging position of the unmanned aerial vehicle or command a certain unmanned aerial vehicle to leave the field to execute a flight task.
Fig. 4 shows unmanned aerial vehicle's the mode of piling up among this three-dimensional charging system of unmanned aerial vehicle, is located the unmanned aerial vehicle of whole charging system bottom electrically conductive branch 9 with charging hole 14 on the base 12 is connected, through charging hole 14 does unmanned aerial vehicle charges, when another unmanned aerial vehicle need charge, it electrically conductive branch 9 can be connected bottom unmanned aerial vehicle on electrically conductive seat 8, superpose in proper order through this mode, form the unmanned aerial vehicle connected mode in fig. 3. It is same through this mode charge can charge for many unmanned aerial vehicles simultaneously on the base 12, be located the unmanned aerial vehicle of the higher number of floors, its surplus electric quantity is more, and the charge time is still less.
Therefore, the utility model discloses a three-dimensional charging system's of many unmanned aerial vehicle position assignment method of charging, including following step:
s1: the charging server 10 establishes a three-dimensional matrix P and records the unmanned aerial vehicle data of each charging position on the charging platform;
s2: when an unmanned aerial vehicle with a charging demand approaches the charging platform, sending a charging request to the charging server 10 through the wireless communication module;
s3: the charging server 10 obtains the remaining power information of the unmanned aerial vehicle with the charging requirement, calculates the charging time of the unmanned aerial vehicle, traverses the data of the three-dimensional matrix P according to the rule that the charging time from the bottom layer to the top layer is from long to short, arranges that the unmanned aerial vehicle with the charging requirement arrives at the charging position for charging if the optimal charging position is found in the three-dimensional matrix P, and transmits the information which cannot be arranged back to the unmanned aerial vehicle with the charging requirement if the charging platform reaches the maximum capacity.
Preferably, the step S1 includes the steps of:
s11: establishing a three-dimensional matrix P, numbering the unmanned aerial vehicle which is charged on the charging platform as I by the charging server 10, recording the charging time T required by the unmanned aerial vehicle, and numbering the unmanned aerial vehicle which requests to enter as I by the charging server 10CRecord its required charging time TC；
S12: the coordinates of each cell in the matrix P are represented by (x, y, z), x, y, z are subscripts in the length, width and height directions of the charging position, respectively, the upper limits of the length, width and height are F, W, H, respectively, and the coordinates of each charging cell in the matrix P are recorded as P (x, y, z) ═ I (x, y, z), T (x, y, z).
Preferably, the step S3 includes the steps of:
s31: the charging server 10 obtains the remaining capacity of the unmanned aerial vehicle Ic, calculates the charging time of the unmanned aerial vehicle Ic, and sets the coordinate of the charging server Ic in the three-dimensional matrix as PcThe charging server 10 obtains the number of layers of the unmanned aerial vehicles stacked on the charging platform and records the number of layers as L;
s32: if L is 0 or L is 1 and the first layer is not filled, randomly assigning the charging position of the drone Ic to any empty space of the first layer;
s33: if L is 2 and the second floor is not filled up, sorting the unmanned aerial vehicles on the first floor with the empty second floor in the charging platform according to the required charging time, and recording the maximum required charging time
Figure DEST_PATH_GDA0002922651710000081
And corresponding unmanned aerial vehicle
Figure DEST_PATH_GDA0002922651710000082
Minimum required charging time
Figure DEST_PATH_GDA0002922651710000083
And corresponding unmanned aerial vehicle
Figure DEST_PATH_GDA0002922651710000084
If it is not
Figure DEST_PATH_GDA0002922651710000085
Then position P thereof is setcDistributed at unmanned plane
Figure DEST_PATH_GDA0002922651710000086
If it is at the bottom of
Figure DEST_PATH_GDA0002922651710000087
Then position P thereof is setcDistributed at unmanned plane
Figure DEST_PATH_GDA0002922651710000088
Otherwise find TcClosest to
Figure DEST_PATH_GDA0002922651710000089
And is
Figure DEST_PATH_GDA00029226517100000810
Figure DEST_PATH_GDA00029226517100000811
Corresponding unmanned aerial vehicle
Figure DEST_PATH_GDA00029226517100000812
Will PcIs distributed at
Figure DEST_PATH_GDA00029226517100000813
A bottom portion of (a);
s34: if H is more than L and is more than or equal to 2, and the L-th layer is filled, sequencing the charging time required by the unmanned aerial vehicle on the L-th layer, and recording the minimum required charging time
Figure DEST_PATH_GDA00029226517100000814
And corresponding unmanned aerial vehicle
Figure DEST_PATH_GDA00029226517100000815
If it is not
Figure DEST_PATH_GDA00029226517100000816
Then T will becIs distributed at
Figure DEST_PATH_GDA00029226517100000817
Otherwise, sequencing the residual electric quantity of the unmanned aerial vehicle on the first layer, and recording the maximum residual required charging time
Figure DEST_PATH_GDA00029226517100000818
And corresponding unmanned aerial vehicle
Figure DEST_PATH_GDA00029226517100000819
If it is not
Figure DEST_PATH_GDA00029226517100000820
Figure DEST_PATH_GDA00029226517100000821
Then P will becIs distributed at
Figure DEST_PATH_GDA00029226517100000822
Otherwise find T in other layers of dronescClosest to
Figure DEST_PATH_GDA00029226517100000823
And is
Figure DEST_PATH_GDA00029226517100000824
Corresponding unmanned aerial vehicle
Figure DEST_PATH_GDA00029226517100000825
Will PcIs distributed at
Figure DEST_PATH_GDA00029226517100000826
A bottom portion of (a);
s35: if L is>2, when the L-th layer is not filled, the unmanned aerial vehicles on the L-1-th layer with empty L-th layer are sorted according to the required charging time, and the minimum required charging time is recorded
Figure DEST_PATH_GDA00029226517100000827
And corresponding unmanned aerial vehicle
Figure DEST_PATH_GDA0002922651710000091
If it is not
Figure DEST_PATH_GDA0002922651710000092
Then T will becIs distributed at
Figure DEST_PATH_GDA0002922651710000093
Otherwise, sorting the required charging time of the unmanned aerial vehicle of the first layer with the L-th layer being empty, and recording the maximum required charging time
Figure DEST_PATH_GDA0002922651710000094
And corresponding unmanned aerial vehicle
Figure DEST_PATH_GDA0002922651710000095
If it is not
Figure DEST_PATH_GDA0002922651710000096
Then P will becIs distributed at
Figure DEST_PATH_GDA0002922651710000097
Otherwise, sequencing the charging time required by the unmanned aerial vehicles on other layers with the L-th layer being empty, and finding TcClosest to
Figure DEST_PATH_GDA0002922651710000098
And is
Figure DEST_PATH_GDA0002922651710000099
Corresponding unmanned aerial vehicle
Figure DEST_PATH_GDA00029226517100000910
Will PcIs distributed at
Figure DEST_PATH_GDA00029226517100000911
A bottom portion of (a);
s36: if L is H and L-th layer is full, the charging platform reaches the maximum capacity and cannot be PcAssign a new charging location, then the charging server 10 sends the drone ICInformation that the charging position cannot be found is transmitted.
Preferably, if said drone ICThe charging position is distributed at the bottom layer, the charging server 10 sends the corresponding information of the first two-dimensional code label 13 on the charging base 12 to the unmanned aerial vehicle ICAnd the two-dimensional code recognizer 7 is used for scanning the charging position confirmed by the first two-dimensional code label 13 on the charging base 12, if the unmanned aerial vehicle ICThe charging server 10 sends the information of the second two-dimensional code tag 5 on the unmanned aerial vehicle below the charging position to the unmanned aerial vehicle ICAnd the two-dimension code recognizer 7 confirms the charging position through scanning the second two-dimension code label 5 on the unmanned aerial vehicle below the charging position.
Preferably, if the charging server 10 is assigned to the drone ICWhen the unmanned aerial vehicle stops at or above the target charging position, the unmanned aerial vehicle commands the target charging position or does not stop at or above the target charging positionThe unmanned aerial vehicle takes off in sequence and hovers in the air to the unmanned aerial vehicle ICSending the best charging position, waiting for unmanned aerial vehicle ICAfter the unmanned aerial vehicle steadily lands to the charging position, the hovering unmanned aerial vehicle is commanded to land in sequence, and the coordinate information of the changed unmanned aerial vehicle is updated by the three-dimensional matrix P.
When the unmanned aerial vehicle detects that the residual capacity of the unmanned aerial vehicle is not enough to complete a flight task, the unmanned aerial vehicle can operate near the charging platform and send a charging request to the charging server 10, after receiving the request, the charging server 10 obtains the residual capacity of the unmanned aerial vehicle and calculates the charging time of the unmanned aerial vehicle, and then searches whether a charging position can be provided for the unmanned aerial vehicle in the established three-dimensional matrix P. In the established three-dimensional matrix P, information of the unmanned aerial vehicle at each charging position is recorded, including its position coordinate on the charging platform and its charging time, the charging server 10 counts down the required charging time of the incoming unmanned aerial vehicle, and performs subtraction operation on the time T in the matrix P until the time T is reduced to zero. And after the unmanned aerial vehicle enters the field, adding information at a corresponding position in the matrix P, and after the unmanned aerial vehicle leaves the field, deleting the information at the corresponding position.
The charging server 10 records the number of layers of the unmanned aerial vehicle on the charging platform as L, analyzes and arranges a charging position for the unmanned aerial vehicle sending the charging request according to the five conditions of the steps S31-S36, and informs the unmanned aerial vehicle when the capacity of the whole charging platform is full, and the unmanned aerial vehicle can go to another charging platform to seek charging. When charging server 10 arranged the position of charging to be located whole platform bottom, can with charge two-dimensional code information transmission on the base 12 for unmanned aerial vehicle earlier, unmanned aerial vehicle confirmed the position of charging through scanning the two-dimensional code, if there has been the unmanned aerial vehicle in charging in the position below this unmanned aerial vehicle distribution, then charging server 10 sends the unmanned aerial vehicle's of its below two-dimensional code information for waiting the unmanned aerial vehicle that charges, through the intercommunication of two-dimensional code information, can guarantee the accuracy of the position of charging inerrably, makes unmanned aerial vehicle arrive the position of charging sooner and begin to charge. Meanwhile, when the unmanned aerial vehicle is charged at the charging position of the unmanned aerial vehicle and above the charging position, the charging server 10 controls the unmanned aerial vehicles to fly and hover in the air, and after the unmanned aerial vehicles enter the charging position, the hovering unmanned aerial vehicles sequentially return to the charging position and update information in the three-dimensional matrix. If the charging platform is in fault or in-transit power failure, the charging server 10 needs to be restarted, after the charging server 10 is restarted, an inquiry request needs to be broadcast to the in-site unmanned aerial vehicle through the wireless communication module, the in-site unmanned aerial vehicle sends self number and residual electric quantity information to the charging server 10 after receiving the inquiry request, and the charging server 10 recalculates and establishes the three-dimensional matrix P according to the received data.
Through above-mentioned charge position assignment procedure, can distribute the long unmanned aerial vehicle of required charge time to the bottom, the distribution of required charge time weak point to the top to guarantee that the unmanned aerial vehicle priority that is full of the electricity appears at the top, provide convenience for unmanned aerial vehicle's dispatch. Meanwhile, the charging server 10 sorts the unmanned aerial vehicles in the current field according to the required charging time, and displays the result. When there are other dispatch systems querying the charging server 10 for the charging status list, the charging server 10 can provide data for it, and the other dispatch systems can select the drone in which charging has been completed to perform the flight mission. In addition, the user can also customize the charging position of the unmanned aerial vehicle or command a certain unmanned aerial vehicle to leave the field to execute flight tasks through the human-computer interface module.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (5)

1. The utility model provides a three-dimensional charging system of many unmanned aerial vehicles, its characterized in that, includes unmanned aerial vehicle and charging platform, be equipped with charging device and two-dimensional code recognizer on the unmanned aerial vehicle, charging platform be equipped with the charging base that charging device cooperation is connected, charging device can with another frame charging device on the unmanned aerial vehicle is connected, be equipped with the confession on the charging base the first two-dimensional code label of two-dimensional code recognizer discernment.
2. The stereoscopic charging system for multiple unmanned aerial vehicles according to claim 1, wherein the unmanned aerial vehicle further comprises a chassis, multiple robot assemblies and a control box, the multiple robot assemblies are evenly distributed around the chassis, the robot assemblies comprise a robot arm, a driving motor and a propeller, one end of the robot arm is connected with the chassis, the driving motor is arranged at the other end of the robot arm, the propeller is connected with the driving motor, the control box is arranged at the top of the chassis, a second two-dimensional code label is arranged at the top of the control box, and the two-dimensional code identifier is arranged at the bottom of the chassis.
3. The multi-drone stereo charging system of claim 2, wherein the control box includes:
the wireless communication module is used for communicating with the charging platform;
the battery module is used for supplying power to the unmanned aerial vehicle;
the charging control module is used for adjusting and controlling current and voltage in the unmanned aerial vehicle;
the motor driving module is used for controlling the rotating speed of the driving motor;
the positioning module is used for the unmanned aerial vehicle to acquire self position data;
and the microprocessor module is used for providing signals for the motor driving module to control the motor driving module to fly, reading the data of the positioning module and the two-dimensional code recognizer, controlling the wireless communication module to receive and transmit data, and controlling the charging control module to be switched on or switched off and reading the residual electric quantity of the machine body.
4. The stereoscopic charging system for multiple unmanned aerial vehicles according to claim 3, wherein the charging device comprises a plurality of conductive seats and a plurality of conductive support rods corresponding to the number of conductive seats, the plurality of conductive seats are located at the top of the chassis and distributed around the control box, the plurality of conductive support rods are located at the bottom of the chassis, and the conductive support rods are connected with the corresponding conductive seats.
5. The stereoscopic charging system for multiple unmanned aerial vehicles according to claim 4, wherein the charging platform comprises a charging server, a plurality of charging bases and a supporting base, the plurality of charging bases are disposed on the supporting base, the charging bases are connected with the charging server and are provided with electric energy by the charging server, and charging holes are disposed on the charging bases and are used for being connected with the conductive struts.
CN202020723862.8U 2020-05-06 2020-05-06 Three-dimensional charging system of many unmanned aerial vehicles Active CN212889911U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202020723862.8U CN212889911U (en) 2020-05-06 2020-05-06 Three-dimensional charging system of many unmanned aerial vehicles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202020723862.8U CN212889911U (en) 2020-05-06 2020-05-06 Three-dimensional charging system of many unmanned aerial vehicles

Publications (1)

Publication Number Publication Date
CN212889911U true CN212889911U (en) 2021-04-06

Family

ID=75262890

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202020723862.8U Active CN212889911U (en) 2020-05-06 2020-05-06 Three-dimensional charging system of many unmanned aerial vehicles

Country Status (1)

Country Link
CN (1) CN212889911U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111452647A (en) * 2020-05-06 2020-07-28 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Multi-unmanned aerial vehicle three-dimensional charging system and charging position assignment method
CN113486686A (en) * 2021-09-06 2021-10-08 众芯汉创（北京）科技有限公司 Anti-collision method and device for unmanned aerial vehicle charging cabinet, charging cabinet and system

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111452647A (en) * 2020-05-06 2020-07-28 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Multi-unmanned aerial vehicle three-dimensional charging system and charging position assignment method
CN111452647B (en) * 2020-05-06 2024-07-09 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Multi-unmanned aerial vehicle three-dimensional charging system and charging position assignment method
CN113486686A (en) * 2021-09-06 2021-10-08 众芯汉创（北京）科技有限公司 Anti-collision method and device for unmanned aerial vehicle charging cabinet, charging cabinet and system
CN113486686B (en) * 2021-09-06 2022-05-03 众芯汉创（北京）科技有限公司 Anti-collision method and device for unmanned aerial vehicle charging cabinet, charging cabinet and system

Similar Documents

Publication Publication Date Title
CN111452647B (en) Multi-unmanned aerial vehicle three-dimensional charging system and charging position assignment method
Kemper et al. UAV consumable replenishment: design concepts for automated service stations
CN212889911U (en) Three-dimensional charging system of many unmanned aerial vehicles
CN108227746A (en) A kind of unmanned plane cluster control system and method
CN109917767A (en) A kind of distribution unmanned plane cluster autonomous management system and control method
CN105763230A (en) Movable multi-rotor unmanned aerial vehicle autonomous base station system
CN106970650B (en) Multi-unmanned aerial vehicle communication control system and control method
CN205971879U (en) Unmanned aerial vehicle
US20170344000A1 (en) Unmanned Aerial Vehicle Charging Station Management
CN112731967A (en) Multi-unmanned aerial vehicle collaborative task planning method based on clustering and genetic algorithm
CN108565920A (en) A kind of charging system, for electric installation and aircraft
KR20190060418A (en) Fuel cell powerpack for drone, and state information monitoring method thereof
CN106005386A (en) Ducted unmanned aerial vehicle for combinable clusters
CN112041866B (en) Unmanned aerial vehicle delivery system
CN206719516U (en) System based near space stratospheric airship electromagnetic launch unmanned plane
CN108574332A (en) A kind of unmanned plane power supply system and its maintaining method, unmanned plane charging method
CN211403245U (en) Landing system for unmanned aerial vehicle
CN106849224A (en) A kind of unmanned plane is continued a journey system automatically
CN111694377B (en) Unmanned aerial vehicle cluster ground control visual system and control method
CN110329101A (en) A kind of wireless sensing system based on integrated wireless electrical transmission and unmanned plane
CN110816327B (en) Contact unmanned aerial vehicle autonomous charging system
CN215729435U (en) Four rotor unmanned aerial vehicle of vision based on ROS
CN111439380B (en) Unmanned aerial vehicle battery replacement method
CN107380136A (en) The mobile method and apparatus for changing battery
CN116634391A (en) Unmanned aerial vehicle-assisted data collection method

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant