CN220809857U

CN220809857U - Unmanned aerial vehicle's charging system

Info

Publication number: CN220809857U
Application number: CN202322796443.3U
Authority: CN
Inventors: 张焱琦; 王达学; 卫才涛
Original assignee: Zhejiang Geely Holding Group Co Ltd; Radar New Energy Vehicle Zhejiang Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Radar New Energy Vehicle Zhejiang Co Ltd
Priority date: 2023-10-17
Filing date: 2023-10-17
Publication date: 2024-04-19
Anticipated expiration: 2033-10-17

Abstract

The application provides a charging system of an unmanned aerial vehicle. The system may include: the parking apron is arranged in a first area of the rear bucket of the vehicle and used for parking the unmanned aerial vehicle, and a charging area is arranged on the parking apron; the controller is arranged on the vehicle and is used for sending a charging instruction under the condition that the unmanned aerial vehicle is determined to be parked to the charging area and the charging requirement exists; the energy source sending device is arranged in a second area of the vehicle rear hopper and used for sending electric quantity to the unmanned aerial vehicle under the condition that the charging instruction is received. According to the technical scheme, the intelligent control of the unmanned aerial vehicle charging process by the vehicle can be realized, the safety and convenience of unmanned aerial vehicle charging are improved, and meanwhile, the unmanned aerial vehicle charging efficiency is greatly improved.

Description

Unmanned aerial vehicle's charging system

Technical Field

One or more embodiments of the present application relate to the field of unmanned aerial vehicles, and in particular, to a charging system for an unmanned aerial vehicle.

Background

The unmanned aerial vehicle is an unmanned aerial vehicle which can be controlled by a wireless remote control device or an onboard flight control system. With the continuous development of the technical field of aircrafts, unmanned aerial vehicles are widely applied to various fields such as mapping, cruising, environment monitoring, agriculture and forestry plant protection and the like. The battery power of the unmanned aerial vehicle is an important factor affecting the flight operation efficiency of the unmanned aerial vehicle. Under the condition that unmanned aerial vehicle electricity is insufficient, unmanned aerial vehicle needs to be charged to ensure that unmanned aerial vehicle can have sufficient electric quantity to accomplish flight operation.

In the related art, unmanned aerial vehicle takes off, falls and charges all need the manual work to most charge mode is wired charging, and this kind of charge mode makes unmanned aerial vehicle's charging efficiency lower easily, and then influences unmanned aerial vehicle's flight operating efficiency.

Disclosure of utility model

The application provides a charging system of an unmanned aerial vehicle, which aims to solve the defects in the related art.

According to a first aspect of one or more embodiments of the present application, there is provided a charging system for a drone, the system comprising:

The parking apron is arranged in a first area of the rear bucket of the vehicle and used for parking the unmanned aerial vehicle, and a charging area is arranged on the parking apron;

The controller is arranged on the vehicle and is used for sending a charging instruction under the condition that the unmanned aerial vehicle is determined to be parked to the charging area and the charging requirement exists;

The energy source sending device is arranged in a second area of the vehicle rear hopper and used for sending electric quantity to the unmanned aerial vehicle under the condition that the charging instruction is received.

Optionally, the battery of unmanned aerial vehicle is provided with the first coil that can carry out electromagnetic induction, energy transmission device includes: a transmitter and a charging chassis; the transmitter is arranged on the charging area and comprises a second coil capable of conducting electromagnetic induction; the charging case is electrically connected to the controller and is used for providing current for the second coil under the condition that the charging instruction is received, so that the second coil and the first coil realize electric quantity transmission based on the current.

Optionally, the energy source transmitting device further includes: and the coil controller is connected with the transmitter and is used for responding to an inductance-capacitance adjustment instruction sent by the controller and adjusting the capacitance and/or inductance of the second coil so as to enable the second coil and the first coil to resonate under the same frequency.

Optionally, the system further comprises: the unmanned aerial vehicle battery induction and transmitter activation device is connected to the charging area and is used for activating the transmitter under the condition of receiving the charging instruction, monitoring inductance capacitance data of the unmanned aerial vehicle battery in real time in the charging process of the unmanned aerial vehicle, and sending the inductance capacitance data to the controller.

Optionally, the system further comprises: the electronic fixer is arranged on the upper surface of the parking apron and is used for fixing the support of the unmanned aerial vehicle under the condition that the unmanned aerial vehicle falls to the charging area.

Optionally, an electromagnet is arranged on the electronic fixer, and the electromagnet is started under the condition that the unmanned aerial vehicle is close to the apron, so that the unmanned aerial vehicle is guided to fall to the charging area through the magnetic attraction function of the electromagnet.

Optionally, the system further comprises: the temperature sensor is arranged on the vehicle and is electrically connected to the controller, and is used for collecting the temperature of the charging area and sending the collected temperature information to the controller.

Optionally, the system further comprises: and the temperature regulation cabinet is arranged on the vehicle and is electrically connected to the controller and is used for responding to a temperature control instruction sent by the controller and regulating the temperature of the charging area.

According to a second aspect of one or more embodiments of the present application, there is provided a method of charging a drone, the method being applied to a charging system as described in the embodiments of the first aspect above, the method comprising:

acquiring battery data sent by a target unmanned aerial vehicle in an electric quantity consumption state;

Under the condition that the target unmanned aerial vehicle is determined to have a charging requirement according to the battery data, determining a target charging strategy for the target unmanned aerial vehicle according to the battery data, and sending a return instruction to the target unmanned aerial vehicle so that the target unmanned aerial vehicle returns to an apron of the charging system in response to the return instruction;

And after the target unmanned aerial vehicle returns to the charging area of the parking apron, supplementing the target unmanned aerial vehicle with charge according to the target charging strategy.

Optionally, the battery data includes voltage information, current information, temperature information, total capacity information and internal resistance information of the battery; determining, according to the battery data, that the target unmanned aerial vehicle has a charging requirement, including: predicting the residual electric quantity of the battery of the target unmanned aerial vehicle according to the battery total capacity information, the current information, the temperature information and the internal resistance information; and under the condition that the residual electric quantity is smaller than or equal to an electric quantity threshold value, determining that the target unmanned aerial vehicle has a charging requirement.

Optionally, the method further comprises: monitoring the charging state of the target unmanned aerial vehicle; and after the target unmanned aerial vehicle is detected to be charged, sending a take-off instruction to the target unmanned aerial vehicle, so that the target unmanned aerial vehicle responds to the take-off instruction to execute flight operation.

Optionally, the method further comprises: determining a charging strategy of the target unmanned aerial vehicle for each charging based on a simulated annealing algorithm; and if the charging strategy of any charging is superior to the charging strategy of the last charging of the charging, taking the charging strategy of any charging as the current optimal charging strategy, and supplementing the target unmanned aerial vehicle with charge based on the optimal charging strategy.

According to a third aspect of one or more embodiments of the present application, there is provided a charging device for a drone, the device being applied to a charging system as described in the embodiments of the first aspect above, the device comprising:

The data acquisition unit is used for acquiring battery data sent by the target unmanned aerial vehicle in an electric quantity consumption state;

The strategy determining unit is used for determining a target charging strategy for the target unmanned aerial vehicle according to the battery data under the condition that the target unmanned aerial vehicle is determined to have a charging requirement according to the battery data, and sending a return instruction to the target unmanned aerial vehicle so that the target unmanned aerial vehicle returns to an apron of the charging system in response to the return instruction;

And the charging unit is used for supplementing the charging amount to the target unmanned aerial vehicle according to the target charging strategy after the target unmanned aerial vehicle returns to the charging area of the parking apron.

According to a fourth aspect of one or more embodiments of the present application, there is provided an electronic device comprising:

A processor;

A memory for storing processor-executable instructions;

Wherein the processor is configured to implement the method as described in the embodiments of the second aspect described above by executing the executable instructions.

According to a fifth aspect of one or more embodiments of the present application there is provided a computer readable storage medium having stored thereon computer instructions which when executed by a processor perform the steps of a method as described in the embodiments of the second aspect above.

In one or more embodiments of the present application, a charging system provided on a vehicle is provided, the charging system includes a parking apron provided in a first area of a rear bucket of the vehicle, an energy source transmitting device provided in a second area of the rear bucket of the vehicle, and a controller. When the controller determines that the unmanned aerial vehicle is parked to the charging area of the parking apron and the unmanned aerial vehicle has a charging demand, the controller can send a charging instruction to the energy conveying device, so that the energy conveying device responds to the charging instruction and conveys electric quantity to the unmanned aerial vehicle. With unmanned aerial vehicle charging system sets up on the vehicle, can realize carrying out intelligent control by the vehicle to unmanned aerial vehicle's charging process, need not the user and carries out manual control to charging process, helps improving unmanned aerial vehicle's security and convenience that charges, has promoted unmanned aerial vehicle's charging efficiency simultaneously greatly, helps realizing unmanned aerial vehicle's continuous operation, promotes the operating efficiency.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic architecture diagram of a charging system of a unmanned aerial vehicle according to an exemplary embodiment.

Fig. 2 is a schematic diagram of a transmitter and a charging case according to an exemplary embodiment.

Fig. 3 is a schematic diagram of a coil controller according to an exemplary embodiment.

Fig. 4 is a schematic structural view of a battery sensing and transmitter activation device for an unmanned aerial vehicle according to an exemplary embodiment.

Fig. 5 is a schematic structural view of an electronic holder in a charging system according to an exemplary embodiment.

Fig. 6 is a schematic structural diagram of a temperature sensor in a charging system according to an exemplary embodiment.

Fig. 7 is a schematic structural diagram of a temperature adjustment cabinet according to an exemplary embodiment.

Fig. 8 is a flowchart of a charging method of an unmanned aerial vehicle according to an exemplary embodiment.

Fig. 9 is a schematic diagram of an electronic device according to an exemplary embodiment.

Fig. 10 is a block diagram of a charging device of an unmanned aerial vehicle, which is shown in an exemplary embodiment.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

It should be noted that: in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described. In some other embodiments, the method may include more or fewer steps than described herein. Furthermore, individual steps described in this disclosure may be broken down into multiple steps in other embodiments; while various steps described in this application may be combined into a single step in other embodiments.

One or more embodiments of the present application are described in detail below.

Fig. 1 is a schematic architecture diagram of a charging system of a unmanned aerial vehicle according to an exemplary embodiment. As shown in fig. 1, the charging system is provided in a vehicle provided with a rear hopper. The charging system may comprise a tarmac 10, an energy source transmission device 11 and a controller 12. The apron 10 is disposed in a first area of a rear bucket of the vehicle, and is used for parking the unmanned aerial vehicle, and a charging area (black trapezoid area in fig. 1) is disposed on the apron 10. When unmanned aerial vehicle falls in the charging area, charging system can charge for unmanned aerial vehicle. As shown in fig. 1, the unmanned aerial vehicle is usually provided with a long-strip-shaped support, and the long-strip-shaped support can avoid the battery positioned at the bottom of the unmanned aerial vehicle from directly contacting with the apron, so that the unmanned aerial vehicle battery can be protected, and the battery is prevented from being damaged due to friction, heat generated in the charging process and the like. The energy source sending device 11 is arranged in a second area of the rear hopper of the vehicle and is used for sending electric quantity to the unmanned aerial vehicle under the condition of receiving a charging instruction. The power transmission mode is wireless transmission, namely, the unmanned aerial vehicle charging mode is wireless charging. The first region and the second region are two different regions. The energy source transmitting device 11 may be located below the apron 10 (as shown in fig. 1), and of course, the positional relationship between the energy source transmitting device 11 and the apron 10 may also be other forms, as long as the energy source transmitting device 11 can realize electric power transmission for the unmanned aerial vehicle parked in the charging area of the apron, and the present application does not limit the specific positional relationship between the energy source transmitting device 11 and the apron 10.

The controller 12 is provided on the vehicle, and can issue a charging instruction to the energy source transmission device 11 in the case where it is determined that the unmanned aerial vehicle is parked in the charging area of the apron and that there is a charging demand for the unmanned aerial vehicle. The specific location of the controller 12 may be any location on the vehicle, and the application is not limited in this regard. The controller may include a communication module through which the controller may communicate with other components in the charging system (e.g., such as the following charging instructions).

The unmanned aerial vehicle charging system that this embodiment provided sets up on the vehicle, consequently, can realize carrying out intelligent control by the vehicle to unmanned aerial vehicle's charging process, need not the manual unmanned aerial vehicle's of user charging of control, help improving unmanned aerial vehicle's security and convenience that charges, promoted unmanned aerial vehicle's charging efficiency simultaneously greatly, help realizing unmanned aerial vehicle's continuous operation, promote the operating efficiency.

In an embodiment, the unmanned aerial vehicle may be wirelessly charged by electromagnetic induction principle. The unmanned aerial vehicle battery is provided with the first coil that can carry out electromagnetic induction, and energy transmission device can include transmitter and charging machine case, as shown in fig. 2. The transmitter is arranged on a charging area of the parking apron and comprises a second coil capable of conducting electromagnetic induction, and the charging machine box is electrically connected with the controller. When the charging machine box receives a charging instruction sent by the controller, the charging machine box supplies current to a second coil of the transmitter, and the second coil generates a changing magnetic field under the action of the current based on the electromagnetic induction principle. The first coil of the unmanned aerial vehicle battery then converts this changing magnetic field into a current, thereby effecting a transfer of electrical energy between the energy transmission device and the unmanned aerial vehicle battery. There is an energy loss during transmission, i.e. not all the energy contained in the aforementioned varying magnetic field can be transmitted to the first coil. The distance between the first coil and the second coil will be different and the amount of energy lost will be different. Therefore, a person skilled in the art can reasonably set the distance between the first coil and the second coil according to the actual charging requirement of the unmanned aerial vehicle and the actual state of the unmanned aerial vehicle battery, so that the unmanned aerial vehicle battery can receive more energy, and further the charging efficiency is improved.

In addition, the charging case can also comprise a case communication module, and the charging case can communicate with the controller through the case communication module.

In this embodiment, regard as energy transmission device with charging machine case and transmitter to set up the coil that can carry out electromagnetic induction respectively at transmitter and unmanned aerial vehicle battery, thereby realize unmanned aerial vehicle's wireless charging through electromagnetic induction principle, it is more convenient to compare wired charging mode among the correlation technique.

In one embodiment, the energy source transmission device may further include a coil controller connected to the transmitter, as shown in fig. 3. In the electromagnetic induction technology, in addition to the effect of the distance between the transmitting coil (i.e., the aforementioned second coil) and the receiving coil (i.e., the aforementioned first coil), the resonant frequencies of the transmitting coil and the receiving coil also affect the efficiency of energy transmission. The resonant frequency of the coil depends on the inductance and capacitance of the coil. When the transmitting coil and the receiving coil resonate at the same frequency, maximization of energy transmission efficiency can be achieved.

Because the inductance-capacitance specification coefficient of the unmanned aerial vehicle battery cannot be controlled, in the charging process, the capacitance and/or inductance of the second coil can be adjusted through the coil controller, so that the second coil and the first coil can resonate under the same frequency. Specifically, the controller firstly acquires the inductance and capacitance information of the battery of the unmanned aerial vehicle needing to be charged, and the acquisition mode can be that the controller sends an acquisition instruction to the unmanned aerial vehicle so that the unmanned aerial vehicle returns the inductance and capacitance information of the battery in response to the acquisition instruction, or can locally store the corresponding relation between the unmanned aerial vehicle model and the battery inductance and capacitance information in the controller so as to acquire the inductance and capacitance information of the battery according to the unmanned aerial vehicle model. The application does not limit the specific acquisition mode of the inductance and capacitance information of the unmanned aerial vehicle battery. And then, the controller generates an inductance-capacitance adjustment instruction according to the acquired battery inductance-capacitance information, and sends the inductance-capacitance adjustment instruction to the coil controller. It should be noted that the inductance-capacitance adjustment command may only instruct to adjust the inductance of the second coil, may only instruct to adjust the capacitance of the second coil, and may instruct to adjust both the capacitance and the inductance of the second coil. The coil controller adjusts the capacitance and/or inductance of the second coil of the transmitter in response to the received inductance-capacitance adjustment instruction so that the adjusted second coil can resonate at the same frequency as the first coil of the unmanned aerial vehicle battery. Wherein, the principle of calculating the resonance frequency of the second coil can refer to formula (1):

Wherein MagFie _f transmits a resonance frequency (in hertz, hz) characterizing the transmitting coil (i.e., the aforementioned second coil), F receives a resonance frequency (in henry, H) characterizing the receiving coil (i.e., the aforementioned first coil), magFie _l characterizes the inductance (in henry, H) of the transmitting coil, and MagFie _c characterizes the capacitance (in farad, F) of the transmitting coil. The expression (1) is characterized in that the resonant frequency of the transmitting coil is made substantially equal to the resonant frequency of the receiving coil by adjusting the inductance and/or capacitance of the transmitting coil. The resonant frequency of the receiving coil can be calculated by the controller according to inductance and capacitance information of the unmanned aerial vehicle battery.

The efficiency of energy transmission can be calculated from the resonant frequency of the transmitting coil, as shown in equation (2):

Wherein MagChar _p characterizes the power (in watts, W) transmitted, magChar _re characterizes the coupling coefficient between the transmit coil and the receive coil, magFie _f transmits characterizes the resonant frequency of the transmit coil, magfie _q transmits characterizes the quality factor of the transmit coil, Q receives characterizes the quality factor of the receive coil, magFie _v characterizes the voltage of the transmit coil.

In this embodiment, by setting the coil controller in the energy source transmitting device, the inductance and capacitance of the transmitter coil can be adjusted according to the inductance and capacitance specification coefficients of the unmanned aerial vehicle battery charged each time, so that the charging system can be matched with the inductance and capacitance specification coefficients of various unmanned aerial vehicle batteries, and the application range of the charging system is enlarged. Through adjusting the inductance and capacitance of transmitter coil for transmitter coil and unmanned aerial vehicle battery's coil resonance under same frequency, thereby promoted the efficiency of energy transmission in the charging process greatly, and then promoted charging efficiency.

In one embodiment, the charging system further includes an unmanned battery sensing and transmitter activation device (hereinafter "sensing activation device") that is coupled to the charging area on the tarmac, as shown in fig. 4. As the name suggests, the induction activation device mainly plays roles in sensing battery data of the unmanned aerial vehicle and activating the transmitter. The dashed lines shown in fig. 4 characterize the inductive activation device in communication with the controller. In one aspect, when the induction activation device receives a charging command sent by the controller, the transmitter is activated in response to the charging command, so that the activated transmitter and the charging box together start to transmit energy outwards. By arranging the induction activation device to activate the transmitter, the transmitter can be started after being activated, and the transmitter is prevented from being in a starting state under the condition that the controller does not send a charging instruction (the charging case cannot provide current under the condition), so that the loss of the transmitter can be reduced, and the service life of the transmitter can be prolonged.

On the other hand, the induction activation device can monitor battery data in the unmanned aerial vehicle charging process in real time, and particularly monitor inductance capacitance data of unmanned aerial vehicle batteries. Because the induction activation device is in wired connection with the charging area, the induction activation device can acquire the inductance and capacitance data of the battery in the unmanned aerial vehicle charging process in a wired connection mode, and send the acquired inductance and capacitance data to the controller, so that the controller compares the inductance and capacitance data with the inductance and capacitance data of the current second coil (of the transmitter), and if the inductance and capacitance data are inconsistent, an adjustment instruction for the inductance and the capacitance of the second coil is generated. Because unmanned aerial vehicle charging process, the inductance capacitance data of battery can change, consequently through real-time supervision unmanned aerial vehicle charging process's inductance capacitance data, help the inductance capacitance of real-time adjustment second coil to ensure that second coil and (unmanned aerial vehicle battery's) first coil can resonate under same frequency in the whole charging process, guarantee the energy transmission efficiency maximize of whole charging process.

In one embodiment, the charging system further comprises an electronic holder. As shown in fig. 5, the electronic fixator is disposed on the upper surface of the tarmac for fixing the strip-shaped bracket of the unmanned aerial vehicle in the case that the unmanned aerial vehicle falls to the charging area of the tarmac. For example, the electronic anchor may be comprised of a drive motor and a nut recess secured to the upper surface of the apron. The bottom of the unmanned aerial vehicle strip-shaped bracket can be provided with threads. When unmanned aerial vehicle falls to the region of charging, driving motor can fix unmanned aerial vehicle's rectangular form support through rotatory nut recess to fix unmanned aerial vehicle. It should be noted that the electronic fixator in fig. 5 is only an example, and those skilled in the art can select the electronic fixator according to actual needs, and the shape, size, number, specific composition and the like of the electronic fixator are not limited in the present application.

In this embodiment, through setting up the fixed unmanned aerial vehicle of electron fixer, help avoiding unmanned aerial vehicle to take place to remove in the charging process to ensure that the charging process is stable, the energy is transmitted with high efficiency.

In one embodiment, an electromagnet may also be provided on the electronic holder. In the related art, the positioning precision of the unmanned aerial vehicle during landing is improved through an RTK technology (REAL TIME KINEMATIC, real-time dynamic differential positioning technology). However, in the actual landing process of the unmanned aerial vehicle, very fine positioning deviation still occurs, so that the unmanned aerial vehicle is partially or completely landed outside the charging area and cannot be charged. Thus, an electromagnet may be provided on the electronic holder. The electromagnet can be started under the condition that the unmanned aerial vehicle is close to the parking apron, and the electromagnet is in a closed state under the other conditions. Specifically, when the controller of the charging system determines that the unmanned aerial vehicle approaches the parking apron according to the position information of the unmanned aerial vehicle, the controller can send a starting instruction to the electromagnet to start the electromagnet. Then through the magnetism of electro-magnet inhale function (i.e. the attraction between the magnet) guide unmanned aerial vehicle accurate landing in the charging area of air park, specifically, the rectangular form support of function guide unmanned aerial vehicle can accurate landing on the electron fixer is inhaled to the magnetism of electro-magnet, then charges unmanned aerial vehicle.

In this embodiment, through setting up the electro-magnet on electronic fixer, can make unmanned aerial vehicle accurate landing in the charging area of air park to ensure unmanned aerial vehicle charging's going on smoothly, avoid leading to the circumstances that charging efficiency is slower even can't charge because of unmanned aerial vehicle landing position's deviation.

In one embodiment, the charging system may further include a temperature sensor disposed on the vehicle and electrically connected to the controller, as shown in fig. 6. As discussed above, there may be energy losses during the charging of the drone, wherein some of the lost energy may be converted to thermal energy. That is, the temperature of the charging area may increase during charging of the unmanned aerial vehicle. In order to avoid adverse effects (such as deformation of the apron, frying machine, etc.) caused by the too high temperature of the charging area on the charging process, the temperature of the charging area can be acquired in real time through a temperature sensor, and the acquired temperature information is sent to the controller, so that the controller can judge whether the charging area is in an overheat state according to the temperature information, and corresponding treatment measures such as stopping charging or performing cooling treatment on the charging area are adopted under the condition that the charging area is judged to be in the overheat state.

In one embodiment, the charging system may further include a temperature regulating housing disposed on the vehicle and electrically connected to the controller, as shown in fig. 7. The temperature regulator case may adjust the temperature of the charging area in response to a temperature control instruction issued by the controller. In one aspect, the controller may determine whether the current temperature of the charging area is too high according to the temperature information transmitted by the temperature sensor. If the controller judges that the current temperature of the charging area is too high, a corresponding cooling instruction can be generated and sent to the temperature regulating cabinet, so that the temperature regulating cabinet responds to the cooling instruction to regulate the temperature of the charging area. Under the condition, the temperature of the charging area is regulated through the temperature regulating cabinet, so that the conditions of overheating of the charging area and overheating of the unmanned aerial vehicle battery can be avoided, and the charging safety is ensured.

On the other hand, in the unmanned aerial vehicle charging process, the temperature can influence energy transmission efficiency, so that the controller can be used for making different charging strategies according to various factors such as battery state, charging area temperature and the like, and charging the unmanned aerial vehicle according to the made charging strategies. Under the condition, the controller can issue a corresponding temperature control instruction to the temperature regulation cabinet according to the charging strategy, so that the charging area can charge the unmanned aerial vehicle in the temperature environment formulated by the charging strategy. That is, the temperature of the charging area is adjusted through the temperature adjusting cabinet, the unmanned aerial vehicle can be charged by different charging strategies, and then the optimal charging strategy can be selected from various different charging strategies, and the unmanned aerial vehicle is charged according to the optimal charging strategy, so that the charging efficiency and the charging safety of the unmanned aerial vehicle are further improved.

In addition, a temperature control communication module can be arranged in the temperature regulating cabinet, and the temperature control communication module can be communicated with the controller. The temperature control command issued by the controller can be received by the temperature control communication module through the temperature control cabinet.

Based on the charging system, the unmanned aerial vehicle can be intelligently controlled by the vehicle. Fig. 8 is a flowchart of a charging method of an unmanned aerial vehicle according to an exemplary embodiment, where the method may be applied to the foregoing charging system. As shown in fig. 8, the method may include the steps of:

s801, battery data sent by a target unmanned aerial vehicle in a power consumption state is obtained.

The unmanned aerial vehicle will be in the state of electricity consumption after starting. On the one hand, the unmanned plane starts to execute flight operation after being started, and electricity is consumed; on the other hand, even if the unmanned aerial vehicle has not started to execute the flight operation after being started, the battery power is also required to be consumed in order to maintain the operation of the unmanned aerial vehicle base system. The application defines the unmanned aerial vehicle in the electric quantity consumption state as a target unmanned aerial vehicle, and the number of the target unmanned aerial vehicles can be one or more. In order to improve unmanned aerial vehicle's operating efficiency, the battery data of target unmanned aerial vehicle can be monitored in real time to unmanned aerial vehicle can carry out flight operation with full electric quantity state, and in time judge battery electric quantity is not enough according to the battery data of monitoring in unmanned aerial vehicle operation process, and in time recall unmanned aerial vehicle and charge.

Specifically, the controller of the charging system (located on the vehicle) may issue a battery data acquisition instruction to the target drone to cause the target drone to return current battery data to the controller in response to the battery data acquisition instruction. The battery data is data related to a battery state of the target unmanned aerial vehicle. Table 1 shows various battery data for an exemplary embodiment, as shown in table 1:

TABLE 1

Note that "the predicted total capacity of the battery" refers to the predicted total capacity of the current battery. The battery is shipped with a predicted total capacity of 100%, i.e., the actual total charge of the battery is 100% when the battery shows full charge. The predicted total capacity of the battery decreases as the battery life increases. When the battery is used for a while, it is assumed that the estimated total capacity of the battery is reduced to 80%, that is, when the battery shows full charge, the actual total capacity thereof is only 80%, and at this time, the actual total capacity of the battery is not increased even if the charged state is maintained again. And "battery remaining power" refers to the remaining power currently displayed by the battery. For example, the current battery is estimated to have a total capacity of 80% and the remaining battery power of 60%, and then the actual remaining battery power of the current battery is 80% x 60% =48%.

The battery data shown in table 1 is only an example, and a person skilled in the art may set the battery data according to actual requirements so that the target unmanned aerial vehicle can return the required battery data according to the battery data acquisition instruction issued by the controller, which is not limited by the present application.

S802, under the condition that the target unmanned aerial vehicle is determined to have a charging requirement according to the battery data, determining a target charging strategy for the target unmanned aerial vehicle according to the battery data, and sending a return instruction to the target unmanned aerial vehicle so that the target unmanned aerial vehicle returns to an apron of the charging system in response to the return instruction.

The controller can judge whether the target unmanned aerial vehicle has a charging requirement according to the battery data returned by the target unmanned aerial vehicle. If the controller determines that the target unmanned aerial vehicle has a charging requirement, the controller may send a return instruction to the target unmanned aerial vehicle to cause the target unmanned aerial vehicle to return to a charging area on a tarmac of the charging system in response to the return instruction. Meanwhile, the controller can determine a target charging strategy applicable to the target unmanned aerial vehicle according to the battery data returned by the target unmanned aerial vehicle, so that after the target unmanned aerial vehicle returns to the charging area, the unmanned aerial vehicle battery is charged according to the target charging strategy.

In an embodiment, the battery data returned by the target unmanned aerial vehicle may include voltage information, current information, temperature information, total battery capacity information, and internal resistance information of the battery. The controller can predict the residual capacity of the battery of the target unmanned aerial vehicle according to the total capacity information, the current information, the temperature information and the internal resistance information of the battery. Since the current of the battery is not constant in practical applications, the remaining capacity of the battery may be calculated using an integral manner. In addition, considering the influence of factors such as the internal resistance of the battery, the aging state of the battery (which may be determined according to the number of times of charge and discharge of the battery), and the battery temperature, the prediction principle of the remaining battery power may be represented by referring to formula (3):

capacity_remaining_Q＝capacity_Q-∫(I_bat-R_bat)·Δt (3)

Wherein, capability_remaining_q represents the remaining capacity of the battery, capability_q represents the predicted total capacity of the battery, I _bat represents the battery current, R _bat represents the internal resistance of the battery (which may change with the change of the charge and discharge times and the temperature of the battery), and Δt represents the unit duration.

When the controller predicts that the residual electric quantity of the target unmanned aerial vehicle battery is smaller than or equal to the electric quantity threshold value, the controller can judge that the target unmanned aerial vehicle battery is insufficient in electric quantity and has a charging requirement. In this case, the controller needs to formulate a target charging policy for the target unmanned aerial vehicle according to the battery data returned by the target unmanned aerial vehicle. For example, the controller may formulate a target charging strategy from both charging control and battery protection aspects. In this regard, in the aspect of charge control, the controller may determine the battery state from battery data such as the battery voltage, the battery current, and the battery temperature. If the residual quantity of the battery is judged to be very low, a charging strategy of high-power quick charging can be selected. If the residual capacity of the battery is high, a low-power slow-charging strategy can be selected. The judging result can be obtained by comparing the battery residual electric quantity with a battery residual electric quantity threshold value. In the aspect of battery protection, the conditions of overheating, overcharging, overdischarging and the like of the battery are mainly prevented by judging the state of the battery. For example, if the battery temperature exceeds the factory set safety threshold (overheat) of the unmanned aerial vehicle battery, or the battery voltage exceeds the charging voltage limit (overcharge) of the battery or is lower than the discharging voltage limit (overdischarge) of the battery, dangerous situations such as battery damage during charging are easily caused, so that corresponding protection measures are needed to be included in the target charging strategy to ensure the safety during charging of the battery. The protective measures may include stopping the charge or discharge or reducing the charge-discharge current when the above-mentioned dangerous situation is detected.

In this embodiment, the residual capacity of the battery of the target unmanned aerial vehicle is predicted by using the battery data such as the voltage information, the current information, the temperature information, the total battery capacity information and the internal resistance information returned by the target unmanned aerial vehicle, and the influence of the internal resistance, the resistance current and the current temperature of the battery on the electric quantity prediction is fully considered, so that the accuracy of the predicted residual capacity is effectively improved. Meanwhile, a target charging strategy applicable to the target unmanned aerial vehicle can be formulated in a targeted manner according to the battery data. The target unmanned aerial vehicle battery is charged according to the target charging strategy, so that the charging efficiency is improved, the safety of the battery in the charging process is effectively protected, and the service life of the battery is prolonged.

S803, after the target unmanned aerial vehicle returns to the charging area of the parking apron, supplementing charge to the target unmanned aerial vehicle according to the target charging strategy.

And after the target unmanned aerial vehicle returns to the charging area of the parking apron, the charging system starts to work and charges the battery of the target unmanned aerial vehicle. For specific charging processes, reference may be made to the foregoing related content of the charging system.

In an embodiment, the controller may further monitor a charging state of the target unmanned aerial vehicle in real time, where the charging state may include a state of whether charging is finished, whether the battery is overheated, whether the battery is overcharged, whether the battery is overdischarged, and the like. When the controller monitors that the target unmanned aerial vehicle is charged, the controller can send a take-off instruction to the target unmanned aerial vehicle so that the target unmanned aerial vehicle can execute flight operation in response to the take-off instruction. Through the mode, after the target unmanned aerial vehicle finishes charging, the target unmanned aerial vehicle can be controlled to execute flight operation in time, and the operation efficiency of the target unmanned aerial vehicle can be improved. Meanwhile, the charging area can be timely given to other target unmanned aerial vehicles to be charged, and the utilization rate of the charging area of the parking apron is improved.

In one embodiment, the controller may determine a charging strategy for each charging of the target drone based on a simulated annealing algorithm. Specifically, ① when the target unmanned aerial vehicle performs the first charging, the controller may set an initial charging policy and an initial temperature T according to the battery data of the target unmanned aerial vehicle. ② At the initial temperature T, a new charging strategy is randomly selected and the difference deltae in energy between the new charging strategy and the initial charging strategy is calculated. The energy can be understood as: and when the same charging effect is achieved, the charging system outputs energy outwards. If the energy difference ΔE is less than zero, it is indicated that the new charging strategy is better than the initial charging strategy, at which time the new charging strategy may be used as the current optimal charging strategy and may be used when the target drone is charged a second time. If the energy difference DeltaE is greater than or equal to zero, then the probability can be based onAnd judging whether the new charging strategy is accepted as the charging strategy of the second charging. If the new charging strategy is not accepted, then the initial charging strategy of the first charge may be followed at the second charge. ③ The initial temperature T is reduced, such as the reduced temperature T' =αt, where α (0 < α < 1) is the cooling coefficient.

Starting from the second charge of the target drone, each charge repeats the aforementioned step ②③ until the temperature drops to the set minimum temperature or a preset number of iterations is reached. That is, from the second charge of the target drone, there is an initial charge strategy for each charge (the initial charge strategy is determined from the last charge of the current charge, and the last charge also determines a reduced temperature T ^′). Then, for any charging, a new charging strategy is randomly selected at the reduced temperature T ^′, and the energy difference between the new charging strategy and the initial charging strategy of the current charging is calculated, so that whether the new charging strategy is to be accepted is judged according to the energy difference result. Finally, the temperature is reduced, and the reduced temperature is taken as the temperature condition of the next charge. Until the temperature drops to a set minimum temperature or a preset number of iterations is reached.

By charging multiple times, a current optimal charging strategy can be obtained. The controller may implement a charging operation for the target drone according to the optimal charging strategy. In short, the more times the charging system charges the drone, the more optimal the charging strategy formulated by the controller will be, said optimization being manifested in: the charging efficiency is higher and the power is saved (i.e. the charging system outputs less energy outwards).

In this embodiment, optimization of the unmanned aerial vehicle charging strategy is achieved through a simulation algorithm. Based on the charging strategy of optimizing charges unmanned aerial vehicle, can promote energy utilization efficiency greatly, reduce extravagant and the ambient pressure of energy, simultaneously, reduced the explosion machine risk that the battery overtemperature excessive pressure caused, can adapt to industry-level unmanned aerial vehicle's low risk operation demand.

It should be noted that: the user rights information, user information (including but not limited to user login account numbers, user login passwords, etc.), and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in this specification are information and data authorized by the user or sufficiently authorized by the parties, and the collection, use, and processing of relevant data requires compliance with relevant laws and regulations and standards of relevant countries and regions, and is provided with corresponding operation portals for the user to select authorization or denial.

Corresponding to the embodiment of the method, the application further provides an embodiment of a charging device of the unmanned aerial vehicle.

Fig. 9 is a schematic structural view of an electronic device according to an exemplary embodiment of the present application. Referring to fig. 9, at the hardware level, the electronic device includes a processor 902, an internal bus 904, a network interface 906, memory 908, and non-volatile storage 910, although other hardware required for other services is also possible. The processor 902 reads the corresponding computer program from the non-volatile storage 910 into the memory 908 and then runs. Of course, other implementations, such as logic devices or combinations of hardware and software, are not excluded from the present application, that is, the execution subject of the following processing flows is not limited to each logic unit, but may be hardware or logic devices.

Fig. 10 is a block diagram illustrating a charging device of an unmanned aerial vehicle, which may be applied to the aforementioned charging system, according to an exemplary embodiment of the present application. Referring to fig. 10, the apparatus includes a data acquisition unit 1002, a policy determination unit 1004, and a charging unit 1006, wherein:

The data acquisition unit 1002 is configured to acquire battery data transmitted by the target unmanned aerial vehicle in a state of charge consumption.

And the policy determining unit 1004 is configured to determine a target charging policy for the target unmanned aerial vehicle according to the battery data and send a return instruction to the target unmanned aerial vehicle so as to enable the target unmanned aerial vehicle to return to an apron of the charging system in response to the return instruction when the target unmanned aerial vehicle is determined to have a charging requirement according to the battery data.

And a charging unit 1006 configured to recharge the target drone according to the target charging strategy after the target drone returns to the charging area of the tarmac.

Optionally, the apparatus further includes:

A monitoring unit 1008 configured to monitor a state of charge of the target drone; and after the target unmanned aerial vehicle is detected to be charged, sending a take-off instruction to the target unmanned aerial vehicle, so that the target unmanned aerial vehicle responds to the take-off instruction to execute flight operation.

Optionally, the apparatus further includes:

A policy optimization unit 1010 configured to determine a charging policy for each charging of the target drone based on a simulated annealing algorithm; and if the charging strategy of any charging is superior to the charging strategy of the last charging of the charging, taking the charging strategy of any charging as the current optimal charging strategy, and supplementing the target unmanned aerial vehicle with charge based on the optimal charging strategy.

The implementation process of the functions and roles of each module in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.

The apparatus or module set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. A typical implementation device is a computer, which may be in the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or a combination of any of these devices.

In a typical configuration, a computer includes one or more processors, including a Central Processing Unit (CPU) and a Graphics Processor (GPU), input/output interfaces, network interfaces, and memory. The CPU is used for calculating simulation, and the graphic processor is used for outputting high-quality three-dimensional images.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, read only compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic disk storage, quantum memory, graphene-based storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by the computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

Corresponding to the embodiments of the charging method of the unmanned aerial vehicle described above, the application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of any of the embodiments of the charging method of the unmanned aerial vehicle described above.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.

Claims

1. A charging system for an unmanned aerial vehicle, the system comprising:

2. The system of claim 1, wherein the battery of the unmanned aerial vehicle is provided with a first coil capable of electromagnetic induction, and the energy source transmitting device comprises: a transmitter and a charging chassis; wherein,

The transmitter is arranged on the charging area and comprises a second coil capable of performing electromagnetic induction;

The charging case is electrically connected to the controller and is used for providing current for the second coil under the condition that the charging instruction is received, so that the second coil and the first coil realize electric quantity transmission based on the current.

3. The system of claim 2, wherein the energy source transmitting means further comprises:

And the coil controller is connected with the transmitter and is used for responding to an inductance-capacitance adjustment instruction sent by the controller and adjusting the capacitance and/or inductance of the second coil so as to enable the second coil and the first coil to resonate under the same frequency.

4. The system of claim 2, further comprising:

The unmanned aerial vehicle battery induction and transmitter activation device is connected to the charging area and is used for activating the transmitter under the condition of receiving the charging instruction, monitoring inductance capacitance data of the unmanned aerial vehicle battery in real time in the charging process of the unmanned aerial vehicle, and sending the inductance capacitance data to the controller.

5. The system of claim 1, further comprising:

The electronic fixer is arranged on the upper surface of the parking apron and is used for fixing the support of the unmanned aerial vehicle under the condition that the unmanned aerial vehicle falls to the charging area.

6. The system of claim 5, wherein an electromagnet is provided on the electronic fixture, the electromagnet being activated in the event that the drone is proximate to the tarmac to direct the drone to drop to the charging area by a magnetic attraction function of the electromagnet.

7. The system of claim 1, further comprising:

the temperature sensor is arranged on the vehicle and is electrically connected to the controller, and is used for collecting the temperature of the charging area and sending the collected temperature information to the controller.

8. The system of claim 1, further comprising:

And the temperature regulation cabinet is arranged on the vehicle and is electrically connected to the controller and is used for responding to a temperature control instruction sent by the controller and regulating the temperature of the charging area.