WO2018090493A1 - 无人机 - Google Patents

无人机 Download PDF

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Publication number
WO2018090493A1
WO2018090493A1 PCT/CN2017/073147 CN2017073147W WO2018090493A1 WO 2018090493 A1 WO2018090493 A1 WO 2018090493A1 CN 2017073147 W CN2017073147 W CN 2017073147W WO 2018090493 A1 WO2018090493 A1 WO 2018090493A1
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WO
WIPO (PCT)
Prior art keywords
drone
controller
wireless charging
charging
receiving
Prior art date
Application number
PCT/CN2017/073147
Other languages
English (en)
French (fr)
Inventor
刘均
孙建勋
张跃博
Original Assignee
深圳市元征科技股份有限公司
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Application filed by 深圳市元征科技股份有限公司 filed Critical 深圳市元征科技股份有限公司
Publication of WO2018090493A1 publication Critical patent/WO2018090493A1/zh

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00Propulsion; Power supply
    • B64U50/30Supply or distribution of electrical power
    • B64U50/34In-flight charging
    • B64U50/35In-flight charging by wireless transmission, e.g. by induction
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64FGROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00Ground or aircraft-carrier-deck installations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64DEQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00Equipment not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B64AIRCRAFT; AVIATION; COSMONAUTICS
    • B64UUNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00UAVs characterised by their flight controls
    • B64U2201/10UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

Definitions

  • the present invention relates to the field of drones, and more particularly to a drone.
  • Unmanned aerial vehicles are referred to as "unmanned aerial vehicles" and are unmanned aircraft operated by radio remote control devices and self-contained program control devices. From a technical point of view, it can be divided into: unmanned fixed-wing aircraft, unmanned vertical take-off and landing aircraft, unmanned airships, unmanned helicopters, unmanned multi-rotor aircraft, unmanned paraplanes, and so on. UAVs can be divided into military and civilian applications according to the application field. In military terms, drones are divided into reconnaissance planes and drones.
  • the UAV generally uses a wired method to charge the UAV.
  • the user needs to connect the charging plug connected to the power supply to the charging interface of the UAV to charge the UAV. For users who use drones more frequently, it is necessary to charge the drone frequently, and the operation is complicated.
  • Embodiments of the present invention provide a drone that can automatically perform wireless charging, and is convenient to operate.
  • An embodiment of the present invention provides a drone, including: a controller, a wireless communication module, a battery, a wireless charging receiving device, a navigation system, and a power detecting module; [0010] the wireless communication module, the wireless charging receiving device, the navigation system, and the power detecting module are respectively connected to the controller; the power detecting module and the wireless charging receiving device respectively Electrical connection of the battery;
  • the electric quantity detecting module transmits the detected data of the remaining electric quantity of the storage battery to the controller
  • the controller After determining, according to the data, that the remaining power is lower than the first preset value, the controller sends a control instruction to the wireless communication module, where the control instruction instructs the wireless communication module to send a charging instruction to the control device.
  • the wireless communication module After receiving the confirmation charging instruction sent by the control device for the charging instruction, the wireless communication module sends an acknowledgement instruction to the controller; after receiving the confirmation command, the controller
  • the navigation system sends a navigation instruction, the navigation instruction instructing the navigation system to send navigation data for navigating the drone to the preset area to the controller, where the preset area is for wireless charging of the drone a region, generated by the target wireless charging device; after the controller drops the drone to the preset area according to the navigation data, sending a start instruction to the wireless charging receiving device, where the startup instruction is
  • the wireless charging receiving device charges the battery by using an electromagnetic field in the preset area.
  • the controller is further configured to: after determining, according to the data and the estimated working data, that the UAV cannot complete the work task, by using the wireless communication module
  • the control device sends an alarm message, and the predicted working day data is sent by the control device to the controller through the wireless communication module.
  • the controller is further configured to send, by using the wireless communication module, the remaining working time data of the drone to the control device, where the remaining working time is The data is determined by the controller according to the remaining power amount and the power consumption information of the drone, and the power consumption information includes information of the power consumption of the drone.
  • the wireless communication module is further configured to: after receiving the confirmation charging instruction, send a query instruction by using a broadcast manner, where the query instruction is used to query a carrier State information of the wireless charging device within a range covered by the signal of the query command; after receiving the state information sent by the at least one wireless charging device for the lookup command, transmitting the state information to the controller,
  • the status information includes location information and working status information of the wireless charging device;
  • the controller is further configured to determine the target wireless charging device according to the status information;
  • the navigation system is further configured to: after receiving the location information of the target wireless charging device sent by the controller, navigate the UAV to a location of the target wireless charging device.
  • the controller is further configured to: after determining, according to the data of the remaining power, that the remaining power reaches a second preset value, by using the wireless communication module
  • the control device or the terminal device to which the UAV is bound sends a prompt message, where the prompt information indicates that the battery power reaches the second preset value, and the second preset value is greater than the first preset value.
  • the wireless charging receiving device is a wireless magnetic induction charging device that charges the battery by sensing a current generated by an electromagnetic field in the preset region.
  • the wireless charging receiving apparatus includes: a receiving coil and a receiving module circuit;
  • the receiving coil and the receiving module circuit are electrically connected
  • the receiving coil is configured to introduce a current generated by an electromagnetic field in the preset area into the receiving module circuit
  • the receiving module circuit is configured to charge the battery after adjusting the current to a current that satisfies the charging demand of the battery.
  • the wireless charging receiving device supports at least one of electromagnetic induction charging, magnetic field resonant charging, and radio wave charging.
  • the wireless communication module is further configured to forward a charging request sent by the controller to a cloud server, and forward the target wireless sent by the cloud server to the controller. Location information of the charging device and path navigation data to the target wireless charging device;
  • controller is further configured to drop the drone to a location of the target wireless charging device according to the path navigation data.
  • the UAV has a binding relationship with the terminal device
  • the wireless communication module sends remaining power information, altitude information, and coordinate information of the drone to the terminal device.
  • the embodiment of the present invention has the following advantages: When the remaining power of the drone is lower than the first preset value, the drone sends a charging request to the user, and receives the user. After sending the confirmation charging command, you can locate the target wireless charging device and drop it to the target. Charging is performed after the preset area of the line charging device. The drone can automatically charge wirelessly, which is convenient and quick to operate.
  • FIG. 1 is a schematic structural diagram of a wireless charging system for a drone according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a drone according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of a controller according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a wireless charging and receiving apparatus according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a receiving module circuit according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of a control interface of a terminal device according to an embodiment of the present invention.
  • FIG. An embodiment All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without making creative labor are within the scope of the present invention.
  • FIG. 1 is a schematic structural diagram of a wireless charging system for a drone according to an embodiment of the present invention.
  • the drone wireless charging system includes: a control device 101, a drone 102, and a wireless charging platform 103.
  • the control device 101 may be a control device for controlling the drone, or may be capable of controlling the
  • the terminal device of the drone such as a mobile phone, a tablet computer, a wearable device (such as a smart watch, a smart wristband, etc.), the control device is configured with a wireless communication module to send a control command to the drone and receive the drone The data sent.
  • the drone has a wireless communication module that can transmit data to the control device and receive control commands sent by the control device.
  • FIG. 2 is a schematic structural diagram of a drone according to an embodiment of the present invention.
  • the drone includes: a controller 20 1 , a wireless communication module 202 , a navigation system 203 , a power detection module 204 , a battery 205 , and wireless charging
  • the receiving device 206; the wireless communication module 202, the wireless charging receiving device 206, the navigation system 203, and the power detecting module 204 are respectively connected to the controller 201; the power detecting module and the wireless charging receiving device are respectively connected to the battery
  • the battery 201 is configured to: Providing power for the above-mentioned drone; a wireless charging receiving device 206 for charging the battery; a navigation system 203 for providing navigation data for the drone; and a power detecting module 204 for detecting remaining of the battery Electricity
  • the power detecting module 204 transmits the detected data of the remaining battery capacity of the battery 205 to the controller 201.
  • the controller 201 determines that the remaining power is lower than the first preset value according to the data.
  • the wireless communication module 202 sends a control command, and the control command instructs the wireless communication module 202 to send a charging command to the control device. After receiving the confirmation charging command sent by the control device for the charging command, the wireless communication module 202 sends the control command to the controller.
  • the preset area is an area for wirelessly charging the unmanned aerial vehicle, and is generated by the target wireless charging device; the controller 201, after the drone is dropped to the preset area according to the navigation data, to the wireless Charging receiving device 206 Start command, the start-charging command instructs the radio reception device 206 above the battery 205 is charged using an electromagnetic field above the preset region.
  • a wireless charging platform is a platform that can provide wireless charging services for drones.
  • the platform can be configured with multiple wireless charging devices and supports a variety of wireless charging methods such as electromagnetic induction charging, magnetic field resonant charging, and radio wave.
  • the wireless charging platform can be an intelligent platform, which can automatically detect whether there is a drone to be charged, and can automatically perform wireless charging for the drone.
  • the wireless charging platform can receive and parse various instructions sent by the drone, such as a reservation instruction and a query instruction.
  • the platform can send a variety of information to drones. Such as booking success information, location information, etc.
  • the controller is further configured to: after determining that the UAV cannot complete the work task according to the data and the estimated work data, send the alarm information to the control device by using the wireless communication module, It is expected that the working day data is the above control device through the above wireless communication module Said by the controller.
  • FIG. 3 is a schematic structural diagram of the above controller.
  • the controller includes a meter 301 and a processor 302 for counting; the processor is for processing and calculating data.
  • the processor cooperates with the meter to notify the power detecting module to detect the remaining power of the battery with a certain period of time, and calculate the remaining of the drone according to the remaining power and the expected working time of the drone. Whether the power can complete the work task.
  • the processor may send a power detection command to the power detecting module every three minutes. After acquiring the data of the remaining power sent by the power detecting module, the processor calculates the data according to the data and the estimated working time.
  • the above wireless communication module sends an alarm message to the control device.
  • the above-mentioned expected work time can be the time when the user expects the drone to work.
  • the controller is further configured to send, by using the wireless communication module, the remaining working time data of the unmanned aerial vehicle to the control device, where the remaining working time data is used by the controller according to the remaining The power consumption and the power consumption information of the drone are determined, and the power consumption information includes information about the power consumption of the drone.
  • the controller collects the power consumption information of the drone with a certain period of time, calculates the remaining working time of the drone in combination with the remaining power, and finally sends the control device to the control device through the wireless communication module.
  • the wireless communication module is further configured to: after receiving the confirmation charging instruction, send a query instruction by using a broadcast manner, where the query instruction is used to query a signal carrying the query instruction. Status information of the wireless charging device within the coverage range; after receiving the status information sent by the at least one wireless charging device for the search command, transmitting the status information to the controller, where the status information includes the location of the wireless charging device Information and work status information;
  • the controller is further configured to determine the target wireless charging device according to the foregoing state information
  • the navigation system is further configured to: after receiving the location information of the target wireless charging device sent by the controller, navigate the UAV to a location of the target wireless charging device.
  • the wireless communication module may transmit a signal carrying a query command by means of a broadcast.
  • the signal is used to query status information of the wireless charging device within the range covered by the signal.
  • the status information of the wireless charging device may be position information of the wireless charging device, operational status information, information on whether or not the unmanned aerial vehicle can be charged, and inter-day information that the charging needs to wait.
  • the controller determines that one of the wireless charging devices is the target wireless charging device.
  • the navigation system After receiving the location information of the target wireless charging device sent by the controller, the navigation system provides the UAV with navigation data that flies to a preset area of the target charging device. The controller controls the drone to drop to the preset area according to the navigation data
  • the controller is further configured to determine, according to the data of the remaining power, that the remaining power reaches a second preset value, and bind the control device or the drone through the wireless communication module.
  • the terminal device sends a prompt message, and the prompt information indicates that the battery power reaches the second preset value, and the second preset value is greater than the first preset value.
  • the wireless communication module sends the wireless device to the control device or the unmanned
  • the terminal device bound to the machine sends a prompt message.
  • the wireless communication module sends the terminal device, such as a mobile phone or a wearable device, to the control device or the UAV-bound terminal device.
  • the specific implementation may be as follows: the user sends the threshold to be set to the UAV through the control device, and after receiving the threshold, the wireless communication module sends the threshold to the controller, and the controller determines the battery capacity. After reaching the threshold, the corresponding control command is sent to the wireless communication module, and the wireless communication module sends the prompt information to the control device or the terminal device bound by the drone.
  • the wireless charging receiving device is a wireless magnetic induction charging device that charges the battery by sensing a current generated by an electromagnetic field in the preset region.
  • the wireless charging receiving device may charge the battery by sensing a current generated by an electromagnetic field in the preset region.
  • the wireless charging receiving device can also receive electromagnetic waves such as laser light, infrared rays, etc., and convert it into a current that can charge the battery.
  • the wireless charging and receiving device includes: a receiving coil and a receiving module circuit; [0056] the receiving coil and the receiving module circuit are electrically connected;
  • the receiving coil is configured to introduce a current generated by the electromagnetic field in the preset area into the receiving module circuit
  • the receiving module circuit is configured to charge the battery after adjusting the current to a current that satisfies the battery charging demand.
  • FIG. 4 is a schematic structural diagram of a wireless charging receiving device.
  • the receiving coil can sense an electromagnetic field generating current in the predetermined area, and introduce the generated current into the receiving module circuit.
  • the receiving module circuit processes the received circuit and then charges the battery.
  • the above receiving module circuit may include a buck circuit 501, a rectifying circuit 502, and a charging control circuit 503.
  • the receiving coil senses an electromagnetic field generating current of the predetermined region, and then the voltage is reduced by the step-down circuit 501, rectified by the rectifier circuit 502, and finally charged by the charging control circuit 503.
  • the wireless charging receiving device supports at least one of electromagnetic induction charging, magnetic field resonance charging, and radio wave charging.
  • the wireless charging receiving device described above may support at least one of electromagnetic induction charging, magnetic field resonance charging, and radio wave charging.
  • the above wireless charging receiving device can integrate two types of wireless charging methods: electromagnetic induction charging and magnetic field resonant charging.
  • the two wireless charging devices can each occupy a portion of the wireless charging receiving device, and the wireless charging receiving device can also collectively support a plurality of wireless charging modes.
  • the wireless charging accepting device can select an appropriate wireless charging mode according to the charging mode of the wireless charging device.
  • the wireless communication module is further configured to forward the charging request sent by the controller to the cloud server, and forward the location information of the target wireless charging device sent by the cloud server to the controller, and go to the foregoing Path navigation data of the target wireless charging device;
  • the controller is further configured to drop the drone to a position of the target wireless charging device according to the path navigation data.
  • the controller may forward the charging request sent by the controller to the cloud server by using the wireless communication module, or receive the target wireless charging forwarded by the cloud server by using the wireless communication module. Location information of the electrical device and path navigation data to the target wireless charging device. The controller may drop the drone to a position of the target wireless charging device, that is, the preset area, according to the path navigation data.
  • the unmanned aerial vehicle has a binding relationship with the terminal device
  • the wireless communication module transmits remaining power amount information, altitude information, and coordinate information of the unmanned aerial vehicle to the terminal device.
  • a terminal device such as a mobile phone, a tablet computer, a desktop computer, or the like may be bound to the above-mentioned drone.
  • the terminal device may send various commands, such as a charging command and a rising command, to the drone. , falling instructions, etc.
  • the charging command can instruct the drone to automatically charge.
  • the up command can indicate that the drone is flying upwards.
  • the descent command instructs the drone to fly down.
  • the controller may control the wireless communication module to send the remaining power information, the height information and the coordinate information of the drone to the terminal device.
  • the terminal device can actively acquire the information of the drone through the server, and can also send corresponding instructions to the drone through the server.
  • an application program for controlling the drone may be installed in the terminal device, and the application binds the user terminal device and the user's drone together, by which the user can The machine sends various instructions and views the information of the drone.
  • the specific implementation is achieved through the server.
  • the specific implementation manner may be as follows: The user sends a corresponding instruction through an application program on the terminal device, and after receiving the instruction, the server sends the instruction to the UAV through a wireless manner, and sends the received information to the terminal device. .

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

本发明实施例公开了一种无人机,该无人机包括:控制器、无线通讯模块、蓄电池、无线充电接收装置、导航系统,以及电量检测模块;所述无线通讯模块、所述无线充电接收装置、所述导航系统、所述电量检测模块分别与所述控制器相连接;所述电量检测模块、所述无线充电接收装置分别与所述蓄电池电性连接;所述控制器确定所述蓄电池的剩余电量低于第一预设值后,将所述无人机降落到预设区域;向所述无线充电接收装置发送启动指令,所述启动指令指示所述无线充电接收装置利用所述预设区域中的电磁场对所述蓄电池进行无线充电。该无人机可以自动进行无线充电,操作简单、快捷。

Description

发明名称:无人机
[0001] 技术领域
[0002] 本发明涉及无人机领域, 尤其涉及一种无人机。
[0003] 背景技术
[0004] 无人驾驶飞机简称"无人机", 是利用无线电遥控设备和自备的程序控制装置操 纵的不载人飞机。 从技术角度定义可以分为: 无人固定翼机、 无人垂直起降机 、 无人飞艇、 无人直升机、 无人多旋翼飞行器、 无人伞翼机等。 无人机按应用 领域, 可分为军用与民用。 军用方面, 无人机分为侦察机和靶机。 民用方面, 无人机 +行业应用, 是无人机真正的刚需; 目前在航拍、 农业、 植保、 自拍、 快 递运输、 灾难救援、 观察野生动物、 监控传染病、 测绘、 新闻报道、 电力巡检 、 救灾、 影视拍摄、 制造浪漫等等领域的应用, 大大的拓展了无人机本身的用 途。
[0005] 随着科技的迅猛发展, 无人机作为一种新型的飞行器, 民用化程度越来越高。
越来越多的年轻人在拍摄视频和照片吋, 使用拍摄角度更广的便携式无人机, 代替手持拍摄或自拍杆。 为了保证民用无人机的便携操控, 便携式无人机的电 池的尺寸受限, 续航吋间较短, 通常只有 20分钟左右。 目前, 无人机一般采用 有线的方式对无人机进行充电, 用户需要将连接电源的充电插头与无人机的充 电接口连接起来对无人机进行充电。 对于使用无人机较频繁的用户来说, 需要 经常对无人机进行充电, 操作复杂。
[0006] 无人机的充电操作过程复杂直接影响用户的体验, 如何方便用户的充电操作成 为技术人员研究的方向。
[0007] 发明内容
[0008] 本发明实施例提供了一种无人机, 该无人机可以自动进行无线充电, 操作方便
、 快捷。
[0009] 本发明实施例提供了一种无人机, 包括: 控制器、 无线通讯模块、 蓄电池、 无 线充电接收装置、 导航系统, 以及电量检测模块; [0010] 所述无线通讯模块、 所述无线充电接收装置、 所述导航系统、 所述电量检测模 块分别与所述控制器相连接; 所述电量检测模块、 所述无线充电接收装置分别 与所述蓄电池电性连接;
[0011] 所述电量检测模块将检测到的所述蓄电池的剩余电量的数据发送给所述控制器
; 所述控制器在根据所述数据确定所述剩余电量低于第一预设值后, 向所述无 线通讯模块发送控制指令, 所述控制指令指示所述无线通讯模块向控制设备发 送充电指令; 所述无线通讯模块在接收到所述控制设备针对所述充电指令发送 的确认充电指令后, 向所述控制器发送确认指令; 所述控制器在接收到所述确 认指令后, 向所述导航系统发送导航指令, 所述导航指令指示所述导航系统向 所述控制器发送将无人机导航至预设区域的导航数据, 所述预设区域是为所述 无人机进行无线充电的区域, 由目标无线充电装置产生; 所述控制器在根据所 述导航数据将所述无人机降落到所述预设区域后, 向所述无线充电接收装置发 送启动指令, 所述启动指令指示所述无线充电接收装置利用所述预设区域中的 电磁场对所述蓄电池进行充电。
[0012] 在一个可选的实现方式中, 所述控制器, 还用于在根据所述数据和预计工作吋 间数据确定所述无人机不能完成工作任务后, 通过所述无线通讯模块向所述控 制设备发送报警信息, 所述预计工作吋间数据是所述控制设备通过所述无线通 讯模块向所述控制器发送的。
[0013] 在一个可选的实现方式中, 所述控制器, 还用于通过所述无线通讯模块向所述 控制设备发送所述无人机的剩余工作吋间数据, 所述剩余工作吋间数据由所述 控制器根据所述剩余电量和所述无人机的耗电信息确定, 所述耗电信息包含所 述无人机消耗电量的信息。
[0014] 在一个可选的实现方式中, 所述无线通讯模块, 还用于在接收到所述确认充电 指令后, 通过广播方式发送査询指令, 所述査询指令用于査询携带所述査询指 令的信号所覆盖的范围内的无线充电装置的状态信息; 在接收到至少一个无线 充电装置针对所述査找指令发送的状态信息后, 将所述状态信息发送给所述控 制器, 所述状态信息包含所述无线充电装置的位置信息和工作状态信息;
[0015] 所述控制器, 还用于根据所述状态信息确定所述目标无线充电装置; [0016] 所述导航系统, 还用于在接收到所述控制器发送的所述目标无线充电装置的位 置信息后, 将所述无人机导航到所述目标无线充电装置的位置。
[0017] 在一个可选的实现方式中, 所述控制器, 还用于在根据所述剩余电量的数据确 定所述剩余电量达到第二预设值吋, 通过所述无线通讯模块向所述控制设备或 所述无人机绑定的终端设备发送提示信息, 所述提示信息提示所述蓄电池的电 量达到所述第二预设值, 所述第二预设值大于所述第一预设值。
[0018] 在一个可选的实现方式中, 所述无线充电接收装置为无线磁感应充电装置, 利 用感应所述预设区域中的电磁场产生的电流对所述蓄电池进行充电。
[0019] 在一个可选的实现方式中, 所述无线充电接收装置包括: 接收线圈和接收模块 电路;
[0020] 所述接收线圈和接收模块电路电性连接;
[0021] 所述接收线圈, 用于将感应所述预设区域中的电磁场所产生的电流导入所述接 收模块电路;
[0022] 所述接收模块电路, 用于在将所述电流调整为满足所述蓄电池充电需求的电流 后, 对所述蓄电池进行充电。
[0023] 在一个可选的实现方式中, 所述无线充电接受装置支持电磁感应式充电、 磁场 共振充电、 无线电波式充电中的至少一种。
[0024] 在一个可选的实现方式中, 所述无线通讯模块, 还用于向云服务器转发所述控 制器发送的充电请求; 向所述控制器转发所述云服务器发送的所述目标无线充 电装置的位置信息和前往所述目标无线充电装置的路径导航数据;
[0025] 所述控制器, 还用于根据所述路径导航数据将所述无人机降落到所述目标无线 充电装置的位置。
[0026] 在一个可选的实现方式中, 所述无人机与终端设备具有绑定关系;
[0027] 所述无线通讯模块向所述终端设备发送所述无人机的剩余电量信息、 高度信息 和坐标信息。
[0028] 从以上技术方案可以看出, 本发明实施例具有以下优点: 当无人机的剩余电量 低于第一预设值吋, 该无人机向用户发送充电请求, 在接收到该用户发送的确 认充电指令后, 可以自行定位目标无线充电装置的位置, 并在降落到该目标无 线充电装置的预设区域后进行充电。 该无人机可以自动进行无线充电, 操作方 便、 快捷。
[0029] 附图说明
[0030] 为了更清楚地说明本发明实施例中的技术方案, 下面将对实施例描述中所需要 使用的附图作简要介绍, 显而易见地, 下面描述中的附图仅仅是本发明的一些 实施例, 对于本领域的普通技术人员来讲, 在不付出创造性劳动性的前提下, 还可以根据这些附图获得其他的附图。
[0031] 图 1是本发明实施例提供的一种无人机无线充电系统的架构示意图;
[0032] 图 2为本发明实施例无人机的结构示意图;
[0033] 图 3为本发明实施例控制器的结构示意图;
[0034] 图 4为本发明实施例无线充电接收装置的结构示意图;
[0035] 图 5为本发明实施例接收模块电路的结构示意图;
[0036] 图 6为本发明实施例终端设备的控制界面示意图。
[0037] 具体实施方式
[0038] 为了使本发明的目的、 技术方案和优点更加清楚, 下面将结合附图对本发明作 进一步地详细描述, 显然, 所描述的实施例仅仅是本发明一部份实施例, 而不 是全部的实施例。 基于本发明中的实施例, 本领域普通技术人员在没有做出创 造性劳动前提下所获得的所有其它实施例, 都属于本发明保护的范围。
[0039] 请参见图 1, 图 1是本发明实施例提供的一种无人机无线充电系统的架构示意图 。 如图 1所示, 本发明实施例提供了一种无人机。 如图 1所示, 无人机无线充电 系统包括: 控制设备 101、 无人机 102和无线充电平台 103, 其中, 控制设备 101 可以是控制该无人机的控制装置, 也可以是能够控制该无人机的终端设备如手 机、 平板电脑、 穿戴式设备 (如智能手表、 智能手环等) 等, 该控制设备配置 有无线通信模块可以向该无人机发送控制指令和接收该无人机发送的数据。 该 无人机具有无线通讯模块可以向该控制设备发送数据和接收该控制设备发送的 控制指令。
[0040] 请参见图 2, 图 2是本发明实施例无人机的结构示意图。 无人机包括: 控制器 20 1、 无线通讯模块 202、 导航系统 203、 电量检测模块 204、 蓄电池 205、 无线充电 接收装置 206; 上述无线通讯模块 202、 上述无线充电接收装置 206、 上述导航系 统 203、 上述电量检测模块 204分别与上述控制器 201相连接; 上述电量检测模块 、 上述无线充电接收装置分别与上述蓄电池电性连接; 控制器 201, 用于解析所 接收到的控制指令并根据上述控制指令对无人机进行控制; 无线通讯模块 202, 用于接收控制指令和发送所收集的数据; 蓄电池 205, 用于为上述无人机提供电 力; 无线充电接收装置 206, 用于对上述蓄电池进行充电; 导航系统 203, 用于 为上述无人机提供导航数据; 电量检测模块 204, 用于检测上述蓄电池剩余的电
[0041] 上述电量检测模块 204将检测到的上述蓄电池 205的剩余电量的数据发送给上述 控制器 201; 上述控制器 201在根据上述数据确定上述剩余电量低于第一预设值 后, 向上述无线通讯模块 202发送控制指令, 上述控制指令指示上述无线通讯模 块 202向控制设备发送充电指令; 上述无线通讯模块 202在接收到上述控制设备 针对上述充电指令发送的确认充电指令后, 向上述控制器 201发送确认指令; 上 述控制器 201在接收到上述确认指令后, 向上述导航系统 203发送导航指令, 上 述导航指令指示上述导航系统向上述控制器 201发送将无人机导航至预设区域的 导航数据, 上述预设区域是为上述无人机进行无线充电的区域, 由目标无线充 电装置产生; 上述控制器 201在根据上述导航数据将上述无人机降落到上述预设 区域后, 向上述无线充电接收装置 206发送启动指令, 上述启动指令指示上述无 线充电接收装置 206利用上述预设区域中的电磁场对上述蓄电池 205进行充电。
[0042] 无线充电平台是可以为无人机提供无线充电服务的平台。 该平台可以配置多个 无线充电装置, 并支持多种无线充电方式例如电磁感应式充电、 磁场共振充电 、 无线电波式。 该无线充电平台可以是智能平台, 可以自动检测是否有待充电 的无人机, 可以为无人机自动进行无线充电。 该无线充电平台可以接收并解析 无人机发送的各种指令, 如预约指令、 査询指令。 该平台可以向无人机发送多 种信息。 如预约成功的信息、 位置信息等。
[0043] 本发明实施例中上述控制器, 还用于在根据上述数据和预计工作吋间数据确定 上述无人机不能完成工作任务后, 通过上述无线通讯模块向上述控制设备发送 报警信息, 上述预计工作吋间数据是上述控制设备通过上述无线通讯模块向上 述控制器发送的。
[0044] 请参见图 3, 图 3是上述控制器的结构示意图。 上述控制器包括计吋器 301和处 理器 302, 上述计吋器 301用于计吋; 上述处理器用于处理和计算数据。 例如该 处理器配合该计吋器可以以一定的吋间周期通知上述电量检测模块检测上述蓄 电池的剩余电量, 并根据上述剩余电量和上述无人机的预计工作吋间计算该无 人机的剩余电量是否可以完成工作任务。 举例来说, 该处理器可以每三分钟向 上述电量检测模块发送一个电量检测指令, 在获取上述电量检测模块发送的剩 余电量的数据后, 处理器根据该数据和上述预计的工作吋间计算该无人机是否 可以完成工作任务, 若剩余电量不足以支持该无人机工作上述预计的工作吋间 , 通过上述无线通讯模块向上述控制设备发送报警信息。 上述预计工作吋间可 以是用户预计该无人机需要工作的吋间。
[0045] 本发明实施例中, 上述控制器, 还用于通过上述无线通讯模块向上述控制设备 发送上述无人机的剩余工作吋间数据, 上述剩余工作吋间数据由上述控制器根 据上述剩余电量和上述无人机的耗电信息确定, 上述耗电信息包含上述无人机 消耗电量的信息。
[0046] 上述控制器以一定的吋间周期收集该无人机的耗电信息, 再结合上述剩余电量 计算该无人机的剩余工作吋间, 最后通过上述无线通讯模块发送给上述控制设 备。
[0047] 本发明实施例中, 上述无线通讯模块, 还用于在接收到上述确认充电指令后, 通过广播方式发送査询指令, 上述査询指令用于査询携带上述査询指令的信号 所覆盖的范围内的无线充电装置的状态信息; 在接收到至少一个无线充电装置 针对上述査找指令发送的状态信息后, 将上述状态信息发送给上述控制器, 上 述状态信息包含上述无线充电装置的位置信息和工作状态信息;
[0048] 上述控制器, 还用于根据上述状态信息确定上述目标无线充电装置;
[0049] 上述导航系统, 还用于在接收到上述控制器发送的上述目标无线充电装置的位 置信息后, 将上述无人机导航到上述目标无线充电装置的位置。
[0050] 其中, 上述无线通讯模块可以通过广播的方式发射携带査询指令的信号。 举例 来说, 当上述无线通讯模块接收到上述控制器发送的确认充电指令后, 发射上 述信号用来査询该信号覆盖的范围内的无线充电装置的状态信息。 无线充电装 置的状态信息可以是该无线充电装置的位置信息、 工作状态信息、 是否可以为 上述无人机充电的信息、 充电需要等待的吋间信息等。 上述控制器在接收到上 述无线通讯模块转发的上述无线充电装置的状态信息后, 确定其中一个无线充 电装置为目标无线充电装置。 上述导航系统在接收到上述控制器发送的上述目 标无线充电装置的位置信息后, 为上述无人机提供飞至目标充电装置的预设区 域的导航数据。 上述控制器根据上述导航数据控制该无人机降落到该预设区域
[0051] 本发明实施例中, 上述控制器, 还用于在根据上述剩余电量的数据确定上述剩 余电量达到第二预设值吋, 通过上述无线通讯模块向上述控制设备或上述无人 机绑定的终端设备发送提示信息, 上述提示信息提示上述蓄电池的电量达到上 述第二预设值, 上述第二预设值大于上述第一预设值。
[0052] 举例来说, 当上述控制器根据上述电量检测模块发送的剩余电量的数据确定上 述蓄电池的剩余电量的达到第二预设值吋, 通过上述无线通讯模块向上述控制 设备或上述无人机绑定的终端设备发送提示信息。 举例来说, 当上述控制器确 定上述蓄电池的电量充满后或者达到用户设置的阈值后, 通过上述无线通讯模 块向上述控制设备或上述无人机绑定的终端设备如手机、 可穿戴设备等发送提 示信息, 提示用户电量已充满或达到用户设置的阈值。 用户可以通过上述控制 设备向上述无人机发送上述阈值。 具体的实现可以如下: 用户通过上述控制设 备向上述无人机发送想要设置的阈值, 上述无线通讯模块接收到该阈值后, 将 该阈值发送给上述控制器, 该控制器确定上述蓄电池的电量到达该阈值后, 向 上述无线通讯模块发送相应的控制指令, 上述无线通讯模块向上述控制设备或 上述无人机绑定的终端设备发送提示信息。
[0053] 本发明实施例中, 上述无线充电接收装置为无线磁感应充电装置, 利用感应所 述预设区域中的电磁场产生的电流对所述蓄电池进行充电。
[0054] 上述无线充电接收装置可以利用感应上述预设区域中的电磁场产生的电流对上 述蓄电池进行充电。 该无线充电接收装置也可以接收电磁波如激光、 红外线等 , 将其转换为可以对上述蓄电池进行充电的电流。 [0055] 本发明实施例中, 上述无线充电接收装置包括: 接收线圈和接收模块电路; [0056] 上述接收线圈和接收模块电路电性连接;
[0057] 上述接收线圈, 用于将感应上述预设区域中的电磁场所产生的电流导入上述接 收模块电路;
[0058] 上述接收模块电路, 用于在将上述电流调整为满足上述蓄电池充电需求的电流 后, 对上述蓄电池进行充电。
[0059] 请参阅图 4, 图 4是无线充电接收装置的结构示意图。 上述接收线圈可以感应上 述预设区域中的电磁场产生电流, 并将产生的电流导入上述接收模块电路。 上 述接收模块电路将接收到的电路进行处理后, 对上述蓄电池进行充电。 如图 5所 示, 上述接收模块电路可以包括降压电路 501、 整流电路 502和充电控制电路 503 。 上述接收线圈感应上述预设区域的电磁场产生电流后, 由上述降压电路 501进 行降压, 并通过整流电路 502进行整流, 最后由充电控制电路 503对上述蓄电池 进行充电。
[0060] 本发明实施例中, 上述无线充电接受装置支持电磁感应式充电、 磁场共振充电 、 无线电波式充电中的至少一种。
[0061] 上述无线充电接受装置可以支持电磁感应式充电、 磁场共振充电、 无线电波式 充电中的至少一种。 举例来说, 上述无线充电接受装置可以集成电磁感应式充 电和磁场共振充电两种无线充电方式。 两种无线充电装置可以分别占据上述无 线充电接受装置的一部分, 上述无线充电接受装置也可以集中支持多种无线充 电方式。 上述无线充电接受装置可以根据无线充电装置的充电方式选择合适的 无线充电方式。
[0062] 本发明实施例中, 上述无线通讯模块, 还用于向云服务器转发上述控制器发送 的充电请求; 向上述控制器转发上述云服务器发送的上述目标无线充电装置的 位置信息和前往上述目标无线充电装置的路径导航数据;
[0063] 上述控制器, 还用于根据上述路径导航数据将上述无人机降落到上述目标无线 充电装置的位置。
[0064] 上述控制器可以通过上述无线通讯模块向云服务器转发上述控制器发送的充电 请求, 也可以接收上述云服务器通过上述无线通讯模块转发的上述目标无线充 电装置的位置信息和前往上述目标无线充电装置的路径导航数据。 上述控制器 可以根据上述路径导航数据将上述无人机降落到上述目标无线充电装置的位置 , 即上述预设区域。
[0065] 本实施例中, 上述无人机与终端设备具有绑定关系;
[0066] 上述无线通讯模块向上述终端设备发送上述无人机的剩余电量信息、 高度信息 和坐标信息。
[0067] 终端设备例如手机、 平板电脑、 台式电脑等可以与上述无人机进行绑定, 如图 6所示, 上述终端设备可以向上述无人机发送各种指令, 如充电指令、 上升指令 、 下降指令等。 充电指令可以指示该无人机自动进行充电。 上升指令可以指示 该无人机向上飞行。 下降指令指示该无人机向下飞行。 上述控制器可以控制该 无线通讯模块向上述终端设备发送上述无人机的剩余电量信息、 高度信息和坐 标信息。 上述终端设备可以通过服务器主动获取该无人机的信息, 也可以通过 该服务器向该无人机发送相应的指令。
[0068] 举例来说, 上述终端设备中可以安装控制无人机的应用程序, 该应用程序将用 户的终端设备和用户的无人机绑定到一起, 通过该应用程序用户可以向该无人 机发送各种指令和査看该无人机的信息等。 具体的实现方式是通过服务器实现 的。 具体实现方式可以如下: 用户通过终端设备上的应用程序发送相应的指令 , 服务器在接收到该指令后, 通过无线方式向该无人机发送该指令, 并将接收 到的信息发送给上述终端设备。
[0069] 以上仅为本发明较佳的具体实施方式, 但本发明的保护范围并不局限于此, 任 何熟悉本技术领域的技术人员在本发明实施例揭露的技术范围内, 可轻易想到 的变化或替换, 都应涵盖在本发明的保护范围之内。 因此, 本发明的保护范围 应该以权利要求的保护范围为准。
技术问题
问题的解决方案
发明的有益效果

Claims

权利要求书
[权利要求 1] 一种无人机, 其特征在于, 包括:
控制器、 无线通讯模块、 蓄电池、 无线充电接收装置、 导航系统, 以 及电量检测模块;
所述无线通讯模块、 所述无线充电接收装置、 所述导航系统、 所述电 量检测模块分别与所述控制器相连接; 所述电量检测模块、 所述无线 充电接收装置分别与所述蓄电池电性连接;
所述电量检测模块将检测到的所述蓄电池的剩余电量的数据发送给所 述控制器; 所述控制器在根据所述数据确定所述剩余电量低于第一预 设值后, 向所述无线通讯模块发送控制指令, 所述控制指令指示所述 无线通讯模块向控制设备发送充电指令; 所述无线通讯模块在接收到 所述控制设备针对所述充电指令发送的确认充电指令后, 向所述控制 器发送确认指令; 所述控制器在接收到所述确认指令后, 向所述导航 系统发送导航指令, 所述导航指令指示所述导航系统向所述控制器发 送将无人机导航至预设区域的导航数据, 所述预设区域是为所述无人 机进行无线充电的区域, 由目标无线充电装置产生; 所述控制器在根 据所述导航数据将所述无人机降落到所述预设区域后, 向所述无线充 电接收装置发送启动指令, 所述启动指令指示所述无线充电接收装置 利用所述预设区域中的电磁场对所述蓄电池进行充电。
[权利要求 2] 根据权利要求 1所述无人机, 其特征在于,
所述控制器, 还用于在根据所述数据和预计工作吋间数据确定所述无 人机不能完成工作任务后, 通过所述无线通讯模块向所述控制设备发 送报警信息, 所述预计工作吋间数据是所述控制设备通过所述无线通 讯模块向所述控制器发送的。
[权利要求 3] 根据权利要求 1所述无人机, 其特征在于,
所述控制器, 还用于通过所述无线通讯模块向所述控制设备发送所述 无人机的剩余工作吋间数据, 所述剩余工作吋间数据由所述控制器根 据所述剩余电量和所述无人机的耗电信息确定, 所述耗电信息包含所 述无人机消耗电量的信息。
[权利要求 4] 根据权利要求 1所述无人机, 其特征在于,
所述无线通讯模块, 还用于在接收到所述确认充电指令后, 通过广播 方式发送査询指令, 所述査询指令用于査询携带所述査询指令的信号 所覆盖的范围内的无线充电装置的状态信息; 在接收到至少一个无线 充电装置针对所述査找指令发送的状态信息后, 将所述状态信息发送 给所述控制器, 所述状态信息包含所述无线充电装置的位置信息和工 作状态信息;
所述控制器, 还用于根据所述状态信息确定所述目标无线充电装置; 所述导航系统, 还用于在接收到所述控制器发送的所述目标无线充电 装置的位置信息后, 将所述无人机导航到所述目标无线充电装置的位 置。
[权利要求 5] 根据权利要求 1所述无人机, 其特征在于,
所述控制器, 还用于在根据所述剩余电量的数据确定所述剩余电量达 到第二预设值吋, 通过所述无线通讯模块向所述控制设备或所述无人 机绑定的终端设备发送提示信息, 所述提示信息提示所述蓄电池的电 量达到所述第二预设值, 所述第二预设值大于所述第一预设值。
[权利要求 6] 根据权利要求 1所述无人机, 其特征在于, 所述无线充电接收装置为 无线磁感应充电装置, 利用感应所述预设区域中的电磁场产生的电流 对所述蓄电池进行充电。
[权利要求 7] 根据权利要求 1所述无人机, 其特征在于, 所述无线充电接收装置包 括: 接收线圈和接收模块电路;
所述接收线圈和接收模块电路电性连接;
所述接收线圈, 用于将感应所述预设区域中的电磁场所产生的电流导 入所述接收模块电路;
所述接收模块电路, 用于在将所述电流调整为满足所述蓄电池充电需 求的电流后, 对所述蓄电池进行充电。
[权利要求 8] 根据权利要求 1所述无人机, 其特征在于, 所述无线充电接受装置支 持电磁感应式充电、 磁场共振充电、 无线电波式充电中的至少一种。
[权利要求 9] 根据权利要求 1所述无人机, 其特征在于,
所述无线通讯模块, 还用于向云服务器转发所述控制器发送的充电请 求; 向所述控制器转发所述云服务器发送的所述目标无线充电装置的 位置信息和前往所述目标无线充电装置的路径导航数据;
所述控制器, 还用于根据所述路径导航数据将所述无人机降落到所述 目标无线充电装置的位置。
[权利要求 10] 根据权利要求 1所述无人机, 其特征在于,
所述无人机与终端设备具有绑定关系;
所述无线通讯模块向所述终端设备发送所述无人机的剩余电量信息、 高度信息和坐标信息。
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