WO2018107562A1 - Drone et procédé et système de commande de charge de drone - Google Patents

Drone et procédé et système de commande de charge de drone Download PDF

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Publication number
WO2018107562A1
WO2018107562A1 PCT/CN2017/071883 CN2017071883W WO2018107562A1 WO 2018107562 A1 WO2018107562 A1 WO 2018107562A1 CN 2017071883 W CN2017071883 W CN 2017071883W WO 2018107562 A1 WO2018107562 A1 WO 2018107562A1
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WO
WIPO (PCT)
Prior art keywords
drone
charging
charging base
charged
user terminal
Prior art date
Application number
PCT/CN2017/071883
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English (en)
Chinese (zh)
Inventor
刘均
宋朝忠
Original Assignee
深圳市元征科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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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 WO2018107562A1 publication Critical patent/WO2018107562A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/0047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with monitoring or indicating devices or circuits
    • H02J7/0048—Detection of remaining charge capacity or state of charge [SOC]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • H02J7/00045—Authentication, i.e. circuits for checking compatibility between one component, e.g. a battery or a battery charger, and another component, e.g. a power source

Definitions

  • the invention relates to the field of unmanned aerial vehicle charging, in particular to a control method and system for unmanned aerial vehicles and unmanned aerial vehicles.
  • drones have been widely used in people's daily lives. Most drones fly through the battery to provide energy, but the energy that the battery can provide at one time is limited. Generally, after the drone returns, if the power consumption is large, the user needs to manually charge the battery of the drone. In this case, if the user does not charge the drone when the drone needs to be recharged, then the next time the drone is used, the drone may be short or impossible to fly, which will affect The user's experience with the drone.
  • the main object of the present invention is to provide a control method and system for unmanned aerial vehicles and unmanned aerial vehicles, which aim to solve the technical problem that the unmanned aerial vehicle cannot achieve active charging in the prior art.
  • the present invention provides a method for controlling charging of a drone, and the method for controlling charging of the drone includes:
  • the drone When the drone returns, determining whether the drone currently needs to be charged according to the current condition of the drone, wherein the current condition of the drone includes at least the current remaining capacity of the drone;
  • the drone When it is determined that the drone currently needs to be charged, the drone is controlled to go to the charging base for wireless charging.
  • controlling the drone to go to the charging base for wireless charging includes:
  • the drone is controlled to go to the charging base for wireless charging.
  • the charging base comprises a plurality of charging base stations
  • the method includes:
  • the method includes:
  • the charging state information of the drone is fed back to the user terminal, and when the wireless charging ends, the drone is controlled to return to the location of the user terminal.
  • the present invention also provides a drone, the drone comprising:
  • a determining module configured to determine, according to the current condition of the drone, whether the drone is currently required to be charged when the drone returns, wherein the current state of the drone includes at least a current remaining of the drone Electricity
  • control module configured to control the drone to go to the charging base for wireless charging when it is determined that the drone currently needs to be charged.
  • control module comprises:
  • a path generating unit configured to: when determining that the drone currently needs to be charged, generating a flight path of the drone according to location information of the pre-stored charging base and current location information of the drone;
  • control unit configured to control the drone to go to the charging base for wireless charging according to the flight path.
  • the charging base includes a plurality of charging base stations, and the drone further includes: a requesting module and a charging module;
  • the requesting module is configured to: when the drone reaches an end point of the flight path, control the drone to send a charging connection request to the charging base station to establish a charging connection with the charging base station;
  • the charging module is configured to: when the charging connection is established, receive an electromagnetic wave emitted by the charging base station for wireless charging by the drone.
  • the drone further comprises:
  • a feedback module configured to feed back the charging state information of the drone to the user terminal, and control the drone to return to the location of the user terminal when the wireless charging ends.
  • the present invention also provides a control system for charging a drone, comprising a plurality of charging base stations disposed at a charging base and the drone described in any of the above.
  • the charging base station comprises:
  • An authentication module configured to receive a charging connection request sent by the drone, and authenticate the charging connection request
  • a transmitting module configured to: when the charging connection request passes the authentication, feed back a charging connection response to the drone to establish a charging connection with the drone, and transmit an electromagnetic wave to the drone for the The drone is wirelessly charged.
  • the drone when the drone returns, according to the current situation of the drone, it is determined whether the drone currently needs to be charged, and when it is determined that the drone currently needs to be charged, the drone is controlled to go to the charging base.
  • Wireless charging The invention can make the unmanned aerial vehicle actively charge, thereby eliminating the cumbersome manual charging of the user and improving the convenience of the user.
  • FIG. 1 is a schematic flow chart of a first embodiment of a method for controlling charging of a drone according to the present invention
  • FIG. 2 is a schematic diagram of a refinement process of step S120 in FIG. 1;
  • FIG. 3 is a schematic diagram of a scenario of an unmanned aerial vehicle traveling to a charging base in a method for controlling charging of a drone according to the present invention
  • FIG. 4 is a schematic flow chart of a second embodiment of a method for controlling charging of a drone according to the present invention.
  • FIG. 5 is a schematic flow chart of a third embodiment of a method for controlling charging of a drone according to the present invention.
  • FIG. 6 is a schematic diagram of functional modules of a first embodiment of the drone of the present invention.
  • FIG. 7 is a schematic diagram of a refinement function module of the control module 120 in the UAV of FIG. 6;
  • FIG. 8 is a schematic diagram of functional modules of a second embodiment of the drone of the present invention.
  • FIG. 9 is a schematic diagram of functional modules of a third embodiment of the drone of the present invention.
  • FIG. 10 is a schematic diagram of functional modules of an embodiment of a control system for charging a drone according to the present invention.
  • FIG. 11 is a schematic diagram of functional modules of an embodiment of the charging base station of FIG.
  • FIG. 1 is a schematic flow chart of a first embodiment of a method for charging a drone according to the present invention.
  • the control method of the drone charging includes:
  • Step S110 determining, according to the current condition of the drone, whether the drone is currently required to be charged when the drone returns, wherein the current condition of the drone includes at least the current remaining capacity of the drone;
  • the manner of determining whether the drone is currently required to be charged is not limited.
  • the current remaining power of the drone It can be judged by the current remaining power of the drone. For example, it may be to detect whether the current power consumption of the drone reaches a preset threshold, and if so, the drone currently needs to be charged.
  • the preset threshold cannot be set too high or too low (too high may cause the drone to fail to fly to the charging base, and too low is not necessary for charging), for example, the threshold may be preset as 60 of the total power. %.
  • the drone meets a preset charging strategy.
  • the charging strategy can be preset for the drone to meet the charging conditions each time the drone returns.
  • the drone when the drone returns, it is determined whether the drone currently needs to be charged, that is, whether the drone currently meets the charging condition. It can be monitored in real time when the drone returns, or it can be monitored every preset time interval when the drone returns.
  • Step S120 When it is determined that the drone currently needs to be charged, the drone is controlled to go to the charging base for wireless charging.
  • the location information of the charging base can be stored in advance.
  • the location information of the charging base is used as a navigation destination to control the drone to go.
  • the charging base has a charging base station, and the charging base station can transmit electromagnetic waves to the drone for the drone to receive, thereby causing the drone to charge.
  • the drone when the drone returns, it monitors whether the drone currently meets the charging condition. If the drone currently meets the charging condition, the drone is controlled to go to the charging base for charging. In this embodiment, when the drone is in the return flight, if the charging condition is satisfied, the charging can be actively performed, thereby eliminating the cumbersome manual charging of the user and improving the convenience of the user.
  • step S120 includes:
  • Step S1201 When it is determined that the UAV currently needs to be charged, generating a flight path of the UAV according to the location information of the pre-stored charging base and the current location information of the UAV;
  • FIG. 3 is a schematic diagram of a scenario of an unmanned aerial vehicle traveling to a charging base according to an embodiment of the present invention.
  • three flight paths of 1, 2, and 3 are generated by using the navigation system provided by the drone.
  • Step S1202 Control the drone to go to the charging base for wireless charging according to the flight path.
  • path 2 is the closest choice for the drone to the charging base as compared to paths 1, 3.
  • the drone determines that path 2 is a flight path and directs the path information of path 2 to the navigation system to proceed to the charging base.
  • the drone generates flight path information to the charging base through the navigation system, and selects an optimal flight path from the flight path information, so that the drone can reach the charging base faster.
  • FIG. 4 is a schematic flow chart of a second embodiment of a method for controlling charging of a drone according to the present invention.
  • the control method for the charging of the drone further includes:
  • Step S130 when the drone reaches the end of the flight path, controlling the drone to send a charging connection request to the charging base station to establish a charging connection with the charging base station;
  • the unmanned aerial vehicle sends a charging connection request to the charging base, which may include the identity identification information of the unmanned aerial vehicle, and further, after the charging base receives the identity identification information of the unmanned aerial vehicle, the identity identification information is obtained. The legality is verified. If the identity information is legal, the authentication is passed; otherwise, the authentication is not passed.
  • the type of the identity identification information is not limited.
  • the identity identification information may be identity code information of the drone, a name of the unit to which the drone belongs, and account information of the user to which the drone belongs.
  • the charging base pre-stores the identity encoding information of all the drones, for example, the drone transmits its own identity encoding information to the charging base when transmitting the charging connection request, and the charging base transmits the identity encoding information and the identity encoding information.
  • the data in the database is compared. If the comparison is consistent, the confirmation is legal and the certification is passed.
  • the charging base only charges the drone under the legal unit name, and the name of the unit to which the legal drone belongs is pre-stored in the charging base.
  • the charging base compares the name of the unit with the pre-stored unit name. If the comparison is consistent, the connection request is confirmed to be legal. , the certification passed.
  • the charging base charges and charges the drone.
  • the account information is sent to the charging base, and the charging base queries the account information to confirm whether the charging requirement is met. For example, if the account balance is greater than the specified value, if the charging requirement is met, the confirmation is legal and the certification is passed.
  • Step S140 when the charging connection is established, receiving electromagnetic waves emitted by the charging base station for wireless charging by the drone.
  • the drone may be charged by receiving electromagnetic waves.
  • there are several charging base stations in the charging base and the charging base station can transmit electromagnetic waves, and the drone can receive electromagnetic waves emitted by the charging base station, and convert the received electromagnetic waves into electric energy for charging.
  • the drone needs to be authenticated before charging at the charging base, and only the certified drone has the qualification to charge at the charging base.
  • the charging base is selectively charged to the drone, thereby avoiding excessive loss of the charging base resources.
  • FIG. 5 is a schematic flow chart of a third embodiment of a method for controlling charging of a drone according to the present invention.
  • the method for controlling charging of the drone further includes:
  • Step S150 feeding back the charging state information of the drone to the user terminal, and controlling the drone to return to the location of the user terminal when the wireless charging ends.
  • the type of charging information is not limited.
  • it may be one or more of basic information (location information, name information) of the charging base station, identity information of the drone, remaining charging time information of the drone, and the like.
  • the charging information of the drone is fed back to the user terminal device, and the user is prompted in time. For example, by sending text information to a mobile terminal device such as a mobile phone of a user to which the drone belongs.
  • the wireless charging end condition is not limited.
  • the drone can reach the condition that the charging is stopped, such as the threshold of the current power of the drone reaching the preset stop charging. It is also possible that the drone receives an instruction to stop charging.
  • the drone acquires the location information of the user terminal in real time, and after stopping charging, navigates to the user terminal. Moreover, the charging area of the charging base is limited, and the number of receiving the drones is limited each time. When the drone ends charging, it automatically returns to the location of the user terminal, and the other drones that need to be charged are charged. space. Increased utilization of the charging base.
  • the charging information of the drone is sent to the user, and the user can know the time when the drone needs to be charged, and where to charge, which is beneficial to improving the user's use experience.
  • FIG. 6 is a schematic diagram of functional modules of a first embodiment of the drone of the present invention.
  • the drone includes:
  • the determining module 110 is configured to determine, according to the current condition of the drone, whether the drone currently needs to be charged when the drone returns, wherein the current status of the drone includes at least the current status of the drone remaining battery;
  • the manner of determining whether the drone is currently required to be charged is not limited.
  • the current remaining power of the drone It can be judged by the current remaining power of the drone. For example, it may be to detect whether the current power consumption of the drone reaches a preset threshold, and if so, the drone currently needs to be charged.
  • the preset threshold cannot be set too high or too low (too high may cause the drone to fail to fly to the charging base, and too low is not necessary for charging), for example, the threshold may be preset as 60 of the total power. %.
  • the drone meets a preset charging strategy.
  • the charging strategy can be preset for the drone to meet the charging conditions each time the drone returns.
  • the drone when the drone returns, it is determined whether the drone currently needs to be charged, that is, whether the drone currently meets the charging condition. It can be monitored in real time when the drone returns, or it can be monitored every preset time interval when the drone returns.
  • the control module 120 is configured to control the drone to go to the charging base for wireless charging when it is determined that the drone currently needs to be charged.
  • the location information of the charging base can be stored in advance.
  • the location information of the charging base is used as a navigation destination to control the drone to go.
  • the charging base has a charging base station, and the charging base station can transmit electromagnetic waves to the drone for the drone to receive, thereby causing the drone to charge.
  • the drone when the drone returns, it monitors whether the drone currently meets the charging condition. If the drone currently meets the charging condition, the drone is controlled to go to the charging base for charging. In this embodiment, when the drone is in the return flight, if the charging condition is satisfied, the charging can be actively performed, thereby eliminating the cumbersome manual charging of the user and improving the convenience of the user.
  • FIG. 7 is a schematic diagram of a refinement function module of the control module 120 in the UAV of FIG.
  • the control module 120 includes:
  • the generating unit 1201 is configured to: when determining that the drone currently needs to be charged, generate a flight path of the drone according to location information of the pre-stored charging base and current location information of the drone;
  • FIG. 3 is a schematic diagram of a scenario of an unmanned aerial vehicle traveling to a charging base according to an embodiment of the present invention.
  • three flight paths of 1, 2, and 3 are generated by using the navigation system provided by the drone.
  • the control unit 1202 is configured to control, according to the flight path, the drone to go to the charging base for wireless charging.
  • path 2 is the closest choice for the drone to the charging base as compared to paths 1, 3.
  • the drone determines that path 2 is a flight path and directs the path information of path 2 to the navigation system to proceed to the charging base.
  • the drone generates flight path information to the charging base through the navigation system, and selects an optimal flight path from the flight path information, so that the drone can reach the charging base faster.
  • FIG. 8 is a schematic diagram of functional modules of a second embodiment of the drone of the present invention.
  • the drone further includes:
  • the requesting module 130 is configured to, when the drone reaches the end of the flight path, control the drone to send a charging connection request to the charging base station to establish a charging connection with the charging base station;
  • the unmanned aerial vehicle sends a charging connection request to the charging base, which may include the identity identification information of the unmanned aerial vehicle, and further, after the charging base receives the identity identification information of the unmanned aerial vehicle, the identity identification information is obtained. The legality is verified. If the identity information is legal, the authentication is passed; otherwise, the authentication is not passed.
  • the type of the identity identification information is not limited.
  • the identity identification information may be identity code information of the drone, a name of the unit to which the drone belongs, and account information of the user to which the drone belongs.
  • the charging base pre-stores the identity encoding information of all the drones, for example, the drone transmits its own identity encoding information to the charging base when transmitting the charging connection request, and the charging base transmits the identity encoding information and the identity encoding information.
  • the data in the database is compared. If the comparison is consistent, the confirmation is legal and the certification is passed.
  • the charging base only charges the drone under the legal unit name, and the name of the unit to which the legal drone belongs is pre-stored in the charging base.
  • the charging base compares the name of the unit with the pre-stored unit name. If the comparison is consistent, the connection request is confirmed to be legal. , the certification passed.
  • the charging base charges and charges the drone.
  • the account information is sent to the charging base, and the charging base queries the account information to confirm whether the charging requirement is met. For example, if the account balance is greater than the specified value, if the charging requirement is met, the confirmation is legal and the certification is passed.
  • the charging module 140 is configured to receive electromagnetic waves emitted by the charging base station for wireless charging when the charging connection is established.
  • the drone may be charged by receiving electromagnetic waves.
  • there are several charging base stations in the charging base and the charging base station can transmit electromagnetic waves, and the drone can receive electromagnetic waves emitted by the charging base station, and convert the received electromagnetic waves into electric energy for charging.
  • the drone needs to be authenticated before charging at the charging base, and only the certified drone has the qualification to charge at the charging base.
  • the charging base is selectively charged to the drone, thereby avoiding excessive loss of the charging base resources.
  • FIG. 9 is a schematic diagram of functional modules of a third embodiment of the drone of the present invention.
  • the drone further includes
  • the feedback module 150 is configured to feed back the charging state information of the drone to the user terminal, and control the drone to return to the location of the user terminal when the wireless charging ends.
  • the type of charging information is not limited.
  • it may be one or more of basic information (location information, name information) of the charging base station, identity information of the drone, remaining charging time information of the drone, and the like.
  • the charging information of the drone is fed back to the user terminal device, and the user is prompted in time. For example, by sending text information to a mobile terminal device such as a mobile phone of a user to which the drone belongs.
  • the wireless charging end condition is not limited.
  • the drone can reach the condition that the charging is stopped, such as the threshold of the current power of the drone reaching the preset stop charging. It is also possible that the drone receives an instruction to stop charging.
  • the drone acquires the location information of the user terminal in real time, and after stopping charging, navigates to the user terminal. Moreover, the charging area of the charging base is limited, and the number of receiving the drones is limited each time. When the drone ends charging, it automatically returns to the location of the user terminal, and the other drones that need to be charged are charged. space. Increased utilization of the charging base.
  • the charging information of the drone is sent to the user, and the user can know the time when the drone needs to be charged, and where to charge, which is beneficial to improving the user's use experience.
  • FIG. 10 is a schematic diagram of functional modules of an embodiment of a control system for charging a drone according to the present invention.
  • the control system for the drone charging includes a plurality of charging base stations 10 disposed at the charging base and the drones 20 described in the above embodiments.
  • the flight path information to the charging base is generated by the navigation system according to the current location information of the drone and the location information of the charging base. And select an optimal flight path from the flight path information to proceed.
  • the drone After the drone is in the charging range of the charging base, the drone sends a charging connection request to the charging base station 10 in the charging base, and when receiving the charging connection response that is feedback after the charging base station 10 authenticates the charging connection request, It is confirmed that a charging connection is established with the charging base station 10, and electromagnetic waves emitted from the charging base station 10 are received and charged.
  • FIG. 11 is a functional block diagram of an embodiment of a charging base station in a charging base in the control system for charging a drone of FIG.
  • the charging base station 10 includes:
  • the authentication module 101 is configured to receive a charging connection request sent by the drone, and perform authentication on the charging connection request.
  • the manner of receiving the charging connection request is not limited, for example, the wireless connection is performed between the drone and the charging base station by using wifi, Bluetooth, or the like.
  • the charging connection request sent by the drone is authenticated.
  • the charging base station authenticates the charging connection request sent by the drone, and the specific authentication mode is not limited.
  • the device to be charged is authenticated as a drone, and if so, the authentication is passed; or the identity information of the drone included in the charging connection request sent by the drone is authenticated, and the identity information of the drone is determined. Whether it is legal or not, if it is legal, the certification is passed.
  • the charging connection request sent by the UAV to the charging base station includes: the UAV transmitting identity identification information to the base station to be charged, and receiving the charging connection at the charging base station.
  • the request is used to verify whether the identity information is legal. If it is legal, the authentication is passed; otherwise, the authentication fails.
  • the type of the identity identification information is not limited.
  • the identity identification information may be identity code information of the drone, a name of the unit to which the drone belongs, and account information of the user to which the drone belongs.
  • the transmitting module 102 is configured to: when the charging connection requests authentication, pass the charging connection response to the drone to establish a charging connection with the drone, and transmit electromagnetic waves to the drone to provide The drone is wirelessly charged.
  • the electromagnetic wave emitted by the charging base station may be wireless charging of one drone or wireless charging of multiple drones at the same time.
  • the unmanned aerial vehicle is provided with a wireless charging module, which can receive wireless electromagnetic waves and convert them into electrical energy storage, thereby completing charging.
  • the charging base station authenticates the charging connection request sent by the drone, and establishes a charging connection with the drone after the authentication is passed, so that selective charging can be realized, for example, the electromagnetic wave is emitted only when the drone exists. Or only the legal drone can be charged, and then the excess energy loss of the charging base station can be avoided.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

L'invention concerne un procédé de commande de charge de drone, comprenant : la détermination, lorsqu'un drone revient, qu'il a besoin d'être chargé ou pas à ce moment-là, selon son état du moment, l'état du moment du drone comprenant au moins la puissance restante à ce moment-là pour le drone; et la commande du déplacement du drone vers une base de charge pour une charge sans fil lorsqu'il est déterminé que le drone a besoin d'être chargé à ce moment-là. L'invention concerne également un drone et un système de commande de charge de drone. La présente invention peut mettre en œuvre une charge active d'un drone, ce qui permet d'éviter la contrainte d'une charge manuelle pour un utilisateur, et d'améliorer la commodité d'emploi pour l'utilisateur.
PCT/CN2017/071883 2016-12-15 2017-01-20 Drone et procédé et système de commande de charge de drone WO2018107562A1 (fr)

Applications Claiming Priority (2)

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CN201611165333.5 2016-12-15
CN201611165333.5A CN106899054A (zh) 2016-12-15 2016-12-15 无人机、无人机充电的控制方法及系统

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CN110730933A (zh) * 2018-08-23 2020-01-24 深圳市大疆创新科技有限公司 一种无人机的返航控制方法、设备、及无人机

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CN110015097B (zh) * 2017-10-23 2021-11-02 中国移动通信有限公司研究院 一种无人机充电方法及相关设备
CN109946998B (zh) * 2017-12-20 2020-08-28 翔升（上海）电子技术有限公司 无人机牧场续航方法及系统
CN109017379A (zh) * 2018-07-28 2018-12-18 深圳市旭发智能科技有限公司 一种无人机进入充电基站进行充电的方法
CN108829135A (zh) * 2018-07-28 2018-11-16 深圳市烽焌信息科技有限公司 具有高充电效率的无人机充电基站
CN109018345A (zh) * 2018-07-28 2018-12-18 深圳市旭发智能科技有限公司 一种基于充电基站进行充电的无人机
CN112109575B (zh) * 2020-09-10 2022-03-08 军事科学院系统工程研究院军事新能源技术研究所 一种无人机的充电方法、装置和系统

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