WO2018129817A1 - Aéronef sans pilote, procédé et appareil de remplacement de batterie d'aéronef sans pilote, système d'aéronef sans pilote - Google Patents

Aéronef sans pilote, procédé et appareil de remplacement de batterie d'aéronef sans pilote, système d'aéronef sans pilote Download PDF

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Publication number
WO2018129817A1
WO2018129817A1 PCT/CN2017/079447 CN2017079447W WO2018129817A1 WO 2018129817 A1 WO2018129817 A1 WO 2018129817A1 CN 2017079447 W CN2017079447 W CN 2017079447W WO 2018129817 A1 WO2018129817 A1 WO 2018129817A1
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WO
WIPO (PCT)
Prior art keywords
battery
drone
replacement
replacing
request
Prior art date
Application number
PCT/CN2017/079447
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English (en)
Chinese (zh)
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 WO2018129817A1 publication Critical patent/WO2018129817A1/fr

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/39—Battery swapping

Definitions

  • the invention relates to the field of unmanned aerial vehicle charging, in particular to a drone, a battery replacement method, a device and a drone system.
  • the main object of the present invention is to solve the technical problem in the prior art that requires the user to manually replace the battery of the drone.
  • a method for replacing a battery of a drone according to the present invention includes:
  • the battery replacement device After the battery replacement device authenticates the request for replacing the battery, receiving guidance information fed back by the battery replacement device, where the guidance information includes at least location information of the designated replacement battery area;
  • the drone is controlled to fly to the designated replacement battery area to replace the battery.
  • acquiring the location information of the preset battery replacement device includes:
  • the current remaining capacity of the drone is less than or equal to a preset threshold
  • the drone is currently completing the navigation mission
  • the current flight time of the drone is greater than or equal to a preset threshold
  • the drone currently receives the replacement battery command
  • the present invention provides a method for replacing a battery of a drone, which is applied to a battery replacement device, and the battery replacement method of the drone includes:
  • the replacement battery request sent by the drone is received, the replacement battery request is authenticated;
  • the guiding information is fed back to the drone, and the guiding information includes at least the location information of the designated replacement battery area;
  • the battery is replaced by the drone.
  • the battery replacement operation of the drone includes:
  • the removed battery to be replaced is placed in a preset charging area for charging.
  • the installing the backup battery that matches the drone to the drone battery compartment comprises:
  • a backup battery corresponding to the battery type in the preset battery library is mounted to the battery compartment of the drone.
  • the present invention also provides a drone, the drone comprising:
  • a location acquisition module configured to acquire location information of the preset battery replacement device when the condition for replacing the battery is met
  • a receiving module configured to receive, after the battery replacement device authenticates the request for replacing the battery, the guiding information fed back by the battery replacing device, where the guiding information includes at least location information of the designated replacement battery area;
  • a navigation module configured to control the drone to fly to the designated replacement battery area to replace the battery.
  • the present invention further provides a battery exchange device, the battery replacement device comprising:
  • An authentication module configured to perform authentication on the replacement battery request when receiving a replacement battery request sent by the drone
  • a feedback module configured to feed back guidance information to the drone when the authentication is passed, where the guiding information includes at least location information of the designated replacement battery area;
  • an execution module configured to perform a battery replacement operation on the drone when the drone reaches the designated replacement battery area.
  • the execution module comprises:
  • an unloading unit configured to remove the battery to be replaced in the battery compartment of the drone when the drone reaches the designated replacement battery area
  • a loading unit for installing a backup battery matched with the drone to the drone battery compartment
  • a recycling unit configured to place the removed battery to be replaced in a preset charging area for charging.
  • the loading unit comprises:
  • a confirmation subunit for confirming a battery type corresponding to the battery compartment of the drone
  • a mounting subunit configured to install a backup battery corresponding to the battery type in the preset battery library to the battery compartment of the drone.
  • the present invention also provides an unmanned aerial vehicle system including the above-described drone and a battery exchange device.
  • the drone acquires the position of the preset battery replacement device when the battery needs to be replaced, and sends a replacement battery request to the battery replacement device. After the battery replacement device passes the request for authentication, the drone automatically goes to the battery. Replace the working area of the unit for battery replacement. Through the method, when the drone needs to replace the battery, the drone can automatically replace the battery operation without manual operation of the user, thereby improving the user experience.
  • FIG. 1 is a schematic flow chart of a first embodiment of a method for replacing a battery of a drone according to the present invention
  • FIG. 2 is a schematic flow chart of a second embodiment of a method for replacing a battery of a drone according to the present invention
  • FIG. 3 is a schematic diagram of a refinement process of step S23 in FIG. 2;
  • step S232 in FIG. 3 is a schematic diagram showing the refinement process of step S232 in FIG. 3;
  • FIG. 5 is a schematic diagram of functional modules of an embodiment of the drone of the present invention.
  • FIG. 6 is a schematic diagram of functional modules of an embodiment of a battery exchange device of the present invention.
  • FIG. 7 is a schematic diagram of a refinement function module of the execution module 23 of FIG. 6;
  • FIG. 8 is a schematic diagram of a refinement function module of the loading unit 232 of FIG. 7;
  • FIG. 9 is a schematic diagram of functional modules of an embodiment of the UAV system of the present invention.
  • the invention provides a method for replacing a battery of a drone.
  • FIG. 1 is a schematic flow chart of a first embodiment of a method for replacing a battery of a drone according to the present invention.
  • the method for replacing the battery of the drone includes:
  • Step S11 when the condition for replacing the battery is satisfied, acquiring position information of the preset battery replacing device;
  • the conditions for the UAV to meet the battery replacement are not limited, and are specifically set according to actual needs.
  • the manner of obtaining the position information of the battery replacing device is not limited, for example, the drone pre-stores the position information of the battery replacing device, and the drone obtains the battery by, for example, the remote server.
  • the location information of the device is changed, and the type of the location information is not limited, and may be latitude and longitude information, or may be coordinate information of the battery replacement device compared to the current position of the drone.
  • the UAV acquires the location information of the battery replacement device, the location is set as the navigation destination to go to the working area of the battery replacement device.
  • the working area of the battery replacement device is not limited, according to the actual situation.
  • the setting is made, for example, the working area includes the communication range of the drone and the battery exchange device.
  • Step S12 sending a replacement battery request to the battery replacement device
  • the type of the request for replacing the battery to the battery replacing device is not limited.
  • the identity information of the drone is included in the replacement battery request, which may be The drone's own coded information, the name of the affiliated unit or the information of the associated account of the drone, etc., the drone sends a replacement battery request containing the identity information to the battery replacement device for verification by the device.
  • the drone sends a replacement battery request containing its own encoded information to the battery exchange device.
  • a UAV identity coded information is YY123
  • the UAV sends a replacement battery request containing the identity code information to the battery replacement device, and the battery replacement device stores the coded information with the stored UAV identity coded information base.
  • the data in the comparison is compared. If the UAV identity code information YY123 exists in the UAV identity code information base, the authentication is passed.
  • the drone transmits the account information associated therewith to the battery exchange device.
  • the owner of the drone needs to register an account and recharge the account, and the drone will send a request for replacing the battery.
  • the account information is sent to the battery replacement device, and the battery replacement device verifies the account, for example, verifying the account balance, and whether the account balance can pay for the replacement of the battery.
  • Step S13 after the battery replacement device authenticates the request for replacing the battery, receiving the guidance information fed back by the battery replacement device, where the guidance information includes at least the location information of the designated replacement battery area;
  • Step S14 controlling the drone to fly to the designated replacement battery area to replace the battery.
  • the battery exchange device can perform the operation of replacing the battery with the drone.
  • the UAV when the UAV needs to replace the battery, the UAV acquires the position of the preset battery replacement device, and sends a replacement battery request to the battery replacement device. After the battery replacement device passes the request for authentication, the UAV automatically proceeds to the UAV. The working area of the battery replacement unit for battery replacement. Through the method, when the drone needs to replace the battery, the drone can automatically replace the battery operation without manual operation of the user, thereby improving the user experience.
  • acquiring the location information of the preset battery replacement device includes:
  • the current remaining capacity of the drone reaches a preset threshold
  • the preset threshold is set according to the actual situation.
  • the threshold setting cannot be too high (it is not necessary to replace the battery too high), and it cannot be set too low (too low may cause the drone to fail to reach the designated replacement battery area) .
  • the drone is currently completing the navigation mission
  • the current unfinished mission of the drone is not limited.
  • the navigation mission of a drone is from point A to point B. In this flight, when the drone reaches point B. That is, the drone currently completes the navigation task, that is, the drone currently meets the replacement battery condition.
  • the current flight time of the drone is greater than or equal to a preset threshold
  • the setting of the threshold is not limited.
  • the threshold is set to 15 minutes (currently most of the drones that use electric energy as driving energy lasts for about 30 minutes), when the drone is sailing once. When it is greater than or equal to 15 minutes, it will meet the battery replacement strategy.
  • the setting of the threshold is not limited, for example, when the wind speed is greater than 10 m/s, the drone meets the condition for replacing the battery.
  • the air humidity, the temperature, and the like can also be detected.
  • the current air humidity is greater than or equal to a preset value (the preset value should be the air humidity value when it rains)
  • the drone meets the replacement battery. condition. It is also possible to set a temperature interval (in which the UAV battery is normally discharged), and if it is detected that the current temperature is not within the interval, the drone meets the replacement battery condition.
  • the drone is currently receiving the battery replacement command.
  • the user can issue an instruction through the manipulation platform to cause the drone to perform the operation of replacing the battery.
  • the UAV is currently set to meet the conditions for replacing the battery based on the remaining power of the UAV, the flight time, the weather during flight, and the like, so that the application of the UAV is more extensive.
  • FIG. 2 is a schematic flow chart of a second embodiment of a method for replacing a battery of a drone according to the present invention.
  • the method for replacing the battery of the drone includes:
  • Step S21 when receiving the replacement battery request sent by the drone, requesting the replacement battery request for authentication;
  • the manner of receiving the request for replacing the battery is not limited.
  • the wireless connection is performed between the drone and the battery replacing device by using wifi or Bluetooth.
  • the replacement battery request sent by the drone is authenticated.
  • the battery replacement device authenticates the replacement battery request sent by the drone, and the specific authentication method is not limited. For example, it is authenticated whether the device that sends the request is a drone, and if so, the authentication is passed; or the identity information included in the replacement battery request sent by the drone is detected to be legal, and if it is legal, the authentication is passed.
  • the received battery replacement request includes the identity code information of the drone, and the identity code information of the drone is the same as the stored drone.
  • the data in the identity coding information base is compared, and if the UAV identity coded information exists in the stored UAV identity coded information database, the authentication is passed.
  • the received battery replacement request sent by the unmanned aerial vehicle includes the unit name information of the unmanned aerial vehicle, and the unit name information of the unmanned aerial vehicle belongs to the stored unit name information.
  • the data in the library is compared. If the unit name information of the drone always exists in the stored unit name information base, the authentication is passed.
  • the received replacement battery request sent by the drone includes the UAV associated account information, and the account is verified, if the account balance is sufficient to pay for the replacement. The cost of the human battery is passed.
  • Step S22 if the authentication is passed, feeding back the guiding information to the drone, the guiding information including at least the location information of the designated replacement battery area;
  • the designated replacement battery area is not limited, and the battery replacement device can perform battery replacement operation on the unmanned aerial vehicle.
  • Step S23 when the drone reaches the designated replacement battery area, perform a battery replacement operation on the drone.
  • the manner in which the drone is replaced with a battery operation is not limited, and the operation can be performed, for example, by a robot.
  • the unmanned aerial vehicle when the battery operation is performed on the unmanned aerial vehicle, the unmanned aerial vehicle is first authenticated, and only the unmanned aerial vehicle that has passed the authentication is replaced with a battery operation, so that the entire process of replacing the battery is more orderly.
  • FIG. 3 is a schematic diagram of the refinement process of step S23 in FIG.
  • step S23 includes:
  • Step S231 when the drone reaches the designated replacement battery area, the battery to be replaced in the battery compartment of the drone is removed;
  • the manner of removing the battery to be replaced in the battery compartment of the drone is not limited.
  • a button is set on the drone, and when the button is pressed, the battery compartment of the drone can be turned on, and Eject the battery from the battery compartment.
  • the button When the drone is in the designated replacement battery area, press the button by the robot to open the battery compartment of the drone, and the battery to be replaced is ejected from the battery compartment of the drone.
  • Step S232 installing a battery matched with the drone to the battery compartment of the drone;
  • the manner in which the battery matched with the drone is mounted to the battery compartment of the drone is not limited, for example, the corresponding battery is grasped by a robot and then mounted to the battery compartment of the drone.
  • Step S233 the removed battery to be replaced is placed in a preset charging area for charging.
  • the manner in which the battery unloaded from the battery compartment of the drone is placed in the charging area is not limited, for example, the battery is grasped by a robot and then placed in the charging area.
  • the corresponding charging device charges the battery.
  • the operation of replacing the battery of the drone is not required manually, so that the use of the drone is more convenient, thereby making the user experience better.
  • FIG. 4 is a schematic diagram of the refinement process of step S232 in FIG.
  • step S232 includes:
  • Step S2321 confirming the battery type corresponding to the battery compartment of the drone
  • the manner of confirming the battery type corresponding to the battery compartment of the drone is not limited.
  • the identity information of the drone stored according to the identity information of the drone is stored.
  • the information in the library is compared, and the corresponding information of the drone in the UAV identity information database is searched, and the information of the battery type corresponding to the battery compartment of the drone is obtained by finding the information.
  • Step S2322 installing a backup battery corresponding to the battery type in the preset battery library to the battery compartment of the drone.
  • the battery required by the current drone is first confirmed, and then the corresponding battery is selected from the battery library to be installed in the battery compartment of the drone, so that the battery replacing device can perform various types of drones using different types of batteries. Battery replacement operation (there is a corresponding battery in the battery library).
  • the invention further provides a drone.
  • FIG. 5 is a schematic diagram of functional modules of an embodiment of the drone of the present invention.
  • the drone 1 includes:
  • the location obtaining module 11 is configured to acquire location information of the preset battery replacing device when the condition for replacing the battery is met;
  • the conditions for the UAV to meet the battery replacement are not limited, and are specifically set according to actual needs.
  • the manner of obtaining the position information of the battery replacing device is not limited, for example, the drone pre-stores the position information of the battery replacing device, and the drone obtains the battery by, for example, the remote server.
  • the location information of the device is changed, and the type of the location information is not limited, and may be latitude and longitude information, or may be coordinate information of the battery replacement device compared to the current position of the drone.
  • the UAV acquires the location information of the battery replacement device, the location is set as the navigation destination to go to the working area of the battery replacement device.
  • the working area of the battery replacement device is not limited, according to the actual situation.
  • the setting is made, for example, the working area includes the communication range of the drone and the battery exchange device.
  • the requesting module 12 is configured to send a replacement battery request to the battery replacing device
  • the type of the request for replacing the battery to the battery replacing device is not limited.
  • the identity information of the drone is included in the replacement battery request, which may be The drone's own coded information, the name of the affiliated unit or the information of the associated account of the drone, etc., the drone sends a replacement battery request containing the identity information to the battery replacement device for verification by the device.
  • the drone sends a replacement battery request containing its own encoded information to the battery exchange device.
  • a UAV identity coded information is YY123
  • the UAV sends a replacement battery request containing the identity code information to the battery replacement device, and the battery replacement device stores the coded information with the stored UAV identity coded information base.
  • the data in the comparison is compared. If the UAV identity code information YY123 exists in the UAV identity code information base, the authentication is passed.
  • the drone transmits the account information associated therewith to the battery exchange device.
  • the owner of the drone needs to register an account and recharge the account, and the drone will send a request for replacing the battery.
  • the account information is sent to the battery replacement device, and the battery replacement device verifies the account, for example, verifying the account balance, and whether the account balance can pay for the replacement of the battery.
  • the receiving module 13 is configured to receive, after the battery replacing device authenticates the request for replacing the battery, the guiding information fed back by the battery replacing device, where the guiding information includes at least location information of the designated replacement battery area;
  • the navigation module 14 is configured to control the drone to fly to the designated replacement battery area to replace the battery.
  • the battery exchange device can perform the operation of replacing the battery with the drone.
  • the drone when the drone needs to replace the battery, the drone is controlled to go to the working area of the battery replacing device; when the drone reaches the working area of the battery replacing device, the battery replacing device authenticates the unmanned device and authenticates After passing, the guiding information is fed back to the drone, and the guiding information includes at least the position information of the designated replacement battery area; and the drone is controlled to reach the designated replacement battery area to perform the battery replacement operation.
  • the drone can automatically replace the battery operation without manual operation of the user, thereby improving the user experience.
  • the present invention provides a battery exchange device.
  • FIG. 6 is a schematic diagram of functional modules of an embodiment of a battery exchange device according to the present invention.
  • the battery exchange device 2 includes:
  • the authentication module 21 is configured to perform the authentication of the replacement battery request when receiving the replacement battery request sent by the drone;
  • the manner of receiving the request for replacing the battery is not limited.
  • the wireless connection is performed between the drone and the battery replacing device by using wifi or Bluetooth.
  • the replacement battery request sent by the drone is authenticated.
  • the battery replacement device authenticates the replacement battery request sent by the drone, and the specific authentication method is not limited. For example, it is authenticated whether the device that sends the request is a drone, and if so, the authentication is passed; or the identity information included in the replacement battery request sent by the drone is detected to be legal, and if it is legal, the authentication is passed.
  • the received battery replacement request includes the identity code information of the drone, and the identity code information of the drone is the same as the stored drone.
  • the data in the identity coding information base is compared, and if the UAV identity coded information exists in the stored UAV identity coded information database, the authentication is passed.
  • the received battery replacement request sent by the unmanned aerial vehicle includes the unit name information of the unmanned aerial vehicle, and the unit name information of the unmanned aerial vehicle belongs to the stored unit name information.
  • the data in the library is compared. If the unit name information of the drone always exists in the stored unit name information base, the authentication is passed.
  • the received replacement battery request sent by the drone includes the UAV associated account information, and the account is verified, if the account balance is sufficient to pay for the replacement. The cost of the human battery is passed.
  • the feedback module 22 is configured to feed back guidance information to the drone when the authentication is passed, where the guiding information includes at least location information of the designated replacement battery area;
  • the designated replacement battery area is not limited, and the battery replacement device can perform battery replacement operation on the unmanned aerial vehicle.
  • the executing module 23 is configured to perform a battery replacement operation on the drone when the drone reaches the designated replacement battery area.
  • the manner in which the drone is replaced with a battery operation is not limited, and the operation can be performed, for example, by a robot.
  • the unmanned aerial vehicle is authenticated, and only the unmanned aerial vehicle that has passed the authentication is replaced with a battery operation, so that the entire process of replacing the battery is more orderly.
  • FIG. 7 is a schematic diagram of a refinement function module of the execution module 23 of FIG.
  • the execution module 23 includes:
  • the manner of unloading the battery to be replaced in the battery compartment of the drone is not limited.
  • a button is set on the drone, and when the button is pressed, the battery compartment of the drone can be turned on, and The battery is ejected from the battery compartment.
  • a loading unit 232 configured to install a backup battery matched with the drone to the drone battery compartment;
  • the manner in which the battery matched with the drone is mounted to the battery compartment of the drone is not limited, for example, the corresponding battery is grasped by a robot and then mounted to the battery compartment of the drone.
  • the recycling unit 233 is configured to place the removed battery to be replaced in a preset charging area for charging.
  • the manner in which the battery unloaded from the battery compartment of the drone is placed in the charging area is not limited, for example, the battery is grasped by a robot and then placed in the charging area.
  • the corresponding charging device charges the battery.
  • the operation of replacing the battery of the drone is not required manually, so that the use of the drone is more convenient, thereby making the user experience better.
  • FIG. 8 is a schematic diagram of a refinement function module of the loading unit 232 of FIG.
  • the loading unit 232 includes:
  • the confirmation subunit 2321 is configured to confirm the battery type corresponding to the unmanned battery compartment
  • the manner of confirming the battery type corresponding to the battery compartment of the drone is not limited.
  • the identity information of the drone stored according to the identity information of the drone is stored.
  • the information in the library is compared, and the corresponding information of the drone in the UAV identity information database is searched, and the information of the battery type corresponding to the battery compartment of the drone is obtained by finding the information.
  • the mounting subunit 2322 is configured to install a backup battery corresponding to the battery type in the preset battery library to the battery compartment of the drone.
  • the battery required by the current drone is first confirmed, and then the corresponding battery is selected from the battery library to be installed in the battery compartment of the drone, so that the battery replacing device can perform various types of drones using different types of batteries. Battery replacement operation (there is a corresponding battery in the battery library).
  • FIG. 9 is a schematic diagram of functional modules of an embodiment of the UAV system of the present invention.
  • the unmanned battery replacement system includes the unmanned aerial vehicle 1 and the battery replacement device 2.
  • the position information of the battery replacing device 2 is acquired, and navigates to the working area of the battery replacing device 2, and the drone 1 sends a replacement battery request to the battery replacing device. 2.
  • the guidance information is fed back to the drone 1, and the drone 1 navigates to the designated battery replacement according to the position information of the designated battery replacement area included in the guidance information.
  • the battery exchange device 2 performs an operation of replacing the battery with the drone 1 in the designated battery replacement area.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

L'invention concerne un procédé de remplacement de batterie d'un aéronef sans pilote, un aéronef sans pilote, un appareil de remplacement de batterie et un système d'aéronef sans pilote. Le procédé consiste à : obtenir des informations de localisation d'un appareil de remplacement de batterie prédéfini lorsque des conditions de remplacement sont satisfaites (S11) ; envoyer une demande de remplacement de batterie à l'appareil de remplacement de batterie (S12) ; recevoir des informations de guidage renvoyées par l'appareil de remplacement de batterie après que l'appareil de remplacement de batterie approuve la demande de remplacement de batterie, les informations de guidage comprenant au moins les informations de localisation d'une zone de remplacement de batterie spécifiée (S13) ; et commander un aéronef sans pilote afin qu'il vole vers la zone de remplacement de batterie spécifiée de façon à remplacer une batterie (S14). Au moyen de la solution technique, une opération de remplacement d'une batterie d'un aéronef sans pilote peut être automatiquement réalisée, l'opération manuelle d'un utilisateur est réduite, et l'expérience d'utilisateur est améliorée.
PCT/CN2017/079447 2017-01-11 2017-04-05 Aéronef sans pilote, procédé et appareil de remplacement de batterie d'aéronef sans pilote, système d'aéronef sans pilote WO2018129817A1 (fr)

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Application Number Priority Date Filing Date Title
CN201710020106.1A CN106774415A (zh) 2017-01-11 2017-01-11 无人机、无人机电池更换方法、装置及无人机系统
CN201710020106.1 2017-01-11

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WO2018129817A1 true WO2018129817A1 (fr) 2018-07-19

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CN107320222B (zh) * 2017-08-14 2019-01-15 侯策 一种基于无人机的智能义肢替换方法及其系统
CN108229886A (zh) * 2018-01-02 2018-06-29 广州亿航智能技术有限公司 无人机配送管理方法、装置和计算机储存介质
CN109041204A (zh) * 2018-07-28 2018-12-18 深圳市烽焌信息科技有限公司 一种无人机续航基站的注册方法
CN112185017A (zh) * 2018-07-28 2021-01-05 李跃泉 一种无人机续航基站电池更换的借出方法
CN109080477A (zh) * 2018-07-28 2018-12-25 深圳市旭发智能科技有限公司 一种无人机电池更换管理方法及基站
CN109080840A (zh) * 2018-07-28 2018-12-25 深圳市烽焌信息科技有限公司 一种高效率工作的无人机续航基站
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CN109050963A (zh) * 2018-07-28 2018-12-21 深圳市旭发智能科技有限公司 一种无人机续航基站电池更换管理方法
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