WO2020019413A1 - 无人机无线共享充电停机坪及具有优先级的无线充电方法 - Google Patents

无人机无线共享充电停机坪及具有优先级的无线充电方法 Download PDF

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Publication number
WO2020019413A1
WO2020019413A1 PCT/CN2018/104277 CN2018104277W WO2020019413A1 WO 2020019413 A1 WO2020019413 A1 WO 2020019413A1 CN 2018104277 W CN2018104277 W CN 2018104277W WO 2020019413 A1 WO2020019413 A1 WO 2020019413A1
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Prior art keywords
drone
tarmac
charging
apron
wireless
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PCT/CN2018/104277
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English (en)
French (fr)
Inventor
郝鹏
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上海楚山电子科技有限公司
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Application filed by 上海楚山电子科技有限公司 filed Critical 上海楚山电子科技有限公司
Priority to US17/263,541 priority Critical patent/US12005803B2/en
Publication of WO2020019413A1 publication Critical patent/WO2020019413A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND 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
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/66—Data transfer between charging stations and vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/67—Controlling two or more charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/60—Monitoring or controlling charging stations
    • B60L53/68—Off-site monitoring or control, e.g. remote control
    • 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
    • B64U50/37—Charging when not in flight
    • B64U50/38—Charging when not in flight by wireless transmission
    • 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
    • H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Definitions

  • the invention belongs to the field of drones, and relates to a drone wireless charging tarmac and method, and particularly to a drone wireless sharing charging tarmac and method with priority.
  • drones In recent years, the emergence of drones has greatly enriched people's daily lives. For example, using drones to take photos or photographs personally or statically or dynamically from an aerial perspective, which brings a lot of fun to users. Not only that, in industrial applications, drones are also used to complete some time-consuming and laborious tasks, such as the inspection of oil pipelines. Often, manpower is needed to go into inaccessible field work, for example, to repeatedly inspect oil pipelines. This kind of work requires staff to use vehicles and other means of transportation to go deep into the site and operate on site, including even risking climbing to tens of meters of electric poles.
  • drones have a huge technical bottleneck, which is their limited range.
  • the drones of lithium battery-driven consumer drones range from a few minutes to more than 20 minutes; while the drones of industrial drones mostly have a dead time of about 30 minutes.
  • the drones of many their self-protection function makes the drone automatically return to the flight after flying more than half of the predetermined dead time, that is, its effective working time may be only about twenty minutes or even shorter.
  • drone batteries Unlike conventional batteries, such as cell phone batteries, drone batteries have higher density and higher cost, and their weight also increases.
  • the half-hour dead time is the result of comprehensive consideration of multiple factors such as takeoff weight and flight attitude. In other words, it is not possible to try to obtain longer dead time or longer flight distance by artificially increasing the form of on-board batteries.
  • the drone battery has made a breakthrough to greatly increase the drone's dead time, but it should not be enough to support the drone's continuous flight for 24 hours or even longer.
  • the emergence and use of other new drone airborne equipment has accelerated power consumption.
  • functions such as autonomous flight based on artificial intelligence and obstacle avoidance will consume a large portion of airborne battery energy. All these make it difficult to solve the problem of drone battery life simply from the perspective of improving battery performance.
  • the drone industry looks forward to finding a method that can greatly extend the dead time of battery-powered drones.
  • the drone Due to the limitation of the battery, the drone has a limited range and the dead time ranges from a few minutes to more than 20 minutes.
  • the present invention provides a drone wireless shared charging apron, including the apron, including an adjacent apron communication module 1-1, and the adjacent apron communication module 1- 1 is connected to communication function module 1-3, said communication function module 1-3 is respectively connected to control center communication module 1-2, drone communication module 1-4 and central processing unit 1-6, said central processing unit Units 1-6 are also connected to connection actuators 1-5, energy wireless transmission units 1-7, and power management and load units 1-8.
  • the above-mentioned connections are two-way communication connections.
  • the energy management and Its load unit 1-8 and energy wireless transmitting unit 1-7 are unidirectional communication connection.
  • the apron wireless charging system mainly implements three functions, namely
  • System management unit that is to coordinate the cooperation between various units, such as the central processing unit in Figure 1;
  • Actuator unit that is, the unit that completes specific work, such as the connection actuator, energy wireless transmission unit, and power management and its load unit in Figure 1.
  • Adjacent tarmac communication module The current tarmac needs to establish a communication connection with at least one adjacent tarmac; this function is implemented by wired or wireless methods, such as cellular networks, NB-IoT, and other feasible wireless communication methods.
  • Control center communication module The control center monitors in real time the status information of all tarmacs and drones, and this information is realized by wired or wireless methods, such as cellular networks, NB-IoT, and other feasible wireless communication methods.
  • This module is a collective name for the interactive functions of the tarmac, including wired, such as cables, optical fibers, etc., and / or wireless methods, such as cellular networks, NB-IoT, Bluetooth, ZigBee, and other feasible wireless Communication, etc.
  • This interaction function is used to achieve communication with the control center, other tarmacs, and drones, and their information interaction.
  • Drone communication module wireless communication between drones, such as cellular networks, NB-IoT, and other feasible wireless communications, or transmission of information between drones via tarmac and / or control center Interaction, and then achieve mutual obstacle avoidance, competitive landing and other functions.
  • drones such as cellular networks, NB-IoT, and other feasible wireless communications, or transmission of information between drones via tarmac and / or control center Interaction, and then achieve mutual obstacle avoidance, competitive landing and other functions.
  • the apron needs an auxiliary executive agency to help the drone land in the designated area, thereby improving the efficiency of the drone's wireless charging.
  • connection actuators 1-5 are activated in a two-dimensional manner from the vicinity of the edge of the tarmac and perform parallel and horizontal movements in the lateral and / or longitudinal direction to the vicinity of the edge of the effective area until the drone is clamped and locked.
  • the connecting actuator 1-5 can also remove snow and debris.
  • the stopping position of the connecting actuator 1-5 is on the other side of the tarmac opposite to its starting position, and during this process, , Horizontal and vertical should not work at the same time.
  • Central processing unit This unit is responsible for data processing and functions implementation with other units.
  • Energy wireless transmitting unit Based on magnetic resonance wireless charging technology, this unit uses alternating electrical signals to generate an alternating magnetic field, which achieves a certain magnetic field strength and electric field strength within a specific range.
  • this unit uses alternating electrical signals to generate an alternating magnetic field, which achieves a certain magnetic field strength and electric field strength within a specific range.
  • Power management and its load unit This unit can directly draw power from the infrastructure fixed on the tarmac such as power towers, mobile phone base stations, etc., or it can rely on other means such as solar energy to obtain power.
  • the unit is responsible for managing the effective acquisition and output of the electrical energy. Not only that, the unit also has various necessary protection functions, including (but not limited to), overvoltage, overcurrent and overload protection, lightning protection, etc.
  • the apron also has basic self-maintenance functions.
  • the field conditions it faces and its autonomous processing methods include (but are not limited to):
  • connection actuator unit 1) Debris, such as stones brought by the wind, large bird droppings, snow in winter, etc. The apron is handled by the connection actuator unit.
  • the apron can make the energy wireless transmitting unit work, and under no load condition, control the output power to generate a certain amount of heat to melt the snow and Ice, and cooperate with the connection executive to achieve snow removal and de-icing.
  • the drone includes a control center module 2-1, the control center module 2-1 is connected to a communication module 2-3, and the communication module 2-3 and the apron interaction module are respectively 2-2, other UAV interaction modules 2-4, central processing unit 2-6, the central processing unit 2-6 and flight control module 2-5, wireless energy receiving module 2-7, power management and The load unit 2-8 is connected.
  • the power management and its load unit 2-8 are connected to the energy wireless receiving unit 2-7.
  • the above connections are two-way communication connections.
  • the drone communicates with the tarmac, the control center, and / or other nearby drones, and landers in the effective area of the tarmac, and then performs wireless charging. When the drone is fully charged, The go-around process after electricity.
  • the functional units involved are as follows:
  • Control center module The drone needs to maintain real-time interaction with the control center. On the one hand, data including captured images such as cellular networks, NB-IoT, and other feasible wireless communications are transmitted back to the control center; on the other hand, instructions from the control center, such as performing tasks, are also received.
  • data including captured images such as cellular networks, NB-IoT, and other feasible wireless communications are transmitted back to the control center; on the other hand, instructions from the control center, such as performing tasks, are also received.
  • Helipad interaction module The drone must communicate with the helipad through wireless means, such as cellular networks, NB-IoT, Bluetooth, and other feasible wireless communications, such as system identification and wireless charging status.
  • wireless means such as cellular networks, NB-IoT, Bluetooth, and other feasible wireless communications, such as system identification and wireless charging status.
  • This module is a collective term for the drone interaction function, and is generally based on wireless methods, such as cellular networks, NB-IoT, Bluetooth, ZigBee, and other feasible wireless communications. In certain situations, such as artificial, also Can be wired.
  • This interaction function is used to achieve information interaction with the control center, the apron (s), and other drones.
  • the drone has the function of wireless communication with other drones. This function is mainly obtained through wireless methods, such as cellular networks, NB-IoT, Bluetooth, ZigBee, and other feasible wireless communications. In certain situations (such as man-made), wired mode can also be adopted. Information interacting with each other, including (but not limited to), battery power information, location information, etc.
  • This unit is responsible for the functions of other units.
  • Energy wireless receiving module Based on magnetic resonance wireless charging technology, when the unit is in an alternating magnetic field, based on magnetic resonance wireless charging technology, the magnetic field energy received by the receiving coil unit is converted by the signal conditioning unit into a stable DC voltage and DC current, which in turn supplies power to the load unit.
  • the energy wireless receiving device of the drone can receive the energy with higher efficiency.
  • the load may be a battery or a battery pack, and according to the charging characteristics of the battery, a power management unit is generally required to coordinate the safe charging process of the battery. Not only that, the unit also has various necessary protection functions, such as (but not limited to), overvoltage, overcurrent and overload protection, lightning protection, etc.
  • the invention also provides a wireless charging method with priority for drone wireless shared charging apron, including the following steps: first step: the apron is in standby mode,
  • Step 2 When there is a drone charging request, the tarmac performs drone identification.
  • Step 3 The identification is successful, and the drone backup and landing begins
  • Step 4 The apron recognizes whether there is at least one new drone charging request within a certain period of time. If it does not go to the next step, if there is, then two or more drones will not actually enter the landing or follow-up. Task, perform priority evaluation, only accept the actual charging request of one of the drones, and the rest are non-backup drones. After the priority evaluation, accept the previous drone's charging request, go to the next step The non-standby landing drone judges the length of time it stays in the air, and chooses to land in the nearest queue to wait, or fly to one of the adjacent tarmaces for charging.
  • the tarmac will update the backup
  • the landing instruction will put the new drone into the standby state, and the non-standby drone will enter the dead time judgment, and choose to land in the nearest line to wait or fly to the appropriate adjacent apron for charging;
  • Step 5 The drone landed on the effective area on the tarmac, and the executive agency locked the drone;
  • Step 6 The drone turns off the engine, and the tarmac wirelessly charges the drone;
  • Step 7 After the battery is fully charged, the drone starts the engine, notifies the apron, and is ready to go around. After receiving the notification, the apron unlocks the connection actuator, and there is no go-around.
  • the drone duration of the drone There are two cases for judging the drone duration of the drone: 1 when the airborne energy is sufficient, fly to another suitable tarmac for charging; 2 when the tarmac and / or the drone judge that the remaining power of the drone is insufficient
  • the drone chooses to land nearby, after landing, the drone closes the main or all rotors, the drone enters the standby state, and interacts with the apron in real time to submit a charging application. .
  • the adjacent apron interacts with the current apron to determine whether the adjacent apron meets the following three conditions: 1) whether the adjacent apron is in a normal working state, 2) the adjacent apron does not have a charging drone, and 3) it is unmanned
  • the electric power of the aircraft is enough to support it to fly to the adjacent tarmac.
  • the drone is flying to the adjacent tarmac that meets the conditions, repeat the second step to the seventh step.
  • the apron refuses to land the drone and requests the drone to leave.
  • the maximum number of times can be set.
  • the docking actuator pushes the drone to an effective area.
  • the drone does not land completely or partially in the valid area and the docking actuator fails, for a period of time, The drone goes around slightly and fine-tunes the landing point by landing again to make it fall into the effective area. During this time period, interaction between the drone and the tarmac is maintained.
  • the new drone When there is a new drone charging application in the sixth step, the new drone directly enters the judging time period and chooses to land in the nearest line to wait or fly to the adjacent tarmac for charging.
  • the apron sub-system is started, that is, the power is turned on.
  • the power may come directly from the preset power output mode, such as the power line, the power of the mobile phone base station, or even solar energy.
  • apron status parameters include (but are not limited to): operating voltage, current, ambient temperature, ambient wind speed, and other weather conditions, whether there are debris on the tarmac surface, the internal temperature of the tarmac, interactive function modules, connecting actuator units, and wireless energy transmission Unit status, power management unit, etc.
  • This information may come from: the landing charge application of the drone or other apron, that is, the request information of the drone from the adjacent apron, which requires shunting and waiting for charging; or the control information from the control center.
  • the apron determines whether a request to land and charge the drone has been received.
  • the request is obtained wirelessly, and its wireless charging methods include (but are not limited to): cellular networks such as 2G, 3G, 4G, 5G and their upgrade or derivative methods, NB-IoT, Bluetooth, infrared, Beidou positioning, GPS and other methods.
  • cellular networks such as 2G, 3G, 4G, 5G and their upgrade or derivative methods
  • NB-IoT such as 2G, 3G, 4G, 5G and their upgrade or derivative methods
  • Bluetooth such as Bluetooth, infrared, Beidou positioning, GPS and other methods.
  • the above methods may be used alone, or at least two of them may be used together.
  • the tarmac and drone When receiving a drone charging application, the tarmac and drone have so far identified to determine whether the drone is eligible for landing.
  • the landing qualification refers not only to the drone, but also to the fact that the drone and the apron belong to the same organization, or that there are related agreements between different organizations to ensure that the drone will not be affected by factors such as size and weight, nor will it Due to the affiliation issues of different agencies or the agreements between them, the drone cannot land.
  • the drone has an energy wireless receiving unit that matches the wireless energy transmitting unit of the tarmac.
  • the charging may be a form of paid business.
  • the successful identification means that the drone is eligible for landing and the energy receiving unit of the drone matches the energy transmitting unit of the tarmac.
  • the identification process may not be successful at once.
  • the present invention proposes a maximum number of consecutive identification attempts, such as three. This number can be set. When it is identified that it does not qualify for landing or exceeds the maximum number of times allowed, the apron refuses to land and asks the drone to leave.
  • Drones are preparing to land.
  • the specific work involves drones and tarmac, including (but not limited to):
  • UAV through flight control unit, adjust flight attitude, control flight speed, and interact with apron and control center modules in real time.
  • the tarmac confirms that a drone has entered the standby stage, it can still interact with other drones within a certain range.
  • the tarmac needs to make a judgment between these identified drones, that is, only one of them is accepted.
  • the judging process is the priority evaluation, that is, finding the drone that needs the most charging.
  • the distance between the drone and the apron uses not only satellite positioning systems such as Beidou and / or GPS, but also wireless processes through them (such as cellular networks, NB-IoT, Bluetooth, ZigBee, and other feasible wireless Communication). Generally speaking, the closer the distance, the stronger the signal strength of the latter and the higher the priority.
  • the weights of the above three parameters are different, in general, they are 60%, 30%, and 10%, respectively.
  • the tarmac compares the weighted sum of the three parameters. The larger the data, the higher the priority. This weight parameter can be set, but the total should be equal to 100%.
  • the apron identifies a high-priority drone among the candidate drones. Because the drone may not be the first one identified, the tarmac needs to be updated with relevant information.
  • the drone chooses to land nearby. After landing, the drone closes the main or all rotors, the drone enters the standby state, and sends status information to the control center in real time.
  • the drone After the drone has landed nearby, it maintains wireless communication with the tarmac, sends charging applications to the tarmac regularly or irregularly, and receives instructions from the tarmac regularly or irregularly.
  • the current apron interacts with the neighboring apron, determine whether the latter can receive drone charging, including the following (but not limited to) three points: 1) whether the adjacent apron is in a normal working state, and 2) there is no Man-machine, meanwhile, (3) the power of the drone is enough to support it to fly to the adjacent tarmac.
  • the drone enters the landing mode, the central processing unit instructs the flight control unit, and the drone lands on the tarmac.
  • the effective area refers to a transmitting coil module in an energy wireless transmitting unit and an area related to the transmitting coil module.
  • the wireless charging efficiency will remain at a high level if it falls in the effective area; if it falls partially in the effective area, the efficiency will be impaired; if it falls outside the area, wireless charging cannot be performed.
  • the algorithmic judgment is mainly based on the coupling degree of magnetic resonance wireless charging.
  • the docking actuators will play a role in pushing the drones to an effective area mechanically.
  • the drone went around slightly and fine-tuned the landing point.
  • the drone does not fully or partially land in the effective area and the connection actuator fails, for a period of time, the drone goes around slightly and fine-tunes the landing point again to land within the effective area. During this time period, interaction between the drone and the tarmac is maintained.
  • the docking actuator locks the drone. At this time, the drone is fixed to ensure that during the charging process, the drone will not shift and affect the charging effect.
  • the drone shuts down the engine and prepares for charging.
  • the drone shuts down all engines, other main drone's main actuators also suspend work, the system enters standby mode, and the drone energy wireless receiving unit is ready for charging.
  • new drones may still enter the apron and apply for charging. If this happens, the tarmac no longer compares the priority of other drones with the drones being charged, but directly evaluates its remaining airtime, from whether to land on-site or fly to other shutdowns. Evaluation process,
  • the apron wirelessly charges the drone.
  • the energy wireless transmitting unit of the apron is the energy wireless receiving unit of the drone, and wireless charging is performed based on the magnetic resonance wireless charging method.
  • the power management of the drone and its load unit determine whether it is full in real time. If not, continue charging.
  • the drone When full, the drone starts the engine, notifies the apron, and is ready to go around. After receiving the notice from the tarmac, the connection actuator is unlocked, so that it no longer clamps the drone and returns to the starting position, which is the edge of the tarmac. The drone goes around, and the status information including the drone and tarmac are reported to the control center in real time.
  • connection actuator fails to unlock, the system allows it to continuously try a certain maximum number of times, such as 3 times, this value can be set.
  • Status Report Center If the actuator still unlocks the fault after trying the maximum number of times within a certain period of time, the drone fails to go around, the apron is in a fault state, and it is instructed on the spot by lights and other information to no longer accept any drone charging applications. Not only that, status information including drones, tarmacs, etc. is reported to the control center in real time.
  • the invention provides a drone wireless shared charging apron and a wireless charging method with priority. Based on this charging apron, a drone wireless charging sharing service is provided to meet the charging endurance problems of drones in different industries. For example, power line inspection drones, oil pipeline inspection drones, border line inspection drones, and mobile base station inspection drones. Drones can perform round-the-clock inspections without the need for manual maintenance. This will greatly reduce the cost of inspection and maintenance and improve inspection efficiency.
  • Figure 1 shows the working principle of the tarmac.
  • Figure 2 shows the working principle of the drone.
  • the drone apron is installed on a power line tower in a suburb.
  • the apron has a built-in wireless energy transmission unit based on the magnetic resonance wireless charging method and a connection actuator.
  • This apron can not only serve the inspection drones of electric power companies, but also can be shared with inspection drones in other fields working in this area, such as (but not limited to): oil and gas pipeline inspections, border lines Inspections, mobile base station inspections, animal migration inspections, and security inspections, etc.
  • the drone and the apron maintain real-time interaction with the control center respectively.
  • the drone apron is installed on a power line tower in a suburb.
  • the apron has a built-in wireless energy transmission unit based on the magnetic resonance wireless charging method and a connection actuator.
  • This apron can not only serve the inspection drones of electric power companies, but also can be shared with inspection drones in other fields working in this area, such as (but not limited to): oil and gas pipeline inspections, border lines Inspections, mobile base station inspections, animal migration inspections, and security inspections, etc.
  • the drone and the apron maintain real-time interaction with the control center respectively.
  • the drone wireless shared charging apron and the wireless charging method with priority provided by the present invention provide a drone wireless charging sharing service based on the charging apron, which can meet the charging endurance problems of drones in different industries. For example, power line inspection drones, oil pipeline inspection drones, border line inspection drones, and mobile base station inspection drones. Drones can perform round-the-clock inspections without the need for manual maintenance. This will greatly reduce the cost of inspection and maintenance and improve inspection efficiency.

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Abstract

本发明提供了一种无人机无线共享充电停机坪，包括邻近停机坪通信模块、通信功能模块、控制中心通信模块、无人机通信模块、中央处理单元、接驳执行机构、能量无线发射单元、电源管理及其负载单元。本发明还提供了无人机无线共享充电停机坪的具有优先级的无线充电方法。本发明提供的无人机无线共享充电停机坪及具有优先级的无线充电方法，基于此充电停机坪，提供了一种无人机无线充电共享服务，以满足不同行业无人机的充电续航问题，比如，电力线巡检类无人机、石油管道巡检类无人机、边境线巡检类无人机，以及手机基站类巡检无人机等多种无人机。无人机可以实现全天候巡检，同时无需人力到现场维护，极大降低巡检维护的成本，并提高了巡检效率。

Description

无人机无线共享充电停机坪及具有优先级的无线充电方法 技术领域
本发明属于无人机领域，涉及一种无人机无线充电停机坪及方法，特别涉及一种具有优先级的无人机无线共享充电停机坪及方法。
 背景技术
近年来，无人机的出现极大丰富了人们日常生活。比如，利用无人机从空中角度进行个人或静态或动态跟随拍照或摄影，这给使用者带来了很多乐趣。不仅如此，在工业应用中，无人机也用来完成一些费时费力的工作，如石油管道的巡检。往常，需要人力深入人迹罕至的野外工作，例如，周而复始的沿着石油管道进行巡查。这样的工作需要工作人员借助车辆等交通工具深入现场就地操作，甚至包括冒着危险爬上数十米的电线杆等。
无人机的出现，使得人们可以远程遥控或者无人机自主飞行至相应区域，进行拍摄，并将实时的数据传输给主控中心。这大大节省了人力物力和财力。
然而，无人机有一个巨大的技术瓶颈，即其航程有限。一般而言，锂电池驱动的消费类无人机，其滞空时间大约在几分钟至二十多分钟不等；而工业类无人机，其滞空时间则大多在三十分钟左右。不仅如此，对于无人机而言，往往其自我保护功能使得无人机在飞行超过一半预定滞空时间后便自动返航，即其有效的工作时间，可能只有二十分钟左右，甚至更短。
不同于手机电池等常规电池，无人机电池密度更高，成本更贵，而重量也随之增加。对于工业用无人机而言，其半个小时左右的滞空时间是综合考虑起飞重量、飞行姿态等多种因素后的结果。换言之，无法通过人为增加机载电池的形式来试图获得更久的滞空时间或更长的飞行距离。
即使在可预见的未来，无人机电池取得了突破，以使得无人机滞空时间大大提高，但应不会足以支持该无人机连续飞行24小时，甚至更久。与此同时，其他新的无人机机载设备的出现和使用，加速了耗电量，比如，基于人工智能的自主飞行、避障等功能将消耗很大部分的机载电池能量。这些都使得单纯从提高电池性能的角度难以解决无人机续航问题。
因此，无人机行业，尤其是工业应用领域，期待找到一种可极大延长电池驱动无人机滞空时间的方法。
 技术问题
    无人机由于电池的限制，航程距离有限，滞空时间大约在几分钟至二十多分钟不等。
 技术解决方案
为了解决以上问题，如图1所示，本发明提供了一种无人机无线共享充电停机坪，包括停机坪，包括邻近停机坪通信模块1-1，所述的邻近停机坪通信模块1-1和通信功能模块1-3连接，所述的通信功能模块1-3分别连接控制中心通信模块1-2、无人机通信模块1-4和中央处理单元1-6，所述的中央处理单元1-6还和接驳执行机构1-5、能量无线发射单元1-7和电源管理及其负载单元1-8连接，以上所述的连接都是双向通信连接，所述的能量管理及其负载单元1-8和能量无线发射单元1-7单向通信连接。
简单来说，停机坪无线充电系统主要实现三个功能，即
1）与不同系统间的信息交互，即通信；如图1中的邻近停机坪通信模块、控制中心通信模块、通信功能模块，和无人机通信模块；
2）系统管理单元，即协调各单元之间的协作，如图1中的中央处理单元；
3）执行机构单元，即完成特定工作的单元，如图1中的接驳执行机构、能量无线发射单元，和电源管理及其负载单元。
下面对每个模块或单元进行详细说明。
邻近停机坪通信模块：当前的停机坪需要与至少一个邻近的停机坪建立通信连接；该功能通过有线或无线方式，如蜂窝网络、NB-IoT，以及其他的可行的无线通信的方式实现。
控制中心通信模块：控制中心实时监控包括所有停机坪和无人机的状态信息，该信息通过有线或无线方式，如蜂窝网络、NB-IoT，以及其他的可行的无线通信等的方式实现。
通信功能模块：此模块为停机坪所具有交互功能的统称，包括有线，如电缆、光纤，等，和/或无线方式，如蜂窝网络、NB-IoT，蓝牙、ZigBee，以及其他的可行的无线通信等。该交互功能用以实现与控制中心、其他停机坪，以及无人机的通信，及其信息交互。
无人机通信模块：无人机之间直接通过无线方式，如蜂窝网络、NB-IoT，以及其他的可行的无线通信等，或无人机之间通过停机坪和/或控制中心传递实现信息交互，并进而实现相互避障、竞争降落等功能。
接驳执行机构：停机坪需要辅助执行机构来帮助无人机降落在指定区域，从而提高无人机无线充电的效率。
所述的接驳执行机构1-5通过二维方式，从停机坪边缘位置附近启动，以横向和/或纵向进行平行运动，到有效区域边缘位置附近，直至夹紧锁定无人机，所述的接驳执行机构1-5还能够实现清除积雪和杂物的作用，所述的接驳执行机构1-5的停止位置位于其启动位置相对的停机坪的另一侧，且此过程中，横向和纵向应不同时工作。
中央处理单元：该单元负责数据处理，以及与其他各单元的功能实现。
能量无线发射单元：基于磁共振无线充电技术，该单元利用交变的电信号产生交变磁场，在特定范围内达到一定的磁场强度和电场强度。当无人机降落在停机坪的特定区域即无线充电的有效区域时，无人机的能量无线接收装置可以较高的效率接收该能量。
电源管理及其负载单元：该单元可以直接从停机坪所固定的基础设施如电力塔、手机基站等上取电，也可以依靠太阳能等其他途径获得电能。该单元负责管理该电能的有效获得与输出。不仅如此，该单元也有各种必要的保护功能，包括（但不限于），过压、过流和过载保护，防雷击保护等。
不仅如此，该停机坪还有基本的自我维护功能。其面临的野外情况及其自主处理方式包括（但不限于）：
1）杂物，如风带来的石子，大块的鸟粪，冬天的积雪，等。停机坪通过接驳执行机构单元处理。
2）积雪和冰。除了1）中物理方式处理外，对于可能的较为顽固的积雪或冰，停机坪可以令能量无线发射单元工作，在没有负载的情况下，控制输出功率以产生一定的热量来融化积雪和冰，并配合接驳执行机构实现扫雪、除冰。
如图2所示，所述无人机包括控制中心模块2-1，所述的控制中心模块2-1和通信模块2-3连接，所述的通信模块2-3分别和停机坪交互模块2-2、其他无人机交互模块2-4、中央处理器2-6连接，所述中央处理器2-6和飞行控制模块2-5、能量无线接收模块2-7、电源管理及其负载单元2-8连接，所述的电源管理及其负载单元2-8和能量无线接收单元2-7连接，以上连接都为双向通信连接。
图2中，无人机通过与停机坪、控制中心，和/或其他邻近无人机之间进行通信交互，并降落在停机坪的有效区域内，进而进行无线充电，最终当无人机充满电后复飞的过程。涉及的功能单元如下所述：
控制中心模块：无人机需要与控制中心保持实时交互。一方面，将包括所拍摄的影像等数据无线如蜂窝网络、NB-IoT，以及其他的可行的无线通信等传回控制中心；另一方面，也接收控制中心的指令，如执行任务等。
停机坪交互模块：无人机必须与停机坪之间通过无线方式，如蜂窝网络、NB-IoT、蓝牙，以及其他的可行的无线通信等进行信息交互，如彼此系统识别、无线充电状态等。
通信模块：此模块为无人机交互功能的统称，一般为无线方式为主，如蜂窝网络、NB-IoT，蓝牙、ZigBee，以及其他的可行的无线通信等，在特定情况下如人为，也可以采用有线方式。该交互功能用以实现与控制中心、（多个）停机坪，以及其他无人机的信息交互。
其他无人机交互模块：无人机具有与其他无人机无线通信的功能，该功能主要通过无线方式获得，如蜂窝网络、NB-IoT，蓝牙、ZigBee，以及其他的可行的无线通信等，在特定情况下（如人为），也可以采用有线方式。彼此交互的信息，包括（但不限于），电池电量信息，位置信息等。
中央处理器：该单元负责其他各单元的功能实现。
能量无线接收模块：基于磁共振无线充电技术，该单元处于交变磁场内时，基于磁共振无线充电技术，通过接收线圈单元接收到的磁场能，并通过信号调理单元转换成稳定的直流电压和直流电流，并进而给负载单元进行供电。当无人机降落在停机坪的特定区域即无线充电的有效区域时，无人机的能量无线接收装置可以较高的效率接收该能量。
电源管理及其负载单元：负载可能是电池或电池包，且根据电池的充电特性，一般需要电源管理单元来协调电池的安全充电过程。不仅如此，该单元也有各种必要的保护功能，如（但不限于），过压、过流和过载保护，防雷击保护等。
本发明还提供了的无人机无线共享充电停机坪的具有优先级的无线充电方法，包括以下步骤：第一步：停机坪在待机模式，
第二步：当有无人机充电请求时，停机坪进行无人机识别，
第三步：识别成功，无人机备降开始；
第四步：一定时间内，停机坪识别是否有至少一台新无人机充电请求，如果没有进入下一步，如果有，则这两架或两架以上的无人机都不实际进入降落或后续任务，进行优先级评估，仅接受其中一架无人机的实际充电请求，其余为非备降无人机，如果优先级评估后，接受在先的无人机的充电请求，则进入下一步，非备降无人机进入滞空时长判断，选择就近降落排队等待，或者飞到相邻的停机坪中的一个进行充电，如果优先级评估后接受新无人机的充电请求，停机坪更新备降指令，将新无人机进入备降状态，非备降无人机进入滞空时长判断，选择就近降落排队等待或者飞到合适的相邻停机坪进行充电；
第五步：无人机降落在停机坪上有效区域，接驳执行机构锁定无人机；
第六步：无人机关闭引擎，停机坪为无人机无线充电；
第七步：充满电后，无人机启动引擎，通知停机坪，准备复飞，停机坪接到通知后，解锁接驳执行机构，无飞机复飞。
所述的无人机滞空时长判断有两种情况：①当机载能量足够时，飞至其他合适的停机坪进行充电；②当停机坪和/或无人机判断该无人机剩余电量不足以支持其飞至邻近的其他停机坪，则无人机选择就近降落，降落后，无人机关闭主要的或全部旋翼，无人机进入待机状态，并实时与该停机坪交互，提出充电申请。
邻近的停机坪和当前停机坪进行交互，判断邻近停机坪是否满足以下三个条件，1）邻近停机坪是否处于正常工作状态，2）邻近停机坪没有正在充电的无人机， 3）无人机的电能足以支持其飞至邻近停机坪，当无人机飞邻满足条件的邻近停机坪，重复所述第二步到第七步。
在所述第三步中，当无人机识别失败，且超出连续识别失败最大次数时，停机坪拒绝该无人机降落，并要求该无人机离开，所述的最大次数能够设置。
在所述第五步中，所述的接驳执行机构将无人机推至有效区域，当无人机没有完全或部分的落在有效区域且接驳执行机构故障时，在一段时间内，无人机小幅度复飞，通过再次降落微调落点，使其落在有效区域内。在该时间段内，无人机与停机坪之间保持交互。
当在第六步时，有新无人机充电申请时，新无人机直接进入滞空时长判断，选择就近降落排队等待或者飞到相邻的停机坪进行充电。
停机坪分系统启动，即接通电源，该电源可能直接来自于预设的电源输出方式，如电力线、手机基站的电源，甚至太阳能等。
判断停机坪状态参数是否正常。这些参数包括（但不限于）：工作电压、电流、环境温度、环境风速以及其他天气条件、停机坪表面是否有杂物、停机坪内部温度、交互功能模块、接驳执行机构单元、能量无线发射单元状态、电源管理单元等。
停机坪待机模式。此时，停机坪定期搜索或监听信息。这些信息可能来自：无人机的降落充电申请或其他停机坪，即邻近的停机坪发来的要求分流等待充电的无人机的请求信息；或控制中心发来的控制信息。
停机坪判断是否接收到无人机降落充电的请求。该请求通过无线方式获得，其无线充电方法包括（但不限于）：蜂窝网络如2G、3G、4G、5G及其升级或衍生方式、NB-IoT、蓝牙、红外、北斗定位、GPS等方式。上述方法可能单独使用，也可以至少两种一起同时使用。
当收到有无人机充电申请时，停机坪和无人机至今进行识别，来判断，该无人机是否具有降落资格。该降落资格，不仅指该无人机指该无人机和停机坪隶属同一个机构，或不同机构间具有相关协议，以确保该无人机即不会因尺寸和重量等因素，也不会因为不同机构或其之间的协议等隶属问题，而使得无人机无法降落，同时，无人机具有与停机坪能量无线发射单元相匹配的能量无线接收单元。在实际运行中，该充电有可能为有偿形式的商业行为。
识别成功，意味着该无人机具备降落资格，且无人机的能量接收单元与停机坪能量发射单元相匹配。识别过程可能不会一次成功。本发明提出最大允许连续识别尝试的次数，如3次。该次数可以设置。当识别不具备降落资格或超过允许的最大次数，则停机坪拒绝无人机降落，并要求无人机离开。
备降开始。无人机准备降落，其具体工作涉及无人机和停机坪，具体包括（但不限于）：
1）无人机：通过飞行控制单元，调节飞行姿态、控制飞行速度、实时与停机坪和控制中心模块交互。
2）停机坪：接驳执行机构、能量发射单元进入准备状态。
在停机坪确认已经有一架无人机进入备降阶段时，仍可用与其它一定范围内的无人机进行交互。
当同时出现两架或两架以上无人机，在没有任何一架实际进入降落或其后续任务时，停机坪需要在这些识别通过的无人机之间做出判断，即仅接受其中一架无人机的实际充电请求。其判断过程即优先级评估，即找出最需要充电的一架无人机。
所述的优先级评估主要以以下三个参数为主：
①无人机剩余电量，剩余电量越少，降落充电的优先级越高；
②充满所需要的时间评估，因各无人机机载电池容量有别，因此，需考虑该时间。时间越少，优先级越高；换言之，鼓励无人机尽可能多次充电，以应对可能没有停机坪可供充电的场景。
③无人机和停机坪之间的距离，不仅利用北斗和/或GPS等卫星定位系统，也采用通过二者无线过程（如蜂窝网络、NB-IoT，蓝牙、ZigBee，以及其他的可行的无线通信）中的信号强度进行辅助修正。一般而言，距离越近，后者的信号强度越强，优先级越高。
上述三个参数的权重有别，一般而言，依次为60%、30%和10%。停机坪比较加权后的三个参数的和，数据大者，优先级最高。该权重参数可以设置，但合计应等于100%。
停机坪在候选的无人机中确定一台优先级高的无人机。因该无人机可能不是首先识别过的无人机，因此，停机坪需要更新相关信息。
对于非备降的无人机，有两种可行性。即①当机载能量足够时，飞至其他合适的停机坪进行充电；或②就近选择合适的降落点降落，以节省机载能量，并实时与该停机坪交互，提出充电申请。因此，停机坪经过与无人机的识别后，二者或其中之一需要对该无人机剩余的滞空时间做出判断，以使该无人机尽快且安全的充电。                                                                                                                                                                                                                                                                          
当停机坪和/或无人机判断该无人机剩余电量不足以支持其飞至邻近的其他停机坪，则无人机选择就近降落。降落后，无人机关闭主要的或全部旋翼，无人机进入待机状态，并将状态信息实时发送给控制中心。
无人机就近降落后，保持与停机坪的无线通信，定期或不定期的向停机坪发送充电申请，并定期或不定期的接收停机坪指令。
当前停机坪与邻近停机坪交互后，判断后者是否可接收无人机充电，包括以下（但不限于）三点：1）邻近停机坪是否处于正常工作状态，且2）没有正在充电的无人机，同时，（3）无人机的电能足以支持其飞至该邻近停机坪。
无人机进入降落模式，中央处理器对飞行控制单元进行指令，无人机降落在停机坪上。
所述的有效区域指能量无线发射单元中的发射线圈模块及其涉及的区域。一般而言，落在有效区域，无线充电效率会保持较高水平；如果部分落在有效区域，该效率会受损；如果落在区域外，则无法进行无线充电。其算法上的判断主要根据磁共振无线充电的耦合度判断。
为了帮助已经降落的无人机尽快且高效的进行无线充电，停机坪的接驳执行机构将发挥作用，通过机械方式，将无人机推至有效区域。
无人机小幅复飞，微调落点。当无人机没有完全或部分的落在有效区域且接驳执行机构故障时，在一段时间内，无人机小幅度复飞，通过再次降落微调落点，使其落在有效区域内。在该时间段内，无人机与停机坪之间保持交互。
接驳执行机构锁定无人机。此时，无人机被固定住，以保证在充电过程中，无人机不会发生位移而影响充电效果。
无人机关闭引擎，做充电准备。无人机关闭全部引擎，其他无人机主要执行机构也暂停工作，系统进入待机模式，无人机能量无线接收单元做好充电准备。在无人机充电过程中，仍有可能出现新的无人机进入停机坪周围，并申请充电。如果出现这种情况，停机坪不再将其他无人机与正在充电的无人机做优先级比较判断，而是直接评估其剩余的滞空时间，从做是否就地降落或是否飞至其他停机坪的评估过程，
停机坪为无人机无线充电。停机坪的能量无线发射单元为无人机的能量无线接收单元，基于磁共振无线充电方法进行无线充电。无人机的电源管理及其负载单元实时判断是否充满。如果没有，则继续充电。
当充满后，无人机启动引擎，通知停机坪，准备复飞。停机坪接到通知后，解锁接驳执行机构，即令其不再夹紧无人机，且回到起始位置，即停机坪边缘。无人机复飞，包括无人机、停机坪等在内的状态信息实时报告至控制中心。
如果此时，接驳执行机构出现解锁故障，系统允许其一定时间内，可连续尝试某最大次数，如3次，该数值可设定。状态报告中心。如果在一定时间内尝试了最大次数后，执行机构仍解锁故障，则无人机复飞失败，停机坪故障状态，并通过灯光等信息现场指示，不再接收任何无人机充电申请。不仅如此，包括无人机、停机坪等在内的状态信息实时报告至控制中心。
 有益效果
本发明提供的无人机无线共享充电停机坪及具有优先级的无线充电方法，基于此充电停机坪，提供了一种无人机无线充电共享服务，以满足不同行业无人机的充电续航问题，比如，电力线巡检类无人机、石油管道巡检类无人机、边境线巡检类无人机，以及手机基站类巡检无人机等多种无人机。无人机可以实现全天候巡检，同时无需人力到现场维护。这将极大降低巡检维护的成本，并提高了巡检效率。
 附图说明
图1为停机坪的工作原理图。
图2为无人机工作原理图。
本发明最佳实施方式
实施例1
无人机停机坪被安装在某郊区电力线塔上，该停机坪内置了基于磁共振无线充电方法的能量无线发射单元，以及接驳执行机构。该停机坪不仅可以服务于电力公司的巡检类无人机，也可以共享给在此范围内工作的其他领域巡检类无人机，如（但不限于）：油气管道巡检、边境线巡检、手机基站巡检，动物迁徙巡检，和安防巡检，等。
在没有无人机的状态下，可以通过接驳执行机构进行停机坪表面的日常维护，包括去除表面杂物，在冬季也可以除去积雪和除冰。
在某时间段内，有三架能与该停机坪能量无线发射单元相匹配的无人机出现在附近，且要求降落充电。三家无人机都与停机坪无线交互，后者根据前者提供的剩余电量、充满电需要的时间，以及彼此距离，并进而根据优先级算法做出判断。令其中优先级最高的降落充电，而令其余的无人机或就近降落，排队等候，或飞向邻近的其他空闲的停机坪。
对于非电力公司的无人机，当使用了停机坪的充电功能后，可能会产生一定的费用。
上述全部过程中，无人机、停机坪都分别与控制中心实时保持交互。
 本发明的实施方式
实施例1
无人机停机坪被安装在某郊区电力线塔上，该停机坪内置了基于磁共振无线充电方法的能量无线发射单元，以及接驳执行机构。该停机坪不仅可以服务于电力公司的巡检类无人机，也可以共享给在此范围内工作的其他领域巡检类无人机，如（但不限于）：油气管道巡检、边境线巡检、手机基站巡检，动物迁徙巡检，和安防巡检，等。
在没有无人机的状态下，可以通过接驳执行机构进行停机坪表面的日常维护，包括去除表面杂物，在冬季也可以除去积雪和除冰。
在某时间段内，有三架能与该停机坪能量无线发射单元相匹配的无人机出现在附近，且要求降落充电。三家无人机都与停机坪无线交互，后者根据前者提供的剩余电量、充满电需要的时间，以及彼此距离，并进而根据优先级算法做出判断。令其中优先级最高的降落充电，而令其余的无人机或就近降落，排队等候，或飞向邻近的其他空闲的停机坪。
对于非电力公司的无人机，当使用了停机坪的充电功能后，可能会产生一定的费用。
上述全部过程中，无人机、停机坪都分别与控制中心实时保持交互。
 工业实用性
本发明提供的无人机无线共享充电停机坪及具有优先级的无线充电方法，基于充电停机坪，提供了一种无人机无线充电共享服务，能够满足不同行业无人机的充电续航问题，比如，电力线巡检类无人机、石油管道巡检类无人机、边境线巡检类无人机，以及手机基站类巡检无人机等多种无人机。无人机可以实现全天候巡检，同时无需人力到现场维护。这将极大降低巡检维护的成本，并提高了巡检效率。

Claims (1)

  1. 一种无人机无线共享充电停机坪，包括停机坪，其特征在于：包括邻近停机坪通信模块（1-1），所述的邻近停机坪通信模块（1-1）和通信功能模块（1-3）连接，所述的通信功能模块（1-3）分别连接控制中心通信模块（1-2）、无人机通信模块（1-4）和中央处理单元（1-6），所述的中央处理单元（1-6）还和接驳执行机构（1-5）、能量无线发射单元（1-7）和电源管理及其负载单元（1-8）连接，以上所述的连接都是双向通信连接，所述的能量管理及其负载单元（1-8）和能量无线发射单元（1-7）单向通信连接，所述的邻近停机坪通信模块（1-1）用于和邻近的停机坪建立通信连接；所述的控制中心通信模块（1-2）用于实时监控包括所有停机坪和无人机的状态信息；通信功能模块（1-3）用于实现与控制中心通信模块（1-2）、其他停机坪，以及无人机的通信，及其信息交互；所述的无人机通信模块（1-4）用于无人机之间直接通过无线方式或无人机之间通过停机坪和/或控制中心传递实现信息交互，并进而实现相互避障、竞争降落；所述的接驳执行机构（1-5）用于在停机坪上帮助无人机降落在指定区域；所述的中央处理单元（1-6）用于负责数据处理，以及与其他模块和单元的功能实现；所述的能量无线发射单元（1-7）利用交变的电信号产生交变磁场，在特定范围内达到一定的磁场强度和电场强度，用于给无人机充电；所述的能量无线发射单元（1-8）直接从停机坪所固定的基础设施上取电或依靠太阳能获得电能，用于负责管理该电能的有效获得与输出。
    如权利要求1所述的无人机无线共享充电停机坪，其特征在于：所述的接驳执行机构（1-5）通过二维方式，从停机坪边缘位置附近启动，以横向和/或纵向进行平行运动，到有效区域边缘位置附近，直至夹紧锁定无人机，所述的接驳执行机构（1-5）还能够实现清除积雪和杂物的作用，所述的接驳执行机构（1-5）的停止位置位于其启动位置相对的停机坪的另一侧，且此过程中，横向和纵向应不同时工作。
    如权利要求1或2所述的无人机无线共享充电停机坪，其特征在于：所述无人机包括控制中心模块（2-1），所述的控制中心模块（2-1）和通信模块（2-3）连接，所述的通信模块（2-3）分别和停机坪交互模块（2-2）、其他无人机交互模块（2-4）、中央处理器（2-6）连接，所述中央处理器（2-6）和飞行控制模块（2-5）、能量无线接收模块（2-7）、电源管理及其负载单元（2-8）连接，所述的电源管理及其负载单元（2-8）和能量无线接收单元（2-7）连接，以上连接都为双向通信连接，所述的控制中心模块（2-1）用于和控制中心通信交互；所述的停机坪交互模块（2-2）用于和停机坪之间进行信息交互；所述的通信模块（2-3）用于实现与控制中心、多个停机坪以及其他无人机的信息交互；所述的其他无人机交互模块（2-4）用于与其他无人机的无线通信，所述的中央处理器（2-6）用于负责其他模块的功能实现；所述的能量无线接收模块（2-7）处于交变磁场内时，通过接收线圈单元接收到的磁场能，并通过信号调理单元转换成稳定的直流电压和直流电流，并进而给负载单元进行供电；所述的电源管理及其负载单元（2-8）用于协调电池的安全充电过程。
    如权利要求1-3任一权利要求所述的无人机无线共享充电停机坪的具有优先级的无线充电方法，包括以下步骤：第一步：停机坪在待机模式，
    第二步：当有无人机充电请求时，停机坪进行无人机识别，
    第三步：识别成功，无人机备降开始；
    第四步：停机坪识别是否有新无人机充电请求，如果没有进入下一步，如果有，则两架无人机都不实际进入降落或后续任务，进行优先级评估，仅接受其中一架无人机的实际充电请求，另一架为非备降无人机，如果优先级评估后接受在先的无人机的充电请求，则进入下一步，非备降无人机进入滞空时长判断，选择排队等待或者飞到相邻的停机坪进行充电，如果优先级评估后接受新无人机的充电请求，停机坪更新备降指令，将新无人机进入备降状态，非备降无人机进入滞空时长判断，选择排队等待或者飞到相邻的停机坪进行充电；
    第五步：无人机降落在停机坪上有效区域，接驳执行机构锁定无人机，
    第六步：无人机关闭引擎，停机坪为无人机无线充电；
    第七步：充满电后，无人机启动引擎，通知停机坪，准备复飞，停机坪接到通知后，解锁接驳执行机构，无飞机复飞。
    如权利要求4所述的方法，其特征在于：所述的优先级评估以以下三个参数为主：①无人机剩余电量，剩余电量越少，降落充电的优先级越高；②充满所需要的时间评估，因各无人机机载电池容量有别，因此，时间越少，优先级越高；③无人机和停机坪之间的距离，不仅利用北斗和/或GPS等卫星定位系统，也采用通过二者无线过程中的信号强度进行辅助修正，距离越近，后者的信号强度越强，优先级越高。
    如权利要求4所述的方法，其特征在于：当在第六步时，有新无人机充电申请时，新无人机直接进入滞空时长判断，选择排队等待或者飞到相邻的停机坪进行充电。
    如权利要求4-6任一权利要求所述的方法，其特征在于：所述的无人机滞空时长判断有两种情况：①当机载能量足够时，飞至其他合适的停机坪进行充电；②当停机坪和/或无人机判断该无人机剩余电量不足以支持其飞至邻近的其他停机坪，则无人机选择就近降落，降落后，无人机关闭主要的或全部旋翼，无人机进入待机状态，并实时与该停机坪交互，提出充电申请。
    如权利要求7所述的方法，其特征在于：在①中，邻近的停机坪和当前停机坪进行交互，判断邻近停机坪是否满足以下三个条件，1）邻近停机坪是否处于正常工作状态，2）邻近停机坪没有正在充电的无人机， 3）无人机的电能足以支持其飞至邻近停机坪，当无人机飞邻满足条件的邻近停机坪，重复所述第二步到第七步。
    如权利要求4-6任一权利要求所述的方法，其特征在于：在所述第三步中，当无人机识别超出识别失败最大次数时，停机坪拒绝该无人机降落，并要求该无人机离开，所述的最大次数能够设置。
    如权利要求4-6任一权利要求所述的方法，其特征在于：在所述第五步中，所述的接驳执行机构将无人机推至有效区域，当无人机没有完全或部分的落在有效区域且接驳执行机构故障时，在一段时间内，无人机小幅度复飞，通过再次降落微调落点，使其落在有效区域内。在该时间段内，无人机与停机坪之间保持交互。
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