WO2022110116A1

WO2022110116A1 - Flight charging method and system and charging unmanned aerial vehicle

Info

Publication number: WO2022110116A1
Application number: PCT/CN2020/132680
Authority: WO
Inventors: 曹庆恒
Original assignee: 曹庆恒
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2022-06-02
Also published as: CN112638771A

Abstract

A flight charging method and system and a charging unmanned aerial vehicle. The flight charging method comprises: acquiring charging demand information, traffic information, information of a device to be charged, and information of the charging unmanned aerial vehicle; planning a route for the charging unmanned aerial vehicle to fly close to the device, and charging the device; and keeping the charging unmanned aerial vehicle and the device within a charging range until the end of charging. The flight charging method and system and the charging unmanned aerial vehicle organically combine the mobile charging technology with the intelligent transportation technology, greatly improving charging efficiency and safety; and on the basis of real-time road condition information and according to the traffic conditions of different roads or areas and the actual conditions of each device to be charged, the possibility that a road or area needs charging unmanned aerial vehicles can be estimated in advance, and thus charging unmanned aerial vehicles can be flexibly deployed, further improving charging efficiency.

Description

A kind of flight charging method and system, charging unmanned aerial vehicle

technical field

The invention relates to the technical field of intelligent transportation, in particular to a flight charging method and system, and a charging drone.

Background technique

With the continuous development of science and technology, in order to cope with the depletion of traditional energy sources and climate change, ensure energy security, reduce greenhouse gas emissions, and prevent urban air pollution, new energy vehicles have also become the top priority of the research and development of major automobile manufacturers. After several years of policy support and the independent development of auto companies, the domestic new energy electric vehicle market has made considerable progress. At present, the cruising range of electric vehicles is a bottleneck hindering the development of electric vehicles. In this regard, in addition to further research to increase the battery capacity of vehicles and increase the density of charging piles, it is also necessary to deal with the situation of running out of electricity during daily driving. As a mobile charging tool, charging drones enable people to apply for charging drone charging services immediately when new energy electric vehicles/new energy electric aircraft/ships have insufficient power during daily use, such as sharing mobile phones. Just like a power bank, it can be easily charged anytime, anywhere.

Intelligent Transportation System (ITS) refers to the effective integration and application of advanced information technology, data communication transmission technology, electronic sensing technology, electronic control technology and computer processing technology on the basis of relatively complete infrastructure. In order to establish a real-time, accurate and efficient integrated management system that plays a role in a wide range and all directions. As the development direction of the future transportation system, the intelligent transportation system is of great significance in reducing the pressure of the transportation system, ensuring the safety of vehicle driving/aircraft flight/ship navigation, and improving traffic efficiency. Therefore, there is an urgent need for a method that organically combines mobile charging technology with intelligent transportation technology to better realize the safety and efficiency of charging.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide a method and system for in-flight charging, and a charging drone. By acquiring charging demand information, traffic-related information and equipment information to be charged, a route is planned for the charging drone to approach the charging drone that needs to be charged. device and charge it. Through the organic combination of mobile charging technology and intelligent transportation technology, the efficiency and safety of charging are greatly provided.

In order to achieve the above objects, the present invention provides a method for in-flight charging, the method comprising:

Obtain charging demand information;

Obtain traffic information, equipment to be charged, and charging drones;

Plan a route for the charging drone to approach and charge the device to be charged that needs to be charged;

The charging drone keeps the position synchronization with the device to be charged until the charging ends.

In the above-mentioned flight charging method, the charging drone uses wired charging or wireless charging to charge the device to be charged.

In the above-mentioned flight charging method, the charging drone directly replaces the battery for the device to be charged that needs to be charged.

In the above-mentioned flight charging method, the belt charging device includes at least one item of vehicles, special vehicles, ships, aircraft, outdoor electrical appliances, and electric devices.

In the above-mentioned flight charging method, the planning route is to plan an appropriate route according to the actual situation to make the charging drone fly to the position of the device to be charged that needs to be charged, or to drive the device to be charged that needs to be charged to the charging drone. position, or make the charging drone and the device to be charged travel together to a suitable position.

The above-mentioned in-flight charging method also includes: based on the real-time traffic information of the intelligent transportation system, according to the actual situation of the number, distribution and charging demand of the devices to be charged in different roads or areas, pre-estimating the possibility that the area needs to charge the drone Flexibility and quantity, flexible deployment of charging drones.

The above-mentioned in-flight charging method further includes: setting/calculating the minimum power of the charging drone according to information such as the charging drone's own power, its own power consumption, and the distance of the charging station, and triggering the drone to return to the charging station for charging.

The above-mentioned in-flight charging method further includes: recording the charging time, location, travel, and times of each device to be charged, for the possibility of charging the drone on different roads and in different areas under the same or similar conditions. Estimate the performance and optimize the configuration quantity, capacity, time, and location of charging drones.

The present invention also provides a charging drone, comprising a drone body, a charging device, an electric energy storage module and an automatic flight driving device arranged on the drone body;

The charging device is used for charging the device to be charged that needs to be charged;

the electric energy storage module is used for storing electric energy;

The automatic flight driving device includes a control component and a wireless transmission component, the wireless transmission component is used for receiving flight-related information; the control component is used for controlling the flight of the drone according to the automatic flight plan;

The automatic flight plan receives the automatic flight plan from the server or the intelligent transportation system through the wireless transmission component, or is generated by the self-contained server of the charging drone.

The present invention also provides a flight charging system, comprising a server and a communication module;

The server obtains charging demand information;

The communication module acquires traffic information, device information to be charged, and charging drone information;

The planned route is generated by the server or the intelligent transportation system, and the communication module obtains the planned route and sends it to the charging drone, and the charging drone approaches and charges the device to be charged that needs to be charged according to the route.

The invention provides a flight charging method and system, and a charging drone. The flight charging method includes acquiring charging demand information, traffic information, information on devices to be charged, and charging drone information, and planning a route to allow the charging drone to approach and need to be charged. and charge the device to be charged, and keep the charging drone and the device to be charged within the charging range until the end of charging. Through the in-flight charging method and system and the charging drone of the present invention, the mobile charging technology and the intelligent transportation technology are organically combined, the charging efficiency and safety are greatly provided, and based on the real-time road condition information, the charging efficiency can be adjusted according to different roads or areas. According to the traffic conditions and the actual situation of each device to be charged, estimate the possibility that the road or area needs to be charged with drones in advance, and flexibly deploy charging drones to further improve the charging efficiency.

Description of drawings

FIG. 1 is a method flowchart of an in-flight charging method according to the first embodiment of the present invention.

FIG. 2 is a schematic diagram of a charging drone according to a second embodiment of the present invention.

FIG. 3 is a schematic diagram of a flight charging system according to a third embodiment of the present invention.

Detailed ways

In order to further illustrate the technical means and effects adopted by the present invention to achieve the predetermined purpose, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings and embodiments.

Refer to FIG. 1 for the first embodiment of the present invention. FIG. 1 is a method flowchart of an in-flight charging method according to the first embodiment of the present invention. As shown in the figure, the flight charging method of the present invention includes:

Step 1: Obtain charging demand information.

First, obtain charging demand information. The charging requirement information may include information such as the type and model of the device to be charged, the model/interface type/remaining power of the rechargeable battery, the location/destination/driving route of the device to be charged, and the desired charging time/charging capacity.

In the present invention, the devices to be charged include: vehicles, special vehicles, ships, aircraft, robots, electric devices, and the like. The vehicles may include: electric vehicles, electric rail cars, electric motorcycles, electric bicycles, electric tricycles, etc.; special vehicles may include: electric tractors, electric harvesters, electric seeders, electric agricultural machines, electric excavators, electric road rollers, Electric cranes, electric ladders, electric bulldozers, electric mixers, electric forklifts, electric loading and unloading trucks, electric wreckers, electric cleaning vehicles, electric fire trucks, etc.; ships can include various surface and underwater electric transportation and transportation devices; aircraft can Including: airplanes, helicopters, drones, balloons, motorboats, etc.; robots can include: engineering, fire protection, electricity, underwater, military, agricultural, entertainment, transportation, cleaning, maintenance and other robots; electric devices can include: signal Stations, radar stations, and various other devices with battery devices that need to be charged.

Obtaining the charging demand information may be that the user actively sends the charging demand and uploads the charging demand information to the server; or the server obtains the charging demand information from the user's vehicle according to the actual needs after receiving the charging demand of the user; The charging demand information obtained by the method.

Step 2: Obtain traffic information, device information to be charged, and charging drone information.

After receiving the user's charging demand, it is necessary to obtain the traffic information and the information of the device to be charged first, so as to prepare for planning to arrange the charging drone to charge the device to be charged by the user at the time desired by the user.

Taking ground transportation as an example, the traffic information and the information of the device to be charged may include: road information, road condition information and vehicle information, which is an important basis for planning a route and an important basis for analyzing and calculating an automatic driving scheme. Road information includes: number of lanes, lane width, radius of curvature, slope, road material, entrances and exits, traffic lights, crossings, connecting roads, road environment, road conditions (including friction, load-bearing, height limit, speed limit, etc.) and the road itself related information. Road condition information includes: vehicle flow, vehicle position, vehicle speed, vehicle acceleration, vehicle target and other navigation-related information, obstacle/pedestrian information, traffic signal information, road damage, traffic accidents and other information related to road traffic conditions. Vehicle information may include: vehicle type, model, license plate number, vehicle length/width/height/mass/braking distance/tire condition/power condition/electricity/fuel quantity and other parameters, vehicle destination, number of passengers and so on.

Traffic information can also include climate information such as wind, rain and snow, lightning strikes, and visibility, terrain information such as mountains, buildings, rivers, and trees, and air traffic information such as the location of other flying objects in the air, other aircraft routes, and air traffic control. When planning the flight route, you can consider relevant factors, plan the route reasonably, and avoid related risks.

In addition to the information of the device to be charged, it is also necessary to obtain the information of the charging drone, including performance, size, height, power, voltage, charging interface, etc.

Traffic information such as road information, road condition information, vehicle information, aircraft information, climate information, and terrain information can be easily obtained based on the intelligent transportation system, or can be obtained by integrating different information sources. The intelligent transportation system can obtain road information, road condition information, aerial information and vehicle/vessel/aircraft information through road/air/surface monitoring devices and vehicle/ship/airborne monitoring devices, as well as other monitoring devices such as high-altitude monitoring devices, etc. Obtain. Taking road traffic as an example, road monitoring devices may include cameras, radars, inductive sensors, infrared detection devices, road or road pressure/optical/ultrasonic sensors, etc. obtain this information. In addition, existing vehicles, whether they are autonomous vehicles or human-driven vehicles, usually include some on-board monitoring devices, such as on-board cameras, on-board radar, speedometers, and so on. It is also possible to obtain road information and road condition information through high-altitude monitoring devices such as satellites/airplanes/UAVs/high-altitude balloons. Relevant information can also be obtained by monitoring the vehicle's IoT hardware/RF card/ECT equipment. Finally, relevant information about road conditions can also be obtained by monitoring the range around the road that may affect the road conditions, such as roadside pedestrians/animals/vehicles/buildings/stations. ITS can also connect with other systems to obtain climate information, etc. It can also be the connection between the server and multiple systems to obtain relevant information.

In the present invention, since the acquired information comes from different sources, there may be a situation where the data structure/data standard/data format/data description of the acquired information are different. Efficiency requires the transformation and/or integration of different sources and types of information. The conversion and/or integration of information and data can be achieved through methods such as video recognition technology, audio recognition technology, vehicle/license plate recognition technology, 3D/4D modeling technology, virtual reality technology, augmented reality technology, and translation of different languages.

Step 3: Plan a route for the charging drone to approach and charge the device to be charged that needs to be charged.

According to the charging demand information, as well as the traffic information and the information of the device to be charged, plan a route for the charging drone to approach and charge the device to be charged that needs to be charged. It is necessary to consider whether there is a suitable charging drone located near the device to be charged that needs to be charged to meet the needs of the expected charging time, travel route, charging interface, and charging power. If there are and more than one charging drone, it is further analyzed according to the actual situation which charging drone provides the charging service for the device to be charged that needs to be charged, with the highest efficiency and lowest cost. If there is one and only one charging drone, according to the location of the charging drone and the device to be charged, the target itinerary of the vehicle/aircraft/vessel to be charged, traffic conditions, etc., plan an appropriate route to allow The charging drone approaches the device to be charged that needs to be charged and charges the device to be charged. If there is no charging drone to meet the requirements, it is necessary to contact the user whether the charging needs can be changed, and provide alternative solutions to meet the user's charging needs. For example: the user's vehicle has only 5 kilometers of electricity, and the user wants to charge while driving on a predetermined route, but there is no charging drone that can approach the user's vehicle to charge it before the battery runs out during the user's driving process, so it is necessary to contact the user. An alternative solution is given, which requires the user to stay in place or at a selected location within 5 kilometers of the current location and wait for the arrival of the charging drone to provide charging services for the user.

The planned route can be completed by the intelligent transportation system, or it can be completed by the server. The intelligent transportation system can generate driving plans/driving suggestions for all vehicles/aircraft/vessels within the coverage of the system that need to be commanded by the system based on all the traffic information included in the system, so as to maximize traffic efficiency. The intelligent transportation system can be calculated and analyzed uniformly by the central server/server cluster, or the server cluster can work by combining the edge computing of sub-servers such as vehicles/roads.

Step 4: The charging drone is synchronized with the device to be charged until the charging of the device to be charged ends.

In the present invention, the charging drone can use wired charging or wireless charging to charge the device to be charged that needs to be charged. The charging drone can wirelessly charge the device to be charged that needs to be charged through a wireless transmitting device such as a transmitting coil, and the device to be charged that needs to be charged receives wireless charging through a wireless receiving device such as a receiving coil. The charging drone can also be connected to the charging interface of the device to be charged that needs to be charged through the charging cable to charge the device to be charged that needs to be charged. Whether it is wireless charging or wired charging, it is necessary to keep the charging drone and the device to be charged within a certain range. Otherwise, the distance between the wireless charging transmitting coil and the receiving coil is too far beyond the charging range, and the wired charging distance is more Do not exceed the length of the charging cable.

When the charging drone is charging the device to be charged that needs to be charged, the two need to be kept within a certain range at all times. At this time, manual driving will increase the difficulty of driving, increase the accident rate, and reduce charging. efficiency. Therefore, the use of autonomous driving can solve this problem.

According to the road information, road condition information and vehicle information, the overall automatic driving scheme of the charging drone and the device to be charged is obtained through calculation and analysis.

Taking charging a car as an example, a traffic model is established based on road information, road condition information, terrain information, climate information, charging drone information and vehicle information. The traffic model can include: roads, terrain, aircraft, vehicles, obstacles, pedestrians, Coverage, coverage time, weather conditions, special circumstances and other factors related to road and air traffic. Specifically, it can include: terrain, road width, traffic flow, aerial vehicles, vehicle position/model/speed/acceleration/braking distance, obstacle position/size, pedestrian speed/direction/purpose/possible behavior, etc., visibility/ Weather conditions such as rain/snow/road icy, special situations such as day and night differences/traffic tidal patterns/traffic control or traffic restriction plans/vehicle weights/time priority for special tasks/limited time arrival and avoidance of other vehicles/off-road coverage Scope, etc., and other contents that affect road traffic include various vehicles/objects/people outside the road. The coverage of the road and air traffic model can be set according to the actual situation, and the coverage can be a small road, a complete road, several roads, a region, a city and a wider range. The richer and more realistic the information obtained by the system, and the more parameters the road and air traffic models contain, the more realistic the traffic model will be. Complete.

The way to obtain information can be obtained by road monitoring device and vehicle-mounted monitoring device, and road information and road condition information can also be obtained by other monitoring devices such as high-altitude monitoring devices. Road monitoring devices may include cameras, radars, inductive sensors, infrared detection devices, road or road pressure/optical/ultrasonic sensors and other devices, and multiple monitoring devices may be set at appropriate locations on the road to obtain these information. In addition, existing vehicles, whether they are autonomous vehicles or human-driven vehicles, usually include some on-board monitoring devices, such as on-board cameras, on-board radar, speedometers, and so on. It is also possible to obtain road information and road condition information through high-altitude monitoring devices such as satellites/airplanes/UAVs/high-altitude balloons. Relevant information can also be obtained by monitoring the vehicle's IoT hardware/RF card/ECT equipment.

Ways to obtain vehicle information may include: receiving vehicle information actively sent by the vehicle, information returned by the vehicle after the system inquires the vehicle, monitoring through road monitoring devices or other devices, and querying after identifying the vehicle model or license plate number, etc. .

After the model is established, based on the real and complete information within the scope of the model, including: space information/time information/object information/other information such as traffic control or traffic restrictions or traffic lights, the overall autonomous driving scheme of UAVs and vehicles is obtained through calculation and analysis . Comparing with the automatic driving only for a single vehicle, it has great advantages to calculate and analyze the automatic driving scheme as a whole. First of all, for the overall automatic driving scheme of the vehicle, the charging drone and the vehicle that needs to be charged are executed according to the overall automatic driving scheme. Then, the expected driving trajectory of the charging drone and the vehicle that needs to be charged is known. It is only necessary to predict the driving trajectories of other vehicles, it is easier to maintain the distance and drive synchronously, so the efficiency is higher.

In addition to the overall automatic driving solution, the synchronization between the drone and the vehicle can also be achieved by charging the drone or establishing a shared automatic driving mode with the vehicle that needs to be charged. First establish a mobile shared charging platform. When the vehicle that needs to be charged sends out a charging demand, the platform will find a charging drone suitable for providing charging according to information such as distance, remaining power, and road conditions, and then determine the charging drone according to the location of the vehicle to be charged. mobile phone program. When the charging drone and the vehicle that needs to be charged are close to the distance where charging can be performed, a shared automatic driving between the two vehicles is established through the platform, such as converting the driving-related instructions of the vehicle into the automatic driving of the charging drone through the platform. The driving command enables it to adjust the flight line according to the movement of the vehicle's position in the process of automatic flight, so that the charging drone is close to the moving vehicle to be charged. The way for the platform to find a suitable charging drone can be achieved through the calculation of relevant parameters, manual assignment among available charging drones, and active response of available charging drones.

The charging drone can also fly through the flight plan generated by the intelligent transportation system/server through the location/movement information of the device to be charged, close to the device to be charged for charging, and maintain synchronization with the device to be charged during the charging process.

When the charging drone approaches the vehicle to be charged and starts charging, the drone can continue to adjust its own flight route according to the driving instructions of the vehicle to be charged, so as to keep the relative fixed position of the two during the charging process, or it can be directly docked/connected/fixed Charge the vehicle to be charged until the end of the charge. In the present invention, the charging drone or/and the device to be charged may include a connecting/fixing device for connecting or fixing the two when the charging drone is charging the device to be charged.

The method of converting the driving instruction/movement information of the vehicle into the automatic driving instruction of the charging UAV can be based on considering the UAV, the appropriate distance of the vehicle, road conditions, vehicle conditions, and traffic signal conditions. Commands/related information such as deceleration, steering, parking, and starting, as well as information such as vehicle speed and lane, are processed and converted into autonomous driving commands of the drone. In the process of realizing synchronous automatic driving of drones and vehicles, the platform can limit/remind the driving instructions of vehicles based on real-time traffic information, vehicle status, drone status, etc. After the human-machine driving command, the drone will not violate traffic management signals, collide with buildings, collide with other aircraft, or lack power to keep up with vehicles.

In the present invention, the charging drone can simultaneously charge one or more vehicles that need to be charged. If the charging drone charges multiple vehicles at the same time, these vehicles need to be kept within a certain range, so these vehicles also need to be driven automatically according to the overall automatic driving scheme of the vehicle.

The in-flight charging method of the present invention can also use the overall automatic driving scheme to prompt the driver of the driving situation of the automatic driving vehicle or guide the driver to drive the vehicle when the vehicle or other devices to be charged do not have the automatic driving function. The driver of the vehicle can know the expected driving trajectory of the charging drone in advance, and can also obtain guidance to guide the driver to adopt correct driving behaviors such as deceleration, acceleration, merging, and parking in this situation, which can improve charging efficiency and greatly reduce accidents. The probability of occurrence increases the safety.

In the present invention, according to the actual situation, the charging drone can also carry a charged battery to directly replace the battery for the device to be charged that needs to be charged, so as to conveniently and quickly replenish the user's device to be charged with full power. At this time, the device to be charged or the charging drone may further include a battery replacement device for rapidly replacing the battery.

The in-flight charging method of the present invention can be based on the real-time road condition information of the intelligent traffic system, real-time air traffic information, electric vehicle traffic flow of different roads or areas, aircraft traffic flow and the actual situation of each vehicle, to estimate in advance that the road or area needs to be charged The possibility of drones, flexible deployment of charging drones. According to the possibility that each road or area needs to charge the drone, when the possibility is low, the charging drone can be deployed to take turns charging to supplement the charging drone itself.

The in-flight charging method of the present invention can record the charging time, location, travel, times, etc. of each device to be charged, and can be used for the possibility of charging drones on different roads and different areas under the same or similar conditions. Estimate and further optimize the configuration quantity, capacity, time, location, etc. of charging drones.

The flight charging method of the present invention further comprises: setting/calculating the minimum power of the charging drone according to information such as the charging drone's own power, its own power consumption, and the distance of the charging station, and triggering the drone to return to the charging station for charging.

Refer to FIG. 2 for the second embodiment of the present invention. FIG. 2 is a schematic diagram of a charging drone according to a second embodiment of the present invention. As shown in the figure, a charging drone of the present invention includes a drone body 10 , a charging device 11 , an electric energy storage module 12 and an automatic driving device 13 arranged on the drone body 10 .

The charging device 11 is used to charge the device to be charged that needs to be charged.

The electrical energy storage module 12 is used to store electrical energy.

The automatic driving device 13 includes a control component and a wireless transmission component, the wireless transmission component is used for receiving the automatic driving scheme; the control component is used for controlling the charging drone according to the automatic driving scheme. The control component is connected to the control system of the main body of the charging drone, the wireless transmission component transmits the received automatic driving scheme of the charging drone to the control component, and the control component transmits the automatic driving scheme of the charging drone to the main body of the charging drone. The control system, the control system of the main body of the drone controls the drone to fly according to the flight trajectory of the drone in the autopilot scheme.

In the present invention, the charging drone can use wired charging or wireless charging to charge the device to be charged that needs to be charged. The charging device 11 of the charging drone may include at least one wireless transmitting device, which is used for mobile/fixed wireless charging of the device to be charged that needs to be charged. The charging drone can wirelessly charge the device to be charged that needs to be charged through a wireless transmitting device such as a transmitting coil, and the device to be charged that needs to be charged receives wireless charging through a wireless receiving device such as a receiving coil.

The charging device for charging the drone may further include at least one charging cable, which is used for moving/fixed cable charging for the device to be charged that needs to be charged. The charging drone may also include a docking device for connecting the charging cable to the charging interface of the device to be charged that needs to be charged, or connecting the wireless transmitting device to the wireless receiving device of the device to be charged, for charging the device to be charged. The docking device includes a positioning device and a connecting device. The positioning device is used to align the connector of the charging cable with the charging interface of the device to be charged that needs to be charged. other positioning methods. The connecting device is used to automatically connect the connector of the charging cable to the charging interface of the device to be charged that needs to be charged.

The specific docking method of the docking between the charging drone and the device to be charged takes a vehicle as an example: the docking device is set at the bottom of the charging drone, and the charging interface of the vehicle to be charged or the receiving device for wireless charging is set on the top of the vehicle. When the man-machine approaches the charged vehicle, the docking device is activated. The docking device can approach and be connected to the charging interface by means of rotation, extension, etc. according to the relative position with the charging interface of the vehicle to be charged, and then perform charging. The connection between the docking device and the charging interface can use image recognition technology, and one or more image acquisition devices are installed on the charging drone to obtain the relative position of the docking device and the charging device, and then send the movement command of the docking device through the server. , to realize the connection. It is also possible to obtain real-time images through image acquisition, and manually operate the connection device to achieve docking; or to guide the connection device by means of radar, ultrasonic waves, or the like. Similarly, for the wireless charging method, wireless charging can be realized by placing the wireless transmitting and charging device of the charging vehicle close to the wireless receiving device of the charged vehicle through the connecting device. The connection device can also be equipped with corresponding fixed equipment, which is used to fix the charging drone on the corresponding position of the charged vehicle after the connection, so as to realize the stability of charging. The fixed equipment here, such as electromagnetic equipment, can be attached to the charged vehicle by electromagnetic force. The connection device and the charged vehicle are fixed by means of hooks, locks and other facilities. At the same time, the connection device has certain elasticity in angle and length to ensure the stability of the connection between the drone and the charged vehicle during the movement.

In the present invention, the charging drone charges the device to be charged that needs to be charged, either by moving the device to be charged during driving/flying, or by static charging in a stopped state, which is not done here. limit.

The charging drone of the present invention may further include a battery storage compartment for storing batteries that can be used by the device to be charged. The charging drone can carry a charged battery and directly replace the battery for the device to be charged that needs to be charged. The charging drone of the present invention may further include a generator, which is used to generate electricity to supplement its own electricity, so as to charge more vehicles that need to be charged. The generator is preferably a diesel generator or a solar generator, and can also be other types of generators.

The charging drone of the present invention may also include a server for calculating, planning a flight plan and a charging plan, and the server can send information and instructions remotely through the wireless transmission component, or it can be included in the charging drone main body, from the local Issue messages and instructions.

Refer to FIG. 3 for the third embodiment of the present invention. FIG. 3 is a schematic diagram of a flight charging system according to a third embodiment of the present invention. As shown in the figure, a flight charging system of the present invention includes a server 20 and a communication module 21;

The server 20 obtains charging demand information;

The communication module 21 obtains the traffic information, the information of the device to be charged and the information of the charging drone;

The communication module 21 obtains the planned route from the intelligent transportation system or generates the planned route from the server, and sends it to the charging drone, and the charging drone approaches the vehicle that needs to be charged and charges the vehicle;

The communication module 21 obtains the automatic driving plan from the intelligent transportation system and transmits it to the charging drone and the vehicle to be charged, and the charging drone and the vehicle to be charged drive automatically until the charging is completed.

It is also possible that the server generates an automatic flight plan of the UAV, and the UAV performs related operations according to the plan.

An in-flight charging system of the present invention is constituted by using a in-flight charging method of the present invention, and the structural features are in one-to-one correspondence. Reference can be made to the description of the above-mentioned in-flight charging method, which will not be repeated here.

To sum up, the present invention provides a method and system for in-flight charging, and a charging drone. The in-flight charging method includes acquiring charging demand information, traffic information, information on devices to be charged, and charging drone information, and planning a route for unmanned charging. The drone approaches the device to be charged that needs to be charged and charges it, and keeps the charging drone and the device to be charged within the charging range until the end of charging. The charging drone includes a drone body and a charging device, an electric energy storage module and an automatic driving device arranged on the drone body. Through the in-flight charging method and system and the charging drone of the present invention, the mobile charging technology and the intelligent transportation technology are organically combined, the efficiency and safety of the charging are greatly improved, and based on the real-time road condition information of the intelligent transportation system, according to the According to the actual traffic conditions of different roads or areas, estimate the possibility that the road or area needs to be charged with drones in advance, and flexibly deploy charging drones to further improve the efficiency of vehicle charging.

The specific embodiments described above further describe the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

A method of in-flight charging, characterized in that the method comprises:

Obtain charging demand information;

Obtain traffic information, equipment to be charged, and charging drones;

Plan a route for the charging drone to approach and charge the device to be charged that needs to be charged;

The charging drone keeps the position synchronization with the device to be charged until the charging ends.
The in-flight charging method according to claim 1, wherein the charging drone uses wired charging or wireless charging to charge the device to be charged.
The in-flight charging method according to claim 1, wherein the charging drone directly replaces the battery for the device to be charged that needs to be charged.
The in-flight charging method according to claim 1, wherein the belt charging device includes at least one of vehicles, special vehicles, ships, aircraft, outdoor electrical appliances, electric devices, and the like.
The in-flight charging method according to any one of claims 1-4, wherein the planned route is to plan an appropriate route according to the actual situation to make the charging drone fly to the position of the device to be charged that needs to be charged, Or the device to be charged that needs to be charged is moved to the position of the charging drone, or the charging drone and the device to be charged that need to be charged are moved to a suitable position together.
The in-flight charging method according to any one of claims 1-5, wherein the in-flight charging method further comprises: based on the real-time traffic information of the intelligent transportation system, according to the number of devices to be charged in different roads or areas, The actual situation of distribution and charging demand, estimate the possibility and number of charging drones in the area in advance, and deploy charging drones flexibly.
The in-flight charging method according to any one of claims 1-5, wherein the above-mentioned in-flight charging method further comprises: charging the drone according to its own power, its own power consumption, the distance of the charging station, etc. The information sets/calculates the minimum power of the charging drone, and triggers the drone to return to the charging station for charging.
The in-flight charging method according to any one of claims 1-5, wherein the in-flight charging method further comprises: recording the charging time, location, travel, and times of each device to be charged, for use in charging Under the same or similar conditions, estimate the possibility that different roads and different areas require flight charging, and optimize the configuration quantity, capacity, time, and location of charging drones.
A charging unmanned aerial vehicle, which is characterized in that it comprises an unmanned aerial vehicle body and a charging device, an electric energy storage module and an automatic flight driving device arranged on the unmanned aerial vehicle body;

The charging device is used for charging the device to be charged that needs to be charged;

the electric energy storage module is used for storing electric energy;

The automatic flight driving device includes a control component and a wireless transmission component, the wireless transmission component is used for receiving flight-related information; the control component is used for controlling the flight of the drone according to the automatic flight plan;

The automatic flight plan receives the automatic flight plan from the server or the intelligent transportation system through the wireless transmission component, or is generated by the self-contained server of the charging drone.
A flight charging system is characterized in that: it comprises a server and a communication module;

The server obtains charging demand information;

The communication module acquires traffic information, device information to be charged, and charging drone information;

The planned route is generated by the server or the intelligent transportation system, and the communication module obtains the planned route and sends it to the charging drone, and the charging drone approaches and charges the device to be charged that needs to be charged according to the route.