CN111942188B - Unmanned aerial vehicle aerial charging system, charging method, device, equipment and medium - Google Patents

Unmanned aerial vehicle aerial charging system, charging method, device, equipment and medium Download PDF

Info

Publication number
CN111942188B
CN111942188B CN202010802360.9A CN202010802360A CN111942188B CN 111942188 B CN111942188 B CN 111942188B CN 202010802360 A CN202010802360 A CN 202010802360A CN 111942188 B CN111942188 B CN 111942188B
Authority
CN
China
Prior art keywords
aerial vehicle
unmanned aerial
wireless charging
charging coil
power supply
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010802360.9A
Other languages
Chinese (zh)
Other versions
CN111942188A (en
Inventor
郄新越
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingdong Qianshi Technology Co Ltd
Original Assignee
Beijing Jingdong Qianshi Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Jingdong Qianshi Technology Co Ltd filed Critical Beijing Jingdong Qianshi Technology Co Ltd
Priority to CN202010802360.9A priority Critical patent/CN111942188B/en
Publication of CN111942188A publication Critical patent/CN111942188A/en
Application granted granted Critical
Publication of CN111942188B publication Critical patent/CN111942188B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • 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
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/90—Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/40—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries characterised by the exchange of charge or discharge related data
    • H02J7/42—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries characterised by the exchange of charge or discharge related data with electronic devices having internal batteries, e.g. mobile phones
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries
    • H02J7/80—Circuit arrangements for charging or discharging batteries or for supplying loads from batteries including monitoring or indicating arrangements
    • H02J7/82—Control of state of charge [SOC]
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

本发明实施例公开了一种无人机空中充电系统、方法、装置、设备和介质，所述系统包括：第一无人机和第二无人机；第一无人机包括第一供电电源以及与第一供电电源电连接的第一无线充电线圈；第二无人机包括第二供电电源、与第二供电电源电连接的第二无线充电线圈；在第一无人机执行空中飞行任务的过程中，当第一供电电源的剩余电量低于设定阈值时，第二无人机起飞，以使第二无线充电线圈与所述第一无线充电线圈之间的位置满足预设位置关系，将第二供电电源的电能通过第二无线充电线圈以及第一无线充电线圈提供给第一供电电源。通过本发明实施例的技术方案，实现了在无人机执行任务的过程中对无人机充电的目的，进而提高了无人机的任务执行效率。

Figure 202010802360

Embodiments of the present invention disclose an aerial charging system, method, device, equipment and medium for an unmanned aerial vehicle. The system includes: a first unmanned aerial vehicle and a second unmanned aerial vehicle; the first unmanned aerial vehicle includes a first power supply and a first wireless charging coil electrically connected with the first power supply; the second drone includes a second power supply and a second wireless charging coil electrically connected with the second power supply; the first drone performs an aerial flight mission During the process, when the remaining power of the first power supply is lower than the set threshold, the second drone takes off, so that the position between the second wireless charging coil and the first wireless charging coil satisfies the preset positional relationship , providing the electrical energy of the second power supply to the first power supply through the second wireless charging coil and the first wireless charging coil. Through the technical solutions of the embodiments of the present invention, the purpose of charging the UAV during the UAV's task execution process is achieved, thereby improving the task execution efficiency of the UAV.

Figure 202010802360

Description

Unmanned aerial vehicle aerial charging system, charging method, device, equipment and medium
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle aerial charging system, a charging method, a charging device, electronic equipment and a storage medium.
Background
With the rapid development of the unmanned aerial vehicle technology, unmanned aerial vehicles are widely used in various fields, such as spraying pesticides through unmanned aerial vehicles, forest fire extinguishment, wedding aerial photography, and the like.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
for an electric unmanned aerial vehicle, when the unmanned aerial vehicle encounters a problem of low battery power in the process of executing a task in the air, the task currently being executed is usually interrupted, the electric unmanned aerial vehicle lands on the ground to supplement electric energy to a battery, and then the electric unmanned aerial vehicle flies to the air to continue executing the task. Obviously, current unmanned aerial vehicle charging scheme can influence unmanned aerial vehicle's task execution efficiency and effect.
Disclosure of Invention
The embodiment of the invention provides an unmanned aerial vehicle aerial charging system, a charging method, a charging device, electronic equipment and a storage medium, which achieve the purpose of charging an unmanned aerial vehicle in the process of executing a task by the unmanned aerial vehicle, and further improve the task execution efficiency of the unmanned aerial vehicle.
In a first aspect, an embodiment of the present invention provides an unmanned aerial vehicle aerial charging system, where the system includes:
a first drone and a second drone; the first wireless machine comprises a first power supply and a first wireless charging coil electrically connected with the first power supply;
the second unmanned aerial vehicle comprises a second power supply and a second wireless charging coil electrically connected with the second power supply;
in the process that the first unmanned aerial vehicle executes the air flight task, when the residual capacity of the first power supply is lower than a set threshold value, the second unmanned aerial vehicle takes off so that the position between the second wireless charging coil and the first wireless charging coil meets a preset position relation, and the electric energy of the second power supply is supplied to the first power supply through the second wireless charging coil and the first wireless charging coil.
In a second aspect, an embodiment of the present invention further provides an aerial charging method for an unmanned aerial vehicle, where the method is applied to a first unmanned aerial vehicle, and includes:
determining the residual capacity of a first power supply for supplying power to the first unmanned machine in real time in the process of executing the air flight task by the first unmanned machine;
and when the residual electric quantity is lower than a set threshold value, sending an alarm instruction to a second unmanned aerial vehicle so that the second unmanned aerial vehicle takes off based on the alarm instruction and executes an aerial task for charging the first power supply.
In a third aspect, an embodiment of the present invention further provides an aerial charging method for an unmanned aerial vehicle, where the method is applied to a second unmanned aerial vehicle, and includes:
receiving an alarm instruction sent by a first unmanned machine and first position information of the first unmanned machine;
and taking off according to the first position information, and executing an air task for charging the first power supply of the first unmanned machine.
In a fourth aspect, an embodiment of the present invention further provides an aerial charging device for an unmanned aerial vehicle, where the aerial charging device is integrated with a first unmanned aerial vehicle, and the aerial charging device specifically includes:
the determining module is used for determining the residual capacity of a first power supply source for supplying power to the first unmanned machine in real time in the process of executing the air flight task by the first unmanned machine;
and the sending module is used for sending an alarm instruction to a second unmanned aerial vehicle when the residual electric quantity is lower than a set threshold value, so that the second unmanned aerial vehicle takes off based on the alarm instruction and executes an aerial task for charging the first power supply.
In a fifth aspect, an embodiment of the present invention further provides an aerial charging device for an unmanned aerial vehicle, where the aerial charging device is integrated with a second unmanned aerial vehicle, and the aerial charging device specifically includes:
the receiving module is used for receiving an alarm instruction sent by a first unmanned machine and first position information of the first unmanned machine;
and the execution module is used for taking off according to the first position information and executing an air task for charging the first unmanned power supply.
In a sixth aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the steps of the drone aerial charging method as provided by any embodiment of the invention.
In a seventh aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the unmanned aerial vehicle aerial charging method provided in any embodiment of the present invention.
The embodiment of the invention has the following advantages or beneficial effects:
an unmanned aerial vehicle aerial charging system comprises a first unmanned aerial vehicle and a second unmanned aerial vehicle; the first wireless machine comprises a first power supply and a first wireless charging coil electrically connected with the first power supply; the second unmanned aerial vehicle comprises a second power supply and a second wireless charging coil electrically connected with the second power supply; in the process that the first unmanned aerial vehicle executes the air flight task, when the residual electric quantity of the first power supply is lower than a set threshold value, the second unmanned aerial vehicle takes off to enable the position between the second wireless charging coil and the first wireless charging coil to meet a preset position relation, and the electric energy of the second power supply is supplied to the first power supply through the second wireless charging coil and the first wireless charging coil; through configuring wireless charging coils for the first unmanned aerial vehicle and the second unmanned aerial vehicle respectively, the purpose of air charging of the first unmanned aerial vehicle is achieved, and further the task execution efficiency of the unmanned aerial vehicle is improved.
Drawings
Fig. 1 is a schematic structural diagram of an aerial charging system for an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first unmanned machine according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second drone according to an embodiment of the present invention;
fig. 4 is a schematic view of aerial charging of a contactless electric drone according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of an aerial charging method for an unmanned aerial vehicle according to a second embodiment of the present invention;
fig. 6 is a schematic flow chart of an aerial charging method for an unmanned aerial vehicle according to a third embodiment of the present invention;
fig. 7 is a schematic structural diagram of an aerial charging device for an unmanned aerial vehicle according to a fourth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an aerial charging device for an unmanned aerial vehicle according to a fifth embodiment of the present invention;
fig. 9 is a schematic structural diagram of an apparatus according to a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of an aerial charging system for an unmanned aerial vehicle according to an embodiment of the present invention, and the aerial charging system for an unmanned aerial vehicle according to the embodiment of the present invention can realize aerial charging for an unmanned aerial vehicle to be charged in a process in which the unmanned aerial vehicle executes an aerial flight task, and the unmanned aerial vehicle to be charged does not need to return to the ground to complete charging, so that task execution efficiency of the unmanned aerial vehicle to be charged is improved. As shown in fig. 1, the unmanned aerial vehicle aerial charging system includes a first unmanned aerial vehicle 110 and a second unmanned aerial vehicle 120, wherein the first unmanned aerial vehicle 110 includes a first power supply 111 and a first wireless charging coil 112 electrically connected to the first power supply 111. The second drone 120 includes a second power supply 121, a second wireless charging coil 122 electrically connected to the second power supply 121; in the process of the first drone 110 executing the air flight mission, when the remaining capacity of the first power supply 111 is lower than the set threshold, the second drone 120 takes off to make the position between the second wireless charging coil 122 and the first wireless charging coil 112 satisfy the preset position relationship, and provide the electric energy of the second power supply 121 to the first power supply 111 through the second wireless charging coil 122 and the first wireless charging coil 112.
Further, referring to a schematic structural diagram of a first drone machine shown in fig. 2, the first drone machine further includes a first positioning element 113, a first wireless communication element 114, and a first controller 115; the first positioning element 113 and the first wireless communication element 114 are respectively in communication connection with the first controller 115, and when the remaining power of the first power supply 111 is lower than a set threshold, the first controller 115 sends an alarm instruction to the second unmanned aerial vehicle 120 through the first wireless communication element 114, so that the second unmanned aerial vehicle 120 takes off; wherein the alarm instruction includes the first position information of the first unmanned aerial vehicle 110 obtained through the first positioning element 113. The first Positioning element 113 may be a GPS (Global Positioning System) module; the first power supply 111 is typically a battery.
First wireless charging coil 112 can set up in the optional position of first unmanned aerial vehicle 110 shell, and second wireless charging coil 122 can set up in the optional position of second unmanned aerial vehicle 120 shell to position between convenient second wireless charging coil 122 and the first wireless charging coil 112 satisfies and predetermines the position relation. The preset position relationship preferably can be that the second wireless charging coil 122 and the first wireless charging coil 112 are in up-down correspondence, and the distance between the two should not be too far away, because charging through the wireless charging coil is realized based on the electromagnetic wave induction principle, the electromagnetic field intensity induced when the second wireless charging coil 122 and the first wireless charging coil 112 are in up-down correspondence is the biggest, and charging efficiency is the highest.
Exemplarily, in order to improve flight safety of the first drone 110 and the second drone 120, and reduce the difficulty of making the position between the second wireless charging coil 122 and the first wireless charging coil 112 satisfy the preset positional relationship, as shown in fig. 2, the first drone 110 further includes a first telescopic rod 116, the first wireless charging coil 112 is fixedly connected to the first telescopic rod 116, the first telescopic rod 116 can rotate relatively to the body of the first drone to drive the first wireless charging coil 112 to move, so that the position between the first wireless charging coil 112 and the second wireless charging coil 122 easily satisfies the preset positional relationship. The first controller 115 is further configured to control the telescopic length and/or the telescopic angle of the first telescopic rod 116 according to the first position information of the first drone 110 and the second position information of the second drone 120, so that the position between the second wireless charging coil 122 and the first wireless charging coil 112 satisfies a preset position relationship. Under the drive of first telescopic link 116, first wireless charging coil 112 can keep away from first unmanned aerial vehicle 110's organism, has made things convenient for second unmanned aerial vehicle 120's second wireless charging coil 122 rather than aiming at, has reduced influence each other between first unmanned aerial vehicle 110 and the second unmanned aerial vehicle 120, has improved flight safety nature. The first telescopic rod 116 may be an electric telescopic rod.
It will be appreciated that the infrastructure of the first drone 110 and the infrastructure of the second drone 120 may be the same, with the difference being that the first drone 110 is a drone to be charged that needs to be charged and the second drone 120 is a charging drone that provides electrical energy. Referring to the schematic structural diagram of a second drone shown in fig. 3, the second drone 120 includes a second positioning element 123, a second wireless communication element 124, and a second controller 125; the second positioning element 123 and the second wireless communication element 124 are respectively in communication connection with the second controller 125, and when the second controller 125 receives the alarm instruction through the second wireless communication element 124, the second controller 120 is controlled to take off, and the second position information of the second drone 120 obtained through the second positioning element 123 is sent to the first controller 115 through the second wireless communication element 124 and the first wireless communication element 114. The second positioning element 123 may be a GPS module; the second power supply 121 is typically a battery.
In order to further improve the flight safety of the first drone 110 and the second drone 120, and to reduce the difficulty of making the position between the second wireless charging coil 122 and the first wireless charging coil 112 satisfy the preset positional relationship, as shown in fig. 3, the second drone 120 further includes: the second telescopic rod 126, the second wireless charging coil 122 is fixedly connected to the second telescopic rod 126; second telescopic link 126 can be relative second unmanned aerial vehicle's organism rotary motion to drive the motion of second wireless charging coil 122, make the position between second wireless charging coil 122 and the first wireless charging coil 112 satisfy more easily preset the position relation. The second controller 125 is further configured to control the telescopic length and/or the telescopic angle of the second telescopic rod 126 according to the first position information of the first drone 110 and the second position information of the second drone 120, so that the position between the second wireless charging coil 122 and the first wireless charging coil 112 satisfies a preset position relationship. The second telescopic rod 126 may be an electric telescopic rod.
Correspondingly, referring to the schematic diagram of the non-contact electric unmanned aerial vehicle charging in the air shown in fig. 4, the first unmanned aerial vehicle 110 and the second unmanned aerial vehicle 120 interact with each other to obtain respective position information, and the first controller 115 of the first unmanned aerial vehicle 110 controls the first telescopic rod 116 to extend out to the right and back according to the first position information and the second position information of the second unmanned aerial vehicle 120; second unmanned aerial vehicle 120's second controller 125 is according to the second position information of oneself and first unmanned aerial vehicle 110's first position information control oneself second telescopic link 126 the place ahead stretches out left, make the position between second wireless charging coil 122 and the first wireless charging coil 112 satisfy and predetermine the position relation, thereby reach aerial wireless purpose of charging, if unmanned aerial vehicle need charge at the in-process of aerial executive task, the aerial charging system of unmanned aerial vehicle that provides through this embodiment can realize unmanned aerial vehicle's aerial charging, need not to interrupt the task and return ground to charge, unmanned aerial vehicle's task execution efficiency has been improved.
According to the technical scheme, the wireless charging coils are respectively configured for the first unmanned aerial vehicle and the second unmanned aerial vehicle, when a controller of the second unmanned aerial vehicle receives a charging instruction of the first unmanned aerial vehicle, the first unmanned aerial vehicle takes off according to first position information of the first unmanned aerial vehicle, the first unmanned aerial vehicle is continuously close to the second unmanned aerial vehicle, the second telescopic rod of the first unmanned aerial vehicle is controlled to drive the second wireless charging coil to move, the first controller of the first unmanned aerial vehicle controls the first telescopic rod of the first unmanned aerial vehicle to drive the telescopic length and/or telescopic angle of the first wireless charging coil, the position relation between the first wireless charging coil and the second wireless charging coil reaches the preset position relation, the purpose of air wireless charging is achieved, the purpose of air charging for the first unmanned aerial vehicle is achieved, and further the task execution efficiency of the first unmanned aerial vehicle is improved.
Example two
Fig. 5 is a flowchart of an aerial charging method for an unmanned aerial vehicle according to a second embodiment of the present invention, where the method provided in this embodiment is applied to the first unmanned aerial vehicle described in the above embodiment, and is specifically executed by a first controller of the first unmanned aerial vehicle, and is intended to send an alarm instruction to the second unmanned aerial vehicle when detecting that the remaining power of the first power supply is lower than a set threshold, so that the second unmanned aerial vehicle takes off to the air to charge the first power supply of the first unmanned aerial vehicle, thereby achieving the purpose of aerial charging. Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted.
Referring to fig. 5, the method for charging an unmanned aerial vehicle in the air provided by this embodiment specifically includes the following steps:
and step 510, determining the residual capacity of a first power supply for supplying power to the first unmanned machine in real time in the process of executing the air flight task by the first unmanned machine.
Specifically, the voltage of the first power supply may be detected by a specific voltage detection circuit, and the remaining power of the first power supply may be determined according to the detected voltage, where the detected voltage may represent the remaining power of the first power supply.
And 520, when the residual electric quantity is lower than a set threshold value, sending an alarm instruction to a second unmanned aerial vehicle so that the second unmanned aerial vehicle takes off based on the alarm instruction and executes an aerial task for charging the first power supply.
Further, before sending the alarm instruction to the second drone, the method further includes:
acquiring first position information of the first unmanned machine through the first positioning element of the first unmanned machine;
send alarm instruction to second unmanned aerial vehicle, include:
sending the first location information to the second drone through a first wireless communication element of the first drone; the alarm instruction comprises the first position information, so that the second unmanned aerial vehicle is continuously close to the first unmanned aerial vehicle according to the first position information of the first unmanned aerial vehicle, the first wireless charging coil of the first unmanned aerial vehicle is continuously close to the second wireless charging coil of the second unmanned aerial vehicle, the preset position relation is finally achieved, and the electric energy of the second power supply of the second unmanned aerial vehicle is provided for the first power supply of the first unmanned aerial vehicle through the first wireless charging coil and the second wireless charging coil.
Further, the method further comprises:
receiving, by a first wireless communication element of a first drone, second location information of a second drone;
determining a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the first position information and the second position information of the first unmanned aerial vehicle;
when the distance is less than the distance threshold value, the flexible length and/or the flexible angle of first unmanned aerial vehicle's first telescopic link are controlled to make fixed connection in the first wireless charging coil of first telescopic link with the position relation between the second wireless charging coil of second unmanned aerial vehicle satisfies and predetermines the position relation, pass through second unmanned aerial vehicle's second power supply's electric energy first wireless charging coil and the wireless charging coil of second provides first power supply.
Furthermore, when the electric energy of the second power supply of the second unmanned aerial vehicle is provided to the first power supply through the first wireless charging coil and the second wireless charging coil, namely in the charging process, the first unmanned aerial vehicle and the second unmanned aerial vehicle need to interact with each other in real time to determine the relative position relationship between each other in real time, correspondingly adjust the telescopic length and/or telescopic angle of the first telescopic rod and the second telescopic rod, maintain the preset position relationship between the first wireless charging coil and the second wireless charging coil, and improve the wireless charging efficiency and reliability.
For example, when the power from the second power supply of the second drone is provided to the first power supply through the first wireless charging coil and the second wireless charging coil, the method further comprises:
receiving second position information of a second unmanned aerial vehicle in real time through a first wireless communication element of the first unmanned aerial vehicle;
determining the relative position between the first unmanned aerial vehicle and the second unmanned aerial vehicle in real time according to the first position information and the second position information of the first unmanned aerial vehicle;
controlling the telescopic length and/or telescopic angle of the first telescopic rod in real time according to the relative position so as to maintain the preset position relation between the first wireless charging coil and the second wireless charging coil.
Meanwhile, in the process of executing the air task, if the air route needs to be changed, the air route planning needs to be carried out by referring to the second position information of the current second unmanned aerial vehicle, so that the first unmanned aerial vehicle and the second unmanned aerial vehicle are prevented from colliding.
According to the technical scheme, the residual electric quantity of a first power supply source for providing electric energy for the first unmanned machine is determined in real time in the process that the first unmanned machine executes the air flight task; when the residual electric quantity is lower than a set threshold value, an alarm instruction is sent to the second unmanned aerial vehicle, so that the second unmanned aerial vehicle takes off based on the alarm instruction and executes an aerial task for charging the first power supply, the aim that the second unmanned aerial vehicle charges the first unmanned aerial vehicle in the air is achieved, the first unmanned aerial vehicle does not need to return to the ground to complete charging, and the aerial task execution efficiency of the first unmanned aerial vehicle is improved.
EXAMPLE III
Fig. 6 is a flowchart of an aerial charging method for an unmanned aerial vehicle according to a third embodiment of the present invention, where the method provided in this embodiment is applied to the second unmanned aerial vehicle described in the above embodiment, and is specifically executed by a second controller of the second unmanned aerial vehicle, and is intended to execute an aerial task of charging a first power supply of a first unmanned aerial vehicle when receiving an alarm instruction sent by the first unmanned aerial vehicle that is executing a flight task, so as to achieve the purpose of charging the first unmanned aerial vehicle in the air, and the first unmanned aerial vehicle does not need to interrupt the task and return to the ground for charging, thereby improving the efficiency of executing the aerial task of the first unmanned aerial vehicle. Wherein explanations of the same or corresponding terms as those of the above-described embodiments are omitted.
Referring to fig. 6, the method for charging an unmanned aerial vehicle in the air provided by this embodiment specifically includes the following steps:
step 610, receiving an alarm instruction sent by a first unmanned machine and first position information of the first unmanned machine.
When the second unmanned aerial vehicle receives the alarm instruction, the second unmanned aerial vehicle takes off according to the first position information included in the alarm instruction, continuously approaches the first unmanned aerial vehicle, and executes the aerial task for charging the first power supply of the first unmanned aerial vehicle.
And step 620, taking off according to the first position information, and executing an air task for charging the first unmanned aerial vehicle first power supply.
From the start of the takeoff of the second unmanned aerial vehicle, the first unmanned aerial vehicle and the second unmanned aerial vehicle interact respective position information according to the set frequency, namely the first unmanned aerial vehicle continuously sends the first position information of the first unmanned aerial vehicle to the second unmanned aerial vehicle, the second unmanned aerial vehicle continuously sends the second position information of the second unmanned aerial vehicle to the first unmanned aerial vehicle, so that the first unmanned aerial vehicle can avoid colliding with the second unmanned aerial vehicle if the air route changes when the task is executed, and the second unmanned aerial vehicle is continuously close to the first unmanned aerial vehicle.
Specifically, second position information of a second unmanned aerial vehicle is received through a first wireless communication element of a first unmanned aerial vehicle;
determining a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the first position information and the second position information of the first unmanned aerial vehicle;
when the distance is less than the distance threshold value, the flexible length and/or the flexible angle of first unmanned aerial vehicle's first telescopic link are controlled to make fixed connection in the first wireless charging coil of first telescopic link with the position relation between the second wireless charging coil of second unmanned aerial vehicle satisfies and predetermines the position relation, pass through second unmanned aerial vehicle's second power supply's electric energy first wireless charging coil and the wireless charging coil of second provides first power supply.
Further, the executing an air task for charging the first unmanned machine first power supply further includes:
and sending the second position information to a first unmanned machine through a second wireless communication element of the second unmanned machine, so that the first unmanned machine controls the telescopic length and/or telescopic angle of a first telescopic rod of the first unmanned machine based on the second position information, and the position relation between the first wireless charging coil and the second wireless charging coil meets the preset position relation.
Furthermore, when the electric energy of the second power supply of the second unmanned aerial vehicle is provided to the first power supply through the first wireless charging coil and the second wireless charging coil, namely in the charging process, the first unmanned aerial vehicle and the second unmanned aerial vehicle need to interact with each other in real time to determine the relative position relationship between each other in real time, correspondingly adjust the telescopic length and/or telescopic angle of the first telescopic rod and the second telescopic rod, maintain the preset position relationship between the first wireless charging coil and the second wireless charging coil, and improve the wireless charging efficiency and reliability.
For example, when the power from the second power supply of the second drone is provided to the first power supply through the first wireless charging coil and the second wireless charging coil, the method further comprises:
when the electric energy of the second power supply of the second unmanned aerial vehicle is provided to the first power supply through the first wireless charging coil and the second wireless charging coil, the aerial task charged by the first unmanned aerial vehicle and the first power supply is executed, and the aerial task further comprises:
receiving first position information of a first unmanned machine in real time through a second wireless communication element of a second unmanned machine;
determining the relative position between the first unmanned aerial vehicle and the second unmanned aerial vehicle in real time according to the first position information and the second position information of the first unmanned aerial vehicle;
controlling the telescopic length and/or telescopic angle of the second telescopic rod in real time according to the relative position so as to maintain the preset position relation between the first wireless charging coil and the second wireless charging coil.
According to the technical scheme, in the process of executing the air flight task by the first unmanned aerial vehicle, if the residual electric quantity of a first power supply source for supplying power to the first unmanned aerial vehicle is determined to be lower than a set threshold value, an alarm instruction is sent to the second unmanned aerial vehicle, the second unmanned aerial vehicle receives the alarm instruction, takes off according to first position information of the first unmanned aerial vehicle included by the alarm instruction and is continuously close to the first unmanned aerial vehicle, when the distance between the second unmanned aerial vehicle and the first unmanned aerial vehicle is smaller than a distance threshold value, the telescopic length and/or telescopic angle of a second telescopic rod of the second unmanned aerial vehicle are controlled, so that the position relation between a second wireless charging coil of the second telescopic rod and a first wireless charging coil of the first unmanned aerial vehicle meets a preset position relation, and the electric energy of a second power supply source of the second unmanned aerial vehicle is supplied to the first wireless charging coil and the second wireless charging coil The first power supply realizes the purpose that the second unmanned aerial vehicle charges the first unmanned aerial vehicle in the air, and the first unmanned aerial vehicle does not need to return to the ground to complete charging, so that the efficiency of executing the first unmanned aerial vehicle in the air task is improved.
The following is an embodiment of the unmanned aerial vehicle aerial charging device provided in the embodiment of the present invention, and the device and the unmanned aerial vehicle aerial charging method in the above embodiments belong to the same inventive concept, and details not described in detail in the embodiment of the unmanned aerial vehicle aerial charging device may refer to the above embodiment of the unmanned aerial vehicle aerial charging method.
Example four
Fig. 7 is a schematic structural diagram of an aerial charging device for an unmanned aerial vehicle according to a fourth embodiment of the present invention, where the device provided in this embodiment is integrated with the first controller of the first unmanned aerial vehicle according to the foregoing embodiment. As shown in fig. 7, the apparatus specifically includes: a determination module 710 and a sending module 720.
The determining module 710 is configured to determine, in real time, a remaining power amount of a first power supply source that provides power for the first unmanned machine during the process of the first unmanned machine performing an air flight task; a sending module 720, configured to send an alarm instruction to a second unmanned aerial vehicle when the remaining power is lower than a set threshold, so that the second unmanned aerial vehicle takes off based on the alarm instruction and executes an air task of charging the first power supply.
Further, the apparatus further comprises: the acquisition module is used for acquiring first position information of the first unmanned aerial vehicle through the first positioning element of the first unmanned aerial vehicle before sending an alarm instruction to the second unmanned aerial vehicle; correspondingly, the sending module 720 is specifically configured to send the first location information to the second drone through a first wireless communication element of the first drone; wherein the alert instruction includes the first location information.
Further, the apparatus further comprises:
a receiving module for receiving second location information of a second drone through a first wireless communication element of a first drone;
a distance calculation module for determining a distance between the first drone and the second drone according to the first location information and the second location information of the first drone;
and the control module is used for controlling the telescopic length and/or the telescopic angle of the first telescopic rod of the first unmanned aerial vehicle when the distance is smaller than the distance threshold value, so that the position relation between the first wireless charging coil of the first telescopic rod and the second wireless charging coil of the second unmanned aerial vehicle meets the preset position relation, and the electric energy of the second power supply source of the second unmanned aerial vehicle is supplied to the first power supply source through the first wireless charging coil and the second wireless charging coil.
According to the technical scheme provided by the embodiment, the residual electric quantity of the first power supply source for supplying power to the first unmanned machine is determined in real time in the process that the first unmanned machine executes the air flight task; when the residual electric quantity is lower than a set threshold value, an alarm instruction is sent to the second unmanned aerial vehicle, so that the second unmanned aerial vehicle takes off based on the alarm instruction and executes an aerial task for charging the first power supply, the aim that the second unmanned aerial vehicle charges the first unmanned aerial vehicle in the air is achieved, the first unmanned aerial vehicle does not need to return to the ground to complete charging, and the aerial task execution efficiency of the first unmanned aerial vehicle is improved.
The unmanned aerial vehicle aerial charging device provided by the embodiment of the invention can execute the unmanned aerial vehicle aerial charging method provided by the second embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the unmanned aerial vehicle aerial charging method.
EXAMPLE five
Fig. 8 is a schematic structural diagram of an aerial charging device for an unmanned aerial vehicle according to a fifth embodiment of the present invention, where the device provided in this embodiment is integrated with the second controller of the second unmanned aerial vehicle according to the foregoing embodiment. As shown in fig. 8, the apparatus specifically includes: a receiving module 810 and an executing module 820.
The receiving module 810 is configured to receive an alarm instruction sent by a first unmanned machine and first location information of the first unmanned machine; the execution module 820 is configured to take off according to the first location information and execute an air task for charging the first unmanned aerial vehicle.
Further, the receiving module 810 is specifically configured to:
receiving the alert instruction and the first location information through a second wireless communication element of a second drone.
Further, the executing module 820 includes:
the acquisition unit is used for acquiring second position information of the second unmanned aerial vehicle through a second positioning element of the second unmanned aerial vehicle;
a determining unit, configured to determine a distance between the second drone and the first drone according to the second location information and the first location information;
and the control unit is used for controlling the telescopic length and/or the telescopic angle of a second telescopic rod of the second unmanned aerial vehicle if the distance is smaller than the distance threshold value, so that the position relation between a second wireless charging coil of the second telescopic rod and a first wireless charging coil of the first unmanned aerial vehicle meets the preset position relation, and the electric energy of a second power supply source of the second unmanned aerial vehicle is supplied to the first power supply source through the first wireless charging coil and the second wireless charging coil.
Further, the executing module 820 further includes:
the sending unit is used for sending the second position information to a first unmanned machine through a second wireless communication element of the second unmanned machine, so that the first unmanned machine controls the telescopic length and/or telescopic angle of a first telescopic rod of the first unmanned machine based on the second position information, and the position relation between the first wireless charging coil and the second wireless charging coil meets the preset position relation.
According to the technical scheme, in the process of executing the air flight task by the first unmanned aerial vehicle, if the residual electric quantity of a first power supply source for supplying power to the first unmanned aerial vehicle is determined to be lower than a set threshold value, an alarm instruction is sent to the second unmanned aerial vehicle, the second unmanned aerial vehicle receives the alarm instruction, takes off according to first position information of the first unmanned aerial vehicle included by the alarm instruction and is continuously close to the first unmanned aerial vehicle, when the distance between the second unmanned aerial vehicle and the first unmanned aerial vehicle is smaller than a distance threshold value, the telescopic length and/or telescopic angle of a second telescopic rod of the second unmanned aerial vehicle are controlled, so that the position relation between a second wireless charging coil of the second telescopic rod and a first wireless charging coil of the first unmanned aerial vehicle meets a preset position relation, and the electric energy of a second power supply source of the second unmanned aerial vehicle is supplied to the first wireless charging coil and the second wireless charging coil The first power supply realizes the purpose that the second unmanned aerial vehicle charges the first unmanned aerial vehicle in the air, and the first unmanned aerial vehicle does not need to return to the ground to complete charging, so that the efficiency of executing the first unmanned aerial vehicle in the air task is improved.
The unmanned aerial vehicle aerial charging device provided by the embodiment of the invention can execute the unmanned aerial vehicle aerial charging method provided by the third embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the unmanned aerial vehicle aerial charging method.
EXAMPLE six
Fig. 9 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention. FIG. 9 illustrates a block diagram of an exemplary device 12 suitable for use in implementing embodiments of the present invention. The device 12 shown in fig. 9 is only an example and should not bring any limitation to the function and scope of use of the embodiments of the present invention.
As shown in FIG. 9, device 12 is in the form of a general purpose computing device. The components of device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 9, and commonly referred to as a "hard drive"). Although not shown in FIG. 9, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., determining module 710 and sending module 720) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (e.g., determination module 710 and transmission module 720) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may include an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
Device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with device 12, and/or with any devices (e.g., network card, modem, etc.) that enable device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the device 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet) via the network adapter 20. As shown, the network adapter 20 communicates with the other modules of the device 12 via the bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
The processing unit 16 executes various functional applications and the unmanned aerial vehicle air charging method by running a program stored in the system memory 28, for example, to implement the steps of the unmanned aerial vehicle air charging method provided by the embodiment of the present invention, the method includes:
determining the residual capacity of a first power supply for supplying power to the first unmanned machine in real time in the process of executing the air flight task by the first unmanned machine;
and when the residual electric quantity is lower than a set threshold value, sending an alarm instruction to a second unmanned aerial vehicle so that the second unmanned aerial vehicle takes off based on the alarm instruction and executes an aerial task for charging the first power supply.
Or receiving an alarm instruction sent by a first unmanned machine and first position information of the first unmanned machine;
and taking off according to the first position information, and executing an air task for charging the first power supply of the first unmanned machine.
Of course, those skilled in the art can understand that the processor may also implement the technical solution of the unmanned aerial vehicle aerial charging method provided in any embodiment of the present invention.
EXAMPLE seven
A seventh embodiment provides a computer-readable storage medium, on which a computer program is stored, where the program, when executed by a processor, implements the steps of the method for charging an unmanned aerial vehicle in the air, the method including:
determining the residual capacity of a first power supply for supplying power to the first unmanned machine in real time in the process of executing the air flight task by the first unmanned machine;
and when the residual electric quantity is lower than a set threshold value, sending an alarm instruction to a second unmanned aerial vehicle so that the second unmanned aerial vehicle takes off based on the alarm instruction and executes an aerial task for charging the first power supply.
Or receiving an alarm instruction sent by a first unmanned machine and first position information of the first unmanned machine;
and taking off according to the first position information, and executing an air task for charging the first power supply of the first unmanned machine.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (14)

1. An unmanned aerial vehicle aerial charging system is characterized by comprising a first unmanned aerial vehicle and a second unmanned aerial vehicle; the first wireless machine comprises a first power supply and a first wireless charging coil electrically connected with the first power supply;
the second unmanned aerial vehicle comprises a second power supply and a second wireless charging coil electrically connected with the second power supply;
in the process that the first unmanned aerial vehicle executes the air flight task, when the residual electric quantity of the first power supply is lower than a set threshold value, the second unmanned aerial vehicle takes off to enable the position between the second wireless charging coil and the first wireless charging coil to meet a preset position relation, and the electric energy of the second power supply is supplied to the first power supply through the second wireless charging coil and the first wireless charging coil;
the first wireless machine further comprises a first positioning element, a first wireless communication element and a first controller;
the first positioning element and the first wireless communication element are respectively in communication connection with the first controller, and when the remaining electric quantity of the first power supply is lower than a set threshold value, the first controller sends an alarm instruction to the second unmanned aerial vehicle through the first wireless communication element so that the second unmanned aerial vehicle takes off; wherein the alarm instruction comprises first unmanned first location information obtained by the first positioning element;
the first unmanned machine further comprises a first telescopic rod, and the first wireless charging coil is fixedly connected to the first telescopic rod;
the first controller is further used for controlling the telescopic length and the telescopic angle of the first telescopic rod according to the first position information of the first unmanned aerial vehicle and the second position information of the second unmanned aerial vehicle, so that the first wireless charging coil is far away from the first unmanned aerial vehicle body, and the positions between the second wireless charging coil and the first wireless charging coil meet the preset position relationship.
2. The system of claim 1, wherein the second drone further comprises a second positioning element, a second wireless communication element, and a second controller;
the second positioning element and the second wireless communication element are respectively in communication connection with the second controller, and when the second controller receives the alarm instruction through the second wireless communication element, the second controller controls the second unmanned aerial vehicle to take off, and sends second position information of the second unmanned aerial vehicle obtained through the second positioning element to the first controller through the second wireless communication element and the first wireless communication element.
3. The system of claim 2, wherein the second drone further comprises: the second wireless charging coil is fixedly connected to the second telescopic rod;
the second controller is further used for controlling the telescopic length and the telescopic angle of the second telescopic rod according to the first position information of the first unmanned aerial vehicle and the second position information of the second unmanned aerial vehicle, so that the second wireless charging coil is far away from the body of the second unmanned aerial vehicle, the second wireless charging coil and the position between the first wireless charging coils meet the preset position relationship.
4. An aerial charging method of an unmanned aerial vehicle is applied to a first unmanned aerial vehicle, and is characterized by comprising the following steps:
determining the residual capacity of a first power supply for supplying power to the first unmanned machine in real time in the process of executing the air flight task by the first unmanned machine;
when the residual electric quantity is lower than a set threshold value, sending an alarm instruction to a second unmanned aerial vehicle so that the second unmanned aerial vehicle takes off based on the alarm instruction and executes an aerial task for charging the first power supply;
the method further comprises the following steps:
receiving, by a first wireless communication element of a first drone, second location information of a second drone;
determining a distance between the first unmanned aerial vehicle and the second unmanned aerial vehicle according to the first position information and the second position information of the first unmanned aerial vehicle;
when the distance is smaller than a distance threshold value, the telescopic length and the telescopic angle of a first unmanned aerial vehicle-based telescopic rod are controlled, so that the first wireless charging coil of the first telescopic rod is fixedly connected with the body of the first unmanned aerial vehicle, the first wireless charging coil and the position relation between the second wireless charging coils of the second unmanned aerial vehicle meet the preset position relation, and the electric energy of the second power supply source of the second unmanned aerial vehicle is supplied to the first power supply source through the first wireless charging coil and the second wireless charging coils.
5. The method of claim 4, wherein prior to sending the alert instruction to the second drone, further comprising:
acquiring first position information of the first unmanned machine through the first positioning element of the first unmanned machine;
send alarm instruction to second unmanned aerial vehicle, include:
sending the first location information to the second drone through a first wireless communication element of the first drone; wherein the alert instruction includes the first location information.
6. The method of claim 5, wherein when the power from the second power supply of the second drone is provided to the first power supply through the first wireless charging coil and the second wireless charging coil, the method further comprises:
receiving second position information of a second unmanned aerial vehicle in real time through a first wireless communication element of the first unmanned aerial vehicle;
determining the relative position between the first unmanned aerial vehicle and the second unmanned aerial vehicle in real time according to the first position information and the second position information of the first unmanned aerial vehicle;
controlling the telescopic length and the telescopic angle of the first telescopic rod in real time according to the relative position so as to enable the first wireless charging coil to be far away from the first unmanned machine body and maintain the preset position relation between the first wireless charging coil and the second wireless charging coil.
7. An aerial charging method of an unmanned aerial vehicle is applied to a second unmanned aerial vehicle, and is characterized by comprising the following steps:
receiving an alarm instruction sent by a first unmanned machine and first position information of the first unmanned machine;
taking off according to the first position information, and executing an aerial task for charging a first power supply of the first unmanned machine;
the performing an over-the-air task that charges the first unmanned machine's first power supply includes:
acquiring second position information of the second unmanned aerial vehicle through a second positioning element of the second unmanned aerial vehicle;
determining a distance between the second drone and the first drone according to the second location information and the first location information;
if when the distance is less than the distance threshold value, controlling the telescopic length and the telescopic angle of a second telescopic rod of the second unmanned aerial vehicle so as to enable the second wireless charging coil of the second telescopic rod to be fixedly connected with the body of the second unmanned aerial vehicle, the second wireless charging coil and the position relation between the first wireless charging coils of the first unmanned aerial vehicle to meet the preset position relation, and providing the electric energy of the second power supply of the second unmanned aerial vehicle for the first power supply through the first wireless charging coils and the second wireless charging coils.
8. The method of claim 7, wherein receiving the alert instruction sent by the first drone and the first location information of the first drone comprises:
receiving the alert instruction and the first location information through a second wireless communication element of a second drone.
9. The method of claim 7, wherein the performing an over-the-air task of charging the first unmanned machine's first power supply further comprises:
and sending the second position information to a first unmanned machine through a second wireless communication element of the second unmanned machine, so that the first unmanned machine controls a first telescopic rod of the first unmanned machine to move based on the second position information, and the position relation between the first wireless charging coil and the second wireless charging coil meets a preset position relation.
10. The method of claim 7, wherein the performing the aerial mission of charging the first power supply of the first drone while providing power from the second power supply of the second drone to the first power supply through the first wireless charging coil and the second wireless charging coil further comprises:
receiving first position information of a first unmanned machine in real time through a second wireless communication element of a second unmanned machine;
determining the relative position between the first unmanned aerial vehicle and the second unmanned aerial vehicle in real time according to the first position information and the second position information of the first unmanned aerial vehicle;
according to the relative position real-time control the flexible length and the flexible angle of second telescopic link to make the wireless charging coil of second keep away from the organism of second unmanned aerial vehicle, maintain first wireless charging coil with preset position relation between the wireless charging coil of second.
11. The utility model provides an aerial charging device of unmanned aerial vehicle, integrated in first unmanned aerial vehicle, its characterized in that includes:
the determining module is used for determining the residual capacity of a first power supply source for supplying power to the first unmanned machine in real time in the process of executing the air flight task by the first unmanned machine;
the sending module is used for sending an alarm instruction to a second unmanned aerial vehicle when the residual electric quantity is lower than a set threshold value, so that the second unmanned aerial vehicle takes off based on the alarm instruction and executes an aerial task for charging the first power supply;
the device further comprises:
the receiving module is used for receiving second position information of a second unmanned aerial vehicle through a first wireless communication original piece of the first unmanned aerial vehicle;
a distance calculation module for determining a distance between the first drone and the second drone according to the first location information and the second location information of the first drone;
the control module is used for controlling the telescopic length and the telescopic angle of a first unmanned aerial vehicle first telescopic rod when the distance is smaller than a distance threshold value, so that the position relation between a first wireless charging coil of the first telescopic rod and a second wireless charging coil of the second unmanned aerial vehicle meets the preset position relation, and the electric energy of a second power supply of the second unmanned aerial vehicle is supplied to the first power supply through the first wireless charging coil and the second wireless charging coil.
12. The utility model provides an aerial charging device of unmanned aerial vehicle, integrated in second unmanned aerial vehicle which characterized in that includes:
the receiving module is used for receiving an alarm instruction sent by a first unmanned machine and first position information of the first unmanned machine;
the execution module is used for taking off according to the first position information and executing an air task for charging the first unmanned aerial power supply;
the execution module comprises:
the acquisition unit is used for acquiring second position information of the second unmanned aerial vehicle through a second positioning element of the second unmanned aerial vehicle;
a determining unit, configured to determine a distance between the second drone and the first drone according to the second location information and the first location information;
the control unit is used for controlling the telescopic length and the telescopic angle of a second telescopic rod of the second unmanned aerial vehicle if the distance is smaller than the distance threshold value, so that the position relation between a second wireless charging coil of the second telescopic rod and a body of the second unmanned aerial vehicle meets the preset position relation, and the electric energy of a second power supply source of the second unmanned aerial vehicle is supplied to the first power supply source through the first wireless charging coil and the second wireless charging coil.
13. An apparatus, characterized in that the apparatus comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the drone aerial charging method steps of any one of claims 4-6 or 7-10.
14. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the steps of the method of aerial charging a drone according to any one of claims 4 to 6 or 7 to 10.
CN202010802360.9A 2020-08-11 2020-08-11 Unmanned aerial vehicle aerial charging system, charging method, device, equipment and medium Active CN111942188B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010802360.9A CN111942188B (en) 2020-08-11 2020-08-11 Unmanned aerial vehicle aerial charging system, charging method, device, equipment and medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010802360.9A CN111942188B (en) 2020-08-11 2020-08-11 Unmanned aerial vehicle aerial charging system, charging method, device, equipment and medium

Publications (2)

Publication Number Publication Date
CN111942188A CN111942188A (en) 2020-11-17
CN111942188B true CN111942188B (en) 2022-04-12

Family

ID=73331646

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010802360.9A Active CN111942188B (en) 2020-08-11 2020-08-11 Unmanned aerial vehicle aerial charging system, charging method, device, equipment and medium

Country Status (1)

Country Link
CN (1) CN111942188B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112498133B (en) * 2020-11-25 2024-10-01 苏州优达斯汽车科技有限公司 Vehicle-mounted wireless charging system and method
CN113147473B (en) * 2021-04-29 2023-04-18 深圳市道通智能航空技术股份有限公司 Unmanned aerial vehicle charging method and device, charging unmanned aerial vehicle and storage medium
CN113346633B (en) * 2021-06-17 2023-03-21 青岛海尔空调器有限总公司 Wireless charging method, wireless charging device and system for air conditioner
CN116674784A (en) * 2023-05-31 2023-09-01 中国商用飞机有限责任公司北京民用飞机技术研究中心 Aircraft charging method, system, device, computer equipment and storage medium
CN116853027B (en) * 2023-07-18 2026-02-06 中国航发沈阳发动机研究所 Aerial charging device of power battery pack of aircraft electric propulsion system
CN119975894A (en) * 2025-03-21 2025-05-13 中南大学 Unmanned aerial vehicle collaborative wireless charging system, method, terminal device and storage medium

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2500669B (en) * 2012-03-29 2016-03-30 Icon Polymer Group Hose for conveying fluid
US9205920B2 (en) * 2013-12-30 2015-12-08 Google Inc. Wiring harness for an aerial vehicle
CN106998084A (en) * 2016-01-26 2017-08-01 丰唐物联技术（深圳）有限公司 Unmanned plane charging method and system
JP6691721B2 (en) * 2016-02-15 2020-05-13 株式会社トプコン Flight planning method and flight guidance system
WO2017152391A1 (en) * 2016-03-09 2017-09-14 深圳市琇莹印刷有限公司 Portable selfie stick
KR102451679B1 (en) * 2016-03-30 2022-10-07 삼성전자주식회사 Unmanned aerial vehicle
CN105896695B (en) * 2016-05-25 2019-11-08 上海众联能创新能源科技股份有限公司 Electric bus station suspended wireless charging system
CN107635870A (en) * 2016-10-27 2018-01-26 深圳市大疆创新科技有限公司 Steering wheel and its control method, unmanned plane
CN106941246B (en) * 2017-03-18 2018-12-28 国网山东省电力公司乳山市供电公司 A kind of electrical power distribution electric network Bird's Nest removing unmanned plane
CN206657245U (en) * 2017-04-22 2017-11-21 宜昌慧松电子科技有限公司 A kind of automated wireless charging device of unmanned plane
WO2019080053A1 (en) * 2017-10-26 2019-05-02 深圳市大疆创新科技有限公司 Control method and device, unmanned aerial vehicle, charging base station, and system
CN107856572B (en) * 2017-12-14 2023-12-15 伽行科技（北京）有限公司 Intelligent wireless charging system for automobile and charging method thereof
WO2020028118A1 (en) * 2018-08-02 2020-02-06 Walmart Apollo, Llc Systems and methods for charging an unmanned aerial vehicle with a host vehicle
CN108768001A (en) * 2018-08-21 2018-11-06 东莞茂雄电子有限公司 Wireless power source transceiver and its expansion support construction
CN209224972U (en) * 2018-11-19 2019-08-09 山东商业职业技术学院 A kind of new-energy automobile charging unit
CN210175147U (en) * 2019-04-22 2020-03-24 广西大学 Stopping energy supplementing system for long-distance flight in quad-rotor unmanned aerial vehicle
CN110040012B (en) * 2019-04-22 2020-06-23 金陵科技学院 Unmanned aerial vehicle online charging method based on multi-transmitting single-receiving wireless charging
CN110682807A (en) * 2019-10-15 2020-01-14 滨州学院 A wireless charging line patrol drone, charging device and charging method
CN111002846B (en) * 2019-12-13 2021-07-20 王晰 Control method and system of unmanned aerial vehicle

Also Published As

Publication number Publication date
CN111942188A (en) 2020-11-17

Similar Documents

Publication Publication Date Title
CN111942188B (en) Unmanned aerial vehicle aerial charging system, charging method, device, equipment and medium
US10943495B2 (en) Aerial vehicle flight control method and device thereof
US10705188B2 (en) Laser point cloud positioning method and system
JP5345495B2 (en) Modular software architecture for unmanned aerial vehicles
US10809711B2 (en) Electronic device and method for controlling the same
US10082802B2 (en) Method and system for continued navigation of unmanned aerial vehicles beyond restricted airspace boundaries
US10373483B2 (en) Electronic device for controlling unmanned aerial vehicle and method of operating the same
US12431030B2 (en) Unmanned aerial vehicle dispatching method, server, base station, system, and readable storage medium
US11036216B2 (en) Voice-controllable unmanned aerial vehicle for object retrieval and delivery
US20210008716A1 (en) Patrol method using robot and apparatus and robot thereof
CN110929702A (en) Trajectory planning method and device, electronic equipment and storage medium
CN105334861A (en) Unmanned plane flight control module, unmanned plane flight control system and unmanned plane
CN112256052B (en) Speed control method, device, drone and storage medium for drone
WO2020211814A1 (en) Orbiting flight control method and device, and terminal and storage medium
US20220171392A1 (en) Method and cloud server for controlling robot providing service in connection with service application
CN112758031A (en) Vehicle control system, vehicle control method, device, equipment and medium
CN110187720A (en) Unmanned plane guidance method, device, system, medium and electronic equipment
EP4102325A1 (en) Method and system for collecting field operation situation and facility information
CN107450586A (en) The method of adjustment and system and UAS in air route
CN207319073U (en) Unmanned plane and unmanned flight's system
CN106647788A (en) Unmanned plane flight control method and device
CN206202675U (en) Unmanned vehicle
CN103853158A (en) High-performance controlling and calculating system of multi-rotor-wing flying robot
CN113741492B (en) Hexacopter UAV hovering and wind resistance control method and device
KR102263227B1 (en) Method and apparatus for control unmanned vehicle using artificial reality with relative navigation information

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant