[go: up one dir, main page]

CN112152287B - Remote charging method, device and system - Google Patents

Remote charging method, device and system Download PDF

Info

Publication number
CN112152287B
CN112152287B CN202010949839.5A CN202010949839A CN112152287B CN 112152287 B CN112152287 B CN 112152287B CN 202010949839 A CN202010949839 A CN 202010949839A CN 112152287 B CN112152287 B CN 112152287B
Authority
CN
China
Prior art keywords
charging
unmanned aerial
aerial vehicle
antenna
receiving antenna
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
CN202010949839.5A
Other languages
Chinese (zh)
Other versions
CN112152287A (en
Inventor
王长富
鲁长波
王旭东
徐万里
刘盼盼
周友杰
马东恺
安高军
陈今茂
徐磊
徐曦萌
孙彦丽
郑哲
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.)
Institute Of Military New Energy Technology Institute Of Systems Engineering Academy Of Military Sciences
Original Assignee
Institute Of Military New Energy Technology Institute Of Systems Engineering Academy Of Military Sciences
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 Institute Of Military New Energy Technology Institute Of Systems Engineering Academy Of Military Sciences filed Critical Institute Of Military New Energy Technology Institute Of Systems Engineering Academy Of Military Sciences
Priority to CN202010949839.5A priority Critical patent/CN112152287B/en
Publication of CN112152287A publication Critical patent/CN112152287A/en
Application granted granted Critical
Publication of CN112152287B publication Critical patent/CN112152287B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
    • H02J7/00034—Charger exchanging data with an electronic device, i.e. telephone, whose internal battery is under charge
    • 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]
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
    • H02J50/23—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves characterised by the type of transmitting antennas, e.g. directional array antennas or Yagi antennas
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/20—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves
    • H02J50/27—Circuit arrangements or systems for wireless supply or distribution of electric power using microwaves or radio frequency waves characterised by the type of receiving antennas, e.g. rectennas
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
    • H02J50/80—Circuit arrangements or systems for wireless supply or distribution of electric power involving the exchange of data, concerning supply or distribution of electric power, between transmitting devices and receiving devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/007—Regulation of charging or discharging current or voltage
    • H02J7/00712—Regulation of charging or discharging current or voltage the cycle being controlled or terminated in response to electric parameters
    • 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
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

Landscapes

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

Abstract

The embodiment of the invention discloses a remote charging method, a device and a system, wherein when the current electric quantity is detected to be lower than the set electric quantity, a charging request and charging related information are sent to a transmitting control terminal; entering a target charging track according to a charging flight path sent by a transmitting control terminal, wherein the target charging track corresponds to the charging priority of the unmanned aerial vehicle, and the charging priority is determined according to relevant factors of the charging requirement of the unmanned aerial vehicle after the identity authentication of the unmanned aerial vehicle is passed; receiving microwave signals sent by a transmitting antenna array on the target charging track through a receiving antenna so as to charge; the receiving antenna is a cylindrical surface microstrip patch array antenna and is arranged on the lower surface of the wing in a patch mode; the inner surface of the receiving antenna is a grounding plate, the outer surface of the receiving antenna is a metal patch and a feed network, and the middle of the receiving antenna is a dielectric plate. Through adopting above-mentioned technical scheme, solved the problem that unmanned aerial vehicle charges and lines up, promoted charging efficiency.

Description

Remote charging method, device and system
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a remote charging method, device and system.
Background
With the wide application of high and new technologies to unmanned aerial vehicles, the functions of the unmanned aerial vehicles in the aspects of information reconnaissance, border cruising, communication relaying, information countermeasure and the like are increasingly prominent. However, due to the limitation of battery capacity, the endurance time and endurance mileage of the unmanned aerial vehicle are not enough to support the unmanned aerial vehicle to execute tasks for a long time and in a long distance. The unmanned aerial vehicle is widely applied, and a high-efficiency and convenient energy supplement supporting facility is established by using an energy supply technology.
Currently, charging technologies of the unmanned aerial vehicle include wired charging, magnetic coupling charging, microwave charging, and the like. The wired charging is troublesome in operation, manual connection of personnel is needed, manpower cannot be liberated, and due to wired connection, the cable has a damaged risk during outdoor long-term operation, and great potential safety hazards exist. Magnetic coupling formula charges, though cancelled the constraint of cable, nevertheless because magnetic coupling formula charging distance is near, need frequent take off and land of unmanned aerial vehicle with this kind of charging mode, has reduced work efficiency, and the runway that descends and take off still provided new requirement to the place of charging to the unmanned aerial vehicle of stationary vane simultaneously, and is very inconvenient. Microwave formula wireless charging can carry out long distance transmission of electricity to unmanned aerial vehicle, and unmanned aerial vehicle can charge in the air, need not to descend. Simultaneously because the technical characterstic of the wireless defeated ability of microwave, can charge for a plurality of unmanned aerial vehicle simultaneously. However, on the premise that the number of the charging platforms is limited, the unmanned aerial vehicle needs to be charged in a queue, and the charging efficiency of the unmanned aerial vehicle is influenced.
Disclosure of Invention
The embodiment of the invention discloses a remote charging method, a device and a system, which solve the problem of unmanned aerial vehicle charging queuing and improve charging efficiency.
In a first aspect, an embodiment of the present invention discloses a remote charging method, which is applied to a receiving end, and the method includes:
when the current electric quantity is detected to be lower than the set electric quantity, sending a charging request and charging related information to a transmitting control terminal, wherein the charging related information comprises identity information, position information, electric quantity information and task information;
entering a target charging track according to a charging flight path sent by the transmitting control terminal, wherein the target charging track corresponds to the charging priority of the unmanned aerial vehicle, and the charging priority is determined according to relevant factors of the charging requirement of the unmanned aerial vehicle after the identity authentication of the unmanned aerial vehicle passes;
receiving microwave signals sent by a transmitting antenna array on the target charging track through a receiving antenna so as to charge;
the receiving antenna is a cylindrical surface microstrip patch array antenna and is arranged on the lower surface of the wing in a patch mode;
the inner surface of the receiving antenna is a grounding plate, the outer surface of the receiving antenna is a metal patch and a feed network, and the middle of the receiving antenna is a dielectric plate.
Optionally, the array unit of the receiving antenna is a rectangular patch after being cut into a slot, the antenna feeds power through a microstrip line, the power device equally divides energy into four units, and the four units form a group to enable the patch to share the common property with the lower surface of the wing.
Optionally, the method further includes:
determining the maximum charging power of the unmanned aerial vehicle according to the temperature, the charge state and the charging capacity of the battery sent by the unmanned aerial vehicle;
and sending the maximum charging power to a transmitting control end for the transmitting control end to adjust the transmitting power.
Optionally, the method further includes:
in the charging process, calculating the actual transmission efficiency of the microwave signal according to the receiving power of the unmanned aerial vehicle and the power transmitted by the transmitting terminal;
determining a difference between the actual transmission efficiency and an ideal transmission efficiency;
and if the difference is greater than a preset difference threshold value, correcting the flight track of the unmanned aerial vehicle.
Optionally, the actual transmission efficiency and the ideal transmission efficiency of the microwave signal are determined according to the following formulas:
Figure BDA0002676559610000021
wherein eta is1Is the actual transmission efficiency of the microwave signal; eta2The ideal transmission efficiency of the microwave signal; ptIs the power of the transmit antenna; prIs the received power of the drone; gtGain for the transmit antenna; aer is the effective aperture of the receiving antenna; r is the distance between the drone and the transmitting antenna.
In a second aspect, an embodiment of the present invention further provides a remote charging apparatus, where the apparatus includes:
the information sending module is configured to send a charging request and charging related information to the transmitting control terminal when the current electric quantity is detected to be lower than the set electric quantity, wherein the charging related information comprises identity information, position information, electric quantity information and task information;
the flight module is configured to enter a target charging track according to a charging flight path sent by the transmitting control terminal, wherein the target charging track corresponds to the charging priority of the unmanned aerial vehicle, and the charging priority is determined according to relevant factors of the unmanned aerial vehicle charging demand after the unmanned aerial vehicle passes identity authentication;
the unmanned aerial vehicle charging module is configured to receive microwave signals sent by the transmitting antenna array through the receiving antenna on the target charging track so as to charge;
the receiving antenna is a cylindrical surface microstrip patch array antenna and is arranged on the lower surface of the wing in a patch mode;
the inner surface of the receiving antenna is a grounding plate, the outer surface of the receiving antenna is a metal patch and a feed network, and the middle of the receiving antenna is a dielectric plate.
Optionally, the array unit of the receiving antenna is a rectangular patch after being cut into a slot, the antenna feeds power through a microstrip line, the power device equally divides energy into four units, and the four units form a group to enable the patch to share the common property with the lower surface of the wing.
Optionally, the apparatus further comprises:
the maximum charging power determining module is configured to determine the maximum charging power of the unmanned aerial vehicle according to the temperature, the state of charge and the charging capacity of the battery sent by the unmanned aerial vehicle;
and the maximum charging power sending module is configured to send the maximum charging power to the transmission control terminal so as to adjust the transmission power of the transmission control terminal.
Optionally, the apparatus further comprises:
the actual transmission efficiency calculation module is configured to calculate the actual transmission efficiency of the microwave signal according to the receiving power of the unmanned aerial vehicle and the power transmitted by the transmitting terminal in the charging process;
an orbit correction module configured to determine a difference between the actual transmission efficiency and an ideal transmission efficiency, and correct a flight orbit of the drone if the difference is greater than a preset difference threshold.
Optionally, the actual transmission efficiency and the ideal transmission efficiency of the microwave signal are determined according to the following formulas:
Figure BDA0002676559610000031
wherein eta is1Is the actual transmission efficiency of the microwave signal; eta2For ideal transmission efficiency of microwave signals；PtIs the power of the transmit antenna; prIs the received power of the drone; gtGain for the transmit antenna; aer is the effective aperture of the receiving antenna; r is the distance between the drone and the transmitting antenna.
In a third aspect, an embodiment of the present invention further discloses a remote charging system, including:
the system comprises a ground charging platform and an aerial powered device, wherein the ground control platform comprises a microwave transmitting end and a transmitting control end, and the aerial powered device comprises an unmanned aerial vehicle and a microwave receiving end; wherein,
the unmanned aerial vehicle is used for sending a charging request and charging related information to the transmitting control terminal when detecting that the current electric quantity is lower than the set electric quantity, wherein the charging related information comprises identity information, position information, electric quantity information and task information;
the transmission control end is used for carrying out identity authentication on the unmanned aerial vehicle according to the identity information when receiving a charging request sent by the unmanned aerial vehicle; if the identity authentication is passed, determining the charging priority of the unmanned aerial vehicle according to relevant factors of the charging requirement of the unmanned aerial vehicle, and selecting a corresponding charging flight path and a target charging track for the unmanned aerial vehicle according to the charging priority;
the unmanned aerial vehicle is used for entering the target charging track according to the charging flight path;
the transmitting control end controls a transmitting antenna array in the microwave transmitting end to transmit a microwave signal according to the charging priority if the unmanned aerial vehicle is detected to enter the target charging track;
the unmanned aerial vehicle receives the microwave signal through a receiving antenna in a microwave receiving end on the target charging track so as to charge;
the receiving antenna is a cylindrical surface microstrip patch array antenna and is arranged on the lower surface of the wing in a patch mode;
the inner surface of the receiving antenna is a grounding plate, the outer surface of the receiving antenna is a metal patch and a feed network, and the middle of the receiving antenna is a dielectric plate.
According to the technical scheme provided by the embodiment, when the current electric quantity is detected to be lower than the set electric quantity, the charging request and the charging related information are sent to the transmitting control terminal, and if the charging flight path sent by the transmitting control terminal is received, the target charging track can be entered according to the charging flight path. Because this target track of charging is corresponding with unmanned aerial vehicle's the priority of charging, and this priority of charging is confirmed according to the relevant factor of unmanned aerial vehicle demand of charging, consequently, can obtain quick charge on the target track of charging that corresponds to the higher unmanned aerial vehicle of priority, solved the problem that unmanned aerial vehicle charges and lines up, improved charge efficiency.
The invention comprises the following steps:
1. the charging priority of the unmanned aerial vehicle can be determined according to the task information, the charge state and the distance to the charging range of the unmanned aerial vehicle, so that the target charging track corresponding to the charging priority of the unmanned aerial vehicle can be selected for the unmanned aerial vehicle, the problem of unmanned aerial vehicle charging queuing is solved, the charging efficiency of the unmanned aerial vehicle is improved, and the method is one of the invention points.
2. The charging tracks are designed into the multistage tracks, and the number of the antenna subarrays corresponding to the charging tracks of different levels is different, so that the charging speeds of the charging tracks of different levels are different, and the unmanned aerial vehicle with high priority can be rapidly charged.
3. When the unmanned aerial vehicle enters the target charging track, the transmitting antenna array is controlled to directionally transmit microwaves according to the flying position of the unmanned aerial vehicle so as to be focused on the receiving antenna of each unmanned aerial vehicle, and the microwave transmitting direction is adjusted according to the movement of the position of the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to be in a high-efficiency charging state in the whole process, the charging efficiency of the unmanned aerial vehicle is further improved, and the method is one of the invention points.
4. The invention discloses a method for detecting whether the efficiency of an unmanned aerial vehicle is too low in the charging process through the efficiency of microwave transmitting power and receiving power and a given formula, and adjusting the flight orbit of the unmanned aerial vehicle in time, so that the problem of low charging efficiency of the unmanned aerial vehicle is solved, and the method is one of the invention points.
5. In the charging process, the maximum charging power acceptable by the current battery can be calculated according to the charging capacity corresponding to the temperature, the charge state and the health state of the battery, so that the transmitting power of the transmitting antenna can be adjusted according to the maximum charging power to prevent the transmitting power from being too large or too small, and the charging efficiency is optimal.
6. The transmitting terminal antenna is designed into a half 32-face body, and each face is composed of a direction backtracking antenna, so that the unmanned aerial vehicle can be wirelessly charged in a long distance at 360 degrees without dead angles, and the problems of dynamic tracking and small charging range of microwave wireless charging are solved.
7. The transmitting antenna adopts a double-fed microstrip dual-polarized antenna as an antenna unit, two feed ports of each antenna unit are mutually a receiving and transmitting port, the receiving and transmitting polarization is orthogonal, and the isolation of the antenna is improved by adopting a differential feed technology. In addition, the antenna unit is composed of 4 coaxial feed ports, four half-wavelength resonators and a slotted radiation patch, every two opposite ports of the antenna are connected with a 180-degree phase-shifting power divider, and the ports of the power dividers are actual feed ports of the antenna. By the arrangement, after the position signal of the unmanned aerial vehicle is received from an unknown target, the antenna can automatically transmit a beam of electromagnetic wave to aim at the position of the unmanned aerial vehicle, and the position information of the unmanned aerial vehicle does not need to be known in advance.
8. The transmitting terminal antenna is designed by adopting a multi-angle focusing array antenna, and the transmitting antenna is designed by using a time-frequency efficient proper modulation technology, so that microwaves transmitted by a plurality of antenna units can be focused at one point, the purpose of changing charging power is achieved, the problem that the charging power can not be changed because only one power is used for charging during wireless charging is solved, and the invention is one of the invention points.
9. The receiving antenna adopts a cylindrical surface microstrip patch array antenna with a low section close to a plane antenna, is conformal under the wing in a patch form to form compact arrangement, solves the problem of large air resistance and large load pressure of the unmanned aerial vehicle caused by the receiving antenna, and is one of the invention points of the invention.
10. The invention provides a visual operation display interface, which displays the charging condition of the unmanned aerial vehicles, the current electric quantity of each unmanned aerial vehicle, the charging cruising speed and the microwave transmitting power, can acquire and store the data and the sampling frequency of the microwave transmitting power so as to monitor the charging state of the unmanned aerial vehicles in real time, and is one of the invention points of the invention.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1a is a schematic flowchart of a remote charging method according to an embodiment of the present invention;
FIG. 1b is a schematic patch plan view of a receive antenna;
fig. 1c is a schematic diagram of a conformal structure of a receiving conformal antenna;
fig. 1d is a block diagram of a remote charging system according to an embodiment of the present invention;
fig. 2a is a schematic flowchart of a remote charging method according to an embodiment of the present invention;
fig. 2b is a schematic diagram of a microwave wireless charging method according to an embodiment of the present invention;
fig. 2c is a schematic structural diagram of a transmitting antenna according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a remote charging method according to an embodiment of the present invention;
fig. 4a is a block diagram of a remote charging system according to an embodiment of the present invention;
fig. 4b is a flowchart illustrating a charging process of a transmitting end according to an embodiment of the present invention;
fig. 4c is a flowchart illustrating charging of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4d is a schematic view of a display interface of a remote charging system according to an embodiment of the present invention;
FIG. 4e is a schematic diagram of a fault tree model according to an embodiment of the present invention;
fig. 5 is a block diagram of a remote charging device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be noted that the terms "comprises" and "comprising" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Example one
Referring to fig. 1a, fig. 1a is a schematic flowchart illustrating a remote charging method according to an embodiment of the present invention. The method is applied to the field of unmanned aerial vehicles, can be executed by a charging device of the unmanned aerial vehicle, can be realized in a software and/or hardware mode, and can be generally integrated in the unmanned aerial vehicle. As shown in fig. 1a, the method provided in this embodiment specifically includes:
110. and when the current electric quantity is detected to be lower than the set electric quantity, sending a charging request and charging related information to the transmitting control terminal.
The charging related information comprises identity information, position information, electric quantity information and task information.
120. And entering a target charging track according to the charging flight path sent by the transmitting control terminal.
The target charging track corresponds to the charging priority of the unmanned aerial vehicle, the charging priority is determined according to relevant factors of the charging requirement of the unmanned aerial vehicle after the identity authentication of the unmanned aerial vehicle passes, and a specific determination mode of the charging priority can be seen in a method for determining the charging priority of the unmanned aerial vehicle by the transmitting control end in the following embodiment.
130. And receiving the microwave signals transmitted by the transmitting antenna array through the receiving antenna on the target charging track so as to charge.
The receiving antenna is a cylindrical surface microstrip patch array antenna. The inner surface of the receiving antenna is a grounding plate, the outer surface of the receiving antenna is a metal patch and a feed network, and the middle of the receiving antenna is a dielectric plate. Fig. 1b is a schematic diagram of a patch plane of a receiving antenna, and fig. 1c is a schematic diagram of a conformal structure of a receiving conformal antenna. As shown in fig. 1b and 1c, the array unit of the receiving antenna is a rectangular patch after being cut, the antenna is fed by a microstrip line, energy is equally divided into four units by a power device, and the four units are a group to make the patch common to the lower surface of the wing. The effective aperture of the receiving antenna may be 2 square meters. The problem that the air resistance of the unmanned aerial vehicle is large and the load pressure is large due to the receiving antenna is solved, and the unmanned aerial vehicle is one of the invention points. Further, during unmanned aerial vehicle charges, send positional information and electric quantity information to transmission control end at regular intervals, if unmanned aerial vehicle detects that the electric quantity is too low, continue to charge in the track flight that charges. And if the unmanned aerial vehicle detects that the electric quantity is charged to the set threshold value, returning to the home to continue to execute the task.
Further, can all design into unified continuation of journey speed with unmanned aerial vehicle on the track that charges, the transmission control end can deduce its subsequent position according to the positional information when unmanned aerial vehicle gets into the track to can predetermine the microwave transmission procedure that charges and let antenna emission microwave follow unmanned aerial vehicle, and the transmission control end can fix a position according to the coordinate in the positional information that unmanned aerial vehicle sent. Adopt above-mentioned two kinds of modes can obtain unmanned aerial vehicle's accurate position to control transmitting antenna transmission microwave direction, let the more accurate developments of the microwave energy of transmitting antenna transmission track unmanned aerial vehicle.
Furthermore, in the charging process of the unmanned aerial vehicle, the unmanned aerial vehicle end can calculate the actual transmission efficiency of the microwave signal according to the received power and the transmitting power of the transmitting end, and if the difference between the actual transmission efficiency and the ideal transmission efficiency is determined to be greater than a preset difference threshold value, the flight orbit of the unmanned aerial vehicle is corrected, so that the method is one of the invention points. .
Specifically, the actual transmission efficiency and the ideal transmission efficiency of the microwave signal can be determined according to the following formulas:
Figure BDA0002676559610000071
wherein eta is1Is the actual transmission efficiency of the microwave signal; eta2The ideal transmission efficiency of the microwave signal; ptIs the transmit power of the transmit antenna; prIs the received power of the drone; gtGain for the transmit antenna; a. theerIs the effective aperture of the receiving antenna; r is the distance between the drone and the transmitting antenna.
In this embodiment, if the difference between the actual transmission efficiency and the ideal transmission efficiency is greater than the preset difference threshold, it indicates that the gain of the transmitting antenna is too low during actual charging, and indicates that the receiving antenna and the transmitting antenna are not aligned at this time, and then it is immediately detected whether the unmanned aerial vehicle is on the correct flight track.
Specifically, the distance between the microwave transmitting antenna and the high-speed charging track is 500 meters, the distance between the microwave transmitting antenna and the medium-speed charging track is 750 meters, and the distance between the microwave transmitting antenna and the low-speed charging track is 1000 meters. The total gain of the transmitting antenna is 52dB, and the effective aperture of the receiving antenna is 2 square meters. According to the ideal transmission efficiency formula, the following can be obtained: for the first unmanned aerial vehicle on the track that charges at high speed, the ideal transmission efficiency of microwave signal is 10.1%, for the second unmanned aerial vehicle on the track that charges at the intermediate speed, the ideal transmission efficiency of microwave signal is 4.5%, and for the third unmanned aerial vehicle on the track that charges at the low-speed, the ideal transmission efficiency of microwave signal is 2.5%.
In addition, when the required charging power of first unmanned aerial vehicle according to self battery condition is 400 watts, the required charging power of second unmanned aerial vehicle according to self battery condition is 360 watts, the required charging power of third unmanned aerial vehicle according to self battery condition is 300 watts, in the above-mentioned actual transmission efficiency formula, the power of transmission end to first unmanned aerial vehicle transmission is 3960 watts, the transmitting power to second unmanned aerial vehicle is 8000 watts, the transmitting power to third unmanned aerial vehicle is 12000 watts, and the charging power that first unmanned aerial vehicle detected is 375 watts, the charging power that second unmanned aerial vehicle detected is 320 watts, the charging power that third unmanned aerial vehicle detected is 120 watts. According to the above actual transmission efficiency formula, it can be obtained: to first unmanned aerial vehicle, the actual transmission efficiency of microwave signal is 9.5%, to second unmanned aerial vehicle, the actual transmission efficiency of microwave signal is 4%, and to third unmanned aerial vehicle, the actual transmission efficiency of microwave signal is 1%. For the three unmanned aerial vehicles, the difference between the actual transmission efficiency and the ideal transmission efficiency of the microwave signals of the respective calculators can be obtained as follows: the difference between the actual transmission efficiency and the ideal transmission efficiency that third unmanned aerial vehicle corresponds is greater than preset difference threshold (generally 1%), and at this moment, it indicates that this third unmanned aerial vehicle needs to carry out flight trajectory correction.
Fig. 1d is a block diagram of a remote wireless charging system according to an embodiment of the present invention, as shown in fig. 1d, after the antenna transmitting end is connected to the commercial power, the electric signal is converted into a microwave signal by a microwave power generator, and the microwave signal is radiated outwards through a transmitting antenna. The receiving antenna of the device to be charged receives the microwave signal, and converts the microwave signal into a voltage signal through the impedance matching and rectifying and voltage stabilizing module to charge the battery.
In the charging process, the battery management system can collect the temperature T, the current I and the voltage U Of the battery, and can send charging capacity corresponding to the temperature, the State Of Charge (SOC) and the State Of Health (SOH) Of the battery to the flight control system Of the unmanned aerial vehicle, and the flight control system can determine the maximum charging power Of the unmanned aerial vehicle, namely the required transmitting power in the figure 1b, namely P in the formula according to the temperature, the State Of charge and the charging capacity Of the battery sent by the battery management systemr. After calculating the maximum charging power, the flight control system may send the maximum charging power to the launch control end, which adjusts the launch antenna via the microwave power controllerThe invention is one of the inventions of the present invention, which prevents the transmission power from being too large or too small, thereby optimizing the charging efficiency. The relation curve of the temperature, the state of charge, the state of health and the charging capacity of the battery is determined by the battery and can be measured and given by a battery manufacturer.
The technical scheme that this embodiment provided, after receiving the flight path that charges of transmission control end, can get into the target track of charging according to this flight path that charges, because this target track of charging is corresponding with unmanned aerial vehicle's the priority of charging, and this priority of charging is confirmed according to the relevant factor of unmanned aerial vehicle demand of charging, consequently, can obtain quick charge on the target track of charging that corresponds to the higher unmanned aerial vehicle of priority, has solved the problem that unmanned aerial vehicle charges and lines up, has improved charge efficiency. In addition, unmanned aerial vehicle accessible microwave transmitting power detects whether unmanned aerial vehicle crosses lowly at charging process efficiency with the given formula of received power to unmanned aerial vehicle's flight track has been adjusted in time, has solved the problem that unmanned aerial vehicle charge efficiency is low.
Example two
Referring to fig. 2a, fig. 2a is a schematic flowchart illustrating a remote charging method according to an embodiment of the present invention. The method is applied to the field of unmanned aerial vehicles, can be executed by a charging device of the unmanned aerial vehicle, can be realized in a software and/or hardware mode, and can be generally integrated in a transmitting control end of the unmanned aerial vehicle. As shown in fig. 2a, the method provided in this embodiment specifically includes:
210. when receiving the charging request that unmanned aerial vehicle sent, carry out authentication to unmanned aerial vehicle.
Exemplarily, when detecting that the current electric quantity is lower than the set electric quantity, the unmanned aerial vehicle can send a charging request to the transmission control terminal through the communication system, and simultaneously send its own ID number, position information, electric quantity information, task information, and the like. After receiving the information, the transmission control end can perform identity authentication on the unmanned aerial vehicle according to the ID number of the unmanned aerial vehicle, for example, the ID number of the unmanned aerial vehicle can be retrieved in a preset database, and if the ID number exists in the preset database, the identity authentication of the unmanned aerial vehicle is confirmed to pass.
220. And if the identity authentication is passed, determining the charging priority of the unmanned aerial vehicle according to relevant factors of the charging requirement of the unmanned aerial vehicle.
The relevant factors comprise task information currently executed by the unmanned aerial vehicle, the state of charge and the distance to the charging range. The task information currently executed by the unmanned aerial vehicle can be divided into rescue tasks, detection tasks, search tasks, patrol tasks and the like according to task types. Charging priorities corresponding to different relevant factors are different, for example, the priority of the rescue task is higher than that of the patrol task; the state of charge is 20% of the charging priority of the unmanned aerial vehicle, which is higher than the charging priority of the unmanned aerial vehicle with the state of charge of 50%; the charging priority of the unmanned aerial vehicle whose distance to the charging range is 6 km is lower than that of the unmanned aerial vehicle whose distance to the charging range is 3 km. In the embodiment, the charging priority of the unmanned aerial vehicle is determined, and the target charging track corresponding to the charging priority of the unmanned aerial vehicle can be selected for the unmanned aerial vehicle, so that the problem of charging queue of the unmanned aerial vehicle is solved, and the charging efficiency of the unmanned aerial vehicle is improved.
230. And determining a target charging track corresponding to the charging priority, and sending a corresponding charging flight path for the unmanned aerial vehicle.
In this embodiment, the charging tracks are multi-stage tracks, and the number of the antenna sub-arrays corresponding to the charging tracks of different levels is different, so that the charging speeds of the charging tracks of different levels are different. By the arrangement, the unmanned aerial vehicle with high priority can be charged quickly, and the method is one of the invention points of the invention.
For example, the design of the charging track may be adjusted according to the charging distance, the size of the transmitting antenna and the number of drones. Referring to fig. 2b, fig. 2b is a schematic diagram of a microwave wireless charging according to an embodiment of the present invention, as shown in fig. 2b, in the embodiment, a charging track is designed as a fast charging track, a medium-speed charging track and a high-speed charging track. Wherein, the flying period of the rapid charging orbit is shortest, the rapid charging orbit is closest to the transmitting antenna, and the distance is 500 meters. When the unmanned aerial vehicle flies on the track to charge, the number of the received antenna array blocks is the largest, the area is the largest, and meanwhile, the loss of microwaves in the space is the smallest, so that the unmanned aerial vehicle charges on the track most quickly. In this way, the medium-speed charging track has a medium charging speed, and the distance from the microwave transmitting antenna is 750 meters. The slow charging track is the slowest to charge, and the distance from the slow charging track to the microwave transmitting antenna is the farthest, and is 1000 meters. In this embodiment, the charging priority may be divided into three types, which correspond to the high-speed charging track, the medium-speed charging track, and the low-speed charging track, respectively.
In this embodiment, after determining the charging priority of the unmanned aerial vehicle, a corresponding charging flight path may be selected for the unmanned aerial vehicle, and the path information is sent to the unmanned aerial vehicle. The drone may fly to the target charging track according to the path information. In the flight process, the unmanned aerial vehicle can cruise at a fixed speed and send position information to the emission control end in real time.
240. And if the unmanned aerial vehicle is detected to enter the target charging track, controlling the transmitting antenna array to transmit a microwave signal so as to charge the unmanned aerial vehicle.
It should be noted that, when the unmanned aerial vehicle flies to the target charging track according to the charging flight path, if it is detected that the number of the unmanned aerial vehicles being charged in the target charging track reaches the preset number threshold and the priority of the unmanned aerial vehicle to be charged currently is higher than the priority of the unmanned aerial vehicle being charged currently, the unmanned aerial vehicle being charged on the target charging track is subjected to track adjustment according to the priority of the unmanned aerial vehicle, so that the unmanned aerial vehicle can enter the target charging track to be charged without queuing. For example, on the target charging track a corresponding to the current drone a, if the priority of the drone B being charged is lower than the priority of the current drone a, the charging track of the drone B is adjusted to the charging track B one level lower in charging rate than the target charging track a, for example, if the target charging track corresponding to the drone a is a high-speed charging track, the target charging track of the drone B is adjusted to a medium-speed charging track.
It should be further noted that, if the target charging track corresponding to the current unmanned aerial vehicle is a low-speed charging track, the number of the unmanned aerial vehicles being charged on the low-speed charging track reaches a preset number threshold, and the priority of the unmanned aerial vehicle to be charged is higher than the priority of the unmanned aerial vehicle being charged, the unmanned aerial vehicle being charged on the target charging track is controlled to fly away from the track for queuing according to the priority of the unmanned aerial vehicle, so that the unmanned aerial vehicle to be charged with high priority can enter the target charging track for charging without queuing, which is one of the invention points of the present invention.
In this embodiment, when the transmission control end detects that the unmanned aerial vehicle enters the target charging flight track corresponding to the priority of the unmanned aerial vehicle, the antenna array corresponding to the position of the unmanned aerial vehicle on the target charging flight track is started to charge the unmanned aerial vehicle, so that the unmanned aerial vehicle with the high charging priority can complete charging more quickly to continue to execute tasks. In addition, when the unmanned aerial vehicle cruises and charges on the target charging track, the unmanned aerial vehicle can send self electric quantity information and position information to the transmitting control terminal at regular intervals to assist the unmanned aerial vehicle to wirelessly charge, and when the unmanned aerial vehicle detects that the self electric quantity meets the requirement, the unmanned aerial vehicle breaks away from the charging track to continuously execute the task.
Specifically, when the unmanned aerial vehicle is detected to enter the target charging track, the transmitting antenna array can be controlled to directionally transmit microwaves according to the flight position of the unmanned aerial vehicle so as to be focused on the receiving antenna of each unmanned aerial vehicle, and the microwave transmitting direction is adjusted according to the movement of the position of the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to be in a high-efficiency charging state in the whole process, and the charging efficiency of the unmanned aerial vehicle is further improved.
Preferably, fig. 2c is a schematic structural diagram of a transmitting antenna according to an embodiment of the present invention. As shown in fig. 2c, the transmitting antenna adopts a half-thirty-dihedron structure, each surface is formed by a direction backtracking antenna array, the unmanned aerial vehicle can be remotely and wirelessly charged without a dead angle of 360 degrees, and the problems of dynamic tracking and small charging range of microwave wireless charging are solved. In addition, the nonmetal protective shell is arranged outside the transmitting antenna, so that the transmitting antenna can be protected from environmental erosion in outdoor use, and meanwhile, the efficiency of microwave wireless charging is not influenced.
In addition, the transmitting antenna adopts a double-fed microstrip dual-polarized antenna as an antenna unit. The two feeding ports of each unit are mutually transceiving ports, and transceiving polarization is orthogonal. The antenna unit is composed of four coaxial feed ports, four half-wavelength resonators and a slotted radiation patch, every two opposite ports of the antenna unit are connected with a 180-degree phase-shifting power divider, and the ports of the power dividers are actual feed ports of the antenna.
Further, based on the design of the antenna elements, the antennas may be in an array form, for example, a 16 × 16 array may be selected, and the transmit antenna array is designed according to a 1:2:1 array distribution.
The advantage of the above design mode adopted in this embodiment is that after receiving a signal from an unknown target, the antenna can automatically forward a beam of electromagnetic waves to align to the incoming wave direction without knowing the position information of the incoming wave in advance, that is, without knowing the position information of the unmanned aerial vehicle in advance, which is one of the inventions of the present invention. In addition, the embodiment adopts a multi-angle focusing array antenna design, designs the transmitting antenna by using a time-frequency efficient proper modulation technology, and can focus microwaves transmitted by a plurality of antenna units at one point so as to achieve the purpose of changing the charging power, and solves the problems that only one power can be used for charging during wireless charging and the size of the charging power cannot be changed.
The technical scheme that this embodiment provided, through the task information according to unmanned aerial vehicle current execution, the state of charge and to the distance of charging range, can confirm unmanned aerial vehicle's the priority of charging to can select rather than the target track of charging that the priority corresponds that charges for this unmanned aerial vehicle, solve the problem that unmanned aerial vehicle charges and lines up, improved unmanned aerial vehicle's charge efficiency. In addition, through half 32 face bodies with the transmitting terminal antenna design, each face constitutes by the direction antenna of traceing back, can 360 no dead angles carry out remote wireless charging to unmanned aerial vehicle, improves the dynamic tracking that the microwave is wireless charges and the problem that charging range is little.
Further, in the charging process, through confirming unmanned aerial vehicle's position, can be according to this position adjustment microwave emission direction.
For example, the determination of the position of the drone may be achieved by:
with unmanned aerial vehicle all design into unified continuation of journey speed on charging the track, the transmission control end can deduce its subsequent position according to the positional information when unmanned aerial vehicle gets into the track to can predetermine the microwave emission procedure that charges and let antenna emission microwave follow unmanned aerial vehicle. In addition, the emission control end can also be positioned according to the coordinates in the position information sent by the unmanned aerial vehicle. The accurate position of the unmanned aerial vehicle can be obtained by adopting the two modes, so that the direction of the microwave transmitted by the transmitting antenna is controlled, and the microwave transmitted by the transmitting antenna can track the unmanned aerial vehicle more accurately and dynamically.
After the position of the unmanned aerial vehicle is determined, the transmitting control end can control the transmitting antenna array to directionally transmit microwaves according to the position information of the unmanned aerial vehicle, focus the microwaves on the receiving antenna of each unmanned aerial vehicle, and adjust the transmitting direction of the microwaves according to the movement of the position of the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to be in a high-efficiency charging state in the whole process.
Furthermore, in the charging process, the transmitting control end can receive the maximum charging power sent by the unmanned aerial vehicle, and adjust the transmitting power of the transmitting antenna according to the maximum charging power so as to prevent the transmitting power from being too large or too small, thereby enabling the charging efficiency to be optimal. The maximum charging power can be calculated by the unmanned aerial vehicle according to the charging capacity corresponding to the temperature, the charge state and the health state of the battery, and the method is one of the invention points of the invention.
Further, in the charging process, if charging abnormity is detected, searching a corresponding fault reason from a preset fault tree according to the charging abnormity state; the preset fault tree is obtained by classifying different faults.
Furthermore, in the charging process, the current electric quantity, the charging cruising speed and the microwave transmitting power of each unmanned aerial vehicle can be displayed so as to realize the implementation monitoring of the charging process, and the method is one of the invention points of the invention.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic flowchart illustrating a remote charging method according to an embodiment of the present invention. On the basis of the above embodiments, the present embodiment optimizes the determination step of the charging priority of the unmanned aerial vehicle. As shown in fig. 3, the method includes:
310. when receiving the charging request that unmanned aerial vehicle sent, carry out authentication to unmanned aerial vehicle.
320. And if the identity authentication is passed, determining the relative priority of the relevant factors relative to other relevant factors for any one relevant factor of the charging demand of the unmanned aerial vehicle.
Wherein, unmanned aerial vehicle charges relevant factor of demand and includes: the current task information, the state of charge and the distance to the charging range of the unmanned aerial vehicle. The different conditions of the three factors are compared pairwise, and corresponding weights can be worked out according to the relative priority of each condition, namely the charging priority of the unmanned aerial vehicle is comprehensively judged according to the three factors to calculate the charging priority.
Illustratively, for any one of the related factors, the related factor includes a plurality of sub-factors after classification. For example, the task information of the unmanned aerial vehicle is divided into three types according to task types, wherein the first type is a rescue task, the second type is a detection and search task, and the third type is a patrol task; the charge state of the unmanned aerial vehicle is divided into three types by taking 20% and 50% as boundary lines, wherein the three types are respectively 0-20%, 20-50% and 50-100%; the distance between the unmanned aerial vehicle and the charging range is divided into two types, namely, the distance is less than 5km and the distance is greater than 5 km.
In this embodiment, for any one of the related factors, determining the relative priority of the related factor with respect to other related factors may include:
for any sub-factor, determining the relative priority of the sub-factor relative to other sub-factors, wherein the relative priority is represented by a preset number; based on a plurality of relative priorities, a weight matrix is constructed, and the ratio of the relative priorities of the elements of the ith row and the j column in the weight matrix, which are corresponding sub-factors, is one of the invention points of the invention.
Specifically, each sub-factor and others may be specified according to actual application requirementsThe relative priority, i.e., degree of importance, of the sub-factors compared may be represented by, for example, the numbers 1-5, and the degree of importance is specified according to the number size. Wherein 1 indicates that two conditions are equally important, and 5 indicates that the former is more important than the latter, thereby constructing an 8 x 8 weight matrix, and the element a in the matrixijThe ratio of the importance of the sub-factors corresponding to i rows and j rows is shown in table 1 below.
Figure BDA0002676559610000131
TABLE 1 weight matrix table
Figure BDA0002676559610000132
330. And determining the charging priority of the unmanned aerial vehicle according to the weight value corresponding to the relative priority.
Exemplarily, after obtaining the weight matrix, determining a feature vector of the weight matrix, and taking an element in the feature vector as a weight value corresponding to each sub-factor; according to the weighted value, the charging priority of the unmanned aerial vehicle can be determined.
In particular, each row vector of the matrix can be divided into
Figure BDA0002676559610000133
Carrying out geometric averaging and then carrying out normalization to obtain the weight and the characteristic vector W represented by each sub-factoriThe vector W is a feature vector of the matrix, and its elements are corresponding weights, and the specific formula is as follows:
Figure BDA0002676559610000134
Figure BDA0002676559610000135
Figure BDA0002676559610000141
specifically, the weight matrix shown in table 1 above has a characteristic vector W ═ (0.4022, 0.1238, 0.0784, 0.1838, 0.0784, 0.0508, 0.0490, 0.0337)TWherein the elements respectively correspond to the weight of each relevant factor. In practical application, the importance degree between different conditions can be changed according to practical situations, and charging priorities with different directions are obtained.
340. And determining a target charging track corresponding to the charging priority, and sending a corresponding charging flight path for the unmanned aerial vehicle.
350. And if the unmanned aerial vehicle is detected to enter the target charging track, controlling the transmitting antenna array to transmit a microwave signal so as to charge the unmanned aerial vehicle.
On the basis of the above embodiment, the determining step of the charging priority of the unmanned aerial vehicle is optimized, two different situations among three factors of task information, the state of charge and the distance to the charging range are compared, and corresponding weights can be made according to the relative priority of each situation, so that the charging priority of the unmanned aerial vehicle is determined, and the problem that in the prior art, the charging priority cannot be determined according to the residual electric quantity of the unmanned aerial vehicle and the important degree of the executed task, and the charging queue is caused is solved.
Example four
Fig. 4a is a block diagram of a remote charging system according to an embodiment of the present invention. As shown in fig. 4a, the system includes a ground charging platform 410 and an aerial powered device 420; the ground control platform 410 includes a microwave transmitting terminal 411 and a transmitting control terminal 412, and the aerial powered device 420 includes an unmanned aerial vehicle 421 and a microwave receiving terminal 422; wherein,
the unmanned aerial vehicle 421 is configured to send a charging request and charging related information to the transmission control terminal 412 when it is detected that the current electric quantity is lower than the set electric quantity, where the charging related information includes identity information, location information, electric quantity information, and task information;
the transmission control terminal 412 is used for performing identity authentication on the unmanned aerial vehicle according to the identity information of the unmanned aerial vehicle when receiving a charging request sent by the unmanned aerial vehicle; if the identity authentication is passed, determining the charging priority of the unmanned aerial vehicle according to relevant factors of the charging requirement of the unmanned aerial vehicle, and selecting a corresponding charging flight path and a target charging track for the unmanned aerial vehicle according to the charging priority;
the unmanned aerial vehicle 421 is configured to enter the target charging track according to the charging flight path;
the transmitting control end 412 controls a transmitting antenna array in the microwave transmitting end to transmit a microwave signal according to the charging priority if the unmanned aerial vehicle is detected to enter the target charging track;
the drone 421 receives the microwave signal through a receiving antenna in the microwave receiving end on the target charging track to perform charging.
In this embodiment, the specific design structures of the transmitting antenna and the receiving antenna may refer to the description of the above embodiments, and are not described in detail in this embodiment.
Specifically, fig. 4b is a flowchart of a charging process of a transmitting terminal according to an embodiment of the present invention, and fig. 4c is a flowchart of a charging process of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 4b, from the total control platform of transmitting terminal, after it discerns that unmanned aerial vehicle identity is correct, receive unmanned aerial vehicle's the request of charging after, judge its priority of charging according to positional information, electric quantity information, the task information that unmanned aerial vehicle sent, then charge quantity according to current unmanned aerial vehicle, for unmanned aerial vehicle planning charge cruise route, later unmanned aerial vehicle enters into the track that charges according to the instruction after, charges for it. Every certain cycle, the platform is always controlled to the transmitting terminal can receive the position that unmanned aerial vehicle sent and come and electric quantity information and rectify self microwave emission direction to judge according to the unmanned aerial vehicle electric quantity, if the unmanned aerial vehicle electric quantity does not reach the completion standard of charging then continue to charge, if reached the standard of charging, then stop charging. As shown in fig. 4c, when the unmanned aerial vehicle detects that the electric quantity is too low in the task execution, the unmanned aerial vehicle sends an ID number and a charging request to the transmitting terminal, and sends position information, task information and electric quantity information, then performs uniform cruise charging according to the charging flight track given by the transmitting terminal master control platform, detects whether the electric quantity of the unmanned aerial vehicle meets the charging finishing standard or not while sending the position information and the electric quantity information to the transmitting terminal master control platform at regular intervals during charging, continues cruise charging if the electric quantity does not meet the charging finishing standard, and departs from the charging track to execute the task if the electric quantity meets the charging standard.
Further, the emission control terminal 412 includes a display interface, fig. 4d is a schematic view of a display interface of the remote charging system according to the embodiment of the present invention, and as shown in fig. 4d, the display interface is used for displaying the number of the unmanned aerial vehicles being charged, the current electric quantity of each unmanned aerial vehicle, the remaining electric quantity, the charging cruise speed, and the microwave emission power, so as to monitor the charging condition of the unmanned aerial vehicles in real time. In addition, the invention also can collect and store the data of the microwave transmitting power and the sampling frequency for displaying, and is one of the invention points of the invention.
Further, in this embodiment, the transmission control section further has a fault diagnosis function and a fault monitoring function, and may specifically be implemented in the following manner:
when the system finds that the battery cannot be charged, the system automatically records the fault state, then selects the characteristic parameters Mi with instant property, automatically classifies and selects the fault based on the constructed fault tree model, and finds out the reason of the fault, namely the fault type Xi, so as to realize the rapid diagnosis of the charging fault. The fault tree model is obtained by classifying different faults.
Specifically, fig. 4e is a schematic diagram of a fault tree model according to an embodiment of the present invention, as shown in fig. 4e, when it is determined that the battery cannot be charged, it may be determined from the fault tree model shown in fig. 4e whether the fault state is abnormal in microwave transmission, or abnormal in the receiving unit, or abnormal in the battery; if the microwave transmission is abnormal, after obtaining the characteristic parameter M1, it can be further determined whether the drone is off-track or delayed by beam tracking.
The unmanned aerial vehicle charging system that this embodiment provided, including microwave transmitting terminal, transmission control end, unmanned aerial vehicle and microwave receiving terminal. The transmission control end can determine the charging priority of the unmanned aerial vehicle according to the task information, the charge state and the distance to the charging range of the unmanned aerial vehicle, so that the target charging track corresponding to the charging priority of the unmanned aerial vehicle can be selected for the unmanned aerial vehicle. After the unmanned aerial vehicle enters the target charging track according to the charging flight path, the receiving antenna in the microwave receiving end can receive the microwave signal, and the charging is carried out. The problem that unmanned aerial vehicle charges and lines up has been solved in this embodiment setting like this, has improved unmanned aerial vehicle's charge efficiency. In addition, the visual operation show interface in the transmission control end that this embodiment provided has demonstrated unmanned aerial vehicle's the condition of charging, every unmanned aerial vehicle's current electric quantity, the cruise speed that charges, microwave transmitting power and the real time monitoring of charging platform, can gather storage microwave transmitting power's data and sampling frequency.
EXAMPLE five
Fig. 5 is a block diagram of a remote charging device according to an embodiment of the present invention, and as shown in fig. 5, the remote charging device includes: the system comprises an information sending module 510, a flight module 520 and an unmanned aerial vehicle charging module 530; wherein,
the information sending module 510 is configured to send a charging request and charging related information to the transmission control terminal when it is detected that the current electric quantity is lower than the set electric quantity, where the charging related information includes identity information, location information, electric quantity information, and task information;
the flight module 520 is configured to enter a target charging track according to a charging flight path sent by the transmission control terminal, wherein the target charging track corresponds to a charging priority of the unmanned aerial vehicle, and the charging priority is determined according to relevant factors of the charging demand of the unmanned aerial vehicle after the identity authentication of the unmanned aerial vehicle passes;
a drone charging module 530 configured to receive, through a receiving antenna, a microwave signal transmitted by a transmitting antenna array on the target charging track for charging;
the receiving antenna is a cylindrical surface microstrip patch array antenna and is arranged on the lower surface of the wing in a patch mode;
the inner surface of the receiving antenna is a grounding plate, the outer surface of the receiving antenna is a metal patch and a feed network, and the middle of the receiving antenna is a dielectric plate.
Optionally, the array unit of the receiving antenna is a rectangular patch after being cut into a slot, the antenna feeds power through a microstrip line, the power device equally divides energy into four units, and the four units form a group to enable the patch to share the common property with the lower surface of the wing.
Optionally, the apparatus further comprises:
the maximum charging power determining module is configured to determine the maximum charging power of the unmanned aerial vehicle according to the temperature, the state of charge and the charging capacity of the battery sent by the unmanned aerial vehicle;
and the maximum charging power sending module is configured to send the maximum charging power to the transmission control terminal so as to adjust the transmission power of the transmission control terminal.
Optionally, the apparatus further comprises:
the actual transmission efficiency calculation module is configured to calculate the actual transmission efficiency of the microwave signal according to the receiving power of the unmanned aerial vehicle and the power transmitted by the transmitting terminal in the charging process;
an orbit correction module configured to determine a difference between the actual transmission efficiency and an ideal transmission efficiency, and correct a flight orbit of the drone if the difference is greater than a preset difference threshold.
Optionally, the actual transmission efficiency and the ideal transmission efficiency of the microwave signal are determined according to the following formulas:
Figure BDA0002676559610000171
wherein eta is1Is the actual transmission efficiency of the microwave signal; eta2The ideal transmission efficiency of the microwave signal; ptIs the power of the transmit antenna; prIs the received power of the drone; gtGain for the transmit antenna; aer is the effective aperture of the receiving antenna; r is the distance between the drone and the transmitting antenna.
The charging device of the unmanned aerial vehicle, provided by the embodiment of the invention, can execute the charging method of the unmanned aerial vehicle, provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method. Technical details that are not described in detail in the above embodiments may be referred to a charging method of the drone provided by any embodiment of the present invention.
In various embodiments of the present invention, it should be understood that the sequence numbers of the above-mentioned processes do not imply an inevitable order of execution, and the execution order of the processes should be determined by their functions and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.
In the embodiments provided herein, it should be understood that "B corresponding to A" means that B is associated with A from which B can be determined. It should also be understood, however, that determining B from a does not mean determining B from a alone, but may also be determined from a and/or other information.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated units, if implemented as software functional units and sold or used as a stand-alone product, may be stored in a computer accessible memory. Based on such understanding, the technical solution of the present invention, which is a part of or contributes to the prior art in essence, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for causing a computer device (which may be a personal computer, a server, a network device, or the like, and may specifically be a processor in the computer device) to execute part or all of the steps of the above-described method of each embodiment of the present invention.
It will be understood by those skilled in the art that all or part of the steps in the methods of the embodiments described above may be implemented by hardware instructions of a program, and the program may be stored in a computer-readable storage medium, where the storage medium includes Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), One-time Programmable Read-Only Memory (OTPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or other Memory, such as a magnetic disk, or a combination thereof, A tape memory, or any other medium readable by a computer that can be used to carry or store data.
The above detailed description is provided for a remote charging method, device and system disclosed in the embodiments of the present invention, and the specific examples are applied herein to explain the principle and the embodiments of the present invention, and the description of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (10)

1. A remote charging method is applied to a receiving end and is characterized by comprising the following steps:
when the current electric quantity is detected to be lower than the set electric quantity, sending a charging request and charging related information to a transmitting control terminal, wherein the charging related information comprises identity information, position information, electric quantity information and task information;
entering a target charging track according to a charging flight path sent by the transmitting control terminal, wherein the target charging track corresponds to the charging priority of the unmanned aerial vehicle, and the charging priority is determined according to relevant factors of the charging requirement of the unmanned aerial vehicle after the identity authentication of the unmanned aerial vehicle passes;
receiving microwave signals sent by a transmitting antenna array on the target charging track through a receiving antenna so as to charge;
the receiving antenna is a cylindrical surface microstrip patch array antenna and is arranged on the lower surface of the wing in a patch mode;
the inner surface of the receiving antenna is a grounding plate, the outer surface of the receiving antenna is a metal patch and a feed network, and the middle of the receiving antenna is a dielectric plate.
2. The method of claim 1,
the array unit of the receiving antenna is a rectangular patch after grooving, the antenna feeds through a microstrip line, energy is equally divided into four units by a power device, and the four units form a group to enable the patch to be common with the lower surface of the wing.
3. The method of claim 1, further comprising:
determining the maximum charging power of the unmanned aerial vehicle according to the temperature, the charge state and the charging capacity of the battery sent by the unmanned aerial vehicle;
and sending the maximum charging power to a transmitting control end for the transmitting control end to adjust the transmitting power.
4. The method according to any one of claims 1-3, further comprising:
in the charging process, calculating the actual transmission efficiency of the microwave signal according to the receiving power of the unmanned aerial vehicle and the power transmitted by the transmitting terminal;
determining a difference between the actual transmission efficiency and an ideal transmission efficiency;
and if the difference is greater than a preset difference threshold value, correcting the flight track of the unmanned aerial vehicle.
5. The method of claim 4, wherein the actual transmission efficiency and the ideal transmission efficiency of the microwave signal are determined according to the following equations:
Figure FDA0003201695280000011
wherein eta is1As microwave signalsActual transmission efficiency of; eta2The ideal transmission efficiency of the microwave signal; ptIs the power of the transmit antenna; prIs the received power of the drone; gtGain for the transmit antenna; aer is the effective aperture of the receiving antenna; r is the distance between the drone and the transmitting antenna.
6. A remote charging device, comprising:
the information sending module is configured to send a charging request and charging related information to the transmitting control terminal when the current electric quantity is detected to be lower than the set electric quantity, wherein the charging related information comprises identity information, position information, electric quantity information and task information;
the flight module is configured to enter a target charging track according to a charging flight path sent by the transmitting control terminal, wherein the target charging track corresponds to the charging priority of the unmanned aerial vehicle, and the charging priority is determined according to relevant factors of the charging requirement of the unmanned aerial vehicle after the identity authentication of the unmanned aerial vehicle passes;
the charging module is configured to receive the microwave signals transmitted by the transmitting antenna array through the receiving antenna on the target charging track so as to perform charging;
the receiving antenna is a cylindrical surface microstrip patch array antenna and is arranged on the lower surface of the wing in a patch mode;
the inner surface of the receiving antenna is a grounding plate, the outer surface of the receiving antenna is a metal patch and a feed network, and the middle of the receiving antenna is a dielectric plate.
7. The apparatus of claim 6,
the array unit of the receiving antenna is a rectangular patch after grooving, the antenna feeds through a microstrip line, energy is equally divided into four units by a power device, and the four units form a group to enable the patch to be common with the lower surface of the wing.
8. The apparatus of claim 6, further comprising:
the maximum charging power determining module is configured to determine the maximum charging power of the unmanned aerial vehicle according to the temperature, the state of charge and the charging capacity of the battery sent by the unmanned aerial vehicle;
and the maximum charging power sending module is configured to send the maximum charging power to the transmission control terminal so as to adjust the transmission power of the transmission control terminal.
9. The apparatus of claim 6, further comprising:
the actual transmission efficiency calculation module is configured to calculate the actual transmission efficiency of the microwave signal according to the receiving power of the unmanned aerial vehicle and the power transmitted by the transmitting terminal in the charging process;
an orbit correction module configured to determine a difference between the actual transmission efficiency and an ideal transmission efficiency, and correct a flight orbit of the drone if the difference is greater than a preset difference threshold.
10. A remote charging system, comprising: the system comprises a ground control platform and an aerial powered device, wherein the ground control platform comprises a microwave transmitting end and a transmitting control end, and the aerial powered device comprises an unmanned aerial vehicle and a microwave receiving end; wherein,
the unmanned aerial vehicle is used for sending a charging request and charging related information to the transmitting control terminal when detecting that the current electric quantity is lower than the set electric quantity, wherein the charging related information comprises identity information, position information, electric quantity information and task information;
the transmission control end is used for carrying out identity authentication on the unmanned aerial vehicle according to the identity information when receiving a charging request sent by the unmanned aerial vehicle; if the identity authentication is passed, determining the charging priority of the unmanned aerial vehicle according to relevant factors of the charging requirement of the unmanned aerial vehicle, and selecting a corresponding charging flight path and a target charging track for the unmanned aerial vehicle according to the charging priority;
the unmanned aerial vehicle is used for entering the target charging track according to the charging flight path;
the transmitting control end controls a transmitting antenna array in the microwave transmitting end to transmit a microwave signal according to the charging priority if the unmanned aerial vehicle is detected to enter the target charging track;
the unmanned aerial vehicle receives the microwave signal through a receiving antenna in a microwave receiving end on the target charging track so as to charge;
the receiving antenna is a cylindrical surface microstrip patch array antenna and is arranged on the lower surface of the wing in a patch mode;
the inner surface of the receiving antenna is a grounding plate, the outer surface of the receiving antenna is a metal patch and a feed network, and the middle of the receiving antenna is a dielectric plate.
CN202010949839.5A 2020-09-10 2020-09-10 Remote charging method, device and system Active CN112152287B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010949839.5A CN112152287B (en) 2020-09-10 2020-09-10 Remote charging method, device and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010949839.5A CN112152287B (en) 2020-09-10 2020-09-10 Remote charging method, device and system

Publications (2)

Publication Number Publication Date
CN112152287A CN112152287A (en) 2020-12-29
CN112152287B true CN112152287B (en) 2021-09-10

Family

ID=73890061

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010949839.5A Active CN112152287B (en) 2020-09-10 2020-09-10 Remote charging method, device and system

Country Status (1)

Country Link
CN (1) CN112152287B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113098151B (en) * 2021-04-20 2023-01-10 南方电网调峰调频发电有限公司信息通信分公司 Wireless energy supply method and system, electronic equipment and computer storage medium
CN115395593A (en) * 2021-05-24 2022-11-25 中移(成都)信息通信科技有限公司 A kind of unmanned aerial vehicle charging method, device, system and unmanned aerial vehicle
CN113472096B (en) * 2021-08-17 2025-06-24 维沃移动通信有限公司 Wireless charging management method, device and electronic device

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9866039B2 (en) * 2015-11-13 2018-01-09 X Development Llc Wireless power delivery over medium range distances using magnetic, and common and differential mode-electric, near-field coupling
CN106787258A (en) * 2016-11-16 2017-05-31 深圳市元征科技股份有限公司 Unmanned plane, charging base station, wireless charging system and method
CN109866631B (en) * 2019-01-21 2021-11-30 南京航空航天大学 Unmanned aerial vehicle formation aerial wireless charging method
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
CN110303912A (en) * 2019-07-11 2019-10-08 电子科技大学 A mobile charging system for airborne drones based on airships
CN110429723B (en) * 2019-07-27 2023-07-25 西南电子技术研究所（中国电子科技集团公司第十研究所） Wireless charging microwave power transmission system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
"Persistent Crowd Tracking Using Unmanned AerIal Vehicle Swarms: A Novel Framework for Energy and Mobility Management";Angelo Trotta 等;《IEEE Vehicular Technology Magazine》;20200417;第15卷(第2期);全文 *

Also Published As

Publication number Publication date
CN112152287A (en) 2020-12-29

Similar Documents

Publication Publication Date Title
CN112109575B (en) Charging method, device and system for unmanned aerial vehicle
CN112140913B (en) Remote wireless charging method, device and system for unmanned aerial vehicle
CN112152287B (en) Remote charging method, device and system
US11057087B2 (en) Mobile object and antenna automatic alignment method and system thereof
US9944191B2 (en) Unmanned aerial vehicle, unmanned aerial vehicle charging system and control method thereof
US20200295455A1 (en) Mechanically steered and horizontally polarized antenna for aerial vehicles, and associated systems and methods
US9991048B2 (en) Wireless power transfer systems and methods
CN109030961B (en) Method for testing vertical radiation field pattern of target antenna
CN106742012A (en) Unmanned plane
CN117991812B (en) Beidou positioning-based autonomous overhead line removing icing system and method for clustered unmanned aerial vehicle
CN109581080A (en) For assessing the aerial test equipment of short-wave antenna performance
Dressel et al. Efficient and low-cost localization of radio signals with a multirotor UAV
CN104316900A (en) Aerial radio monitoring intelligent robot
CN115395593A (en) A kind of unmanned aerial vehicle charging method, device, system and unmanned aerial vehicle
CN118301645A (en) Unmanned aerial vehicle communication perception integrated system beam forming and resource scheduling method
CN115220463A (en) Method and system for processing positioning interference of formation unmanned aerial vehicles
CN114476063A (en) Unmanned aerial vehicle control method and system for geographical mapping
CN111579882B (en) Power frequency electromagnetic field probe, electric power line patrol unmanned aerial vehicle navigation device and method
Elechi Performance Analysis of Unmanned Aerial Vehicles (UAV) for Improved Aerial Surveillance
JP7355873B2 (en) Multirotor UAV system and communication method
CN112165185B (en) In-situ wireless energy replenishment system and method for aircraft wireless sensor network nodes
CN107380439A (en) A kind of rotor wing unmanned aerial vehicle
WO2023082282A1 (en) Control method, control device, and unmanned aerial vehicle
CN115473564B (en) Aircraft communication method and system, airborne wireless transceiver, aircraft
CN110134144A (en) Rotary-wing unmanned aerial vehicle multiple fire extinguishing water bomb device, control system, method and unmanned aerial vehicle

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