CN-121626488-B - Unmanned aerial vehicle nest charging control method, device and related medium

CN121626488BCN 121626488 BCN121626488 BCN 121626488BCN-121626488-B

Abstract

The invention discloses a method, a device and a related medium for controlling the nest charge of an unmanned aerial vehicle, wherein the method comprises the steps of dividing a plurality of layers in configuration data of the nest layer of the unmanned aerial vehicle into at least two mutually exclusive charge groups, respectively collecting battery electric quantity information of the unmanned aerial vehicle in the air and the unmanned aerial vehicle in the nest, updating the state of the unmanned aerial vehicle, and integrating to obtain initial landing scheduling data; the method comprises the steps of carrying out layer occupation state check on initial landing dispatching data to obtain final landing dispatching data, generating a round charging layer list according to the final landing dispatching data, carrying out mutual exclusion check operation to obtain anti-interference charging control data, and carrying out periodic polling on the anti-interference charging control data to obtain charging polling synchronous data. According to the invention, the anti-interference charging control data is generated through the final landing scheduling data obtained through calculation, and the anti-interference charging control data is periodically polled to obtain the charging polling synchronous data, so that the effective avoidance of coupling interference caused by simultaneous charging of adjacent layers in the unmanned aerial vehicle nest can be realized.

Inventors

CHEN PENG
DENG TAO

Assignees

深圳大漠大智控技术有限公司

Dates

Publication Date: 20260508
Application Date: 20260204

Claims (10)

1. The unmanned aerial vehicle nest charging control method is characterized by comprising the following steps of: Acquiring machine nest horizon configuration data, and dividing a plurality of horizons in the machine nest horizon configuration data into at least two mutually exclusive charging groups to obtain layered charging strategy data; Acquiring battery power information of the unmanned aerial vehicle in the air and the unmanned aerial vehicle in the nest respectively according to the layered charging strategy data, updating the state of the unmanned aerial vehicle, and integrating to obtain initial landing scheduling data; checking the horizon occupation state of the initial landing scheduling data, calculating the comprehensive priority score of the returning unmanned aerial vehicle when the target horizon is occupied, and performing scheduling according to the comprehensive priority score to obtain final landing scheduling data; Generating a charging layer list of the round based on the final landing scheduling data and executing mutual exclusion verification operation to obtain anti-interference charging control data; And periodically polling the anti-interference charging control data, and synchronously updating the data to obtain charging polling synchronous data.
2. The method of claim 1, wherein the obtaining the nest horizon configuration data and dividing a plurality of horizons in the nest horizon configuration data into at least two mutually exclusive charging groups to obtain layered charging policy data comprises: analyzing layer numbers of the machine nest layer configuration data to group the machine nest layer configuration data according to odd groups and even groups to obtain charging state identification data; comparing the charging state identification data with a horizon starting request, and judging a current charging group according to a target horizon parity group to obtain verification result data; When the verification result data trigger switching, a charging stopping instruction is sent, a coil power supply and a rectifying passage are turned off, and the current charging group is updated after safety delay is executed to obtain switching control data; configuring hardware interlocking by utilizing the switching control data so as to connect the interlocking relays in series in the coil loops of the odd-numbered groups and the even-numbered groups, and enabling only one path to be conducted at any moment to obtain interlocking configuration data; and performing anomaly monitoring processing on the interlocking configuration data to obtain layered charging strategy data.
3. The method of claim 1, wherein the acquiring battery power information of the unmanned aerial vehicle in the air and the unmanned aerial vehicle in the nest according to the layered charging policy data and updating the unmanned aerial vehicle state, and integrating to obtain initial landing schedule data, comprises: extracting an aerial unmanned aerial vehicle identifier based on the layered charging strategy data to obtain electric quantity acquisition object data; Calling an on-board battery management unit to sample the electric quantity according to the electric quantity acquisition object data to obtain battery electric quantity information; packaging the battery electric quantity information according to a flight control period, and setting a reporting code rate to obtain battery state message data; the battery state message data is sent to a ground station through a wireless data transmission module, and the ground station receiving data is obtained; and carrying out electric quantity analysis on the ground station received data, and updating the unmanned aerial vehicle state based on an electric quantity analysis result to obtain initial landing scheduling data.
4. The method for controlling the nest charging of the unmanned aerial vehicle according to claim 1, wherein the steps of respectively acquiring battery power information of the unmanned aerial vehicle in the air and the unmanned aerial vehicle in the nest according to the layered charging policy data and updating the unmanned aerial vehicle state, and integrating to obtain initial landing schedule data comprise the following steps: performing nest identification on the layered charging strategy data to determine a nest unmanned aerial vehicle identification, and acquiring nest acquisition task data; according to the nest acquisition task data, an interface is called, so that a battery management system is connected with a nest control unit through a contact interface or near field communication to obtain inquiry electric quantity data; Uploading the electricity quantity inquiry data to a central controller and synchronizing the electricity quantity inquiry data to a ground station to obtain data reported in a nest; Sending the heartbeat electric quantity according to the nest report data to obtain heartbeat electric quantity data; And writing the heartbeat electric quantity data into a specific state table according to the timestamp source weight to obtain initial landing scheduling data.
5. The method for controlling the charge of the nest of the unmanned aerial vehicle according to claim 1, wherein the step of checking the level occupation state of the initial landing schedule data, when the target level is occupied, calculating the comprehensive priority score of the unmanned aerial vehicle for returning, and performing the scheduling process according to the comprehensive priority score to obtain the final landing schedule data comprises the steps of: Respectively extracting the electric quantity percentage, the task type and the return remaining time according to the initial landing scheduling data, and correspondingly weighting the comprehensive priority scores to obtain evaluation model data; reading the state of the nest horizon of the machine by using the evaluation model data, searching idle horizons according to odd or even groups, checking occupation, and outputting dynamic adjustment triggering data if no idle exists to obtain matching result data; dynamically adjusting the matching result data according to a preset adjustment strategy to obtain adjustment scheduling data; And pre-occupying and globally locking a target layer before distribution based on the adjustment scheduling data, and simultaneously introducing a preset aging factor to promote the comprehensive priority score according to the waiting time length to obtain final landing scheduling data.
6. The method for controlling the charging of the unmanned aerial vehicle nest according to claim 1, wherein the generating the present round of charging layer list based on the final landing schedule data and performing the mutual exclusion checking operation to obtain the anti-interference charging control data comprises: analyzing the final landing scheduling data, and generating a charging layer list of the round according to the parity group and the emergency priority to obtain layer list check data; Performing mutual exclusion verification according to the layer list verification data to verify the transmitting coils and the charging states of the upper layer and the lower layer to obtain charging permission verification data; Sending a rectification enabling signal to the charging permission verification data, enabling a local control unit to close a rectification switch to connect a receiving coil and a battery, and controlling a grid to be disconnected by a low-resistance field effect transistor to obtain rectification passage state data; Performing delay stabilization processing according to the rectifying passage state data to obtain energy transmission state data; And if the charging or current of the adjacent layer is abnormal, the coil is turned off, and the rectifying switch is turned off, so that anti-interference charging control data are obtained.
7. The method for controlling the charging of the unmanned aerial vehicle nest according to claim 1, wherein the periodically polling the anti-interference charging control data and performing data synchronization update to obtain charging polling synchronization data comprises: Polling the anti-interference charging control data to acquire horizon occupation data, battery charge state data and rectification closing state data, and integrating the horizon occupation data, the battery charge state data and the rectification closing state data to obtain machine nest state snapshot data; Receiving the machine nest state snapshot data and analyzing a landing instruction to generate a landing request queue and associating a target layer with an occupied state to obtain landing request analysis data; counting the odd-even group charging demand of the landing request analysis data, and predicting an emergency return home group within a preset time to output charging group switching decision data; And stopping charging and switching off rectification for the charging group switching decision data, and updating the charging group and activating the target group after delaying for a preset time length to obtain charging polling synchronous data.
8. Unmanned aerial vehicle nest controlling means that charges, its characterized in that includes: The data acquisition unit is used for acquiring the machine nest horizon configuration data, dividing a plurality of horizons in the machine nest horizon configuration data into at least two mutually exclusive charging groups and obtaining layered charging strategy data; The data updating unit is used for respectively acquiring battery electric quantity information of the unmanned aerial vehicle in the air and the unmanned aerial vehicle in the nest according to the layered charging strategy data and updating the state of the unmanned aerial vehicle, and integrating to obtain initial landing scheduling data; The data scheduling unit is used for checking the horizon occupation state of the initial landing scheduling data, calculating the comprehensive priority score of the returning unmanned aerial vehicle when the target horizon is occupied, and performing scheduling processing according to the comprehensive priority score to obtain final landing scheduling data; The data verification unit is used for generating a charging layer list of the round based on the final landing scheduling data and executing mutual exclusion verification operation to obtain anti-interference charging control data; And the data synchronization unit is used for periodically polling the anti-interference charging control data and synchronously updating the data to obtain charging polling synchronization data.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of controlling the charging of the drone nest of any one of claims 1 to 7 when the computer program is executed by the processor.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the unmanned aerial vehicle nest charging control method according to any one of claims 1 to 7.

Description

Unmanned aerial vehicle nest charging control method, device and related medium Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and a device for controlling the nest charging of an unmanned aerial vehicle and a related medium. Background Along with the continuous expansion of unmanned aerial vehicle cluster performance scale, vertical stack formula aircraft nest is used for many unmanned aerial vehicle's concentrated parking and automatic charging, and adopts aircraft nest lateral wall transmitting coil and unmanned aerial vehicle lateral wall receiving coil cooperation to carry out wireless energy transmission often. Because the multi-layer unmanned aerial vehicle is arranged in a sealing way, the coils of the adjacent layers are easy to generate electromagnetic coupling interference in the charging process, when the upper and lower adjacent layers are in a charging state at the same time, an alternating magnetic field can induce unexpected electric signals in the adjacent receiving coils and conduct the unexpected electric signals to the rectifying passage, so that the voltage abnormality of the rectifying passage and the heating risk of devices are caused, the charging process is unstable, and the existing charging instability defect is difficult to overcome by increasing the interlayer spacing or adding shielding materials. Disclosure of Invention The embodiment of the invention provides a method, a device and a related medium for controlling the charging of an unmanned aerial vehicle nest, and aims to solve the technical problems of abnormal rectification passage and unstable charging caused by electromagnetic coupling interference caused by stacking adjacent layers of the nest and wireless charging in the prior art. In a first aspect, an embodiment of the present invention provides a method for controlling charging of an unmanned aerial vehicle nest, including: Acquiring machine nest horizon configuration data, and dividing a plurality of horizons in the machine nest horizon configuration data into at least two mutually exclusive charging groups to obtain layered charging strategy data; Acquiring battery power information of the unmanned aerial vehicle in the air and the unmanned aerial vehicle in the nest respectively according to the layered charging strategy data, updating the state of the unmanned aerial vehicle, and integrating to obtain initial landing scheduling data; checking the horizon occupation state of the initial landing scheduling data, calculating the comprehensive priority score of the returning unmanned aerial vehicle when the target horizon is occupied, and performing scheduling according to the comprehensive priority score to obtain final landing scheduling data; Generating a charging layer list of the round based on the final landing scheduling data and executing mutual exclusion verification operation to obtain anti-interference charging control data; And periodically polling the anti-interference charging control data, and synchronously updating the data to obtain charging polling synchronous data. In a second aspect, an embodiment of the present invention provides an unmanned aerial vehicle nest charging control device, including: The data acquisition unit is used for acquiring the machine nest horizon configuration data, dividing a plurality of horizons in the machine nest horizon configuration data into at least two mutually exclusive charging groups and obtaining layered charging strategy data; The data updating unit is used for respectively acquiring battery electric quantity information of the unmanned aerial vehicle in the air and the unmanned aerial vehicle in the nest according to the layered charging strategy data and updating the state of the unmanned aerial vehicle, and integrating to obtain initial landing scheduling data; The data scheduling unit is used for checking the horizon occupation state of the initial landing scheduling data, calculating the comprehensive priority score of the returning unmanned aerial vehicle when the target horizon is occupied, and performing scheduling processing according to the comprehensive priority score to obtain final landing scheduling data; The data verification unit is used for generating a charging layer list of the round based on the final landing scheduling data and executing mutual exclusion verification operation to obtain anti-interference charging control data; And the data synchronization unit is used for periodically polling the anti-interference charging control data and synchronously updating the data to obtain charging polling synchronization data. In a third aspect, an embodiment of the present invention provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the method for controlling cell charging of an unmanned aerial vehicle accordin