CN-121990209-A - Unmanned aerial vehicle autonomous charging and discharging control method and device and autonomous charging and discharging system

CN121990209ACN 121990209 ACN121990209 ACN 121990209ACN-121990209-A

Abstract

The application provides a control method and device for autonomous charging and discharging of an unmanned aerial vehicle and an autonomous charging and discharging system, and relates to the technical field of unmanned aerial vehicles. The control method for the autonomous charging and discharging of the unmanned aerial vehicle comprises the steps of generating contact butt joint completion information between the unmanned aerial vehicle and an autonomous charging and discharging system, acquiring uploading state information based on the contact butt joint completion information and generating a charging and discharging instruction based on the uploading state information, acquiring running state information of a charging and discharging module contained in the unmanned aerial vehicle and the autonomous charging and discharging system and determining a charging and discharging mode based on the running state information, and controlling the autonomous charging and discharging system to dynamically charge and discharge the unmanned aerial vehicle based on the charging and discharging instruction and the charging and discharging mode. The application can reduce the complexity of the charging and discharging operation of the unmanned aerial vehicle and improve the charging and discharging efficiency of the unmanned aerial vehicle.

Inventors

GAO YUAN
FENG QIQUAN
ZHAO YANG
SHI XIANGJIAN
LOU QINGHUI
LI ZHONGZHU

Assignees

南京南瑞继保电气有限公司
南京南瑞继保工程技术有限公司

Dates

Publication Date: 20260508
Application Date: 20241104

Claims (10)

1. The unmanned aerial vehicle autonomous charging and discharging control method is characterized by comprising the following steps of: generating contact butt joint completion information between the unmanned aerial vehicle and the autonomous charging and discharging system; Based on the contact butt joint completion information, acquiring uploading state information, and generating a charging and discharging instruction based on the uploading state information; acquiring operation state information of a charging and discharging module contained in the unmanned aerial vehicle and the autonomous charging and discharging system, and determining a charging and discharging mode based on the operation state information; and controlling the autonomous charging and discharging system to dynamically charge and discharge the unmanned aerial vehicle based on the charging and discharging instruction and the charging and discharging mode.
2. The method of claim 1, wherein generating contact docking completion information between the drone and the autonomous charging and discharging system includes: Determining the space distance between the unmanned aerial vehicle and the autonomous charging and discharging system, and generating a landing instruction under the condition that the space distance is smaller than a preset distance; Acquiring position information of an autonomous charging and discharging platform contained in the autonomous charging and discharging system based on the landing instruction; controlling the unmanned aerial vehicle to land to the autonomous charging and discharging platform based on the landing instruction and the position information; Under the condition that the unmanned aerial vehicle falls to the autonomous charging and discharging platform, a middle guide rod control instruction is generated, and based on the middle guide rod control instruction, a middle guide rod contained in the autonomous charging and discharging system is controlled to drive the unmanned aerial vehicle, so that a charging and discharging contact of the unmanned aerial vehicle and a charging and discharging contact of the autonomous charging and discharging system are in butt joint, and contact butt joint completion information is generated.
3. The method of claim 1, wherein the upload status information comprises drone status information comprising drone battery temperature, drone power, and drone output voltage; The generating a charge-discharge instruction based on the upload state information includes: Comparing the battery temperature of the unmanned aerial vehicle with a first preset temperature; comparing the electric quantity of the unmanned aerial vehicle with a preset electric quantity; comparing the unmanned aerial vehicle output voltage with a preset output voltage, and And generating the charge and discharge instruction under the condition that the battery temperature of the unmanned aerial vehicle is smaller than the first preset temperature, the battery power of the unmanned aerial vehicle is smaller than the preset electric quantity, and the output voltage of the unmanned aerial vehicle is smaller than the preset output voltage.
4. The method of claim 1, wherein the upload status information comprises charge and discharge module information comprising a temperature of the charge and discharge module and anomaly code information of the charge and discharge module; The generating a charge-discharge instruction based on the upload state information includes: comparing the temperature of the charge-discharge module with a second preset temperature; Judging whether the abnormal code information indicates no abnormality, and And generating the charge and discharge instruction under the condition that the temperature of the charge and discharge module is smaller than the second preset temperature and the abnormal code information indicates no abnormality.
5. The method of claim 1, wherein the operating state information comprises an unmanned battery voltage and an unmanned battery capacity; the determining a charge-discharge mode based on the operation state information includes: And determining the charge and discharge mode based on the battery voltage of the unmanned aerial vehicle and the battery capacity of the unmanned aerial vehicle, wherein the charge and discharge mode comprises a task mode and a storage mode.
6. The method of claim 5, wherein controlling the autonomous charging and discharging system to dynamically charge and discharge the drone based on the charging and discharging instructions and the charging and discharging modes comprises: Comparing the acquired battery voltage of the unmanned aerial vehicle with a preset rated voltage under the condition that the charge-discharge mode is the task mode; Under the condition that the voltage of the unmanned aerial vehicle battery is smaller than the preset rated voltage, controlling the autonomous charging and discharging system to perform constant-current charging on the unmanned aerial vehicle based on the charging and discharging instruction; And under the condition that the battery voltage of the unmanned aerial vehicle is not smaller than the preset rated voltage, controlling the autonomous charging and discharging system to perform trickle charge on the unmanned aerial vehicle based on the charging and discharging instruction.
7. The method of claim 5, wherein controlling the autonomous charging and discharging system to dynamically charge and discharge the drone based on the charging and discharging instructions and the charging and discharging modes comprises: Under the condition that the charge-discharge mode is the storage mode, comparing the acquired battery capacity of the unmanned aerial vehicle with a preset charge threshold capacity and a preset discharge threshold capacity respectively; Under the condition that the battery capacity of the unmanned aerial vehicle is larger than the discharge threshold capacity, controlling the autonomous charging and discharging system to discharge the battery of the unmanned aerial vehicle until the battery reaches the discharge threshold capacity; And under the condition that the battery capacity of the unmanned aerial vehicle is smaller than the charging threshold capacity, controlling the autonomous charging and discharging system to charge the battery of the unmanned aerial vehicle until the battery reaches the charging threshold capacity.
8. An unmanned aerial vehicle autonomous charge and discharge control device, which is characterized by comprising: The contact butt joint completion information generation module is used for generating contact butt joint completion information between the unmanned aerial vehicle and the autonomous charging and discharging system; the charging and discharging instruction generation module is used for acquiring the uploading state information based on the contact butt joint completion information and generating a charging and discharging instruction based on the uploading state information; The charging and discharging mode determining module is used for acquiring the running state information of the charging and discharging modules contained in the unmanned aerial vehicle and the autonomous charging and discharging system and determining a charging and discharging mode based on the running state information; and the charging and discharging control module is used for controlling the autonomous charging and discharging system to dynamically charge and discharge the unmanned aerial vehicle based on the charging and discharging instruction and the charging and discharging mode.
9. An autonomous charging and discharging system capable of implementing the method of any one of claims 1-7, comprising: The autonomous charging and discharging platform is arranged at the top of the autonomous charging and discharging system and is used for stopping the unmanned aerial vehicle; The mechanical guide device is arranged on the autonomous charging and discharging platform and is used for controlling the unmanned aerial vehicle to shift; The charging and discharging module is used for charging and discharging the unmanned aerial vehicle; And the main control board of the autonomous charging and discharging device is used for acquiring the running state information of the unmanned aerial vehicle and the charging and discharging module and switching the charging and discharging modes of the charging and discharging module.
10. The autonomous charging and discharging system according to claim 9, wherein a positioning two-dimensional code is installed on top of the autonomous charging and discharging platform for positioning between the unmanned aerial vehicle and the autonomous charging and discharging system; The mechanical guide device comprises an X-axis middle guide rod and a Y-axis middle guide rod, wherein the Y-axis middle guide rod comprises charge and discharge contacts; The guide rod in the X axis is used for controlling the unmanned aerial vehicle to horizontally move, and the charge and discharge contact of the guide rod in the Y axis is used for being in contact with the charge and discharge contact of the unmanned aerial vehicle.

Description

Unmanned aerial vehicle autonomous charging and discharging control method and device and autonomous charging and discharging system Technical Field The application relates to the technical field of unmanned aerial vehicles, in particular to a control method and device for autonomous charging and discharging of an unmanned aerial vehicle and an autonomous charging and discharging system. Background Along with the gradual maturity of unmanned aerial vehicle technology, unmanned aerial vehicle has become indispensable instrument in a plurality of fields such as wisdom city, inspection and tourism take photo by plane, causes the user to require more and more to unmanned aerial vehicle performance such as loadability and duration, but unmanned aerial vehicle mainly relies on charge and discharge battery as power source now to realize unmanned aerial vehicle's autonomous charge and discharge through unmanned aerial vehicle automatic charge and discharge technique. The existing unmanned aerial vehicle self-charging and discharging technology mainly comprises a contact type charging and discharging technology and a wireless charging and discharging technology. However, the inventor of the application finds that the wireless charging and discharging technology is safe and flexible, but has low charging and discharging efficiency, and can not realize the on-off control of the unmanned aerial vehicle in a wireless mode, so that the continuous operation of the unmanned aerial vehicle can not be realized, and in addition, the contact type charging and discharging technology has the advantages of high efficiency, high reliability and the like, but has the problems of insufficient alignment precision, complex charging and discharging contact butt joint process and low reliability. Disclosure of Invention In order to reduce the complexity of unmanned aerial vehicle charging and discharging operations and improve the charging and discharging efficiency of the unmanned aerial vehicle, the application provides a control method and device for autonomous charging and discharging of the unmanned aerial vehicle and an autonomous charging and discharging system. The application provides a control method for autonomous charging and discharging of an unmanned aerial vehicle, which adopts the following technical scheme: A control method for autonomous charging and discharging of an unmanned aerial vehicle comprises the following steps: generating contact butt joint completion information between the unmanned aerial vehicle and the autonomous charging and discharging system; Based on contact docking completion information, uploading state information is obtained, and based on the uploading state information, a charging and discharging instruction is generated; Acquiring operation state information of a charging and discharging module contained in the unmanned aerial vehicle and the autonomous charging and discharging system, and determining a charging and discharging mode based on the operation state information; Based on the charge-discharge instruction and the charge-discharge mode, the autonomous charge-discharge system is controlled to dynamically charge and discharge the unmanned aerial vehicle. According to some embodiments, the method for generating the contact butt joint completion information between the unmanned aerial vehicle and the autonomous charging and discharging system comprises the steps of determining the space distance between the unmanned aerial vehicle and the autonomous charging and discharging system, generating a landing instruction under the condition that the space distance is smaller than a preset distance, acquiring position information of an autonomous charging and discharging platform contained in the autonomous charging and discharging system based on the landing instruction, controlling the unmanned aerial vehicle to land to the autonomous charging and discharging platform based on the landing instruction and the position information, generating a middle guide rod control instruction under the condition that the unmanned aerial vehicle lands to the autonomous charging and discharging platform, and controlling the middle guide rod contained in the autonomous charging and discharging system based on the middle guide rod control instruction to drive the unmanned aerial vehicle, so that the charging and discharging contact of the unmanned aerial vehicle and the charging and discharging contact of the autonomous charging and discharging system complete the butt joint and generate the contact butt joint completion information. According to some embodiments, the uploading state information comprises unmanned aerial vehicle state information, the unmanned aerial vehicle state information comprises unmanned aerial vehicle battery temperature, unmanned aerial vehicle power supply and unmanned aerial vehicle output voltage, and the generating of the charging and discharging instruction comprises comparing the u