CN113696754A - Unmanned aerial vehicle charging method and system with identity recognition function based on inversion switching - Google Patents
- ️Fri Nov 26 2021
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Publication number
- CN113696754A CN113696754A CN202110943994.0A CN202110943994A CN113696754A CN 113696754 A CN113696754 A CN 113696754A CN 202110943994 A CN202110943994 A CN 202110943994A CN 113696754 A CN113696754 A CN 113696754A Authority
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- China Prior art keywords
- charging
- unmanned aerial
- aerial vehicle
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- 2021-08-17 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.)
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- 238000005516 engineering process Methods 0.000 description 3
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/12—Inductive energy transfer
- B60L53/126—Methods for pairing a vehicle and a charging station, e.g. establishing a one-to-one relation between a wireless power transmitter and a wireless power receiver
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/65—Monitoring or controlling charging stations involving identification of vehicles or their battery types
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/66—Data transfer between charging stations and vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/60—Monitoring or controlling charging stations
- B60L53/67—Controlling two or more charging stations
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- 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
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
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- 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
- H02J7/00045—Authentication, i.e. circuits for checking compatibility between one component, e.g. a battery or a battery charger, and another component, e.g. a power source
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- 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
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- 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
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
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- 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)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention relates to the technical field of wireless power transmission of unmanned aerial vehicles, in particular to an unmanned aerial vehicle charging method and system with an identity recognition function based on inversion switching. The invention can define the ID of different charging ends through the switching frequency of the inverter circuit, and different switching frequencies correspond to different ID information, thereby having the advantages of high accuracy, simple detection and the like. Different switching frequency corresponds different transmission electric energy values, transmits the ID information of charging end for unmanned aerial vehicle with the mode of electric energy, also transmits the electric energy for energy receiving coil through energy transmitting coil, need not other extra equipment carrying out the authentication in-process, and simple structure practices thrift the cost. The identity information of the charging end can be identified by detecting the received electric energy value by the unmanned aerial vehicle, the electric energy transmission speed is high in the wireless electric energy transmission process, the identity authentication speed is high, when the unmanned aerial vehicle receives an electric energy signal with the ID information of the charging end, the unmanned aerial vehicle can be in communication connection with the charging end, the connection precision is high, and no channel crosstalk exists.
Description
Technical Field
The invention relates to the technical field of wireless power transmission of unmanned aerial vehicles, in particular to an unmanned aerial vehicle charging method and system with an identity recognition function based on inversion switching.
Background
The wireless charging technology of the unmanned aerial vehicle breaks away from the constraint of physical media of a wired charging mode, so that the wireless charging technology has the advantages of flexibility, reliability, safety and the like, and is more and more widely applied to the field of unmanned aerial vehicles.
In order to realize optimal system energy efficiency and state monitoring and improve the performance of a wireless charging system, the wireless charging system usually needs primary and secondary communication interaction information, and meanwhile, for the multi-unmanned-aerial-vehicle wireless charging system, the unmanned aerial vehicle and a charging end are required to be subjected to identity authentication and communication connection before wireless charging is carried out, so that the normal operation of the charging process is ensured.
However, at present, traditional communication methods such as Zigbee, bluetooth, wiFi that adopt in unmanned aerial vehicle's the wireless charging technique transmit identity information with the end that charges and carry out identification and establish communication connection, have channel interference's problem in many unmanned aerial vehicle wireless charging system communication connection to lead to the connection confusion of unmanned aerial vehicle and the end that charges, make charging system work disorder.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an unmanned aerial vehicle charging method and system with an identity recognition function based on inversion switching, and aims to solve the problems that in the prior art, identity information is transmitted between an unmanned aerial vehicle and a charging end in a traditional communication mode to perform identity recognition and establish communication connection, channel interference exists in communication connection of a wireless charging system of multiple unmanned aerial vehicles, so that the connection between the unmanned aerial vehicle and the charging end is disordered, and the charging system works disorderly.
In order to solve the above problems, the specific technical solution of the present invention is as follows:
the unmanned aerial vehicle charging method with the identity recognition function based on inversion switching comprises the following steps:
when detecting that an unmanned aerial vehicle stops at a charging end, acquiring first identity information of the charging end;
determining a switching frequency value of an inverter circuit of the charging end corresponding to the first identity information according to the first identity information;
controlling the inverter circuit to switch according to the switching frequency value, generating an electric energy signal corresponding to the switching frequency value, and transmitting the electric energy signal to an energy receiving coil of the unmanned aerial vehicle through an energy transmitting coil of the charging end;
the unmanned aerial vehicle analyzes the first identity information according to the electric energy signal, performs identity authentication on the first identity information, and establishes communication connection between the unmanned aerial vehicle and the charging terminal after the identity authentication is passed;
the unmanned aerial vehicle sends a charging request to the charging end, the charging request carries second identity information of the unmanned aerial vehicle, the charging end carries out identity authentication on the second identity information, and after the identity authentication is passed, the energy transmitting coil transmits energy to the energy receiving coil, so that the charging end wirelessly charges the unmanned aerial vehicle.
Preferably, the first identity information is represented by a binary code with a preset number of bits, and a switching frequency value of the inverter circuit at the charging end is determined by the binary code.
Preferably, before the energy transmitting coil transmits energy to the energy receiving coil to enable the charging terminal to wirelessly charge the unmanned aerial vehicle, the method further includes: the charging end reports a charging condition to a charging background management platform, wherein the charging condition at least comprises the first identity information of the charging end in a charging state and the second identity information of the unmanned aerial vehicle.
Unmanned aerial vehicle charging system of identification function based on contravariant is switched includes:
the charging end, the unmanned aerial vehicle and the charging management platform; the charging management platform is in communication connection with the charging end;
the charging end is used for identifying identity information of the unmanned aerial vehicle and charging the unmanned aerial vehicle; the charging management platform is used for managing a charging end;
when the charging end detects that the unmanned aerial vehicle stops, a signal is sent to the charging management platform; the charging management platform acquires first identity information of the charging end, determines a switching frequency value of an inverter circuit corresponding to the charging end according to the first identity information, controls the inverter circuit to switch according to the switching frequency value, generates an electric energy signal corresponding to the switching frequency value, and transmits the electric energy signal to an energy receiving coil of the unmanned aerial vehicle through an energy transmitting coil of the charging end;
the unmanned aerial vehicle analyzes the first identity information according to the electric energy signal, performs identity authentication on the first identity information, and establishes communication connection with the charging terminal after the identity authentication is passed;
the unmanned aerial vehicle sends a charging request to the charging end, the charging request carries second identity information of the unmanned aerial vehicle, the charging end carries out identity authentication on the second identity information, and after the identity authentication is passed, the energy transmitting coil transmits energy to the energy receiving coil, so that the charging end wirelessly charges the unmanned aerial vehicle.
Preferably, after the charging terminal wirelessly charges the unmanned aerial vehicle, the charging terminal reports a charging condition to the charging background management platform, where the charging condition at least includes the first identity information of the charging terminal in a charging state and the second identity information of the unmanned aerial vehicle.
Preferably, the charging terminal includes:
the energy transmission device comprises a first controller, an inverter circuit, an energy transmitting coil and a first communication module;
the first controller is used for acquiring first identity information of the charging end when the unmanned aerial vehicle stops; determining a switching frequency value of the inverter circuit corresponding to the first identity information according to the first identity information; controlling the inverter circuit to switch according to the switching frequency value to generate an electric energy signal corresponding to the switching frequency value;
the energy transmitting coil is used for transmitting the electric energy signal to an energy receiving coil of the unmanned aerial vehicle;
the first communication module is used for establishing communication connection with the unmanned aerial vehicle after the unmanned aerial vehicle passes identity authentication on the first identity information, and receiving a charging request sent by the unmanned aerial vehicle, wherein the charging request carries second identity information of the unmanned aerial vehicle;
the first controller is further configured to perform identity authentication on the second identity information;
the energy transmitting coil is further used for transmitting energy to the energy receiving coil after the second identity information identity authentication is passed, and the charging end is enabled to wirelessly charge the unmanned aerial vehicle.
Preferably, the charging terminal further includes a first database for storing second identity information of all the unmanned aerial vehicles, and the first controller performs identity authentication on the second identity information, specifically, compares the received second identity information with the second identity information stored in the first database, and if a matching item exists, the identity authentication is passed, and if no matching item exists, the identity authentication is not passed.
Preferably, the drone comprises:
the energy receiving coil is connected with the first controller;
the energy receiving coil is used for receiving an electric energy signal sent by an energy transmitting coil of a charging end, and the electric energy signal is an electric energy signal which is generated by switching the inverter circuit according to a switching frequency value and corresponds to the switching frequency value, wherein the switching frequency value of the inverter circuit of the charging end corresponds to the electric energy signal according to first identity information of the charging end;
the second controller is used for analyzing the first identity information according to the electric energy signal and carrying out identity authentication on the first identity information;
the second communication module is used for establishing communication connection with the charging end after the first identity information identity authentication is passed, and sending a charging request to the charging end, wherein the charging request carries second identity information of the unmanned aerial vehicle;
the energy receiving coil is further used for receiving the energy transmitted by the energy transmitting coil after the second identity information identity authentication is passed, so that the charging end wirelessly charges the unmanned aerial vehicle.
Preferably, the unmanned aerial vehicle further includes a second database for storing first identity information of all charging terminals, and the second controller performs identity authentication on the first identity information, specifically, compares the received first identity information with the first identity information stored in the second database, and if a matching item exists, the identity authentication is passed, and if no matching item exists, the identity authentication is not passed.
The invention has the beneficial effects that: the invention can define the ID of different charging ends through the switching frequency of the inverter circuit, and different switching frequencies correspond to different ID information, thereby having the advantages of high accuracy, simple detection and the like.
Different switching frequency corresponds different transmission electric energy values, transmits the ID information of charging end for unmanned aerial vehicle with the mode of electric energy, also transmits the electric energy for energy receiving coil through energy transmitting coil, need not other extra equipment carrying out the authentication in-process, and simple structure practices thrift the cost.
The unmanned aerial vehicle detects the electric energy value received and just can discern charging end identity information, and in wireless power transmission process, electric energy transmission speed is fast, consequently has the fast advantage of authentication, when unmanned aerial vehicle received the electric energy signal that has charging end ID information, just can carry out communication connection with it, has advantages such as connection accuracy height, no channel crosstalk problem.
Especially, when the unmanned aerial vehicle enters a plurality of charging ends simultaneously, the unmanned aerial vehicle can be quickly connected into the charging end to realize a wireless charging function, so that the unmanned aerial vehicle charging system is suitable for environments with a plurality of charging ends and meets the requirement of coping with wireless charging scenes of the unmanned aerial vehicles.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic flowchart of an identity recognition method of an unmanned aerial vehicle according to an embodiment;
fig. 2 is a schematic diagram of driving waveforms of different switching frequencies of the inverter circuit switch according to various embodiments;
fig. 3 is a circuit topology diagram of an identification system of a drone according to various embodiments.
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 some, not all, embodiments of the present invention. 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 will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In order to solve the problems that in the prior art, the traditional communication modes such as Zigbee, Bluetooth and WiFi adopted in the wireless charging technology of the unmanned aerial vehicle and the charging terminal transmit identity information to identify and establish communication connection, and channel interference exists in the communication connection of the wireless charging system of multiple unmanned aerial vehicles, so that the connection between the unmanned aerial vehicle and the charging terminal is disordered and the charging system works disorderly, the embodiment provides an identity identification method of the unmanned aerial vehicle, when the unmanned aerial vehicle lands in a charging area, an energy transmitting coil transmits an electric energy signal with first identity information of the charging terminal to an energy receiving coil of the unmanned aerial vehicle by controlling the switching frequency of an inverter circuit of the charging terminal, the unmanned aerial vehicle identifies the signal and returns a signal of second identity information of the unmanned aerial vehicle after being in communication connection with the unmanned aerial vehicle through a communication module (namely a second communication module), the identity authentication and the communication connection between the unmanned aerial vehicle and the charging end before charging are realized, and the normal operation of the charging process is ensured. The following description will be specifically directed to an unmanned aerial vehicle charging method with an identity recognition function based on inversion switching.
Referring to fig. 1, the charging method of the unmanned aerial vehicle with the identity recognition function based on inversion switching includes the following steps:
s1: when detecting that an unmanned aerial vehicle stops at a charging end, acquiring first identity information of the charging end; the method specifically comprises the following steps: the end that charges is used for carrying out wireless charging for unmanned aerial vehicle. Under the condition that the unmanned aerial vehicle enters the charging area, the fact that the distance between the energy transmitting coil of the charging end and the energy receiving coil of the unmanned aerial vehicle is relatively short is indicated, one-way transmission from the energy transmitting coil of the charging end to the energy receiving coil of the unmanned aerial vehicle can be accurately and quickly achieved, in the embodiment, under the condition that the unmanned aerial vehicle enters the charging area, the first identity information of the charging end is transmitted to the energy receiving coil of the unmanned aerial vehicle through the energy transmitting coil of the charging end, and the implementation mode that the first identity information of the charging end is transmitted to the energy receiving coil of the unmanned aerial vehicle through the energy transmitting coil of the charging end is introduced in the following steps S2-S3.
S2: determining a switching frequency value of an inverter circuit of the charging end corresponding to the first identity information according to the first identity information;
s3: and controlling the inverter circuit to switch according to the switching frequency value, generating an electric energy signal corresponding to the switching frequency value, and transmitting the electric energy signal to an energy receiving coil of the unmanned aerial vehicle through an energy transmitting coil of the charging end.
The first identity information is represented by a binary code of a preset digit, and the switching frequency value of the inverter circuit of the charging end is determined by the binary code. The preset number of bits can be set according to actual requirements, and for example, the preset number of bits can be 8 bits, 10 bits, and the like. Each charging terminal has unique first identity information (including but not limited to identity ID information), so that binary codes corresponding to different charging terminals are different, the first identity information of the charging terminal is represented by the binary codes, the switching frequency value of the inverter circuit of the charging terminal is determined by the binary codes, for example, the binary code 10010101 represents the charging terminal a, the first identity information of the charging terminal a is modulated into a pulse sequence of 10010101, a driving waveform diagram of the switching frequency value of the inverter circuit of the charging terminal a is shown in fig. 2, the binary code 11101101 represents the charging terminal b, the first identity information of the charging terminal b is modulated into a pulse sequence of 11101101, and a driving waveform diagram of the switching frequency value of the inverter circuit of the charging terminal b is shown in fig. 2.
Referring to fig. 3, the inverter circuit of the charging terminal includes S1、S2、S3、S4The switching frequency of an inverter switch is determined by binary codes representing first identity information. In FIG. 3, the LCC-S topology is adopted, and U in the diagraminFor a DC power input, Lf1、Cf1、CPAnd LPFor the primary compensation network, CSAnd LSCompensating the network for the secondary side, wherein LPAnd LSRespectively a primary energy transmitting coil and a secondary energy receiving coil, M is the mutual inductance between the coils, and a diode D1-D4Forming a rectifying circuit, C is a filter capacitor, RLIs a load. Inverter circuit's switch switching frequency is different, and the electric energy that unmanned aerial vehicle energy receiving coil received is also different, consequently can be used for carrying out the identification of unmanned aerial vehicle and charge end.
S4: the unmanned aerial vehicle analyzes the first identity information according to the electric energy signal, performs identity authentication on the first identity information, and establishes communication connection between the unmanned aerial vehicle and the charging end after the identity authentication is passed.
Because the electric energy signal value is determined by the switching frequency value of the inverter circuit, and the switching frequency value of the inverter circuit is determined by the first identity information of the charging terminal, the first identity information of the charging terminal can be analyzed through the electric energy signal, so that the unmanned aerial vehicle can identify the first identity information of the charging terminal where the unmanned aerial vehicle is located, perform identity authentication and complete communication connection.
It is worth noting that the communication connection between the unmanned aerial vehicle and the charging terminal in the step S4 is established as Zigbee, bluetooth, WiFi, or other communication connections, and it is subsequently required that the information transmitted between the unmanned aerial vehicle and the charging terminal in two directions is transmitted through the communication mode established here. The electric energy signal through the one-way transmission of energy transmitting coil and energy receiving coil in this embodiment is used for the one-way transmission of the first identity information of initial charge end with self to unmanned aerial vehicle, realizes unmanned aerial vehicle to the initial authentication of the end that charges, and then realizes unmanned aerial vehicle and the communication connection of the end that charges.
S5: the unmanned aerial vehicle sends a charging request to the charging end, the charging request carries second identity information of the unmanned aerial vehicle, the charging end carries out identity authentication on the second identity information, and after the identity authentication is passed, the energy transmitting coil transmits energy to the energy receiving coil, so that the charging end wirelessly charges the unmanned aerial vehicle.
The second identity information (including but not limited to the identity ID information) may not be represented by binary codes because it is transmitted by using a communication method such as Zigbee, bluetooth, or WiFi.
The unmanned aerial vehicle sends the charging request to the charging end, and the charging end and the unmanned aerial vehicle mutually send operability information, and when the charging end judges that the interoperability information passes, the charging is started.
Optionally, in this embodiment, before the step S5, where the energy transmitting coil transmits energy to the energy receiving coil, and the charging terminal wirelessly charges the drone, the method further includes: the charging end reports a charging condition to a charging background management platform, wherein the charging condition at least comprises the first identity information of the charging end in a charging state and the second identity information of the unmanned aerial vehicle. And the charging end in the charging state and the unmanned aerial vehicle are subjected to identity binding and reported to a charging background management platform for recording. The charging situation may also include the remaining capacity of the drone, etc.
The embodiment is a method for inverting and switching the charging terminals, the identity IDs of different charging terminals can be defined through the frequency switched by the inverting circuit, different switching frequencies correspond to different ID information, and the method has the advantages of high accuracy, simplicity in detection and the like. Different switching frequency corresponds different transmission electric energy values, transmits the ID information of charging end to unmanned aerial vehicle with the mode of electric energy (also through energy transmitting coil transmission electric energy for energy receiving coil), need not other extra equipment carrying out the authentication in-process, simple structure practices thrift the cost.
The unmanned aerial vehicle detects the electric energy value received and just can discern charging end identity information, and in wireless power transmission process, electric energy transmission speed is fast, consequently has the fast advantage of authentication, when unmanned aerial vehicle received the electric energy signal that has charging end ID information, just can carry out communication connection with it, has advantages such as connection accuracy height, no channel crosstalk problem.
Especially, when the unmanned aerial vehicle enters a plurality of charging ends simultaneously, the unmanned aerial vehicle can be quickly connected into the charging end to realize a wireless charging function, so that the unmanned aerial vehicle charging system is suitable for environments with a plurality of charging ends and meets the requirement of coping with wireless charging scenes of the unmanned aerial vehicles.
Unmanned aerial vehicle charging system of identification function based on contravariant is switched includes:
the charging end, the unmanned aerial vehicle and the charging management platform; the charging management platform is in communication connection with the charging end;
the charging end is used for identifying identity information of the unmanned aerial vehicle and charging the unmanned aerial vehicle; the charging management platform is used for managing a charging end;
under the condition that there is unmanned aerial vehicle to get into the region of charging, it is relatively nearer to show the energy transmitting coil of end of charging and unmanned aerial vehicle's energy receiving coil distance, can realize the energy transmitting coil of end of charging to the one-way transmission of unmanned aerial vehicle's energy receiving coil very accurately fast, in this embodiment, under the condition that there is unmanned aerial vehicle to get into the region of charging, adopt the energy transmitting coil of end of charging to the energy receiving coil transmission of unmanned aerial vehicle end first identity information of end of charging earlier, the following realization mode that will introduce the energy transmitting coil of end of charging to the energy receiving coil transmission of unmanned aerial vehicle end first identity information.
When the charging end detects that the unmanned aerial vehicle stops, a signal is sent to the charging management platform; the charging management platform acquires first identity information of the charging end, determines a switching frequency value of an inverter circuit corresponding to the charging end according to the first identity information, controls the inverter circuit to switch according to the switching frequency value, generates an electric energy signal corresponding to the switching frequency value, and transmits the electric energy signal to an energy receiving coil of the unmanned aerial vehicle through an energy transmitting coil of the charging end.
The first identity information is represented by binary codes of preset digits, and the switching frequency value of the inverter circuit at the charging end is determined by the binary codes. The preset number of bits can be set according to actual requirements, and for example, the preset number of bits can be 8 bits, 10 bits, and the like. Each charging terminal has unique first identity information (including but not limited to identity ID information), so that binary codes corresponding to different charging terminals are different, the first identity information of the charging terminal is represented by the binary codes, the switching frequency value of the inverter circuit of the charging terminal is determined by the binary codes, for example, the binary code 10010101 represents the charging terminal a, the first identity information of the charging terminal a is modulated into a pulse sequence of 10010101, a driving waveform diagram of the switching frequency value of the inverter circuit of the charging terminal a is shown in fig. 2, the binary code 11101101 represents the charging terminal b, the first identity information of the charging terminal b is modulated into a pulse sequence of 11101101, and a driving waveform diagram of the switching frequency value of the inverter circuit of the charging terminal b is shown in fig. 2.
Referring to fig. 3, the inverter circuit of the charging terminal includes S1、S2、S3、S4The switching frequency of an inverter switch is determined by binary codes representing first identity information. In FIG. 3, the LCC-S topology is adopted, and U in the diagraminFor a DC power input, Lf1、Cf1、CPAnd LPFor the primary compensation network, CSAnd LSCompensating the network for the secondary side, wherein LPAnd LSRespectively a primary energy transmitting coil and a secondary energy receiving coil, M is the mutual inductance between the coils, and a diode D1-D4Forming a rectifying circuit, C is a filter capacitor, RLIs a load. Inverter circuit's switch switching frequency is different, and the electric energy that unmanned aerial vehicle energy receiving coil received is also different, consequently can be used for carrying out the identification of unmanned aerial vehicle and charge end.
The unmanned aerial vehicle analyzes the first identity information according to the electric energy signal, performs identity authentication on the first identity information, and establishes communication connection with the charging end after the identity authentication is passed.
Because the electric energy signal value is determined by the switching frequency value of the inverter circuit, and the switching frequency value of the inverter circuit is determined by the first identity information of the charging terminal, the first identity information of the charging terminal can be analyzed through the electric energy signal, so that the unmanned aerial vehicle can identify the first identity information of the charging terminal where the unmanned aerial vehicle is located, perform identity authentication and complete communication connection.
It is worth noting that the communication connection between the unmanned aerial vehicle and the charging terminal is established through Zigbee, bluetooth or WiFi, and the communication connection is subsequently required to be transmitted through the communication mode established here. The electric energy signal through the one-way transmission of energy transmitting coil and energy receiving coil in this embodiment is used for the one-way transmission of the first identity information of initial charge end with self to unmanned aerial vehicle, realizes unmanned aerial vehicle to the initial authentication of the end that charges, and then realizes unmanned aerial vehicle and the communication connection of the end that charges.
The unmanned aerial vehicle sends a charging request to the charging end, the charging request carries second identity information of the unmanned aerial vehicle, the charging end carries out identity authentication on the second identity information, and after the identity authentication is passed, the energy transmitting coil transmits energy to the energy receiving coil, so that the charging end wirelessly charges the unmanned aerial vehicle. The second identity information (including but not limited to the identity ID information) may not be represented by binary codes because it is transmitted by using a communication method such as Zigbee, bluetooth, or WiFi.
The unmanned aerial vehicle sends the charging request to the charging end, the charging end and the unmanned aerial vehicle mutually send interoperability information, and when the charging end judges that the interoperability information passes, charging is started.
After the charging end wirelessly charges the unmanned aerial vehicle, the charging end reports a charging condition to the charging background management platform, wherein the charging condition at least comprises the first identity information of the charging end in a charging state and the second identity information of the unmanned aerial vehicle. And the charging end in the charging state and the unmanned aerial vehicle are subjected to identity binding and reported to a charging background management platform for recording. The charging situation may also include the remaining capacity of the drone, etc.
The charging terminal includes: the energy transmission device comprises a first controller, an inverter circuit, an energy transmitting coil and a first communication module;
the first controller is used for acquiring first identity information of the charging end when the unmanned aerial vehicle stops; determining a switching frequency value of the inverter circuit corresponding to the first identity information according to the first identity information; controlling the inverter circuit to switch according to the switching frequency value to generate an electric energy signal corresponding to the switching frequency value;
the energy transmitting coil is used for transmitting the electric energy signal to an energy receiving coil of the unmanned aerial vehicle;
the first communication module is used for establishing communication connection with the unmanned aerial vehicle after the unmanned aerial vehicle passes identity authentication on the first identity information, and receiving a charging request sent by the unmanned aerial vehicle, wherein the charging request carries second identity information of the unmanned aerial vehicle;
the first controller is further configured to perform identity authentication on the second identity information;
the energy transmitting coil is further used for transmitting energy to the energy receiving coil after the second identity information identity authentication is passed, and the charging end is enabled to wirelessly charge the unmanned aerial vehicle.
The charging end further comprises a first database used for storing second identity information of all unmanned aerial vehicles, the first controller is used for carrying out identity authentication on the second identity information, specifically, the received second identity information is compared with the second identity information stored in the first database for calculation, if a matching item exists, the identity authentication is passed, and if the matching item does not exist, the identity authentication is not passed. Because the electric energy signal value is determined by the switching frequency value of the inverter circuit, and the switching frequency value of the inverter circuit is determined by the first identity information of the charging terminal, the first identity information of the charging terminal can be analyzed through the electric energy signal, so that the unmanned aerial vehicle can identify the first identity information of the charging terminal where the unmanned aerial vehicle is located, perform identity authentication and complete communication connection. The matching item can be selected by solving the euclidean distance between the second identity information received by the charging terminal and the second identity information in the first database to obtain the matching item with the smallest euclidean distance, or solving the exclusive or operation result between the second identity information received by the charging terminal and the second identity information in the first database, if the calculation result is 0, the matching item exists, and the corresponding second identity information in the first database, which is 0 in the calculation result with the received second identity information, is the matching item.
Unmanned aerial vehicle includes: the energy receiving coil is connected with the first controller;
the energy receiving coil is used for receiving an electric energy signal sent by an energy transmitting coil of a charging end, and the electric energy signal is an electric energy signal which is generated by switching the inverter circuit according to a switching frequency value and corresponds to the switching frequency value, wherein the switching frequency value of the inverter circuit of the charging end corresponds to the electric energy signal according to first identity information of the charging end;
the second controller is used for analyzing the first identity information according to the electric energy signal and carrying out identity authentication on the first identity information;
the second communication module is used for establishing communication connection with the charging end after the first identity information identity authentication is passed, and sending a charging request to the charging end, wherein the charging request carries second identity information of the unmanned aerial vehicle;
the energy receiving coil is further used for receiving the energy transmitted by the energy transmitting coil after the second identity information identity authentication is passed, so that the charging end wirelessly charges the unmanned aerial vehicle.
The unmanned aerial vehicle further comprises a second database used for storing first identity information of all charging terminals, the second controller is used for carrying out identity authentication on the first identity information, specifically, the received first identity information is compared with the first identity information stored in the second database for calculation, if a matching item exists, the identity authentication is passed, and if the matching item does not exist, the identity authentication is not passed. The matching item can be selected by solving the Euclidean distance between the first identity information received by the unmanned aerial vehicle and the first identity information in the second database to obtain a matching item with the smallest Euclidean distance, or solving the XOR operation result between the first identity information received by the unmanned aerial vehicle and the first identity information in the second database, if the calculation result is 0, the matching item exists, and the corresponding first identity information in the second database, which has the calculation result of 0 with the received first identity information, is the matching item.
The unmanned aerial vehicle charging system who has identity recognition function based on contravariant switching of this embodiment utilizes the system that the charging end contravariant switches, and the frequency of switching through inverter circuit can define the ID of different charging ends, and different switching frequency correspond different ID information, have advantages such as the degree of accuracy height, detect simply.
Different switching frequency corresponds different transmission electric energy values, transmits the ID information of charging end to unmanned aerial vehicle with the mode of electric energy (also through energy transmitting coil transmission electric energy for energy receiving coil), need not other extra equipment carrying out the authentication in-process, simple structure practices thrift the cost.
The unmanned aerial vehicle detects the electric energy value received and just can discern charging end identity information, and in wireless power transmission process, electric energy transmission speed is fast, consequently has the fast advantage of authentication, when unmanned aerial vehicle received the electric energy signal that has charging end ID information, just can carry out communication connection with it, has advantages such as connection accuracy height, no channel crosstalk problem.
Especially, when the unmanned aerial vehicle enters a plurality of charging ends simultaneously, the unmanned aerial vehicle can be quickly connected into the charging end to realize a wireless charging function, so that the unmanned aerial vehicle charging system is suitable for environments with a plurality of charging ends and meets the requirement of coping with wireless charging scenes of the unmanned aerial vehicles.
Those of ordinary skill in the art will appreciate that the elements of the examples described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the components of the examples have been described above generally in terms of their functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present application, it should be understood that the division of the unit is only one division of logical functions, and other division manners may be used in actual implementation, for example, multiple units may be combined into one unit, one unit may be split into multiple units, or some features may be omitted.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (9)
1. Unmanned aerial vehicle charging method with identity recognition function based on inversion switching is characterized in that: the method comprises the following steps:
when detecting that an unmanned aerial vehicle stops at a charging end, acquiring first identity information of the charging end;
determining a switching frequency value of an inverter circuit of the charging end corresponding to the first identity information according to the first identity information;
controlling the inverter circuit to switch according to the switching frequency value, generating an electric energy signal corresponding to the switching frequency value, and transmitting the electric energy signal to an energy receiving coil of the unmanned aerial vehicle through an energy transmitting coil of the charging end;
the unmanned aerial vehicle analyzes the first identity information according to the electric energy signal, performs identity authentication on the first identity information, and establishes communication connection between the unmanned aerial vehicle and the charging terminal after the identity authentication is passed;
the unmanned aerial vehicle sends a charging request to the charging end, the charging request carries second identity information of the unmanned aerial vehicle, the charging end carries out identity authentication on the second identity information, and after the identity authentication is passed, the energy transmitting coil transmits energy to the energy receiving coil, so that the charging end wirelessly charges the unmanned aerial vehicle.
2. The charging method of the unmanned aerial vehicle with the identity recognition function based on inversion switching as claimed in claim 1, wherein: the first identity information is represented by a binary code with a preset bit number, and the switching frequency value of the inverter circuit of the charging end is determined by the binary code.
3. The charging method of the unmanned aerial vehicle with the identity recognition function based on inversion switching as claimed in claim 1, wherein: before the energy transmitting coil transmits energy to the energy receiving coil and the charging end wirelessly charges the unmanned aerial vehicle, the method further comprises: the charging end reports a charging condition to a charging background management platform, wherein the charging condition at least comprises the first identity information of the charging end in a charging state and the second identity information of the unmanned aerial vehicle.
4. Unmanned aerial vehicle charging system of identification function based on contravariant switches, its characterized in that includes:
the charging end, the unmanned aerial vehicle and the charging management platform; the charging management platform is in communication connection with the charging end;
the charging end is used for identifying identity information of the unmanned aerial vehicle and charging the unmanned aerial vehicle; the charging management platform is used for managing a charging end;
when the charging end detects that the unmanned aerial vehicle stops, a signal is sent to the charging management platform; the charging management platform acquires first identity information of the charging end, determines a switching frequency value of an inverter circuit corresponding to the charging end according to the first identity information, controls the inverter circuit to switch according to the switching frequency value, generates an electric energy signal corresponding to the switching frequency value, and transmits the electric energy signal to an energy receiving coil of the unmanned aerial vehicle through an energy transmitting coil of the charging end;
the unmanned aerial vehicle analyzes the first identity information according to the electric energy signal, performs identity authentication on the first identity information, and establishes communication connection with the charging terminal after the identity authentication is passed;
the unmanned aerial vehicle sends a charging request to the charging end, the charging request carries second identity information of the unmanned aerial vehicle, the charging end carries out identity authentication on the second identity information, and after the identity authentication is passed, the energy transmitting coil transmits energy to the energy receiving coil, so that the charging end wirelessly charges the unmanned aerial vehicle.
5. The charging system of claim 4, wherein after the charging terminal wirelessly charges the UAV, the charging terminal reports a charging status to the charging background management platform, and the charging status at least includes the first identity information of the charging terminal in a charging state and the second identity information of the UAV.
6. The unmanned aerial vehicle charging system based on identity recognition function that contravariant switched of claim 4, wherein, the charging end includes:
the energy transmission device comprises a first controller, an inverter circuit, an energy transmitting coil and a first communication module;
the first controller is used for acquiring first identity information of the charging end when the unmanned aerial vehicle stops; determining a switching frequency value of the inverter circuit corresponding to the first identity information according to the first identity information; controlling the inverter circuit to switch according to the switching frequency value to generate an electric energy signal corresponding to the switching frequency value;
the energy transmitting coil is used for transmitting the electric energy signal to an energy receiving coil of the unmanned aerial vehicle;
the first communication module is used for establishing communication connection with the unmanned aerial vehicle after the unmanned aerial vehicle passes identity authentication on the first identity information, and receiving a charging request sent by the unmanned aerial vehicle, wherein the charging request carries second identity information of the unmanned aerial vehicle;
the first controller is further configured to perform identity authentication on the second identity information;
the energy transmitting coil is further used for transmitting energy to the energy receiving coil after the second identity information identity authentication is passed, and the charging end is enabled to wirelessly charge the unmanned aerial vehicle.
7. The unmanned aerial vehicle charging system with the inversion switching-based identity recognition function according to claim 6, wherein the charging terminal further includes a first database for storing second identity information of all unmanned aerial vehicles, the first controller performs identity authentication on the second identity information specifically by comparing the received second identity information with the second identity information stored in the first database, if a matching item exists, the identity authentication is passed, and if no matching item exists, the identity authentication is not passed.
8. The unmanned aerial vehicle charging system based on identity recognition function of contravariant switching of claim 4, wherein the unmanned aerial vehicle comprises:
the energy receiving coil is connected with the first controller;
the energy receiving coil is used for receiving an electric energy signal sent by an energy transmitting coil of a charging end, and the electric energy signal is an electric energy signal which is generated by switching the inverter circuit according to a switching frequency value and corresponds to the switching frequency value, wherein the switching frequency value of the inverter circuit of the charging end corresponds to the electric energy signal according to first identity information of the charging end;
the second controller is used for analyzing the first identity information according to the electric energy signal and carrying out identity authentication on the first identity information;
the second communication module is used for establishing communication connection with the charging end after the first identity information identity authentication is passed, and sending a charging request to the charging end, wherein the charging request carries second identity information of the unmanned aerial vehicle;
the energy receiving coil is further used for receiving the energy transmitted by the energy transmitting coil after the second identity information identity authentication is passed, so that the charging end wirelessly charges the unmanned aerial vehicle.
9. The charging system of claim 8, wherein the unmanned aerial vehicle further comprises a second database for storing first identity information of all charging terminals, and the second controller authenticates the first identity information by comparing the received first identity information with the first identity information stored in the second database, if a matching item exists, the identity authentication is passed, and if no matching item exists, the identity authentication is not passed.
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| CN202110943994.0A CN113696754A (en) | 2021-08-17 | 2021-08-17 | Unmanned aerial vehicle charging method and system with identity recognition function based on inversion switching |
| JP2022556100A JP7478382B2 (en) | 2021-08-17 | 2022-02-09 | Method and system for charging unmanned aerial vehicles with identity recognition by inverse transformation |
| PCT/CN2022/075577 WO2022257490A1 (en) | 2021-08-17 | 2022-02-09 | Method and system for charging unmanned aerial vehicle having identity recognition function based on inversion switching |
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Application publication date: 20211126 |