CN110597284B - Multi-rotor unmanned aerial vehicle efficient energy supplementing method based on high-altitude accurate parking - Google Patents

Abstract

The invention belongs to the technical field of aircraft parking, and particularly relates to a high-altitude accurate parking and efficient energy supplementing method for an unmanned aerial vehicle. A multi-rotor unmanned aerial vehicle high-efficiency energy supplementing method based on high-altitude accurate parking comprises the following steps: s1: building a parking cabin according to the cruise task; s2: calculating the maximum flying distance of the unmanned aerial vehicle when the unmanned aerial vehicle takes off, and selecting a parking cabin close to the maximum flying distance to stop according to the cruise task; s3: judging the residual electric quantity of the unmanned aerial vehicle in real time when the unmanned aerial vehicle cruises, and confirming the parking cabin; s4: after the unmanned aerial vehicle confirms to stop the cabin, the unmanned aerial vehicle stops in the cabin to charge according to the positioning. The invention provides an energy compensation scheme for an unmanned aerial vehicle to accurately stop at high altitude, which comprises an experimental scheme and test and processing schemes under different loads, speeds and heights. The range that unmanned aerial vehicle cruises can be enlarged, the field that makes unmanned aerial vehicle use is more extensive, also makes unlimited continuation of the journey possible simultaneously.

Description

An efficient energy replenishment method for multi-rotor UAV based on high-altitude precise docking

technical field

The invention belongs to the technical field of aircraft docking, and in particular relates to a high-altitude precise docking of an unmanned aerial vehicle and an efficient energy replenishing method.

technical background

In recent years, multi-rotor aircraft have been widely used in electric power inspection, investigation and rescue, environmental monitoring and other fields, which can not only improve the efficiency of work execution, but also reduce the difficulty and danger of operation. However, the use of UAVs in these occasions is also very obvious, that is, the battery life of UAVs. The existing multi-rotor UAV energy supplement methods mainly use high-density lithium batteries, solar charging and laser energy supplementation. But these methods have major flaws. UAVs using lithium batteries generally only last 20-40 minutes, often unable to operate continuously, and staff need to replace the batteries for the UAV midway. And the use of high-density lithium batteries will increase the weight and volume of the battery, which will increase the load of the drone, resulting in unstable flight. When solar energy is supplemented, it will be affected by the weather. In cloudy and rainy days, it cannot be effectively supplemented. When working at night, it needs to rely on the photovoltaic panels mounted on the drone to store power for power supply. The unstable flight of the aircraft has the problem of low utilization efficiency. The disadvantage of laser energy supplementation is that there is no mature technology at home and abroad to make the laser hit the battery board on the drone accurately and without deviation. Since there is no effective UAV energy supplement method, the application scenarios and the degree of automation of UAVs are greatly limited. This is one of the main reasons why UAVs cannot be widely implemented in various industries. Therefore, it is extremely necessary to carry out research on the autonomous charging system for UAV outdoor autonomous cruise operations.

SUMMARY OF THE INVENTION

Aiming at the deficiencies of the above-mentioned prior art, the present invention utilizes the unmanned aerial vehicle to accurately guide the charging technology in the parking space to solve the technical scheme of the above-mentioned technical problems. The specific technical scheme is as follows:

An efficient energy replenishment method for a multi-rotor UAV based on high-altitude precise docking, comprising the following steps:

S1: Build the cockpit according to the cruise mission;

S2: Calculate the farthest flying distance of the drone when the drone takes off, and select the cockpit close to the farthest flying distance to dock according to the cruise task;

S3: When the drone is cruising, it can judge its own remaining power in real time, and confirm the parking bay;

S4: After the drone confirms the parking bay, the drone is docked in the parking bay for charging according to the positioning;

Further, the cockpit is built outdoors, on tall buildings or on towers along the cruise mission.

Further, the power supply mode of the cockpit includes photovoltaic, mains or line high-voltage induction power.

Further, the calculation method of the longest flight distance is as follows:

为出发点的纬度，

为飞行最远距离点的纬度，Δλ表示两点经度的差值。where d is the flight distance, R is the radius of the earth,

is the latitude of the starting point,

is the latitude of the farthest point of flight, and Δλ represents the difference between the longitudes of the two points.

Further, the method for the drone to judge its own power is as follows:

Among them, Soc ₀ is the initial power, P _v1 is the energy consumption of the UAV for ascending flight, P _h is the energy consumption of the UAV for horizontal flight, P _v2 is the energy consumption of the UAV for descending flight, and h ₁ is the upward flight of the UAV Altitude, _h2 is the flying height of the UAV descending, d is the horizontal flight distance of the UAV, v _v1 is the vertical flight speed of the UAV ascending flight, v _v2 is the vertical flight speed of the UAV descending flight, v _h is the horizontal flight speed of the drone, w _p is the angular speed of the drone's rotation, and η is the energy loss parameter.

Further, in step S3, the drone judges its own remaining power in real time, and confirms the parking bay after the power is lower than the critical value.

Further, when the power of the drone is lower than the critical value, if it reaches the farthest distance calculated when taking off, the drone will park in the closest parking bay according to the positioning; When its own power is not lower than the critical value, the UAV locates the next parking bay of the cruise mission and judges whether the current power can reach the distance of the next parking bay.

Further, after the drone confirms the parking bay, it switches between different positioning modes to achieve docking according to the positioning distance from the drone.

Further, GPS positioning is used within the range of 5-10m for the positioning distance between the drone and the cockpit; UWB positioning is used when the positioning distance between the drone and the cockpit is 2-8m, and the positioning distance between the drone and the cockpit is 3m. Dynamic electromagnetic positioning is used when the distance is within 2m, and ultrasonic positioning is used when the positioning distance between the UAV and the cockpit is within 2m.

Further, step S5 is also included, after the UAV is fully charged, or other UAVs with sufficient power continue the cruise mission from the interruption point of the cruise mission.

Beneficial effects of the present invention:

The present invention provides an energy supplement scheme for the UAV under high-altitude precise docking, including an experimental scheme, as well as a test and processing scheme under different loads, speeds and heights. It can expand the range of UAV cruising, make the field of UAV application more extensive, and also make infinite battery life possible.

Description of drawings

Fig. 1, a kind of high-altitude accurate docking based on the multi-rotor unmanned aerial vehicle high-efficiency energy replenishment method step schematic diagram of the present invention;

FIG. 2 is a schematic structural diagram of the UAV and the cockpit of a multi-rotor UAV high-efficiency energy supplement method based on high-altitude precise docking of the present invention.

Detailed ways

The UAV in this specific embodiment adopts the DJI M100 UAV, and the chip of the UAV control system is rewritten, and the critical value of the UAV's own power is set to 30%. The UAV has its own GPS positioning unit, UWB positioning unit, dynamic electromagnetic positioning unit and ultrasonic positioning unit.

As shown in Figure 1, the specific steps of an efficient energy replenishment method for a multi-rotor UAV based on high-altitude precise docking are as follows:

S1: Build the parking lot according to the cruise mission. The parking lot is built outdoors, on high buildings or towers along the cruise mission. The nacelle contains a positioning system, and the location information of the nacelle is displayed during cruise missions. The power supply method of the parking bay includes photovoltaic, mains or line high-voltage induction power.

Among them, the parking bay includes a power supply module, a voltage conversion module, a power storage module, a control module, a positioning module, a communication module and an action module; the power supply module includes 3 different power supply units, namely the solar input unit, the mains input unit and the high voltage Inductive power taking unit; after the voltage conversion module converts the voltage input by the power supply module into 24V, on the one hand, the power storage module stores power, and on the other hand supplies power to the control module and the action module, and matches the power supply module to the drone Power supply; the control module communicates with the drone or the drone control terminal through the communication module, and the control module locates the drone or satellite through the positioning module, where the positioning method matches the positioning method of the drone, including GPS positioning unit, UWB positioning unit, dynamic electromagnetic positioning unit and ultrasonic positioning unit; the control module controls the action of the action module, where the action module includes the lifting motor, travel switch and slide motor that drive the dynamic electromagnetic positioning unit, etc., control. The lift motor rises after the chute motor is started, and the chute motor drives the upper baffle of the parking cabin to open, and when it moves to the end, the contact limit switch is closed, and the lift motor rises at the same time. The function of the sliding rail motor is to pull the protective baffle, which plays a protective role. The lifting motor is to raise the bottom plate, so that the drone can be safely lowered, and the descent is more convenient and safe. The function of the travel switch is to protect the motor.

Among them, the UAV and the cockpit interact with the positioning information through the communication unit.

Wherein, the solar energy input unit is a single crystal or polycrystalline photovoltaic power generation panel.

S2: Calculate the farthest flying distance of the drone when the drone takes off, and select the cockpit close to the farthest flying distance to dock according to the cruise task;

为出发点的纬度，

为飞行最远距离点的纬度，Δλ表示两点经度的差值，即

Among them, d is the flight distance, R is the radius of the earth, and the average value is 6371KM here.

is the latitude of the starting point,

is the latitude of the farthest point of flight, and Δλ represents the difference between the longitudes of the two points, namely

S3: When the drone is cruising, it can judge its own remaining power in real time, and confirm the parking bay; the details are:

S3-1: When the drone is cruising, the remaining power of the drone is judged in real time. The method for the drone to judge its own power is as follows:

Among them, Soc ₀ is the initial power, P _v1 is the energy consumption of the UAV for ascending flight, P _h is the energy consumption of the UAV for horizontal flight, P _v2 is the energy consumption of the UAV for descending flight, and h ₁ is the upward flight of the UAV Altitude, _h2 is the flying height of the UAV descending, d is the horizontal flight distance of the UAV, v _v1 is the vertical flight speed of the UAV ascending flight, v _v2 is the vertical flight speed of the UAV descending flight, v _h is the horizontal flight speed of the drone, w _p is the angular speed of the drone's rotation, and η is the energy loss parameter.

S3-2: Confirm the parking bay according to the remaining power:

When the Soc judged in real time is greater than or equal to 30%, and the maximum distance calculated at take-off has not been reached, the UAV continues the cruise mission;

When the Soc judged in real time is greater than or equal to 30%, the farthest distance calculated at the time of take-off has been reached, and the UAV calculates whether the current battery can fly to the next parking lot according to the positioning information of each parking bay and its own positioning information obtained by the communication module. If it cannot reach the next parking bay, the closest parking bay when the farthest distance judgment is performed, if it can reach the next parking bay, it will continue to cruise and decide to stop at the next parking bay;

When the Soc judged in real time is less than 30% and the farthest distance calculated at take-off is not reached, the UAV immediately determines the nearest parking bay according to the positioning information of each parking bay obtained by the communication module, and parks in the nearest parking bay;

S4: After the drone confirms the parking bay, the drone stops in the parking bay for charging according to its positioning; the details are as follows:

S4-1: After the drone confirms the cockpit, it switches between different positioning modes to achieve docking according to the positioning distance from the drone.

The UAV and the nacelle transmit positioning information in real time through the communication module. The positioning distance between the UAV and the nacelle is within the range of 5-10m. The UAV control module selects the GPS positioning unit for positioning; the UAV and the nacelle are positioned. When the distance is 2-8m, UWB positioning is adopted. When the positioning distance between the UAV and the nacelle is within 3m, the control modules of the UAV and the nacelle both start the dynamic electro-mechanical positioning motor and enable dynamic electromagnetic positioning; Ultrasonic positioning is used when the positioning distance between the aircraft and the nacelle is within 2m.

S4-2: After the drone is docked in the parking bay, the parking bay realizes the matching charging of the drone;

S5: After the UAV is fully charged, continue the cruise mission; or after the UAV confirms the parking bay, other UAVs with sufficient power continue the cruise mission from the interruption point of the cruise mission.

Claims (8)

1. a multi-rotor unmanned aerial vehicle high-efficiency energy replenishment method based on high-altitude accurate docking, is characterized in that, comprises the steps: S1: Build the cockpit according to the cruise mission; S2: When the drone takes off, calculate the longest distance that the drone can fly, and select the cockpit close to the farthest flight distance according to the cruising task. The calculation method of the longest flying distance of the drone is as follows:

where d is the flight distance, R is the radius of the earth,

is the latitude of the starting point,

is the latitude of the farthest point of flight, and Δλ represents the difference between the longitudes of the two points; S3: When the drone is cruising, it can judge its own remaining power in real time, and confirm the parking bay to be parked; the method for the drone to judge its own remaining power is as follows:

Among them, Soc ₀ is the initial power, P _v1 is the energy consumption of the UAV for ascending flight, P _h is the energy consumption of the UAV for horizontal flight, P _v2 is the energy consumption of the UAV for descending flight, and h ₁ is the upward flight of the UAV Altitude, _h2 is the flying height of the UAV descending, d is the horizontal flight distance of the UAV, v _v1 is the vertical flight speed of the UAV ascending flight, v _v2 is the vertical flight speed of the UAV descending flight, v _h is the horizontal flight speed of the drone, w _p is the angular speed of the drone’s rotation, and η is the energy loss parameter; S4: After the drone confirms the parking bay, the drone docks in the parking bay for charging according to the positioning. 2 . The high-altitude precision docking-based multi-rotor UAV high-efficiency energy replenishment method according to claim 1 , wherein the parking cabin is built on the outdoors, high-rise buildings or towers along the cruising mission. 3 . 3 . The high-altitude precision docking-based multi-rotor unmanned aerial vehicle high-efficiency energy replenishment method according to claim 1 , wherein the power supply mode of the parking bay includes photovoltaic, mains or line high-voltage induction power. 4 . 4. a kind of high-altitude multi-rotor unmanned aerial vehicle high-efficiency energy replenishment method based on high-altitude accurate docking according to claim 1, in step S3, the unmanned aerial vehicle judges its own residual power in real time, and confirms the parking bay after the electric power is lower than the critical value . 5. a kind of high-altitude accurate docking multi-rotor unmanned aerial vehicle high-efficiency energy replenishment method according to claim 4, if the unmanned aerial vehicle's own power is lower than the critical value, if it is to reach the farthest distance calculated when flying, no one The drone stops at the closest parking bay according to the positioning; if the drone reaches the farthest estimated distance at the time of take-off, its battery power is not lower than the critical value, the drone locates the next parking bay of the cruise mission, and judges whether the current battery level can reach the critical value. The distance to the next cockpit. 6. The high-altitude precision docking-based multi-rotor unmanned aerial vehicle high-efficiency energy replenishment method according to claim 1, after the unmanned aerial vehicle confirms the parking compartment, it switches between different positioning modes according to the positioning distance from the unmanned aerial vehicle to realize the docking. 7. A kind of high-altitude accurate docking based multi-rotor unmanned aerial vehicle high-efficiency energy replenishment method according to claim 6, the positioning distance between the unmanned aerial vehicle and the parking bay adopts GPS positioning within the range of 5-10m; UWB positioning is used when the positioning distance of the cabin is within 2-8m, dynamic electromagnetic positioning is used when the positioning distance between the drone and the aircraft cabin is within 3m, and ultrasonic positioning is used when the positioning distance between the drone and the aircraft cabin is within 2m. . 8. a kind of high-altitude accurate docking multi-rotor unmanned aerial vehicle high-efficiency energy replenishment method according to claim 1, also comprises step S5, after the unmanned aerial vehicle is fully charged, or other fully-charged unmanned aerial vehicles from the cruise mission. The interrupted point continues the cruise mission.

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