阅读说明：本技术 一种基于无人机机场的无线充电控制方法及系统 (Wireless charging control method and system based on unmanned aerial vehicle airport ) 是由 王智慧 左志平 李小飞 王露 于 2021-01-13 设计创作，主要内容包括：本发明属于无人机机场技术领域,具体涉及一种基于无人机机场的无线充电控制方法及系统,所述方法包括以下步骤：无人机机场根据无人机的请求降落指令,查询多个停机坪的停靠状态,并将处于未停靠状态的停机坪从机仓内推出以供无人机停靠；无人机停靠后,无人机机场进行充电配对,并在充电配对后对无人机进行无线充电；无人机机场根据无人机的满电指令,停止对无人机进行无线充电。本发明可查询多个停机坪的停靠状态,将处于未停靠状态的停机坪推出以供无人机停靠,并通过充电配对来确保无人机的准确降落和无线充电,从而实现无人机机场对多个无人机的无线充电。(The invention belongs to the technical field of unmanned aerial vehicle airports, and particularly relates to a wireless charging control method and a wireless charging control system based on an unmanned aerial vehicle airport, wherein the method comprises the following steps: the unmanned aerial vehicle airport inquires the parking states of a plurality of parking aprons according to the landing request instruction of the unmanned aerial vehicle, and pushes the parking aprons in the non-parking state out of the cabin for the unmanned aerial vehicle to park; after the unmanned aerial vehicle stops, the unmanned aerial vehicle airport carries out charging pairing, and the unmanned aerial vehicle is wirelessly charged after charging pairing; the unmanned aerial vehicle airport stops wirelessly charging unmanned aerial vehicle according to unmanned aerial vehicle's full power instruction. The invention can inquire the parking states of a plurality of parking aprons, push out the parking aprons in the non-parking state for the unmanned aerial vehicles to park, and ensure the accurate landing and wireless charging of the unmanned aerial vehicles through charging pairing, thereby realizing the wireless charging of a plurality of unmanned aerial vehicles by an unmanned aerial vehicle airport.)

1. A wireless charging control method based on an unmanned aerial vehicle airport is characterized by comprising the following steps:

the unmanned aerial vehicle airport inquires the parking states of a plurality of parking aprons according to the landing request instruction of the unmanned aerial vehicle, and pushes the parking aprons in the non-parking state out of the cabin for the unmanned aerial vehicle to park;

after the unmanned aerial vehicle stops, the unmanned aerial vehicle airport carries out charging pairing, and the unmanned aerial vehicle is wirelessly charged after charging pairing;

the unmanned aerial vehicle airport stops wirelessly charging unmanned aerial vehicle according to unmanned aerial vehicle's full power instruction.

2. The method of claim 1, wherein the parked states comprise a parked state and an undocked state.

3. The method according to claim 1, wherein the apron in an undocked state is pushed out of the cabin for the unmanned aerial vehicle to park, specifically:

the unmanned aerial vehicle airport pushes the parking apron in the non-parking state out of the cabin;

after the unmanned aerial vehicle lands on the parking apron, the unmanned aerial vehicle airport receives a landing completion instruction of the unmanned aerial vehicle;

the unmanned aerial vehicle airport controls a centering device on the parking apron to center and clamp the unmanned aerial vehicle according to the landing completion instruction;

and the unmanned aerial vehicle airport withdraws the parking apron parked with the unmanned aerial vehicle into the cabin.

4. The wireless charging control method based on the unmanned aerial vehicle airport according to claim 3, wherein the unmanned aerial vehicle airport performs charging pairing, specifically:

the unmanned aerial vehicle airport sends a charging ID to the unmanned aerial vehicle, and the unmanned aerial vehicle airport and the unmanned aerial vehicle are switched to a working mode corresponding to the charging ID;

the unmanned aerial vehicle airport starts wireless charging, and the unmanned aerial vehicle is precharged by small voltage;

the unmanned aerial vehicle airport receives the secondary voltage fed back by the unmanned aerial vehicle during pre-charging, and judges whether the unmanned aerial vehicle accurately lands according to the small voltage and the secondary voltage;

if the unmanned aerial vehicle accurate descends, then wirelessly charge the unmanned aerial vehicle with rated voltage.

5. The wireless charging control method based on the unmanned aerial vehicle airport according to claim 4, wherein the determining whether the unmanned aerial vehicle lands accurately according to the received voltage is specifically:

and obtaining a voltage difference according to the small voltage and the received voltage, judging whether the voltage difference is smaller than a threshold voltage, if so, determining that the unmanned aerial vehicle accurately lands, and if not, determining that the unmanned aerial vehicle does not accurately land.

6. The method of claim 5, further comprising the steps of:

the unmanned aerial vehicle airport is released the air park that has stopped unmanned aerial vehicle from the aircraft cabin to unclamp unmanned aerial vehicle's ware of returning to the centre.

7. The method of claim 1, further comprising the steps of:

and determining the parking state of the parking apron by the unmanned aerial vehicle airport through image recognition.

8. The method according to claim 7, wherein the unmanned aerial vehicle airport determines the parking status of the apron through image recognition, specifically:

an unmanned aerial vehicle airport respectively collects images in a plurality of machine cabins through a plurality of cameras;

and the unmanned aerial vehicle airport analyzes whether an unmanned aerial vehicle exists in each cabin according to the images in the cabins, if the unmanned aerial vehicle exists, the parking apron corresponding to the cabin is determined to be in a parked state, and if the unmanned aerial vehicle does not exist, the parking apron corresponding to the cabin is determined to be in an unpaved state.

9. The method of claim 1, further comprising the steps of:

unmanned aerial vehicle airport is carrying out wireless in-process that charges to unmanned aerial vehicle, carries out overcurrent and overvoltage detection to report to the police to the abnormal state that detects.

10. A wireless charging control system based on an unmanned aerial vehicle airport, which is suitable for the wireless charging control method based on the unmanned aerial vehicle airport of any one of claims 1 to 9, and is characterized by comprising the unmanned aerial vehicle airport, the unmanned aerial vehicle and a remote server, wherein the unmanned aerial vehicle airport and the unmanned aerial vehicle are respectively communicated with the remote server;

the unmanned aerial vehicle airport inquires the parking states of a plurality of parking aprons according to the landing request instruction of the unmanned aerial vehicle, and pushes the parking aprons in the non-parking state out of the cabin for the unmanned aerial vehicle to park;

after the unmanned aerial vehicle stops, the unmanned aerial vehicle airport carries out charging pairing, and the unmanned aerial vehicle is wirelessly charged after charging pairing;

the unmanned aerial vehicle airport stops wirelessly charging unmanned aerial vehicle according to unmanned aerial vehicle's full power instruction.

Technical Field

The invention belongs to the technical field of unmanned aerial vehicle airports, and particularly relates to a wireless charging control method and system based on an unmanned aerial vehicle airport.

Background

Unmanned aerial vehicle, utilize radio remote control's unmanned aerial vehicle, because of having advantages such as with low costs, the risk is low, survivability is strong, mobility is good, unmanned aerial vehicle is by the wide application in fields such as aerial photography, agriculture, plant protection, miniature autodyne, express delivery transportation, disaster relief, observation wildlife, survey and drawing, news report, electric power are patrolled and examined, the relief of disaster, movie & TV are shot.

Unmanned aerial vehicle is usually supplied power by the battery of carrying on it, be subject to the weight that can carry on the battery, unmanned aerial vehicle's single journey is shorter, in order to prolong unmanned aerial vehicle's duration, current a lot of unmanned aerial vehicle charging platform can supply unmanned aerial vehicle to berth and charge, like CN106542109A unmanned aerial vehicle is charge platform independently, when unmanned aerial vehicle will berth and charge in this patent scheme, the sliding closure is opened, unmanned aerial vehicle berths on lift platform, charge unmanned aerial vehicle again. Foretell charging platform can only stop an unmanned aerial vehicle, only can charge for an unmanned aerial vehicle, what adopt moreover is wired charging mode, and such wired charging mode has contact failure, the shortcoming that the reliability is low.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a wireless charging control method and system based on an unmanned aerial vehicle airport, which can inquire the parking states of a plurality of parking aprons, push out the parking aprons in the non-parking state for the unmanned aerial vehicle to park, and ensure the accurate landing and wireless charging of the unmanned aerial vehicle through charging pairing, thereby realizing the wireless charging of the unmanned aerial vehicle airport to the unmanned aerial vehicles.

In a first aspect, the invention provides a wireless charging control method based on an unmanned aerial vehicle airport, which comprises the following steps:

the unmanned aerial vehicle airport inquires the parking states of a plurality of parking aprons according to the landing request instruction of the unmanned aerial vehicle, and pushes the parking aprons in the non-parking state out of the cabin for the unmanned aerial vehicle to park;

after the unmanned aerial vehicle stops, the unmanned aerial vehicle airport carries out charging pairing, and the unmanned aerial vehicle is wirelessly charged after charging pairing;

the unmanned aerial vehicle airport stops wirelessly charging unmanned aerial vehicle according to unmanned aerial vehicle's full power instruction.

Preferably, the parked states include a parked state and an undocked state.

Preferably, the apron in the non-parked state is pushed out of the cabin for the unmanned aerial vehicle to park, specifically:

the unmanned aerial vehicle airport pushes the parking apron in the non-parking state out of the cabin;

after the unmanned aerial vehicle lands on the parking apron, the unmanned aerial vehicle airport receives a landing completion instruction of the unmanned aerial vehicle;

the unmanned aerial vehicle airport controls a centering device on the parking apron to center and clamp the unmanned aerial vehicle according to the landing completion instruction;

and the unmanned aerial vehicle airport withdraws the parking apron parked with the unmanned aerial vehicle into the cabin.

Preferably, the unmanned aerial vehicle airport is charged and paired, specifically:

the unmanned aerial vehicle airport sends a charging ID to the unmanned aerial vehicle, and the unmanned aerial vehicle airport and the unmanned aerial vehicle are switched to a working mode corresponding to the charging ID;

the unmanned aerial vehicle airport starts wireless charging, and the unmanned aerial vehicle is precharged by small voltage;

the unmanned aerial vehicle airport receives the secondary voltage fed back by the unmanned aerial vehicle during pre-charging, and judges whether the unmanned aerial vehicle accurately lands according to the small voltage and the secondary voltage;

if the unmanned aerial vehicle accurate descends, then wirelessly charge the unmanned aerial vehicle with rated voltage.

Preferably, whether the unmanned aerial vehicle accurately lands is judged according to the received voltage, and the method specifically comprises the following steps:

and obtaining a voltage difference according to the small voltage and the received voltage, judging whether the voltage difference is smaller than a threshold voltage, if so, determining that the unmanned aerial vehicle accurately lands, and if not, determining that the unmanned aerial vehicle does not accurately land.

Preferably, the method further comprises the steps of:

the unmanned aerial vehicle airport is released the air park that has stopped unmanned aerial vehicle from the aircraft cabin to unclamp unmanned aerial vehicle's ware of returning to the centre.

Preferably, the method further comprises the steps of:

and determining the parking state of the parking apron by the unmanned aerial vehicle airport through image recognition.

Preferably, the unmanned aerial vehicle airport determines the parking state of the parking apron through image recognition, specifically:

an unmanned aerial vehicle airport respectively collects images in a plurality of machine cabins through a plurality of cameras;

and the unmanned aerial vehicle airport analyzes whether an unmanned aerial vehicle exists in each cabin according to the images in the cabins, if the unmanned aerial vehicle exists, the parking apron corresponding to the cabin is determined to be in a parked state, and if the unmanned aerial vehicle does not exist, the parking apron corresponding to the cabin is determined to be in an unpaved state.

Preferably, the method further comprises the steps of:

unmanned aerial vehicle airport is carrying out wireless in-process that charges to unmanned aerial vehicle, carries out overcurrent and overvoltage detection to report to the police to the abnormal state that detects.

In a second aspect, the invention provides a wireless charging control system based on an unmanned aerial vehicle airport, which is suitable for the wireless charging control method based on the unmanned aerial vehicle airport in the first aspect, and comprises the unmanned aerial vehicle airport, an unmanned aerial vehicle and a remote server, wherein the unmanned aerial vehicle airport and the unmanned aerial vehicle are respectively communicated with the remote server;

the unmanned aerial vehicle airport inquires the parking states of a plurality of parking aprons according to the landing request instruction of the unmanned aerial vehicle, and pushes the parking aprons in the non-parking state out of the cabin for the unmanned aerial vehicle to park;

after the unmanned aerial vehicle stops, the unmanned aerial vehicle airport carries out charging pairing, and the unmanned aerial vehicle is wirelessly charged after charging pairing;

the unmanned aerial vehicle airport stops wirelessly charging unmanned aerial vehicle according to unmanned aerial vehicle's full power instruction.

The wireless charging control method and system based on the unmanned aerial vehicle airport can inquire the parking states of a plurality of parking aprons, push out the parking aprons in the non-parking state for the unmanned aerial vehicle to park, and ensure the accurate landing and wireless charging of the unmanned aerial vehicle through charging pairing, thereby realizing the wireless charging of the unmanned aerial vehicle airport to 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 flowchart of a wireless charging control method based on an unmanned aerial vehicle airport in this embodiment;

fig. 2 is a schematic structural diagram of a wireless charging control system based on an unmanned aerial vehicle airport in this embodiment;

fig. 3 is a schematic diagram of the internal structure of the unmanned aerial vehicle airport in this embodiment;

fig. 4 is a left side view structural schematic diagram of the unmanned aerial vehicle airport in this embodiment;

fig. 5 is a schematic front view of the unmanned aerial vehicle airport in this embodiment;

fig. 6 is a first schematic structural diagram illustrating the thrust of the apron of the unmanned airport in this embodiment;

fig. 7 is a second schematic structural view illustrating the pushing-out of the apron of the unmanned aerial vehicle airport in the present embodiment;

fig. 8 is a third schematic structural diagram of the pushing-out of the apron of the unmanned aerial vehicle airport in the present embodiment;

fig. 9 is a schematic top view of the unmanned aerial vehicle airport in this embodiment;

fig. 10 is a schematic bottom view of the apron of the present embodiment;

fig. 11 is a schematic block diagram of the circuit in the drone airport of this embodiment.

Reference numerals:

1-shell, 2-parking apron, 3-sliding rail, 4-sliding seat, 5-apron driving mechanism, 6-supporting plate, 7-pushing rod, 8-rod driving mechanism, 9-bin door, 10-torsion spring, 11-access door, 12-universal wheel, 13-controller, 14-power interface, 15-inverter, 16-transmitting coil, 17-camera, 18-smoke sensor, 19-air conditioning device and 20-driving module

51-rack, 52-gear and 53-DC motor

71-left push rod, 72-right push rod, 73-front push rod, 74-rear push rod

81-sliding rod, 82-conveyor belt, 83-sliding block I, 84-sliding block II, 85-driving wheel, 86-driven wheel and 87-driving motor.

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.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

The first embodiment is as follows:

the invention provides a wireless charging control method based on an unmanned aerial vehicle airport, which comprises the following steps as shown in figure 1:

s1, the unmanned aerial vehicle airport inquires the parking states of a plurality of parking aprons according to the landing request instruction of the unmanned aerial vehicle, and pushes the parking aprons in the non-parking state out of the cabin for the unmanned aerial vehicle to park;

s2, after the unmanned aerial vehicle stops, the unmanned aerial vehicle airport carries out charging pairing, and after charging pairing, the unmanned aerial vehicle is charged wirelessly;

s3, the unmanned aerial vehicle airport stops wirelessly charging the unmanned aerial vehicle according to the full power instruction of the unmanned aerial vehicle.

The unmanned aerial vehicle airport in this embodiment is equipped with the multilayer air park in, the multilayer air park divides the inner space in airport into a plurality of cabins that can hold unmanned aerial vehicle from last to down, and every layer of air park can berth an unmanned aerial vehicle, and the multilayer air park just can berth many unmanned aerial vehicles. This embodiment is illustrated by taking two-layer apron as an example.

The parked state in this embodiment includes a parked state and an undocked state. If the parking mark of a certain parking apron is '1', the unmanned aerial vehicle is shown to be parked on the parking apron, and if the parking mark of a certain parking apron is '0', the unmanned aerial vehicle is not shown to be on the parking apron. When the unmanned aerial vehicle flies to the vicinity of the unmanned aerial vehicle airport, sending a landing request instruction to the unmanned aerial vehicle airport, inquiring the halt states of two parking aprons after the unmanned aerial vehicle airport receives the instruction, wherein the halt mark of the first layer of parking apron is '1', which indicates that the first layer of parking apron has parked the unmanned aerial vehicle; the second level of tarmac has a stop flag of "0" indicating that there are no drones on the second level of tarmac. The drone airport pushes the second floor of ramps out of the cabin in the undocked condition (if there are three or more ramps, one of the ramps in the undocked condition is pushed out); after the unmanned aerial vehicle lands on the second-layer parking apron, sending a landing completion instruction to the unmanned aerial vehicle airport; after the unmanned aerial vehicle airport receives the landing completion instruction, the centering device on the second layer of parking apron is controlled to act, the unmanned aerial vehicle is centered and clamped, and then the second layer of parking apron and the unmanned aerial vehicle are retracted into the cabin by the unmanned aerial vehicle airport. The purpose of using the centering device in this embodiment is to align the transmitting coil of the drone airport with the receiving coil of the drone, thereby improving subsequent charging efficiency.

After retrieving unmanned aerial vehicle back to the cabin in, begin to charge and pair and wireless charging. The unmanned aerial vehicle airport sends a charging ID to the unmanned aerial vehicle, and the unmanned aerial vehicle airport and the unmanned aerial vehicle are switched to a working mode corresponding to the charging ID; in the working mode, the unmanned aerial vehicle airport starts a wireless charging function, and the unmanned aerial vehicle is pre-charged by small voltage; when the pre-charging is carried out, a receiving coil of the unmanned aerial vehicle receives wireless electric energy transmitted by a transmitting coil of an unmanned aerial vehicle airport, a secondary voltage is generated on one side of the unmanned aerial vehicle at the moment, and the secondary voltage is fed back to the unmanned aerial vehicle airport by the unmanned aerial vehicle; the unmanned aerial vehicle airport can judge whether the unmanned aerial vehicle lands accurately according to the small voltage and the secondary voltage, if so, the unmanned aerial vehicle lands accurately, and if not, the unmanned aerial vehicle lands inaccurately.

For example, the small voltage U1 of the drone airport is 10V, the secondary voltage U2 of the drone is 9.5V, the threshold voltage is 5V, the voltage difference between the small voltage U1 and the secondary voltage U2 is 0.5V, and the voltage difference 0.5 is less than the threshold voltage 5, so that it can be determined that the drone lands accurately on the second-layer parking apron. In the embodiment, the purpose of pre-charging by using a small voltage is to judge whether the unmanned aerial vehicle accurately lands, and if the unmanned aerial vehicle stops on the second-layer apron, but the transmitting coil on the first-layer apron is turned on for wireless charging, the unmanned aerial vehicle cannot be wirelessly charged; wireless charging can only be performed if it is determined that the unmanned aerial vehicle is parked on the second-floor apron and the transmitting coil on the second-floor apron is turned on for wireless charging.

After determining that the drone is accurately landed, the subsequent drone airport wirelessly charges the drone at a rated voltage (e.g., 25V). After charging, unmanned aerial vehicle sends the full power instruction for the unmanned aerial vehicle airport, and after the unmanned aerial vehicle airport received and satisfied the instruction, stopped to carry out wireless charging to unmanned aerial vehicle, released the second floor air park from the hangar to unclamp unmanned aerial vehicle's ware of returning in the middle of, unmanned aerial vehicle can take off the navigation once more.

The unmanned aerial vehicle airport of this embodiment can also carry out the detection of abnormal state. Unmanned aerial vehicle airport is carrying out wireless in-process that charges to unmanned aerial vehicle, carries out overcurrent and overvoltage detection to report to the police to the abnormal state that detects. This embodiment accessible unmanned aerial vehicle speaker on the airport carries out the on-the-spot warning, can also carry out remote alarm through long-range wireless communication to the staff in time discovers abnormal state, in time handles.

In the unmanned aerial vehicle airport in this embodiment, one camera is provided for each layer of apron, so that the parking state of each layer of apron can be determined through image recognition. An unmanned aerial vehicle airport respectively collects images in two machine cabins through two cameras; and the unmanned aerial vehicle airport analyzes whether an unmanned aerial vehicle exists in each cabin according to the images in the cabins, if the unmanned aerial vehicle exists, the parking apron corresponding to the cabin is determined to be in a parked state, and if the unmanned aerial vehicle does not exist, the parking apron corresponding to the cabin is determined to be in an unpaved state.

For example, the unmanned aerial vehicle is parked on the first-layer parking apron, the unmanned aerial vehicle is not on the second-layer parking apron, and through image analysis, the unmanned aerial vehicle is on the first-layer parking apron, so that the parking identifier is "1", the unmanned aerial vehicle is not on the second-layer parking apron, and the parking identifier is "0". And after the unmanned aerial vehicle is parked on the second-layer apron subsequently, the parking identifier of the second-layer apron is updated from '0' to '1'.

To sum up, the technical scheme of this embodiment, the unmanned aerial vehicle airport is equipped with a plurality of air parks, can inquire the parking state on a plurality of air parks according to unmanned aerial vehicle's descending demand, will be in the air park of not parking state and release for unmanned aerial vehicle parks to pair through charging and ensure unmanned aerial vehicle's accurate descending and wireless charging, thereby realize that the unmanned aerial vehicle airport charges to a plurality of unmanned aerial vehicle's wireless.

Example two:

the embodiment provides a wireless charging control method based on an unmanned aerial vehicle airport, and on the basis of the first embodiment, a specific structure of the unmanned aerial vehicle airport is described, as shown in fig. 3 to 11, the unmanned aerial vehicle airport of the embodiment comprises an airport main body and a wireless charging device arranged on the airport main body;

airport main part includes casing 1 and sets up multilayer air park 2 in the casing 1, the multilayer air park 2 divide the inner space of casing 1 into a plurality of cabins that can hold unmanned aerial vehicle from last down, every layer air park 2 follows under thrust arrangement's promotion shift out in the casing 1 or move into in the casing 1.

Be equipped with multilayer air park 2 in the unmanned aerial vehicle airport of this embodiment, an unmanned aerial vehicle can be berthhed on every layer air park 2, and many unmanned aerial vehicles just can be berthhed on multilayer air park 2. Taking two-layer apron 2 as an example, as shown in fig. 7, when the first unmanned aerial vehicle approaches, the upper-layer apron 2 is removed from the housing 1, the first unmanned aerial vehicle is parked on the upper-layer apron 2, and the upper-layer apron 2 returns to the housing 1. When the second unmanned aerial vehicle is close to, lower floor's air park 2 shifts out from casing 1, and the second unmanned aerial vehicle parks at lower floor's air park 2, and lower floor's air park 2 gets back to in the casing 1.

The unmanned aerial vehicle airport of this embodiment adopts wireless charging mode. Wireless charging device is including power source 14, dc-to-ac converter 15 and transmitting coil 16 that the electricity is connected in proper order, every layer all be equipped with independent transmitting coil 16 on the air park 2, power source 14 external power, dc-to-ac converter 15 is in become the high frequency alternating current with direct current inversion under the control of controller 13, transmitting coil 16 transmits the electric energy for unmanned aerial vehicle's receiving coil through the magnetic field coupling form.

In the embodiment, each layer of the parking apron 2 is provided with an inverter 15; the power interface 14 is electrically connected to each inverter 15, and the inverter 15 and the transmitting coil 16 on each floor of the apron 2 are electrically connected (as shown in fig. 8, the transmitting coil is located on the back of the apron). In this embodiment, two levels of tarmac are provided, with two inverters 15 and two transmitting coils 16. In the present embodiment, the power interface 14 is electrically connected to the input terminals of the two inverters 15, and the output terminals of the two inverters 15 are electrically connected to the two radiation coils 16.

In this embodiment, each apron 2 is provided with one pushing device, and therefore two pushing devices are provided, and the controller 13 of this embodiment controls the operating states of the two pushing devices through the driving module 20. When unmanned aerial vehicle arrives near the unmanned aerial vehicle airport, controller 13 controls thrust unit work through drive module 20, shifts out outside casing 1 from casing 1 in apron 2 under thrust unit's the promotion, and unmanned aerial vehicle parks on apron 2. When the unmanned aerial vehicle stops, the pushing device pushes reversely, and the apron 2 moves into the shell 1 from the outside of the shell 1. When unmanned aerial vehicle berths on air park 2, the receiving coil on the unmanned aerial vehicle is aimed at to transmitting coil 16 on the air park 2, and 15 work of controller 13 control dc-to-ac converter, and dc-to-ac converter 15 is high frequency alternating current with direct current contravariant, then gives receiving coil through transmitting coil 16 with electric energy wireless transmission to the realization is to unmanned aerial vehicle's wireless charging. When the unmanned aerial vehicle is fully charged, the apron 2 is moved out of the shell 1 from the shell 1, and after the unmanned aerial vehicle takes off, the apron 2 returns to the shell 1 again.

The unmanned aerial vehicle airport of this embodiment is still provided with camera 17, smoke transducer 18, temperature and humidity sensor, air conditioning equipment 19, speaker etc. that are connected with controller 13 electricity in. In order to monitor the charging state of the unmanned aerial vehicles on each layer of the apron 2, two infrared cameras 17 are provided in the present embodiment, and the lenses of the two infrared cameras 17 face the two aprons 2 respectively (as shown in fig. 3). The smoke sensor 18 of this embodiment is used for gathering the smog concentration in the unmanned aerial vehicle airport, and temperature and humidity sensor is used for gathering the humiture in the unmanned aerial vehicle airport. Controller 13 in the unmanned aerial vehicle airport not only carries out radio communication with unmanned aerial vehicle, still carries out radio communication with remote server, sends the smog concentration of image and smoke transducer 18 collection in the storehouse of camera 17 collection for remote server to be convenient for remote management personnel know the inside condition at unmanned aerial vehicle airport. The controller 13 may perform abnormality analysis by the images in the chamber and the smoke concentration, and perform a voice alarm through a speaker or a remote alarm through wireless communication when an abnormal condition occurs. The operating condition of air conditioning equipment 19 is controlled according to the humiture to controller 13 of this embodiment, and air conditioning equipment 19 is used for adjusting the temperature in the unmanned aerial vehicle airport, and when the temperature in the unmanned aerial vehicle airport was too high, cool down and handle, when the temperature in the unmanned aerial vehicle airport was crossed low, carry out the intensification and handle to make the temperature in the unmanned aerial vehicle airport keep in the certain limit, prolong the life of the electronic components in the unmanned aerial vehicle airport.

In this embodiment, the pushing device includes a sliding rail 3, a sliding seat 4 and a lawn driving mechanism 5;

the inner walls of two opposite sides of the shell 1 are respectively provided with a slide rail 3, two opposite sides of the apron 2 are respectively provided with a slide seat 4, and the slide seats 4 are slidably arranged on the slide rails 3;

the apron driving mechanism 5 is positioned below the parking apron 2, and the apron driving mechanism 5 comprises a rack 51, a gear 52 and a direct current motor 53; the rack 51 is arranged between the two slide rails 3, the rack 51 is parallel to the slide rails 3, the parking apron 2 is provided with the direct current motor 53, a vertical output shaft of the direct current motor 53 is provided with a gear 52, and the gear 52 is meshed with the rack 51;

the parking apron 2 moves along the slide rail 3, and moves out of or into the housing 1 under the driving of the apron driving mechanism 5.

In this embodiment, the front side and the rear side of the apron 2 are both provided with a supporting plate 6, and the apron 2 is fixed on the sliding base 4 through the supporting plates 6. Two sliding seats 4 on the apron 2 are slidably arranged on two sliding rails 3 of the housing 1, when the controller 13 controls the direct current motor 53 to rotate forward through the driving module 20, the gear 52 rotates coaxially with the direct current motor 53, the gear 52 moves rightward along the rack 51, and the apron 2 moves rightward along the rack 51 and the sliding rails 3, so that the apron 2 is removed from the housing 1. When the controller 13 controls the dc motor 53 to rotate reversely through the driving module 20, the gear 52 rotates coaxially with the dc motor 53, the gear 52 moves leftwards along the rack 51, and the apron 2 moves leftwards along the rack 51 and the slide rail 3, so that the apron 2 is returned to the housing 1. The sliding rails 3 and the sliding seats 4 provided in this embodiment facilitate supporting the apron 2 on the one hand and facilitate sliding of the apron 2 on the other hand.

The unmanned aerial vehicle airport of this embodiment is equipped with one or more access doors 11 in the side of casing 1. A split access door 11 is provided on the front side of the housing 1, a split access door 11 is provided on the rear side of the housing 1, and a single-open access door 11 is provided on the left side of the housing 1. The unmanned aerial vehicle airport of this embodiment, through the setting of a plurality of access doors 11, the maintainer of being convenient for overhauls the equipment part in the casing 1 from each angle.

The unmanned aerial vehicle airport of this embodiment the bottom of casing 1 is equipped with universal wheel 12. Through universal wheel 12, the removal at the unmanned aerial vehicle airport of being convenient for, the user can promote suitable position with the unmanned aerial vehicle airport as required to unmanned aerial vehicle stops.

To sum up, the unmanned aerial vehicle airport that this embodiment adopted, through the design of the multilayer air park 2 that can plug-type, can supply many unmanned aerial vehicles to berth simultaneously, can carry out wireless charging for many unmanned aerial vehicles simultaneously. The unmanned aerial vehicle airport of this embodiment adopts wireless mode of charging to charge for unmanned aerial vehicle, and the reliability of charging is high, simple structure, low in production cost. The setting of multi-side access door 11 on casing 1, the maintenance of the maintenance personnel to the unmanned aerial vehicle airport of being convenient for. The setting of universal wheel 12 under the casing 1, the removal at the unmanned aerial vehicle airport of being convenient for is when laying the unmanned aerial vehicle airport, labour saving and time saving.

Example three:

on the basis of the second embodiment, as shown in fig. 8 and 9, each layer of the unmanned aerial vehicle airport is provided with a centering device on the parking apron 2, the centering device includes a plurality of push rods 7 and a plurality of rod driving mechanisms 8, the push rods 7 are respectively arranged along the edge of the parking apron 2, and after the unmanned aerial vehicle stops on the parking apron 2, the rod driving mechanisms 8 respectively drive the push rods 7 to move towards the middle of the parking apron 2.

The parking apron 2 is of a square plate-shaped structure; four driving mechanisms and four pushing rods 7 are arranged, wherein two rod driving mechanisms 8 are respectively arranged at the front side edge and the rear side edge of the parking apron 2, and the other two rod driving mechanisms 8 are respectively arranged at the left side edge and the right side edge of the parking apron 2;

the four push rods 7 are arranged above the parking apron 2, wherein the two push rods 7 are arranged in parallel in the front and the back, and the other two push rods 7 are arranged in parallel in the left and right;

the two rod driving mechanisms 8 on the front and rear side edges drive the two pushing rods 7 which are parallel left and right to move left and right in opposite directions or back to back, and the two rod driving mechanisms 8 on the left and right side edges drive the two pushing rods 7 which are parallel front and back to move front and back in opposite directions or back to back.

In this embodiment, after the unmanned aerial vehicle is parked on the parking apron 2, the controller 13 controls the four rod driving mechanisms 8 to operate, the left push rod 71 and the right push rod 72 of the parking apron 2 move towards the middle of the parking apron 2 in opposite directions, and the front push rod 73 and the rear push rod 74 of the parking apron 2 move towards the middle of the parking apron 2 in opposite directions. Under the promotion of four catch bars 7, do not berth at the unmanned aerial vehicle at 2 middle parts on the air park and remove towards the middle part, because wireless transmitting coil sets up at 2 middle parts on the air park, consequently through the ware of returning to the middle, make unmanned aerial vehicle placed in the middle, more be favorable to carrying out wireless charging to unmanned aerial vehicle. After centering the drone, the four push rods 7 return to the home position, to a position close to the edge of the apron 2, driven by the four rod driving mechanisms 8.

The rod driving mechanism 8 comprises a sliding rod 81, a conveyor belt 82, a sliding block I83 and a sliding block II 84, wherein the sliding rod 81 is arranged above the conveyor belt 82 in parallel; the sliding block I83 and the sliding block II 84 are slidably sleeved on the sliding rod 81, the sliding block I83 is fixed on the upper half belt of the conveyor belt 82, the sliding block II 84 is fixed on the lower half belt of the conveyor belt 82, and two parallel push rods 7 perpendicular to the conveyor belt 82 are respectively fixed on the sliding block I83 and the sliding block II 84;

the two ends of the conveyor belt 82 are respectively provided with a driving wheel 85 and a driven wheel 86, a driving motor 87 is arranged on the driving wheel 85, the driving wheel 85 is driven by the driving motor 87 to rotate, the conveyor belt 82 and the driven wheel 86 rotate along with the rotation of the driving wheel 85, and the sliding block I83 and the sliding block II 84 move along with the rotation of the conveyor belt 82 along the opposite or reverse movement of the sliding rod 81.

The two ends of the sliding rod 81 are fixed on the parking apron 2, and the driving wheel 85 and the driven wheel 86 are rotatably fixed on the parking apron 2.

In this embodiment, the sliding rod 81 plays a role of supporting the sliding block, and the conveyor belt 82 plays a role of driving the sliding block to move. The left and right push levers of the apron 2 and the front and rear lever drive mechanism 8 are exemplified. The controller 13 controls the driving motor 87 to rotate clockwise through the driving module 20, the driving wheel 85 and the driving motor 87 rotate coaxially and clockwise, the conveyor belt 82 and the driven wheel 86 rotate clockwise, the sliding block I83 on the upper half belt of the conveyor belt 82 moves rightwards along the sliding rod 81, the left pushing rod 71 fixed on the sliding block I83 moves rightwards, meanwhile, the sliding block II 84 on the lower half belt of the conveyor belt 82 moves leftwards along the sliding rod 81, and the right pushing rod 72 fixed on the sliding block II 84 moves leftwards, so that the left pushing rod 71 and the right pushing rod 72 move oppositely in the left and right directions, and the unmanned aerial vehicle is centered in the left and right directions.

In this embodiment, after the unmanned aerial vehicle is centered, the controller 13 controls the driving motor 87 to rotate counterclockwise through the driving module 20, the driving wheel 85 and the driving motor 87 rotate coaxially and counterclockwise, the conveyor belt 82 and the driven wheel 86 rotate counterclockwise accordingly, the slider i 83 on the upper half belt of the conveyor belt 82 moves leftward along the sliding rod 81, the left pushing rod 71 fixed on the slider i 83 moves leftward, meanwhile, the slider ii 84 on the lower half belt of the conveyor belt 82 moves rightward along the sliding rod 81, and the right pushing rod 72 fixed on the slider ii 84 moves rightward, so that the left pushing rod 71 and the right pushing rod 72 move away from each other in the left-right direction and return to the original position.

To sum up, the unmanned aerial vehicle airport that this embodiment adopted has set up the ware of returning to the centre for every air park 2, can berth at air park 2 back at unmanned aerial vehicle, promotes unmanned aerial vehicle and locates at air park 2 middle parts to make the wireless transmitting coil on the air park 2 better carry out wireless charging for unmanned aerial vehicle.

Example four:

on the basis of the second embodiment or the third embodiment, as shown in fig. 5 to 8, a bin gate 9 is arranged at a position, facing each aircraft cabin, on a side surface of the housing 1 of the unmanned aerial vehicle airport, the bin gate 9 is rotatably connected with the housing 1, a reset mechanism is arranged between the bin gate 9 and the housing 1, when the apron 2 is moved out of the housing 1, the bin gate 9 is opened, and when the apron 2 is moved into the housing 1, the bin gate 9 is automatically closed under the action of the reset mechanism.

Wherein, the reset mechanism adopts a torsion spring 10; one or more torsion springs 10 are arranged, one end of each torsion spring 10 is fixed to the shell 1, and the other end of each torsion spring 10 is fixed to the bin gate 9.

The unmanned aerial vehicle airport of this embodiment is equipped with two-layer air park 2, then has two aircraft cabins, corresponds to be equipped with two door 9. Because the bin gate 9 is rotatably connected with the shell 1, when the parking apron 2 is moved out of the shell 1, the pushing force of the parking apron 2 overcomes the pulling force of the torsion spring 10, and the bin gate 9 rotates to the right to the horizontal plane. When the apron 2 is returned to the housing 1, the torsion spring 10 is restored to the original state, and the door 9 is rotated to the left by the tension of the torsion spring 10 and returned to the original vertical plane.

To sum up, the unmanned aerial vehicle airport that this embodiment adopted has designed rotatable door 9 and door 9 canceling release mechanical system, makes door 9 not remove along with air park 2, and door 9 opens when air park 2 shifts out, self-closing when air park 2 gets back to casing 1 in, can not hinder unmanned aerial vehicle's berth (if door 9 removes along with air park 2, then during the unmanned aerial vehicle berth, can receive the influence of the door 9 of standing in air park 2 border department), and simple structure, convenient to use.

Example five:

the embodiment provides a wireless charging control system based on an unmanned aerial vehicle airport, which is suitable for the wireless charging control method based on the unmanned aerial vehicle airport described in the first embodiment, the second embodiment, the third embodiment or the fourth embodiment, as shown in fig. 2, the wireless charging control system comprises an unmanned aerial vehicle airport, an unmanned aerial vehicle and a remote server, wherein the unmanned aerial vehicle airport and the unmanned aerial vehicle are respectively communicated with the remote server;

the unmanned aerial vehicle airport inquires the parking states of a plurality of parking aprons according to the landing request instruction of the unmanned aerial vehicle, and pushes the parking aprons in the non-parking state out of the cabin for the unmanned aerial vehicle to park;

after the unmanned aerial vehicle stops, the unmanned aerial vehicle airport carries out charging pairing, and the unmanned aerial vehicle is wirelessly charged after charging pairing;

the unmanned aerial vehicle airport stops wirelessly charging unmanned aerial vehicle according to unmanned aerial vehicle's full power instruction.

The wireless charging control system of the present embodiment is similar to that of the first embodiment, and details are not repeated herein, see the description of the first embodiment.

Those of ordinary skill in the art will appreciate that the elements or steps of the various examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the various examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly 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 steps and units is only one logical function division, and there may be other division ways in actual implementation, for example, multiple steps may be combined into one step, one step may be split into multiple steps, 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.