Aircraft Charging Method, Device, Electronic Equipment and Storage Medium

Abstract

The present invention discloses a method, device, electronic device and storage medium for charging an aircraft. The method for charging the aircraft includes: generating a set of tasks to be executed and a set of charging tasks for each charging station, where the set of tasks to be executed contains tasks to be executed for multiple aircrafts; for the tasks to be executed for each aircraft, comparing the tasks to be executed for the aircraft with the sets of charging tasks of each charging station in sequence, so as to add the tasks to be executed for the aircraft to the set of charging tasks of a target charging station; determining the landing trajectory of the aircraft according to the position of the aircraft and the position of the target charging station, so that the aircraft lands at the target charging station according to the landing trajectory for charging. The above technical solution determines a suitable target charging station to charge the aircraft by comparing the tasks to be executed for the aircraft with the sets of charging tasks of each charging station, thereby improving the charging efficiency of the clustered aircrafts.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of aircraft, and in particular, to an aircraft charging method, device, electronic device, and storage medium. Background Art

[0002] With the development of technology and the progress of techniques, a single aircraft can no longer meet the application requirements in some scenarios. Cluster aircraft precisely achieve higher operation goals through the collaborative work of multiple aircraft. However, the endurance problem of cluster aircraft in a multi-task state is becoming increasingly prominent.

[0003] In the prior art, the charging method for cluster aircraft can be achieved by equipping charging stations. When an aircraft has a charging requirement, it can fly to the nearest charging station for charging.

[0004] However, in the prior art, the charging requests for cluster aircraft cannot reasonably arrange which aircraft should charge and continue the flight first, resulting in a too long waiting time for aircraft to charge, low charging efficiency of the aircraft, and insufficient support for the entire cluster to complete flight tasks. Therefore, how to improve the charging efficiency of cluster aircraft is a technical problem that needs to be solved urgently at present. Summary of the Invention

[0005] The present invention provides an aircraft charging method, device, electronic device, and storage medium to solve the problem of low charging efficiency of cluster aircraft.

[0006] In a first aspect, an embodiment of the present invention provides an aircraft charging method, including:

[0007] Generating a set of tasks to be executed and a charging task set for each charging station, where the set of tasks to be executed contains tasks to be executed for multiple aircraft;

[0008] For the tasks to be executed of each aircraft, comparing the tasks to be executed of the aircraft with the charging task sets of each charging station in sequence to add the tasks to be executed of the aircraft to the charging task set of a target charging station;

[0009] Determining the landing trajectory of the aircraft according to the position of the aircraft and the position of the target charging station, so that the aircraft lands at the target charging station according to the landing trajectory for charging.

[0010] In a second aspect, an embodiment of the present invention provides an aircraft charging device, including:

[0011] A task set generation module, configured to generate a set of tasks to be executed and a charging task set for each charging station, where the set of tasks to be executed contains tasks to be executed for multiple aircraft;

[0012] A to-be-executed task addition module, configured to compare the to-be-executed task of each aircraft with the charging task sets of each charging station in sequence, so as to add the to-be-executed task of the aircraft to the charging task set of a target charging station;

[0013] A landing trajectory determination module, configured to determine the landing trajectory of the aircraft according to the position of the aircraft and the position of the target charging station, so that the aircraft lands at the target charging station according to the landing trajectory for charging.

[0014] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor, so that the at least one processor can execute the aircraft charging method as described in the first aspect.

[0018] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, it implements the aircraft charging method as described in the first aspect.

[0019] The technical solution of the embodiment of the present invention determines a suitable target charging station to charge the aircraft by comparing the to-be-executed task of the aircraft with the charging task sets of each charging station, reasonably arranges the charging order of each aircraft, and improves the charging efficiency of the cluster aircraft.

[0020] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a flowchart of an aircraft charging method provided in Embodiment 1 of the present invention;

[0023] Figure 2 It is a flowchart of a method for charging an aircraft according to Embodiment 2 of the present invention;

[0024] Figure 3 It is a flowchart of a method for charging an aircraft according to Embodiment 2 of the present invention;

[0025] Figure 4 It is a flowchart of a method for charging an aircraft according to Embodiment 3 of the present invention;

[0026] Figure 5 It is a schematic structural diagram of an aircraft charging device according to Embodiment 4 of the present invention;

[0027] Figure 6 It is a schematic structural diagram of an electronic device for implementing the aircraft charging method of the embodiments of the present invention. Detailed implementation manners

[0028] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described here can be implemented in an order different from those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] It can be understood that before using the technical solutions disclosed in the embodiments of the present invention, the types, scope of use, and usage scenarios of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0031] Embodiment 1

[0032] Figure 1The following is a flowchart of a method for charging an aircraft provided in the first embodiment of the present invention. This embodiment is applicable to the situation of charging an aircraft. This method can be executed by an aircraft charging device, which can be implemented in the form of software and / or hardware and integrated in an electronic device. Further, the electronic device includes, but is not limited to: a computer, a laptop, a smartphone, a server, etc. As Figure 1 shown, the method includes:

[0033] S110. Generate a set of tasks to be executed and a set of charging tasks for each charging station, where the set of tasks to be executed contains tasks to be executed for multiple aircraft.

[0034] Specifically, the set of tasks to be executed can refer to a collection of tasks to be executed for multiple aircraft. The task to be executed can refer to the task that the aircraft needs to perform for charging. The charging station can refer to the station where the aircraft can perform the charging task. The set of charging tasks can refer to the collection of charging tasks that each charging station needs to execute.

[0035] The set of tasks to be executed contains tasks to be executed for multiple aircraft. The specific form of the set of tasks to be executed is not limited. For example, all tasks to be executed can be represented in the form of a list to form the set of tasks to be executed, and each task to be executed is numbered to facilitate subsequent operations on the tasks to be executed. Another example is that the set of tasks to be executed can be represented in the form of an array, and each element in the array corresponds to the task to be executed for one aircraft.

[0036] The generation method of the set of tasks to be executed is not limited here, as long as it can represent that multiple aircraft need to perform charging tasks. For example, when an aircraft needs to perform a charging task, it requests to join the set of tasks to be executed from the electronic device, and the electronic device responds to the request and adds the task to be executed to the set of tasks to be executed. Another example is that a battery life detection device is set on the aircraft, and the battery life detection device reports the detection results to the electronic device at regular time intervals. After receiving the detection results, the electronic device determines whether the battery life of the aircraft is lower than the set time. If the battery life is lower than the set time, it indicates that the aircraft needs to perform a charging task, and then the electronic device adds the task to be executed to the set of tasks to be executed, where the set time can be the time for the aircraft to fly to the charging station.

[0037] In one embodiment, all tasks to be executed can be used to represent the set of tasks to be executed in the form of a list. When the aircraft needs to execute a charging task, it requests to join the set of tasks to be executed from the electronic device. The electronic device responds to the request, adds the task to be executed to the list, and numbers each task to be executed therein. Among them, the order of numbering each task to be executed can be determined by judging the priority of each task to be executed. The task to be executed with a higher priority has a smaller number, and the number of the task to be executed with a lower priority increases sequentially as the priority decreases. The subsequent processing order of the tasks to be executed can be determined according to the priority, and the task to be executed with a higher priority is executed first.

[0038] The specific form of the charging task set is not limited. For example, the charging tasks that each charging station needs to execute can be used to represent the charging task set in the form of a list, and each charging task therein is numbered to facilitate subsequent operations on the charging tasks; or for another example, the charging task set can be represented in the form of an array, and each element in the array corresponds to the charging task of an aircraft respectively.

[0039] The generation method of the charging task set is not limited here, as long as it can represent that there are multiple aircraft at the charging station that need to execute charging tasks. For example, the electronic device can add one or more tasks to be executed in the set of tasks to be executed to the charging task set. Among them, the tasks to be executed can be added to the charging task set according to the priority and arranged in order. When the charging station processes the tasks to be executed in the charging task set, it can charge each aircraft according to the arrangement order of the tasks to be executed, and the task to be executed with a higher priority is arranged in the front and executed first.

[0040] S120. For the tasks to be executed of each aircraft, compare the tasks to be executed of the aircraft with the charging task sets of each charging station in turn, so as to add the tasks to be executed of the aircraft to the charging task set of a target charging station.

[0041] Among them, the target charging station can refer to the charging station where the aircraft finally executes the charging task.

[0042] Compare the tasks to be executed by the aircraft with the charging task sets of each charging station in sequence. It can be understood that by comparing the tasks to be executed by the aircraft with the charging task sets of each charging station, it is determined whether the tasks to be executed by the aircraft can be added to the charging task sets of each charging station. When the tasks to be executed by the aircraft cannot be added to the charging task set of the currently compared charging station, continue to compare the tasks to be executed by the aircraft with the charging task set of the next charging station. The situation where the tasks to be executed by the aircraft cannot be added to the charging task set of the currently compared charging station may mean that there is no position in the current charging task set where the tasks to be executed by the aircraft can be added, the charging tasks in the current charging task set are full, or there is a conflict between the charging tasks in the current charging task set and the tasks to be executed by the aircraft (in terms of flight route or charging time, etc.).

[0043] The method of comparing the tasks to be executed by the aircraft with the charging task sets of each charging station in sequence is not limited here, as long as it can be determined whether the tasks to be executed by the aircraft can be added to the charging task sets of each charging station. For example, the comparison can be made using the strategy of the greedy algorithm. Among them, the greedy algorithm may refer to always making the best choice at present when solving a problem. That is to say, without considering the overall optimality, the algorithm obtains a locally optimal solution in a certain sense.

[0044] By comparing the tasks to be executed by the aircraft with the charging task sets of each charging station in sequence, when the tasks to be executed by the aircraft can be added to the charging task set of a charging station, it indicates that the aircraft can perform a charging task at this charging station, and this charging station is the target charging station.

[0045] In one embodiment, the tasks to be executed by the aircraft are compared with the charging task sets of each charging station using the strategy of the greedy algorithm. The implementation method of the greedy algorithm is as follows: Set the charging task set of each charging station as the initial vector set, calculate and obtain the optimal solution from the task set to be executed and add it to the initial vector set. Determine whether the optimal calculation data formed by the newly added task to be executed and the initial vector set can be realized. If a conflict occurs, it cannot be realized, and the task to be executed is thrown back into the task set to be executed, and then calculate again according to the queue principle; if there is no conflict, merge the task to be executed with the initial vector set to form a new initial vector set, and then continue to loop until there are no tasks to be executed in the task set to be executed. Among them, calculating and obtaining the optimal solution from the task set to be executed may mean selecting the task to be executed that needs to perform the charging task first in the task set to be executed. The selection method can be to arrange the tasks to be executed in the order of priority, and select the task to be executed with a higher priority to be executed first.

[0046] S130. Determine the landing trajectory of the aircraft based on the position of the aircraft and the position of the target charging station, so that the aircraft lands at the target charging station according to the landing trajectory for charging.

[0047] Specifically, the position of the aircraft may refer to the location of the aircraft in space. The position of the target charging station may refer to the location of the target charging station in space. The landing trajectory of the aircraft may refer to the curve or path that the aircraft needs to move from the current position to the position of the target charging station.

[0048] The method for obtaining the position of the aircraft is not limited here, as long as the position of the aircraft can be obtained. For example, the height of the aircraft relative to the ground can be measured by an ultrasonic sensor, the coordinates of the horizontal position can be determined by the Global Positioning System (GPS), and then the height of the aircraft relative to the ground and the coordinates of the horizontal position are saved to an electronic device to obtain the position of the aircraft. Another example is to measure the height of the aircraft relative to the ground by a barometer, determine the coordinates of the horizontal position by GPS, and the position of the aircraft can be obtained by combining the height of the aircraft relative to the ground and the coordinates of the horizontal position.

[0049] The method for obtaining the position of the target charging station is not limited here, as long as the position of the target charging station can be obtained. For example, different positioning devices can be set at each charging station in advance, and the different positioning devices are used to distinguish different charging stations. The positioning device sends the position information of the charging station to the electronic device at a certain time interval. When the target charging station is determined, the electronic device obtains the position of the target charging station according to the position information sent by the positioning device corresponding to the target charging station.

[0050] The method for determining the landing trajectory of the aircraft is not limited here, as long as the aircraft can reach the target charging station. For example, it can be determined by judging the position of the aircraft relative to the target charging station based on the position of the aircraft and the position of the target charging station, so as to obtain the landing trajectory of the aircraft.

[0051] Determining the landing trajectory of the aircraft based on the position of the aircraft and the position of the target charging station, so that the aircraft lands at the target charging station according to the landing trajectory for charging, can be understood as determining the curve or path that the aircraft needs to move from the current position to the target charging station based on the position of the aircraft and the position of the target charging station. The aircraft can reach the target charging station for charging through the determined landing trajectory.

[0052] In the technical solution of the embodiment of the present invention, by comparing the tasks to be executed by the aircraft with the charging task sets of each charging station, a suitable target charging station is determined to charge the aircraft, and each charging station plans different charging tasks through the charging task set, so that the charging order of each aircraft and the arrangement of the target charging station are reasonable, and the charging efficiency of the clustered aircraft is improved.

[0053] Further, the aircraft charging method further includes:

[0054] When it is detected that the aircraft is charging at the target charging station, the task to be executed by the aircraft is removed from the charging task set of the target charging station.

[0055] Among them, the method of detecting that the aircraft is charging at the target charging station is not limited here, as long as it can indicate that the aircraft is charging at the target charging station. For example, a pressure sensor can be set at the target charging station. When the aircraft is charging at the target charging station, the pressure sensor can detect that the aircraft is charging and report the detection result to the electronic device. Another example is that a charging detection device can be set on the aircraft. When the aircraft is charging at the target charging station, the charging detection device can judge the charging state of the aircraft and report the result to the electronic device.

[0056] The method of removing the task to be executed by the aircraft from the charging task set of the target charging station is not limited here, as long as the task to be executed by the aircraft can be removed from the charging task set of the target charging station. For example, all the tasks to be executed that need to be executed by the target charging station are represented in the form of a list as the charging task set, and each task to be executed is numbered. When the aircraft is charging at the target charging station, the electronic device deletes the task to be executed corresponding to the aircraft in the list and adaptively modifies the numbers of other tasks to be executed.

[0057] When it is detected that the aircraft is charging at the target charging station, it indicates that the task to be executed by the aircraft is executed at the target charging station, and the charging task set of the target charging station is the task to be executed that has not been executed at the target charging station. Therefore, removing the task to be executed by the aircraft from the charging task set of the target charging station is beneficial for other aircraft with unexecuted charging tasks to join the charging task set of the target charging station later, will not cause waste of charging resources, and effectively saves the waiting time for the aircraft to charge.

[0058] Embodiment 2

[0059] Figure 2The flowchart of a method for charging an aircraft provided in the second embodiment of the present invention. This embodiment is a further refinement of comparing the to-be-executed tasks of the aircraft with the charging task sets of each charging station in turn to add the to-be-executed tasks of the aircraft to the charging task set of a target charging station based on the first embodiment above. For example, Figure 2 as shown, the method includes:

[0060] S110. Generate a to-be-executed task set and a charging task set for each charging station. The to-be-executed task set contains to-be-executed tasks for multiple aircraft.

[0061] S121. Traverse the charging task sets of each charging station. If the to-be-executed task of the aircraft does not conflict with the charging task set of the currently traversed charging station, the currently traversed charging station is the target charging station, and add the to-be-executed task of the aircraft to the charging task set of the target charging station; otherwise, continue to traverse the charging task set of the next charging station.

[0062] Specifically, traversal may refer to visiting each node in a tree (or graph) along a certain search route in turn. The operations performed on the visited nodes depend on the specific application problem. The specific visit operations may be to check the value of the node, update the value of the node, etc. Conflict may mean that the number of to-be-executed tasks in the charging task set has reached the upper limit and new to-be-executed tasks cannot be added. Correspondingly, non-conflict may mean that the to-be-executed task of the aircraft can coexist with the charging tasks in the current charging task set, that is, after adding the to-be-executed task of the aircraft to the current charging task set, the tasks in the charging task set can be executed in a certain order, and when different aircraft land at this charging station for charging, there will be no conflicts in flight routes or charging times, etc., resulting in the inability to complete the charging task.

[0063] The manner of traversing the charging task sets of each charging station is not limited here, as long as it can determine whether a new to-be-executed task can be added to the charging task set. For example, the to-be-executed tasks in the charging task set of the charging station can be represented in the form of a circular queue through C language, and traversal operations are performed on the charging task sets of each charging station.

[0064] In one embodiment, the tasks to be executed in the charging task set of the charging station are represented in the form of a circular queue through the C language, and the charging task sets of each charging station are traversed. First, the queue structure elements are established, memory space is allocated for the newly created queue, and then the head and tail pointers are set to zero. When enqueuing, the head pointer of the circular queue remains unchanged, and the tail pointer is offset backward. Traversal is a dequeue operation. The data at the position of the head pointer is taken out, and then the head pointer is offset to the position of the taken data. If the head pointer is equal to the tail pointer, the traversal is completed and the circular queue is empty. When the traversal is completed, all the tasks to be executed in the circular queue are obtained, and it is judged whether the tasks to be executed in the charging task set are full through the traversal result.

[0065] Traverse the charging task sets of each charging station. If the task to be executed by the aircraft does not conflict with the charging task set of the currently traversed charging station, it indicates that a new task to be executed can be added to the charging task set of the current charging station. Then, add the task to be executed by the aircraft to the currently traversed charging station and regard the currently traversed charging station as the target charging station. Otherwise, a new task to be executed cannot be added to the charging task set of the current charging station, and continue to traverse the charging task set of the next charging station. By traversing the charging task sets of each charging station, a suitable target charging station can be found for the task to be executed, and waste of charging resources can be avoided.

[0066] Optionally, adding the task to be executed by the aircraft to the charging task set of the target charging station includes:

[0067] Insert the task to be executed by the aircraft into the corresponding position in the charging task set of the target charging station according to the priority of the task to be executed by the aircraft and the priority of the charging tasks in the charging task set of the target charging station.

[0068] Among them, the target charging station for the to-be-executed task of each aircraft can be determined one by one according to the order in the to-be-executed task set or the number of the to-be-executed task of the aircraft, etc., and the to-be-executed task of the aircraft is added to the charging task set of the target charging station. When adding to the charging task set of the target charging station, it can be sorted according to the priority of the to-be-executed task of the aircraft and the priorities of the existing charging tasks in the charging task set, so as to insert the to-be-executed task of the aircraft into the appropriate position, so that the target charging station can execute each charging task in its charging task set in descending order of priority. Or, the to-be-executed task that needs to be executed first can also be selected according to the priorities of the to-be-executed tasks, and the to-be-executed task with a higher priority is executed first. After the to-be-executed task of the aircraft is selected through the priority, it is then inserted into the charging task set according to the priority of the charging tasks in the charging task set of the target charging station. In the charging task set of the target charging station, the charging tasks are arranged in the order of priority, and the charging tasks with higher priorities are arranged in the front and executed first. When the to-be-executed task is inserted into the charging task set, following the rule that the charging tasks in the charging task set are arranged in the order of priority and inserted into the corresponding position in the charging task set of the target charging station is beneficial to reasonably arranging the execution order of the charging tasks in the charging task set.

[0069] In this embodiment, the setting method of the priority of the to-be-executed task of the aircraft and the priority of the charging tasks in the charging task set is not limited. For example, the priority can be determined according to factors such as the use of each aircraft, the remaining power, and the urgency of the to-be-executed task of the aircraft.

[0070] S122. If the to-be-executed task conflicts with the charging task sets of all charging stations, discard the to-be-executed task of the aircraft.

[0071] That the to-be-executed task conflicts with the charging task sets of all charging stations can be understood as that the number of to-be-executed tasks in the charging task sets of all charging stations has reached the upper limit, and the to-be-executed task cannot be added to the charging task sets of all charging stations.

[0072] Discarding the to-be-executed task of the aircraft can be understood as that the to-be-executed task of the aircraft cannot be executed, and the charging task of the aircraft is abandoned, so as to avoid continuing to traverse the to-be-executed task of the aircraft and causing unnecessary resource waste, and saving the waiting time for the to-be-executed tasks of other aircraft.

[0073] S130. Determine the landing trajectory of the aircraft according to the position of the aircraft and the position of the target charging station, so that the aircraft lands at the target charging station according to the landing trajectory for charging.

[0074] In one embodiment, a method for charging an aircraft is provided. As Figure 3The following is a flowchart of a method for charging an aircraft. This method is described by taking the case where, after selecting the to-be-executed tasks of the aircraft according to the priority, the to-be-executed tasks are inserted into the charging task set. The method includes:

[0075] S210. Obtain the to-be-executed task with the highest priority from the to-be-executed task set.

[0076] S220. Traverse the charging task sets of each charging station, and determine whether the to-be-executed task with the highest priority conflicts with the charging task set of the currently traversed charging station. If so, execute step S230 and then step S240; if not, execute step S240.

[0077] S230. Traverse the charging task set of the next charging station until the to-be-executed task with the highest priority does not conflict with the charging task set.

[0078] S240. The currently traversed charging station is the target charging station, and update the charging task set of the target charging station.

[0079] S250. Determine whether the to-be-executed task with the highest priority is in the charging task set of the target charging station. If so, execute step S260; if not, return to step S240.

[0080] S260. Output the charging task set of the target charging station and the to-be-executed task with the highest priority.

[0081] The technical solution of the embodiment of the present invention can reasonably arrange the to-be-executed tasks of the aircraft and improve the charging efficiency of the clustered aircraft by traversing the charging task sets of each charging station, determining whether the to-be-executed tasks of the aircraft conflict with the charging task sets of the currently traversed charging stations, and thus determining the target charging stations for the to-be-executed tasks or discarding the to-be-executed tasks.

[0082] Embodiment III

[0083] Figure 4 The following is a flowchart of a method for charging an aircraft provided by Embodiment III of the present invention. This embodiment further refines the determination of the landing trajectory of the aircraft according to the position of the aircraft and the position of the target charging station on the basis of Embodiment I above. As Figure 4 shown, the method includes:

[0084] S110. Generate a to-be-executed task set and the charging task sets of each charging station. The to-be-executed task set contains the to-be-executed tasks for multiple aircraft.

[0085] S120. For the tasks to be executed by each aircraft, compare the tasks to be executed by the aircraft with the charging task sets of each charging station in sequence, so as to add the tasks to be executed by the aircraft to the charging task set of a target charging station.

[0086] S131. According to the set frequency, determine the trajectory vector of the aircraft in the current time period based on the coordinates of the aircraft at the current flight position and the position coordinates of the target charging station.

[0087] Among them, the landing trajectory of the aircraft consists of multiple trajectory vectors. The trajectory vector can refer to a vector representing the length and direction of a trajectory segment, and the length of the segment can represent the magnitude of the vector.

[0088] The set frequency can refer to the frequency set according to actual needs. According to the set frequency, determine the trajectory vector of the aircraft in the current time period based on the coordinates of the aircraft at the current flight position and the position coordinates of the target charging station. Among them, the trajectory vector in the current time period can be understood as the trajectory vector of the aircraft from the current calculation according to the set frequency to the next calculation. By continuously calculating the trajectory vector of the aircraft according to the set frequency, the aircraft can move to the target charging station more accurately.

[0089] In one embodiment, the landing trajectory of the aircraft can be divided into multiple trajectory vectors. The set frequency is to calculate the trajectory vector once per second. Then, determine the trajectory vector once per second according to the coordinates of the aircraft at the current flight position and the position coordinates of the target charging station. Determine the multiple trajectory vectors in sequence according to the set frequency, and the aircraft moves according to the determined multiple trajectory vectors. Finally, the multiple trajectories are combined to obtain the landing trajectory of the aircraft.

[0090] Further, determining the trajectory vector of the aircraft in the current time period based on the coordinates of the aircraft at the current flight position and the position coordinates of the target charging station includes:

[0091] Calculate the included angle and azimuth angle between the aircraft at the current flight position and the target charging station based on the coordinates of the aircraft at the current flight position and the position coordinates of the target charging station;

[0092] Determine the trajectory vector of the aircraft in the current time period according to the included angle and azimuth angle. Among them, the trajectory vector includes a horizontal component, a vertical component, and a vertical component.

[0093] Specifically, the coordinates of the aircraft at the current flight position and the position coordinates of the target charging station can be determined through a Cartesian coordinate system. Among them, the Cartesian coordinate system can refer to a coordinate system composed of three non-coplanar number axes intersecting at the origin. The three number axes are perpendicular to each other, both with O as the origin and generally having the same length unit. These three number axes are the x-axis (horizontal axis), y-axis (vertical axis), and z-axis (vertical axis), collectively referred to as the coordinate axes.

[0094] The coordinates of the aircraft at the current flight position can be expressed as F(x1, y1, z1), where x1, y1, and z1 are respectively the lateral component, longitudinal component, and vertical component of the coordinates of the aircraft at the current flight position. The position coordinates of the target charging station can be expressed as C(x2, y2, z2), where x2, y2, and z2 are respectively the lateral component, longitudinal component, and vertical component of the position coordinates of the target charging station.

[0095] The angle between the aircraft at the current flight position and the target charging station can refer to the angle between F(x1, y1, z1) and C(x2, y2, z2) in the Cartesian coordinate system. The calculation method of this angle is not limited, for example, it can be calculated through an open-source algorithm.

[0096] The calculation method of the azimuth angle between the aircraft at the current flight position and the target charging station is not limited. For example, the coordinates F(x1, y1, z1) of the aircraft at the current flight position and the position coordinates C(x2, y2, z2) of the target charging station can be converted into latitude and longitude coordinates, and then the azimuth angle can be calculated based on the two latitude and longitude coordinates.

[0097] Determine the trajectory vector of the aircraft in the current time period according to the angle and azimuth angle. Among them, the trajectory vector includes a lateral component, a longitudinal component, and a vertical component. By calculating the trajectory vector in the current time period, the accurate motion trajectory of the aircraft in three-dimensional space in the current time period can be obtained.

[0098] Furthermore, determining the trajectory vector of the aircraft in the current time period according to the angle and azimuth angle includes:

[0099] Determine the radius corresponding to the landing trajectory according to the angle;

[0100] Determine the lateral component of the trajectory vector according to the abscissa of the aircraft, the abscissa of the target charging station, and the azimuth angle;

[0101] Determine the longitudinal component of the trajectory vector according to the lateral component and the circular trajectory equation, where the circular trajectory equation is established based on the center and radius of the landing trajectory;

[0102] Determine the vertical component of the trajectory vector according to the speed of the aircraft.

[0103] Specifically, the landing trajectory can refer to an arc determined by the center and radius. The calculation formula for the radius corresponding to the landing trajectory is:

[0104] r = cos angle * |y2|

[0105] Among them, r is the radius corresponding to the landing trajectory, and angle is the included angle between the aircraft at the current flight position and the target charging station.

[0106] The calculation formula for determining the lateral component of the trajectory vector is:

[0107] x = cos e|x2 - x1|

[0108] Among them, x is the lateral component of the trajectory vector, e is the azimuth angle between the aircraft at the current flight position and the target charging station. Based on the abscissa x1 of the aircraft, the abscissa x2 of the target charging station, and the azimuth angle e, the lateral component x of the trajectory vector can be determined.

[0109] The circular trajectory equation is established based on the center and radius of the landing trajectory, and the circular trajectory equation can be expressed as:

[0110] (x - a) 2 +(y - b) 2 = r 2

[0111] Among them, the center of the circular trajectory equation is a = x2, b = y2 - r. Based on the lateral component x of the trajectory vector and the circular trajectory equation, the longitudinal component y of the trajectory vector is determined.

[0112] According to the speed of the aircraft, the vertical component z of the trajectory vector is determined. The calculation formula for the vertical component z of the trajectory vector is:

[0113] z = z2 - vt

[0114] Among them, v is the speed of the aircraft, and t is the movement time of the aircraft.

[0115] Based on the lateral component x of the trajectory vector, the longitudinal component y of the trajectory vector, and the vertical component z of the trajectory vector, the trajectory vector of the aircraft's movement in the current time period can be obtained.

[0116] The technical solution of the embodiment of the present invention, by dividing the landing trajectory of the aircraft into multiple trajectory vectors and calculating the trajectory vector of the aircraft in the current time period at a set frequency, can enable the aircraft to adjust the movement trajectory in a timely manner, reach the target charging station more efficiently, and improve the charging efficiency of the cluster aircraft.

[0117] Embodiment 4

[0118] Figure 5 It is a schematic structural diagram of an aircraft charging device provided in Embodiment 4 of the present invention. This embodiment is applicable to the situation of charging the aircraft. As Figure 5 shown, the specific structure of the device includes:

[0119] The task set generation module 21 is configured to generate a to-be-executed task set and a charging task set for each charging station. The to-be-executed task set contains to-be-executed tasks for multiple aircraft.

[0120] The to-be-executed task addition module 22 is configured to, for the to-be-executed task of each aircraft, sequentially compare the to-be-executed task of the aircraft with the charging task sets of each charging station, so as to add the to-be-executed task of the aircraft to the charging task set of a target charging station.

[0121] The landing trajectory determination module 23 is configured to determine the landing trajectory of the aircraft according to the position of the aircraft and the position of the target charging station, so that the aircraft lands at the target charging station for charging according to the landing trajectory.

[0122] The aircraft charging device provided in this embodiment first generates a to-be-executed task set and a charging task set for each charging station through the task set generation module 21. The to-be-executed task set contains to-be-executed tasks for multiple aircraft. Then, through the to-be-executed task addition module 22, for the to-be-executed task of each aircraft, the to-be-executed task of the aircraft is sequentially compared with the charging task sets of each charging station, so as to add the to-be-executed task of the aircraft to the charging task set of a target charging station. Finally, through the landing trajectory determination module 23, the landing trajectory of the aircraft is determined according to the position of the aircraft and the position of the target charging station, so that the aircraft lands at the target charging station for charging according to the landing trajectory.

[0123] Further, the to-be-executed task addition module 22 is specifically configured to traverse the charging task sets of each charging station. If the to-be-executed task of the aircraft does not conflict with the charging task set of the currently traversed charging station, the currently traversed charging station is the target charging station, and the to-be-executed task of the aircraft is added to the charging task set of the target charging station. Otherwise, continue to traverse the charging task set of the next charging station. If the to-be-executed task conflicts with the charging task sets of all charging stations, the to-be-executed task of the aircraft is discarded.

[0124] Further, the to-be-executed task addition module 22 is specifically configured to insert the to-be-executed task of the aircraft into the corresponding position in the charging task set of the target charging station according to the priority of the to-be-executed task of the aircraft and the priority of the charging tasks in the charging task set of the target charging station.

[0125] Further, the landing trajectory determination module 23 is specifically configured to, according to the set frequency, determine the trajectory vector of the aircraft in the current time period according to the coordinates of the aircraft at the current flight position and the position coordinates of the target charging station. Among them, the landing trajectory of the aircraft is composed of multiple trajectory vectors.

[0126] Further, the landing trajectory determination module 23 is specifically configured to calculate the included angle and azimuth angle between the aircraft at the current flight position and the target charging station according to the coordinates of the aircraft at the current flight position and the position coordinates of the target charging station; determine the trajectory vector of the aircraft during the current period according to the included angle and azimuth angle, where the trajectory vector includes a lateral component, a longitudinal component, and a vertical component.

[0127] Further, the landing trajectory determination module 23 is specifically configured to determine the radius corresponding to the landing trajectory according to the included angle; determine the lateral component of the trajectory vector according to the abscissa of the aircraft, the abscissa of the target charging station, and the azimuth angle; determine the longitudinal component of the trajectory vector according to the lateral component and the circular trajectory equation, where the circular trajectory equation is established based on the center and radius of the landing trajectory; determine the vertical component of the trajectory vector according to the speed of the aircraft.

[0128] Further, the device further includes: a to-be-executed task removal module 24, configured to remove the to-be-executed task of the aircraft from the charging task set of the target charging station when it is detected that the aircraft is charging at the target charging station.

[0129] The aircraft charging device provided by the embodiments of the present invention can execute the aircraft charging method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0130] Embodiment 5

[0131] Figure 6 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0132] As Figure 6As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0133] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0134] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the aircraft charging method.

[0135] In some embodiments, the aircraft charging method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the aircraft charging method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the aircraft charging method by any other appropriate means (e.g., by means of firmware).

[0136] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGA), application specific integrated circuits (ASIC), application specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0137] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, a special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0138] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0139] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0140] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0141] A computing system can include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0142] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0143] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for charging an aircraft, characterized in that, Including: Generating a set of tasks to be executed and a set of charging tasks for each charging station, where the set of tasks to be executed contains tasks to be executed for multiple aircraft; For the tasks to be executed of each aircraft, comparing the tasks to be executed of the aircraft with the sets of charging tasks of each charging station in sequence, so as to add the tasks to be executed of the aircraft to the set of charging tasks of a target charging station; Determining the landing trajectory of the aircraft according to the position of the aircraft and the position of the target charging station, so that the aircraft lands at the target charging station for charging according to the landing trajectory; Wherein, adding the tasks to be executed of the aircraft to the set of charging tasks of the target charging station includes: Inserting the tasks to be executed of the aircraft into the corresponding position in the set of charging tasks of the target charging station according to the priority of the tasks to be executed of the aircraft and the priority of the charging tasks in the set of charging tasks of the target charging station; Wherein, the tasks to be executed of each aircraft are sequentially determined to be added to the target charging station according to the order or number of the tasks to be executed in the set of tasks to be executed, or the tasks to be executed of each aircraft are determined to be added to the target charging station in descending order of priority; when the tasks to be executed of the aircraft are added to the set of charging tasks of the corresponding target charging station, the charging tasks in the set of charging tasks follow the rule of being arranged in descending order of priority.

2. The method according to claim 1, wherein Comparing the tasks to be executed of the aircraft with the sets of charging tasks of each charging station in sequence, so as to add the tasks to be executed of the aircraft to the set of charging tasks of a target charging station, includes: Traversing the sets of charging tasks of each charging station. If the tasks to be executed of the aircraft do not conflict with the set of charging tasks of the currently traversed charging station, the currently traversed charging station is the target charging station, and the tasks to be executed of the aircraft are added to the set of charging tasks of the target charging station; otherwise, continue to traverse the set of charging tasks of the next charging station; If the tasks to be executed conflict with the sets of charging tasks of all the charging stations, discard the tasks to be executed of the aircraft.

3. The method according to claim 1, characterized in that, The landing trajectory of the aircraft consists of multiple trajectory vectors; Determining the landing trajectory of the aircraft according to the position of the aircraft and the position of the target charging station includes: According to a set frequency, determining the trajectory vector of the aircraft in the current time period according to the coordinates of the aircraft at the current flight position and the position coordinates of the target charging station.

4. The method according to claim 3, characterized in that, Determining the trajectory vector of the aircraft in the current time period according to the coordinates of the aircraft at the current flight position and the position coordinates of the target charging station includes: Calculating the included angle and azimuth angle between the aircraft at the current flight position and the target charging station according to the coordinates of the aircraft at the current flight position and the position coordinates of the target charging station; Determining the trajectory vector of the aircraft in the current time period according to the included angle and azimuth angle, wherein the trajectory vector includes a horizontal component, a vertical component and a vertical component.

5. The method according to claim 4, wherein Determining the trajectory vector of the aircraft during the current period according to the included angle and the azimuth angle includes: Determining the radius corresponding to the landing trajectory according to the included angle; Determining the horizontal component of the trajectory vector according to the abscissa of the aircraft, the abscissa of the target charging station, and the azimuth angle; Determining the vertical component of the trajectory vector according to the horizontal component and the circular trajectory equation, where the circular trajectory equation is established based on the center of the landing trajectory and the radius; Determining the vertical component of the trajectory vector according to the speed of the aircraft.

6. The method according to claim 1, characterized in that, It further includes: When it is detected that the aircraft is charging at the target charging station, removing the pending task of the aircraft from the charging task set of the target charging station.

7. An aircraft charging device, characterized in that, It includes: A task set generation module for generating a pending task set and a charging task set for each charging station, where the pending task set contains pending tasks for multiple aircraft; A pending task addition module for, for the pending task of each aircraft, comparing the pending task of the aircraft with the charging task sets of each charging station in sequence to add the pending task of the aircraft to the charging task set of a target charging station; A landing trajectory determination module for determining the landing trajectory of the aircraft according to the position of the aircraft and the position of the target charging station, so that the aircraft lands at the target charging station for charging according to the landing trajectory; Among them, the pending task addition module is specifically used to insert the pending task of the aircraft into the corresponding position in the charging task set of the target charging station according to the priority of the pending task of the aircraft and the priority of the charging tasks in the charging task set of the target charging station; Among them, the pending tasks of each aircraft are sequentially determined to be added to the target charging station according to the order or number of the pending tasks in the pending task set, or the pending tasks of each aircraft are determined to be added to the target charging station in descending order of priority; when the pending task of the aircraft is added to the charging task set of the corresponding target charging station, it follows the rule that the charging tasks in the charging task set are arranged in descending order of priority.

8. An electronic device, characterized in that, It includes: At least one processor; And A memory communicatively connected to the at least one processor; where The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the aircraft charging method as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the aircraft charging method as described in any one of claims 1-6.

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