UAV charging control system and method

Abstract

The present invention provides a UAV charging control system and method, including: a charging station, configured with multiple charging positions, waiting positions and rechargeable docking devices; multiple UAVs, in the process of performing cruise missions, output charging requests when the remaining power is less than a first power when monitoring; the charging station, when judging that there is an idle charging position according to the charging request, controls the UAV to return to the corresponding charging position for charging, and when there is no corresponding charging position but there is an idle rechargeable docking device, controls the UAV to return to the docking destination after a duration, and dispatches the rechargeable docking device to move to the docking destination, and when there is no corresponding rechargeable docking device, controls the UAV to continue to perform the cruise mission until the remaining power is less than the second power and returns to the waiting position to wait for charging. The beneficial effect is that the charging station can automatically respond to the charging request sent by the UAV and give a corresponding charging strategy without manual intervention; and can dock the UAV.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to a unmanned aerial vehicle charging control system and method. Background Art

[0002] With the development of science and technology, drone technology is becoming more and more mature, and the control of drones is becoming more and more stable. Related applications in military, disaster relief, and civilian use have made great progress.

[0003] However, a major bottleneck of this technology is the low endurance of drones. Drones are basically powered by batteries, and the power they can carry is limited, making it difficult for them to work for a long time. In addition, during peak periods of hidden dangers or when encountering emergencies, drones need to work regularly or continuously, and someone needs to supervise them to ensure that they are recycled and charged during the work process. This not only affects work efficiency, but also makes charging inconvenient when working outside, affecting the effective execution of tasks. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a UAV charging control system, comprising:

[0005] A charging station is arranged at a peripheral position of a cruising area, wherein the charging station is provided with a plurality of charging positions and a plurality of waiting positions, and the charging station is also provided with a plurality of rechargeable docking devices;

[0006] A plurality of drones, each of the drones comprising:

[0007] a monitoring module, configured to monitor the remaining power of the drone in real time when the drone performs a cruise mission in the cruise area, and to obtain and output a charging request including the current position of the drone and the remaining power when the remaining power is less than a first power;

[0008] The charging station comprises:

[0009] A first judgment module, configured to mark the corresponding charging position as waiting for charging when it is determined that there is an idle charging position according to the charging request, and send a first charging signal to the drone, and generate a dispatch signal when it is determined that there is no corresponding charging position;

[0010] a data processing module connected to the first judgment module, and configured to determine, based on the dispatch signal, that there is an idle rechargeable docking device, obtain a docking destination according to the current position of the drone and the current power of the rechargeable docking device, send a second charging signal containing the docking destination to the drone, dispatch the rechargeable docking device to move to the docking destination, and send a waiting signal to the drone when there is no corresponding rechargeable docking device;

[0011] The drone also includes:

[0012] A first control module, configured to interrupt the execution of the cruise task according to the first charging signal, and then return to the corresponding charging position for charging;

[0013] A second control module is used to obtain a duration according to the docking destination and the remaining power of the second charging signal, and interrupt the execution of the cruise task after the duration, and then return to the docking destination so that the rechargeable docking device can be loaded to the charging station for charging;

[0014] The third control module is used to continue to execute the cruise task according to the waiting signal until the remaining power is less than a second power, forcibly interrupt the execution of the cruise task, and then return to the waiting position to wait for charging.

[0015] Preferably, each of the charging positions has multiple categories, and each category corresponds to the drone adapted to at least one machine model; the charging request also includes the machine model of the drone;

[0016] Then the first judgment module includes:

[0017] A first extraction unit, configured to extract the matching charging positions according to the machine model in the charging request, further obtain the working status of the extracted charging positions, and extract the idle charging positions according to the working status;

[0018] A second extraction unit, connected to the first extraction unit, is used to extract a first number of the idle charging positions by counting:

[0019] generating the dispatch signal when the first number is zero;

[0020] When the first number is one, marking the corresponding charging position as the waiting charging state, and sending the first charging signal to the drone;

[0021] When the first number is greater than one, the idle time of each idle charging position is counted, and the charging position corresponding to the shortest idle time is marked as the waiting charging state, and then the first charging signal is sent to the drone.

[0022] Preferably, each of the rechargeable docking devices has a plurality of categories, and each of the categories corresponds to the drone adapted to at least one machine model;

[0023] Then the data processing module includes:

[0024] A third extraction unit, configured to extract, from the idle rechargeable docking devices, the rechargeable docking devices that are compatible with the machine model in the charging request according to the dispatch signal;

[0025] A fourth extraction unit, connected to the third extraction unit, is used to count the second number of the extracted rechargeable docking devices:

[0026] sending the waiting signal to the drone when the second number is less than one;

[0027] When the second number is not less than one, the current power of each idle rechargeable docking device is counted, the docking destination is obtained according to the current position of the drone and the maximum current power, and the second charging signal including the docking destination is sent to the drone, and the rechargeable docking device corresponding to the maximum current power is dispatched to move to the docking destination.

[0028] Preferably, the rechargeable docking device is provided with a landing platform, and the landing platform is provided with a wireless charging transmitter. After the drone lands on the landing platform, a wireless charging receiver corresponding to the bottom of the drone and the wireless charging transmitter realize wireless charging during the loading process.

[0029] Then the fourth extraction unit includes:

[0030] A first processing subunit, configured to obtain a device location of the rechargeable docking device, and generate an initialization path according to the device location and the current location;

[0031] The second processing sub-unit is connected to the first processing sub-unit, and is used to obtain a movable distance according to the pre-acquired average power consumption per kilometer of the rechargeable docking device, the pre-reserved charging power and the current power, and to obtain the docking destination by marking the movable distance on the initialization path with the device location as the starting point.

[0032] Preferably, the second processing subunit obtains the movable distance according to the following formula:

[0033] L=(1-SOC1-SOC2) / P*k

[0034] Wherein, L is used to represent the movable distance, SOC1 is used to represent the current power, SOC2 is used to represent the charging power, P is used to represent the average power consumption per kilometer, and k∈(0,1] is used to represent the loss coefficient.

[0035] Preferably, the second control module includes:

[0036] A first processing unit, configured to obtain an expected flight distance according to the connection destination and the current position of the second charging signal, and obtain a flight power consumption according to the expected flight distance;

[0037] a second processing unit, connected to the first processing unit, configured to obtain a task power consumption according to the remaining power and the flight power consumption, and obtain the duration according to the task power consumption and a pre-configured average power consumption per hour;

[0038] A control unit is connected to the second processing unit and is used to interrupt the execution of the cruising mission after the duration and then return to the docking destination so as to be loaded by the rechargeable docking device to the charging station for charging.

[0039] Preferably, the second electrical quantity is less than the first electrical quantity.

[0040] The present invention also provides a UAV charging control method, which is applied to the above-mentioned UAV charging control system. The UAV charging control method includes:

[0041] Step S1, the drone monitors the remaining power of the drone in real time during the process of performing a cruise mission in the cruise area, and obtains and outputs a charging request including the current position of the drone and the remaining power when the remaining power is less than a first power;

[0042] Step S2: the charging station determines whether there is an idle charging position according to the charging request:

[0043] If yes, the corresponding charging position is marked as waiting for charging, and a first charging signal is sent to the drone, and then the process goes to step S4;

[0044] If not, go to step S3;

[0045] Step S3, the charging station determines whether there is an idle rechargeable docking device:

[0046] If yes, a docking destination is obtained according to the current position of the drone and the current power of the rechargeable docking device, and a second charging signal including the docking destination is sent to the drone, and the rechargeable docking device is dispatched to move to the docking destination, and then the process goes to step S5;

[0047] If not, a waiting signal is sent to the drone, and then the process goes to step S6;

[0048] Step S4, the drone interrupts the cruise mission according to the first charging signal, then returns to the corresponding charging position for charging, and then exits;

[0049] Step S5, the drone obtains a duration according to the docking destination and the remaining power of the second charging signal, and interrupts the cruise mission after the duration, then returns to the docking destination to be loaded by the rechargeable docking device to the charging station for charging, and then exits;

[0050] Step S6, the drone continues to execute the cruise mission according to the waiting signal until the remaining power is less than a second power, forcibly interrupts the execution of the cruise mission, and then returns to the waiting position to wait for charging.

[0051] Preferably, each of the charging positions has multiple categories, and each category corresponds to the drone adapted to at least one machine model; the charging request also includes the machine model of the drone;

[0052] Then the step S2 comprises:

[0053] Step S21, the charging station extracts the matching charging positions according to the machine model in the charging request, further obtains the working status of each extracted charging position, and extracts the idle charging position according to the working status;

[0054] Step S22: The charging station extracts a first number of the idle charging positions by counting, and determines whether the first number is zero:

[0055] If yes, go to step S3;

[0056] If not, go to step S23;

[0057] Step S23, the charging station determines whether the first number is greater than one:

[0058] If not, marking the corresponding charging position as the waiting charging state, and sending the first charging signal to the drone;

[0059] If so, the idle time of each idle charging position is counted, and the charging position corresponding to the shortest idle time is marked as the waiting charging state, and then the first charging signal is sent to the drone.

[0060] Preferably, each of the rechargeable docking devices has a plurality of categories, and each of the categories corresponds to the drone adapted to at least one machine model;

[0061] Then the step S3 comprises:

[0062] Step S31, the charging station extracts each of the rechargeable docking devices that is compatible with the machine model in the charging request from the idle rechargeable docking devices;

[0063] Step S32, the charging station counts the second number of the extracted rechargeable docking devices, and determines whether the second number is less than one:

[0064] If yes, sending the waiting signal to the drone and then exiting;

[0065] If not, the current power of each idle rechargeable docking device is counted, the docking destination is obtained according to the current position of the drone and the maximum current power, and the second charging signal including the docking destination is sent to the drone, and the rechargeable docking device corresponding to the maximum current power is dispatched to move to the docking destination.

[0066] The above technical solution has the following advantages or beneficial effects:

[0067] 1) The drone is equipped with a monitoring module, which can send a charging request to the charging station in time when it detects that its battery is low. The charging station can automatically respond to the charging request sent by the drone and give a corresponding charging strategy without human intervention;

[0068] 2) The charging station is equipped with a rechargeable docking device that can dock the drone to extend the mission execution time of the drone, and can charge the drone during the docking process to avoid the situation where the drone is too low in power and cannot return to the corresponding charging position for charging when it is docked to the charging station. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] Figure 1 This is a structural schematic diagram of a UAV charging control system in a preferred embodiment of the present invention;

[0070] Figure 2 This is a flow chart of a method for controlling charging of a drone in a preferred embodiment of the present invention;

[0071] Figure 3Schematic diagram of a sub-process of step S2 in a preferred embodiment of the present invention;

[0072] Figure 4 This is a schematic diagram of a sub-process of step S3 in a preferred embodiment of the present invention. DETAILED DESCRIPTION

[0073] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments may also fall within the scope of the present invention as long as they conform to the gist of the present invention.

[0074] In a preferred embodiment of the present invention, based on the above problems existing in the prior art, a UAV charging control system is provided. Figure 1 As shown, including:

[0075] A charging station 1 is arranged at a peripheral position of a cruising area, and the charging station 1 is provided with a plurality of charging positions and a plurality of waiting positions, and the charging station 1 is also provided with a plurality of rechargeable docking devices 2;

[0076] A plurality of drones 3, each drone 3 comprising:

[0077] The monitoring module 31 is used to monitor the remaining power of the drone in real time when the drone performs a cruise mission in the cruise area, and obtain and output a charging request including the current position and remaining power of the drone when the remaining power is less than a first power;

[0078] The charging station 1 comprises:

[0079] The first judgment module 11 is used to mark the corresponding charging position as waiting for charging when judging that there is an idle charging position according to the charging request, and send a first charging signal to the drone, and generate a dispatch signal when judging that there is no corresponding charging position;

[0080] The data processing module 12 is connected to the first judgment module 11 and is used to determine that there is an idle rechargeable docking device according to the dispatch signal, obtain a docking destination according to the current position of the drone and the current power of the rechargeable docking device, and send a second charging signal containing the docking destination to the drone, dispatch the rechargeable docking device to move to the docking destination, and send a waiting signal to the drone when there is no corresponding rechargeable docking device;

[0081] Drone 3 also includes:

[0082] A first control module 32, configured to interrupt the execution of the cruise task according to the first charging signal, and then return to the corresponding charging position for charging;

[0083] The second control module 33 is used to obtain a duration according to the docking destination and the remaining power of the second charging signal, and interrupt the cruise task after the duration, and then return to the docking destination to be loaded by the rechargeable docking device to the charging station for charging;

[0084] The third control module 34 is used to continue to execute the cruise task according to the waiting signal until the remaining power is less than a second power, forcibly interrupt the execution of the cruise task, and then return to the waiting position to wait for charging.

[0085] Specifically, in this embodiment, one or more charging stations 1 can be provided as required, and each charging station 1 is configured with multiple charging positions to meet the charging needs of multiple drones 3 at the same time, thereby saving the charging waiting time of the drones 3 .

[0086] Preferably, the remaining power of the drone 3 can be divided into three stages in advance, namely, fully charged to the first power, the first power to the second power, and less than the second power. When fully charged to the first power, the drone 3 performs the cruise mission normally. When the remaining power is less than the first power, the drone 3 starts to output a charging request, and continues to perform the cruise mission normally before receiving the feedback given by the charging station 1 based on the charging request. When the first charging signal given by the charging station 1 is received before the remaining power is less than the second power, it means that the current charging station 1 has an idle charging position and does not need to wait for charging. The drone 3 interrupts the cruise mission and then returns to the corresponding charging position for charging; when the second charging signal given by the charging station 1 is received before the remaining power is less than the second power, it means that the current charging station 1 has no idle charging position, and even if it returns, it needs to wait for charging. At this time, the charging station 1 dispatches the corresponding rechargeable docking device 2 to dock the drone 3, and the drone 3 currently has a surplus of power, and can continue to perform the cruise mission of the duration, and only needs to retain the power that can fly to the docking destination. When a waiting signal is received from the charging station 1 before the remaining power is less than the second power, it means that the current charging station 1 has neither an idle charging position nor an idle rechargeable docking device 2 available for dispatch. The drone 3 can continue to perform the cruise mission until the remaining power is less than the second power, then the cruise mission is forcibly interrupted, and then the drone 3 returns to the waiting position to wait for charging. It can be understood that the above-mentioned second power is the minimum power that can support the drone 3 to return. In order to ensure that the drone 3 can return normally, a forced return is performed when the power is low.

[0087] Preferably, the first power level can be a pre-configured value. Further, the waiting time from when the drone 3 sends a charging request to when the first charging signal is received can be continuously counted within a period of time. The average of the waiting time can be selected, including but not limited to the average value, and then the total power consumption of the average time is obtained according to the average value and the unit power consumption of the same type of drones. The second power level is added to the total power consumption to obtain the first power level, which is configured in the corresponding drone 3. By setting the first power level, the margin of the waiting time from when the drone 3 sends a charging request to when the first charging signal is received is reserved, which improves the response efficiency of the charging station 1, and then improves the charging efficiency of the drone 3.

[0088] In a preferred embodiment of the present invention, each charging position has multiple categories, each category corresponds to a drone adapted to at least one machine model; the charging request also includes the machine model of the drone;

[0089] The first judging module 11 includes:

[0090] A first extraction unit 111 is used to extract the corresponding charging positions according to the machine model in the charging request, and then obtain the working status of each extracted charging position, and extract the idle charging position according to the working status;

[0091] The second extraction unit 112 is connected to the first extraction unit 111 and is used to extract a first number of idle charging positions by counting:

[0092] generating a dispatch signal when the first quantity is zero;

[0093] When the first number is one, marking the corresponding charging position as a waiting charging state, and sending a first charging signal to the drone;

[0094] When the first number is greater than one, the idle time of each idle charging position is counted, and the charging position corresponding to the shortest idle time is marked as waiting for charging state, and then a first charging signal is sent to the drone.

[0095] Specifically, in this embodiment, due to the diversity of existing drones 3 types, different drones 3 have different battery models, and charging parameters are also different. In order to effectively protect the battery and avoid the mismatch of charging positions affecting the battery life, the charging station 1 is configured with charging positions suitable for drones of different machine models.

[0096] In a preferred embodiment of the present invention, each rechargeable docking device 2 has multiple categories, each category corresponding to a drone 3 adapted to at least one machine model;

[0097] The data processing module 12 includes:

[0098] The third extraction unit 121 is used to extract the rechargeable docking devices that are compatible with the machine model in the charging request from the idle rechargeable docking devices according to the dispatch signal;

[0099] The fourth extraction unit 122 is connected to the third extraction unit 121 and is used to count the second number of the extracted rechargeable docking devices:

[0100] sending a waiting signal to the drone when the second number is less than one;

[0101] When the second number is not less than one, the current power of each idle rechargeable docking device is counted, and the docking destination is obtained according to the current position of the drone and the maximum current power, and a second charging signal containing the docking destination is sent to the drone, and the rechargeable docking device corresponding to the maximum current power is dispatched to move to the docking destination.

[0102] Specifically, in this embodiment, the diversity of drone 3 types is also taken into consideration. Different drones 3 have different battery models, and the charging parameters are also different. In order to effectively protect the battery and avoid the mismatch of charging positions affecting the battery life, the charging station 1 is configured with various rechargeable docking devices 2 suitable for different machine models.

[0103] In a preferred embodiment of the present invention, a landing platform is provided on the rechargeable docking device 2, and a wireless charging transmitter 21 is provided on the landing platform. After the drone 3 lands on the landing platform, a wireless charging receiver 35 corresponding to the wireless charging transmitter 21 provided at the bottom thereof realizes wireless charging during the loading process;

[0104] Then the fourth extraction unit 122 includes:

[0105] The first processing sub-unit 1221 is used to obtain the device location of the rechargeable docking device and generate an initialization path according to the device location and the current location;

[0106] The second processing sub-unit 1222 is connected to the first processing sub-unit 1221, and is used to obtain a movable distance based on the pre-acquired average power consumption per kilometer of the rechargeable docking device, the pre-reserved charging power and the current power, and use the device location as the starting point to mark the docking destination on the initialization path according to the movable distance.

[0107] Specifically, in this embodiment, in order to extend the execution time of the cruise mission as much as possible, the duration can be made as long as possible, but this may cause the remaining power of the drone 3 to be unable to support its restart of flight after landing on the landing platform. By configuring a wireless charging transmitter 21 corresponding to the wireless charging receiver 35 of the drone 3 on the rechargeable docking device 2, the rechargeable docking device 2 can be used to charge the drone 3 for a short time during the docking return process, thereby ensuring that after the rechargeable docking device 2 returns to the charging station 1, the drone 3 has enough power to support its own flight to the corresponding idle charging position for charging.

[0108] In a preferred embodiment of the present invention, the second processing subunit 1222 obtains the movable distance according to the following formula:

[0109] L=(1-SOC1-SOC2) / P*k

[0110] Among them, L is used to represent the movable distance, SOC1 is used to represent the current power, SOC2 is used to represent the charging power, P is used to represent the average power consumption per kilometer, and k∈(0,1] is used to represent the loss coefficient.

[0111] Specifically, in this embodiment, the SOC2 is the charging power reserved for the drone 3 and is not used for movement. Therefore, this part of the power needs to be eliminated when calculating the movable distance. In addition, considering different docking terrains, there is a loss between the actual movable distance and the ideal movable distance, which also needs to be considered when calculating. The above loss coefficient can be adaptively configured according to the terrain, temperature and humidity of the cruising area and other environments.

[0112] In a preferred embodiment of the present invention, the second control module 33 includes:

[0113] The first processing unit 331 is used to obtain an expected flight distance according to the connection destination and the current position of the second charging signal, and obtain a flight power consumption according to the expected flight distance;

[0114] The second processing unit 332 is connected to the first processing unit 331 and is used to obtain a task power consumption according to the remaining power and the flight power consumption, and obtain a duration according to the task power consumption and a pre-configured average hourly power consumption;

[0115] The control unit 333 is connected to the second processing unit 332 and is used to interrupt the execution of the cruise mission after the duration, and then return to the docking destination to be loaded by the rechargeable docking device to the charging station for charging.

[0116] In a preferred embodiment of the present invention, the second electrical quantity is smaller than the first electrical quantity.

[0117] The present invention also provides a UAV charging control method, which is applied to the UAV charging control system mentioned above. Figure 2 As shown, the drone charging control method includes:

[0118] Step S1, the drone monitors the remaining power of the drone in real time during the process of performing a cruise mission in the cruise area, and obtains and outputs a charging request including the current position and remaining power of the drone when the remaining power is less than a first power;

[0119] Step S2: The charging station determines whether there is an idle charging position according to the charging request:

[0120] If yes, the corresponding charging position is marked as waiting for charging, and a first charging signal is sent to the drone, and then the process goes to step S4;

[0121] If not, go to step S3;

[0122] Step S3: The charging station determines whether there is an idle rechargeable docking device:

[0123] If yes, a docking destination is obtained according to the current position of the drone and the current power of the rechargeable docking device, and a second charging signal including the docking destination is sent to the drone, and the rechargeable docking device is dispatched to move to the docking destination, and then the process goes to step S5;

[0124] If not, a waiting signal is sent to the drone, and then the process goes to step S6;

[0125] Step S4, the UAV interrupts the cruise mission according to the first charging signal, then returns to the corresponding charging position for charging, and then exits;

[0126] Step S5, the drone obtains a duration according to the docking destination and the remaining power of the second charging signal, and interrupts the cruise mission after the duration, then returns to the docking destination to be loaded to the charging station by the rechargeable docking device for charging, and then exits;

[0127] Step S6, the drone continues to perform the cruise mission according to the waiting signal until the remaining power is less than a second power, forcibly interrupts the cruise mission, and then returns to the waiting position to wait for charging.

[0128] In a preferred embodiment of the present invention, each charging position has multiple categories, each category corresponds to a drone adapted to at least one machine model; the charging request also includes the machine model of the drone;

[0129] like Figure 3 As shown, step S2 includes:

[0130] Step S21, the charging station extracts the corresponding charging positions according to the machine model in the charging request, obtains the working status of each extracted charging position, and extracts the idle charging position according to the working status;

[0131] Step S22: The charging station extracts a first number of idle charging positions by counting, and determines whether the first number is zero:

[0132] If yes, go to step S3;

[0133] If not, go to step S23;

[0134] Step S23, the charging station determines whether the first number is greater than one:

[0135] If not, the corresponding charging position is marked as waiting for charging, and a first charging signal is sent to the drone;

[0136] If so, the idle time of each idle charging position is counted, and the charging position corresponding to the shortest idle time is marked as waiting for charging state, and then a first charging signal is sent to the drone.

[0137] In a preferred embodiment of the present invention, each rechargeable docking device has multiple categories, each category corresponding to a drone adapted to at least one machine model;

[0138] like Figure 4 As shown, step S3 includes:

[0139] Step S31, the charging station extracts each rechargeable docking device that is compatible with the machine model in the charging request from each idle rechargeable docking device;

[0140] Step S32, the charging station counts the second number of the extracted rechargeable docking devices, and determines whether the second number is less than one:

[0141] If so, it sends a waiting signal to the drone and then exits;

[0142] If not, the current power of each idle rechargeable docking device is counted, and the docking destination is obtained according to the current position of the drone and the maximum current power, and a second charging signal containing the docking destination is sent to the drone, and the rechargeable docking device corresponding to the maximum current power is dispatched to move to the docking destination.

[0143] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the contents of this specification and illustrations should be included in the protection scope of the present invention.

Claims

1. A UAV charging control system, characterized in that: include: A charging station is arranged at a peripheral position of a cruising area, wherein the charging station is provided with a plurality of charging positions and a plurality of waiting positions, and the charging station is also provided with a plurality of rechargeable docking devices; A plurality of drones, each of the drones comprising: a monitoring module, configured to monitor the remaining power of the drone in real time when the drone performs a cruise mission in the cruise area, and to obtain and output a charging request including the current position of the drone and the remaining power when the remaining power is less than a first power; The charging station comprises: A first judging module is used for marking the corresponding charging position as waiting for charging when judging that there is an idle charging position according to the charging request, and sending a first charging signal to the drone, and generating a dispatch signal when judging that there is no corresponding charging position; a data processing module connected to the first judgment module, and configured to determine, based on the dispatch signal, that there is an idle rechargeable docking device, obtain a docking destination according to the current position of the drone and the current power of the rechargeable docking device, send a second charging signal containing the docking destination to the drone, dispatch the rechargeable docking device to move to the docking destination, and send a waiting signal to the drone when there is no corresponding rechargeable docking device; The drone also includes: A first control module, configured to interrupt the execution of the cruise task according to the first charging signal, and then return to the corresponding charging position for charging; A second control module is used to obtain a duration according to the docking destination and the remaining power of the second charging signal, and interrupt the execution of the cruise task after the duration, and then return to the docking destination so that the rechargeable docking device can be loaded to the charging station for charging; The third control module is used to continue to execute the cruise task according to the waiting signal until the remaining power is less than a second power, forcibly interrupt the execution of the cruise task, and then return to the waiting position to wait for charging.

2. The UAV charging control system according to claim 1, characterized in that: Each of the charging positions has a plurality of categories, and each category corresponds to the drone adapted to at least one machine model; The charging request also includes the machine model of the drone; Then the first judgment module includes: A first extraction unit, configured to extract the matching charging positions according to the machine model in the charging request, further obtain the working status of the extracted charging positions, and extract the idle charging positions according to the working status; A second extraction unit, connected to the first extraction unit, is used to extract a first number of the idle charging positions by counting: generating the dispatch signal when the first number is zero; When the first number is one, marking the corresponding charging position as the waiting charging state, and sending the first charging signal to the drone; When the first number is greater than one, the idle time of each idle charging position is counted, and the charging position corresponding to the shortest idle time is marked as the waiting charging state, and then the first charging signal is sent to the drone.

3. The UAV charging control system according to claim 2, characterized in that: Each of the rechargeable docking devices has a plurality of categories, and each category corresponds to the drone adapted to at least one machine model; Then the data processing module includes: A third extraction unit, configured to extract, from the idle rechargeable docking devices, the rechargeable docking devices that are compatible with the machine model in the charging request according to the dispatch signal; A fourth extraction unit, connected to the third extraction unit, is used to count the second number of the extracted rechargeable docking devices: sending the waiting signal to the drone when the second number is less than one; When the second number is not less than one, the current power of each idle rechargeable docking device is counted, the docking destination is obtained according to the current position of the drone and the maximum current power, and the second charging signal including the docking destination is sent to the drone, and the rechargeable docking device corresponding to the maximum current power is dispatched to move to the docking destination.

4. The UAV charging control system according to claim 3, characterized in that: The rechargeable docking device is provided with a landing platform, and the landing platform is provided with a wireless charging transmitter. After the drone lands on the landing platform, a wireless charging receiver corresponding to the bottom of the drone and the wireless charging transmitter realize wireless charging during the loading process; Then the fourth extraction unit includes: A first processing subunit, configured to obtain a device location of the rechargeable docking device, and generate an initialization path according to the device location and the current location; The second processing sub-unit is connected to the first processing sub-unit, and is used to obtain a movable distance according to the pre-acquired average power consumption per kilometer of the rechargeable docking device, the pre-reserved charging power and the current power, and to obtain the docking destination by marking the movable distance on the initialization path with the device location as the starting point.

5. The UAV charging control system according to claim 4, characterized in that: The second processing subunit obtains the movable distance according to the following formula: L=(1-SOC1-SOC2) / P*k Wherein, L is used to represent the movable distance, SOC1 is used to represent the current power, SOC2 is used to represent the charging power, P is used to represent the average power consumption per kilometer, and k∈(0,1] is used to represent the loss coefficient.

6. The UAV charging control system according to claim 1, characterized in that: The second control module includes: A first processing unit, configured to obtain an expected flight distance according to the connection destination and the current position of the second charging signal, and obtain a flight power consumption according to the expected flight distance; a second processing unit, connected to the first processing unit, configured to obtain a task power consumption according to the remaining power and the flight power consumption, and obtain the duration according to the task power consumption and a pre-configured average power consumption per hour; A control unit is connected to the second processing unit and is used to interrupt the execution of the cruising mission after the duration and then return to the docking destination so as to be loaded by the rechargeable docking device to the charging station for charging.

7. The UAV charging control system according to claim 1, characterized in that: The second electrical quantity is less than the first electrical quantity.

8. A UAV charging control method, characterized in that: Applied to the UAV charging control system according to any one of claims 1 to 7, the UAV charging control method comprises: Step S1, the drone monitors the remaining power of the drone in real time during the process of performing a cruise mission in the cruise area, and obtains and outputs a charging request including the current position of the drone and the remaining power when the remaining power is less than a first power; Step S2, the charging station determines whether there is an idle charging position according to the charging request: If yes, the corresponding charging position is marked as waiting for charging, and a first charging signal is sent to the drone, and then the process goes to step S4; If not, go to step S3; Step S3, the charging station determines whether there is an idle rechargeable docking device: If yes, a docking destination is obtained according to the current position of the drone and the current power of the rechargeable docking device, and a second charging signal including the docking destination is sent to the drone, and the rechargeable docking device is dispatched to move to the docking destination, and then the process goes to step S5; If not, a waiting signal is sent to the drone, and then the process goes to step S6; Step S4, the drone interrupts the cruise mission according to the first charging signal, then returns to the corresponding charging position for charging, and then exits; Step S5, the drone obtains a duration according to the docking destination and the remaining power of the second charging signal, and interrupts the cruise mission after the duration, then returns to the docking destination to be loaded by the rechargeable docking device to the charging station for charging, and then exits; Step S6, the drone continues to execute the cruise mission according to the waiting signal until the remaining power is less than a second power, forcibly interrupts the execution of the cruise mission, and then returns to the waiting position to wait for charging.

9. The UAV charging control method according to claim 8, characterized in that: Each of the charging positions has a plurality of categories, and each category corresponds to the drone adapted to at least one machine model; The charging request also includes the machine model of the drone; Then the step S2 comprises: Step S21, the charging station extracts the matching charging positions according to the machine model in the charging request, further obtains the working status of each extracted charging position, and extracts the idle charging position according to the working status; Step S22: The charging station extracts a first number of the idle charging positions by counting, and determines whether the first number is zero: If yes, go to step S3; If not, go to step S23; Step S23, the charging station determines whether the first number is greater than one: If not, marking the corresponding charging position as the waiting charging state, and sending the first charging signal to the drone; If so, the idle time of each idle charging position is counted, and the charging position corresponding to the shortest idle time is marked as the waiting charging state, and then the first charging signal is sent to the drone.

10. The UAV charging control method according to claim 9, characterized in that: Each of the rechargeable docking devices has a plurality of categories, and each category corresponds to the drone adapted to at least one machine model; Then the step S3 comprises: Step S31, the charging station extracts each of the rechargeable docking devices that is compatible with the machine model in the charging request from the idle rechargeable docking devices; Step S32, the charging station counts the second number of the extracted rechargeable docking devices, and determines whether the second number is less than one: If yes, sending the waiting signal to the drone and then exiting; If not, the current power of each idle rechargeable docking device is counted, the docking destination is obtained according to the current position of the drone and the maximum current power, and the second charging signal including the docking destination is sent to the drone, and the rechargeable docking device corresponding to the maximum current power is dispatched to move to the docking destination.

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