Unmanned aerial vehicle charging system, unmanned aerial vehicle charging control method, device and system

Abstract

The application provides a kind of unmanned plane charging system, unmanned plane charging control method, device and system, it is related to unmanned plane control technical field.The method comprises: receiving the charging instruction sent by control platform;According to the charging instruction, the first induction coil in the unmanned plane charging system is conducted with battery management circuit, and whether the induction coil of the unmanned plane charging system and charging platform is aligned is determined according to the voltage of battery management unit in the battery management circuit;In the case where the induction coil of the unmanned plane charging system and the charging platform is aligned, the first induction coil is disconnected with the battery management circuit, the second induction coil in the unmanned plane charging system is conducted with the battery management circuit, and the unmanned plane is controlled to fall on the induction coil of the charging platform.The scheme of the application can reduce the difficulty of the unmanned plane charging system aligning the induction coil of the charging platform, and improve the unmanned plane charging efficiency.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) control technology, and in particular relates to a UAV charging system, UAV charging control method, device and system. Background Technology

[0002] Drone battery life issues severely limit the performance of drone swarm operations and the expansion of industry applications. Current solutions for drone charging generally involve manual battery replacement or inductive wireless charging for individual drones. However, inductive wireless charging suffers from a significant alignment problem. Currently, complex image recognition technology is typically used to address the alignment issue between the drone and the induction coil, resulting in high recognition complexity and impacting drone charging efficiency. Summary of the Invention

[0003] The purpose of this invention is to provide a drone charging system, drone charging control method, device, and system, thereby solving the problem of low drone charging efficiency in the prior art.

[0004] In a first aspect, embodiments of the present invention provide a drone charging system, comprising:

[0005] An induction circuit, comprising a first induction coil and a second induction coil, wherein the first induction coil or the second induction coil is used to mutually induct with the induction coil of the charging platform, and the number of turns of the second induction coil is greater than the number of turns of the first induction coil.

[0006] A battery management circuit, which is connected to the sensing circuit;

[0007] A charging control unit is connected to the induction circuit and the battery management circuit respectively. The charging control unit is used to control the first induction coil or the second induction coil to be connected to the battery management circuit.

[0008] When the charging control unit receives a charging command from the control platform, it controls the first induction coil to be connected to the battery management circuit. When it is determined that the induction coils of the UAV charging system and the charging platform are aligned, it controls the first induction coil to be disconnected from the battery management circuit and the second induction coil to be connected to the battery management circuit.

[0009] Optionally, the battery management circuit includes:

[0010] Battery Management Unit;

[0011] A resistor connected in parallel with the battery management unit, wherein the first end of the resistor is connected to the charging control unit and the second end of the resistor is grounded;

[0012] The charging control unit acquires the current flowing through the resistor and determines whether the induction coil of the drone charging system and the charging platform are aligned based on the relationship between the current and the current threshold.

[0013] Optionally, the battery management circuit further includes:

[0014] A diode and a capacitor are connected in parallel across the resistor.

[0015] Optionally, the drone charging system further includes:

[0016] A rectifier bridge is connected to both the induction circuit and the battery management circuit, and is used to convert the AC current output by the induction circuit into DC current and input it to the battery management circuit.

[0017] Optionally, the sensing circuit further includes:

[0018] The first switching transistor has its input terminal connected to the first induction coil, its output terminal connected to the battery management circuit, and its control terminal connected to the charging control unit.

[0019] The second switch has its input terminal connected to the second induction coil, its output terminal connected to the battery management circuit, and its control terminal connected to the charging control unit.

[0020] In a second aspect, embodiments of the present invention provide a drone charging control method, applied to the drone charging system described in the first aspect above, the method comprising:

[0021] Receive charging instructions sent by the control platform;

[0022] According to the charging command, the first induction coil in the drone charging system is controlled to be turned on by the battery management circuit, and the alignment of the induction coils of the drone charging system and the charging platform is determined according to the voltage of the battery management unit in the battery management circuit.

[0023] When the induction coils of the drone charging system and the charging platform are aligned, the first induction coil is disconnected from the battery management circuit, the second induction coil in the drone charging system is connected to the battery management circuit, and the drone is controlled to fall onto the induction coil of the charging platform.

[0024] Optionally, before receiving the charging command sent by the control platform, the above method further includes:

[0025] The current time information and the current battery level information of the drone are sent to the control platform. The charging command is sent by the control platform based on the time information and the battery level information.

[0026] Optionally, controlling the first induction coil in the drone charging system to be connected to the battery management circuit according to the charging command includes:

[0027] According to the charging command, the first switch in the drone charging system is controlled to be in the conducting state, and the potential of the first end of the resistor in the battery management circuit is detected at a preset height above the charging platform.

[0028] Optionally, before determining whether the induction coils of the UAV charging system and the charging platform are aligned based on the voltage of the battery management unit in the battery management circuit, the above method further includes:

[0029] At a preset height from the charging platform, the potential of the first terminal of the resistor in the battery management circuit is detected;

[0030] The voltage of the battery management unit is determined based on the potential.

[0031] Optionally, determining whether the induction coils of the UAV charging system and the charging platform are aligned based on the voltage of the battery management unit in the battery management circuit includes:

[0032] The current flowing through the resistor in the battery management circuit is determined based on the voltage of the battery management unit.

[0033] If the product of the current and the current attenuation coefficient is greater than or equal to the current threshold, it is determined that the induction coils of the drone charging system and the charging platform are aligned; or,

[0034] If the product of the current and the current attenuation coefficient is less than the current threshold, it is determined that the induction coils of the drone charging system and the charging platform are misaligned.

[0035] The current attenuation coefficient is determined based on the current height of the drone from the charging platform.

[0036] Optionally, if the induction coils of the drone charging system and the charging platform are not aligned, the above method further includes:

[0037] Based on the distance between the center points of the two induction coils of the charging platform, the flight path of the drone on the horizontal plane is controlled until the drone charging system is aligned with the induction coil of the charging platform. Then, the first induction coil is disconnected from the battery management circuit, the second induction coil is connected to the battery management circuit, and the drone is controlled to fall onto the induction coil of the charging platform.

[0038] Optionally, controlling the flight path of the drone on the horizontal plane based on the distance between the center points of the two induction coils of the charging platform includes:

[0039] The drone is controlled to fly a spiral square with decreasing side length in a clockwise direction on a horizontal plane. The side length is related to the distance between the center points of the two induction coils of the charging platform.

[0040] Optionally, when the induction coils of the drone charging system and the charging platform are aligned, controlling the first induction coil to disconnect from the battery management circuit and the second induction coil to connect to the battery management circuit, and controlling the drone to fall onto the induction coil of the charging platform, includes:

[0041] When the drone charging system is aligned with the induction coil of the charging platform, the first switch in the drone charging system is controlled to be in the off state, the second switch in the drone charging system is controlled to be in the on state, and the drone is controlled to fall onto the induction coil of the charging platform.

[0042] Thirdly, embodiments of the present invention also provide a drone charging control method, comprising:

[0043] Determine the set of drones to be charged based on the current power consumption rate of at least one drone;

[0044] The charging order of at least one drone in the set of drones to be charged is determined based on the remaining working time of at least one drone in the set of drones to be charged.

[0045] According to the charging sequence, charging commands are sent sequentially to at least one drone in the set of drones to be charged.

[0046] Optionally, before determining the set of drones to be charged based on the current power consumption rate of at least one drone, the method further includes:

[0047] Receive time and battery information sent by at least one of the drones;

[0048] Based on the time information and the power information, calculate the current power consumption rate of the at least one drone.

[0049] Optionally, determining the set of drones to be charged based on the current power consumption rate of at least one drone includes:

[0050] The set of drones to be charged is determined based on the current power consumption rate of at least one drone, the remaining working time of the drone cluster to which it belongs, the altitude of the drones from the charging platform, and the horizontal distance between the drones and the charging platform.

[0051] Optionally, determining the charging order of at least one drone in the set of drones to be charged based on the remaining working time of at least one drone in the set of drones to be charged includes:

[0052] The remaining working time of at least one drone in the set of drones to be charged is sorted in ascending order to determine the charging sequence;

[0053] The remaining working time of the drone is determined based on the drone's current battery level, power consumption rate, altitude above the charging platform, and horizontal distance between the drone and the charging platform.

[0054] Fourthly, embodiments of the present invention also provide a drone charging control system, comprising:

[0055] A control platform is configured to determine a set of drones to be charged based on the current power consumption rate of at least one drone, determine the charging order of at least one drone in the set of drones to be charged based on the remaining working time of at least one drone in the set of drones to be charged, and send charging instructions to at least one drone in the set of drones to be charged in sequence according to the charging order.

[0056] At least one drone, each drone being configured to receive a charging command sent by a control platform, and according to the charging command, control the first induction coil in the drone charging system to be connected to the battery management circuit, and determine whether the induction coils of the drone charging system and the charging platform are aligned according to the voltage of the battery management unit in the battery management circuit, and if the induction coils of the drone charging system and the charging platform are aligned, control the first induction coil to be disconnected from the battery management circuit, connect the second induction coil in the drone charging system to the battery management circuit, and control the drone to fall onto the induction coil of the charging platform;

[0057] A charging platform, comprising at least one induction coil for charging the at least one drone.

[0058] Fifthly, embodiments of the present invention also provide a drone charging control device, comprising:

[0059] The first receiving module is used to receive charging instructions sent by the control platform;

[0060] The first determining module is used to control the first induction coil in the UAV charging system to be connected to the battery management circuit according to the charging command, and to determine whether the induction coil of the UAV charging system and the charging platform are aligned according to the voltage of the battery management unit in the battery management circuit.

[0061] The first control module is used to control the first induction coil to disconnect from the battery management circuit and the second induction coil in the drone charging system to connect to the battery management circuit when the induction coils of the drone charging system and the charging platform are aligned, and to control the drone to fall onto the induction coil of the charging platform.

[0062] Sixthly, embodiments of the present invention also provide a drone charging control device, comprising:

[0063] The second determining module is used to determine a set of drones to be charged based on the current power consumption rate of at least one drone.

[0064] The third determining module is used to determine the charging order of at least one drone in the set of drones to be charged based on the remaining working time of at least one drone in the set of drones to be charged.

[0065] The first sending module is used to send charging instructions to at least one drone in the set of drones to be charged in sequence according to the charging order.

[0066] In a seventh aspect, embodiments of the present invention also provide a drone, comprising: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to read the program in the memory to implement the steps in the drone charging control method described in the second aspect above.

[0067] Eighthly, embodiments of the present invention also provide an electronic device, including: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to read the program in the memory to implement the steps in the UAV charging control method described in the third aspect above.

[0068] In a ninth aspect, embodiments of the present invention also provide a readable storage medium, including: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps in the UAV charging control method described in the second or third aspect above.

[0069] The above-described technical solution of the present invention has at least the following beneficial effects:

[0070] In the above scheme, by receiving charging instructions sent by the control platform, and according to the charging instructions, controlling the first induction coil of the drone charging system to be connected to the battery management circuit, and determining whether the induction coil of the drone charging system and the charging platform are aligned based on the voltage of the battery management unit in the battery management circuit, and when the induction coil of the drone charging system and the charging platform are aligned, controlling the first induction coil to be disconnected from the battery management circuit, and the second induction coil of the drone charging system to be connected to the battery management circuit, and controlling the drone to fall onto the induction coil of the charging platform, the drone can accurately fly to the position above the induction coil of the charging platform, effectively reducing the alignment difficulty, greatly alleviating the complexity of the drone charging system in identifying the induction coil of the charging platform, and improving the drone charging efficiency. Attached Figure Description

[0071] Figure 1 This is a circuit diagram of a drone charging system according to an embodiment of the present invention;

[0072] Figure 2 This is a schematic diagram of the charging platform according to an embodiment of the present invention;

[0073] Figure 3 This is a circuit diagram of the induction coil of the charging platform according to an embodiment of the present invention;

[0074] Figure 4 This is a schematic diagram of the mutual inductance between the induction coil of the drone charging system and the charging platform according to an embodiment of the present invention;

[0075] Figure 5 This is one of the flowcharts for the drone charging control method according to an embodiment of the present invention;

[0076] Figure 6 This is a schematic diagram of the flight path of a drone according to an embodiment of the present invention;

[0077] Figure 7 This is a second flowchart of the drone charging control method according to an embodiment of the present invention;

[0078] Figure 8 This is one of the structural block diagrams of the drone charging control device according to an embodiment of the present invention;

[0079] Figure 9 This is a second structural block diagram of the drone charging control device according to an embodiment of the present invention;

[0080] Figure 10 This is a schematic diagram of the hardware structure of the drone according to an embodiment of the present invention;

[0081] Figure 11 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0082] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0083] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments.

[0084] In various embodiments of the present invention, it should be understood that the sequence number of each process described below does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0085] In addition, the terms "system" and "network" are often used interchangeably in this article.

[0086] In the embodiments provided in this application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean determining B solely based on A; B can also be determined based on A and / or other information.

[0087] To enable those skilled in the art to better understand the embodiments of the present invention, the following description is provided first.

[0088] (1) Unmanned aerial vehicle (UAV) swarm: refers to an autonomous aerial intelligent system composed of a certain number of UAVs of the same or different types, which utilize information interaction and feedback, incentives and responses, practical cooperation among themselves, adapt to dynamic environments, and jointly complete specific tasks.

[0089] (2) Wireless charging technology: There are two types: low-power wireless charging and high-power wireless charging. Low-power wireless charging often uses electromagnetic induction, such as the Qi method for charging mobile phones. High-power wireless charging often uses resonant charging, where a power supply device (e.g., a charger) transmits energy to the device, which uses the received energy to charge its battery and simultaneously power its own operation. Since energy is transferred between the charger and the device via a magnetic field, there is no need for wires between them, so both the charger and the device can be designed without exposed conductive contacts.

[0090] See Figures 1 to 4 , Figure 1 This is a circuit diagram of a drone charging system according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the charging platform according to an embodiment of the present invention. Figure 3 This is a circuit diagram of the induction coil of the charging platform according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the mutual inductance between the drone charging system and the induction coil of the charging platform, as shown below. Figure 1 As shown, the drone charging system includes:

[0091] The induction circuit includes a first induction coil L1 and a second induction coil L2. The first induction coil L1 or the second induction coil L2 is used to mutually induct with the induction coil L of the charging platform. The number of turns of the second induction coil L2 is greater than the number of turns of the first induction coil L1.

[0092] A battery management circuit, which is connected to the sensing circuit;

[0093] A charging control unit (MCU) is connected to the induction circuit and the battery management circuit respectively. The charging control unit is used to control the first induction coil L1 or the second induction coil L2 to be connected to the battery management circuit.

[0094] When the charging control unit receives a charging command from the control platform, it controls the first induction coil L1 to be connected to the battery management circuit. When it is determined that the induction coils of the UAV charging system and the charging platform are aligned, it controls the first induction coil L1 to be disconnected from the battery management circuit, and the second induction coil L2 to be connected to the battery management circuit.

[0095] According to an embodiment of the present invention, the drone charging system includes: an induction circuit, which includes a first induction coil and a second induction coil, wherein the first induction coil or the second induction coil is used to mutually induct with the induction coil of the charging platform, and the number of turns of the second induction coil is greater than the number of turns of the first induction coil; a battery management circuit, which is connected to the induction circuit; and a charging control unit, which is connected to both the induction circuit and the battery management circuit, and is used to control the first induction coil or the second induction coil to conduct with the battery management circuit. The circuit can determine whether the drone charging system is aligned with the induction coil of the charging platform, and if aligned, charge the battery management unit, reducing alignment difficulty and recognition complexity, and improving drone charging efficiency.

[0096] It should be noted that the induction circuit includes two induction coils, which effectively prevents high-voltage damage to the charging control unit caused by unstable factors during charging. Furthermore, the first induction coil is only used for alignment detection, reducing power consumption.

[0097] It should also be noted that, such as Figure 2 As shown, the charging platform is equipped with multiple charging coils 201, with a distance of LC between the centers of two adjacent charging coils. These multiple charging coils 201 can be used to charge multiple drones 202 and drone swarms. In practical applications, there are no other obstacles on the charging platform besides the drones. Controlling a drone 202 to align and land on the charging coil 201 allows for charging of the battery management unit. Furthermore, according to... Figure 3 It can be seen that multiple charging coils are connected in parallel and powered by an AC power source.

[0098] In one specific embodiment, the battery management circuit includes:

[0099] Battery Management Unit (BMS);

[0100] A resistor R0 is connected in parallel with the battery management unit, and the first end of the resistor R0 is connected to the charging control unit, while the second end of the resistor R0 is grounded.

[0101] The charging control unit acquires the current flowing through the resistor R0 and determines whether the induction coil of the drone charging system and the charging platform are aligned based on the relationship between the current and the current threshold.

[0102] It should be noted that the charging control unit is connected to the first end of the resistor R0 and the potential of the first end of the resistor R0 is collected. Since the second end of the resistor R0 is grounded, the voltage across the resistor R0 can be obtained based on the potential of the first end. Since the resistor R0 is connected in parallel with the battery management unit, the voltage across the resistor R0 is the voltage across the battery management unit.

[0103] The charging control unit then obtains the current flowing through resistor R0 based on the resistance value and voltage of resistor R0, and determines whether the drone charging system is aligned with the induction coil of the charging platform based on the relationship between the product of the current and the current attenuation coefficient and the current threshold.

[0104] The current attenuation coefficient is determined based on the current height of the drone from the charging platform. If the product of the current and the current attenuation coefficient is greater than or equal to a current threshold, the induction coils of the drone charging system and the charging platform are aligned; or...

[0105] If the product of the current and the current attenuation coefficient is less than the current threshold, it is determined that the induction coils of the drone charging system and the charging platform are misaligned.

[0106] In one embodiment, the battery management circuit further includes:

[0107] A diode Q0 and a capacitor C0 are connected in parallel across the resistor R0.

[0108] In this design, a diode Q0 and a capacitor C0 are connected in parallel across a resistor R0 to protect the battery management current.

[0109] In one embodiment, the drone charging system further includes:

[0110] A rectifier bridge is connected to both the induction circuit and the battery management circuit, and is used to convert the AC current output by the induction circuit into DC current and input it to the battery management circuit.

[0111] It should be noted that the rectifier bridge converts the AC current output by the induction circuit into DC current. Here, it can be rectified to a low voltage of less than 5V to determine whether the drone charging system is aligned with the induction coil of the charging platform.

[0112] In one specific embodiment, the sensing circuit further includes:

[0113] The first switch M1 has its input terminal connected to the first induction coil, its output terminal connected to the battery management circuit, and its control terminal connected to the charging control unit.

[0114] The second switch M2 has its input terminal connected to the second induction coil, its output terminal connected to the battery management circuit, and its control terminal connected to the charging control unit.

[0115] It should be noted that when the drone receives a charging command from the control platform, during the process of returning to the charging platform, the charging control unit connects to the control terminal of the first switch tube M1, thereby controlling the first switch tube M1 to be in a conducting state, so that the first induction coil L1 is connected to the battery management circuit, and the potential of the first end of the resistor R0 is detected. Based on the relationship between the current flowing through the resistor R0 and the current threshold, it is determined whether the induction coils of the drone charging system and the charging platform are aligned.

[0116] Furthermore, after confirming that the induction coils of the drone charging system and the charging platform are aligned, the first switch M1 is controlled to be in the off state, so that the first induction coil L1 is disconnected from the battery management circuit. The second switch M2 is connected to the control terminal of the second switch M2 through the charging control unit, so that the second induction coil L2 is connected to the battery management circuit. Thus, the battery management unit is charged by utilizing the mutual inductance between the second induction coil L2 and the induction coil L of the charging platform.

[0117] It should also be noted that MOSFETs can be used to make switching transistors.

[0118] See Figure 5 , Figure 5 This is one of the flowcharts of a drone charging control method provided in an embodiment of the present invention, applied to the aforementioned drone charging system, such as... Figure 5 As shown, it includes the following steps:

[0119] Step 501: Receive charging instructions sent by the control platform;

[0120] It should be noted that the control platform is a ground control platform. When the drone needs to be charged, it receives the charging command sent by the control platform and returns to the charging platform to charge.

[0121] Step 502: According to the charging command, control the first induction coil of the UAV charging system to be connected to the battery management circuit, and determine whether the induction coils of the UAV charging system and the charging platform are aligned according to the voltage of the battery management unit in the battery management circuit.

[0122] In this step, during the drone's return to the charging platform, the first induction coil in the drone charging system is connected to the battery management circuit according to the charging command, and the voltage at both ends of the battery management unit is detected to determine whether the drone has flown to the position above where the induction coils of the drone charging system and the charging platform are aligned.

[0123] Step 503: When the induction coils of the drone charging system and the charging platform are aligned, the first induction coil is disconnected from the battery management circuit, the second induction coil in the drone charging system is connected to the battery management circuit, and the drone is controlled to fall onto the induction coil of the charging platform.

[0124] In this step, when the drone charging system and the induction coil of the charging platform are aligned, the first induction coil is disconnected from the battery management circuit, and the second induction coil is connected to the battery management circuit. At the same time, the drone is controlled to fall vertically onto the induction coil of the charging platform. The drone is charged by the mutual inductance between the second induction coil and the induction coil of the charging platform. After charging is completed, the drone returns to its drone cluster to continue working.

[0125] In this embodiment of the invention, by receiving a charging command sent by a control platform, and according to the charging command, controlling the first induction coil of the drone charging system to be connected to the battery management circuit, and determining whether the induction coils of the drone charging system and the charging platform are aligned based on the voltage of the battery management unit in the battery management circuit, and when the induction coils of the drone charging system and the charging platform are aligned, controlling the first induction coil to be disconnected from the battery management circuit, and the second induction coil of the drone charging system to be connected to the battery management circuit, and controlling the drone to fall onto the induction coil of the charging platform, the drone can accurately fly to a position above the induction coil of the charging platform, effectively reducing the difficulty of alignment, greatly alleviating the complexity of the drone charging system in identifying the induction coil of the charging platform, and improving the drone charging efficiency.

[0126] In one specific embodiment, prior to step 501, the method further includes:

[0127] The current time information and the current battery level information of the drone are sent to the control platform. The charging command is sent by the control platform based on the time information and the battery level information.

[0128] It should be noted that the drone sends its current time and battery level to the control platform at preset intervals. The control platform then uses this time and battery information to determine whether the drone needs to be charged.

[0129] It should also be noted that at least one drone in the drone swarm sends its current time information and at least one drone's current battery level information to the control platform every preset period. The control platform determines the set of drones to be charged corresponding to the drone swarm, and determines the charging order of at least one drone in the set of drones to be charged, thereby issuing charging instructions to the corresponding drones.

[0130] In one embodiment, step 502 includes:

[0131] According to the charging command, the first switch in the drone charging system is controlled to be in the conducting state.

[0132] It should be noted that, upon receiving a charging command from the control platform, during the drone's return to the charging platform, the control... Figure 1 The first switch M1 in the circuit is in the on state.

[0133] In one embodiment, before determining whether the induction coils of the drone charging system and the charging platform are aligned based on the voltage of the battery management unit in the battery management circuit, the method further includes:

[0134] At a preset height from the charging platform, the potential of the first terminal of the resistor in the battery management circuit is detected;

[0135] The voltage of the battery management unit is determined based on the potential.

[0136] It should be noted that the potential at the first terminal of resistor R0 can be collected when the drone flies to a preset altitude above the charging platform. This preset altitude is typically 1 meter. Figure 1 As shown, since the second end of resistor R0 is grounded, the voltage across resistor R0 can be obtained. Since the battery management unit is connected in parallel with resistor R0, it can be determined that the voltage of the battery management unit is equal to the voltage across resistor R0.

[0137] In one embodiment, step 502 includes:

[0138] The current flowing through the resistor in the battery management circuit is determined based on the voltage of the battery management unit.

[0139] If the product of the current and the current attenuation coefficient is greater than or equal to the current threshold, it is determined that the induction coils of the drone charging system and the charging platform are aligned; or,

[0140] If the product of the current and the current attenuation coefficient is less than the current threshold, it is determined that the induction coils of the drone charging system and the charging platform are misaligned.

[0141] The current attenuation coefficient is determined based on the current height of the drone from the charging platform.

[0142] It should be noted that, as Figure 1 As shown, since the first end of resistor R0 is connected to the positive terminal of the battery management unit and the second end of resistor R0 is connected to the negative terminal of the battery management unit, the voltage across resistor R0 is equal to the voltage across the battery management unit, thus the current flowing through resistor R0 can be determined.

[0143] Furthermore, based on the relationship between the product of the current and the current attenuation coefficient and the current threshold, it is determined whether the drone charging system is aligned with one of the induction coils of the charging platform.

[0144] In one embodiment, if the induction coils of the drone charging system and the charging platform are not aligned, the above method further includes:

[0145] Based on the distance between the center points of the two induction coils of the charging platform, the flight path of the drone on the horizontal plane is controlled until the drone charging system is aligned with the induction coil of the charging platform. Then, the first induction coil is disconnected from the battery management circuit, the second induction coil is connected to the battery management circuit, and the drone is controlled to fall onto the induction coil of the charging platform.

[0146] It should be noted that if the drone charging system is not aligned with the induction coil of the charging platform, according to Figure 2 The distance LC between the centers of the two induction coils of the charging platform controls the flight path of the drone on the horizontal plane, finding the optimal position, which is the position where the drone charging system aligns with the induction coil of the charging platform. Then, the drone lands vertically on the induction coil of the charging platform at this optimal position.

[0147] At the optimal location, the product of the current flowing through the resistor in the battery management circuit and the current attenuation coefficient is greater than or equal to the current threshold.

[0148] In one specific embodiment, controlling the flight path of the drone on the horizontal plane based on the distance between the center points of the two induction coils of the charging platform includes:

[0149] The drone is controlled to fly a spiral square with decreasing side length in a clockwise direction on a horizontal plane. The side length is related to the distance between the center points of the two induction coils of the charging platform.

[0150] The drone starts from its current position and flies clockwise on a horizontal plane to find the optimal location. The flight path is a spiral square with gradually decreasing side lengths. For example, this spiral square flight path is as follows: Figure 6 As shown, starting from point A, the drone will pass through points B, C, D, E, F, G, H, and so on, until it finds the optimal position to land.

[0151] The distances between points A and B, B and C, and C and D are all equal to a first distance, which is equal to the distance LC between the center points of the two induction coils of the charging platform.

[0152] The distances between points D and E, E and F, and F and G are equal to the second distance, which is half the first distance.

[0153] The distance between point G and point H is equal to the third distance, which is half the second distance.

[0154] In one embodiment, step 503 includes:

[0155] When the drone charging system is aligned with the induction coil of the charging platform, the first switch in the drone charging system is controlled to be in the off state, the second switch in the drone charging system is controlled to be in the on state, and the drone is controlled to fall onto the induction coil of the charging platform.

[0156] It should be noted that, with the induction coils of the drone charging system and the charging platform aligned, the control... Figure 1 The first switch M1 is in the off state and the second switch M2 is in the on state, so that the second induction coil L2 is connected to the battery management circuit, and the drone is controlled to land vertically on the induction coil of the charging platform. The battery management unit is charged by the mutual inductance between the second induction coil L2 and the induction coil of the charging platform.

[0157] See Figure 7 , Figure 7 This invention also provides a method for controlling the charging of unmanned aerial vehicles (UAVs), such as... Figure 7 As shown, it includes the following steps:

[0158] Step 701: Determine the set of drones to be charged based on the current power consumption rate of at least one drone;

[0159] In this step, the battery status of the drone can be determined based on the power consumption rate, thereby identifying the drones in the drone cluster that need to be charged and adding them to the set of drones to be charged, thus defining the set of drones to be charged.

[0160] It should be noted that the drone charging control method of this embodiment can be applied to a control platform, which is a ground control platform. This control platform determines the set of drones to be charged corresponding to the drone cluster by obtaining the power consumption rate of individual drones in the drone cluster, ensuring the normal operation of the drone cluster.

[0161] It should also be noted that the set of drones to be charged can be an empty set, in which case at least one drone in the drone cluster will be working normally and will not need to be charged.

[0162] Step 702: Determine the charging order of at least one drone in the set of drones to be charged based on the remaining working time of at least one drone in the set of drones to be charged.

[0163] It should be noted that the charging order is determined based on the remaining working time of each drone in the set of drones to be charged, so as to make full use of the remaining power of each drone in the set of drones to be charged for operation.

[0164] Step 703: According to the charging sequence, send charging instructions to at least one drone in the set of drones to be charged in sequence.

[0165] In this step, charging commands are sent sequentially to the corresponding drones in the drone swarm to be charged, according to the charging order. This controls the drones to return to the charging platform for charging, making full use of the remaining battery power of the drones to maximize the working efficiency of the drone swarm.

[0166] It should be noted that after step 703, the above method also includes:

[0167] Send a replacement command to the drones that are not currently in operation. The replacement command is used to instruct the drones that are not currently in operation to join the drone swarm and perform tasks.

[0168] Following step 703, the above method further includes:

[0169] After the at least one drone has finished charging, it is controlled to return to its drone cluster to continue working.

[0170] In this embodiment of the invention, a set of drones to be charged is determined based on the current power consumption rate of at least one drone. The charging order of at least one drone in the set is determined based on its remaining working time. Charging commands are then sent sequentially to at least one drone in the set according to this charging order, thus scheduling the charging of the drone swarm. This scheduling maximizes the utilization of the remaining power of individual drones in the swarm before controlling them to return to the charging platform for charging, thereby ensuring the maximum working efficiency of the drone swarm.

[0171] In one specific embodiment, prior to step 701, the method further includes:

[0172] Receive time and battery information sent by at least one of the drones;

[0173] Based on the time information and the power information, calculate the current power consumption rate of the at least one drone.

[0174] It should be noted that the time information and power information sent by the unmanned aerial vehicle are received every preset period, where the time information may be a timestamp, and the power information may be a power value. Then, the current power consumption rate of the unmanned aerial vehicle is calculated according to the current timestamp and power value. Specifically, the current power consumption rate of the unmanned aerial vehicle is calculated using the following formula:

[0175]

[0176] Wherein, RTn is the current power consumption rate of the unmanned aerial vehicle; E(n-1) is the power value sent by the unmanned aerial vehicle at the last time; En is the current power value of the unmanned aerial vehicle; T(n-1) is the last working duration of the unmanned aerial vehicle, which is determined according to the timestamp sent by the unmanned aerial vehicle at the last time and the timestamp when the unmanned aerial vehicle starts to work; Tn is the current working duration of the unmanned aerial vehicle, which is determined according to the timestamp currently sent by the unmanned aerial vehicle and the timestamp when the unmanned aerial vehicle starts to work.

[0177] In one embodiment, step 701 includes:

[0178] The to-be-charged unmanned aerial vehicle set is determined according to the current power consumption rate of the at least one unmanned aerial vehicle, the remaining working time of the unmanned aerial vehicle cluster it belongs to, the height from the charging platform, and the horizontal distance to the charging platform.

[0179] Wherein, it is judged whether at least one unmanned aerial vehicle needs to be charged according to the following formula. When it is judged that the unmanned aerial vehicle needs to be charged, the unmanned aerial vehicle that needs to be charged is added to the to-be-charged unmanned aerial vehicle set, so as to determine the to-be-charged unmanned aerial vehicle set:

[0180] RTn×Gt-En-Ef

[0181] Wherein, RTn is the current power consumption rate of the unmanned aerial vehicle; Gt is the remaining working time of the unmanned aerial vehicle cluster where the unmanned aerial vehicle is located; En is the current power value of the unmanned aerial vehicle; Ef is the power required for the unmanned aerial vehicle to leave work and return to the charging platform, which is related to the height HV of the unmanned aerial vehicle from the charging platform and the horizontal distance LV between the unmanned aerial vehicle and the charging platform, and the formula is as follows:

[0182]

[0183] V1 is the flying speed of the unmanned aerial vehicle in the horizontal direction; V2 is the flying speed of the unmanned aerial vehicle in the vertical direction.

[0184] In the case of 0<RTn×Gt-En-Ef<Ey, it is judged that the unmanned aerial vehicle needs to be charged, and the unmanned aerial vehicle is added to the to-be-charged unmanned aerial vehicle set, so as to determine the to-be-charged unmanned aerial vehicle set, where Ey is a power threshold.

[0185] It should be noted that when RTn×Gt-En-Ef=0, a charging command is immediately sent to the drone, instructing it to return to the charging platform for charging.

[0186] In one embodiment, step 702 includes:

[0187] The remaining working time of at least one drone in the set of drones to be charged is sorted in ascending order to determine the charging sequence;

[0188] The remaining working time of the drone is determined based on the drone's current battery level, power consumption rate, altitude above the charging platform, and horizontal distance between the drone and the charging platform.

[0189] It should be noted that the remaining working time of the drone is first calculated using the following formula:

[0190]

[0191] Where Gtd is the remaining working time of the drone; En is the current battery level of the drone; Ef is the amount of power required for the drone to return to the charging platform after leaving the work area; and RTn is the current battery consumption rate of the drone.

[0192] Then, the drones in the set of drones to be charged are sorted in ascending order of remaining working time to determine the charging order. That is, the drone with the shortest remaining working time returns to charge first, while the other drones in the set of drones to be charged continue to work, so as to maximize the use of the remaining power of the drones before returning to charge, thus ensuring the maximum working efficiency of the drone swarm.

[0193] This invention also provides a drone charging control system, comprising:

[0194] A control platform is configured to determine a set of drones to be charged based on the current power consumption rate of at least one drone, determine the charging order of at least one drone in the set of drones to be charged based on the remaining working time of at least one drone in the set of drones to be charged, and send charging instructions to at least one drone in the set of drones to be charged in sequence according to the charging order.

[0195] At least one drone, each drone being configured to receive a charging command sent by a control platform, and according to the charging command, control the first induction coil in the drone charging system to be connected to the battery management circuit, and determine whether the induction coils of the drone charging system and the charging platform are aligned according to the voltage of the battery management unit in the battery management circuit, and if the induction coils of the drone charging system and the charging platform are aligned, control the first induction coil to be disconnected from the battery management circuit, connect the second induction coil in the drone charging system to the battery management circuit, and control the drone to fall onto the induction coil of the charging platform;

[0196] A charging platform, comprising at least one induction coil for charging the at least one drone.

[0197] In this embodiment of the invention, the control platform can schedule the charging of a drone swarm, send charging commands to the drones, and the drones collect the voltage of the battery management unit according to the charging commands, control the drone charging system to align with the charging coil of the charging platform, and control the drone to fall vertically to charge when aligned. This maximizes the remaining working time of the individual drones in the drone swarm before charging, ensuring the maximum working efficiency of the drone swarm, and improving charging efficiency by reducing the difficulty of alignment and the complexity of recognition.

[0198] Each drone in the drone charging control system provided in this embodiment of the invention can execute the above-described drone charging control method embodiment applied to the drone charging system. The implementation principle and technical effect are similar, and will not be repeated here.

[0199] The control platform in the UAV charging control system provided in this embodiment of the invention can execute the UAV charging control method embodiment, and its implementation principle and technical effect are similar, so it will not be described again here.

[0200] like Figure 8 As shown, this embodiment of the invention also provides a drone charging control device, including:

[0201] The first receiving module 801 is used to receive charging instructions sent by the control platform;

[0202] The first determining module 802 is used to control the first induction coil of the UAV charging system to be connected to the battery management circuit according to the charging command, and to determine whether the induction coil of the UAV charging system and the charging platform are aligned according to the voltage of the battery management unit in the battery management circuit.

[0203] The first control module 803 is used to control the first induction coil to disconnect from the battery management circuit and the second induction coil in the drone charging system to connect to the battery management circuit when the induction coils of the drone charging system and the charging platform are aligned, and to control the drone to fall onto the induction coil of the charging platform.

[0204] Optionally, the above-mentioned device further includes:

[0205] The second sending module is used to send the current time information and the current battery level information of the drone to the control platform. The charging command is sent by the control platform based on the time information and the battery level information.

[0206] Optionally, the first determining module 802 is specifically used for:

[0207] According to the charging command, the first switch in the drone charging system is controlled to be in the conducting state.

[0208] Optionally, the above-mentioned device further includes:

[0209] The detection module is used to detect the potential of the first end of the resistor in the battery management circuit at a preset height above the charging platform.

[0210] The fourth determining module is used to determine the voltage of the battery management unit based on the potential.

[0211] Optionally, the first determining module 802 is specifically used for:

[0212] The current flowing through the resistor in the battery management circuit is determined based on the voltage of the battery management unit.

[0213] If the product of the current and the current attenuation coefficient is greater than or equal to the current threshold, it is determined that the induction coils of the drone charging system and the charging platform are aligned; or,

[0214] If the product of the current and the current attenuation coefficient is less than the current threshold, it is determined that the induction coils of the drone charging system and the charging platform are misaligned.

[0215] The current attenuation coefficient is determined based on the current height of the drone from the charging platform.

[0216] Optionally, the above-mentioned device further includes:

[0217] The second control module is used to control the flight path of the drone on the horizontal plane according to the distance between the center points of the two induction coils of the charging platform until the drone charging system is aligned with the induction coil of the charging platform, control the first induction coil to disconnect from the battery management circuit, control the second induction coil to connect with the battery management circuit, and control the drone to fall onto the induction coil of the charging platform.

[0218] Optionally, the second control module is specifically used for:

[0219] The drone is controlled to fly a spiral square with decreasing side length in a clockwise direction on a horizontal plane. The side length is related to the distance between the center points of the two induction coils of the charging platform.

[0220] Optionally, the first control module 803 is specifically used for:

[0221] When the drone charging system is aligned with the induction coil of the charging platform, the first switch in the drone charging system is controlled to be in the off state, the second switch in the drone charging system is controlled to be in the on state, and the drone is controlled to fall onto the induction coil of the charging platform.

[0222] The apparatus provided in this embodiment of the invention can execute the above-described method embodiment applied to the drone charging system. Its implementation principle and technical effect are similar, and will not be described again here.

[0223] like Figure 9 As shown, this embodiment of the invention also provides a drone charging control device, including:

[0224] The second determining module 901 is used to determine a set of drones to be charged based on the current power consumption rate of at least one drone.

[0225] The third determining module 902 is used to determine the charging order of at least one drone in the set of drones to be charged based on the remaining working time of at least one drone in the set of drones to be charged.

[0226] The first sending module 903 is used to send charging instructions to at least one drone in the set of drones to be charged in sequence according to the charging order.

[0227] Optionally, the above-mentioned device further includes:

[0228] The second receiving module is used to receive time information and power information sent by the at least one UAV;

[0229] The calculation module is used to calculate the current power consumption rate of the at least one drone based on the time information and the power information.

[0230] Optionally, the second determining module 901 is specifically used for:

[0231] The set of drones to be charged is determined based on the current power consumption rate of at least one drone, the remaining working time of the drone cluster to which it belongs, the altitude of the drones from the charging platform, and the horizontal distance between the drones and the charging platform.

[0232] Optionally, the third determining module 902 is specifically used for:

[0233] The remaining working time of at least one drone in the set of drones to be charged is sorted in ascending order to determine the charging sequence;

[0234] The remaining working time of the drone is determined based on the drone's current battery level, power consumption rate, altitude above the charging platform, and horizontal distance between the drone and the charging platform.

[0235] The apparatus provided in this embodiment of the invention can execute the above-described method embodiments, and its implementation principle and technical effect are similar, so it will not be described again here.

[0236] like Figure 10 As shown, the drone of this embodiment includes: a processor 1000; and a memory 1020 connected to the processor 1000 via a bus interface. The memory 1020 is used to store programs and data used by the processor 1000 when performing operations. The processor 1000 calls and executes the programs and data stored in the memory 1020.

[0237] Processor 1000 reads the program from memory 1020 and executes the following procedures:

[0238] Receive charging instructions sent by the control platform;

[0239] According to the charging command, the first induction coil in the drone charging system is controlled to be turned on by the battery management circuit, and the alignment of the induction coils of the drone charging system and the charging platform is determined according to the voltage of the battery management unit in the battery management circuit.

[0240] When the induction coils of the drone charging system and the charging platform are aligned, the first induction coil is disconnected from the battery management circuit, the second induction coil in the drone charging system is connected to the battery management circuit, and the drone is controlled to fall onto the induction coil of the charging platform.

[0241] Transceiver 1010 is used to receive and send data under the control of processor 1000.

[0242] Among them, Figure 10 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 1000 and memory represented by memory 1020 together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. Transceiver 1010 can be multiple elements, including transmitters and transceivers, providing a unit for communicating with various other devices over a transmission medium. For different user equipment, user interface 1030 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0243] The processor 1000 is responsible for managing the bus architecture and general processing, while the memory 1020 can store the data used by the processor 1000 when performing operations.

[0244] Optionally, the processor 1000 is further configured to read the computer program and perform the following steps:

[0245] The current time information and the current battery level information of the drone are sent to the control platform. The charging command is sent by the control platform based on the time information and the battery level information.

[0246] Optionally, the processor 1000 is further configured to read the computer program and perform the following steps:

[0247] According to the charging command, the first switch in the drone charging system is controlled to be in the conducting state.

[0248] Optionally, the processor 1000 is further configured to read the computer program and perform the following steps:

[0249] At a preset height from the charging platform, the potential of the first terminal of the resistor in the battery management circuit is detected;

[0250] The voltage of the battery management unit is determined based on the potential.

[0251] Optionally, the processor 1000 is further configured to read the computer program and perform the following steps:

[0252] The current flowing through the resistor in the battery management circuit is determined based on the voltage of the battery management unit.

[0253] If the product of the current and the current attenuation coefficient is greater than or equal to the current threshold, it is determined that the induction coils of the drone charging system and the charging platform are aligned; or,

[0254] If the product of the current and the current attenuation coefficient is less than the current threshold, it is determined that the induction coils of the drone charging system and the charging platform are misaligned.

[0255] The current attenuation coefficient is determined based on the current height of the drone from the charging platform.

[0256] Optionally, the processor 1000 is further configured to read the computer program and perform the following steps:

[0257] Based on the distance between the center points of the two induction coils of the charging platform, the flight path of the drone on the horizontal plane is controlled until the drone charging system is aligned with the induction coil of the charging platform. Then, the first induction coil is disconnected from the battery management circuit, the second induction coil is connected to the battery management circuit, and the drone is controlled to fall onto the induction coil of the charging platform.

[0258] Optionally, the processor 1000 is further configured to read the computer program and perform the following steps:

[0259] The drone is controlled to fly a spiral square with decreasing side length in a clockwise direction on a horizontal plane. The side length is related to the distance between the center points of the two induction coils of the charging platform.

[0260] Optionally, the processor 1000 is further configured to read the computer program and perform the following steps:

[0261] When the drone charging system is aligned with the induction coil of the charging platform, the first switch in the drone charging system is controlled to be in the off state, the second switch in the drone charging system is controlled to be in the on state, and the drone is controlled to fall onto the induction coil of the charging platform.

[0262] The drone provided in this embodiment of the invention can execute the above-described method embodiments, and its implementation principle and technical effect are similar, so it will not be described again here.

[0263] like Figure 11 As shown, the electronic device of this embodiment includes: a processor 1100; and a memory 1120 connected to the processor 1100 via a bus interface. The memory 1120 is used to store programs and data used by the processor 1100 when performing operations, and the processor 1100 calls and executes the programs and data stored in the memory 1120.

[0264] Processor 1100 is used to read the program from memory 1120 and execute the following procedures:

[0265] Determine the set of drones to be charged based on the current power consumption rate of at least one drone;

[0266] The charging order of at least one drone in the set of drones to be charged is determined based on the remaining working time of at least one drone in the set of drones to be charged.

[0267] According to the charging sequence, charging commands are sent sequentially to at least one drone in the set of drones to be charged.

[0268] Transceiver 1110 is used to receive and send data under the control of processor 1100.

[0269] Among them, Figure 11 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 1100 and memory represented by memory 1120 together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. Transceiver 1110 can be multiple components, including transmitters and transceivers, providing a unit for communicating with various other devices over a transmission medium. For different user equipment, user interface 1130 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0270] The processor 1100 is responsible for managing the bus architecture and general processing, and the memory 1120 can store the data used by the processor 1100 when performing operations.

[0271] Optionally, the processor 1100 is further configured to read the computer program and perform the following steps:

[0272] Receive time and battery information sent by at least one of the drones;

[0273] Based on the time information and the power information, calculate the current power consumption rate of the at least one drone.

[0274] Optionally, the processor 1100 is further configured to read the computer program and perform the following steps:

[0275] The set of drones to be charged is determined based on the current power consumption rate of at least one drone, the remaining working time of the drone cluster to which it belongs, the altitude of the drones from the charging platform, and the horizontal distance between the drones and the charging platform.

[0276] Optionally, the processor 1100 is further configured to read the computer program and perform the following steps:

[0277] The remaining working time of at least one drone in the set of drones to be charged is sorted in ascending order to determine the charging sequence;

[0278] The remaining working time of the drone is determined based on the drone's current battery level, power consumption rate, altitude above the charging platform, and horizontal distance between the drone and the charging platform.

[0279] The device provided in this embodiment of the invention can execute the above-described method embodiments, and its implementation principle and technical effect are similar, so it will not be described again here.

[0280] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a computer program instructing the relevant hardware to implement them. The computer program includes instructions to perform some or all of the steps of the above methods; and the computer program can be stored in a readable storage medium, which can be any form of storage medium.

[0281] In addition, a specific embodiment of the present invention also provides a computer-readable storage medium storing a computer program thereon. When the program is executed by a processor, it implements the steps in the above-described UAV charging control method and achieves the same technical effect. To avoid repetition, it will not be described again here.

[0282] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0283] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0284] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute some steps of the transmission and reception methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0285] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A drone charging system, characterized in that, include: An induction circuit, comprising a first induction coil and a second induction coil, wherein the first induction coil or the second induction coil is used to mutually induct with the induction coil of the charging platform, and the number of turns of the second induction coil is greater than the number of turns of the first induction coil. A battery management circuit, which is connected to the sensing circuit; A charging control unit is connected to the induction circuit and the battery management circuit respectively. The charging control unit is used to control the first induction coil or the second induction coil to be connected to the battery management circuit. When the charging control unit receives a charging command from the control platform, it controls the first induction coil to be connected to the battery management circuit. When it is determined that the induction coils of the UAV charging system and the charging platform are aligned, it controls the first induction coil to be disconnected from the battery management circuit and the second induction coil to be connected to the battery management circuit.

2. The drone charging system according to claim 1, characterized in that, The battery management circuit includes: Battery Management Unit; A resistor connected in parallel with the battery management unit, wherein the first end of the resistor is connected to the charging control unit and the second end of the resistor is grounded; The charging control unit acquires the current flowing through the resistor and determines whether the induction coil of the drone charging system and the charging platform are aligned based on the relationship between the current and the current threshold.

3. The drone charging system according to claim 2, characterized in that, The battery management circuit also includes: A diode and a capacitor are connected in parallel across the resistor.

4. The drone charging system according to claim 1, characterized in that, The drone charging system also includes: A rectifier bridge is connected to both the induction circuit and the battery management circuit, and is used to convert the AC current output by the induction circuit into DC current and input it to the battery management circuit.

5. The drone charging system according to claim 1, characterized in that, The sensing circuit also includes: The first switching transistor has its input terminal connected to the first induction coil, its output terminal connected to the battery management circuit, and its control terminal connected to the charging control unit. The second switch has its input terminal connected to the second induction coil, its output terminal connected to the battery management circuit, and its control terminal connected to the charging control unit.

6. A method for controlling the charging of a drone, characterized in that, The method, applied to the drone charging system as described in any one of claims 1 to 5, comprises: Receive charging instructions sent by the control platform; According to the charging command, the first induction coil in the drone charging system is controlled to be turned on by the battery management circuit, and the alignment of the induction coils of the drone charging system and the charging platform is determined according to the voltage of the battery management unit in the battery management circuit. When the induction coils of the drone charging system and the charging platform are aligned, the first induction coil is disconnected from the battery management circuit, the second induction coil in the drone charging system is connected to the battery management circuit, and the drone is controlled to fall onto the induction coil of the charging platform.

7. The method according to claim 6, characterized in that, Before receiving the charging command from the control platform, the method further includes: The current time information and the current battery level information of the drone are sent to the control platform. The charging command is sent by the control platform based on the time information and the battery level information.

8. The method according to claim 6, characterized in that, The step of controlling the first induction coil in the drone charging system to be connected to the battery management circuit according to the charging command includes: According to the charging command, the first switch in the drone charging system is controlled to be in the conducting state.

9. The method according to claim 6, characterized in that, Before determining whether the induction coils of the drone charging system and the charging platform are aligned based on the voltage of the battery management unit in the battery management circuit, the method further includes: At a preset height above the charging platform, the potential at the first end of the resistor in the battery management circuit is detected; The voltage of the battery management unit is determined based on the potential.

10. The method according to claim 6, characterized in that, The step of determining whether the induction coils of the drone charging system and the charging platform are aligned based on the voltage of the battery management unit in the battery management circuit includes: The current flowing through the resistor in the battery management circuit is determined based on the voltage of the battery management unit. If the product of the current and the current attenuation coefficient is greater than or equal to the current threshold, it is determined that the induction coils of the drone charging system and the charging platform are aligned; or, If the product of the current and the current attenuation coefficient is less than the current threshold, it is determined that the induction coils of the drone charging system and the charging platform are misaligned. The current attenuation coefficient is determined based on the current height of the drone from the charging platform.

11. The method according to claim 6, characterized in that, In the event that the induction coils of the drone charging system and the charging platform are not aligned, the method further includes: Based on the distance between the center points of the two induction coils of the charging platform, the flight path of the drone on the horizontal plane is controlled until the drone charging system is aligned with the induction coil of the charging platform. Then, the first induction coil is disconnected from the battery management circuit, the second induction coil is connected to the battery management circuit, and the drone is controlled to fall onto the induction coil of the charging platform.

12. The method according to claim 11, characterized in that, The step of controlling the flight path of the drone on the horizontal plane based on the distance between the center points of the two induction coils of the charging platform includes: The drone is controlled to fly in a spiral square path with decreasing side length in a clockwise direction on a horizontal plane. The side length is related to the distance between the center points of the two induction coils of the charging platform.

13. The method according to claim 6, characterized in that, When the induction coils of the drone charging system and the charging platform are aligned, the first induction coil is disconnected from the battery management circuit, the second induction coil is connected to the battery management circuit, and the drone is controlled to fall onto the induction coil of the charging platform, including: When the drone charging system is aligned with the induction coil of the charging platform, the first switch in the drone charging system is controlled to be in the off state, the second switch in the drone charging system is controlled to be in the on state, and the drone is controlled to fall onto the induction coil of the charging platform.

14. A method for controlling the charging of a drone, characterized in that, The method, applied to the drone charging system as described in any one of claims 1 to 5, comprises: Determine the set of drones to be charged based on the current power consumption rate of at least one drone; The charging order of at least one drone in the set of drones to be charged is determined based on the remaining working time of at least one drone in the set of drones to be charged. According to the charging sequence, charging commands are sent sequentially to at least one drone in the set of drones to be charged.

15. The method according to claim 14, characterized in that, Before determining the set of drones to be charged based on the current power consumption rate of at least one drone, the method further includes: Receive time and battery information sent by at least one of the drones; Based on the time information and the power information, calculate the current power consumption rate of the at least one drone.

16. The method according to claim 14, characterized in that, The step of determining the set of drones to be charged based on the current power consumption rate of at least one drone includes: The set of drones to be charged is determined based on the current power consumption rate of at least one drone, the remaining working time of the drone cluster to which it belongs, the altitude of the drones from the charging platform, and the horizontal distance between the drones and the charging platform.

17. The method according to claim 14, characterized in that, The step of determining the charging order of at least one drone in the set of drones to be charged based on the remaining working time of at least one drone in the set of drones to be charged includes: The remaining working time of at least one drone in the set of drones to be charged is sorted in ascending order to determine the charging sequence; The remaining working time of the drone is determined based on the drone's current battery level, power consumption rate, altitude above the charging platform, and horizontal distance between the drone and the charging platform.

18. A drone charging control system, characterized in that, The drone charging control system, applicable to any one of claims 1 to 5, comprises: A control platform is configured to determine a set of drones to be charged based on the current power consumption rate of at least one drone, determine the charging order of at least one drone in the set of drones to be charged based on the remaining working time of at least one drone in the set of drones to be charged, and send charging instructions to at least one drone in the set of drones to be charged in sequence according to the charging order. At least one drone, each drone being configured to receive a charging command sent by a control platform, and according to the charging command, control the first induction coil in the drone charging system to be connected to the battery management circuit, and determine whether the induction coils of the drone charging system and the charging platform are aligned according to the voltage of the battery management unit in the battery management circuit, and if the induction coils of the drone charging system and the charging platform are aligned, control the first induction coil to be disconnected from the battery management circuit, connect the second induction coil in the drone charging system to the battery management circuit, and control the drone to fall onto the induction coil of the charging platform; A charging platform, comprising at least one induction coil for charging the at least one drone.

19. A drone charging control device, characterized in that, The device, used in any one of claims 1 to 5, comprises: The first receiving module is used to receive charging instructions sent by the control platform; The first determining module is used to control the first induction coil in the UAV charging system to be connected to the battery management circuit according to the charging command, and to determine whether the induction coil of the UAV charging system and the charging platform are aligned according to the voltage of the battery management unit in the battery management circuit. The first control module is used to control the first induction coil to disconnect from the battery management circuit and the second induction coil in the drone charging system to connect to the battery management circuit when the induction coils of the drone charging system and the charging platform are aligned, and to control the drone to fall onto the induction coil of the charging platform.

20. A drone charging control device, characterized in that, The device, used in any one of claims 1 to 5, comprises: The second determining module is used to determine a set of drones to be charged based on the current power consumption rate of at least one drone. The third determining module is used to determine the charging order of at least one drone in the set of drones to be charged based on the remaining working time of at least one drone in the set of drones to be charged. The first sending module is used to send charging instructions to at least one drone in the set of drones to be charged in sequence according to the charging order.

21. An unmanned aerial vehicle (UAV), comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; characterized in that the processor is configured to read the program in the memory to implement the steps of the UAV charging control method as described in any one of claims 6 to 13.

22. An electronic device, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; characterized in that the processor is configured to read the program in the memory to implement the steps of the UAV charging control method as described in any one of claims 14 to 17.

23. A readable storage medium, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the drone charging control method as claimed in any one of claims 6 to 13, or implements the steps of the drone charging control method as claimed in any one of claims 14 to 17.

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