Intelligent charging method, system and terminal

Abstract

The present invention relates to an intelligent charging method, system and terminal, and relates to the field of electric vehicle charging, which includes: determining whether charging call information is consistent with preset reference call information; if not, continuing to obtain; if consistent, obtaining the power detection information, vehicle positioning information and vehicle model information of the vehicle to be charged, so as to determine the battery parameter information and the corresponding battery pack, and controlling the preset drone to carry the corresponding battery pack; determining the channel route information and the flight route information according to the vehicle positioning information; if the flight direction information is consistent with the wind direction detection information or the wind force detection information is in the reference wind force interval, controlling the drone carrying the battery pack to determine the moving channel according to the channel route information and move; controlling the drone carrying the battery pack to fly according to the flight route information to reach the location of the vehicle positioning information. The present application has the effect of timely charging the electric vehicle when the electric vehicle has no charging conditions.

Description

Technical Field

[0001] The present invention relates to the field of electric vehicle charging, and in particular to an intelligent charging method, system and terminal. Background Art

[0002] As the world's dependence on traditional fossil energy gradually increases, the use of renewable energy and clean energy has become a trend. New energy vehicles can run vehicles through electricity, thereby reducing the consumption of fossil energy.

[0003] Electric vehicles need to be charged when they are out of power or low on power. They can be charged at home or at a charging station outside. When going to remote areas or the wild, you need to charge before traveling.

[0004] At present, the construction of charging infrastructure for electric vehicles is still imperfect, and the distribution of charging piles is uneven. In some remote areas, due to the small coverage of charging piles, electric vehicles cannot find charging piles after they run out of power, and cannot be charged in time. There is still room for improvement. Summary of the invention

[0005] In order to charge an electric vehicle in time when the electric vehicle has no charging conditions, the present invention provides an intelligent charging method, system and terminal.

[0006] In a first aspect, the present invention provides a smart charging method, which adopts the following technical solution:

[0007] A smart charging method, comprising:

[0008] Obtain charging call information of the vehicle to be charged;

[0009] Determine whether the charging call information is consistent with the preset reference call information;

[0010] If the charging summon information is inconsistent with the baseline summon information, continue to obtain;

[0011] If the charging call information is consistent with the reference call information, the power detection information, vehicle location information and vehicle model information of the vehicle to be charged are obtained;

[0012] Determine the battery parameter information according to the car model information, and control the preset drone to carry the battery pack corresponding to the battery parameter information;

[0013] Determine channel route information and flight route information based on vehicle positioning information;

[0014] Obtain wind force detection information and wind direction detection information of the flight route corresponding to the flight route information;

[0015] Determine flight direction information based on flight route information;

[0016] Determine whether the flight direction information is consistent with the wind direction detection information;

[0017] If the flight direction information is inconsistent with the wind direction detection information, determining whether the wind force detection information is within a preset reference wind force range;

[0018] If the flight direction information is consistent with the wind direction detection information or the wind force detection information is within the reference wind force range, the UAV carrying the battery pack is controlled to determine the moving channel according to the channel route information, and the UAV is controlled to move according to the moving channel; the UAV carrying the battery pack is controlled to fly according to the flight route information to reach the location of the vehicle positioning information.

[0019] By adopting the above technical solution, the charging call information of the car to be charged is compared with the preset benchmark call information. After confirming the consistency, the wind force and wind direction on the flight route are obtained in real time for analysis and understanding to determine the flight route information, and the drone carrying the corresponding battery pack is controlled to move according to the channel route information and fly according to the flight route information. The impact of environmental factors on drone flight is taken into account, ensuring the smooth execution of charging tasks, and effectively improving the convenience, timeliness and stability of electric vehicle charging.

[0020] Optionally, also include:

[0021] If the wind force detection information is not within the reference wind force interval, obtaining the route image information on the route where the flight route information is located;

[0022] Determining whether the route image information contains a preset occlusion feature;

[0023] If the route image information does not contain occlusion features, the flight is performed based on the flight route information;

[0024] If the route image information includes an occlusion feature, determining an occlusion value and an occlusion position according to a comparison relationship between the route image information and the occlusion feature;

[0025] Determine the simulated power corresponding to the shielding position according to the comparison relationship between the shielding value, the shielding position, the wind force detection information and the wind direction detection information;

[0026] The minimum simulated power is selected from the occluded positions on the same preset horizontal axis and defined as the flight power;

[0027] Connecting the shielding positions corresponding to the adjacent flight powers to generate corrected route information, and defining the sum of the flight powers corresponding to the corrected route information as the route power;

[0028] The minimum value is selected from the route power and the flight is performed using the corrected route information corresponding to the minimum value.

[0029] By adopting the above technical solution, when the wind force detection information is not within the reference wind force range, the route image information of the flight route is obtained. If there are obstruction features, it means that the obstruction can be used to reduce wind resistance. The minimum simulated power is then screened out as the flight power, and the distance power is calculated. Finally, the corrected route information corresponding to the minimum distance power is selected for the UAV flight, so that the UAV can arrive at the destination smoothly, ensuring that the battery pack of the car to be charged can be used to charge the electric car in time, while saving electricity.

[0030] Optionally, the charging cable detection method includes:

[0031] Obtain image detection information of the car area;

[0032] Determine the car model image and the charging port position according to the car model information;

[0033] Determine the safe zone of the charging port based on image detection information, charging port location, car model image and preset safety features;

[0034] Determine the placement area based on battery parameter information;

[0035] Determine whether the placement area falls within the safe zone of the charging port;

[0036] If the placement area falls within the charging port safety zone, the position corresponding to the sum of the charging port position and the preset safety distance is defined as the placement position, and the charging cable length value is determined based on the charging port position and the placement position;

[0037] The preset cable reel is controlled to release the cable according to the length of the charging cable, the drone is controlled to land at the placement position, and the preset clamping device is controlled to clamp the preset charging head and insert it into the charging port position.

[0038] By adopting the above technical solution, it is determined through understanding the actual situation whether the placement area falls within the safe zone of the charging port. If it does, it means that the battery pack can be placed on the ground. The length of the charging cable is obtained through analysis, the charging cable is released according to the length of the charging cable, and the charging head is inserted into the charging port, thereby improving the charging efficiency and accuracy.

[0039] Optionally, also include:

[0040] If the placement area does not fall within the safe zone of the charging port, the total weight of the drone and battery pack and the three-dimensional model of the carrier are determined based on the battery parameter information, and the reference wind force value is determined based on the total weight;

[0041] Determine the roof slope value and roof position according to the image detection information and the vehicle model information, and obtain the charging wind force value and the charging wind direction angle value;

[0042] Determine the windward areas at different angles according to the three-dimensional model of the carrier, and define the surface corresponding to the smallest windward area as the facing surface;

[0043] Determine the charging wind direction information according to the sequence between the two preset reference points and the charging wind direction angle value;

[0044] The windward correction value is obtained by analyzing the direction corresponding to the roof slope value, the charging wind force value, the charging wind direction information and the comparative relationship between the facing surface;

[0045] Correct the reference wind value according to the windward correction value;

[0046] Determine whether the charging wind force value is less than the reference wind force value;

[0047] If the charging wind force value is less than the reference wind force value, the roof position is defined as the roof placement position, and the roof line length value is determined based on the roof placement position and the charging port position;

[0048] Control the preset cable drum to release the cable according to the length of the roof line, control the drone to land at the roof placement position and adjust the direction according to the facing surface, and control the clamping device to clamp the preset charging head and insert it into the charging port position;

[0049] If the charging wind force value is not less than the reference wind force value, the device is placed using a preset placement method and a preset clamping device is controlled to clamp the preset charging head and insert it into the charging port position.

[0050] By adopting the above technical solution, when the placement area does not fall into the safe zone of the charging port, it means that the charging pack cannot be placed on the ground. By understanding the actual situation, it is determined whether the charging wind force value is less than the reference wind force value. If it is less than the reference wind force value, it means that the charging pack can be placed on the roof. The charging cable is released according to the roof line length value analyzed by the position, and then the charging head is inserted into the charging port to ensure the safety of the charging operation, improve the adaptability and success rate of charging in complex environments, and thus charge the electric vehicle in time.

[0051] Optional placement methods include:

[0052] Identify preset support features from the image detection information, mark them and define them as marking points;

[0053] Determine the charging height information and placement height value of the charging port according to the vehicle model information;

[0054] Determine the placement range based on the charging height information and the carrier three-dimensional model;

[0055] Determine the number of markers for the marker points based on the placement range;

[0056] Match the placement status according to the number of markers, and determine the ground hardness value according to the image detection information;

[0057] Analyze the soil hardness value and the placement height value to obtain the height correction parameter;

[0058] According to the height correction parameter, the telescopic rod preset on the drone is controlled to be extended and retracted and placed in a placement state.

[0059] By adopting the above technical solution, the optional placement method is to identify the preset support features from the image detection information as the marking point, determine the charging height and placement height value of the charging port according to the car model information, and then determine the land hardness value through understanding the actual situation. After analysis, the height correction parameter is obtained for correction. After the height is corrected, the telescopic rod on the drone is controlled for telescopic placement. The adaptability, safety and charging stability under different conditions are improved.

[0060] Optionally, also include:

[0061] Determine the channel entrance of the mobile channel according to the channel route information, and obtain channel image information of the channel entrance;

[0062] Select the preset drone features according to the channel image information box to obtain the drone image;

[0063] Determine the drone's location based on the drone image and the preset channel entrance location;

[0064] Determine whether the drone's position is within the preset landing range;

[0065] If the drone is not in the landing range, continue the detection;

[0066] If the drone is in the landing range, the movement value and grabbing parameters are determined according to the battery parameter information, and the preset extension plate is controlled to be pushed forward with the movement value;

[0067] Determine the landing position of the drone on the extension board based on the channel image information and battery parameter information;

[0068] According to the position of the UAV, the preset grabbing device is controlled with grabbing parameters to fix the UAV and tow it to the landing position;

[0069] Control the extension plate to move backward according to the movement value, update the landing position according to the movement value, and determine the adjustment position according to the updated landing position and the preset track connection position;

[0070] According to the adjustment position, the extension plate is controlled to move to the docking position, the preset docking device is controlled to dock the drone, and the drone is transmitted using the preset transmission method.

[0071] By adopting the above technical solution, the channel entrance of the mobile channel is determined according to the channel route information and the channel image information is obtained, so as to select the drone features and determine the drone position. When the drone position is within the landing range, it means that the drone has reached the channel entrance, and the control extension board is pushed forward according to the movement value determined by the battery parameter information, and the landing position is determined and adjusted according to the actual situation, so as to land and dock the drone. The smooth docking of the drone is guaranteed, thereby improving the efficiency of battery pack transportation.

[0072] Optionally, the transmission method includes:

[0073] Determine the total weight and assembly volume of the battery pack and the drone based on the battery parameter information;

[0074] Determine the model of the preset drag reducing head according to the assembly volume value;

[0075] Determine the weight value and drag reduction coefficient of the drag reduction head according to the drag reduction head model;

[0076] Determine the assembly power consumption value according to the total weight value, the weight value of the drag reduction head, the drag reduction coefficient and the preset running speed;

[0077] Screen out the drag reduction head model with the smallest assembly power consumption value and define it as the assembled drag reduction head;

[0078] Controls the assembly of the drag reducing head for installation and movement at operating speed.

[0079] By adopting the above technical solution, the total weight and assembly volume of the battery pack and the drone are determined according to the battery parameter information, and the drag reduction head model is determined accordingly. The assembly power consumption value is analyzed and calculated according to the actual situation, and the drag reduction head model with the smallest assembly power consumption value is selected as the assembly drag reduction head and installed and moved at the operating speed. This enables the drone to complete transportation more energy-efficiently and efficiently when moving at the operating speed.

[0080] Optionally, also include:

[0081] Determine the adjacent rail joint positions according to the assembly volume value;

[0082] Control the release device preset on the drone to separate the drone from the battery pack, and control the grabbing device to move the battery pack to an adjacent connection position;

[0083] Obtain the length information and windward surface information of the drone and battery pack after assembly;

[0084] The drag reduction head model is determined according to the length information and the windward surface information, thereby obtaining the drag reduction head weight value and the drag reduction coefficient, and the drag reduction head model is defined as a sub-packaging drag reduction head;

[0085] Determine the power consumption value of the subassembly according to the weight value, drag reduction coefficient, length information and windward surface information of the drag reduction head;

[0086] Determine whether the sub-assembly power consumption value is less than the assembly power consumption value;

[0087] If the sub-assembly power consumption value is less than the assembly power consumption value, the sub-assembly drag reduction head is controlled to be installed and moved at the operating speed;

[0088] If the sub-assembly power consumption value is not less than the assembly power consumption value, the assembly drag reduction head is controlled to be installed and moved at the operating speed.

[0089] By adopting the above technical solution, the adjacent connection position is determined according to the assembly volume value, the relevant device on the drone is controlled to separate the drone and the battery pack and move the battery pack to the position, the length and windward surface information after assembly are obtained to determine the sub-assembly drag reduction head and its related parameters to calculate the sub-assembly power consumption value, and the sub-assembly power consumption value is compared with the assembly power consumption value to select the one with the lowest power consumption, so as to select the sub-assembly drag reduction head or the assembly drag reduction head to be moved at the running speed after installation. In this way, the transportation speed is guaranteed while reducing energy consumption.

[0090] In a second aspect, the present application provides a smart charging system, which adopts the following technical solution:

[0091] An intelligent charging system, comprising:

[0092] An acquisition module is used to acquire charging call information, power detection information, vehicle positioning information, vehicle model information, wind force detection information, wind direction detection information, route image information, image detection information, charging wind force value, charging wind direction angle value, channel image information, length information, and windward surface information;

[0093] A memory, used to store a program of the above-mentioned intelligent charging method;

[0094] The processor is used to load the program stored in the memory.

[0095] By adopting the above technical solution, the acquisition module acquires data, compares the charging call information of the car to be charged with the preset benchmark call information, and after confirming the consistency, obtains the wind force and wind direction on the flight route in real time for analysis and understanding to determine the flight route information, and controls the drone to carry the corresponding battery pack to move and fly according to the channel route information. The impact of environmental factors on drone flight is taken into consideration, ensuring the smooth execution of charging tasks, and effectively improving the convenience, timeliness and stability of electric vehicle charging.

[0096] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution:

[0097] An intelligent terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute the above-mentioned intelligent charging method.

[0098] By adopting the above technical solution, a computer program that can be loaded by a processor and execute the above intelligent charging method is stored in the memory, and the charging call information of the car to be charged is compared with the preset reference call information. After confirming the consistency, the wind force and wind direction on the flight route are obtained in real time for analysis and understanding to determine the flight route information, and the drone carrying the corresponding battery pack is controlled to move according to the channel route information and fly according to the flight route information. The impact of environmental factors on drone flight is taken into consideration, the smooth execution of the charging task is guaranteed, and the convenience, timeliness and stability of electric vehicle charging are effectively improved.

[0099] In summary, the present application includes at least one of the following beneficial technical effects:

[0100] 1. Determine the flight route information through real-time analysis of wind force and wind direction on the flight route, and control the drone carrying the adapted battery pack to move according to the channel route information and flight route information, so as to ensure the smooth implementation of the charging task;

[0101] 2. Filter out the route with the least power according to the obstruction characteristics, thereby reducing the wind resistance on the route and improving the speed and stability;

[0102] 3. After arriving at the location of the car to be charged, the placement of the charging pack is determined through detection, which improves the stability during charging. BRIEF DESCRIPTION OF THE DRAWINGS

[0103] Figure 1 is a flow chart of a method for intelligent charging of an electric vehicle according to an embodiment of the present invention;

[0104] Figure 2 is a flow chart of a method for reducing power consumption when the wind force is too strong while the drone is moving according to an embodiment of the present invention;

[0105] Figure 3 It is a flow chart of a charging line detection method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0106] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0107] An intelligent charging method, according to the wind direction and wind conditions, selects flight route information or corrects route information to fly to the vehicle; after arrival, the charging pack is placed in the placement area that falls into the safe zone of the charging port to charge the car; if the placement area does not fall into the safe zone of the charging port, the charging pack is placed according to the position of the roof to charge the car; if the wind force on the roof affects the placement of the charging pack, the telescopic rod on the drone is controlled to extend, and the charging pack is placed to charge the car. The drone transports the charging pack to the channel entrance, falls into the extension plate and enters the channel for docking; after docking, the drag reduction head is installed. In order to save power, the power consumption value of the sub-assembly is compared with the power consumption value of the assembly, so as to select the one with small power, and control the corresponding drag reduction head to be installed and move at the running speed. Thus, the car to be charged can be charged in time.

[0108] The present application embodiment discloses a smart charging method, referring to Figure 1 , including the following steps:

[0109] Step 100: Obtain charging call information of the vehicle to be charged.

[0110] The vehicle to be charged is a vehicle that needs to be charged. The charging call information is the instruction information issued by the vehicle to be charged. The charging call information of the vehicle to be charged is obtained by sending information or instructions through a mobile phone or a vehicle system.

[0111] Step 101: Determine whether charging call information is consistent with preset reference call information.

[0112] The reference call information is information of an instruction to charge. It is determined whether the charging call information is consistent with the preset reference call information to determine whether charging is required.

[0113] Step 1010: If the charging call information is inconsistent with the reference call information, continue to obtain.

[0114] If the charging call information is inconsistent with the reference call information, it means that it is not an instruction to charge, and then the charging call information continues to be obtained.

[0115] Step 1011: If the charging call information is consistent with the reference call information, then the power detection information, vehicle location information and vehicle model information of the vehicle to be charged are obtained.

[0116] The power detection information is the power information of the car to be charged. The vehicle positioning information is the location information obtained by the GPS chip in the car to be charged through satellite positioning. The charging call information includes the car model information. When the charging call information is obtained, the model information of the car to be charged is obtained.

[0117] If the charging call information is consistent with the reference call information, it means that charging is needed, and then the power detection information, vehicle positioning information and vehicle model information are obtained through the vehicle to be charged.

[0118] Step 102: Determine battery parameter information according to the vehicle model information, and control the preset drone to carry a battery pack corresponding to the battery parameter information.

[0119] The battery parameter information is the parameters of the battery of the vehicle to be charged, and different vehicle model information stores corresponding battery parameter information. The drone is an unmanned aerial vehicle that transports the battery pack for the vehicle to be charged.

[0120] The battery parameter information is determined by the car model information, thereby determining the corresponding battery pack, and controlling the preset manipulator to clamp the battery pack to the preset assembly ring in the drone for docking.

[0121] Step 103: Determine channel route information and flight route information according to the vehicle positioning information.

[0122] The channel route information is the channel for transporting drones and batteries. The track changes between each channel are switched according to the channel route information, which is consistent with the switching method of train tracks. The track in the channel cooperates with the preset track plate and gear transmission device. When powered on, the torque generated rotates the gear through the gear transmission, thereby pushing the track plate forward, so as to carry the drone and battery pack. The flight route information is the route from the departure to the channel entrance and the route to the car to be charged after the next flight channel.

[0123] The vehicle positioning information is input into a preset route database to obtain channel route information and flight route information. The route database is a preset database that obtains corresponding route data by analyzing the vehicle positioning information. The channel route information and flight route information are determined by the vehicle positioning information.

[0124] Step 104: Obtain wind force detection information and wind direction detection information of the flight route corresponding to the flight route information.

[0125] The wind force detection information is the data obtained by detecting the wind intensity on the flight route of the drone transporting the battery pack to the car to be charged. The wind direction detection information is the data obtained by detecting the direction of the wind through the anemometer.

[0126] The wind force detection information and wind direction detection information of the corresponding flight route are obtained through the flight route information.

[0127] Step 105: Determine the flight direction information according to the flight route information.

[0128] The flight direction information is the direction in which the drone is flying. The flight direction information is determined by the flight route information.

[0129] Step 106: Determine whether the flight direction information is consistent with the wind direction detection information.

[0130] Determine whether the flight direction information is consistent with the wind direction detection information, so as to determine whether to fly according to the flight route information.

[0131] Step 1060: If the flight direction information is inconsistent with the wind direction detection information, determine whether the wind force detection information is within a preset reference wind force range.

[0132] The reference wind speed range is the wind speed range that does not affect the flight of the drone.

[0133] If the flight direction information is inconsistent with the wind direction detection information, it means that the wind direction is inconsistent with the flight direction of the drone. Then, it is determined whether the wind force detection information is within the preset reference wind force range, so as to determine whether the wind direction has an impact on the flight of the drone.

[0134] Step 1061: If the flight direction information is consistent with the wind direction detection information or the wind force detection information is within the reference wind force range, the UAV carrying the battery pack is controlled to determine the moving channel according to the channel route information, and the UAV is controlled to move according to the moving channel; the UAV carrying the battery pack is controlled to fly according to the flight route information to reach the location of the vehicle positioning information.

[0135] The mobile channel is the channel corresponding to the UAV when it is running with the battery pack in the channel route information.

[0136] If the flight direction information is consistent with the wind direction detection information, it means that the wind does not affect the flight of the UAV. The moving channel is determined according to the channel route information, and the UAV carrying the battery pack is controlled to move along the moving channel. The UAV carrying the battery pack is controlled to fly according to the flight route information to reach the location of the vehicle positioning information.

[0137] If the wind force detection information is within the reference wind force range, indicating that the wind force does not affect the flight of the UAV, the moving channel is determined according to the channel route information, and the UAV carrying the battery pack is controlled to move along the moving channel. The UAV carrying the battery pack is controlled to fly according to the flight route information to reach the location of the vehicle positioning information.

[0138] Reference Figure 2 When the wind force detection information is not within the reference wind force range, the following steps are included:

[0139] Step 200: If the wind force detection information is not within the reference wind force interval, then obtain the route image information on the route where the flight route information is located.

[0140] The route image information is a picture of the route corresponding to the flight route information, which is obtained through an optical remote sensing imager.

[0141] When the wind force detection information is not within the reference wind force range, it means that the wind force has an impact on the flight of the UAV, resulting in increased power consumption, and then the route image information on the route where the flight route information is located is obtained.

[0142] Step 201: Determine whether the route image information contains a preset occlusion feature.

[0143] Occlusion features are object features that can block the wind in the route image information, such as buildings and trees.

[0144] It is determined whether the route image information contains occlusion features, thereby determining whether there are any occlusions.

[0145] Step 2010: If the route image information does not contain occlusion features, then fly according to the flight route information.

[0146] If the route image information does not contain occlusion features, it means that there is no occlusion and the occlusion cannot be used to reduce the impact of wind on the operation of the drone. In this case, the flight is performed based on the flight route information.

[0147] Step 2011: If the route image information includes an occlusion feature, determine an occlusion value and an occlusion position according to a comparison relationship between the route image information and the occlusion feature.

[0148] The obstruction value is the degree of wind force obstructed by the obstruction feature in the route image information, and the degree of wind force obstructed is determined according to the wind force and wind direction in the flight route information. The obstruction position is the position of the obstruction feature in the route image information.

[0149] If the route image information contains an obstruction feature, it means there is an obstruction, which can reduce the impact of wind on the aircraft. Then, the image corresponding to the obstruction feature is selected in the route image information box, so as to determine the degree of wind force of the obstruction according to the wind force and wind direction in the flight route information and use it as the obstruction value. A coordinate system is established in the route image information, and the obstruction position is determined according to the position in the coordinate system covered by the obstruction feature in the coordinate system.

[0150] Step 202: Determine the simulated power corresponding to the shielding position according to the comparison relationship between the shielding value, the shielding position, the wind force detection information and the wind direction detection information.

[0151] Because each shielding position has different location and wind direction detection information, the corresponding simulated power will be different under the same wind conditions.

[0152] The power of the drone flying under different wind force detection information and wind direction detection information is acquired and stored in advance, and can be acquired through a power tester. Different shielding positions correspond to different shielding values ​​because of different shielding objects. Different wind strengths correspond to different shielding values.

[0153] The power of the drone flying behind the obstruction is calculated based on the obstruction value and the corresponding wind force detection information and wind direction detection information, so as to obtain the power of the drone flying behind the obstruction, that is, the simulated power. The calculation is set by the staff according to the actual situation.

[0154] Step 203: Filter out the minimum simulated power from the blocked positions on the same preset horizontal axis and define it as the flight power.

[0155] The horizontal axis is the horizontal coordinate in the preset coordinate system. The same horizontal axis represents the flight altitude of the drone at the same position point. At different altitudes, due to different obstructions, there are different simulated powers. The minimum value is selected from the simulated powers obtained from all obstructions with obstruction effects, and the minimum simulated power is the flight power.

[0156] Step 204: Connect the shielding positions corresponding to adjacent flight powers to generate corrected route information, and define the sum of the flight powers corresponding to the corrected route information as the route power.

[0157] The corrected route information is a route obtained by sequentially connecting the shielding positions corresponding to adjacent flight powers. The sum of the flight powers of the UAVs flying along the corrected route is the route power.

[0158] Step 205: Filter out the minimum value from the route power and fly using the corrected route information corresponding to the minimum value.

[0159] By comparing the power of each route, the minimum value is screened out, and the corrected route information corresponding to the minimum value is flown.

[0160] Reference Figure 3 , the charging line detection method includes the following steps:

[0161] Step 300: Obtain image detection information of the automobile area.

[0162] The car area is the location area of ​​the car to be charged. The image detection information is a photo of the car in the car area, which is obtained through a camera preset in the car area. The image detection information of the car area is obtained through a preset camera.

[0163] Step 301: Determine the car model image and the charging port position according to the car model information.

[0164] The car model image is a picture of the appearance and structure of the car, and different car model information corresponds to different car model images. The charging port position is the position where the car is charged, and the car model image includes the charging port position.

[0165] The car model information stores the car model image and the charging port position. The car model image and the charging port position are determined by determining the model.

[0166] Step 302: Determine a safe zone of the charging port according to the image detection information, the location of the charging port, the car model image and preset safety features.

[0167] The safety feature is a feature that prevents the charging pack from colliding with the car and allows the charging pack to be safely placed on the ground. The safety feature is pre-set by the staff and will not be described here. The charging port safety zone is the area where the battery pack can be safely placed on the ground.

[0168] The position of the car and the charging port in the detection image are determined from the image detection information through the car model image, the required charging direction is determined according to the position of the charging port, the safety features are framed out from the image detection information, and the safety features on the same side as the charging port position are retained, and the area of ​​this safety feature is used as the charging port safety area.

[0169] Step 303: Determine the placement area according to the battery parameter information.

[0170] The placement area is the area occupied by the battery pack when it is placed. The battery parameter information includes the area occupied by the corresponding battery pack and the drone after being combined, so the placement area is determined based on the battery parameter information.

[0171] Step 304: Determine whether the placement area falls within the charging port safety zone.

[0172] Determine whether the placement area falls within the safe zone of the charging port to determine whether the battery pack can be placed on the ground.

[0173] Step 3040: If the placement area falls within the charging port safety zone, the position corresponding to the sum of the charging port position and the preset safety distance is defined as the placement position, and the charging cable length value is determined based on the charging port position and the placement position.

[0174] The safety distance is the safe distance between the charging pack and the car during charging, which is set in advance by technicians in this field and will not be described here. The placement position is the location where the charging pack is placed. The charging line length value is the required length value of the charging line during charging, which is obtained through analysis.

[0175] If the placement area falls within the safety zone of the charging port, it means that the battery pack can be placed on the ground to charge the car. The position corresponding to the sum of the charging port position and the preset safety distance is defined as the placement position. The distance between the charging port position and the placement position is calculated and the distance value is used as the length value.

[0176] Step 305: Control the preset cable reel to release the cable according to the length of the charging cable, control the drone to land at the placement position, and control the preset clamping device to clamp the preset charging head and insert it into the charging port position.

[0177] The cable reel is a device that winds and stores the car charging cable by driving the rotation shaft through the internal motor. The clamping device is a preset manipulator.

[0178] The control cable reel releases the cable according to the length of the charging cable, controls the drone to land at the placement position, and controls the clamping device to clamp the charging head and insert it into the charging port position.

[0179] When the placement area does not fall within the safe zone of the charging port, the following steps are included:

[0180] Step 400: If the placement area does not fall within the charging port safety zone, the total weight of the drone and the battery pack and the three-dimensional model of the carrier are determined based on the battery parameter information, and the reference wind force value is determined based on the total weight.

[0181] The total weight is the combined weight of the drone and the battery pack. Different battery parameter information corresponds to different battery packs and drones. The sum of the weights of the corresponding battery packs and drones is the total weight. The carrier 3D model is a 3D shape obtained by scanning the battery pack and drone with a laser scanner. The reference wind force value is the wind force that the drone and battery pack can withstand when placed under the current total weight. Different total weights of drones and battery packs correspond to different reference wind force values.

[0182] If the placement area does not fall within the safe zone of the charging port, it means that the charging pack cannot be placed on the ground. The total weight of the drone and the battery pack and the three-dimensional model of the carrier are determined based on the battery parameter information, and the reference wind force value is determined based on the total weight.

[0183] Step 401: Determine the roof slope value and the roof position according to the image detection information and the car model information, and obtain the charging wind force value and the charging wind direction angle value.

[0184] The roof inclination value is the angle between the roof surface and the horizontal direction. Different car models correspond to different roof positions, and different roof positions correspond to different roof inclination values. The charging wind force value is the actual wind force in the current charging environment, which is obtained through an anemometer. The charging wind direction angle value is the wind direction angle during charging. Wind direction detection equipment such as wind vanes installed on street lights can obtain wind direction angle information in real time.

[0185] Step 402: determine the windward areas at different angles according to the three-dimensional model of the carrier, and define the surface corresponding to the minimum windward area as the facing surface.

[0186] The windward area is the area of ​​the charging pack directly facing the wind. The windward area is obtained by using the three-dimensional model to obtain the area facing the wind at different angles and used as the windward area.

[0187] The windward areas at different angles are determined according to the three-dimensional model of the carrier, the minimum windward area is obtained by comparing the windward areas, and the surface corresponding to the minimum windward area is defined as the facing surface.

[0188] Step 403: Determine the charging wind direction information according to the sequence between the two preset reference points and the charging wind direction angle value.

[0189] The charging wind direction information is the wind direction that the wind hits the battery pack surface. The two reference points are two preset identification points used to determine the charging wind direction information. The charging wind direction information is determined in order according to the roof position through the two reference points and the charging wind direction angle value.

[0190] Step 404: Analyze the direction corresponding to the roof slope value, the charging wind force value, the charging wind direction information and the comparative relationship between the facing surface to obtain the windward correction value.

[0191] The headwind correction value is a correction value adjusted for the base wind value and can be either positive or negative.

[0192] The windward correction value is obtained by analyzing and matching a preset windward database. The windward database pre-stores correction values ​​corresponding to the direction corresponding to the roof inclination value, correction values ​​corresponding to the charging wind force value, correction values ​​corresponding to the charging wind direction information, and correction values ​​corresponding to the orientation surface. The windward database is an artificially set database and will not be elaborated here.

[0193] According to the direction corresponding to the roof slope value, the corresponding correction value is matched from the windward database. According to the charging wind force value, the corresponding correction value is matched from the windward database. The charging wind direction information is matched from the windward database. The corresponding correction value of the orientation surface is matched from the windward database. All the correction values ​​that affect are added together to obtain the windward correction value.

[0194] Step 405: Correct the reference wind force value according to the headwind correction value.

[0195] Due to the influence of wind speed and direction on the windward side, the wind force values ​​that the battery pack and the drone can withstand will change, so the baseline wind force value is corrected according to the windward correction value.

[0196] Step 406: Determine whether the charging wind force value is less than the reference wind force value.

[0197] Determine whether the charging wind force value is less than the reference wind force value, so as to determine whether the charging pack and the drone can be stably placed on the roof.

[0198] Step 4060: If the charging wind force value is less than the reference wind force value, the roof position is defined as the roof placement position, and the roof line length value is determined according to the roof placement position and the charging port position.

[0199] The roof placement position is where the charging pack and the drone are placed, and is determined based on the roof position. The roof line length value is the length of the charging line on the roof.

[0200] If the charging wind force value is less than the reference wind force value, it means that the wind force value at this time is within the range that the charging pack and the drone can withstand, so the roof position is defined as the roof placement position, and the roof line length value is obtained by analyzing the distance between the roof placement position and the charging port position.

[0201] Step 407: Control the preset cable reel to release the cable according to the length of the roof line, control the drone to land at the roof placement position and adjust the direction according to the facing surface, and control the clamping device to clamp the preset charging head and insert it into the charging port position.

[0202] According to the length of the roof line, the cable drum is used to release the cable, the drone is controlled to land at the roof position, and the orientation of the charging pack and the drone is adjusted, and finally the clamping device is controlled to clamp the charging head and insert it into the charging port. The charging head is in the cable drum and connected to the charging cable.

[0203] Step 4061: If the charging wind force value is not less than the reference wind force value, the preset placement method is used for placement and the preset clamping device is controlled to clamp the preset charging head and insert it into the charging port position.

[0204] The clamping device is a preset manipulator. If the charging wind force value is not less than the reference wind force value, it means that the wind force value at this time is not within the range that the charging package can withstand, and then the preset placement method is used for placement, and the preset placement method is steps 500 to 506, and the preset manipulator is controlled to clamp the preset charging head and insert it into the charging port position.

[0205] The placement method includes the following steps:

[0206] Step 500: Identify preset support features from the image detection information, mark them, and define them as marking points.

[0207] The support characteristics are the characteristics of where the telescopic pole of the drone can be placed.

[0208] A coordinate system is established in the image detection information, and preset support features identified in the image detection information are marked in the coordinate system and defined as marking points.

[0209] Step 501: Determine the charging height information and placement height value of the charging port according to the vehicle model information.

[0210] The charging height information is the height of the car charging port from the ground. The placement height value is the height at which the charging pack and the drone rest after the telescopic rod is unfolded. The telescopic rod is an electric push rod that is set inside the drone for length adjustment and is used to support the drone and the battery pack.

[0211] Different car model information corresponds to different charging height information of the charging port, so that the placement height value is determined according to the charging height information.

[0212] Step 502: Determine the placement range according to the charging height information and the three-dimensional model of the carrier.

[0213] In this embodiment, the opening angle of the telescopic rod is a fixed angle, and there are three telescopic rods in total and they are opened together for use. Since the opening angle is constant, the charging height information is also constant, so the placement range is a fixed range.

[0214] Step 503: Determine the number of marks for the mark points according to the placement range.

[0215] The number of markers is the total number of marker points within the determined placement range space. The marked marker points are identified and counted through image detection information, and the counting result is used as the number of markers.

[0216] Step 504: Match the placement status according to the number of markers, and determine the ground hardness value according to the image detection information.

[0217] The ground features are the texture and appearance features of the ground. The ground features are preset by those skilled in the art and will not be described in detail here.

[0218] The placement state or suspended state is matched according to the number of marks. The placement state is the state where the telescopic rod on the drone is placed on the ground, and the suspended state is the state where the telescopic rod is not opened.

[0219] When the charging pack and the drone cannot be placed, do not open the telescopic rod, control the drone to fly flush with the charging port, and maintain a safe distance. The land hardness value is the land's ability to resist deformation. The higher the hardness value, the harder the land is and the less likely it is to be compressed or deformed. The lower the hardness value, the softer the land is and the easier it is to deform under pressure.

[0220] According to the image detection information, the ground features are framed out through a preset camera to obtain a ground image, and the ground image is input into a preset land database to determine the land hardness value. The land database analyzes the land image to obtain the land hardness value. The land database is a manually set database and will not be described in detail here.

[0221] Step 505: Analyze the ground hardness value and the placement height value to obtain a height correction parameter.

[0222] The height correction parameter is a parameter for correcting the height of the telescopic rod. The hardness of the ground is determined by the ground image, and the correction parameters are different for different ground hardness values. The height correction parameters are analyzed based on the ground hardness value and the placement height value.

[0223] Step 506: Control the telescopic rod preset on the drone to be extended and retracted according to the altitude correction parameter and place the drone in a placement state.

[0224] The telescopic rod preset on the drone is controlled to extend and retract according to the height correction parameters to meet the hardness of different ground surfaces. The length of each telescopic rod can be adjusted individually to maintain the balance between the drone and the charging pack. The telescopic rod on the drone is extended and retracted and placed on the ground in the placement state.

[0225] The drone moves to the mobile channel and connects, including the following steps:

[0226] Step 600: Determine the channel entrance of the mobile channel according to the channel route information, and obtain channel image information of the channel entrance.

[0227] The channel image information is the image of the channel entrance, which is obtained through a camera preset at the channel entrance.

[0228] There are multiple mobile channels. The mobile channels and channel openings of the mobile channels are obtained according to channel route information, and channel image information of the channel openings is obtained through a camera.

[0229] Step 601: Select preset drone features according to the channel image information frame to obtain a drone image.

[0230] The drone features are the features of the drone’s appearance and shape. The drone image is a photo of the drone’s features selected from the channel image information.

[0231] The drone features in the channel image information frame are selected through the camera to obtain the drone image.

[0232] Step 602: Determine the drone position based on the drone image and the preset channel entrance position.

[0233] The entrance position is a preset identification position used to determine the position of the drone. The drone position is the position of the drone when it arrives at the entrance. The entrance position is known, so the drone position is determined by the drone image and the entrance position.

[0234] Step 603: Determine whether the drone's position is within a preset landing range.

[0235] Determine whether the drone's position is within the preset landing range, thereby determining whether the drone has reached the channel entrance.

[0236] Step 6030: If the drone is not within the landing range, continue detecting.

[0237] If the drone is not in the landing range, it means that the drone has not reached the entrance, so continue the detection.

[0238] Step 6031: If the drone is within the landing range, the movement value and the grabbing parameter are determined according to the battery parameter information, and the preset extension plate is controlled to be pushed forward with the movement value.

[0239] The movement value is the distance the extension plate needs to be pushed forward. The grabbing parameter is the force and direction of the grabbing device to fix and pull the drone. The extension plate is a device set at the entrance of the channel to assist the drone to land and move into the channel. The battery parameter information includes the movement value of the extension plate and the grabbing parameters of the manipulator. Different models correspond to different movement values ​​of the extension plate and grabbing parameters of the manipulator.

[0240] If the drone is in the landing range, it means that the drone has reached the channel entrance. The grabbing parameters and movement values ​​are determined according to the battery parameter information, and the extension plate is controlled to be pushed forward with the movement value.

[0241] Step 604: Determine the landing position of the drone on the extension board according to the channel image information and the battery parameter information.

[0242] The landing position is the position where the drone lands on the extension board. The battery pack size is determined by the battery parameter information, and then the landing position of the drone and the battery pack on the extension board is determined by the channel image information and the battery pack size. Different battery parameter information corresponds to different landing positions of the drone and the battery pack on the extension board.

[0243] Step 605: According to the position of the UAV, a preset grabbing device is controlled with grabbing parameters to fix the UAV and tow it to a landing position.

[0244] The grabbing device is a manipulator preset at the passageway, and controls the grabbing device to fix the drone according to the grabbing parameters and tow it to the landing position.

[0245] Step 606: Control the extension plate to move backward according to the movement value, and update the landing position according to the movement value, and determine the adjustment position according to the updated landing position and the preset connection position.

[0246] The docking position is a pre-set standard docking position, each of which is equipped with a connecting ring for connecting with a drone or battery pack. The adjustment position is based on the difference between the landing position and the docking position, and the extension plate is controlled to move toward the docking position according to the difference. This position is the adjustment position.

[0247] After the drone reaches the landing position, the extension plate is controlled to move back according to the moving value so as to reach the moving channel, and the landing position is updated according to the moving value, and the adjustment position is determined according to the updated landing position and the connection position.

[0248] Step 607: Control the extension plate to move to the docking position according to the adjusted position, control the preset docking device to dock the drone, and transmit it using a preset transmission method.

[0249] The docking device is a manipulator preset on the track plate in the channel, which is used to clamp the drone and dock it with the docking position. According to the adjustment position, the extension plate is controlled to move to the docking position, so that the extension plate and the docking position are in a vertical line, and the docking device is controlled to dock the drone and transmit it by the transmission method, which is steps 700-step 705.

[0250] The transmission method comprises the following steps:

[0251] Step 700: Determine the total weight value and assembly volume value of the battery pack and the drone based on the battery parameter information.

[0252] The total weight value is the total weight of the battery pack and the drone that carries it. The assembly volume value is the volume of the battery pack and the drone combined. Different battery parameter information corresponds to different total weight values ​​and assembly volume values ​​of the battery pack and the drone.

[0253] Step 701: Determine the model of a preset drag reduction head according to the assembly volume value.

[0254] The drag reduction head is a bullet-shaped high-performance plastic installed at the front end of the battery pack and drone assembly to reduce air resistance during movement. The drag reduction head model is the model information of the drag reduction head. Different assembly volume values ​​correspond to different drag reduction head models.

[0255] Determine the drag reduction head model of the drag reduction head by the assembly volume value.

[0256] Step 702: Determine the weight value and drag reduction coefficient of the drag reduction head according to the drag reduction head model.

[0257] The drag reduction head weight value is the weight of the drag reduction head. Different drag reduction heads correspond to different weight values. The drag reduction coefficient is a parameter for reducing air resistance. The drag reduction head model includes the drag reduction head weight value and the drag reduction coefficient, so the drag reduction head weight value and the drag reduction coefficient are determined according to the drag reduction head model.

[0258] Step 703: Determine the assembly power consumption value according to the total weight value, the weight value of the drag reduction head, the drag reduction coefficient and the preset running speed.

[0259] The running speed is the preset driving speed of the tractor. The speed at which the tractor drives the battery pack and the drone in the docking position. The assembly power consumption value is the power consumed by the tractor when it is driving in the mobile channel.

[0260] The assembly power consumption value is analyzed through a preset power consumption database, which pre-stores the power consumption of the total weight value running at the running speed, the power consumption database pre-stores the power consumption of the drag reduction head weight value running at the running speed, and the power consumption database pre-stores the power consumption that can be saved corresponding to the drag reduction coefficient. The power consumption database is pre-set by the staff and will not be elaborated here.

[0261] The total power consumption is obtained by adding the power consumption of the total weight value at the operating speed and the power consumption of the drag reduction head weight value at the operating speed, and the total power consumption is added to the saved power consumption to obtain the assembly power consumption value.

[0262] Step 704: Filter out the drag reduction head model with the smallest assembly power consumption value and define it as the assembly drag reduction head.

[0263] Different assembly power consumption values ​​are obtained in turn, and the assembly power consumption values ​​are sorted to obtain the minimum assembly power consumption value, and the drag reduction head model corresponding to the minimum assembly power consumption value is selected, and the selected drag reduction head model is defined as the assembly drag reduction head.

[0264] Step 705: Control the assembly of the drag reduction head to be installed and moved at the operating speed.

[0265] The control preset robotic arm will assemble the drag reduction head for installation and move it in the moving channel at operating speed.

[0266] Reducing the operating power of the drone within the movement corridor includes the following steps:

[0267] Step 800: Determine adjacent rail connection positions according to the assembly volume value.

[0268] The docking position is where the battery pack is installed after it is assembled on the drone, and the adjacent docking position is where the battery pack is installed behind the drone after it is removed from the drone.

[0269] Different assembly volumes need to be adapted to different connection positions during the movement process, so that the spacing is determined according to the assembly volume value, and the adjacent connection positions are determined according to the spacing and the connection position.

[0270] Step 801: Control a release device preset on the drone to separate the drone from the battery pack, and control a gripping device to move the battery pack to an adjacent connection position.

[0271] The releasing device is a device for loosening the assembly ring. The releasing device is a manipulator, which controls the manipulator to separate the battery pack from the assembly ring on the drone. The state after separation is sub-packaging.

[0272] The drone is separated from the battery pack by controlling the release device on the drone, and the grabbing device is controlled to move the battery pack to an adjacent connection position.

[0273] Step 802: Obtain the length information and windward surface information of the drone and the battery pack after assembly.

[0274] The length information is the total length of the drone and the battery pack after they are installed separately. The windward side information is the windward side after the drone and the battery pack are installed separately. The length information and windward side information of the drone and the battery pack after they are installed separately are determined based on the three-dimensional model of the carrier.

[0275] Step 803: Determine the drag reduction head model according to the length information and the windward surface information, thereby obtaining the drag reduction head weight value and the drag reduction coefficient, and the drag reduction head model is defined as a sub-packaging drag reduction head.

[0276] The preset model database stores drag reduction head models corresponding to different lengths and windward surfaces, and the drag reduction head models include a drag reduction head weight value and a drag reduction coefficient.

[0277] The length information and the windward surface information are input into the model database to obtain the drag reduction head model and define it as a sub-assembly drag reduction head.

[0278] Step 804: Determine the sub-assembly power consumption value according to the weight value, drag reduction coefficient, length information and windward surface information of the drag reduction head.

[0279] The power consumption value of the package is the power consumed during the movement when the drone and the battery pack are packaged separately.

[0280] The power consumption corresponding to the weight value of the drag reduction head when running at the running speed is matched from the preset power consumption database, and the power consumption saved corresponding to the drag reduction coefficient is matched from the preset power consumption database.

[0281] The preset sub-packaging database stores different length information and windward surface information at the driving speed when the power consumption is running. The length information and windward surface information are input into the sub-packaging database to obtain the consumed power consumption, and the consumed power consumption, the power consumption of the drag reduction head weight value at the running speed, and the power consumption that can be saved corresponding to the drag reduction coefficient are added together to obtain the sub-packaging power consumption value.

[0282] Step 805: Determine whether the sub-assembly power consumption value is less than the assembly power consumption value.

[0283] Determine whether the sub-assembly power consumption value is less than the assembly power consumption value, so as to determine the drag reduction head that needs to be installed.

[0284] Step 8050: If the sub-assembly power consumption value is less than the assembly power consumption value, the sub-assembly drag reduction head is controlled to be installed and moved at the operating speed.

[0285] If the subassembly power consumption value is less than the assembly power consumption value, it means that the operating power value of the drone and the battery pack during subassembly is smaller, then the subassembly drag reduction head is controlled to be installed and moved at the operating speed.

[0286] Step 8051: If the sub-assembly power consumption value is not less than the assembly power consumption value, the assembly drag reduction head is controlled to be installed and moved at the operating speed.

[0287] If the sub-assembly power consumption value is not less than the assembly power consumption value, it means that the operating power value of the drone and the battery pack when assembled is smaller, then the assembly drag reduction head is controlled to be installed and moved at the operating speed.

[0288] Based on the same inventive concept, an embodiment of the present invention provides a smart charging system, including:

[0289] An acquisition module is used to acquire charging call information, power detection information, vehicle positioning information, vehicle model information, wind force detection information, wind direction detection information, route image information, image detection information, charging wind force value, charging wind direction angle value, channel image information, length information, and windward surface information;

[0290] A memory, used to store a program of the above-mentioned intelligent charging method;

[0291] The processor is used to load the program stored in the memory.

[0292] Based on the same inventive concept, an embodiment of the present invention provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute an intelligent charging method.

[0293] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A smart charging method, characterized in that: include: Obtain charging call information of the vehicle to be charged; Determine whether the charging call information is consistent with the preset reference call information; If the charging summon information is inconsistent with the baseline summon information, continue to obtain; If the charging call information is consistent with the reference call information, the power detection information, vehicle location information and vehicle model information of the vehicle to be charged are obtained; Determine the battery parameter information according to the car model information, and control the preset drone to carry the battery pack corresponding to the battery parameter information; Determine channel route information and flight route information based on vehicle positioning information; Obtain wind force detection information and wind direction detection information of the flight route corresponding to the flight route information; Determine flight direction information based on flight route information; Determine whether the flight direction information is consistent with the wind direction detection information; If the flight direction information is inconsistent with the wind direction detection information, determining whether the wind force detection information is within a preset reference wind force range; If the flight direction information is consistent with the wind direction detection information or the wind force detection information is within the reference wind force range, the UAV carrying the battery pack is controlled to determine the moving channel according to the channel route information, and the UAV is controlled to move according to the moving channel; the UAV carrying the battery pack is controlled to fly according to the flight route information to reach the location of the vehicle positioning information.

2. The intelligent charging method according to claim 1, characterized in that: Also includes: If the wind force detection information is not within the reference wind force interval, obtaining the route image information on the route where the flight route information is located; Determining whether the route image information contains a preset occlusion feature; If the route image information does not contain occlusion features, the flight is performed based on the flight route information; If the route image information includes an occlusion feature, determining an occlusion value and an occlusion position according to a comparison relationship between the route image information and the occlusion feature; Determine the simulated power corresponding to the shielding position according to the comparison relationship between the shielding value, the shielding position, the wind force detection information and the wind direction detection information; The minimum simulated power is selected from the occluded positions on the same preset horizontal axis and defined as the flight power; Connecting the shielding positions corresponding to the adjacent flight powers to generate corrected route information, and defining the sum of the flight powers corresponding to the corrected route information as the route power; The minimum value is selected from the route power and the flight is performed using the corrected route information corresponding to the minimum value.

3. The intelligent charging method according to claim 1, characterized in that: After arriving at the location of the vehicle positioning information, the preset charging line detection method is used for detection. The charging line detection method includes: Obtain image detection information of the car area; Determine the car model image and the charging port location according to the car model information; Determine the charging port safety zone based on image detection information, charging port location, vehicle model image and preset safety features; Determine the placement area based on battery parameter information; Determine whether the placement area falls within the safe zone of the charging port; If the placement area falls within the charging port safety zone, the position corresponding to the sum of the charging port position and the preset safety distance is defined as the placement position, and the charging cable length value is determined based on the charging port position and the placement position; The preset cable reel is controlled to release the cable according to the length of the charging cable, the drone is controlled to land at the placement position, and the preset clamping device is controlled to clamp the preset charging head and insert it into the charging port position.

4. The intelligent charging method according to claim 3, characterized in that: Also includes: If the placement area does not fall within the safe zone of the charging port, the total weight of the drone and battery pack and the three-dimensional model of the carrier are determined based on the battery parameter information, and the reference wind force value is determined based on the total weight; Determine the roof slope value and the roof position according to the image detection information and the vehicle model information, and obtain the charging wind force value and the charging wind direction angle value; Determine the windward areas at different angles according to the three-dimensional model of the carrier, and define the surface corresponding to the smallest windward area as the facing surface; Determine the charging wind direction information according to the sequence between the two preset reference points and the charging wind direction angle value; The windward correction value is obtained by analyzing the direction corresponding to the roof slope value, the charging wind force value, the charging wind direction information and the comparative relationship between the facing surface; Correct the reference wind value according to the windward correction value; Determine whether the charging wind force value is less than the reference wind force value; If the charging wind force value is less than the reference wind force value, the roof position is defined as the roof placement position, and the roof line length value is determined based on the roof placement position and the charging port position; Control the preset cable drum to release the cable according to the length of the roof line, control the drone to land at the roof placement position and adjust the direction according to the facing surface, and control the clamping device to clamp the preset charging head and insert it into the charging port position; If the charging wind force value is not less than the reference wind force value, the device is placed using a preset placement method and a preset clamping device is controlled to clamp the preset charging head and insert it into the charging port position.

5. The intelligent charging method according to claim 4, characterized in that: Placement methods include: Identify preset support features from the image detection information, mark them and define them as marking points; Determine the charging height information and placement height value of the charging port according to the vehicle model information; Determine the placement range based on the charging height information and the carrier three-dimensional model; Determine the number of markers for the marker points based on the placement range; Match the placement status according to the number of markers, and determine the ground hardness value according to the image detection information; Analyze the soil hardness value and the placement height value to obtain the height correction parameter; According to the height correction parameter, the telescopic rod preset on the drone is controlled to be extended and retracted and placed in a placement state.

6. The intelligent charging method according to claim 1, characterized in that: Also includes: Determine the channel entrance of the mobile channel according to the channel route information, and obtain channel image information of the channel entrance; Select the preset drone features according to the channel image information box to obtain the drone image; Determine the drone's location based on the drone image and the preset channel entrance location; Determine whether the drone's position is within the preset landing range; If the drone is not in the landing range, continue the detection; If the drone is in the landing range, the movement value and grabbing parameters are determined according to the battery parameter information, and the preset extension plate is controlled to be pushed forward with the movement value; Determine the landing position of the drone on the extension board based on the channel image information and battery parameter information; According to the position of the UAV, the preset grabbing device is controlled with grabbing parameters to fix the UAV and tow it to the landing position; Control the extension plate to move backward according to the movement value, update the landing position according to the movement value, and determine the adjustment position according to the updated landing position and the preset track connection position; According to the adjustment position, the extension plate is controlled to move to the docking position, the preset docking device is controlled to dock the drone, and the drone is transmitted using the preset transmission method.

7. The intelligent charging method according to claim 6, characterized in that: Delivery methods include: Determine the total weight and assembly volume of the battery pack and the drone based on the battery parameter information; Determine the model of the preset drag reducing head according to the assembly volume value; Determine the weight value and drag reduction coefficient of the drag reduction head according to the drag reduction head model; Determine the assembly power consumption value according to the total weight value, the weight value of the drag reduction head, the drag reduction coefficient and the preset running speed; Screen out the drag reduction head model with the smallest assembly power consumption value and define it as the assembled drag reduction head; Controls the assembly of the drag reducing head for installation and movement at operating speed.

8. The intelligent charging method according to claim 7, characterized in that: Also includes: Determine the adjacent rail joint positions according to the assembly volume value; Control the release device preset on the drone to separate the drone from the battery pack, and control the grabbing device to move the battery pack to an adjacent connection position; Obtain the length information and windward surface information of the drone and battery pack after assembly; The drag reduction head model is determined according to the length information and the windward surface information, thereby obtaining the drag reduction head weight value and the drag reduction coefficient, and the drag reduction head model is defined as a sub-packaging drag reduction head; Determine the power consumption value of the subassembly according to the weight value, drag reduction coefficient, length information and windward surface information of the drag reduction head; Determine whether the sub-assembly power consumption value is less than the assembly power consumption value; If the sub-assembly power consumption value is less than the assembly power consumption value, the sub-assembly drag reduction head is controlled to be installed and moved at the operating speed; If the sub-assembly power consumption value is not less than the assembly power consumption value, the assembly drag reduction head is controlled to be installed and moved at the operating speed.

9. An intelligent charging system, characterized in that: include: An acquisition module is used to acquire charging call information, power detection information, vehicle positioning information, vehicle model information, wind force detection information, wind direction detection information, route image information, image detection information, charging wind force value, charging wind direction angle value, channel image information, length information, and windward surface information; A memory, used to store a program of a smart charging method according to any one of claims 1 to 8; The processor is used to load the program stored in the memory.

10. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a smart charging method according to any one of claims 1 to 8.

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