System and method for charging and swapping vehicle by intelligent unmanned aerial vehicle

Abstract

The invention relates to a system and a method for charging and replacing a vehicle by an intelligent unmanned aerial vehicle. The method comprises the following steps: sending charging request information to a management parking base station through a target vehicle; the management parking base station receives the charging request information, distributes the intelligent unmanned aerial vehicle according to the charging request information, and establishes a communication link among the intelligent unmanned aerial vehicle, the target vehicle and the management parking base station; and the intelligent unmanned aerial vehicle flies to the target vehicle according to the position information of the target vehicle in the charging request information, identifies the target vehicle according to the charging task in the charging request information, and executes the corresponding charging task according to the identification result. The system has the advantage that the charging service can be quickly and efficiently provided.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology applications, and more particularly to a charging and swapping system and method for vehicles using intelligent UAVs. Background Technology

[0002] With the development and popularization of new energy vehicles, the penetration rate of new energy passenger vehicles is now close to 50%, and it is estimated that it will soon exceed 70% of the total number of vehicles. However, the charging and battery swapping methods for new energy passenger vehicles are currently mainly for home and commercial use. Not only do the charging facilities occupy fixed sites, but the vehicles cannot be used during the charging and battery swapping process. This results in public charging areas occupying a large area of ​​space, with low utilization rates, serious waste of resources, and excessively high facility maintenance costs.

[0003] Currently, existing charging and battery swapping solutions for new energy passenger vehicles are limited to fixed locations and methods, which fails to meet the current demand for fast charging and battery swapping. No effective solution has yet been proposed. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by providing an intelligent drone-based charging and swapping system and method for vehicles. This addresses the technical problem that existing charging and swapping solutions for new energy passenger vehicles are limited to fixed locations and methods, thus failing to meet the current demand for rapid charging and swapping of vehicles.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] This invention provides a smart drone charging and swapping system for vehicles, comprising: a smart drone, a management parking base station, and a target vehicle. The target vehicle sends a charging and swapping request to the management parking base station. The management parking base station is connected to both the smart drone and the target vehicle, and is used to receive the charging and swapping request, allocate the smart drone based on the request, and establish a communication link between the smart drone, the target vehicle, and the management parking base station. The smart drone, connected to both the management parking base station and the target vehicle, flies to the target vehicle based on its location information in the charging and swapping request, identifies the target vehicle based on the charging and swapping task in the request, and executes the corresponding charging and swapping task based on the identification result.

[0007] Optionally, the target vehicle is also used to receive location confirmation information from the intelligent drone, and open the charging interface based on the location confirmation information, so that the rotatable and telescopic intelligent charging robotic arm in the charging system of the intelligent drone or the power output robotic arm in the battery swapping system can connect to the charging interface to charge the target vehicle; wherein, the charging and battery swapping request message includes: target feature information of the target vehicle, the location, direction of movement, trajectory of the target vehicle, charging task or battery swapping task; in the battery swapping task, the power output robotic arm in the intelligent drone replenishes the circuit of the target vehicle so that the target vehicle can drive normally.

[0008] Optionally, the intelligent drone includes: a drone flight system, a battery, an intelligent charging and swapping system, and an intelligent control system. The drone flight system provides flight power to the intelligent drone and controls its flight speed, angle, and altitude. The battery is connected to the drone flight system, the intelligent charging and swapping system, and the intelligent control system, respectively, and supplies power to these components. The battery includes: a drone flight power battery, located horizontally below the intelligent drone, which supplies power to the drone flight system, the intelligent charging and swapping system, and the intelligent control system. The intelligent control system is connected to the drone flight system, the intelligent charging and swapping system, and the intelligent control system, respectively. The human-machine flight system and the intelligent charging / swapping system are connected to communicate with the target vehicle and the management parking base station, respectively, to identify the target vehicle, control the intelligent drone to dock with the target vehicle, and perform charging / swapping operations. The intelligent control system includes: a communication module, a data processing module, a sensor group, and an auxiliary positioning intelligent mechanical gripper. The communication module, connected to the data processing module, is used to obtain target feature information of the target vehicle from the management parking base station, communicate with the target vehicle to determine the charging / swapping mode, and transmit the target feature information and charging / swapping mode to the data processing module. The sensor group, also connected to the data processing module, is used to obtain vehicle feature information and environmental information, and transmit these information to the data processing module. The data processing module is connected to the communication module... The system connects modules, sensor groups, a rotatable and retractable intelligent mechanical gripper for assisted positioning, and a drone flight system. It is used to determine the target vehicle based on feature information, target feature information, and charging / swapping mode; control the drone flight system to drive the intelligent drone towards the target vehicle according to the charging / swapping mode; control the intelligent mechanical gripper for assisted positioning to connect to a preset position on the target vehicle; and determine whether to continue charging / swapping based on environmental information. The intelligent charging / swapping system includes a charging system and a swapping system. One end of the charging system is connected to the intelligent control system, and the other end is connected to the target vehicle. It is used to charge the target vehicle based on the control results of the intelligent control system. The charging system includes a charging battery pack and a rotatable and retractable intelligent charger. The system comprises a robotic arm, a telescopic section, a vertically movable rechargeable battery mounting plate, and a rotatable charging mechanism battery gripper. The rotatable telescopic intelligent charging robotic arm is located on one side of the intelligent drone and is used to connect to the charging port of the target vehicle when the intelligent drone flies to a preset position. One end of the telescopic section is connected to the body of the intelligent drone, and the other end of the telescopic section is connected to one end of the vertically movable rechargeable battery mounting plate. The other end of the vertically movable rechargeable battery mounting plate is connected to one end of the rotatable charging mechanism battery gripper. The other end of the rotatable charging mechanism battery gripper grips the charging battery pack, and the vertical movement of the vertically movable rechargeable battery mounting plate, through the telescopic section, controls the vertical movement of the charging battery pack gripped by the rotatable charging mechanism battery gripper.A charging battery pack is located horizontally below the main body of the intelligent drone. One end of the charging battery pack is connected to a rotatable charging mechanism battery gripper, and it is connected to a rotatable and retractable intelligent charging robotic arm via a telescopic part and a vertically movable charging battery mounting plate, for charging the target vehicle. One end of the battery swapping system is connected to the intelligent control system, and the other end is connected to the target vehicle, for swapping the battery of the target vehicle according to the control results of the intelligent control system. The battery swapping system includes a battery swapping execution system and a battery swapping battery pack. The battery swapping execution system includes a rotatable battery swapping mechanism main mounting plate, a sliding battery swapping mechanism mounting rail, and a telescopic mounting plate. The system comprises a rail and gripper plate linkage mechanism, a vertically movable battery swapping mechanism gripper plate system, a rotatable battery swapping mechanism battery gripper, and a power output robotic arm for the battery swapping process. One end of the rotatable battery swapping mechanism main fixed plate is connected to the body of the intelligent drone, and the other end of the rotatable battery swapping mechanism main fixed plate is connected to one end of a sliding battery swapping mechanism fixed rail, used to move the sliding battery swapping mechanism fixed rail to a first position; the other end of the sliding battery swapping mechanism fixed rail is connected to one end of a telescopic fixed rail and gripper plate linkage mechanism, used to control the left and right movement direction, moving the vertically movable battery swapping mechanism gripper plate system to a second position; one end of the vertically movable battery swapping mechanism gripper plate system... One end connects to a retractable fixed rail and a gripping disc linkage mechanism, used to control the retraction and lifting to reach the target position via the retractable fixed rail and gripping disc linkage mechanism; one end of the rotatable battery swapping mechanism's battery gripper connects to a vertically movable battery swapping mechanism gripping disc system, used to rotate and engage the gripping point. After the gripping action is completed, the sliding battery swapping mechanism's fixed rail and the retractable fixed rail and gripping disc linkage mechanism move accordingly to remove the battery to be replaced from the target vehicle and place the battery pack into the target vehicle's battery position; during the battery swapping process, the power output robotic arm connects to the target vehicle's power interface, used to switch the target vehicle's power source to the power of the intelligent drone. Source; The rotatable battery swapping mechanism includes: a first set of battery grippers and a second set of battery grippers. One end of the first set of battery grippers is connected to a vertically movable battery swapping mechanism gripping disc system, and the other end of the first set of battery grippers is connected to the battery pack being swapped. One end of the second set of battery grippers is connected to the vertically movable battery swapping mechanism gripping disc system, and the other end of the second set of battery grippers picks up the battery to be replaced from the target vehicle. The intelligent charging and swapping system also includes: a compatible interface, located horizontally below the intelligent drone body, connected to a charging system or a battery swapping system, used to connect to the corresponding charging system or the corresponding battery swapping system according to the charging task.

[0009] Furthermore, optionally, the intelligent drone is also used to, when receiving a charging task at a parking base station, control the intelligent control system in the intelligent drone to lower a vertically movable charging battery mounting plate via a telescopic part, and the rotatable charging mechanism battery gripper to grab the charging battery pack; and control the vertically movable charging battery mounting plate to rise via the telescopic part, fixing the charging battery pack 12311 to a preset position in the charging system. The intelligent control system controls the drone flight system to fly towards the target vehicle according to the charging task; during the journey, the intelligent control system identifies the target vehicles encountered along the way using the sensor group in the intelligent control system, and compares the feature information of the vehicles along the way with the target vehicle's target feature information through the data processing module in the intelligent control system. If it is determined to be the target vehicle, the data processing module sends a close approach flight command to the drone flight system. When the intelligent drone reaches a preset distance from the target vehicle, it connects to the preset position of the target vehicle through the auxiliary positioning intelligent mechanical gripper; if the flight is set to a companion flight mode according to the charging task, the intelligent control system connects to the target vehicle's charging interface through the rotatable telescopic intelligent charging mechanical arm in the charging system according to the positional relationship between the intelligent drone and the target vehicle, and charges the target vehicle through the charging battery pack 12311.

[0010] Optionally, the intelligent drone is also used to, upon receiving a battery swapping task at a parking base station, and based on the accompanying flight mode determined in the task, use an intelligent control system to move the sliding battery swapping mechanism's fixed rail to a first position via a rotatable battery swapping mechanism main fixed plate according to the positional relationship with the target vehicle. The sliding battery swapping mechanism fixed rail controls the left and right movement direction, moving the vertically movable battery swapping mechanism's gripping plate system to a second position. The vertically movable battery swapping mechanism's gripping plate system extends and retracts to reach the target position via a retractable fixed rail and gripping plate connecting mechanism. The rotatable battery swapping mechanism's battery gripper rotates and engages at the gripping point. After the gripping action is completed, the sliding battery swapping mechanism fixed rail and the retractable fixed rail and gripping plate connecting mechanism move accordingly to remove the battery to be replaced from the target vehicle and place the battery pack into the target vehicle's battery position. During the battery swapping process, the power output robotic arm connects to the target vehicle's power interface, switching the target vehicle's power source to the intelligent drone's power source.

[0011] Optionally, the intelligent drone is also used to charge or swap batteries in a stationary mode if the target vehicle is stationary and the intelligent drone is performing a charging or battery swapping task. The intelligent control system of the intelligent drone acquires images of whether anyone other than the driver of the target vehicle appears during the charging process through a sensor group. The data processing module identifies and determines whether to continue the charging or battery swapping task, and notifies the driver of the target vehicle of the current environmental conditions through a communication module. If the driver of the target vehicle confirms that there is no problem, the intelligent drone controls the charging system in the intelligent charging and swapping system to perform the charging task, or controls the battery swapping system to perform the battery swapping task.

[0012] Optionally, the intelligent drone can also be used to communicate with the target vehicle to negotiate the nearest charging or battery swapping location and / or plan when it encounters a situation where charging or battery swapping cannot continue in the escort mode. It can then hover at the updated charging or battery swapping location and wait for the target vehicle, continuing to execute the charging or battery swapping plan according to the negotiated plan. Alternatively, the intelligent drone can also be used to fly to a nearby managed parking base station and wait for the target vehicle to arrive at the parking area of ​​the managed parking base station when it encounters a situation where charging or battery swapping cannot continue in the escort mode, continuing to perform charging or battery swapping. Alternatively, the intelligent drone can also be used to fly back to the original managed parking base station when it encounters a situation where charging or battery swapping cannot continue in the escort mode. The intelligent drone and / or the management area of ​​the original managed parking base station will forward the charging or battery swapping task to the next managed parking base station in the direction of the target vehicle's travel. The management area of ​​the next managed parking base station will then assign an intelligent drone to take over and perform the charging or battery swapping task for the target vehicle.

[0013] Optionally, the intelligent drone is also used to control the vertically movable charging battery mounting plate to descend or rise, and to retract or extend the rotatable charging mechanism battery gripper for inspection or maintenance when the intelligent drone is in the drone maintenance area of ​​the management base station.

[0014] Optionally, the intelligent drone can also be used to automatically cruise back to the management and parking base station after the charging or battery swapping task is completed, and then charge the charging battery pack or battery swapping battery pack of the intelligent drone, and wait for the next charging or battery swapping task.

[0015] Optionally, the managed parking base station includes: photovoltaic panels, an energy storage system, a drone parking area, a drone charging station, a drone maintenance area, and a management area. The photovoltaic panels are located on top of the managed parking base station and connected to the energy storage system to generate electricity by converting solar energy into electrical energy, and then transmitting the electrical energy to the energy storage system. The energy storage system is connected to the drone charging station, drone maintenance area, and management area respectively, to store electrical energy and supply power to these areas. The drone parking area is connected to the drone charging station for parking intelligent drones. Drone charging poles are connected to the energy storage system for charging the intelligent drones in the parking area. The drone parking area and drone charging station are correspondingly set up, and the drone parking area is connected to the energy storage system through the drone charging station. The drone maintenance area is connected to the energy storage system for repairing intelligent drones. The management area is connected to the photovoltaic panels, energy storage system, drone parking area, drone charging station, and drone maintenance area respectively, for managing... The system manages photovoltaic panels, energy storage systems, drone parking areas, drone charging stations, and drone maintenance areas, and assigns charging and battery swapping tasks to intelligent drones. The management area includes: a data processing module connected to the photovoltaic panels, energy storage systems, drone parking areas, drone charging stations, and drone maintenance areas, used to control these components based on their operational status data; a communication module and a signal relay module. The communication module connects to the target vehicle and / or the intelligent drone, used to receive charging and battery swapping requests from the target vehicle, assign these requests to the intelligent drones in the parking area, and communicate with the intelligent drones performing the charging and battery swapping tasks; the signal relay module connects to the communication module and a nearby management parking base station, used to communicate with the nearby management parking base station and amplify and enhance the signal within the current management parking base station's range.

[0016] This invention provides a method for charging and swapping batteries for vehicles using an intelligent drone, applied to an intelligent drone charging and swapping system for vehicles. The method includes: a target vehicle sending a charging and swapping request to a management parking base station; the management parking base station receiving the charging and swapping request, allocating an intelligent drone based on the request, and establishing a communication link between the intelligent drone, the target vehicle, and the management parking base station; the intelligent drone flying towards the target vehicle based on the target vehicle's location information in the charging and swapping request, identifying the target vehicle based on the charging and swapping task in the request, and executing the corresponding charging and swapping task based on the identification result.

[0017] This invention employs the above technical solution, in which the target vehicle sends a charging / swapping request to the management parking base station; the management parking base station receives the charging / swapping request, allocates a smart drone based on the request, and establishes a communication link between the smart drone, the target vehicle, and the management parking base station; the smart drone flies to the target vehicle based on the location information of the target vehicle in the charging / swapping request, identifies the target vehicle based on the charging / swapping task in the request, and executes the corresponding charging / swapping task based on the identification result. Compared with the prior art, this invention has the following technical advantages: providing charging / swapping services quickly and efficiently. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a smart drone charging and swapping system for vehicles according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of an intelligent drone in a vehicle charging and swapping system according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of a charging system in a smart drone charging and swapping system for vehicles according to an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the components in a charging system of a smart drone for charging and swapping vehicles according to an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of a battery swapping system in a smart drone charging and swapping system for vehicles according to an embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of the components in a vehicle charging and swapping system provided by an intelligent drone according to an embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of a smart drone managing a parking base station in a vehicle charging and swapping system according to an embodiment of the present invention.

[0025] Figure 8 This is a schematic flowchart of a method for charging and swapping batteries for vehicles using an intelligent drone according to an embodiment of the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0027] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0028] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0029] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or units (elements) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms “multiple” / “several” used in this application refer to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can indicate: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0030] Example 1

[0031] An illustrative embodiment of the present invention, such as Figure 1 As shown, Figure 1 This is a schematic diagram of a smart drone charging and swapping system for vehicles according to an embodiment of the present invention. The smart drone charging and swapping system for vehicles provided in this application includes:

[0032] The system includes an intelligent drone 12, a management parking base station 14, and a target vehicle 16. The target vehicle 16 is used to send charging / battery swapping request information to the management parking base station 14. The management parking base station 14 is connected to both the intelligent drone 12 and the target vehicle 16. It is used to receive the charging / battery swapping request information, allocate the intelligent drone 12 according to the charging / battery swapping request information, and establish a communication link between the intelligent drone 12, the target vehicle 16, and the management parking base station 14. The intelligent drone 12 is connected to both the management parking base station 14 and the target vehicle 16. It is used to fly to the target vehicle 16 according to the location information of the target vehicle 16 in the charging / battery swapping request information, identify the target vehicle 16 according to the charging / battery swapping task in the charging / battery swapping request information, and execute the corresponding charging / battery swapping task according to the identification result.

[0033] Optionally, the target vehicle 16 is also used to receive location confirmation information from the intelligent drone 12, and open the charging interface based on the location confirmation information, so that the rotatable and telescopic intelligent charging robotic arm in the charging system of the intelligent drone 12 or the power output robotic arm in the battery swapping system can access the charging interface to charge the target vehicle 16; wherein, the charging and battery swapping request message includes: target feature information of the target vehicle 16, the position, direction of movement, trajectory of the target vehicle 16, charging task or battery swapping task; in the battery swapping task, the power output robotic arm in the battery swapping system of the intelligent drone 12 supplements the circuit of the target vehicle 16 so that the target vehicle 16 can drive normally.

[0034] Optional, such as Figure 2 As shown, Figure 2This is a schematic diagram of an intelligent drone in a vehicle charging and swapping system according to an embodiment of the present invention. The intelligent drone 12 includes: a drone flight system 121, a battery 122, an intelligent charging and swapping system 123, and an intelligent control system 124. The drone flight system 121 provides flight power to the intelligent drone 12 and controls its flight speed, angle, and altitude. The battery 122 is connected to the drone flight system 121, the intelligent charging and swapping system 123, and the intelligent control system 124, respectively, and supplies power to these systems. Pool 122 includes: a drone flight power battery, which is located horizontally below the intelligent drone 12. The drone flight power battery is located horizontally below the intelligent control system 124 and is used to supply power to the drone flight system 121, the intelligent charging and swapping system 123, and the intelligent control system 124. The intelligent control system 124 is connected to both the drone flight system 121 and the intelligent charging and swapping system 123, and is used to communicate with the target vehicle 16 and the management parking base station 14, identify the target vehicle 16, and control the intelligent drone 12 to dock with the target vehicle 16 for charging and swapping operations. The intelligent control system 124 includes: a communication module, The system comprises a data processing module, a sensor group, and an intelligent mechanical gripper 1241 for auxiliary positioning. A communication module, connected to the data processing module, is used to acquire target feature information of the target vehicle 16 from the management parking base station 14, communicate with the target vehicle 16 to determine the charging / swapping mode, and transmit the target feature information and charging / swapping mode to the data processing module. A sensor group, also connected to the data processing module, is used to acquire vehicle feature information and environmental information, and transmit these information to the data processing module. The data processing module is connected to the communication module, the sensor group, the rotatable and retractable intelligent mechanical gripper 1241 for auxiliary positioning, and the UAV flight system 121, and is used to... The system determines the target vehicle 16 based on feature information, target feature information, and charging / swapping mode. It controls the drone flight system 121 to drive the intelligent drone 12 towards the target vehicle 16 according to the charging / swapping mode. It also controls the auxiliary positioning intelligent mechanical gripper 1241 to connect to the preset position of the target vehicle 16, and determines whether to continue charging / swapping based on environmental information. The intelligent charging / swapping system 123 includes a charging system 1231 and a swapping system 1232. One end of the charging system is connected to the intelligent control system 124, and the other end of the charging system 1231 is connected to the target vehicle 16, used to charge the target vehicle 16 according to the control results of the intelligent control system 124.The charging system 1231 includes: a charging battery pack 12311, a rotatable and retractable intelligent charging robotic arm 12312, a telescopic part 12313, a vertically movable charging battery mounting plate 12314, and a rotatable charging mechanism battery gripper 12315. The rotatable and retractable intelligent charging robotic arm 12312 is located on one side of the intelligent drone 12 and is used to connect to the charging port of the target vehicle 16 when the intelligent drone 12 flies to a preset position. One end of the telescopic part 12313 is connected to the body of the intelligent drone 12, and the other end of the telescopic part 12313 is connected to one end of the vertically movable charging battery mounting plate 12314. The other end of 12314 is connected to one end of a rotatable charging mechanism battery gripper 12315. The other end of the rotatable charging mechanism battery gripper 12315 grips the charging battery pack 12311. The vertically movable charging battery fixing plate 12314 moves vertically via a telescopic part 12313, controlling the vertical movement of the charging battery pack 12311 gripped by the rotatable charging mechanism battery gripper 12315. The charging battery pack 12311 is located horizontally below the main body of the intelligent drone 12. One end of the charging battery pack 12311 is connected to the rotatable charging mechanism battery gripper 12315, and is connected to the rotatable charging mechanism battery gripper 12315 via the telescopic part 12313 and the vertically movable charging battery fixing plate 12314. A telescopic intelligent charging robotic arm 12312 is connected for charging the target vehicle 16; one end of the battery swapping system is connected to the intelligent control system 124, and the other end of the battery swapping system 1232 is connected to the target vehicle 16 for swapping the battery of the target vehicle 16 according to the control result of the intelligent control system 124; wherein, the battery swapping system 1232 includes: a battery swapping execution system 12321 and a battery swapping pack 12322, wherein the battery swapping execution system 12321 includes: a rotatable battery swapping mechanism main fixing plate 123211, a sliding battery swapping mechanism fixing rail 123212, a telescopic fixing rail and gripping plate connecting mechanism 123213, and a vertically movable battery swapping mechanism gripping plate system 123214. The system includes a rotatable battery swapping mechanism battery gripper 123215 and a power output robotic arm 123216 for the battery swapping process. One end of the rotatable battery swapping mechanism main fixing plate 123211 is connected to the body of the intelligent drone 12, and the other end of the rotatable battery swapping mechanism main fixing plate 123211 is connected to one end of the slidable battery swapping mechanism fixing rail 123212 for moving the slidable battery swapping mechanism fixing rail 123212 to a first position. The other end of the slidable battery swapping mechanism fixing rail 123212 is connected to one end of the telescopic fixing rail and gripper plate linking mechanism 123213 for controlling the left and right movement direction and moving the up and down movable battery swapping mechanism gripper plate system 123214 to a second position.One end of the vertically movable battery swapping mechanism gripping system 123214 is connected to the retractable fixed rail and gripping mechanism 123213, used to control the retraction and lifting to reach the target position via the retractable fixed rail and gripping mechanism 123213; one end of the rotatable battery swapping mechanism battery gripper 123215 is connected to the vertically movable battery swapping mechanism gripping system 123214, used to rotate and engage the gripping point. After the gripping action is completed, the sliding battery swapping mechanism fixed rail 123212 and the retractable fixed rail and gripping mechanism 123213 move accordingly to remove the battery to be replaced from the target vehicle 16 and place the battery pack 12322 into the battery position of the target vehicle 16; during the battery swapping process, the power output robotic arm 123216 is connected to the power interface of the target vehicle 16 to switch the power source of the target vehicle 16 to the power source of the intelligent drone 12; its The rotatable battery swapping mechanism 123215 includes: a first set of battery grippers 1232151 and a second set of battery grippers 1232152. One end of the first set of battery grippers 1232151 is connected to a vertically movable battery swapping mechanism gripping disc system 123214, and the other end is connected to the battery swapping pack 12322. One end of the second set of battery grippers 1232152 is connected to the vertically movable battery swapping mechanism gripping disc system 123214, and the other end of the second set of battery grippers 1232152 extracts the battery to be replaced from the target vehicle 16. The intelligent charging and swapping system 123 also includes: a compatibility interface, located horizontally below the intelligent drone 12 body, connected to the charging system 1231 or the battery swapping system 1232, used to connect to the corresponding charging system 1231 or the corresponding battery swapping system 1232 according to the charging task.

[0035] In this embodiment of the application, during the battery swapping task, the intelligent drone provides power support to the target vehicle through the power output robotic arm during the battery swapping process, thereby ensuring the safe operation of the target vehicle during the battery swapping process.

[0036] Specifically, during the charging task, the device connects to the charging system through this compatible interface; that is, the compatible interface is provided with a corresponding interface for the telescopic part.

[0037] In battery swapping operations, the system is connected to the battery swapping system through this compatible interface. Specifically, the compatible interface is set with a corresponding interface on the main fixed plate of the rotatable battery swapping mechanism.

[0038] It should be noted that in this embodiment, the communication module, data processing module, and sensor group are located inside the intelligent drone, and the connection structure is as described above, and is not shown in the figure.

[0039] Furthermore, optionally, the intelligent drone 12 is also used to, when the management parking base station 14 receives a charging task, control the vertically movable charging battery fixing plate 12314 via the telescopic part 12313 to descend, and the rotatable charging mechanism battery gripper 12315 to grab the charging battery pack 12311; and control the vertically movable charging battery fixing plate 12314 via the telescopic part 12313 to rise, fixing the charging battery pack 12311 to a preset position of the charging system 1231. The intelligent control system 124 controls the drone flight system to fly towards the target vehicle 16 according to the charging task; during the journey, the intelligent control system 124 uses the sensor group in the intelligent control system 124 to detect the target vehicle. Vehicle 16 is identified. The data processing module in the intelligent control system 124 compares the feature information of vehicles along the route with the target feature information of the target vehicle 16. If the target vehicle 16 is identified, the data processing module sends an approach flight command to the UAV flight system. When the intelligent UAV 12 reaches the preset distance from the target vehicle 16, it connects to the preset position of the target vehicle 16 through the auxiliary positioning intelligent mechanical gripper 1241. If the flight mode is set according to the charging task, the intelligent control system 124 connects to the charging interface of the target vehicle 16 through the rotatable and telescopic intelligent charging mechanical arm in the charging system according to the positional relationship between the intelligent control system 124 and the target vehicle 16, and charges the target vehicle 16 through the charging battery pack 12311.

[0040] In this embodiment of the application, when the intelligent drone receives a charging task at the management and parking base station, the intelligent control system in the intelligent drone controls the vertically movable charging battery fixing plate to descend through the telescopic part, and the rotatable charging mechanism battery grabber grabs the charging battery pack; and controls the vertically movable charging battery fixing plate to rise through the telescopic part, fixing the charging battery pack of the intelligent drone to the preset position of the charging system, and the intelligent control system controls the drone flight system to fly towards the target vehicle according to the charging task.

[0041] When the intelligent drone receives the charging and battery swapping task from the management parking base station through the communication module in the intelligent control system, it determines the target vehicle's target feature information, the target vehicle's movement direction and / or trajectory, and the charging or battery swapping task. The intelligent drone flies from the management parking base station to the target vehicle through the drone flight system. During the intelligent drone's flight, it identifies the target vehicles encountered along the way through the sensor group in the intelligent control system. The data processing module in the intelligent control system compares the feature information of the vehicles along the way with the target vehicle's target feature information. If the target vehicle is identified, the data processing module sends an approach flight command to the drone flight system to make the intelligent drone approach the target vehicle. When the intelligent drone reaches the target vehicle at a preset distance, it connects to the target vehicle's preset position through the assisted positioning intelligent mechanical grabber.

[0042] If the target vehicle's charging / battery swapping task is a charging task, and it is flying in escort mode, the intelligent drone, through its intelligent control system, will connect to the target vehicle's preset interface via a rotatable and retractable intelligent charging robotic arm in the charging system, based on its positional relationship with the target vehicle, and charge the target vehicle using its battery pack; where, for example... Figure 3 and Figure 4 As shown, Figure 3 This is a schematic diagram of a charging system in a smart drone charging and swapping system for vehicles according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the components in a charging system of a smart drone for charging and swapping vehicles according to an embodiment of the present invention.

[0043] Optionally, the intelligent drone 12 is also used to, when the parking base station 14 receives a battery swapping task, and according to the accompanying flight mode determined in the battery swapping task, through the intelligent control system 124 based on the positional relationship with the target vehicle 16, move the slidable battery swapping mechanism fixed rail 123212 to a first position via the rotatable battery swapping mechanism main fixed plate 123211 in the battery swapping system 1232; the slidable battery swapping mechanism fixed rail 123212 controls the left and right movement direction to move the vertically movable battery swapping mechanism gripping plate system 123214 to a second position; the vertically movable battery swapping mechanism gripping plate system 123214... 4. The telescopic lifting mechanism 123213 controls the telescopic lifting to reach the target position; the rotatable battery swapping mechanism battery gripper 123215 rotates and engages at the gripping point. After the gripping action is completed, the sliding battery swapping mechanism fixed rail 123212 and the telescopic fixed rail and gripping mechanism 123213 move accordingly to remove the battery to be replaced from the target vehicle 16 and place the battery swapping pack into the battery position of the target vehicle 16; during the battery swapping process, the power output robotic arm connects to the power interface of the target vehicle 16 and switches the power source of the target vehicle 16 to the power source of the intelligent drone 12.

[0044] In this embodiment, the first position, the second position, and the target position correspond to each other. That is, the sliding battery swapping mechanism fixed rail 123212 moves to the first position relative to the target position, and the vertically movable battery swapping mechanism gripping plate system 123214 moves to the second position relative to the target position. In summary, by moving the sliding battery swapping mechanism fixed rail 123212 to the first position, the vertically movable battery swapping mechanism gripping plate system 123214 is controlled to move to the second position, and finally the retractable fixed rail and gripping plate connecting mechanism 123213 are controlled to extend, retract, lift and lower to reach the target position.

[0045] It should be noted that, in the embodiments of this application, the rotatable and telescopic intelligent charging robotic arm and the power output robotic arm in the battery swapping process can be the same component. In the charging task, the intelligent drone connects to the charging interface of the target vehicle through the rotatable and telescopic intelligent charging robotic arm to charge the target vehicle.

[0046] If the target vehicle's charging / swapping task is a battery swapping task and it is flying in escort mode, the intelligent drone, through its intelligent control system, moves the sliding battery swapping mechanism's fixed rail to the target position via the rotatable battery swapping mechanism's main fixed plate, based on its positional relationship with the target vehicle. The sliding fixed rail controls the left-right movement, moving the vertically movable battery swapping mechanism's gripping plate system to the target position. The vertically movable gripping plate system extends and retracts to reach the target position via the retractable fixed rail and gripping plate connecting mechanism. The rotatable battery swapping mechanism's battery gripper rotates, engages at the gripping point, and upon receiving the completed gripping action, the sliding fixed rail, the retractable fixed rail, and the gripping plate connecting mechanism move accordingly to remove the battery to be replaced from the target vehicle and place the battery pack into the target vehicle's battery compartment. During the battery swapping process, the power output robotic arm connects to the target vehicle's power interface, switching the target vehicle's power source to the intelligent drone's power source. For example, Figure 5 As shown, Figure 5 This is a schematic diagram of a battery swapping system in a smart drone charging and swapping system for vehicles according to an embodiment of the present invention.

[0047] Furthermore, optional, such as Figure 6 As shown, Figure 6 This is a schematic diagram of the components in a smart drone-to-vehicle charging and swapping system according to an embodiment of the present invention. The rotatable battery swapping mechanism includes a first set of battery grippers and a second set of battery grippers, wherein one end of the first set of battery grippers is connected to a vertically movable battery swapping mechanism gripping disc system, and the other end of the first set of battery grippers is connected to the battery pack (…). Figure 6(Not shown in the image) Connection; one end of the second battery gripper is connected to the battery swapping mechanism gripper system that can move up and down, and the other end of the second battery gripper extracts the battery to be replaced from the target vehicle.

[0048] In a preferred embodiment of this application, the battery swapping execution system in the intelligent charging and swapping system can be reused to perform charging tasks. A first set of battery grippers flips the battery pack from a vertical position to a horizontal position. A second set of battery grippers then fixes the battery pack. The battery pack is then connected to the target vehicle's charging port via a power output robotic arm through the first and second sets of battery grippers, a vertically movable battery swapping mechanism gripping plate system, a retractable fixed rail and gripping plate linking mechanism, a sliding battery swapping mechanism fixed rail, and a rotatable battery swapping mechanism main fixed plate.

[0049] Optionally, the intelligent drone 12 is also used to charge or swap batteries in a stationary mode if the target vehicle 16 is stationary and the intelligent drone 12 is performing a charging or battery swapping task. The intelligent control system 124 of the intelligent drone 12 acquires images of whether anyone other than the driver of the target vehicle 16 appears during the charging process through the sensor group. The data processing module identifies and determines whether to continue the charging or battery swapping task, and notifies the driver of the target vehicle 16 of the current environmental situation through the communication module. If the driver of the target vehicle 16 confirms that there is no problem, the intelligent drone 12 controls the charging system in the intelligent charging and swapping system to perform the charging task, or controls the battery swapping system to perform the battery swapping task.

[0050] Specifically, if the target vehicle's charging and swapping task is a charging and swapping task and the vehicle is stationary, the charging and swapping process is the same as the charging and swapping process during the accompanying flight. The difference is that, during the stationary charging and swapping mode, the intelligent control system of the intelligent drone will use the sensor group to obtain images of whether there are other people besides the user during the charging and swapping process. The data processing module will identify and determine whether to continue the charging and swapping process, and notify the user's terminal of the current environmental situation through the communication module. If the user confirms that there is no problem, the charging system or swapping system in the intelligent charging and swapping system will continue to execute the charging and swapping task.

[0051] Optionally, the intelligent drone 12 is also used to communicate with the target vehicle 16 to negotiate the nearest charging or battery swapping location and / or plan when it encounters a situation where charging or battery swapping cannot continue in the escort mode. It then waits for the target vehicle 16 at the updated charging or battery swapping location and continues to execute the charging or battery swapping plan according to the negotiated plan. Alternatively, the intelligent drone 12 is also used to fly to a nearby management parking base station to wait for the target vehicle 16 to arrive at the parking area of ​​the management parking base station 14 when it encounters a situation where charging or battery swapping cannot continue in the escort mode, and continue to perform charging or battery swapping. Alternatively, the intelligent drone 12 is also used to fly back to the original management parking base station when it encounters a situation where charging or battery swapping cannot continue in the escort mode. The intelligent drone 12 and / or the management area of ​​the original management parking base station forward the charging or battery swapping task to the next management parking base station in the direction of travel of the target vehicle 16. The management area of ​​the next management parking base station then assigns the intelligent drone 12 to take over the charging or battery swapping task for the target vehicle 16.

[0052] Specifically, in the charging and swapping task, when the operating environment of the intelligent drone changes and may affect the charging and swapping process, the data processing module in the intelligent control system predicts whether there will be factors affecting the charging and swapping process based on the route conditions, such as gantry structures on the road. The communication module will send a communication message to the target vehicle in advance to indicate that the current charging and swapping environment is not available. At the same time, it will suggest a suitable time and location for charging and swapping based on the route. After the target vehicle confirms, it will return to the new location and start the charging and swapping service.

[0053] When the charging / swapping process encounters a situation where it cannot continue, the intelligent drone will communicate with the target vehicle to negotiate the nearest charging / swapping location and / or solution. This allows the intelligent drone to remain in the air at the updated charging / swapping location and wait for the target vehicle, continuing the charging / swapping process according to the negotiated solution. Alternatively, the intelligent drone can fly to a nearby managed parking base station and wait for the target vehicle to arrive at the parking area of ​​that managed parking base station to continue charging / swapping. Or, the intelligent drone can fly back to the original managed parking base station, and the intelligent drone and / or the management area of ​​the original managed parking base station will forward the charging / swapping task to the next managed parking base station in the direction of the target vehicle's travel. The management area of ​​the next managed parking base station will then assign an intelligent drone to take over and perform the charging / swapping task for the target vehicle.

[0054] Optionally, the intelligent drone 12 is also used to control the vertically movable charging battery mounting plate 12314 to descend or rise, and to retract or extend the rotatable charging mechanism battery gripper 12315 for inspection or maintenance when the intelligent drone 12 is in the drone maintenance area of ​​the parking base station 14.

[0055] Specifically, when a smart drone is in the drone maintenance area that manages the parking base station, the intelligent control system in the smart drone controls the vertically movable charging battery mounting plate to descend or rise through the telescopic part, and retracts or extends the rotatable charging mechanism battery gripper for inspection or maintenance.

[0056] Optionally, the intelligent drone 12 is also used to automatically cruise back to the management and parking base station 14 via the drone flight system after the charging task or battery swapping task is completed, to recharge the charging battery pack 12311 or the battery swapping battery pack of the intelligent drone 12, and wait for the next charging task or battery swapping task.

[0057] Specifically, after completing the charging and battery swapping mission, the intelligent drone will automatically cruise back to the management and parking base station via the drone flight system to recharge the charging battery pack or battery swapping battery pack of the intelligent drone, and wait for the next mission.

[0058] The intelligent drone provided in this application embodiment, through the charging system and battery swapping system in the intelligent charging and swapping system, and under the control of the intelligent control system over the drone's flight system and the charging system or battery swapping system in the intelligent charging and swapping system, can perform charging and battery swapping on target vehicles in a follow-up manner. Compared with the prior art, it has the following technical effects: providing charging and battery swapping services quickly and efficiently.

[0059] Optional, such as Figure 7 As shown, Figure 7This is a schematic diagram of a smart drone charging and swapping system for vehicles according to an embodiment of the present invention, comprising a management parking base station 14, a photovoltaic power generation panel 141, an energy storage system 142, a drone parking area 143, a drone charging station 144, a drone maintenance area 145, and a management area 146. The photovoltaic power generation panel 141 is located on top of the management parking base station 144 and connected to the energy storage system 142, used to generate electrical energy by converting solar energy into electrical energy and transmitting the electrical energy to the energy storage system 142. The energy storage system 142 is connected to the drone charging station 144, the drone maintenance area 145, and the management area 146, respectively, used to store electrical energy and manage the drone parking area 143. The drone charging station 144, drone repair area 145, and management area 146 are powered by electricity. The drone parking area 143, connected to the drone charging station 144, is used to park intelligent drones 12. Drone charging columns, connected to the energy storage system 142, are used to charge the intelligent drones 12 in the drone parking area 143. The drone parking area 143 is correspondingly set up with the drone charging station 144, and the drone parking area 143 is connected to the energy storage system 142 through the drone charging station 144. The drone repair area 145, connected to the energy storage system 142, is used for repairing the intelligent drones 12. The management area 146 is connected to the photovoltaic panel 141, the energy storage system 142, and the drone parking area 146. The system connects to the photovoltaic panel 141, energy storage system 142, drone parking area 143, drone charging station 144, and drone repair area 145, and manages them, as well as assigning charging and battery swapping tasks to the intelligent drones 12. The management area 146 includes a data processing module connected to the photovoltaic panel 141, energy storage system 142, drone parking area 143, drone charging station 144, and drone repair area 145, respectively. This module processes data based on the operational status data of the photovoltaic panel 141, energy storage system 142, drone parking area 143, drone charging station 144, and drone repair area 145. The battery board 141, energy storage system 142, drone parking area 143, drone charging station 144, and drone maintenance area 145 are controlled accordingly. The management area 146 also includes a communication module and a signal relay module. The communication module is connected to the target vehicle and / or the intelligent drone 12, respectively, and is used to receive charging and swapping request information from the target vehicle, allocate charging and swapping request information to the intelligent drone 12 in the drone parking area 143, and communicate with the intelligent drone 12 performing the charging and swapping task. The signal relay module is connected to the communication module and the adjacent management parking base station 14, and is used to communicate with the adjacent management parking base station 14 and amplify and enhance the signal in the range of the current management parking base station 14.

[0060] Among them, such as Figure 7As shown, in this embodiment of the application, the drone parking area 143 and the drone charging station 144 are set up in a one-to-one correspondence, and the number of drone parking areas 143 and drone charging stations 144 are in a one-to-one correspondence.

[0061] The data processing module, communication module, and signal relay module in management area 146 are Figure 7 As not shown in the diagram, the data processing module, communication module, and signal relay module can exist in the management area 146 as a single device or a system composed of multiple devices. Therefore, this application embodiment only uses the management area 146 including the data processing module, communication module, and signal relay module as an example for illustration, in order to realize the drone management and parking base station provided in this application embodiment, without making any specific limitations.

[0062] Specifically, such as Figure 7 As shown, the drone management and parking base station in this embodiment provides parking (i.e., drone parking area 143 in this embodiment), maintenance (i.e., drone repair area 145 in this embodiment), battery system maintenance (i.e., drone repair area 145 in this embodiment), and charging and battery swapping services (i.e., drone charging station 144 in this embodiment) for intelligent mobile charging and battery swapping service drones. The station is reasonably laid out according to the market distribution data of users, and is generally set up near both sides of highways or national roads, generally about 300 kilometers apart, without changing the existing road conditions. The photovoltaic power generation panel 141 converts light energy into electrical energy and stores the generated electrical energy in the energy storage system 142, so that the energy storage system 142 can provide basic power guarantee for the drone charging station 144, drone repair area 145 and management area 146.

[0063] The drone management and parking base station provided in this application embodiment has communication and management functions (i.e., management area 146 in this application embodiment). When the charging and swapping service drone is working, the management and parking base station, the smart drone, and the vehicle that needs service can communicate in real time. The management area 146 can monitor the working and operating status of the smart drone in real time. At the same time, the smart drone also has communication and small base station functions to prevent weak signals in remote areas from affecting the work.

[0064] In a specific application of the drone management and parking base station provided in this application embodiment, the management area 146 establishes a communication connection with the vehicle to be charged or swapped by receiving charging or swapping request information sent by the vehicle to be charged or swapped (wherein, the charging or swapping request information may include: the direction of travel of the vehicle to be charged or swapped, the road segment where it is located, real-time location information and charging or swapping needs), so as to obtain the vehicle to be charged or swapped in real time. The management area 146 queries the drone parking area 143 for intelligent drones that meet the requirements for performing charging or swapping tasks based on the charging or swapping request information. When the intelligent drone parked in the drone parking area 143 receives the charging or swapping task sent by the management area 146, the intelligent drone establishes a communication connection with the management area 146, flies to the area where the vehicle to be charged or swapped is located, and performs escort flight or stationary charging and swapping with the vehicle to be charged or swapped. After completing the charging or swapping, it returns to the nearest management and parking base station or flies back to the original management and parking base station.

[0065] When the charging / swapping process encounters a situation where it cannot continue, the intelligent drone will communicate with the vehicle to be charged / swapped to negotiate the nearest charging / swapping location and / or solution. This allows the intelligent drone to remain at the updated charging / swapping location, waiting for the vehicle, and then continue the charging / swapping process according to the negotiated solution; alternatively, the intelligent drone will fly to a nearby managed parking base station and wait for the vehicle to arrive at the parking area of ​​that base station. Figure 7 (Not shown), continue charging and swapping; or, the intelligent drone flies back to the original management parking base station, and the intelligent drone and / or the management area 146 of the pre-planned management parking base station forwards the charging and swapping task to the next management parking base station in the direction of travel of the vehicle to be charged and swapped, and the management area 146 in the next management parking base station assigns an intelligent drone to take over the charging and swapping task of the vehicle to be charged and swapped.

[0066] It should be noted that the values ​​in the embodiments of this application are examples of implementing the drone management and parking base station provided in the embodiments of this application, and are based on the implementation of the drone management and parking base station provided in the embodiments of this application, without being limited to any specific value.

[0067] The management parking base station provided in this embodiment uses a photovoltaic panel located on top of the management parking base station and connected to an energy storage system. This system generates electricity by converting solar energy into electrical energy and transmits the electrical energy to the energy storage system. The energy storage system is connected to the drone charging station, drone repair area, and management area, respectively, to store electrical energy and supply power to these areas. The drone parking area is connected to the drone charging station for parking intelligent drones. Drone charging columns are connected to the energy storage system for charging the intelligent drones in the parking area. The drone repair area is connected to the energy storage system for repairing intelligent drones. The management area is connected to the photovoltaic panel, energy storage system, drone parking area, drone charging station, and drone repair area, respectively, for managing these components and assigning charging and battery swapping tasks to the intelligent drones. Compared with existing technologies, this system has the following technical advantages: it promotes the development of drone-to-vehicle charging and battery swapping technology.

[0068] This invention employs the above technical solution, in which the target vehicle sends a charging / swapping request to the management parking base station; the management parking base station receives the charging / swapping request, allocates a smart drone based on the request, and establishes a communication link between the smart drone, the target vehicle, and the management parking base station; the smart drone flies to the target vehicle based on the location information of the target vehicle in the charging / swapping request, identifies the target vehicle based on the charging / swapping task in the request, and executes the corresponding charging / swapping task based on the identification result. Compared with the prior art, this invention has the following technical advantages: providing charging / swapping services quickly and efficiently.

[0069] Example 2

[0070] An illustrative embodiment of the present invention, such as Figure 8 As shown, Figure 8 This is a flowchart illustrating a method for charging and swapping batteries for vehicles using an intelligent drone according to an embodiment of the present invention. Applied to the intelligent drone charging and swapping system for vehicles in Embodiment 1, the method provided in this application includes:

[0071] Step S802: The target vehicle sends a charging / battery swapping request to the management parking base station;

[0072] Step S804: The management parking base station receives charging and battery swapping request information, allocates intelligent drones according to the charging and battery swapping request information, and establishes a communication link between the intelligent drones, target vehicles, and management parking base station;

[0073] In step S806, the intelligent drone flies to the target vehicle based on the location information of the target vehicle in the charging and swapping request information, identifies the target vehicle based on the charging and swapping task in the charging and swapping request information, and executes the corresponding charging and swapping task based on the identification result.

[0074] In summary, combining steps S802 to S806, the charging and battery swapping method for vehicles using an intelligent drone in this embodiment of the application achieves the charging and battery swapping process as follows:

[0075] When a flight-assisted charging service is required, the system automatically calculates the flight-assisted service method based on the environment of the target vehicle at that time and during the service period. The flight-assisted service can be performed on the top of the target vehicle or around the target vehicle. After calculating and determining the flight-assisted method and position, the system locks the mutual position with the target vehicle through a camera and sensors (i.e., the sensor group of the intelligent drone in Embodiment 1). Once the mutual position is fixed, a stationary state is formed between them. At this time, the intelligent drone's rotatable and retractable intelligent charging robotic arm automatically identifies the charging port of the target vehicle and performs automatic charging service. During the charging process, the system monitors the charging process in real time and monitors the surrounding environment. If any factors affect the flight-assisted service, the system terminates the charging service in advance and flies to a suitable environment to continue charging until the flight-assisted charging task is completed. After the work is completed, the intelligent drone automatically cruises back to its centralized storage and management area (i.e., the management and parking base station in this embodiment of the application) to recharge the battery system (the battery system may include the drone's flight power battery and / or the charging battery pack used for the charging task) and waits for the next task.

[0076] When the intelligent charging and swapping service drone receives a battery swapping mission, it obtains the target vehicle's status information, including but not limited to its current location, route, and existing basic data (battery level, remaining mileage, and basic battery information). It then determines the target vehicle's route and predicts whether there will be any factors affecting the battery swapping process, such as gantry structures on the road. It will communicate with the target vehicle in advance to indicate that the current environment is not suitable for battery swapping. At the same time, it will suggest a suitable time and location for battery swapping based on the route. After the target vehicle confirms, it will return to the new location and begin the battery swapping service.

[0077] Because of safety considerations for the target vehicles during the battery swapping process, and the fact that the drone's flight power battery will no longer provide power, the vehicles or other equipment receiving the battery swapping service will be modified in advance according to the service requirements. For example, corresponding gripping points will be added to the rotatable and retractable auxiliary positioning intelligent mechanical gripper for auxiliary physical positioning. In addition, when the intelligent drone performs the battery swapping service, the target vehicle needs to confirm four times: the drone confirms that the current environment and the environment during the working time meet the battery swapping requirements, and that the connection between them is completed, and issues a prompt that the battery swapping service can be carried out; the target vehicle then confirms by pressing a button.

[0078] In one feasible example, during the battery swapping process, the original power battery stops supplying power. In order to ensure the normal power supply of the target vehicle, the power output robotic arm completes the connection and begins the confirmation of the power switch of the target vehicle.

[0079] In a feasible example, the battery swap preparation is completed, and the battery swap begins. The last step is the battery swap completion, where the connection of the power output robotic arm during the battery swap process is disconnected, the battery is simultaneously checked to ensure it is in place, and the battery swap operation is completed after normal power supply is started. These four confirmations require different buttons to be installed or displayed on the target vehicle. Users only need to confirm by pressing the buttons according to the prompts. They do not need to leave the vehicle's driving control, so there is no safety risk. After the final battery swap is completed, the user will be charged for the service.

[0080] When a battery swapping service is required, the system automatically calculates the accompanying method based on the environment of the target vehicle at the time and during the service period. The accompanying method can be either on top of the target vehicle or around it. After calculating and determining the accompanying method and position, the system locks its position with the target vehicle using a camera and sensors (i.e., the sensor group of the intelligent drone in Example 1). Once the positions are fixed, a stationary state is achieved. The system automatically identifies the battery system that needs replacing (i.e., the battery to be replaced in Example 1) using the camera and sensors, and then uses a robotic arm (i.e., the rotatable battery swapping mechanism in Example 1) to perform the swapping. The system removes the battery system and secures it to the backup location of the intelligent drone. Then, it replaces the fully charged battery system (i.e., the battery swapping pack in Example 1) with the working battery to complete the automatic battery swapping service. During the battery swapping process, the system monitors the process in real time and calculates the time required for battery swapping based on the target vehicle's movement path and the time required. If external factors affecting the work occur, the system will issue an early warning. Once the external conditions are met, the service will proceed until the accompanying battery swapping task is completed. After the work is completed, the intelligent drone automatically cruises back to its centralized storage and management area to recharge the battery system and wait for the next task.

[0081] When stationary charging and swapping services are required, the system automatically calculates the location and environment of the target vehicle, automatically cruises to the required location, and locks its position with the target vehicle using cameras and sensors (depending on the space available, it can park on top of or beside the target vehicle). Using cameras and sensors, it automatically identifies the battery system that needs charging or replacement on the target vehicle, and charges it using a robotic arm (i.e., the rotatable and retractable intelligent charging robotic arm in Embodiment 1), or removes the battery system that needs replacement (i.e., the battery to be replaced in Embodiment 1) and fixes it to a backup location on the intelligent drone (i.e., the first or second set of battery grippers in Embodiment 1). The system first grabs the battery and then replaces the fully charged battery system (i.e., the battery swapping pack in Example 1) with the battery working position to complete the automatic charging and swapping service. During the charging and swapping process, the system monitors the charging and swapping process in real time. If external factors affecting the work occur, such as non-working or outside personnel approaching the warning range, the system will issue an early warning through the user's mobile terminal and notify the user of the target vehicle. After the user intervenes and cancels the warning, the charging and swapping work continues to ensure the normal and safe completion of the service. After completing the charging and swapping task, the intelligent drone automatically cruises back to its centralized storage and management area to recharge the battery system and wait for the next task.

[0082] The intelligent drone charging and swapping method for vehicles in this application embodiment provides a fast and efficient charging service through unmanned flight. The drone provides charging services during its flight, and this intelligent drone is not limited or affected by the target vehicle's environment, such as roads or rivers. It quickly and efficiently provides charging and swapping services, reducing the need for large-scale deployment and construction of ground charging and swapping sites, thus reducing the land required for charging and swapping. It also reduces the waiting time for target vehicles during charging and swapping, improving their work efficiency and further enhancing the work efficiency of industries such as transportation. Furthermore, it reduces energy consumption, aligning with the national policy of energy conservation, carbon reduction, cost reduction, and efficiency improvement in the transportation industry.

[0083] This invention employs the above technical solution, in which the target vehicle sends a charging / swapping request to the management parking base station; the management parking base station receives the charging / swapping request, allocates a smart drone based on the request, and establishes a communication link between the smart drone, the target vehicle, and the management parking base station; the smart drone flies to the target vehicle based on the location information of the target vehicle in the charging / swapping request, identifies the target vehicle based on the charging / swapping task in the request, and executes the corresponding charging / swapping task based on the identification result. Compared with the prior art, this invention has the following technical advantages: providing charging / swapping services quickly and efficiently.

[0084] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart unmanned aerial vehicle charging and battery swapping system for vehicles, characterized in that, The system comprises: an intelligent unmanned aerial vehicle, a management parking base station and a target vehicle, wherein the target vehicle is configured to send a charging and battery replacement request information to the management parking base station; the management parking base station is connected with the intelligent unmanned aerial vehicle and the target vehicle respectively, configured to receive the charging and battery replacement request information, allocate the intelligent unmanned aerial vehicle according to the charging and battery replacement request information, and establish a communication link among the intelligent unmanned aerial vehicle, the target vehicle and the management parking base station; the intelligent unmanned aerial vehicle is connected with the management parking base station and the target vehicle respectively, configured to fly to the target vehicle according to position information of the target vehicle in the charging and battery replacement request information, identify the target vehicle according to a charging and battery replacement task in the charging and battery replacement request information, and perform the corresponding charging and battery replacement task according to the identification result.

2. The intelligent unmanned aerial vehicle charging and battery replacement system for vehicles according to claim 1, wherein the target vehicle is further configured to receive intelligent unmanned aerial vehicle position confirmation information, open a charging interface according to the position confirmation information, so that a rotatable telescopic intelligent charging mechanical arm in a charging system or a battery replacement process power output mechanical arm in a battery replacement system of the intelligent unmanned aerial vehicle accesses the charging interface to charge the target vehicle; wherein the charging and battery replacement request information comprises target feature information of the target vehicle, position, motion direction, trajectory, charging task or battery replacement task of the target vehicle; in the battery replacement task, the battery replacement process power output mechanical arm in the intelligent unmanned aerial vehicle supplements a circuit of the target vehicle, so that the target vehicle can run normally.

3. The intelligent unmanned aerial vehicle charging and battery replacement system for vehicles according to claim 2, wherein the intelligent unmanned aerial vehicle comprises an unmanned aerial vehicle flight system, a battery, an intelligent charging and battery replacement system and an intelligent control system, wherein the unmanned aerial vehicle flight system is configured to provide flight power for the intelligent unmanned aerial vehicle, control flight speed, angle and height of the intelligent unmanned aerial vehicle; the battery is connected with the unmanned aerial vehicle flight system, the intelligent charging and battery replacement system and the intelligent control system respectively, configured to supply power to the unmanned aerial vehicle flight system, the intelligent charging and battery replacement system and the intelligent control system; wherein the battery comprises an unmanned aerial vehicle flight power battery, which is located horizontally below the intelligent unmanned aerial vehicle, wherein the unmanned aerial vehicle flight power battery is located horizontally below the intelligent control system, configured to supply power to the unmanned aerial vehicle flight system, the intelligent charging and battery replacement system and the intelligent control system. The intelligent control system is connected with the unmanned aerial vehicle flight system and the intelligent charging and battery replacing system respectively, is used for communicating with the target vehicle and the management parking base station respectively, identifying the target vehicle, controlling the intelligent unmanned aerial vehicle to dock with the target vehicle, and performing charging and battery replacing operation; the intelligent control system comprises a communication module, a data processing module, a sensor group and an auxiliary positioning intelligent mechanical grab, wherein the communication module is connected with the data processing module, is used for obtaining target characteristic information of the target vehicle from the management parking base station, communicating with the target vehicle to determine a charging and battery replacing mode, and transmitting the target characteristic information and the charging and battery replacing mode to the data processing module; the sensor group is connected with the data processing module, is used for obtaining characteristic information and environmental information of a vehicle, and transmitting the characteristic information and the environmental information to the data processing module; the data processing module is connected with the communication module, the sensor group, a rotatable and telescopic auxiliary positioning intelligent mechanical grab and the unmanned aerial vehicle flight system respectively, is used for determining the target vehicle according to the characteristic information, the target characteristic information and the charging and battery replacing mode, controlling the unmanned aerial vehicle flight system to drive the intelligent unmanned aerial vehicle to move to the target vehicle according to the charging and battery replacing mode, controlling the auxiliary positioning intelligent mechanical grab to be connected with a preset position of the target vehicle, and determining whether to continue to perform charging and battery replacing according to the environmental information; The intelligent charging and battery replacing system comprises a charging system and a battery replacing system, wherein One end of the charging system is connected with the intelligent control system, the other end of the charging system is connected with the target vehicle, is used for charging the target vehicle according to a control result of the intelligent control system; wherein the charging system comprises a charging battery pack, a rotatable and telescopic intelligent charging mechanical arm, a telescopic part, a vertically movable charging battery fixing disc and a rotatable charging mechanism battery grab, wherein the rotatable and telescopic intelligent charging mechanical arm is located on one side of the intelligent unmanned aerial vehicle, is used for accessing a charging port of the target vehicle when the intelligent unmanned aerial vehicle flies to a preset position; one end of the telescopic part is connected with a body of the intelligent unmanned aerial vehicle, the other end of the telescopic part is connected with one end of the vertically movable charging battery fixing disc, the other end of the vertically movable charging battery fixing disc is connected with one end of the rotatable charging mechanism battery grab, the other end of the rotatable charging mechanism battery grab grabs the charging battery pack, is used for the vertically movable charging battery fixing disc to move up and down through the telescopic part, and the rotatable charging mechanism battery grab to move up and down by controlling the charging battery pack grabbed by the rotatable charging mechanism battery grab; the charging battery pack is located horizontally below the body of the intelligent unmanned aerial vehicle, one end of the charging battery pack is connected with the rotatable charging mechanism battery grab, is connected with the rotatable and telescopic intelligent charging mechanical arm through the telescopic part and the vertically movable charging battery fixing disc, and is used for charging the target vehicle; One end of the battery replacement system is connected with the intelligent control system, and the other end of the battery replacement system is connected with the target vehicle for battery replacement according to the control result of the intelligent control system; wherein the battery replacement system comprises a battery replacement execution system and a battery replacement battery pack, wherein the battery replacement execution system comprises a rotatable battery replacement mechanism total fixed disc, a slidable battery replacement mechanism fixed rail, a telescopic fixed rail and a grabbing disc linkage mechanism, a vertically movable battery replacement mechanism grabbing disc system, a rotatable battery replacement mechanism battery grabbing and a battery replacement process power output mechanical arm, one end of the rotatable battery replacement mechanism total fixed disc is connected with the body of the intelligent unmanned aerial vehicle, the other end of the rotatable battery replacement mechanism total fixed disc is connected with one end of the slidable battery replacement mechanism fixed rail for moving the slidable battery replacement mechanism fixed rail to a first position; the other end of the slidable battery replacement mechanism fixed rail is connected with one end of the telescopic fixed rail and the grabbing disc linkage mechanism for controlling the left and right moving direction and moving the vertically movable battery replacement mechanism grabbing disc system to a second position; one end of the vertically movable battery replacement mechanism grabbing disc system is connected with the telescopic fixed rail and the grabbing disc linkage mechanism for controlling the telescopic lifting to reach the target position through the telescopic fixed rail and the grabbing disc linkage mechanism; one end of the rotatable battery replacement mechanism battery grabbing is connected with the vertically movable battery replacement mechanism grabbing disc system for being clamped into a grabbing point through rotation, after receiving the grabbing action execution, the slidable battery replacement mechanism fixed rail and the telescopic fixed rail and the grabbing disc linkage mechanism correspondingly act to take out the battery to be replaced of the target vehicle and put the battery replacement battery pack into the battery position of the target vehicle; the battery replacement process power output mechanical arm accesses the power interface of the target vehicle for switching the power source of the target vehicle to the power source of the intelligent unmanned aerial vehicle; Wherein the rotatable battery replacement mechanism battery grabbing comprises a first group of battery grabbers and a second group of battery grabbers, wherein one end of the first group of battery grabbers is connected with the vertically movable battery replacement mechanism grabbing disc system, and the other end of the first group of battery grabbers is connected with the battery replacement battery pack; one end of the second group of battery grabbers is connected with the vertically movable battery replacement mechanism grabbing disc system, and the other end of the second group of battery grabbers extracts the battery to be replaced of the target vehicle; The intelligent charging and battery replacement system further comprises a compatible interface, wherein the compatible interface is located below the body of the intelligent unmanned aerial vehicle and is connected with the charging system or the battery replacement system for connecting the corresponding charging system according to the charging task or connecting the corresponding battery replacement system according to the battery replacement task.

4. The intelligent unmanned aerial vehicle charging and battery replacement system for vehicles according to claim 3, wherein The intelligent unmanned aerial vehicle is also used for, in the case that the management parking base station receives the charging task, the intelligent control system in the intelligent unmanned aerial vehicle controls the up-and-down movable charging battery fixing disc to descend through the telescopic part, the rotatable charging mechanism battery grab grabs the charging battery pack, and the up-and-down movable charging battery fixing disc is controlled to ascend through the telescopic part, the charging battery pack 12311 is fixed to the preset position of the charging system, the intelligent control system controls the unmanned aerial vehicle flight system to fly to the target vehicle according to the charging task, target vehicle identification is performed on vehicles met along the way through the sensor group in the intelligent control system, the feature information of the vehicles along the way is compared with the target feature information of the target vehicle through the data processing module in the intelligent control system, in the case that it is determined that the target vehicle, the near flight instruction is sent to the unmanned aerial vehicle flight system through the data processing module, when the intelligent unmanned aerial vehicle and the target vehicle reach a preset distance, the auxiliary positioning intelligent mechanical grab is connected with the preset position of the target vehicle, if the accompanying flight mode flight is set according to the charging task, the rotatable telescopic intelligent charging mechanical arm in the charging system is connected into the charging interface of the target vehicle according to the positional relationship between the target vehicle and the target vehicle through the intelligent control system, and the target vehicle is charged through the charging battery pack 12311. 5.The intelligent unmanned aerial vehicle charging and battery replacing system for vehicles according to claim 3, wherein The intelligent unmanned aerial vehicle is also used for, in the case that the management parking base station receives the charging task, the intelligent control system in the intelligent unmanned aerial vehicle controls the up-and-down movable charging battery fixing disc to descend through the telescopic part, the rotatable charging mechanism battery grab grabs the charging battery pack, and the up-and-down movable charging battery fixing disc is controlled to ascend through the telescopic part, the charging battery pack 12311 is fixed to the preset position of the charging system, the intelligent control system controls the unmanned aerial vehicle flight system to fly to the target vehicle according to the charging task, target vehicle identification is performed on vehicles met along the way through the sensor group in the intelligent control system, the feature information of the vehicles along the way is compared with the target feature information of the target vehicle through the data processing module in the intelligent control system, in the case that it is determined that the target vehicle, the near flight instruction is sent to the unmanned aerial vehicle flight system through the data processing module, when the intelligent unmanned aerial vehicle and the target vehicle reach a preset distance, the auxiliary positioning intelligent mechanical grab is connected with the preset position of the target vehicle, if the accompanying flight mode flight is set according to the charging task, the rotatable telescopic intelligent charging mechanical arm in the charging system is connected into the charging interface of the target vehicle according to the positional relationship between the target vehicle and the target vehicle through the intelligent control system, and the target vehicle is charged through the charging battery pack 12311. 6.The intelligent unmanned aerial vehicle charging and battery replacing system for vehicles according to claim 5, wherein If the target vehicle is stationary and the intelligent drone performs the charging task or the battery replacement task, the intelligent drone charges or replaces the battery in a stationary mode. The intelligent control system of the intelligent drone acquires images of whether other people appear in addition to the driver of the target vehicle during the charging process through the sensor group, determines whether to continue performing the charging task or the battery replacement task through the data processing module, and notifies the terminal used by the driver of the target vehicle of the current environment through the communication module. If the driver of the target vehicle confirms that there is no problem, the charging system in the intelligent charging and battery replacement system is controlled to perform the charging task, or the battery replacement system is controlled to perform the battery replacement task.

7. The intelligent drone charging and battery replacement system for vehicles according to claim 6, wherein When the intelligent drone encounters a situation that charging or battery replacement cannot continue in the accompanying flight mode, the intelligent drone communicates with the target vehicle to negotiate a charging or battery replacement position and / or scheme at the nearest distance, waits for the target vehicle at the updated charging or battery replacement position, and continues to perform the charging or battery replacement scheme according to the negotiated scheme; or When the intelligent drone encounters a situation that charging or battery replacement cannot continue in the accompanying flight mode, the intelligent drone flies to a neighboring management parking base station to wait for the target vehicle to arrive at the parking area of the management parking base station, and continues to perform charging or battery replacement; or When the intelligent drone encounters a situation that charging or battery replacement cannot continue in the accompanying flight mode, the intelligent drone flies back to the original management parking base station, and the charging task or the battery replacement task is forwarded to the next management parking base station in the direction of travel of the target vehicle by the intelligent drone and / or the management area of the original management parking base station. The charging task or the battery replacement task of the target vehicle is performed by the intelligent drone relayed and distributed by the management area in the next management parking base station.

8. The intelligent drone charging and battery replacement system for vehicles according to claim 7, wherein When the intelligent drone is in the drone maintenance area of the management parking base station, the intelligent control system in the intelligent drone controls the up-and-down movable charging battery fixing disc to descend or ascend, and the rotatable charging mechanism battery claw to retract or extend, for maintenance or repair, through the telescopic part.

9. The intelligent drone charging and battery replacement system for vehicles according to claim 8, wherein After the completion of the charging task or the battery replacement task, the intelligent drone automatically cruises back to the management parking base station through the drone flight system to charge the charging battery pack or the battery replacement battery pack of the intelligent drone, and waits for the next charging task or battery replacement task.

10. The intelligent drone charging and battery replacement system for vehicles according to claim 1, wherein The management parking base station comprises a photovoltaic power generation panel, an energy storage system, a drone parking area, a drone charging pile station, a drone maintenance area, and a management area. The photovoltaic power generation panel is located on the top of the management parking base station, connected with the energy storage system, used to generate electric energy by converting light energy into electric energy, and transmit the electric energy to the energy storage system; The energy storage system is connected with the unmanned aerial vehicle charging pile station, the unmanned aerial vehicle maintenance area and the management area respectively, used to store the electric energy and power the unmanned aerial vehicle parking area, the unmanned aerial vehicle charging pile station, the unmanned aerial vehicle maintenance area and the management area; The unmanned aerial vehicle parking area is connected with the unmanned aerial vehicle charging pile station, used to park intelligent unmanned aerial vehicles; The unmanned aerial vehicle charging column is connected with the energy storage system, used to charge the intelligent unmanned aerial vehicles in the unmanned aerial vehicle parking area; wherein the unmanned aerial vehicle parking area and the unmanned aerial vehicle charging pile station are correspondingly arranged, and the unmanned aerial vehicle parking area is connected with the energy storage system through the unmanned aerial vehicle charging pile station; The unmanned aerial vehicle maintenance area is connected with the energy storage system, used to maintain the intelligent unmanned aerial vehicles; The management area is connected with the photovoltaic power generation panel, the energy storage system, the unmanned aerial vehicle parking area, the unmanned aerial vehicle charging pile station and the unmanned aerial vehicle maintenance area respectively, used to manage the photovoltaic power generation panel, the energy storage system, the unmanned aerial vehicle parking area, the unmanned aerial vehicle charging pile station and the unmanned aerial vehicle maintenance area, and distribute charging and replacing tasks to the intelligent unmanned aerial vehicles; The management area includes a data processing module connected with the photovoltaic power generation panel, the energy storage system, the unmanned aerial vehicle parking area, the unmanned aerial vehicle charging pile station and the unmanned aerial vehicle maintenance area respectively, used to control the photovoltaic power generation panel, the energy storage system, the unmanned aerial vehicle parking area, the unmanned aerial vehicle charging pile station and the unmanned aerial vehicle maintenance area according to their running state data; The management area further includes a communication module and a signal relay module, wherein the communication module is connected with a target vehicle and / or the intelligent unmanned aerial vehicle respectively, used to receive charging and replacing request information of the target vehicle, distribute the charging and replacing request information to the intelligent unmanned aerial vehicles in the unmanned aerial vehicle parking area, and communicate with the intelligent unmanned aerial vehicles performing charging and replacing tasks; the signal relay module is connected with the communication module and the adjacent management parking base station, used to communicate with the adjacent management parking base station and amplify the signal in the range of the current management parking base station. 11.A method for charging and replacing power of a vehicle by an intelligent unmanned aerial vehicle, characterized in that, The application is applied to a charging and replacing system for vehicles by intelligent unmanned aerial vehicles, including: A target vehicle sends charging and replacing request information to a management parking base station; The management parking base station receives the charging and replacing request information, distributes intelligent unmanned aerial vehicles according to the charging and replacing request information, and establishes a communication link among the intelligent unmanned aerial vehicles, the target vehicle and the management parking base station; The intelligent unmanned aerial vehicles fly to the target vehicle according to the position information of the target vehicle in the charging and replacing request information, identify the target vehicle according to the charging and replacing task in the charging and replacing request information, and perform the corresponding charging and replacing task according to the identification result.

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