An automatic charging and replacing method and system for a container type unmanned aerial vehicle distribution station and related device

Abstract

The application discloses an automatic charging and battery replacing method and system of a container type unmanned aerial vehicle distribution station and related devices, and relates to the technical field of control. The method comprises the following steps: during the connection of a battery replacing execution mechanism and a to-be-replaced unmanned aerial vehicle, a plurality of first voltage parameters between an auxiliary power terminal and a power terminal of a battery compartment of the unmanned aerial vehicle are acquired, and the contact state of the two terminals is determined according to the first voltage parameters; if the contact state is good, an auxiliary power connection instruction is generated before the end effector and the battery compartment are mechanically locked; the output current parameter of the auxiliary power is acquired, and the second voltage parameter of the power terminal of the battery compartment is acquired from the unmanned aerial vehicle side; the time when the old battery is removed is determined based on the output current parameter and the second voltage parameter, and a removing instruction is generated. The application can realize uninterrupted power supply of the unmanned aerial vehicle during the battery replacing process, guarantee the continuity of power supply, and improve the safety and automation level of the battery replacing process through contact state judgment and time sequence control.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to an automatic charging and swapping method, system and related device for a containerized drone delivery station. Background Technology

[0002] In the current drone logistics and delivery field, drones typically rely on rechargeable battery packs for flight power. Limited by battery energy density and flight payload, the flight time after a single charge is limited, making it difficult to meet the demands of high-frequency, long-distance delivery. To improve operational efficiency, the industry is gradually adopting battery swapping solutions, which involve directly replacing the drone's battery with a fully charged one at the delivery station, avoiding long charging wait times.

[0003] However, traditional drone battery swapping processes typically require disconnecting the drone's power supply before battery installation and removal. This not only causes brief power outages and restarts for critical systems such as flight control, navigation, and communication, potentially leading to data loss and system initialization delays, but also shortens the lifespan of onboard processing equipment due to repeated power surges. Some solutions attempt to introduce auxiliary power supplies to maintain power during the swapping process, but at the moment of contact between the auxiliary power supply and the drone's power terminals, surge currents often occur due to excessive voltage differences, damaging the contact terminals and even interfering with the drone's payload. Furthermore, the timing control of when to switch on the auxiliary power supply and when to remove the old battery is highly dependent on experience, lacking precise judgment of contact status and load transfer processes, which can easily lead to malfunctions and jeopardize the safety and reliability of the battery swapping process. Summary of the Invention

[0004] This application provides an automatic charging and swapping method, system, and related apparatus for a containerized drone delivery station to improve the above-mentioned problems.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] In a first aspect, this application proposes an automatic charging and swapping method for a containerized drone delivery station. The containerized drone delivery station includes a vehicle body and a delivery station main body. The delivery station main body includes a battery swapping actuator, an auxiliary power supply, and a control terminal. The battery swapping actuator includes an end effector for connecting to the drone to be swapped. The end effector is equipped with an auxiliary power supply terminal, which is electrically connected to the auxiliary power supply. The method is executed by the control terminal and includes: during the connection process between the battery swapping actuator and the drone to be swapped, acquiring multiple first voltage parameters between the auxiliary power supply terminal and the power supply terminal; determining the contact state between the auxiliary power supply terminal and the power supply terminal based on the multiple first voltage parameters, wherein the contact state includes good contact; if the contact state is good contact, generating an auxiliary power supply connection command before the end effector mechanically locks to the battery compartment; acquiring the output current parameter of the auxiliary power supply; acquiring the second voltage parameter of the power supply terminal of the battery compartment of the drone to be swapped based on the drone to be swapped; determining the removal time of the old battery in the battery compartment based on the output current parameter and the second voltage parameter; and generating a battery removal command based on the removal time.

[0007] Therefore, by obtaining multiple first voltage parameters between the auxiliary power terminal and the power terminal during the connection process between the battery swapping actuator and the drone to be swapped to determine the contact status, and generating an auxiliary power on command before the end effector and battery compartment are mechanically locked, and then determining the time to remove the old battery based on the output current parameter of the auxiliary power supply and the second voltage parameter of the power terminal of the drone's battery compartment and generating a battery removal command, it is possible to complete the battery replacement of the drone without interrupting power, avoiding the risk of instantaneous power outage during the battery swapping process, and ensuring the power supply continuity and data security of the drone's onboard electronic system. At the same time, by real-time monitoring of electrical parameters and multi-condition judgment, the timing of auxiliary power supply entry and old battery exit is precisely controlled, improving the automation level and reliability of the battery swapping operation.

[0008] In conjunction with the first aspect, optionally, the contact state between the auxiliary power supply terminal and the power supply terminal is determined based on multiple first voltage parameters, including: acquiring the no-load voltage parameter of the auxiliary power supply; determining the voltage fluctuation amount based on the multiple first voltage parameters; determining a preset fluctuation threshold based on the no-load voltage parameter; and determining the contact state as good when the voltage fluctuation amount is continuously less than the preset fluctuation threshold within a preset time period.

[0009] Therefore, by obtaining the no-load voltage parameters of the auxiliary power supply and determining the preset fluctuation threshold based on these parameters, and then using multiple first voltage parameters to calculate the voltage fluctuation, the contact state is determined to be good when the voltage fluctuation is continuously less than the preset fluctuation threshold within a preset time period. This effectively filters out instantaneous voltage fluctuations caused by mechanical vibration, terminal bounce, or contact interface contamination, accurately identifies a stable low-contact-resistance connection established between the auxiliary power supply terminals and the power supply terminals, and avoids safety hazards such as arcing and overheating when the auxiliary power supply is put into operation due to misjudgment of the contact state. This improves the accuracy of contact state determination and the safety of subsequent circuit connection.

[0010] In conjunction with the first aspect, optionally, the voltage fluctuation amount is determined based on multiple first voltage parameters, including: determining a preset rate of change threshold based on the no-load voltage parameter; determining multiple voltage change rates based on the difference between two adjacent first voltage parameters and the acquisition time interval; and determining the voltage fluctuation amount based on the number of voltage change rates that exceed the preset rate of change threshold among the multiple voltage change rates.

[0011] Therefore, it can be seen that by determining the preset rate of change threshold based on the no-load voltage parameter of the auxiliary power supply, and obtaining multiple voltage change rates by calculating the ratio of the difference between two adjacent first voltage parameters to the corresponding acquisition time interval, and using the number of those exceeding the preset rate of change threshold as the voltage fluctuation, it can sensitively reflect the micro-bounce or rapid fluctuation of the terminal contact moment from the dimension of voltage change rate. Compared with simply relying on voltage amplitude fluctuation for judgment, it can capture the signs of poor contact earlier, provide more refined quantitative indicators for dynamic evaluation of contact status, and further improve the real-time performance and accuracy of contact status judgment.

[0012] In conjunction with the first aspect, optionally, the removal time of the old battery in the battery compartment is determined based on the output current parameter and the second voltage parameter, including: obtaining the output voltage parameter of the auxiliary power supply; determining the voltage difference based on the output voltage parameter and the second voltage parameter; determining the current stability based on the output current parameter; and determining the removal time of the old battery when the voltage difference is continuously less than a preset voltage difference threshold within a preset time window and the current stability meets a preset stability condition.

[0013] Therefore, by obtaining the output voltage parameters of the auxiliary power supply and calculating the voltage difference together with the second voltage parameter, and determining the current stability based on the output current parameter, and using the voltage difference being continuously less than the preset voltage difference threshold and the current stability meeting the preset stability condition as the basis for determining the time of old battery removal, it is possible to accurately determine that the auxiliary power supply has smoothly taken over the entire load of the drone and that the power supply circuit has reached a steady state. This ensures that the drone's power supply will not be interrupted or the voltage will drop at the moment the old battery is removed due to insufficient load transfer, truly achieving a "seamless switch" between the old and new power supplies, thereby ensuring the uninterrupted operation of the drone's critical mission payload during the battery swapping process.

[0014] In conjunction with the first aspect, optionally, after generating the auxiliary power supply connection command but before the auxiliary power supply is actually connected, the method further includes: sending a voltage query command to the battery management system of the drone to be swapped based on the physical electrical connection established between the auxiliary power supply terminals and the power supply terminals; obtaining the real-time terminal voltage of the old battery in the battery compartment of the drone to be swapped, which is returned by the battery management system; obtaining a preset safety differential voltage threshold; adjusting the output voltage of the auxiliary power supply so that the absolute value of the difference between the output voltage and the real-time terminal voltage of the old battery is less than the preset safety differential voltage threshold, and then controlling the auxiliary power supply to be connected.

[0015] Therefore, before the auxiliary power supply is officially connected, by utilizing the established physical electrical connection between the auxiliary power supply terminals and the power supply terminals, a voltage query command is actively sent to the UAV battery management system to obtain the real-time terminal voltage of the old battery. At the same time, a preset safe voltage difference threshold is obtained. By adjusting the output voltage of the auxiliary power supply, the absolute value of the voltage difference between the two is made less than the preset safe voltage difference threshold before the auxiliary power supply is connected. This can eliminate the potential difference between the auxiliary power supply and the old battery to the greatest extent, effectively suppress the surge current impact generated at the moment of connection, and avoid electrical contact erosion, interference or even damage to the UAV's onboard electronic circuits. This significantly improves the electrical safety and equipment lifespan during the auxiliary power supply connection process.

[0016] In conjunction with the first aspect, optionally, obtaining a preset safe differential pressure threshold includes: injecting a detection current signal of a preset waveform into the power terminal based on the auxiliary power terminal before the auxiliary power supply is actually turned on, and obtaining a voltage response signal between the auxiliary power terminal and the power terminal; determining the contact impedance of the electrical connection channel between the auxiliary power terminal and the power terminal based on the detection current signal and the voltage response signal; obtaining the current DC internal resistance and current temperature of the old battery based on the battery management system; and determining the preset safe differential pressure threshold based on the contact impedance, the current DC internal resistance, the current temperature, and a preset upper limit of allowable inrush current.

[0017] Therefore, before actually connecting the auxiliary power supply, a detection current signal with a preset waveform is injected into the power terminal through the auxiliary power terminal and the voltage response signal is collected simultaneously. Based on this, the contact impedance of the electrical connection channel between the two terminals is calculated. At the same time, the current DC internal resistance and current temperature of the old battery are obtained from the battery management system. Combined with the preset upper limit of the allowable inrush current, the safety differential voltage threshold is dynamically determined. This allows for personalized threshold settings based on the current actual connection status and battery characteristics. This avoids the connection delay caused by an unchanging conservative threshold and prevents the risk of overcurrent caused by an excessively large safety threshold. Thus, while ensuring safety, the adaptability and response speed of the entire battery swapping system to the drone and battery status are improved.

[0018] In conjunction with the first aspect, optionally, a preset safe differential pressure threshold is determined based on the contact impedance, the current DC internal resistance, the current temperature, and a preset upper limit of allowable inrush current. This includes: determining a temperature correction coefficient based on the current temperature and a preset temperature correction coefficient table, wherein the temperature correction coefficient is less than or equal to 1 and decreases as the temperature increases; multiplying the upper limit of allowable inrush current by the temperature correction coefficient to obtain the upper limit of allowable inrush current after temperature compensation; adding the contact impedance to the current DC internal resistance to obtain the total circuit impedance; and multiplying the upper limit of allowable inrush current after temperature compensation by the total circuit impedance to obtain the preset safe differential pressure threshold.

[0019] Therefore, by querying the preset temperature correction coefficient table based on the current temperature to obtain the temperature correction coefficient that decreases as the temperature increases, and multiplying the upper limit of the allowable surge current by this coefficient to obtain the upper limit of the allowable surge current after temperature compensation, the contact impedance is added to the current DC internal resistance to obtain the total circuit impedance. Finally, the upper limit of the allowable surge current after temperature compensation is multiplied by the total circuit impedance to obtain the preset safe voltage difference threshold. This can comprehensively take into account the impact of temperature on the battery internal resistance and safe current carrying capacity, and by combining the actual impedance values ​​of each link in the circuit, accurately calculate the maximum allowable voltage difference that will not generate harmful surge current under the current environment. This ensures that the transient process when the auxiliary power is turned on is always under control, and avoids the difficulty of voltage matching caused by overly conservative threshold settings, thereby improving the efficiency, safety and robustness of the battery swapping process under different environmental conditions.

[0020] A second aspect of this invention provides an automatic charging and battery swapping device for a containerized drone delivery station, comprising: a vehicle body; and a delivery station body. The delivery station body includes a battery swapping actuator, an auxiliary power supply, and a control terminal. The battery swapping actuator includes a terminal actuator for connecting to the drone to be swapped. The terminal actuator is provided with an auxiliary power supply terminal, which is electrically connected to an auxiliary power supply. The control terminal is configured to execute an automatic charging and battery swapping method for a containerized drone delivery station according to any one of the first aspects. A third aspect of this invention provides an automatic charging and battery swapping system for a containerized drone delivery station, comprising:

[0021] The first acquisition module is used to acquire multiple first voltage parameters between the auxiliary power terminal and the power terminal during the process of connecting the battery swapping actuator with the UAV to be swapped.

[0022] The first determining module is used to determine the contact state between the auxiliary power supply terminal and the power supply terminal based on multiple first voltage parameters, wherein the contact state includes good contact.

[0023] The first generation module is used to generate an auxiliary power supply connection command before the end effector and the battery compartment are mechanically locked if the contact state is good.

[0024] The second acquisition module is used to acquire the output current parameters of the auxiliary power supply.

[0025] The third acquisition module is used to acquire the second voltage parameters of the power terminals of the battery compartment of the drone to be swapped based on the drone to be swapped.

[0026] The second determining module is used to determine the time for removing the old battery from the battery compartment based on the output current parameter and the second voltage parameter.

[0027] The second generation module is used to generate a battery removal instruction based on the removal time.

[0028] A fourth aspect of the present invention provides a processing apparatus, the processing apparatus comprising:

[0029] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method proposed in the first aspect of the present invention.

[0030] A fifth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method as described in the first aspect of the present invention. Attached Figure Description

[0031] Figure 1 This is a partial structural diagram of the delivery station body in an automatic charging and swapping system for a containerized drone delivery station proposed in an embodiment of this application.

[0032] Figure 2 This is another structural schematic diagram of an automatic charging and swapping system for a containerized drone delivery station proposed in an embodiment of this application.

[0033] Figure 3 This is a flowchart illustrating an automatic charging and battery swapping method for a containerized drone delivery station proposed in an embodiment of this application.

[0034] Figure 4 This is a schematic diagram of the structure of a processing device proposed in an embodiment of this application.

[0035] The reference numerals in the attached figures are as follows:

[0036] Delivery station body-2; battery swapping actuator-3; drone waiting for battery swapping-4; end effector-31. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0038] First, the application scenarios and hardware foundations involved in this application will be explained.

[0039] See Figure 1 The containerized drone delivery station provided in this application includes a vehicle body (not shown in the figure) and a delivery station body 2 mounted on the vehicle body. The delivery station body includes a battery swapping actuator 3, an auxiliary power supply (not shown in the figure), and a control terminal (not shown in the figure).

[0040] The battery swapping actuator 2 is used to physically dock with the drone 4 to be swapped and complete the battery replacement operation. The battery swapping actuator 3 includes an end effector 31, which is equipped with an auxiliary power terminal. The auxiliary power terminal is electrically connected to an auxiliary power source via a wire. The end effector can mechanically engage with the battery compartment of the drone 4 to be swapped, and the auxiliary power terminal can establish an electrical connection with the power terminal on the battery compartment during the docking process.

[0041] In this application, the end effector 31 can be a mechanical gripper with multi-degree-of-freedom adjustment capabilities. Two copper contacts are mounted at its front end as auxiliary power terminals, and the rear ends of the contacts are connected to the output of the auxiliary power supply via 16AWG silicone wire. The power terminals of the drone battery compartment are corresponding gold-plated sockets, internally connected to the drone's power supply bus and the battery management system sampling circuit. When the end effector clamps the battery compartment shell and gradually closes it, the auxiliary power terminals are inserted into the power terminals to achieve electrical connection.

[0042] The control terminal is communicatively connected to the battery swapping actuator, the auxiliary power supply, and the battery management system (BMS) of the drone to be swapped. The control terminal can be a microcontroller, embedded processor, or industrial computer located within the delivery station itself, or it can be a remote server or cloud control platform that interacts with the delivery station via wireless communication. The control terminal is configured to execute the automatic charging and swapping method provided in the embodiments of this application.

[0043] The control terminal can employ an STM32H743 microcontroller based on the ARM Cortex-M7 core, operating at 480MHz, and integrating a multi-channel 12-bit ADC, CAN controller, UART, and other communication interfaces. This microcontroller communicates with the UAV's battery management system via the CAN bus, controls the stepper motor of the battery swapping actuator and the DC-DC module of the auxiliary power supply via GPIO and PWM, and simultaneously reads current sensor data via the SPI interface. This example is for illustrative purposes only; actual selection can be flexibly adjusted based on cost and processing capacity.

[0044] Battery-swapping drones typically carry pluggable battery packs housed in a battery compartment. This compartment includes power terminals for communication with the drone's onboard power distribution network and battery swapping mechanism. The drone has a built-in battery management system that monitors battery parameters in real time, including voltage, current, temperature, state of charge (SOC), and state of health (SOH), and provides data retrieval capabilities via a communication interface.

[0045] Taking a common hexacopter logistics drone as an example, its power battery pack is typically a 6S or 12S lithium polymer battery with a capacity between 10,000mAh and 20,000mAh. The battery compartment is located on the underside of the drone fuselage and is locked in place by a latch. The battery management system outputs digital battery status information via I2C or CAN bus, and the control terminal of this application reads this information using a unified standard protocol.

[0046] The following is combined Figure 2 The automatic charging and swapping method provided in the embodiments of this application will be described in detail. Figure 2This is a flowchart illustrating an automatic charging and battery swapping method for a containerized drone delivery station proposed in this application. The method is executed by a control terminal and mainly includes the following steps:

[0047] S101: During the process of connecting the battery swapping actuator with the drone to be swapped, acquire multiple first voltage parameters between the auxiliary power terminal and the power terminal.

[0048] Specifically, when the delivery station receives the drone to be swapped or the drone lands at the designated location, the battery swapping mechanism begins to operate under the command of the control terminal, and the end effector gradually approaches the drone's battery compartment. As the end effector advances, the auxiliary power terminal located on it gradually approaches and eventually establishes physical contact with the power terminal on the battery compartment.

[0049] For example, the top of the delivery station is equipped with a drone landing platform, on which a battery swapping mechanism in the form of a robotic arm is installed. After the drone accurately lands on the platform and enters a locked state, the control terminal first determines the precise location of the battery compartment through visual positioning or laser ranging, and then drives the robotic arm to approach the battery compartment at a speed of 50 mm per second. During the approach phase, the auxiliary power terminal is in a suspended state, and the voltage between it and the power terminal is close to the open-circuit voltage of the auxiliary power supply.

[0050] Understandably, during this docking process, the auxiliary power terminals and the power terminals may undergo different stages such as separation, micro-contact, bounce, and stable contact. An electrical loop is formed between the auxiliary power terminals and the power terminals, and this loop will exhibit a voltage signal that changes with the contact state. The control terminal continuously acquires the voltage values ​​between the auxiliary power terminals and the power terminals at a preset sampling frequency (e.g., 1 kHz or higher) through a voltage sampling circuit, obtaining multiple first voltage parameters arranged in chronological order. The acquisition method can be differential voltage sampling, and the sampling circuit can be integrated into the control terminal or the auxiliary power management unit.

[0051] Taking a specific implementation as an example, the voltage sampling circuit uses a resistor divider followed by an operational amplifier buffer, and then the microcontroller's ADC acquires the voltage at a sampling rate of 2kHz. When the terminals are separated, the sampled value may drift uncertainly because the auxiliary power supply terminal is floating while the power supply terminal may have residual voltage from the UAV side bus. When the terminals begin to touch, the voltage will rapidly drop from a certain floating value or rise to near the no-load voltage of the auxiliary power supply. If there is bouncing, the voltage value will fluctuate up and down in a very short time. Only when the terminals are truly in stable contact will the voltage stabilize within a very small ripple range near the no-load voltage of the auxiliary power supply. The control terminal stores this set of continuously acquired voltage values ​​in a circular buffer in chronological order as the first voltage parameter.

[0052] S102: Determine the contact state between the auxiliary power supply terminal and the power supply terminal based on multiple first voltage parameters.

[0053] The control terminal analyzes and processes the acquired first voltage parameters to determine the contact status between the auxiliary power supply terminal and the power supply terminal. The contact status can be divided into "good contact" and "poor contact". "Good contact" means that a stable electrical connection with low contact resistance has been established between the two terminals, which can safely carry the subsequent auxiliary power supply current; "poor contact" means that the two terminals have not made stable contact, there is intermittent bouncing, or the contact interface is contaminated, resulting in excessive contact resistance.

[0054] For example, in a docking experiment, a good contact can be defined as a contact resistance of less than 10 mΩ, while poor contact is typically characterized by a resistance exceeding 100 mΩ and exhibiting significant fluctuations. These resistance variations are reflected in the voltage fluctuations between the terminals. In practice, the resistance is not measured directly; instead, inferences are made indirectly using the fluctuation characteristics of the voltage parameters.

[0055] Specifically, in this application, the method for determining the contact status is as follows:

[0056] S1021: Obtain the no-load voltage parameters of the auxiliary power supply.

[0057] Understandably, the no-load voltage parameter of the auxiliary power supply refers to the steady-state output voltage of the auxiliary power supply when no load is connected and the output terminal is open. This voltage value can be pre-measured and stored in the memory of the control terminal before the battery swapping process starts, or it can be provided in real time by the voltage detection circuit inside the auxiliary power supply. Since the no-load voltage eliminates the influence of load effects, it can truly reflect the current operating point of the auxiliary power supply.

[0058] Understandably, when actually measuring a nominal 24V auxiliary power supply, the no-load voltage may be 24.5V. Therefore, during system initialization, the control terminal reads the voltage divider feedback voltage inside the auxiliary power supply via an ADC, calculates the no-load voltage, and stores it in Flash memory. If the auxiliary power supply has a digital interface, it can also be read directly via communication.

[0059] S1022: Determine the voltage fluctuation amount based on multiple first voltage parameters.

[0060] Understandably, voltage fluctuation is used to quantify the instability of the voltage signal between the auxiliary power supply terminal and the power supply terminal during the observation period. Poor contact can directly lead to high-frequency, large-amplitude fluctuations in the voltage between terminals due to microscopic contact bounce and rapid changes in contact resistance. This application sensitively captures these fluctuation characteristics by statistically analyzing the frequency of voltage change rates exceeding a threshold.

[0061] Specifically, in this application, a preset rate of change threshold can first be determined based on the no-load voltage parameter. Understandably, the preset rate of change threshold can be determined by multiplying the amplitude of the no-load voltage by a preset proportionality coefficient, for example, set as the voltage change corresponding to a certain percentage of the no-load voltage value divided by the minimum sampling interval. This threshold should be slightly higher than the circuit noise level under normal stable contact conditions to ensure that it is neither too sensitive to trigger falsely, nor too sensitive to effectively detect minute transient changes in contact.

[0062] For example, if the open-circuit voltage is 24.5V and the preset scaling factor is 1%, the corresponding voltage change is 0.245V. If the sampling interval is 0.5ms, corresponding to a 2kHz sampling rate, then the preset rate of change threshold = 0.245V / 0.0005s = 490V / s. Of course, under good contact conditions, due to the slight ripple in the circuit, the actual peak voltage change rate is usually below 200V / s. Therefore, the threshold of 490V / s can effectively distinguish between contact bounce and normal ripple.

[0063] Then, based on the difference between two adjacent first voltage parameters and the acquisition time interval, multiple voltage change rates are determined. That is, following the sampling time sequence, the difference between two adjacent first voltage parameters is taken and divided by the acquisition time interval between them to obtain multiple voltage change rates. Understandably, this voltage change rate reflects the degree of abrupt change in the voltage between terminals per unit time.

[0064] For example, within a 100ms observation window, 200 first voltage parameters are collected, and 199 voltage change rates can be calculated. If the voltages at two adjacent points are 24.3V and 23.8V respectively, with a sampling interval of 0.5ms, then the voltage change rate at that point is |23.8 - 24.3| / 0.0005 = 1000V / s, significantly higher than the preset change rate threshold of 490V / s. This indicates a significant voltage drop, likely caused by a momentary disconnection due to a bounce.

[0065] Finally, the voltage fluctuation is determined based on the number of voltage change rates exceeding a preset threshold among multiple voltage change rates. That is, the number of voltage change rates exceeding the preset threshold within a preset observation window is counted. This number is the voltage fluctuation. A higher number indicates more frequent bounce or impedance abrupt changes at the terminal contact interface, and a less than ideal contact condition.

[0066] Example: If 35 out of 199 voltage change rates exceed the 490V / s threshold within a 100ms window, the voltage fluctuation is 35. Under good contact conditions, this value is typically less than 5. The control terminal can be configured with a 200-byte circular buffer to calculate the number of times the threshold is exceeded within the window in real time, which is then used as the current voltage fluctuation.

[0067] S1023: Determine the preset fluctuation threshold based on the no-load voltage parameter.

[0068] The preset fluctuation threshold is an empirical or calculated threshold used for comparison with the aforementioned voltage fluctuations. It can also be set based on the no-load voltage parameters, as the allowable fluctuation range varies for systems with different voltage levels. For example, a function or table related to the no-load voltage can be preset in the control terminal, and the corresponding preset fluctuation threshold can be obtained by looking up the table. When setting this threshold, the ripple characteristics of the auxiliary power supply, the noise level of the sampling circuit, and the actual allowable range of contact resistance variation must be comprehensively considered, so that when the contact condition meets the requirements, the fluctuation can be stably kept below this threshold.

[0069] In practice, a large number of experiments can be conducted in advance to calibrate corresponding preset fluctuation thresholds for different open-circuit voltage ranges, forming a mapping table that is stored in the control terminal. For example, the preset fluctuation threshold can be set to 8 for an open-circuit voltage in the 20V-30V range; and to 12 for the 40V-50V range. For an open-circuit voltage of 24.5V, the control terminal looks up the table to obtain a preset fluctuation threshold of 8. This setting can prevent missed or false judgments due to different voltage levels.

[0070] To further improve adaptability, the mapping table can be calibrated in the following way: under standard load conditions, simulate the change of contact resistance from 0 to 200mΩ, record the statistical value of the maximum fluctuation when the contact resistance is less than 10mΩ in each voltage range, and write 1.2 times the statistical value as the preset fluctuation threshold into the control terminal.

[0071] S1024: When the voltage fluctuation is continuously less than the preset fluctuation threshold within a preset time period, the contact status is determined to be good.

[0072] Understandably, to avoid misjudgments due to short-term fluctuations caused by occasional interference, such as external vibrations or electromagnetic pulses, this application sets a preset duration condition. Voltage fluctuations are only considered stable if they remain below a preset fluctuation threshold within this preset duration. This continuous judgment mechanism effectively filters out transient interference, ensuring that the determined "good contact" state is continuous and reliable.

[0073] For example, the preset duration is 200ms. Within a 200ms sliding time window, the control terminal calculates the voltage fluctuation for each sampling period in real time. Only when the voltage fluctuation remains below a preset fluctuation threshold (e.g., 8) for 200ms is the contact status considered good. If, at some point within the 200ms period, vibration causes the fluctuation to momentarily jump to 9, the timing resets. This mechanism avoids the risk of hastily connecting the auxiliary power supply when the drone rotor still exhibits slight vibration.

[0074] S103: If the contact status is good, an auxiliary power supply connection command is generated before the end effector and battery compartment are mechanically locked.

[0075] Understandably, mechanical locking refers to the physical locking between the end effector and the battery compartment, such as by latching, tightening bolts, or electromagnetic locking. This typically occurs after confirming good contact to ensure structural rigidity during battery swapping. In this application, after confirming good contact, the control terminal does not immediately engage mechanical locking. Instead, it first generates an auxiliary power supply activation command, enabling the auxiliary power supply to start working early and take over the UAV's load. This achieves a safe sequence of first electrically transferring the load and then mechanically operating the battery.

[0076] Taking a specific actuator as an example, the end effector is equipped with a locking pin driven by an electric push rod. When the end effector clamps the battery compartment, the locking pin extends to lock the battery compartment. Before receiving an auxiliary power supply connection command, the control terminal will not issue a locking pin extension command even if the mechanical clamping is in place. Instead, it will first close the auxiliary power supply output path through a MOSFET drive circuit, or output a high level on the enable pin to connect the auxiliary power supply to the power terminal. Mechanical locking will only occur after confirming that the current has stabilized.

[0077] Specifically, in some embodiments, to further ensure the safety and reliability of connecting the auxiliary power supply, after generating the auxiliary power supply connection command but before the auxiliary power supply is actually connected, the control terminal also performs the following steps:

[0078] Utilizing the established physical electrical connection between the auxiliary power terminal and the power terminal, a voltage query command is sent to the battery management system of the drone to be swapped. This command can be transmitted via power line carrier communication, single-bus communication, or terminal multiplexing communication. Upon receiving the command, the battery management system transmits back the real-time terminal voltage of the old battery in the battery compartment of the drone to be swapped. Based on the data obtained by the drone to be swapped, the control terminal obtains data from the drone's battery management system through communication.

[0079] The control terminal reads the preset safe differential voltage threshold from the memory, or obtains the preset safe differential voltage threshold in real time through the dynamic calculation method described below. Next, the output voltage of the auxiliary power supply is adjusted, for example by controlling the reference voltage of the auxiliary power supply's DC-DC converter or adjustable voltage regulator module, so that the absolute value of the difference between the auxiliary power supply's output voltage and the real-time terminal voltage of the old battery is less than the preset safe differential voltage threshold. Then, the auxiliary power supply is actually switched on, such as by closing a solid-state relay or MOSFET switch. This significantly suppresses inrush current.

[0080] For example, in one implementation, the control terminal communicates with the UAV's BMS via a UART-to-single-bus protocol. The BMS returns a real-time battery voltage of 22.1V. The control terminal calculates a preset safe voltage difference threshold of 0.6V. The current no-load output voltage of the auxiliary power supply is 24.5V, far exceeding the threshold. Therefore, the control terminal adjusts the internal CNC power module of the auxiliary power supply via the I2C interface to gradually reduce the output voltage to 22.3V. The absolute value of the difference between 22.1V and 22.3V is 0.2V, which is less than 0.6V. Only then does the control terminal close the solid-state relay via the I / O port to safely connect the auxiliary power supply.

[0081] S104: Obtain the output current parameters of the auxiliary power supply.

[0082] After the auxiliary power supply is turned on, the control terminal obtains the output current parameter of the auxiliary power supply in real time through the current detection circuit. This parameter reflects the amount of current provided by the auxiliary power supply to the UAV load.

[0083] Current detection can utilize a Hall effect current sensor such as the ACS758-50B, with a range of ±50A and an output analog voltage of 0-5V, which is acquired and converted by the control terminal's ADC. For example, when the reading is 2.5V, the current is 0A; when the reading is 3.5V, the corresponding current is 20A (positive). The control terminal acquires current values ​​at a frequency of 100Hz and monitors them in real time. When the auxiliary power supply is first turned on, the current may rise rapidly from 0 and then gradually stabilize.

[0084] S105: Obtain the second voltage parameter of the power terminal of the battery compartment of the drone to be swapped.

[0085] The control terminal obtains the second voltage parameter of the power terminal of the battery compartment through the aforementioned communication link with the battery management system. This second voltage parameter, the actual voltage value at the power terminal of the battery compartment, can be measured by the battery management system itself and uploaded via the data channel. This parameter indirectly reflects whether the old battery is currently discharging or charging, and the progress of load transfer. Specifically, the communication method can be that the control terminal periodically sends data request frames to the BMS via the CAN bus, and the BMS returns battery status information, including the power terminal voltage, in the response frame.

[0086] S106: Determine the time to remove the old battery from the battery compartment based on the output current parameter and the second voltage parameter.

[0087] In some embodiments, the specific method for determining the removal time is as follows:

[0088] First, obtain the output voltage parameter of the auxiliary power supply. This parameter can be obtained internally from the auxiliary power supply or directly from the output measurement point. For example, the output voltage can be read directly through the monitoring ADC channel of the auxiliary power supply; the current value is 22.2V.

[0089] Secondly, calculate the voltage difference between the output voltage parameter and the second voltage parameter. When the auxiliary power supply fully bears the drone's load, the old battery's discharge current approaches zero, and the voltage at the battery compartment power terminal and the auxiliary power supply's output voltage will tend to be the same, with the voltage difference approaching a minimum. For example, the voltage difference is 22.2V – 22.15V = 0.05V.

[0090] Simultaneously, current stability is determined based on output current parameters. Current stability can be characterized by statistical indicators such as the variance, standard deviation, or peak-to-peak value of the output current within a specific time window. A stable output current means that the load has been smoothly transferred without significant fluctuations. For example, within a 500ms sliding window, the sample standard deviation of the current is calculated; if the standard deviation is less than 0.15A, the current is considered stable.

[0091] Finally, when the voltage difference remains below the preset voltage difference threshold (e.g., 0.1V) within the preset time window, and the current stability meets the preset stability conditions, such as the standard deviation being less than the preset value within the sliding window, the load transfer is determined to be complete, and this moment is the moment when the old battery is removed.

[0092] For example, a preset time window is set to 1 second, a preset voltage difference threshold is 0.1V, and a preset current standard deviation is 0.2A. The control terminal continuously monitors and finds that from time T0, the voltage difference remains between 0.04V and 0.06V, both less than 0.1V, while the current standard deviation remains stable at around 0.1A, less than 0.2A. Therefore, when both conditions are simultaneously met for 1 second, i.e., T0+1s, the time for removing the old battery is determined.

[0093] S107: Generate a battery removal command based on the removal time.

[0094] After determining the removal time, the control terminal generates a battery removal command, which is sent to the battery swapping actuator to control the end effector to unlock and remove the old battery. Since the auxiliary power supply is now stably supporting the entire load of the drone, the removal of the old battery will not cause a power outage, thus achieving "hot swapping" or "online swapping".

[0095] For example, the removal command could be a predefined sequence of I / O signals: first, the electric unlocking pin retracts, releasing the battery compartment latch; then, the push rod mechanism pushes the old battery out of the battery compartment at a constant speed, while the auxiliary power supply continues to power the drone. After the old battery is completely disconnected from the power terminal, the drone operates entirely on the auxiliary power supply. Next, the battery swapping actuator retrieves a new battery from the battery compartment and inserts it into the battery compartment, then deactivates the auxiliary power supply, completing the final exchange between the old and new power sources.

[0096] S108: Controls the insertion of a new battery and completes the power switching.

[0097] After the old battery is removed, the control terminal controls the battery swapping actuator to retrieve the new battery from the battery compartment and push it into the battery bay, aligning the power terminals of the new battery with those of the battery bay. During insertion, the control terminal uses the aforementioned contact status judgment method to check if the power terminals of the new battery are making good contact. Once good contact is confirmed, the control terminal obtains the real-time terminal voltage of the new battery through the battery management system, reads the preset safety differential voltage threshold again, adjusts the output voltage of the auxiliary power supply to match the voltage of the new battery, and then controls the power circuit of the new battery to be connected, enabling the new battery and auxiliary power supply to supply power to the drone in parallel. Afterward, the control terminal gradually reduces the output current of the auxiliary power supply until the output current parameter of the auxiliary power supply is lower than the preset exit threshold, indicating that the load has been completely transferred to the new battery. At this point, the control terminal generates an auxiliary power disconnect command, cuts off the auxiliary power supply output, and controls the end effector to mechanically lock the new battery. Thus, the complete automatic charging and swapping process ends, and the drone does not lose power throughout the entire process.

[0098] The key technical details involved in the above steps will be further explained below with reference to specific embodiments.

[0099] Dynamic calculation of the preset safe differential pressure threshold:

[0100] In some preferred embodiments, the preset safety differential pressure threshold is not a fixed value, but is dynamically determined based on real-time operating conditions to more accurately balance safety and battery swapping efficiency. The specific steps are as follows:

[0101] Before the auxiliary power supply is actually connected, the control terminal injects a detection current signal of a preset waveform into the power terminal through the auxiliary power supply terminal. The preset waveform can be a small-amplitude AC sine wave, square wave, or pulse, with an amplitude much smaller than the operating current to ensure that it will not interfere with the UAV circuitry. At the same time, the control terminal synchronously acquires the voltage response signal between the auxiliary power supply terminal and the power terminal.

[0102] For example, the signal generation circuit integrated within the control terminal generates a sinusoidal current with a frequency of 1kHz and a peak-to-peak value of 200mA, which is superimposed onto the DC level of the auxiliary power supply terminal through a coupling transformer. A high-speed ADC is used to synchronously acquire the voltage across the terminal, with a sampling rate set to 20kHz, to obtain a voltage waveform containing 1000 points.

[0103] Based on the injected detection current signal and the acquired voltage response signal, the control terminal calculates the contact impedance of the electrical connection channel between the two terminals. The calculation can be performed by using Ohm's law to obtain the ratio of the fundamental component of the detection current to the fundamental component of the voltage response; or by using frequency domain analysis to obtain the impedance magnitude and phase angle through Fourier transform.

[0104] For example, performing an FFT on current and voltage signals to extract the voltage amplitude corresponding to a frequency of 1 kHz. and current amplitude Then the magnitude of the contact impedance = / .like =2mV, =100mA, which corresponds to a root mean square value of approximately 70.7mA for a peak-to-peak value of 200mA. After conversion, the contact impedance is calculated to be 20mΩ. Of course, the specific conversion and calibration can be completed during the calibration process.

[0105] Meanwhile, the control terminal obtains the current DC internal resistance and current temperature of the old battery through the battery management system.

[0106] For example, the BMS returns the following data: DC internal resistance = 45mΩ, temperature = 35℃.

[0107] Next, the control terminal calculates the preset safe differential pressure threshold based on the contact impedance, current DC internal resistance, current temperature, and preset upper limit of allowable inrush current.

[0108] The specific calculation process is as follows: Based on the current temperature, a preset temperature correction coefficient table is consulted to obtain the temperature correction coefficient. This temperature correction coefficient is less than or equal to 1 and decreases as the temperature increases, reflecting the physical characteristics of the battery's reduced internal resistance and decreased current carrying capacity under high-temperature conditions. The temperature correction coefficient table can be calibrated experimentally and stored in the control terminal's memory. This table is pre-defined by conducting pulse charge-discharge tests on the battery at different temperatures, recording changes in the battery's DC internal resistance and the maximum allowable safe current value, and combining this with engineering experience.

[0109] For example, the temperature correction factor table is as follows:

[0110] -10℃: 1.0, 0℃: 1.0, 10℃: 1.0, 20℃: 1.0, 25℃: 0.95, 30℃: 0.90, 35℃: 0.85, 40℃: 0.80, 45℃: 0.75, 50℃: 0.70. The current temperature is 35℃. From the table, the temperature correction factor is 0.85.

[0111] Multiply the preset upper limit of the allowable inrush current by the temperature correction factor to obtain the upper limit of the allowable inrush current after temperature compensation. The preset upper limit of the allowable inrush current can be set according to the terminal specifications and relay capacity, for example, set to 25A. Then the upper limit of the allowable inrush current after temperature compensation = 25A * 0.85 = 21.25A. This upper limit of the allowable inrush current is usually determined by the rated peak current of the terminal and the surge current withstand capability of the relay, and is determined as a fixed value and stored during system design.

[0112] Add the contact impedance to the current DC internal resistance to obtain the total circuit impedance. For example, if the contact impedance is 20mΩ, the DC internal resistance is 45mΩ, and the total circuit impedance is 65mΩ.

[0113] Finally, multiply the temperature-compensated upper limit of the allowable inrush current by the total circuit impedance, and derive the preset safe voltage difference threshold according to Ohm's law. Calculation: 21.25A * 65mΩ = 1.38125V. This value is the maximum allowable voltage difference under the current operating conditions, meaning that as long as the voltage difference between the auxiliary power supply and the old battery is less than approximately 1.38V, the inrush current upon connection will not exceed 21.25A, ensuring safety.

[0114] This dynamic calculation method comprehensively considers multiple real-time factors such as contact connection quality, battery internal resistance, and temperature effects, making the preset safe differential pressure threshold more closely match the current actual operating conditions and ensuring that the inrush current when the auxiliary power supply is turned on is always within the safe range. Compared with a fixed threshold, this method allows the threshold to be appropriately increased at low temperatures due to increased internal resistance, thereby improving battery swapping efficiency; and at high temperatures when internal resistance decreases, the threshold is tightened to prevent excessive current, achieving adaptive adjustment.

[0115] This application enables uninterrupted power supply control during the battery swapping process of drones, effectively avoiding the risks of system restarts and data loss caused by battery swapping. At the same time, through multi-level electrical parameter monitoring and dynamic threshold calculation, it greatly improves the safety and automation level of battery swapping.

[0116] Based on the same inventive concept, this application also proposes an automatic charging and battery swapping system for a containerized drone delivery station. Please refer to [link to relevant documentation]. Figure 3 The system includes:

[0117] The first acquisition module is used to acquire multiple first voltage parameters between the auxiliary power terminal and the power terminal during the process of connecting the battery swapping actuator with the UAV to be swapped.

[0118] The first determining module is used to determine the contact state between the auxiliary power supply terminal and the power supply terminal based on multiple first voltage parameters, wherein the contact state includes good contact.

[0119] The first generation module is used to generate an auxiliary power supply connection command before the end effector and the battery compartment are mechanically locked if the contact state is good.

[0120] The second acquisition module is used to acquire the output current parameters of the auxiliary power supply.

[0121] The third acquisition module is used to acquire the second voltage parameters of the power terminals of the battery compartment of the drone to be swapped based on the drone to be swapped.

[0122] The second determining module is used to determine the time for removing the old battery from the battery compartment based on the output current parameter and the second voltage parameter.

[0123] The second generation module is used to generate a battery removal instruction based on the removal time.

[0124] Based on the same inventive concept, embodiments of this application also propose a processing apparatus, which includes:

[0125] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the automatic charging and swapping method for a containerized drone delivery station according to embodiments of this application.

[0126] Furthermore, to achieve the above objectives, embodiments of this application also propose a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the automatic charging and swapping method for a containerized drone delivery station according to embodiments of this application.

[0127] Figure 4 This is a schematic diagram of the structure of a processing device provided in an embodiment of the present invention. Exemplarily, this processing device may be a network device, or a chip (system) or other component or assembly that can be disposed in a network device. Figure 4 As shown, the processing device 400 may include a processor 401. Optionally, the processing device 400 may also include a memory 402 and / or a transceiver 403. The processor 401 is coupled to the memory 402 and the transceiver 403, for example, via a communication bus.

[0128] The following is combined Figure 4 A detailed description of each component of the processing equipment 400 is provided below:

[0129] The processor 401 is the control center of the processing device 400. It can be a single processor or a collective term for multiple processing elements. For example, the processor 401 can be one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs).

[0130] Optionally, the processor 401 can perform various functions of the processing device 400 by running or executing software programs stored in the memory 402 and calling data stored in the memory 402.

[0131] In a specific implementation, as one example, processor 401 may include one or more CPUs, for example... Figure 4 CPU0 and CPU1 are shown in the diagram.

[0132] In a specific implementation, as one example, the processing device 400 may also include multiple processors. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). Here, a processor may refer to one or more devices, circuits, and / or processing cores used for processing data (e.g., computer program instructions).

[0133] The memory 402 is used to store the software program that executes the solution of the present invention, and the processor 401 controls its execution. The specific implementation method can be referred to the above method embodiment, and will not be repeated here.

[0134] Optionally, the memory 402 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 402 may be integrated with the processor 401 or may exist independently and be connected via the interface circuit of the processing device 400. Figure 4 (Not shown in the image) is coupled to processor 401, and this embodiment of the invention does not specifically limit this.

[0135] Transceiver 403 is used for communication with other processing devices. For example, if processing device 400 is a terminal, transceiver 403 can be used to communicate with a network device or with another terminal device. As another example, if processing device 400 is a network device, transceiver 403 can be used to communicate with a terminal or with another network device.

[0136] Alternatively, transceiver 403 may include a receiver and a transmitter. Figure 4 (Not shown separately). The receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function.

[0137] Alternatively, the transceiver 403 can be integrated with the processor 401, or it can exist independently and be connected via the interface circuit of the processing device 400. Figure 4 (Not shown in the image) is coupled to processor 401, and this embodiment of the invention does not specifically limit this.

[0138] Understandable Figure 4 The structure of the processing device 400 shown does not constitute a limitation on the processing device. Actual processing devices may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0139] Furthermore, the technical effects of the processing device 400 can be referred to the technical effects of the methods in the above method embodiments, and will not be repeated here.

[0140] It should be understood that the processor in the embodiments of the present invention can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0141] It should also be understood that the memory in the embodiments of the present invention can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate synchronous DRAM (DDRSDRAM), enhanced synchronous DRAM (ESDRAM), synchronous linked DRAM (SLDRAM), and direct rambus RAM (DRRAM).

[0142] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An automatic charging and battery swapping method for a containerized unmanned aerial vehicle (UAV) delivery station, characterized in that, An application is made to a containerized drone delivery station, the containerized drone delivery station comprising a vehicle body and a delivery station main body, the delivery station main body comprising a battery swapping actuator, an auxiliary power supply, and a control terminal, the battery swapping actuator comprising a terminal actuator for connecting to a drone to be swapped, the terminal actuator being provided with an auxiliary power supply terminal electrically connected to the auxiliary power supply, the method being executed by the control terminal, comprising: During the process of connecting the battery swapping actuator with the drone to be swapped, multiple first voltage parameters between the auxiliary power terminal and the power terminal are acquired. Based on multiple first voltage parameters, the contact state between the auxiliary power terminal and the power terminal is determined, wherein the contact state includes good contact; If the contact state is good, an auxiliary power supply connection command is generated before the end effector is mechanically locked to the battery compartment. Obtain the output current parameters of the auxiliary power supply; The second voltage parameter of the power terminal of the battery compartment of the drone to be swapped is obtained based on the drone to be swapped. Based on the output current parameter and the second voltage parameter, the time for removing the old battery from the battery compartment is determined; Based on the removal time, a battery removal command is generated.

2. The automatic charging and battery swapping method for a containerized unmanned aerial vehicle (UAV) delivery station according to claim 1, characterized in that, Determining the contact state between the auxiliary power terminal and the power terminal based on multiple first voltage parameters includes: Obtain the no-load voltage parameters of the auxiliary power supply; The voltage fluctuation is determined based on multiple first voltage parameters; Based on the no-load voltage parameters, a preset fluctuation threshold is determined; When the voltage fluctuation is continuously less than the preset fluctuation threshold within a preset time period, the contact state is determined to be good contact.

3. The automatic charging and battery swapping method for a containerized drone delivery station according to claim 2, characterized in that, Based on multiple first voltage parameters, the voltage fluctuation is determined, including: Based on the no-load voltage parameters, a preset rate of change threshold is determined; Based on the difference between two adjacent first voltage parameters and the acquisition time interval, multiple voltage change rates are determined; The voltage fluctuation is determined based on the number of voltage change rates that exceed the preset change rate threshold among the multiple voltage change rates.

4. The automatic charging and battery swapping method for a containerized drone delivery station according to claim 1, characterized in that, Based on the output current parameter and the second voltage parameter, the timing for removing the old battery from the battery compartment is determined, including: Obtain the output voltage parameters of the auxiliary power supply; The voltage difference is determined based on the output voltage parameter and the second voltage parameter; Based on the output current parameters, determine the current stability; When the voltage difference remains less than a preset voltage difference threshold within a preset time window, and the current stability meets a preset stability condition, the removal time of the old battery is determined.

5. The automatic charging and battery swapping method for a containerized drone delivery station according to claim 1, characterized in that, After generating the auxiliary power supply activation command, and before the auxiliary power supply is actually activated, the method further includes: Based on the physical electrical connection established between the auxiliary power terminal and the power terminal, a voltage query command is sent to the battery management system of the drone to be swapped. Obtain the real-time terminal voltage of the old battery in the battery compartment of the drone to be swapped, as returned by the battery management system. Obtain the preset safety differential pressure threshold; Adjust the output voltage of the auxiliary power supply so that the absolute value of the difference between the output voltage and the real-time terminal voltage of the old battery is less than the preset safe voltage difference threshold, and then control the auxiliary power supply to be turned on.

6. The automatic charging and battery swapping method for a containerized unmanned aerial vehicle (UAV) delivery station according to claim 5, characterized in that, Obtain the preset safe differential pressure threshold, including: Before the auxiliary power supply is actually turned on, a detection current signal with a preset waveform is injected into the power terminal based on the auxiliary power supply terminal, and the voltage response signal between the auxiliary power supply terminal and the power terminal is obtained. Based on the detected current signal and the voltage response signal, the contact impedance of the electrical connection channel between the auxiliary power terminal and the power terminal is determined; The current DC internal resistance and current temperature of the old battery are obtained based on the battery management system. The preset safe differential pressure threshold is determined based on the contact impedance, the current DC internal resistance, the current temperature, and the preset upper limit of allowable inrush current.

7. The automatic charging and battery swapping method for a containerized drone delivery station according to claim 6, characterized in that, Based on the contact impedance, the current DC internal resistance, the current temperature, and the preset upper limit of allowable inrush current, the preset safe differential pressure threshold is determined, including: Based on the current temperature and a preset temperature correction coefficient table, a temperature correction coefficient is determined, wherein the temperature correction coefficient is less than or equal to 1 and decreases as the temperature increases. Multiply the upper limit of the allowable surge current by the temperature correction factor to obtain the upper limit of the allowable surge current after temperature compensation. Add the contact impedance to the current DC internal resistance to obtain the total circuit impedance; The preset safe differential pressure threshold is obtained by multiplying the temperature-compensated upper limit of the allowable inrush current by the total impedance of the circuit.

8. An automatic charging and battery swapping device for a containerized drone delivery station, characterized in that, include: Vehicle body; as well as The delivery station body includes a battery swapping actuator, an auxiliary power supply, and a control terminal. The battery swapping actuator includes an end effector for connecting to the drone to be swapped. The end effector is provided with an auxiliary power supply terminal, which is electrically connected to the auxiliary power supply. The control terminal is configured to execute an automatic charging and swapping method for a containerized drone delivery station as described in any one of claims 1-7.

9. An automatic charging and battery swapping system for a containerized drone delivery station, characterized in that, The system includes: The first acquisition module is used to acquire multiple first voltage parameters between the auxiliary power terminal and the power terminal during the process of connecting the battery swapping actuator with the UAV to be swapped. A first determining module is configured to determine the contact state between the auxiliary power terminal and the power terminal based on multiple first voltage parameters, wherein the contact state includes good contact. The first generation module is used to generate an auxiliary power supply command before the end effector is mechanically locked to the battery compartment if the contact state is good. The second acquisition module is used to acquire the output current parameters of the auxiliary power supply. The third acquisition module is used to acquire the second voltage parameter of the power terminal of the battery compartment of the drone to be swapped based on the drone to be swapped. The second determining module is used to determine the time for removing the old battery from the battery compartment based on the output current parameter and the second voltage parameter. The second generation module is used to generate a battery removal command based on the removal time.

10. A processing apparatus, characterized in that, include: At least one processor; And, a memory communicatively connected to at least one of the processors; The memory stores instructions that can be executed by at least one of the processors, which are executed by at least one of the processors to enable at least one of the processors to perform an automatic charging and swapping method for a containerized drone delivery station as described in any one of claims 1-7.

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