CN112896510B

CN112896510B - Unmanned aerial vehicle energy supply method and device, unmanned aerial vehicle ship and medium

Info

Publication number: CN112896510B
Application number: CN202110298391.XA
Authority: CN
Inventors: 郄新越
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2023-12-05
Anticipated expiration: 2041-03-19
Also published as: CN112896510A

Abstract

The application provides an energy supply method and device of an unmanned aerial vehicle, the unmanned aerial vehicle, an unmanned aerial vehicle and a medium. In the method, the unmanned aerial vehicle can send real-time position information to the unmanned aerial vehicle, and receive laser emitted by the unmanned aerial vehicle according to the real-time position of the unmanned aerial vehicle, and convert the laser into electric energy to supply energy for the unmanned aerial vehicle, so that the unmanned aerial vehicle can transport materials for islands far away, and the range of transporting the materials by the unmanned aerial vehicle is effectively improved.

Description

Unmanned aerial vehicle energy supply method and device, unmanned aerial vehicle ship and medium

Technical Field

The application relates to the technical field of unmanned aerial vehicle laser energy supply, in particular to an unmanned aerial vehicle energy supply method and device, an unmanned aerial vehicle, an unmanned ship and a medium.

Background

The island is limited in size by its own area, and thus, in order to further improve the living standard of residents in the island, it is necessary to receive materials externally supplied to the island. In the conventional method, the islands are generally transported with ships or manned aircraft, but due to the slow transport speed of the ships, airports for taking off and landing the aircraft are not provided on some islands, so that great difficulty is brought to the transport of the materials. It is therefore important to transport materials to islands in a suitable manner.

In the prior art, the material transportation for islands is mainly performed by unmanned aerial vehicles. Specifically, a worker firstly sets a plurality of position points in ground station software, then an unmanned aerial vehicle loaded with materials flies to an island needing to receive the materials along the set position points, and the materials are thrown onto the island.

In the process of implementing the present application, the inventor finds that at least the following problems exist in the prior art: unmanned aerial vehicle is limited by the continuation of journey problem of battery, leads to unmanned aerial vehicle's flight distance shorter, can only transport the supplies for the island that the distance is nearer.

Disclosure of Invention

The application provides an energy supply method and device of an unmanned aerial vehicle, the unmanned aerial vehicle, an unmanned ship and a medium, and aims to solve the problem that the unmanned aerial vehicle is limited by a continuous voyage of a storage battery, so that the flying distance of the unmanned aerial vehicle is short, and materials can be transported only for islands with short distances.

In a first aspect, an embodiment of the present application provides an energy supply method for an unmanned aerial vehicle, which is applied to the unmanned aerial vehicle, and the method includes:

transmitting real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle in the flight process according to a preset route;

and receiving laser emitted by the unmanned ship and converting the laser into electric energy.

In one possible design of the first aspect, before the sending the real-time location information of the drone to the drone, the method further includes:

establishing wireless communication connection with the unmanned ship according to the pre-acquired identification of the unmanned ship;

correspondingly, the sending the real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle comprises:

and transmitting the real-time position information of the unmanned aerial vehicle according to a preset transmitting frequency.

In another possible design of the first aspect, the method further comprises:

and sending the route information of the unmanned aerial vehicle to the unmanned aerial vehicle, wherein the route information comprises longitude and latitude information and altitude information of a plurality of preset position points.

In yet another possible design of the first aspect, the method further comprises:

and sending state information to the unmanned ship, wherein the state information is used for indicating that the flight state of the unmanned ship is a take-off state, a flight state or a landing state.

In a second aspect, an embodiment of the present application provides a method for powering an unmanned aerial vehicle, applied to an unmanned ship, where the method includes:

receiving real-time position information sent by a flying unmanned aerial vehicle;

determining whether the unmanned aerial vehicle is in an effective laser range according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle;

And if the unmanned aerial vehicle is determined to be in the effective laser range, transmitting laser to the unmanned aerial vehicle.

In one possible design of the second aspect, the determining whether the unmanned aerial vehicle is in the valid laser range according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle includes:

calculating the distance between the unmanned aerial vehicle and the unmanned aerial vehicle according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle;

if the distance between the unmanned aerial vehicle and the unmanned aerial vehicle is smaller than the effective laser distance, determining that the unmanned aerial vehicle is in the effective laser range of the unmanned aerial vehicle, wherein the effective laser distance is determined according to the attenuation degree of laser and the power of the unmanned aerial vehicle.

In another possible design of the second aspect, the lasing of the drone includes:

acquiring a laser emission light path according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle;

and adjusting the emission angle of the laser according to the laser emission light path, and emitting the laser to the unmanned aerial vehicle.

In yet another possible design of the second aspect, before the receiving the real-time position information sent by the flying drone, the method further includes:

Determining a target position according to route information sent by the unmanned aerial vehicle, wherein the route information comprises longitude and latitude information and height information of a plurality of preset position points, and the target position is located in a preset range below a connecting line of the preset position points;

and controlling the unmanned ship to navigate to the target position.

In yet another possible design of the second aspect, the method further comprises:

and receiving state information sent by the unmanned aerial vehicle, wherein the state information is used for indicating that the flight state of the unmanned aerial vehicle is a take-off state, a flight state or a landing state.

In a third aspect, an embodiment of the present application provides an energy supply device of an unmanned aerial vehicle, including:

the wireless communication module is used for sending real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle in the flight process according to a preset route;

and the laser receiving power generation module is used for receiving the laser emitted by the unmanned ship and converting the laser into electric energy.

In another possible design of the third aspect, the wireless communication module is further configured to:

correspondingly, the wireless communication module is specifically configured to:

In yet another possible design of the third aspect, the wireless communication module is further configured to:

the wireless communication module is used for receiving real-time position information sent by the flying unmanned aerial vehicle;

the laser charging module is used for determining whether the unmanned aerial vehicle is in an effective laser range according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle;

the laser charging module is further used for transmitting laser to the unmanned aerial vehicle if the unmanned aerial vehicle is determined to be in an effective laser range.

In one possible design of the fourth aspect, the laser charging module is specifically configured to:

In another possible design of the fourth aspect, the laser charging module is specifically configured to:

In a further possible design of the fourth aspect, the laser charging module is further configured to:

And controlling the unmanned ship to navigate to the target position.

In yet another possible design of the fourth aspect, the wireless communication module is further configured to:

In a fifth aspect, an embodiment of the present application provides a unmanned aerial vehicle, including:

the positioning module, unmanned aerial vehicle flight control, wireless communication module, laser receiving power generation module;

the unmanned aerial vehicle flight control is respectively connected with the positioning module, the wireless communication module and the laser receiving and generating module;

the positioning module is used for acquiring real-time position information of the unmanned aerial vehicle;

the wireless communication module is used for sending real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle;

the unmanned aerial vehicle flight control is used for controlling the unmanned aerial vehicle to fly according to a preset route;

the laser receiving and generating module is used for receiving laser emitted by the unmanned ship and converting the laser into electric energy.

In one possible design of the fifth aspect, the unmanned aerial vehicle further comprises:

a storage battery and a power system;

the storage battery input end is connected with the output end of the laser receiving power generation module, the output end is connected with the power system and the unmanned aerial vehicle flight control, and the storage battery input end is used for storing electric energy converted by the laser receiving power generation module and providing electric energy for the power system and the unmanned aerial vehicle flight control.

In a sixth aspect, an embodiment of the present application provides an unmanned ship, including:

the positioning module, the wireless communication module, the laser charging module;

the positioning module is respectively connected with the wireless communication module and the laser charging module, the wireless communication module is respectively connected with the positioning module and the laser charging module, and the laser charging module is respectively connected with the positioning module and the wireless communication module;

the positioning module is used for acquiring current position information of the unmanned ship;

the laser charging module is used for determining whether the unmanned aerial vehicle is in an effective laser range according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned ship;

In one possible design of the sixth aspect, the laser charging module includes:

the device comprises a laser emission module, a laser emission angle direction adjustment module, a laser charging station control module, a storage battery and a solar panel;

The laser charging station control module is respectively connected with the positioning module, the wireless communication module and the laser emission angle direction adjusting module;

the laser charging station control module is used for acquiring a laser emission light path according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned ship;

the laser charging station control module is also used for adjusting the emission angle of the laser according to the laser emission light path;

the laser emission module is arranged on the laser emission angle direction adjusting module and is used for emitting the laser to the unmanned aerial vehicle;

the output end of the solar cell panel is connected with the input end of the storage battery, and is used for converting the acquired solar energy into electric energy and storing the electric energy in the storage battery;

the output end of the storage battery is connected with the input end of the laser emission module to supply electric energy for the laser emission module.

Optionally, the steering engine is arranged on the turntable, and the laser emission module is placed above the steering engine;

the rotary table and the steering engine are used for adjusting the emission angle of the laser according to the laser emission light path.

In a seventh aspect, embodiments of the present application may provide a computer-readable storage medium having stored therein computer-executable instructions which, when executed by a processor, are adapted to carry out the method provided by the first aspect, the second aspect and each of the possible designs.

In an eighth aspect, embodiments of the present application provide a computer program product comprising a computer program for implementing the method of the first aspect, the second aspect and each possible design provision when executed by a processor.

According to the unmanned aerial vehicle energy supply method, the unmanned aerial vehicle energy supply device, the unmanned aerial vehicle and the medium, the unmanned aerial vehicle sends real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle in the flight process according to the preset route, and then receives laser emitted by the unmanned aerial vehicle and converts the laser into electric energy. In the method, the unmanned aerial vehicle can send real-time position information to the unmanned aerial vehicle, and receive laser emitted by the unmanned aerial vehicle according to the real-time position of the unmanned aerial vehicle, and convert the laser into electric energy to supply energy for the unmanned aerial vehicle, so that the unmanned aerial vehicle can transport materials for islands far away, and the range of transporting the materials by the unmanned aerial vehicle is effectively improved. Further, unmanned aerial vehicle is under the condition of energy shortage, does not need often to descend to charge and take off again for unmanned aerial vehicle transports the efficiency of material higher between islands, and the material is transported more conveniently.

Drawings

Fig. 1 is a schematic diagram of an application scenario of an energy supply method of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 2 is a schematic diagram of an energy supply method of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 3 is a schematic flow chart of a first embodiment of an energy supply method of the unmanned aerial vehicle according to the embodiment of the present application;

fig. 4 is a schematic structural diagram of a first embodiment of an energy supply device of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of a second embodiment of an energy supply device of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a first embodiment of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of an embodiment one of the unmanned ship according to the embodiment of the present application.

Specific embodiments of the present disclosure have been shown by way of the above drawings and will be described in more detail below. These drawings and the written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the disclosed concepts to those skilled in the art by reference to specific embodiments.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Before describing embodiments of the present application, the background of the present application will be explained first.

Because of the limited area of islands, some islands in more remote areas can only provide basic materials for human living, such as edible things, fresh water, and the like, which can sustain survival. In order to further improve the living standard of residents in islands, it is necessary to receive materials externally delivered to islands, such as books, electronic products, fresh vegetables, daily necessities, etc. externally delivered.

In the conventional method, the islands are generally transported with the ship or the manned aircraft, but the transport of the materials using the ship is inefficient due to the slow transport speed of the ship. The transportation cost of transporting materials using a manned aircraft is high, and airports on which the aircraft take off and land are not provided on some islands, so that the materials cannot be transported using the manned aircraft. It is therefore important to transport materials to islands in a suitable manner.

In the prior art, the material transportation for islands is mainly performed by unmanned aerial vehicles. Specifically, a worker firstly sets a plurality of position points in ground station software, then an unmanned aerial vehicle loaded with materials flies to an island needing to receive the materials along the set position points, and the materials are thrown onto the island. The unmanned aerial vehicle is utilized to convey materials at a high speed, and an airport is not required to be established on an island, so that the unmanned aerial vehicle is a mode very suitable for conveying materials for the island. However, unmanned aerial vehicles are limited by the problem of endurance of the storage battery, so that the flight distance of the unmanned aerial vehicle is short, and only materials can be transported for islands with short distances.

In view of the above problems, the inventive concept of the present application is as follows: when unmanned aerial vehicle transports the supplies, in present scheme, unmanned aerial vehicle energy mainly comes from the battery, because the electric energy that the battery stored is limited, leads to unmanned aerial vehicle's flight distance to be shorter. Based on the above, the inventor finds that if the unmanned aerial vehicle is in the flight process, not only the electric energy provided by the storage battery, but also the electric quantity continuously provided by external equipment (such as an unmanned ship) to the unmanned aerial vehicle can be received, and the problem that the flight distance of the unmanned aerial vehicle is shorter due to the limited electric energy stored by the storage battery can be effectively solved. Moreover, unmanned aerial vehicle is under the condition of energy shortage, does not need often to descend to charge and take off again for unmanned aerial vehicle transports the efficiency of material between islands higher, and the material is transported more conveniently.

The energy supply method of the unmanned aerial vehicle provided by the embodiment of the application can be applied to an application scene schematic diagram shown in fig. 1. Fig. 1 is a schematic diagram of an application scenario of an energy supply method of an unmanned aerial vehicle according to an embodiment of the present application, so as to solve the above technical problems. As shown in fig. 1, the unmanned aerial vehicle needs to transport the materials of island a to island B in order for residents in island B to use the materials. In the flight process of the unmanned aerial vehicle, since the laser range emitted by the unmanned aerial vehicle 10 is limited, in order to ensure that the unmanned aerial vehicle can keep sufficient electric energy when sailing on the whole route, a plurality of unmanned aerial vehicles 10 can be arranged on corresponding water areas according to route information, and the embodiment of the application uses two unmanned aerial vehicles 10 for illustration, namely an unmanned ship A and an unmanned ship B, and can be set according to actual route information, so that the application is not particularly limited.

The unmanned aerial vehicle receives route information formed by a plurality of preset position points set in ground station software by a user and flies according to the route information. Further, the unmanned aerial vehicle establishes a wireless communication connection with the unmanned aerial vehicle 10, and transmits real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle 10. When the unmanned aerial vehicle flies to the effective laser range of the unmanned ship A, the unmanned aerial vehicle receives the laser emitted by the unmanned ship A and converts the laser into electric energy. When the unmanned aerial vehicle flies out of the effective laser range of the unmanned ship A, the unmanned aerial vehicle does not receive the laser emitted by the unmanned ship A any more, and the storage battery is utilized to provide electric energy for the unmanned aerial vehicle to fly. When the unmanned aerial vehicle flies into the effective laser range of the unmanned ship B, the unmanned aerial vehicle receives laser emitted by the unmanned ship B and converts the laser into electric energy, and electric energy is provided for unmanned aerial vehicle flight.

Based on the above embodiments, the method for supplying energy to the unmanned aerial vehicle provided by the embodiment of the present application may also be applied to a schematic diagram shown in fig. 2. Fig. 2 is a schematic diagram of an energy supply method of an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 2, after the positioning module of the unmanned aerial vehicle obtains the real-time position information of the unmanned aerial vehicle, the real-time position information of the unmanned aerial vehicle is sent to the unmanned aerial vehicle for flight control. And controlling a power system of the unmanned aerial vehicle according to the acquired route information and the real-time position information of the unmanned aerial vehicle by the unmanned aerial vehicle flight control, so as to control the unmanned aerial vehicle to fly according to a preset route. And then the unmanned aerial vehicle flight control sends the real-time position information of the unmanned aerial vehicle to the wireless communication module of the unmanned aerial vehicle, and the wireless communication module acquires the real-time position information of the unmanned aerial vehicle and sends the real-time position information of the unmanned aerial vehicle to the wireless communication module of the unmanned ship. The wireless communication module of the unmanned ship sends the acquired real-time position information of the unmanned ship to the laser charging station control module, and meanwhile, the positioning module of the unmanned ship acquires the current position information of the unmanned ship and sends the current position information to the laser charging station control module. The laser charging station control module controls the laser emission angle direction adjusting module according to the acquired real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle, so that the laser emission module is aligned with the laser receiving power generation module of the unmanned aerial vehicle. The solar panel converts the acquired solar energy into electric energy and stores the electric energy in a storage battery. The laser transmitting module receives the electric energy provided by the storage battery and transmits laser to the laser receiving and generating module in the unmanned aerial vehicle. The unmanned aerial vehicle laser receiving power generation module receives laser emitted by the unmanned aerial vehicle laser emitting module, converts the laser into electric energy, stores the electric energy in a storage battery of the unmanned aerial vehicle, and provides energy for unmanned aerial vehicle flight control and a power system of the unmanned aerial vehicle.

The technical scheme of the application is described in detail through specific embodiments.

It should be noted that the following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Fig. 3 is a schematic flow chart of a first embodiment of an energy supply method of the unmanned aerial vehicle according to the embodiment of the present application.

As shown in fig. 3, the energy supply method of the unmanned aerial vehicle may include the following steps:

s101: and sending real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle in the flight process according to the preset route.

After the unmanned aerial vehicle is equipped with the materials, the unmanned aerial vehicle needs to receive the route information, fly according to the route information, and deliver the materials after reaching the destination, so that the transportation of the materials is completed. The user can preset a plurality of position points in the ground station software according to the actual material conveying requirements and the specified navigation area, the ground station software responds to the preset position points of the user to generate route information, and the ground station software is software installed in the electronic equipment. The unmanned aerial vehicle receives the route information sent by the ground station software, flies according to the route information, acquires the real-time position of the unmanned aerial vehicle, and sends the real-time position to the ground station software, so that a user can grasp the real-time position of the unmanned aerial vehicle conveniently. And after the unmanned aerial vehicle flies according to the route information and reaches the destination, the unmanned aerial vehicle puts in the materials and completes the transportation process of the materials.

In the embodiment of the application, in the process of transporting materials by the unmanned aerial vehicle, in order to enable the unmanned aerial vehicle to aim at the unmanned aerial vehicle to emit laser, the unmanned aerial vehicle needs to send the real-time position of the unmanned aerial vehicle to the unmanned aerial vehicle.

In this step, the unmanned aerial vehicle may establish wireless communication connection with the unmanned aerial vehicle according to the acquired identification of the unmanned aerial vehicle.

The identification of the unmanned ship can be an identification number (Identity document, ID) of the unmanned ship.

Illustratively, the unmanned aerial vehicle and unmanned ship may be connected by frequency-to-frequency means. Specifically, the unmanned aerial vehicle acquires the ID of the unmanned ship needing to establish wireless communication connection in advance, and the frequency between the unmanned aerial vehicle and the unmanned ship corresponding to the ID is matched, so that the unmanned aerial vehicle and the unmanned ship establish wireless communication connection.

Specifically, the unmanned aerial vehicle obtains the real-time position of the unmanned aerial vehicle through the positioning module, and sends real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle through the wireless communication module according to preset sending frequency. The real-time position information of the unmanned aerial vehicle comprises longitude and latitude information of the position of the unmanned aerial vehicle and height information of the unmanned aerial vehicle from the ground.

The positioning module may be a carrier-phase differential (RTK) module.

Further, the unmanned aerial vehicle can send real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle according to preset sending frequency.

The real-time position information of the unmanned aerial vehicle may be obtained by a global positioning system (Global Positioning System, GPS), a beidou positioning system (BeiDou Navigation Satellite System, BDS), a global navigation satellite system (GLOBAL NAVIGATION SATELLITE SYSTEM, GLONASS), or the like, and may be selected according to actual requirements, which is not specifically limited in this scheme.

The preset transmission frequency may be, for example, the baud rate of the unmanned aerial vehicle itself, such as 50, 75, 100 baud, or may be, for example, 10 times, 20 times, 50 times, or the like, which are transmitted for 1 second, and may be selected according to actual requirements, which is not particularly limited in the present application.

Optionally, the unmanned aerial vehicle may receive route information sent by ground station software, where the route information includes latitude and longitude information and altitude information of a plurality of preset location points, and the ground station software is software installed in the electronic device. The electronic device can be any device with data processing such as a mobile phone, a tablet personal computer, a computer and other intelligent terminals, and also can be a cloud terminal or a server and other processing functional entities, and the application does not limit the data processing excessively. The user can preset a plurality of position points in the ground station software according to the actual material conveying requirements and the specified navigation area, and the ground station software responds to the preset position points to generate the route information. After the wireless communication module of the unmanned aerial vehicle receives the route information, the route information is sent to the unmanned aerial vehicle flight control, so that the unmanned aerial vehicle flight control controls the unmanned aerial vehicle to fly according to the route information.

Optionally, the unmanned aerial vehicle can also send unmanned aerial vehicle's route information to unmanned aerial vehicle to follow-up unmanned aerial vehicle receives unmanned aerial vehicle's route information, and removes according to this route information.

Optionally, unmanned aerial vehicle can also send unmanned aerial vehicle's state information to unmanned ship, makes things convenient for unmanned ship to master unmanned aerial vehicle's actual flight state. The state information is used for indicating that the flight state of the unmanned aerial vehicle is a take-off state, a flight state or a landing state.

S102: and receiving real-time position information sent by the flying unmanned aerial vehicle.

In this step, the unmanned ship needs to acquire the real-time position of the unmanned aerial vehicle, so that laser is emitted to the unmanned aerial vehicle according to the real-time position of the unmanned aerial vehicle in the following.

Optionally, the unmanned ship may receive status information sent by the unmanned plane, where the status information is used to indicate that the flight status of the unmanned plane is a take-off status, a flight status or a landing status.

Optionally, the unmanned ship may further receive route information sent by the unmanned ship, and determine the target position according to the route information, where the route information includes longitude and latitude information and altitude information of a plurality of preset position points, and the target position is in a preset range below a connecting line of the plurality of preset position points.

For example, in order to ensure that the following unmanned ship can effectively emit laser light for the unmanned ship while considering the influence of external factors, the target position needs to be set within a preset range below the connecting line of a plurality of preset position points. The preset range may be a circle with a radius of 10m, 20m, 30m, etc., or a rectangle with a side length of 10m, 20m, 30m, etc., and may be determined according to actual requirements, which is not specifically limited in this scheme.

Illustratively, the target location is related to the route information and the endurance of the unmanned aerial vehicle battery. For example, if the longest flight distance of the unmanned aerial vehicle is 50km, in order to enable the unmanned aerial vehicle to receive the laser emitted by the unmanned aerial vehicle in time before the battery power is consumed, the horizontal distance between the target position and the starting point should be less than 50km, for example, the target position may be disposed below a line connecting a plurality of preset position points within a preset range of 40km from the starting point.

Optionally, a plurality of unmanned ships can be arranged on the waters corresponding to the route information according to the route information, so that the follow-up unmanned aerial vehicle can receive laser emitted by the unmanned ship in the whole route flight process. The number of unmanned ships is greater than or equal to one, the number of target positions is consistent with the number of unmanned ships, and the unmanned ships can be set according to actual requirements, and the embodiment of the application is not particularly limited.

In one implementation, the unmanned ship may also receive route information sent by the ground station software, and determine the target location based on the route information.

Further, the unmanned ship can control the unmanned ship to navigate to the target position according to the determined target position.

In one possible implementation, in order to prevent crowding caused by excessive unmanned vessels in the water, the unmanned vessels need to travel to the target location after the unmanned aerial vehicle is flown. And the unmanned ship receives the state information sent by the unmanned aerial vehicle, if the unmanned ship receives the state information of the unmanned aerial vehicle as a take-off state, the unmanned ship sails to the determined target position after determining that the unmanned aerial vehicle has taken off.

In another possible implementation manner, in order to ensure that the unmanned ship can reach the target point in time, the unmanned ship is prevented from being unable to reach before the unmanned plane reaches the target position due to the too slow ship speed, so that the unmanned ship can be laid in a corresponding water area in advance and sailed to the determined target position.

Optionally, in order to enable the unmanned ship to effectively grasp whether the unmanned ship has reached the target location point, the unmanned ship may also send real-time location information of the unmanned ship to the unmanned ship.

S103: and determining whether the unmanned aerial vehicle is in an effective laser range according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle.

In this step, since the laser light is attenuated in the atmosphere, the irradiation range of the laser light is not infinite, and if it is desired that the laser light can provide sufficient energy for the unmanned aerial vehicle to fly after the attenuation of the atmosphere, it is necessary to determine whether the unmanned aerial vehicle is in the effective laser range.

The effective laser range is related to the rotation angle of the laser emission angle direction adjusting module, is a hemispherical shape taking the effective laser distance as a radius, is determined according to the attenuation degree of laser and the power of the unmanned aerial vehicle, and is laser which still meets the energy requirement for the unmanned aerial vehicle after attenuation. The laser emission angle direction adjusting module comprises a turntable, a steering engine and a steering motor, wherein the steering motor can rotate from 0 degree to 360 degrees, the turntable is arranged on a rotating shaft of the steering motor, the steering engine is arranged on the turntable, the rotating shaft of the steering engine can rotate from 0 degree to 180 degrees, and the laser emission module is fixed on the rotating shaft of the steering engine, so that the laser emission angle direction adjusting module can adjust the emission direction of the laser emission module by 360 degrees, and the shape of an effective laser range is a hemisphere.

Specifically, the unmanned ship calculates the distance between the unmanned plane and the unmanned ship according to the acquired real-time position information of the unmanned plane and the current position information of the unmanned ship, compares the distance with the effective laser distance, and judges whether the unmanned plane is in a limited laser range.

If the distance between the unmanned aerial vehicle and the unmanned ship is larger than the effective laser distance, the unmanned aerial vehicle is not in the effective laser range of the unmanned ship, and if the distance between the unmanned aerial vehicle and the unmanned ship is smaller than the effective laser distance, the unmanned aerial vehicle is determined to be in the effective laser range of the unmanned ship.

S104: and if the unmanned aerial vehicle is determined to be in the effective laser range, transmitting laser to the unmanned aerial vehicle.

In this step, when the unmanned aerial vehicle is in effective laser range, unmanned ship emitting laser satisfies unmanned aerial vehicle's energy requirement, so unmanned aerial vehicle can be to unmanned aerial vehicle emitting laser.

Specifically, the laser emission light path can be obtained according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle. As the distance between the positioning module and the laser receiving power generation module in the unmanned aerial vehicle is constant, the distance between the positioning module and the laser charging module in the unmanned aerial vehicle is also constant. Therefore, the position information of the laser receiving power generation module of the unmanned aerial vehicle and the position information of the laser charging module of the unmanned aerial vehicle can be obtained according to the obtained real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle. And determining a straight line by the unmanned ship according to the position information of the laser receiving power generation module and the position information of the laser charging module, wherein the straight line is the laser emission light path of the unmanned ship.

Further, the unmanned ship adjusts the emission angle of the laser according to the obtained laser emission light path, and emits the laser to the unmanned plane. The unmanned ship controls the angle of the laser emission angle direction adjusting module in the unmanned ship, the laser emission module is aligned with the laser receiving power generating module of the unmanned plane, and the laser is emitted to the laser receiving power generating module of the unmanned plane after alignment.

S105: and receiving laser emitted by the unmanned ship and converting the laser into electric energy.

In this step, unmanned ship is to unmanned aerial vehicle transmission laser back, and unmanned aerial vehicle need accept unmanned aerial vehicle transmission's laser to follow-up with laser conversion electric energy, provide the electric energy for unmanned aerial vehicle.

In one possible implementation, after the unmanned aerial vehicle receives the laser emitted by the unmanned aerial vehicle, the laser is converted into electric energy for the unmanned aerial vehicle to use, and redundant electric energy is stored in a storage battery of the unmanned aerial vehicle, so that the unmanned aerial vehicle is convenient to use when the unmanned aerial vehicle does not accept the laser emitted by the unmanned aerial vehicle.

In another possible implementation manner, after the unmanned aerial vehicle receives the laser emitted by the unmanned aerial vehicle, the laser can be converted into electric energy to be directly stored in the storage battery, so as to provide electric energy for the unmanned aerial vehicle.

According to the energy supply method of the unmanned aerial vehicle, the unmanned aerial vehicle sends real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle in the flight process according to the preset route, then receives laser emitted by the unmanned aerial vehicle, and converts the laser into electric energy. In the method, the unmanned aerial vehicle can send real-time position information to the unmanned aerial vehicle, and receive laser emitted by the unmanned aerial vehicle according to the real-time position of the unmanned aerial vehicle, and convert the laser into electric energy to supply energy for the unmanned aerial vehicle, so that the unmanned aerial vehicle can transport materials for islands far away, and the range of transporting the materials by the unmanned aerial vehicle is effectively improved. Further, unmanned aerial vehicle is under the condition of energy shortage, does not need often to descend to charge and take off again for unmanned aerial vehicle transports the efficiency of material higher between islands, and the material is transported more conveniently.

The following are examples of the apparatus of the present application that may be used to perform the method embodiments of the present application. For details not disclosed in the embodiments of the apparatus of the present application, please refer to the embodiments of the method of the present application.

Fig. 4 is a schematic structural diagram of an embodiment one of an energy supply device of an unmanned aerial vehicle according to an embodiment of the present application.

As shown in fig. 4, the power supply device of the unmanned aerial vehicle includes:

the wireless communication module 41 is used for sending real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle in the flight process according to a preset route;

the laser receiving power generation module 42 is configured to receive laser light emitted from the unmanned ship and convert the laser light into electric energy.

In one possible design of the embodiment of the present application, the wireless communication module 41 is further configured to:

correspondingly, the wireless communication module 41 is specifically configured to:

and transmitting real-time position information of the unmanned aerial vehicle according to the preset transmitting frequency.

In another possible design of the embodiment of the present application, the wireless communication module 41 is further configured to:

In yet another possible design of the embodiment of the present application, the wireless communication module 41 is further configured to:

The energy supply device of the unmanned aerial vehicle provided by the embodiment of the application can be used for executing the energy supply method of the unmanned aerial vehicle on the unmanned aerial vehicle side in the embodiment, and the implementation principle and the technical effect are similar and are not repeated here.

Fig. 5 is a schematic structural diagram of a second embodiment of an energy supply device of an unmanned aerial vehicle according to an embodiment of the present application.

As shown in fig. 5, the energy supply device of the unmanned aerial vehicle includes:

the wireless communication module 51 is configured to receive real-time location information sent by a flying unmanned aerial vehicle.

The laser charging module 52 is configured to determine whether the unmanned aerial vehicle is in the effective laser range according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle.

The laser charging module 53 is further configured to transmit laser to the unmanned aerial vehicle if it is determined that the unmanned aerial vehicle is in the effective laser range.

In one possible design of the embodiment of the present application, the laser charging module 52 is specifically configured to:

If the distance between the unmanned aerial vehicle and the unmanned aerial vehicle is smaller than the effective laser distance, the unmanned aerial vehicle is determined to be in the effective laser range of the unmanned aerial vehicle, and the effective laser distance is determined according to the attenuation degree of laser and the power of the unmanned aerial vehicle.

In another possible design of the embodiment of the present application, the laser charging module 52 is specifically configured to:

acquiring a laser emission light path according to real-time position information of the unmanned aerial vehicle and current position information of the unmanned aerial vehicle;

according to the laser emission light path, the emission angle of the laser is adjusted, and the laser is emitted to the unmanned aerial vehicle.

In yet another possible design of the embodiment of the present application, the laser charging module 52 is further configured to:

determining a target position according to route information sent by an unmanned aerial vehicle, wherein the route information comprises longitude and latitude information and height information of a plurality of preset position points, and the target position is in a preset range below a connecting line of the plurality of preset position points;

and controlling the unmanned ship to navigate to the target position.

In yet another possible design of the embodiment of the present application, the wireless communication module 51 is further configured to:

The energy supply device of the unmanned aerial vehicle provided by the embodiment of the application can be used for executing the energy supply method of the unmanned aerial vehicle on the unmanned ship side in the embodiment, and the implementation principle and the technical effect are similar, and are not repeated here.

It should be noted that, it should be understood that the division of the modules of the above apparatus is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; the method can also be realized in a form of calling software by a processing element, and the method can be realized in a form of hardware by a part of modules. In addition, all or part of the modules may be integrated together or may be implemented independently. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.

Fig. 6 is a schematic structural diagram of a first embodiment of an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 6, the unmanned aerial vehicle includes:

The unmanned aerial vehicle comprises a positioning module 21, an unmanned aerial vehicle flight control 22, a wireless communication module 23 and a laser receiving and generating module 24.

The unmanned aerial vehicle flight control 22 is respectively connected with the positioning module 21, the wireless communication module 23 and the laser receiving and generating module 24.

The positioning module 21 is used for acquiring real-time position information of the unmanned aerial vehicle.

The wireless communication module 23 is used for sending real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle.

The unmanned aerial vehicle flight control 22 is used for controlling the unmanned aerial vehicle to fly according to a preset route.

The laser receiving power generation module 24 is configured to receive laser light emitted from the unmanned ship and convert the laser light into electric energy.

Wherein, this unmanned aerial vehicle can also include: the storage battery and the power system.

The input end of the storage battery is connected with the output end of the laser receiving and generating module 24, the output end is connected with the power system and the unmanned aerial vehicle flight control 22 and is used for storing the electric energy converted by the laser receiving and generating module 24 and providing electric energy for the power system and the unmanned aerial vehicle flight control 22.

Optionally, battery and driving system can set up in unmanned aerial vehicle's inside, also can set up in unmanned aerial vehicle's outside, can decide according to actual demand, and this scheme does not carry out specific restriction to this.

The unmanned aerial vehicle provided by the embodiment of the application can be used for executing the energy supply method of the unmanned aerial vehicle on the unmanned aerial vehicle side in the embodiment shown above, and the implementation principle and the technical effect are similar and are not repeated here.

Fig. 7 is a schematic structural diagram of an embodiment one of the unmanned ship according to the embodiment of the present application. As shown in fig. 7, the unmanned ship 10 includes:

a positioning module 11, a wireless communication module 12 and a laser charging module 13.

The positioning module 11 is respectively connected with the wireless communication module 12 and the laser charging module 13, the wireless communication module 12 is respectively connected with the positioning module 11 and the laser charging module 13, and the laser charging module 13 is respectively connected with the positioning module 11 and the wireless communication module 12.

The positioning module 11 is used for acquiring current position information of the unmanned ship.

The wireless communication module 12 is configured to receive real-time location information transmitted by a flying drone.

The laser charging module 13 is configured to determine whether the unmanned aerial vehicle is in an effective laser range according to real-time position information of the unmanned aerial vehicle and current position information of the unmanned aerial vehicle.

The laser charging module 13 is further configured to emit laser light to the unmanned aerial vehicle if it is determined that the unmanned aerial vehicle is in the effective laser range.

Optionally, the laser charging module 13 includes: the device comprises a laser emission module 131, a laser emission angle direction adjustment module 132, a laser charging station control module 133, a storage battery 134 and a solar panel 135.

The laser charging station control module 133 is connected to the positioning module 11, the wireless communication module 12 and the laser emission angle direction adjustment module 132, respectively.

The laser charging station control module 133 is configured to obtain a laser emission light path according to real-time position information of the unmanned aerial vehicle and current position information of the unmanned aerial vehicle.

The laser charging station control module 133 is further configured to adjust an emission angle of the laser according to the laser emission light path.

The laser emission module 131 is disposed on the laser emission angle direction adjustment module 132, and is configured to emit laser light to the unmanned aerial vehicle.

An output of the solar cell panel 135 is connected to an input of the storage battery 134 for converting the acquired solar energy into electric energy and storing the electric energy in the storage battery 134.

The output end of the storage battery 134 is connected with the input end of the laser emission module 131, and provides electric energy for the laser emission module 131.

Optionally, the laser emission angle direction adjustment module 132 may include: carousel 1321, steering engine 1322, steering motor 1323.

Optionally, a rotating disc 1321 is disposed on a rotating shaft of the steering motor 1333, a steering engine 1322 is disposed on the rotating disc 1321, and the laser emission module 131 is disposed above the steering engine 1322.

The rotary disk 1321 and the steering engine 1322 are used for adjusting the emission angle of the laser according to the laser emission light path.

The unmanned ship provided by the embodiment of the application can be used for executing the unmanned ship side unmanned plane energy supply method in the embodiment, and the implementation principle and the technical effect are similar and are not repeated here.

The embodiment of the application provides a computer readable storage medium, wherein computer instructions are stored in the computer readable storage medium, and when the computer instructions run on a computer, the computer is caused to execute the energy supply method of the unmanned aerial vehicle.

The computer readable storage medium described above may be implemented by any type of volatile or non-volatile memory device or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. A readable storage medium can be any available medium that can be accessed by a general purpose or special purpose computer.

In the alternative, a readable storage medium is coupled to the processor such that the processor can read information from, and write information to, the readable storage medium. In the alternative, the readable storage medium may be integral to the processor. The processor and the readable storage medium may reside in an application specific integrated circuit (Application Specific Integrated Circuits, ASIC). The processor and the readable storage medium may reside as discrete components in a device.

Embodiments of the present application also provide a computer program product, where the computer program product includes a computer program, where the computer program is stored in a computer readable storage medium, where at least one processor may read the computer program from the computer readable storage medium, and where the at least one processor may implement the method for powering a drone described above when the computer program is executed.

It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of powering a drone, applied to a drone, the method comprising:

in the flight process according to a preset route, the real-time position information of the unmanned aerial vehicle is sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle receives the real-time position information sent by the flying unmanned aerial vehicle, and whether the unmanned aerial vehicle is in an effective laser range or not is determined according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle; if the unmanned ship determines that the unmanned plane is in the effective laser range, the unmanned ship transmits laser to the unmanned plane;

2. The method of claim 1, wherein prior to the sending the real-time location information of the drone to the drone, the method further comprises:

3. The method according to claim 1 or 2, characterized in that the method further comprises:

4. The method according to claim 1 or 2, characterized in that the method further comprises:

5. A method of powering an unmanned aerial vehicle, for use on an unmanned aerial vehicle, the method comprising:

if the unmanned aerial vehicle is determined to be in the effective laser range, laser is emitted to the unmanned aerial vehicle, so that the unmanned aerial vehicle receives the laser emitted by the unmanned ship and converts the laser into electric energy.

6. The method of claim 5, wherein determining whether the drone is in a valid laser range based on the real-time location information of the drone and the current location information of the drone, comprises:

7. The method of claim 5 or 6, wherein the lasing of the drone comprises:

8. The method of claim 5, wherein prior to receiving real-time location information transmitted by the flying drone, the method further comprises:

and controlling the unmanned ship to navigate to the target position.

9. The method according to claim 5 or 6, characterized in that the method further comprises:

10. An unmanned aerial vehicle's energy supply device, characterized in that includes:

the wireless communication module is used for sending the real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle in the flight process according to a preset route so that the unmanned aerial vehicle receives the real-time position information sent by the flying unmanned aerial vehicle, and determining whether the unmanned aerial vehicle is in an effective laser range according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle; if the unmanned ship determines that the unmanned plane is in the effective laser range, the unmanned ship transmits laser to the unmanned plane;

11. An unmanned aerial vehicle's energy supply device, characterized in that includes:

the laser charging module is further used for transmitting laser to the unmanned aerial vehicle if the unmanned aerial vehicle is determined to be in an effective laser range, so that the unmanned aerial vehicle receives the laser transmitted by the unmanned ship and converts the laser into electric energy.

12. An unmanned aerial vehicle, comprising:

the wireless communication module is used for sending the real-time position information of the unmanned aerial vehicle to the unmanned aerial vehicle so that the unmanned aerial vehicle receives the real-time position information sent by the flying unmanned aerial vehicle, and determining whether the unmanned aerial vehicle is in an effective laser range according to the real-time position information of the unmanned aerial vehicle and the current position information of the unmanned aerial vehicle; if the unmanned ship determines that the unmanned plane is in the effective laser range, the unmanned ship transmits laser to the unmanned plane;

13. The unmanned aerial vehicle of claim 12, wherein the unmanned aerial vehicle further comprises:

a storage battery and a power system;

14. An unmanned ship, comprising:

15. The unmanned ship of claim 14, wherein the laser charging module comprises:

16. The unmanned ship of claim 15, wherein the laser firing angle direction adjustment module comprises:

the steering wheel comprises a turntable, a steering engine and a steering motor;

the steering engine is arranged on the rotating disc, and the laser emission module is arranged above the steering engine;

17. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein computer executable instructions which, when executed by a processor, are adapted to implement the method of powering a drone according to any one of claims 1 to 9.