CN110962669B

CN110962669B - Unmanned aerial vehicle rescue method, device, medium, cloud server and rescue system

Info

Publication number: CN110962669B
Application number: CN201811152416.XA
Authority: CN
Inventors: 罗院明; 李松; 赵炳根
Original assignee: BYD Co Ltd
Current assignee: BYD Co Ltd
Priority date: 2018-09-29
Filing date: 2018-09-29
Publication date: 2021-09-03
Anticipated expiration: 2038-09-29
Also published as: CN110962669A

Abstract

The disclosure relates to an unmanned aerial vehicle rescue method, device, medium, cloud server and rescue system. The method comprises the following steps: when a signal sent by a first unmanned machine is received and determined to be a feeding signal, acquiring the current electric quantity and the current position of the first unmanned machine; determining a target charging pile closest to the first unmanned-machine distance according to the current position and the prestored position information of the charging pile; when the current electric quantity of the first unmanned aerial vehicle cannot support the first unmanned aerial vehicle to fly to a target charging pile from the current position, determining the unmanned aerial vehicle which meets a first preset rescue condition and is closest to the first unmanned aerial vehicle in the second unmanned aerial vehicle as a first target rescue unmanned aerial vehicle; and sending a first rescue signal and information of the current position of the first unmanned machine to the first target rescue unmanned machine. From this, even the first unmanned machine's of feed current electric quantity can't support it and reach the target and fill electric pile, still can rescue through first target rescue unmanned aerial vehicle to guarantee the subsequent normal work of first unmanned machine.

Description

Unmanned aerial vehicle rescue method, device, medium, cloud server and rescue system

Technical Field

The disclosure relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle rescue method, device, medium, cloud server and rescue system.

Background

With the rapid development of science and technology, the unmanned aerial vehicle is used as a novel aircraft, is not only used in the fields of large-scale exploration, industrial operation and aviation, but also gradually moves into the lives of people, becomes a fashionable toy and a portable tool, and also gradually moves towards the transportation industry. However, in any field, the cruising ability of the unmanned aerial vehicle is a short plate, and the problem is urgently needed to be solved. In the correlation technique, through establish the photovoltaic of appropriate quantity and fill electric pile on the unmanned aerial vehicle airline, realize independently looking for and filling electric pile recently and charge under the not enough condition of unmanned aerial vehicle electric quantity, promote unmanned aerial vehicle's duration from this. But when unmanned aerial vehicle's residual capacity was not enough to reach and fills electric pile recently, will unable charging through filling electric pile, unmanned aerial vehicle will unable normal work.

Disclosure of Invention

In order to overcome the problems in the related art, the present disclosure provides an unmanned aerial vehicle rescue method, apparatus, medium, cloud server and rescue system.

In order to achieve the above object, according to a first aspect of the embodiments of the present disclosure, there is provided an unmanned aerial vehicle rescue method applied to a cloud server, including:

when a signal sent by a first unmanned machine is received, analyzing the signal, and judging whether the signal is a feed signal;

when the signal is determined to be the feeding signal, acquiring the current electric quantity and the current position of the first unmanned machine;

determining a target charging pile closest to the first unmanned-machine distance according to the current position and prestored position information of the charging pile;

predicting whether the current electric quantity can support the first unmanned machine to fly to the target charging pile from the current position;

when it is predicted that the current electric quantity cannot support the first unmanned machine to fly to the target charging pile from the current position, determining an unmanned machine which meets a first preset rescue condition and is closest to the first unmanned machine in a second unmanned machine as a first target rescue unmanned machine, wherein the second unmanned machine is an unmanned machine in an idle state, and a power supply device for charging the first unmanned machine and/or a carrying device for carrying the first unmanned machine are arranged on the second unmanned machine;

and sending a first rescue signal and the information of the current position to the first target rescue unmanned aerial vehicle, so that the first target rescue unmanned aerial vehicle flies to the first unmanned aerial vehicle for rescue according to the information of the current position when receiving the first rescue signal.

Optionally, the method further comprises:

when the signal is determined not to be the feeding signal, judging whether the signal is a fault signal;

when the signal is determined to be the fault signal, acquiring the current position of the first unmanned machine;

determining a target maintenance station closest to the first unmanned machine distance according to the current position and prestored position information of the maintenance station;

determining an unmanned aerial vehicle which meets a second preset rescue condition and is closest to the first unmanned aerial vehicle in the second unmanned aerial vehicle as a second target rescue unmanned aerial vehicle, wherein the second preset rescue condition is that the carrying device is arranged on the second unmanned aerial vehicle, the residual electric quantity of the second unmanned aerial vehicle is greater than or equal to a first rescue electric quantity, and the first rescue electric quantity is equal to the sum of the electric quantity consumed by the second unmanned aerial vehicle flying from the position to the current position and the electric quantity consumed by the second unmanned aerial vehicle carrying the first unmanned aerial vehicle flying from the current position to the target maintenance station through the carrying device;

and sending a second rescue signal, the information of the current position and the position information of the target maintenance station to the second target rescue unmanned aerial vehicle, so that the second target rescue unmanned aerial vehicle carries the first unmanned aerial vehicle to the target maintenance station according to the information of the current position and the position information of the target maintenance station when receiving the second rescue signal.

Optionally, when the power supply device and the carrying device are simultaneously arranged on the second unmanned aerial vehicle, the first preset rescue condition is that the remaining capacity of the second unmanned aerial vehicle is greater than or equal to a second rescue capacity, or the remaining capacity of the second unmanned aerial vehicle is greater than or equal to a third rescue capacity;

when the power supply device is arranged on the second unmanned aerial vehicle and the carrying device is not arranged on the second unmanned aerial vehicle, the first preset rescue condition is that the residual electric quantity is greater than or equal to the second rescue electric quantity;

when the carrying device is arranged on the second unmanned aerial vehicle and the power supply device is not arranged on the second unmanned aerial vehicle, the first preset rescue condition is that the residual electric quantity is greater than or equal to the third rescue electric quantity;

the second rescue electric quantity is equal to the sum of the electric quantity consumed by the second unmanned aerial vehicle to fly to the target charging pile from the current position and the target charging electric quantity provided by the second unmanned aerial vehicle for the first unmanned aerial vehicle through the power supply device, and the sum of the target charging electric quantity and the residual electric quantity is equal to the electric quantity consumed by the first unmanned aerial vehicle to fly to a preset destination from the current position;

the third rescue electric quantity is equal to the sum of the electric quantity consumed by the second unmanned aerial vehicle flying from the self position to the current position and the electric quantity consumed by the second unmanned aerial vehicle carrying the first unmanned aerial vehicle flying from the current position to the target charging pile through the carrying device.

Optionally, the method further comprises:

and when the current electric quantity is predicted to support the first unmanned machine to fly to the target charging pile from the current position, the position information of the target charging pile is sent to the first unmanned machine.

According to a second aspect of the embodiment of the present disclosure, an unmanned aerial vehicle rescue device is provided, and is applied to a cloud server, including:

the first judgment module is used for analyzing a signal sent by a first unmanned machine when the signal is received and judging whether the signal is a feed signal;

the first obtaining module is used for obtaining the current electric quantity and the current position of the first unmanned machine when the first judging module determines that the signal is the feeding signal;

the first determining module is used for determining a target charging pile closest to the first unmanned aerial vehicle distance according to the current position acquired by the first acquiring module and the position information of the pre-stored charging pile;

the prediction module is used for predicting whether the current electric quantity acquired by the first acquisition module can support the first unmanned aerial vehicle to fly from the current position to the target charging pile determined by the first determination module;

the second determining module is used for determining an unmanned aerial vehicle which meets a first preset rescue condition and is closest to the first unmanned aerial vehicle in a second unmanned aerial vehicle as a first target rescue unmanned aerial vehicle when the predicting module predicts that the current electric quantity cannot support the first unmanned aerial vehicle to fly to the target charging pile from the current position, wherein the second unmanned aerial vehicle is an unmanned aerial vehicle in an idle state, and a power supply device for charging the first unmanned aerial vehicle and/or a carrying device for carrying the first unmanned aerial vehicle are/is arranged on the second unmanned aerial vehicle;

the first sending module is configured to send a first rescue signal and the information of the current position acquired by the first acquiring module to the first target rescue unmanned aerial vehicle determined by the second determining module, so that the first target rescue unmanned aerial vehicle flies to the first unmanned aerial vehicle for rescue according to the information of the current position when receiving the first rescue signal.

Optionally, the apparatus further comprises:

the second judging module is used for judging whether the signal is a fault signal or not when the first judging module determines that the signal is not the feeding signal;

a second obtaining module, configured to obtain a current position of the first drone when the second determining module determines that the signal is the fault signal;

the third determining module is used for determining a target maintenance station closest to the first unmanned aerial vehicle according to the current position acquired by the second acquiring module and the prestored position information of the maintenance station;

a fourth determining module, configured to determine, as a second target rescue drone, a drone that meets a second preset rescue condition and is closest to the first drone, where the second preset rescue condition is that the second drone is provided with the carrying device, and a remaining power of the second drone is greater than or equal to a first rescue power, and the first rescue power is equal to a sum of a power consumed by the second drone to fly from a self position to the current position and a power consumed by the second drone to carry the first drone through the carrying device to fly from the current position to the target maintenance station;

the second sending module is configured to send a second rescue signal, the information of the current position acquired by the second acquiring module, and the position information of the target maintenance station determined by the third determining module to the second target rescue unmanned aerial vehicle determined by the fourth determining module, so that the second target rescue unmanned aerial vehicle carries the first unmanned aerial vehicle to the target maintenance station according to the information of the current position and the position information of the target maintenance station when receiving the second rescue signal.

According to a third aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, on which a computer program is stored, wherein the program is configured to, when executed by a processor, implement the steps of the unmanned aerial vehicle rescue method provided by the first aspect of the present disclosure.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a cloud server, including:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to implement the steps of the unmanned aerial vehicle rescue method provided by the first aspect of the present disclosure.

According to a fifth aspect of the embodiments of the present disclosure, there is provided an unmanned aerial vehicle rescue system, including:

the cloud server provided by the fourth aspect of the present disclosure;

the at least one first unmanned machine is connected with the cloud server and used for sending the feed signal to the cloud server when the current electric quantity of the first unmanned machine is smaller than a preset electric quantity threshold value;

the at least one second unmanned aerial vehicle is connected with the cloud server and used for receiving the first rescue signal and the information of the current position sent by the cloud server and flying to the first unmanned aerial vehicle for rescue according to the information of the current position when receiving the first rescue signal.

Optionally, the at least one first drone is further configured to send a fault signal to the cloud server when a fault is detected in the first drone;

the at least one second unmanned aerial vehicle is further used for receiving the second rescue signal sent by the cloud server, the information of the current position and the position information of the target maintenance station, and carrying the first unmanned aerial vehicle to the target maintenance station according to the information of the current position and the position information of the target maintenance station when the second rescue signal is received.

In the technical scheme, the cloud server acquires the current electric quantity and the current position of a first unmanned machine when receiving a signal and determining the signal as a feed signal; then, when predicting that the fed current electric quantity of the first unmanned machine cannot support the first unmanned machine to fly to a target charging pile closest to the first unmanned machine from the current position, the cloud server can determine the unmanned machine which meets a first preset rescue condition and is closest to the first unmanned machine in the second unmanned machines as the first target rescue unmanned machine; and finally, the cloud server sends a first rescue signal and information of the current position of the first unmanned machine to the first target rescue unmanned machine so that the first target rescue unmanned machine flies to the first unmanned machine for rescue. Like this, even the first unmanned machine's of feed current electric quantity can't support it and reach the target and fill electric pile, can also rescue through first target rescue unmanned aerial vehicle to can guarantee the subsequent normal work of first unmanned machine.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a block diagram illustrating an unmanned aerial vehicle rescue system according to an exemplary embodiment.

Fig. 2 is a flow chart illustrating a rescue method for an unmanned aerial vehicle according to an exemplary embodiment.

Fig. 3 is a front view of a second drone provided by an exemplary embodiment of the present disclosure.

Fig. 4 is a top view of a second drone provided by an exemplary embodiment of the present disclosure.

Fig. 5 is a bottom view of a second drone provided by an exemplary embodiment of the present disclosure.

Fig. 6 is a front view of a support foot in a second drone provided by an exemplary embodiment of the present disclosure.

Fig. 7 is a bottom view of a support foot in a second drone provided by an exemplary embodiment of the present disclosure.

Fig. 8 is a flowchart illustrating a rescue method for an unmanned aerial vehicle according to another exemplary embodiment.

Fig. 9 is a block diagram illustrating an unmanned rescue device according to an exemplary embodiment.

Fig. 10 is a block diagram illustrating an unmanned aerial vehicle rescue apparatus according to another exemplary embodiment.

Fig. 11 is a block diagram illustrating an unmanned rescue device according to another exemplary embodiment.

Fig. 12 is a block diagram illustrating a cloud server, according to another example embodiment.

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

Fig. 1 is a block diagram illustrating an unmanned aerial vehicle rescue system according to an exemplary embodiment. Referring to fig. 1, the unmanned rescue system may include: cloud server 1 and at least one first drone 2 and at least one second drone 3. The cloud server 1 is in communication connection with each first drone 2 and each second drone 3, and the cloud server 1 and each first drone 2 and each second drone 3 may communicate via, for example, a 2G network, a 3G network, a 4G network, and the like to complete data transmission. Wherein, above-mentioned first unmanned aerial vehicle 2 can charge for vehicle, other unmanned aerial vehicles, can also be used for carrying out other flight tasks to when the current electric quantity of self is less than predetermineeing the electric quantity threshold value, send the feed signal to high in the clouds server 1, this feed signal is received to high in the clouds server 1. The second unmanned aerial vehicle 3 may be configured to receive a dispatch instruction sent by the cloud server 1 to execute a corresponding rescue task.

Specifically, the cloud server 1 may implement the rescue of the first unmanned machine 2 through steps 201 to 207 shown in fig. 2.

In step 201, when a signal transmitted by a first drone is received, the signal is analyzed to determine whether the signal is a feed signal.

In the present disclosure, the signal may be, for example, a feed signal, a fault signal, a feedback signal for characterizing a completion task, or the like. Specifically, when the current electric quantity of the first unmanned machine is smaller than a preset electric quantity threshold value, the electric quantity of the first unmanned machine is insufficient, and at the moment, the first unmanned machine can send a feed signal to the cloud server; when the first unmanned machine detects that the first unmanned machine has a fault, a fault signal can be sent to the cloud server; after the first unmanned machine completes the tasks (e.g., charging task, rescue task) assigned by the cloud server, a feedback signal for indicating completion of the tasks may be sent to the cloud server.

Therefore, after receiving the signal sent by the first unmanned machine, the cloud server can analyze the signal first, so as to judge the type of the signal. When it is determined that the signal is a feeding signal, the following step 202 may be performed, and when it is determined that the signal is not a feeding signal, no operation may be performed, i.e., it is ended (as shown in fig. 2).

In step 202, the current power and current location of the first drone are obtained.

In one embodiment, when determining that a signal received by the cloud server from the first unmanned machine is a feeding signal, the cloud server may send a request message for representing and acquiring the current electric quantity and the current position of the first unmanned machine to the first unmanned machine; after receiving the request message, the first unmanned machine can send the current electric quantity and the current position of the first unmanned machine to the cloud server; then, the cloud server receives the current electric quantity and the current position.

In another embodiment, when the current electric quantity of the first unmanned aerial vehicle is smaller than the preset electric quantity threshold value, the first unmanned aerial vehicle sends the feed signal to the cloud server and also sends the current electric quantity and the current position of the first unmanned aerial vehicle to the cloud server, and the cloud server receives the feed signal, the current electric quantity and the current position.

The preset electric quantity threshold may be a value set by a user or a default empirical value, and is not particularly limited in this disclosure.

In step 203, a target charging pile closest to the first unmanned machine is determined according to the current position of the first unmanned machine and the pre-stored position information of the charging pile.

In this disclosure, a storage module may be disposed on the cloud server for storing location information of each charging pile, and thus, after the cloud server acquires the current location of the first unmanned machine through the step 202, the location information of each charging pile may be acquired by accessing the storage module, and then, according to the location information of each charging pile, distances between each charging pile and the current location of the first unmanned machine may be sequentially calculated, and a charging pile closest to the current location of the first unmanned machine is determined, that is, a charging pile closest to the first unmanned machine is determined, and the charging pile is determined as a target charging pile.

In step 204, it is predicted whether the current electric quantity of the first unmanned machine can support the first unmanned machine to fly from the current position to the target charging pile.

After the current electric quantity of the first unmanned machine is acquired in the step 202 and the target charging pile closest to the first unmanned machine is determined in the step 203, whether the current electric quantity can support the first unmanned machine to fly to the target charging pile from the current position can be predicted. Specifically, the electric quantity consumed by the first unmanned machine to fly to the target charging pile from the current position can be calculated, and then the electric quantity is compared with the current electric quantity of the first unmanned machine to predict whether the current electric quantity of the first unmanned machine can support the first unmanned machine to fly to the target charging pile from the current position. When the electric quantity consumed by the first unmanned aerial vehicle for flying from the current position to the target charging pile is larger than the current electric quantity of the first unmanned aerial vehicle, it can be predicted that the current electric quantity of the first unmanned aerial vehicle cannot support the first unmanned aerial vehicle for flying from the current position to the target charging pile, at this moment, the second unmanned aerial vehicle can be dispatched to rescue the first unmanned aerial vehicle, and the following

steps

205 and 206 are executed; when the electric quantity consumed by the first unmanned machine to fly to the target charging pile from the current position is less than or equal to the current electric quantity of the first unmanned machine, the current electric quantity of the first unmanned machine can be predicted to support the first unmanned machine to fly to the target charging pile from the current position, at this moment, the position information of the target charging pile can be sent to the first unmanned machine (namely, the following step 207 is executed), the first unmanned machine receives the position information of the target charging pile, and navigation is carried out according to the position information of the target charging pile so as to fly to the target charging pile for charging.

In addition, after the cloud server obtains the current electric quantity and the current position of the cloud server through the step 202, in order to ensure that the first unmanned machine returns normally, the cloud server can select the nearest charging pile (i.e., the target charging pile), and also can select the nearest unmanned machine station according to the current electric quantity and the current position. And the cloud server can dispatch a second unmanned aerial vehicle to rescue the first unmanned aerial vehicle when determining that the first unmanned aerial vehicle cannot return to the nearest charging pile or the nearest unmanned aerial vehicle station according to the current electric quantity and the current position.

Therefore, in the process of charging the vehicle, the vehicle may be in a driving state, and after the first unmanned machine finishes charging the vehicle, the current electric quantity and the current position of the first unmanned machine need to be confirmed and fed back to the cloud server; and then, the cloud server selects the nearest charging pile or unmanned aerial vehicle station according to the current electric quantity and the current position so as to ensure normal return of the charging pile or the unmanned aerial vehicle station. And if the cloud server judges that the first unmanned aerial vehicle cannot return according to the current electric quantity, the current position, the nearest charging pile or the position of the unmanned aerial vehicle station, sending a second unmanned aerial vehicle for rescuing the first unmanned aerial vehicle so as to ensure that the first unmanned aerial vehicle returns.

In step 205, the unmanned aerial vehicle that satisfies the first preset rescue condition and is closest to the first unmanned aerial vehicle in the second unmanned aerial vehicles is determined as the first target rescue unmanned aerial vehicle.

In this disclosure, above-mentioned second unmanned aerial vehicle can be the unmanned aerial vehicle that is in idle state to be provided with on this second unmanned aerial vehicle and be used for carrying first unmanned machine's carrying device and/or be used for the power supply unit who charges for first unmanned machine. Illustratively, as shown in fig. 3 to 5, the second drone includes a frame 10 and a mount, which may include: a plurality of rotary wings 20 and coupling rings 30 provided on the airframe 10, a fixing ring 40 coupling the plurality of coupling rings 30, and a plurality of support feet 50 formed on the fixing ring 40. Wherein, be provided with the clamping part 500 that can stretch out automatically or retract on the supporting legs 50 to make supporting legs 50 can stretch into first unmanned aerial vehicle's fixed orifices, and fixed first unmanned aerial vehicle and second unmanned aerial vehicle through clamping part 500.

Here, it should be noted that, in the present embodiment, there is no limitation on the type and structure of the first drone, and hereinafter, an embodiment in which the first drone and the second drone have the same structure will be described in detail as an example, and the two drones can perform multiple functions, such as charging operation, carrying flight operation, and the like, by being fixed, and especially play an important role in rescue work of the drone. When first unmanned aerial vehicle electric quantity is not enough, second unmanned aerial vehicle will stop above it, and clamping part 500 retracts, and supporting legs 50 can stretch into in first unmanned aerial vehicle's the fixed orifices, and at this moment, clamping part 500 stretches out alright realize fixing first unmanned aerial vehicle, and the second unmanned aerial vehicle that this disclosure provided can carry on the rescue for it after fixing first unmanned aerial vehicle, for example, carries it to nearest target charging pile.

In the present disclosure, as shown in fig. 6 and 7, the supporting foot 50 includes a first shaft section 501 and a second shaft section 502 connected from top to bottom, the first shaft section 501 has a larger shaft diameter than the second shaft section 502, the locking part 500 is disposed on the second shaft section 502, and a driving member (not shown) for driving the locking part 500 to extend or retract is disposed in the second shaft section 502. Thus, at the fixing hole of the first unmanned machine, the driving member drives the blocking part 500 to retract, after the second shaft section 502 of the supporting leg 50 extends into the fixing hole, the driving member drives the blocking part 500 to extend, and the first shaft section 501 and the blocking part 500 can respectively block the upper end wall and the lower end wall of the fixing ring 40, thereby realizing the fixing of the first unmanned machine.

The detents 500 may be of any suitable configuration. As shown in fig. 6, the second shaft section 502 is formed with a mounting hole, the locking part 500 is formed as a wedge-shaped block capable of extending out of or retracting into the mounting hole, the driving part is formed as a micro-step motor connected to the wedge-shaped block, when the wedge-shaped block retracts, the outermost end of the wedge-shaped block and the side wall of the second shaft section 502 are in the same plane, and the second shaft section 502 of the supporting foot 50 cannot be influenced to extend into the fixing hole; when the wedge block extends out, the outermost end of the wedge block exceeds the side wall of the first shaft section 501, and abuts against the lower end wall of the fixing ring 40 to limit the fixing ring 40 downwards. The microstepping motor is controlled by the unmanned aerial vehicle control system to provide power for extending or retracting the locking part 500, in other embodiments, the driving member may be formed as a spring connected to the inner wall of the second shaft section 502 for driving the locking part 500, and the locking part 500 may be formed as a strip plate structure extending obliquely upward and extending from the mounting hole, without any limitation.

Specifically, in this embodiment, the number of the clamping parts 500 may be multiple, and the clamping parts are arranged at intervals along the circumferential direction of the second shaft section 502, as shown in fig. 7, the number of the clamping parts 500 is two, which can realize the lower limit of the retainer ring 40, and further realize the stable connection between the first unmanned aerial vehicle and the second unmanned aerial vehicle, in other embodiments, the number of the clamping parts 500 may also be multiple, which are arranged at equal intervals along the circumferential direction, so that a plurality of clamping forces with the same size are simultaneously applied in the circumferential direction, so as to realize the fixation of the first unmanned aerial vehicle.

More specifically, in the present disclosure, an axial diameter of the first shaft segment 501 is larger than an aperture of the fixing hole, a cross section of the second shaft segment 502 is formed as a regular polygon, such as a regular hexagon shown in fig. 7, a diameter of a circumscribed circle of the regular hexagon is smaller than an aperture of the fixing hole, and a distance from the clamping part 500 to the first shaft segment 501 is larger than an axial height of the fixing ring 40, so that the second shaft segment 502 can completely extend into the fixing hole, a lower end of the first shaft segment 501 is clamped on an upper end wall of the fixing ring 40, an upper limit on the fixing ring 40 can be realized, the clamping part 500 is clamped on a lower end wall of the fixing ring 40, a lower limit on the fixing ring 40 is realized, the second shaft segment 502 is formed as a regular polygon, which can make a connection between the second drone and the first drone more stable, and in other embodiments, the second shaft segment 502 can also be formed as a cylinder or other regular polygon, etc.

Still exemplarily, the second unmanned aerial vehicle is provided with a power supply device, so that the second unmanned aerial vehicle can charge the first unmanned aerial vehicle after fixing the first unmanned aerial vehicle. Specifically, as shown in fig. 5, a plug 60 is fixed to a lower surface of the frame 10 of the second drone, and the plug 60 is extendable or retractable with respect to the frame 10. When the first unmanned aerial vehicle needs to be charged, the plug 60 extends out to be connected with a socket on the first unmanned aerial vehicle, so that the second unmanned aerial vehicle is connected with the first unmanned aerial vehicle, and charging operation is performed; when charging is complete, plug 60 may be retracted to disconnect from the socket while avoiding collision and interference of plug 60 with other items in the non-operational state. In the present disclosure, the plug 60 may be connected to a socket of an electric vehicle in addition to the first unmanned aerial vehicle socket, so as to charge the electric vehicle; also can insert and fill on electric pile, fill electric pile this moment and can charge for second unmanned aerial vehicle self, guarantee that second unmanned aerial vehicle self's electric quantity is sufficient.

The manner in which the plug 60 is extendable or retractable relative to the housing 10 may be varied. Specifically, the lower surface of the frame 10 is fixed with multi-stage sleeves which are sleeved with each other, the plug 60 may be formed into a rectangular structure and fixed at the end of the innermost sleeve, and the extension or retraction of the plug 60 may be achieved by the rotary extension and retraction of the multi-stage sleeves. Specifically, in this embodiment, a first sleeve and a second sleeve which have different shaft diameters and are sleeved together through threads are fixed on the rack 10, wherein the shaft diameter of the first sleeve is larger than that of the second sleeve, the end portion of the first sleeve is fixed on the rack 10 and vertically extends downwards, the second sleeve is located inside the first sleeve, the plug 60 is fixed at the end portion of the second sleeve, and the extension or retraction of the plug 60 can be realized by rotating the second sleeve, which is similar to the telescopic process of a camera lens in principle, and will not be described in detail here, and the plug 60 can be formed into any appropriate structure connected to the end portion of the innermost sleeve without affecting the telescopic operation of the multi-layer sleeve. Meanwhile, when charging is not needed, the plug 60 can be retracted by the rotation and the extension of the multistage sleeve, and the plug 60 is prevented from interfering with other structures. In other embodiments, the plug 60 may be hinged to the lower surface of the frame 10, such that the plug 60 rotates relative to the hinge axis, and the extension or retraction of the plug 60 is also possible.

Further, as shown in fig. 4, a socket 70 is fixed on the upper surface of the frame 10, when the electric quantity of the second unmanned aerial vehicle is exhausted, the second unmanned aerial vehicle is converted into a first unmanned aerial vehicle, and plugs 60 of other second unmanned aerial vehicles can be inserted into the socket 70 to charge the first unmanned aerial vehicle with insufficient electric quantity, so as to ensure that rescue operation is implemented.

In the present disclosure, as shown in fig. 4, a plurality of fixing holes 401 are further formed on the fixing ring 40, the plurality of fixing holes 401 and the plurality of supporting feet 50 are alternately arranged along the circumferential direction of the fixing ring 40, and the plurality of supporting feet 50 on the second drone correspond to the plurality of fixing holes 401 on the first drone. In this embodiment, fixed orifices 401 and supporting legs 50 are 4 respectively and arrange along circumference in turn, can carry out relevant design to the quantity and the position of fixed orifices 401 according to the quantity and the position of unmanned aerial vehicle supporting legs 50, in order to realize the cooperation of supporting legs 50 and fixed orifices 401, fixed orifices 401 is the through-hole that sets up on retainer plate 40, the second shaft section 502 of supporting legs 50 stretches into in the fixed orifices 401, stop part 500 retracts, in order to guarantee that second shaft section 502 continues to stretch into fixed orifices 401 downwards, stop part 500 stretches out after passing fixed orifices 401, the upper end butt of wedge is on the lower end wall of retainer plate 40, the lower extreme of first shaft section 501 butts on the upper end wall of retainer plate 40, and then realize two unmanned aerial vehicle's stable connection. In other embodiments, under the prerequisite of guaranteeing self intensity, retainer plate 40 also can form into hollow structure, stop 500 retracts, second shaft section 502 stretches into fixed orifices 401, when second shaft section 502 moved to the wedge can be just in time be located the chamber that holds of retainer plate 40, the wedge stretches out, the upper end butt of wedge is on the inner wall of fixed orifices 401, the lower extreme butt of first shaft section 501 is on the outer wall of fixed orifices 401, the upper end wall of retainer plate 40 promptly, the fixing of two unmanned aerial vehicles can be realized equally.

Furthermore, as shown in fig. 4, the upper end surface of the supporting leg 50 is lower than the fixing ring 40 to form an accommodating hole 402 on the fixing ring 40, the accommodating hole 402 is a blind hole formed on the fixing ring 40 and is coaxially arranged with the supporting leg 50, when the second unmanned aerial vehicle performs charging operation for the first unmanned aerial vehicle, the second unmanned aerial vehicle does not need to be stably connected, and only the second unmanned aerial vehicle needs to ensure that the supporting leg 50 is exactly aligned with the accommodating hole 402 through a self-image positioning system, and at this time, it can be ensured that the plug 60 on the second unmanned aerial vehicle corresponds to the socket 70 on the first unmanned aerial vehicle; and when the second unmanned aerial vehicle will carry on first unmanned aerial vehicle flight, then need guarantee that second unmanned aerial vehicle's supporting legs 50 stretches into in first unmanned aerial vehicle's fixed orifices 401, just can carry on the flight after guaranteeing stable connection between them.

The cloud server selects the unmanned aerial vehicle which meets a first preset rescue condition and is closest to the first unmanned aerial vehicle, namely the first target rescue unmanned aerial vehicle, from the second unmanned aerial vehicle when predicting that the current electric quantity of the first unmanned aerial vehicle cannot support the first unmanned aerial vehicle to fly to the target charging pile from the current position so as to dispatch the first target rescue unmanned aerial vehicle to rescue the first unmanned aerial vehicle, and therefore normal return of the first target rescue unmanned aerial vehicle is guaranteed.

Specifically, the cloud server may select, from the second unmanned aerial vehicles, an unmanned aerial vehicle that satisfies the first preset rescue condition, that is, a first candidate rescue unmanned aerial vehicle; when the first candidate rescue unmanned aerial vehicle is one, the first candidate rescue unmanned aerial vehicle can be directly used as a first target rescue unmanned aerial vehicle; when the number of the first candidate rescue unmanned aerial vehicles is plural, the unmanned aerial vehicle closest to the first unmanned aerial vehicle in the first candidate rescue unmanned aerial vehicles can be determined as the first target rescue unmanned aerial vehicle.

Since the rescue measures performed by the different types of second unmanned aerial vehicles (i.e., whether the second unmanned aerial vehicle is provided with the power supply device or the carrying device) on the first unmanned aerial vehicle may be different, different first preset rescue conditions may be set for the different types of second unmanned aerial vehicles. From this, not only can guarantee that the first target rescue unmanned aerial vehicle who determines is the best unmanned aerial vehicle that can rescue first unmanned aerial vehicle, can optimize second unmanned aerial vehicle's resource allocation moreover to rescue cost and time have been saved.

Particularly, when the second unmanned aerial vehicle is simultaneously provided with the power supply device and the carrying device, the first preset rescue condition can be that the residual capacity of the second unmanned aerial vehicle is greater than or equal to the second rescue capacity or the residual capacity of the second unmanned aerial vehicle is greater than or equal to the third rescue capacity. Wherein the second rescue electric quantity can be equal to the sum of the electric quantity consumed by the second unmanned aerial vehicle flying from the self position to the target charging pile via the current position of the first unmanned aerial vehicle and the target charging electric quantity provided by the second unmanned aerial vehicle for the first unmanned aerial vehicle through the power supply device, and, the sum of the target charging capacity and the current capacity of the first unmanned machine is equal to the capacity consumed by the first unmanned machine for flying from the current position to the preset destination, that is, the second rescue electric quantity is the electric quantity consumed by the second drone to fly from the self position to the target charging pile via the current position of the first drone + the target charging electric quantity is the electric quantity consumed by the second drone to fly from the self position to the target charging pile via the current position + the electric quantity consumed by the first drone to fly from the current position to the preset destination — the current electric quantity of the first drone. Above-mentioned third rescue electric quantity can be equal to the second unmanned aerial vehicle from the electric quantity that the current position of self position flight to first unmanned aerial vehicle consumed and the second unmanned aerial vehicle carries the sum of the electric quantity that first unmanned aerial vehicle flies to the target electric pile consumed from the current position through the carrying device, promptly, third rescue electric quantity is the second unmanned aerial vehicle from the electric quantity that self position flight to the current position of first unmanned aerial vehicle consumed + the second unmanned aerial vehicle carries the electric quantity that first unmanned aerial vehicle flies to the target electric pile consumed from the current position through the carrying device. The preset destination may be, for example, the target charging pile determined in step 203, a nearest unmanned aerial vehicle station, a location corresponding to a next task dispatched by the cloud server to the first unmanned aerial vehicle, and the like.

Like this, be provided with power supply unit and carrying device simultaneously on the second unmanned aerial vehicle, and this second unmanned aerial vehicle's residual capacity is greater than or equal to any one in above-mentioned second rescue electric quantity and the third rescue electric quantity, this second unmanned aerial vehicle can adopt any one in the following mode to rescue first unmanned aerial vehicle:

(1) the second unmanned aerial vehicle flies to the current position of the first unmanned aerial vehicle firstly and charges the first unmanned aerial vehicle through the power supply device, wherein the second unmanned aerial vehicle can charge the first unmanned aerial vehicle with the charge electric quantity which is more than or equal to the target charge electric quantity, and simultaneously ensures that the residual electric quantity of the second unmanned aerial vehicle after charging the first unmanned aerial vehicle can support the second unmanned aerial vehicle to fly to the preset destination; after the second drone is charged for the first drone, it and the first drone may fly together to the predetermined destination (e.g., target charging pile). Like this, when first unmanned aerial vehicle's current electric quantity can't support it and reach the target and fill electric pile, can charge it through second unmanned aerial vehicle to can first unmanned aerial vehicle reach preset destination, with carry out the electric quantity and supply or carry out new task etc..

(2) The second unmanned aerial vehicle flies to the current position of the first unmanned aerial vehicle first, then directly carries the first unmanned aerial vehicle to fly to the target charging pile determined in the step 203 through the carrying device, and the first unmanned aerial vehicle with insufficient electric quantity is charged through the target charging pile. Certainly, this second unmanned aerial vehicle carries first unmanned aerial vehicle to above-mentioned target charging stake after, it also can fill electric quantity through this target charging stake. Like this, when first unmanned aerial vehicle's current electric quantity can't support it and reach the target and fill electric pile, can directly carry it to the target through second unmanned aerial vehicle and fill electric pile to in time charge for this first unmanned aerial vehicle, thereby guarantee the subsequent normal work of first unmanned aerial vehicle. And, this second unmanned aerial vehicle carries first unmanned machine to the target and fills electric pile after, it can also fill the electric energy through this target fills electric pile to guarantee going on smoothly of subsequent rescue task.

When being provided with power supply unit, not setting up carrying device on the second unmanned aerial vehicle, above-mentioned first preset rescue condition can be for this second unmanned aerial vehicle's residual capacity be more than or equal to above-mentioned second rescue electric quantity. That is, when the second unmanned aerial vehicle is provided with power supply unit, is not provided with the carrying device, and the remaining capacity of this second unmanned aerial vehicle is greater than or equal to above-mentioned second rescue electric quantity, this second unmanned aerial vehicle can adopt above-mentioned (1) kind of mode to rescue first unmanned aerial vehicle.

And when being provided with carrying device, not setting up power supply unit on the second unmanned aerial vehicle, above-mentioned first predetermined rescue condition can be for this second unmanned aerial vehicle's surplus electric quantity be more than or equal to above-mentioned third rescue electric quantity. That is, when the second unmanned aerial vehicle is provided with the carrying device, is not provided with the power supply unit, and the remaining capacity of this second unmanned aerial vehicle is greater than or equal to above-mentioned third rescue electric quantity, this second unmanned aerial vehicle can adopt above-mentioned (2) kind of mode to rescue first unmanned aerial vehicle.

Illustratively, the second unmanned aerial vehicle communicating with the cloud server comprises A, B, C, D, E, F, wherein A, B is provided with a power supply device and a carrying device, C, D is provided with a power supply device and no carrying device, and E, F is provided with a carrying device and no power supply device. The residual electric quantity of the A is smaller than the second rescue electric quantity and smaller than the third rescue electric quantity, and the A cannot be used as a first candidate rescue unmanned aerial vehicle; if the residual electric quantity of the B is larger than any one of the second rescue electric quantity and the third rescue electric quantity, the B can be used as a first candidate rescue unmanned aerial vehicle; c, if the residual electric quantity is less than the second rescue electric quantity, the C cannot be used as a first candidate rescue unmanned aerial vehicle; d, if the residual electric quantity is larger than the second rescue electric quantity, the D can be used as a first candidate rescue unmanned aerial vehicle; e, if the residual electric quantity of the E is less than the third rescue electric quantity, the E cannot be used as a first candidate rescue unmanned aerial vehicle; and if the residual electric quantity of the F is greater than the third rescue electric quantity, the F can be used as a first candidate rescue unmanned aerial vehicle.

In addition, it should be noted that, the specific calculation manner of the electric quantity consumed by the first unmanned aerial vehicle flying from the current position to the target charging pile, the electric quantity consumed by the second unmanned aerial vehicle flying from the current position of the second unmanned aerial vehicle via the first unmanned aerial vehicle to the target charging pile, the electric quantity consumed by the second unmanned aerial vehicle flying from the current position to the target charging pile by carrying the first unmanned aerial vehicle with the carrying device, and the electric quantity consumed by the first unmanned aerial vehicle flying from the current position to the preset destination belongs to the common knowledge of those skilled in the art, and is not described in detail in this disclosure.

Returning to fig. 2, in step 206, a first rescue signal and information of a current position of the first unmanned aerial vehicle are sent to the first target rescue unmanned aerial vehicle, so that the first target rescue unmanned aerial vehicle flies to the first unmanned aerial vehicle for rescue according to the information of the current position when receiving the first rescue signal.

In this disclosure, after the first target rescue drone is determined in step 205, the cloud server may send a first rescue signal to the first target rescue drone and send information of a current position of the first drone at the same time; after receiving the first rescue signal, the first target rescue unmanned aerial vehicle can fly to the first unmanned aerial vehicle through navigation according to the information of the current position of the first unmanned aerial vehicle received from the cloud server, and rescue the first unmanned aerial vehicle.

Specifically, when the first target rescue unmanned aerial vehicle is provided with the power supply device and the carrying device at the same time, it may adopt any one of the above-mentioned modes (1) and (2) to rescue the first unmanned aerial vehicle; when the first target rescue unmanned aerial vehicle is provided with the power supply device and is not provided with the carrying device, the first target rescue unmanned aerial vehicle can be rescued by the first unmanned aerial vehicle in the mode (1); when being provided with carrying device, not setting up power supply unit on above-mentioned first target rescue unmanned aerial vehicle, it can adopt above-mentioned (2) mode to rescue first unmanned machine.

In step 207, the position information of the target charging pile is sent to the first unmanned machine.

In addition, can be provided with the fault diagnosis system on above-mentioned first unmanned aerial vehicle, when this fault diagnosis system detects this first unmanned aerial vehicle and breaks down, can send the fault signal to the high in the clouds server, this high in the clouds server receives this fault signal after, can send the second unmanned aerial vehicle to rescue the first unmanned aerial vehicle that breaks down, exemplarily, the second unmanned aerial vehicle can carry this first unmanned aerial vehicle that breaks down to nearest maintenance station and maintain. Specifically, the first unmanned machine 2 is further configured to send a fault signal to the cloud server 1 when detecting that a fault occurs in the first unmanned machine; after receiving the fault signal, the cloud server 1 may screen out an optimal rescue unmanned aerial vehicle capable of meeting the rescue conditions from the at least one second unmanned aerial vehicle 3, and then dispatch the optimal rescue unmanned aerial vehicle to rescue the first unmanned aerial vehicle 2. Therefore, when the cloud server determines that the signal received by the cloud server is not the feeding signal through the step 201, it may be determined again whether the signal is a fault signal, and when it is determined that the signal is the fault signal, a second unmanned aerial vehicle meeting the rescue condition may be dispatched to rescue the first unmanned aerial vehicle.

Specifically, the cloud server 1 may implement the rescue of the first wireless machine 2 having a failure through steps 208 to 212 shown in fig. 8.

In step 208, it is determined whether the signal is a fault signal.

In this disclosure, when determining that the signal received by the cloud server from the first unmanned machine is not the feeding signal in step 201, the cloud server may further determine whether the signal is a fault signal. When the cloud server determines that the signal is a failure signal, the following step 209 may be executed; when the cloud server determines that the signal is not a fault signal, no action may be performed, i.e., the process ends (as shown in fig. 8).

In step 209, a current location of the first drone is obtained.

In one embodiment, when the cloud server determines that the signal received from the first unmanned machine is a fault signal, the cloud server may send a request message for representing and acquiring the current position of the first unmanned machine to the first unmanned machine; after receiving the request message, the first unmanned machine can send the current position of the first unmanned machine to the cloud server; then, the cloud server receives the current position.

In another embodiment, the first drone sends the feed signal to a cloud server and also sends its current location to the cloud server, and the cloud server receives the fault signal and the current location.

In step 210, a target maintenance station closest to the first unmanned machine is determined according to the current position of the first unmanned machine and the pre-stored position information of the maintenance station.

In this disclosure, another storage module may be disposed on the cloud server for storing the location information of each maintenance station, so that, after the cloud server obtains the current location of the first unmanned machine through the step 209, the location information of each maintenance station may be obtained by accessing the storage module, and then, according to the location information of each maintenance station, the distance between each maintenance station and the current location of the first unmanned machine may be sequentially calculated, and a maintenance station closest to the current location of the first unmanned machine is determined, that is, a maintenance station closest to the first unmanned machine is determined, and the maintenance station is determined as the target maintenance station.

In step 211, the unmanned aerial vehicle that satisfies the second preset rescue condition and is closest to the first unmanned aerial vehicle is determined as the second target rescue unmanned aerial vehicle.

In this disclosure, the rescue condition can be preset for the second unmanned aerial vehicle on be provided with the carrying device, and this second unmanned aerial vehicle's surplus electric quantity is greater than or equal to first rescue electric quantity, wherein, this first rescue electric quantity can be equal to the second unmanned aerial vehicle from self position flight to the electric quantity that the current position of first unmanned aerial vehicle consumed with the second unmanned aerial vehicle through carrying device carries the sum of the electric quantity that first unmanned aerial vehicle flies to the target maintenance station from above-mentioned current position of first unmanned aerial vehicle, namely, first rescue electric quantity is the electric quantity that second unmanned aerial vehicle flies to the current position of first unmanned aerial vehicle from self position consumed + the second unmanned aerial vehicle carries the electric quantity that first unmanned aerial vehicle flies to the target maintenance station from the current position through carrying device.

Specifically, the cloud server may select, from the second unmanned aerial vehicles, an unmanned aerial vehicle that satisfies the second preset rescue condition, that is, a second candidate rescue unmanned aerial vehicle; when one second candidate rescue unmanned aerial vehicle is available, the second candidate rescue unmanned aerial vehicle can be directly used as a second target rescue unmanned aerial vehicle; when a plurality of second candidate rescue unmanned aerial vehicles are provided, the unmanned aerial vehicle closest to the first unmanned aerial vehicle in the second candidate rescue unmanned aerial vehicles can be determined as the second target rescue unmanned aerial vehicle. Therefore, the determined second target rescue unmanned aerial vehicle can be guaranteed to be the optimal unmanned aerial vehicle capable of rescuing the first unmanned aerial vehicle, and therefore rescue cost and time are saved.

In addition, it should be noted that a specific calculation manner of the electric quantity consumed by the second drone flying from its own position to the current position of the first drone and the electric quantity consumed by the first drone flying from the current position to the target maintenance station carried by the carrying device belongs to the common knowledge of those skilled in the art, and is not described in detail in this disclosure.

In step 212, a second rescue signal, information of the current position of the first unmanned machine, and position information of the target maintenance station are sent to the second target rescue unmanned machine, so that the second target rescue unmanned machine carries the first unmanned machine to the target maintenance station according to the information of the current position and the position information of the target maintenance station when receiving the second rescue signal.

In this disclosure, after the second target rescue drone is determined in step 211, the cloud server may send a second rescue signal to the second target rescue drone, and send information of the current position of the first drone and position information of the target maintenance station at the same time; after the second target rescue unmanned aerial vehicle receives the second rescue signal, the second target rescue unmanned aerial vehicle can fly to the first unmanned aerial vehicle through navigation according to the information of the current position of the first unmanned aerial vehicle received from the cloud server, and rescue the first unmanned aerial vehicle, namely, the second target rescue unmanned aerial vehicle carries the first unmanned aerial vehicle to fly to the target maintenance station for maintenance.

From this, when first unmanned aerial vehicle feed or when breaking down, need not the people go ahead, directly send second unmanned aerial vehicle and can realize first unmanned aerial vehicle's rescue and charge, it is convenient, swift, and the management of being convenient for, formed an unmanned aerial vehicle system of saving oneself.

Fig. 9 is a block diagram illustrating an unmanned aerial vehicle rescue apparatus according to an exemplary embodiment, wherein the apparatus 900 may be applied to a cloud server. Referring to fig. 9, the apparatus 900 may include: a first determining module 901, configured to, when receiving a signal sent by a first unmanned machine, analyze the signal, and determine whether the signal is a feeding signal; a first obtaining module 902, configured to obtain a current electric quantity and a current position of the first unmanned machine when the first determining module 901 determines that the signal is the feeding signal; a first determining module 903, configured to determine, according to the current position obtained by the first obtaining module 902 and pre-stored position information of the charging pile, a target charging pile closest to the first unmanned aerial vehicle; a predicting module 904, configured to predict whether the current electric quantity acquired by the first acquiring module 902 can support the first unmanned machine to fly from the current position to the target charging pile determined by the first determining module 903; a second determining module 905, configured to determine, when the predicting module 904 predicts that the current electric quantity cannot support the first unmanned aerial vehicle to fly to the target charging pile from the current position, an unmanned aerial vehicle that meets a first preset rescue condition and is closest to the first unmanned aerial vehicle in a second unmanned aerial vehicle as a first target rescue unmanned aerial vehicle, where the second unmanned aerial vehicle is an unmanned aerial vehicle in an idle state, and the second unmanned aerial vehicle is provided with a power supply device for charging the first unmanned aerial vehicle and/or a carrying device for carrying the first unmanned aerial vehicle; a first sending module 906, configured to send a first rescue signal and the information of the current position obtained by the first obtaining module 902 to the first target rescue unmanned aerial vehicle determined by the second determining module 905, so that the first target rescue unmanned aerial vehicle flies to the first unmanned aerial vehicle for rescue according to the information of the current position when receiving the first rescue signal.

Fig. 10 is a block diagram illustrating an unmanned aerial vehicle rescue apparatus according to another exemplary embodiment, wherein the apparatus 900 may be applied to a cloud server. Referring to fig. 10, the apparatus 900 may further include: a second judging module 907, configured to judge whether the signal is a fault signal when the first judging module 901 determines that the signal is not the feeding signal; a second obtaining module 908, configured to obtain a current position of the first drone when the second determining module 907 determines that the signal is the fault signal; a third determining module 909, configured to determine a target maintenance station closest to the first unmanned aerial vehicle according to the current location acquired by the second acquiring module 908 and pre-stored location information of the maintenance station; a fourth determining module 910, configured to determine, as a second target rescue drone, a drone that meets a second preset rescue condition and is closest to the first drone, where the second preset rescue condition is that the second drone is provided with the carrying device, and a remaining power of the second drone is greater than or equal to a first rescue power, and the first rescue power is equal to a sum of a power consumed by the second drone to fly from a self position to the current position and a power consumed by the second drone to carry the first drone through the carrying device to fly from the current position to the target maintenance station; a second sending module 911, configured to send a second rescue signal, the information of the current position obtained by the second obtaining module 908, and the position information of the target maintenance station by the third determining module 909 to the second target rescue unmanned aerial vehicle determined by the fourth determining module 910, so that when the second target rescue unmanned aerial vehicle receives the second rescue signal, the first unmanned aerial vehicle is carried to the target maintenance station according to the information of the current position and the position information of the target maintenance station.

Optionally, when the power supply device and the carrying device are simultaneously arranged on the second unmanned aerial vehicle, the first preset rescue condition is that the remaining capacity of the second unmanned aerial vehicle is greater than or equal to a second rescue capacity, or the remaining capacity of the second unmanned aerial vehicle is greater than or equal to a third rescue capacity; when the power supply device is arranged on the second unmanned aerial vehicle and the carrying device is not arranged on the second unmanned aerial vehicle, the first preset rescue condition is that the residual electric quantity is greater than or equal to the second rescue electric quantity; when the carrying device is arranged on the second unmanned aerial vehicle and the power supply device is not arranged on the second unmanned aerial vehicle, the first preset rescue condition is that the residual electric quantity is greater than or equal to the third rescue electric quantity; the second rescue electric quantity is equal to the sum of the electric quantity consumed by the second unmanned aerial vehicle to fly to the target charging pile from the current position and the target charging electric quantity provided by the second unmanned aerial vehicle for the first unmanned aerial vehicle through the power supply device, and the sum of the target charging electric quantity and the residual electric quantity is equal to the electric quantity consumed by the first unmanned aerial vehicle to fly to a preset destination from the current position; the third rescue electric quantity is equal to the sum of the electric quantity consumed by the second unmanned aerial vehicle flying from the self position to the current position and the electric quantity consumed by the second unmanned aerial vehicle carrying the first unmanned aerial vehicle flying from the current position to the target charging pile through the carrying device.

Fig. 11 is a block diagram illustrating an unmanned aerial vehicle rescue apparatus according to another exemplary embodiment, wherein the apparatus 900 may be applied to a cloud server. Referring to fig. 11, the apparatus 900 may further include: a third sending module 912, configured to send the location information of the target charging pile determined by the first determining module 903 to the first unmanned machine when the predicting module 904 predicts that the current electric quantity can support the first unmanned machine to fly to the target charging pile from the current location.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

The present disclosure also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the above-mentioned unmanned aerial vehicle rescue method provided by the present disclosure.

Fig. 12 is a block diagram illustrating an electronic device 1200 in accordance with an example embodiment. For example, the electronic device 1200 may be provided as a server. Referring to fig. 12, the electronic device 1200 includes a processor 1222, which may be one or more in number, and a memory 1232 for storing computer programs executable by the processor 1222. The computer programs stored in memory 1232 may include one or more modules that each correspond to a set of instructions. Further, the processor 1222 may be configured to execute the computer program to perform the above-described unmanned aerial vehicle rescue method.

Additionally, electronic device 1200 may also include a power component 1226 and a communication component 1250, the power component 1226 may be configured to perform power management of the electronic device 1200, and the communication component 1250 may be configured to enable communication, e.g., wired or wireless communication, of the electronic device 1200. In addition, the electronic device 1200 may also include input/output (I/O) interfaces 1258. The electronic device 1200 may operate based on an operating system stored in the memory 1232, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, and the like.

In another exemplary embodiment, a computer readable storage medium comprising program instructions which, when executed by a processor, implement the steps of the unmanned aerial vehicle rescuer method described above is also provided. For example, the computer readable storage medium may be the memory 1232 described above including program instructions executable by the processor 1222 of the electronic device 1200 to perform the drone rescue method described above.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims

1. An unmanned aerial vehicle rescue method is applied to a cloud server and comprises the following steps:

sending a first rescue signal and the information of the current position to the first target rescue unmanned aerial vehicle, so that the first target rescue unmanned aerial vehicle flies to the first unmanned aerial vehicle for rescue according to the information of the current position when receiving the first rescue signal;

when the carrying device is arranged on the second unmanned aerial vehicle and the power supply device is not arranged on the second unmanned aerial vehicle, the first preset rescue condition is that the residual electric quantity of the second unmanned aerial vehicle is greater than or equal to a third rescue electric quantity;

the third rescue electric quantity is equal to the sum of the electric quantity consumed by the second unmanned aerial vehicle flying from the position of the second unmanned aerial vehicle to the current position and the electric quantity consumed by the second unmanned aerial vehicle carrying the first unmanned aerial vehicle flying from the current position to the target charging pile through the carrying device.

2. The method of claim 1, further comprising:

3. The method according to claim 1, wherein when the power supply device and the carrying device are both disposed on the second unmanned aerial vehicle, the first preset rescue condition is that a remaining power of the second unmanned aerial vehicle is greater than or equal to a second rescue power, or a remaining power of the second unmanned aerial vehicle is greater than or equal to a third rescue power;

the second rescue electric quantity is equal to the sum of the electric quantity consumed by the second unmanned aerial vehicle flying from the position of the second unmanned aerial vehicle to the target charging pile via the current position and the target charging electric quantity provided by the second unmanned aerial vehicle for the first unmanned aerial vehicle through the power supply device, and the sum of the target charging electric quantity and the current electric quantity is equal to the electric quantity consumed by the first unmanned aerial vehicle flying from the current position to the preset destination.

4. The method of claim 1, further comprising:

5. The utility model provides an unmanned aerial vehicle rescue device which characterized in that is applied to high in the clouds server, includes:

the first sending module is configured to send a first rescue signal and the information of the current position acquired by the first acquiring module to the first target rescue unmanned aerial vehicle determined by the second determining module, so that the first target rescue unmanned aerial vehicle flies to the first unmanned aerial vehicle for rescue according to the information of the current position when receiving the first rescue signal;

6. The apparatus of claim 5, further comprising:

7. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.

8. A cloud server, comprising:

a memory having a computer program stored thereon;

a processor for executing the computer program in the memory to carry out the steps of the method of any one of claims 1 to 4.

9. An unmanned aerial vehicle rescue system, its characterized in that includes:

the cloud server of claim 8;

10. The system according to claim 9, wherein the at least one first drone is further configured to send a failure signal to the cloud server upon detecting a failure of the at least one first drone;

the at least one second unmanned aerial vehicle is further used for receiving a second rescue signal sent by the cloud server, the information of the current position and the position information of a target maintenance station, and carrying the first unmanned aerial vehicle to the target maintenance station according to the information of the current position and the position information of the target maintenance station when the second rescue signal is received.