CN109946998B - Unmanned aerial vehicle pasture cruising method and system - Google Patents
Unmanned aerial vehicle pasture cruising method and system Download PDFInfo
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Abstract
The invention provides a method and a system for continuing a journey in an unmanned aerial vehicle pasture, wherein the method comprises the following steps: acquiring target pasture information based on the grazing of the unmanned aerial vehicle, along-the-way path information and position information of charging base stations distributed on the target pasture and the along-the-way path; acquiring flight position information of the unmanned aerial vehicle, and generating prompt information that the unmanned aerial vehicle approaches the charging base station according to the flight position information of the unmanned aerial vehicle and the position information of the charging base station; after receiving the prompt message, the unmanned aerial vehicle judges the self residual electric quantity and sends out residual electric quantity information; and determining whether the unmanned aerial vehicle flies to the charging base station for charging according to the residual electric quantity information. According to the method and the system for continuing the pasture of the unmanned aerial vehicle, the flight path of the unmanned aerial vehicle is set according to the position information of the charging base station in the pasture and the geographical form of the pasture, the unmanned aerial vehicle can select a proper charging base station according to the stored position information of the charging base station and the stored flight path, and the purpose of monitoring the pasture for a long time in real time is achieved by charging.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle application, and particularly relates to an unmanned aerial vehicle pasture continuation of journey method and system.
Background
With the development of scientific technology, the technology of the unmanned aerial vehicle is continuously developed, the application field of the unmanned aerial vehicle is wider and wider, and the unmanned aerial vehicle is mainly applied to the fields of aerial photography, disaster relief, agriculture, investigation, environmental monitoring and the like. During the mode of grazing of unmanned aerial vehicle supervision pasture also got into the application of pasture management gradually, on the other hand is along with the continuous maturity of many rotor unmanned aerial vehicle correlation technique, this kind of simple structure, low cost, control convenient civilian aircraft and get into during the pasture management, its main advantage can take off and land perpendicularly, and is lower to the place requirement, and the security is higher. But current battery technology and many rotor unmanned aerial vehicle's flight principle have decided that many rotor unmanned aerial vehicle's time of endurance only has two three hours generally, can't satisfy once the demand of grazing for tens of hours.
Therefore, there is a need for a method and system for continuation of journey in an unmanned plane pasture, which can monitor the pasture in real time for a long time.
Disclosure of Invention
The embodiment of the invention provides a pasture continuation of journey method and a system for an unmanned aerial vehicle, which can realize that the unmanned aerial vehicle selects a proper charging base station to charge according to the position information of the charging base station of a pasture, thereby realizing the purpose of monitoring the pasture in real time for a long time.
According to an aspect of an embodiment of the present invention, there is provided a method for continuation of journey in a ranch of an unmanned aerial vehicle, the method including: acquiring target pasture information based on the grazing of the unmanned aerial vehicle, along-the-way path information and position information of charging base stations distributed on the target pasture and the along-the-way path; acquiring flight position information of the unmanned aerial vehicle, and generating prompt information that the unmanned aerial vehicle approaches the charging base station according to the flight position information of the unmanned aerial vehicle and the position information of the charging base station; after receiving the prompt message, the unmanned aerial vehicle judges the self residual electric quantity and sends out residual electric quantity information; and determining whether the unmanned aerial vehicle flies to the charging base station for charging according to the residual electric quantity information.
According to an aspect of the embodiment of the present invention, determining that the unmanned aerial vehicle needs to charge the charging base station according to the remaining power information further includes: acquiring current position information of the unmanned aerial vehicle, and calculating the flight distance of the unmanned aerial vehicle on the remaining path to the target pasture according to the current position information and the target pasture information; acquiring distribution information of charging base stations on the surplus paths and the target pasture and power consumption for pre-grazing; and determining whether to fly to the charging base station for charging or not according to the flight distance, the distribution information of the charging base station and the pre-grazing electricity consumption.
According to an aspect of the embodiment of the present invention, determining that the unmanned aerial vehicle needs to charge the charging base station according to the remaining power information further includes: determining an optimal charging base station according to the residual electric quantity; sending a charging reservation request to an optimal charging base station; and receiving charging reservation feedback information sent by the optimal charging base station.
According to an aspect of the embodiment of the invention, the charging reservation feedback information sent by the optimal charging base station is received, and if the charging reservation feedback information is that the charging reservation is successful, the optimal charging base station is determined as a target charging base station, and the unmanned aerial vehicle flies to the target charging base station for charging.
According to an aspect of the embodiments of the present invention, receiving the charging reservation feedback information sent by the optimal charging base station, and if the charging reservation feedback information is a charging reservation failure, repeatedly executing the following steps: selecting a secondary charging base station; sending charging reservation information to a secondary charging base station; and receiving charging reservation feedback information sent by the secondary charging base station.
According to an aspect of an embodiment of the present invention, the charge reservation request includes a reservation time and a charge time period.
According to another aspect of the embodiment of the invention, an unmanned aerial vehicle pasture cruising system is provided, which comprises an acquisition module, a control module and a charging base station module, wherein the acquisition module is used for acquiring target pasture information, along-the-way path information and position information of charging base stations distributed on the target pasture and the along-the-way path based on the grazing of the unmanned aerial vehicle; the generating module is used for acquiring flight position information of the unmanned aerial vehicle and generating prompt information that the unmanned aerial vehicle approaches the charging base station according to the flight position information of the unmanned aerial vehicle and the position information of the charging base station; the judging module is used for judging the self residual electric quantity and sending out residual electric quantity information after the unmanned aerial vehicle receives the prompt information; and the processing module is used for determining whether the unmanned aerial vehicle flies to the charging base station to be charged according to the residual electric quantity information.
According to another aspect of the embodiment of the present invention, the processing module is further configured to obtain current position information of the unmanned aerial vehicle, and calculate a flight distance of the unmanned aerial vehicle on a remaining path to the target pasture according to the current position information and the target pasture information; acquiring distribution information of charging base stations on the surplus paths and the target pasture and power consumption for pre-grazing; and determining whether to fly to the charging base station for charging or not according to the flight distance, the distribution information of the charging base station and the pre-grazing electricity consumption.
According to another aspect of the embodiment of the present invention, the processing module is further configured to determine an optimal charging base station according to the remaining power; sending a charging reservation request to an optimal charging base station; and receiving charging reservation feedback information sent by the optimal charging base station.
According to another aspect of the embodiment of the present invention, the processing module is further configured to determine, if the charging reservation feedback information indicates that the charging reservation is successful, the best charging base station as the target charging base station, and the unmanned aerial vehicle flies to the target charging base station to perform charging.
Compared with the prior art, the method and the system for cruising in the pasture of the unmanned aerial vehicle provided by the embodiment of the application combine the cruising time of the unmanned aerial vehicle according to the position information of the charging base station in the pasture and the geographical form of the pasture, set the flight path of the unmanned aerial vehicle, and the unmanned aerial vehicle can select a proper charging base station according to the stored position information and the stored flight path of the charging base station and charge the charging base station.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic system architecture diagram of a method for resuming a pasture by an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a method for resuming a pasture by an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a method for resuming a pasture by a drone according to another embodiment of the present invention;
fig. 4 is a schematic flow chart of a method for resuming a pasture by a drone according to yet another embodiment of the present invention;
fig. 5 is a schematic structural diagram of a ranch cruising system of an unmanned aerial vehicle according to an embodiment of the present invention.
In the drawings:
1-unmanned aerial vehicle; 21-a first charging base station; 22-a second charging base station; 23-a third charging base station; 24-a fourth charging base station; 3-residual charge flight range; 4-flight path; 5-target pasture.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The unmanned aerial vehicle pasture cruising method and the unmanned aerial vehicle pasture cruising system according to the embodiment of the invention are described in detail below with reference to the accompanying drawings. It should be noted that these examples are not intended to limit the scope of the present disclosure.
Fig. 1 is a schematic diagram of a system architecture for continuation of journey in a pasture of a drone according to an embodiment of the present invention, where items of various numbers are not shown in actual scale for clarity of presentation. The system comprises: the unmanned aerial vehicle comprises an unmanned aerial vehicle 1, a first charging base station 21, a second charging base station 22, a third charging base station 23 and a fourth charging base station 24. In the embodiment of the present invention, the first charging base station 21, the second charging base station 22, the third charging base station 23, and the fourth charging base station 24 are devices that have a predetermined amount of electricity, are fixed at a preset position, and are capable of charging the unmanned aerial vehicle. In the embodiment of the present invention, the number and the location distribution of the charging base stations are specifically determined according to different pasture situations and grazing densities, and the present invention is not particularly limited. In the embodiment of the present invention, the drone 1 can communicate with the first charging base station 21, the second charging base station 22, the third charging base station 23, and the fourth charging base station 24 of the pasture.
In the embodiment of the present invention, as shown in fig. 1, when the unmanned aerial vehicle 1 flies to the vicinity of the first charging base station 21 and the second charging base station 22, the unmanned aerial vehicle 1 receives the prompt information that there is a charging base station in the vicinity, and determines whether the unmanned aerial vehicle can fly to the next charging base station or the target pasture if the unmanned aerial vehicle cannot be charged according to the current position information and the remaining power information of the unmanned aerial vehicle 1. Here, the range indicated by the remaining power flight range 3 is a flight range in which the remaining power obtained after the unmanned aerial vehicle 1 receives the prompt information can fly, which is simply referred to as a remaining power flight range, the flight path 4 is a preset unmanned aerial vehicle flight path, and the target pasture 5 is a target place which is pastured by a pasture person within a predetermined time range. In fig. 1, after receiving the notification information of a charging base station nearby, for example, the notification information of a first charging base station 21 nearby, the unmanned aerial vehicle 1 determines that the second charging base station 22 is the best charging base station according to the remaining capacity flight range 3, the flight path 4 of the unmanned aerial vehicle 1, and the position information of other charging base stations on the flight path 4, such as the second charging base station 22, the third charging base station 23, and the fourth charging base station 24, and sends a charging request to the second charging base station 22, and if the feedback information of the second charging base station 22 is that the request is successful, the unmanned aerial vehicle 1 flies to the second charging base station 22; and if the feedback information of the second charging base station 22 is that the request fails, sending a charging request to the first charging base station 21. It is understood that if the flight range of the remaining capacity of the drone 1 can include the third charging base station 23, in other words, the remaining capacity of the drone 1 can fly not only to the second charging base station 22 but also to the third charging base station 23 that is slightly far from the second charging base station 22, the drone 1 can choose not to send the charging request to the first charging base station 21 at the current flight position but to send the reservation charging request to the second charging base station 22 and/or the third charging base station 23, and determine which of the first charging base station 21, the second charging base station 22, and the third charging base station 23 to charge according to the charging reservation feedback information of the second charging base station 22 and/or the third charging base station 23, if the reservation charging request is sent to the second charging base station 22 and the third charging base station 23 and the reservation success information is received, the drone chooses to fly to the third charging base station 23 for charging.
According to the method for continuing the journey of the unmanned aerial vehicle pasture, the position information of the charging base stations distributed on the path of the unmanned aerial vehicle going to the target pasture is obtained, the prompting information can be received when the unmanned aerial vehicle reaches the position near the charging base stations, the unmanned aerial vehicle selects charging or non-charging according to the residual electric quantity, and the problem that no charging base station exists near the unmanned aerial vehicle when the residual electric quantity is low and charging is needed is avoided.
Fig. 2 shows a flow chart of a method for continuation of range of a drone ranch according to an embodiment of the invention. As shown in fig. 2, the method 100 for continuation of journey in an unmanned aerial vehicle ranch in the embodiment of the present invention includes the following steps:
s110, acquiring target pasture information based on the grazing of the unmanned aerial vehicle, along-the-way path information and position information of charging base stations distributed on the target pasture and the along-the-way path.
In S110, the obtained target pasture information, the information on the route and the location information of the charging base stations distributed on the target pasture and the route may be stored in an unmanned aerial vehicle or a cloud platform, and the obtained target pasture information, the information on the route and the location information of the charging base stations distributed on the target pasture and the route may also be stored in an intelligent terminal operated by a pasture monitoring person, which may be a microcomputer, a tablet computer, a mobile phone, or the like.
S120, acquiring the flight position information of the unmanned aerial vehicle, and generating prompt information that the unmanned aerial vehicle approaches the charging base station according to the flight position information of the unmanned aerial vehicle and the position information of the charging base station.
In S120, a positioning module is arranged on the unmanned aerial vehicle, when the information in S110 is stored on the unmanned aerial vehicle, prompt data is preset on the unmanned aerial vehicle, and when the distance between the real-time position of the unmanned aerial vehicle and the charging base station meets the prompt data, prompt information is sent out; similarly, when the information in S110 is stored in the intelligent terminal, the prompt data is preset in the intelligent terminal, and the prompt information is sent when the distance between the real-time position of the unmanned aerial vehicle and the charging base station satisfies the prompt data.
S130, after the unmanned aerial vehicle receives the prompt message, the unmanned aerial vehicle judges the residual electric quantity of the unmanned aerial vehicle and sends out residual electric quantity information.
In S130, the remaining capacity of the drone can be obtained through calculation according to the voltage and the current of the drone.
And S140, determining whether the unmanned aerial vehicle flies to a charging base station to be charged according to the residual electric quantity information.
In S140, when the information in S110 is stored on the unmanned aerial vehicle, the remaining power of the unmanned aerial vehicle can be acquired by inputting an algorithm on a processor of the unmanned aerial vehicle and determining whether charging is required; when the information in S110 is stored in the intelligent terminal, the algorithm is set in the intelligent terminal to obtain the real-time position of the unmanned aerial vehicle and the obtained residual electric quantity of the unmanned aerial vehicle through the positioning module to judge whether charging is needed.
In some embodiments of the invention, the unmanned aerial vehicle comprises a storage module, a positioning module, a data processing module, a communication module, an electric quantity monitoring module and a charging module, wherein the storage module stores position information and preset data of a charging base station, the positioning module can monitor the position of the unmanned aerial vehicle in real time, the data processing module is used for calculating an algorithm, the communication module is used for communication between the unmanned aerial vehicle and the charging base station, the electric quantity monitoring module is used for detecting current and voltage of the unmanned aerial vehicle and converting the current and voltage of the unmanned aerial vehicle to obtain the residual electric quantity of the unmanned aerial vehicle, and the charging module is used for storing electric quantity for the unmanned aerial vehicle through connection with the.
Referring to fig. 3, the same steps in fig. 3 and fig. 2 are numbered the same. As shown in fig. 3, the drone ranch continuation method 200 is substantially the same as the man-machine ranch continuation method 100 shown in fig. 2, except that S140 includes the steps of:
s141: and acquiring the current position information of the unmanned aerial vehicle, and calculating the flight distance of the unmanned aerial vehicle on the surplus path from the unmanned aerial vehicle to the target pasture according to the current position information and the target pasture information.
S142: and acquiring the distribution information of the charging base stations on the surplus paths and the target pasture and the pre-grazing power consumption.
In some embodiments of the invention, the drone further comprises:
and the information acquisition module is used for acquiring the forward moving speed of the grazing herd, the down time and the voltage value and the current value of the unmanned aerial vehicle during the saturated electric quantity.
At this moment, the data processing module of the unmanned aerial vehicle is also used for processing the data acquired by the information acquisition module.
In S142, the pre-grazing power usage is determined by the flight distance between the real-time location of the drone and the target ranch.
S143: and determining whether to fly to the charging base station for charging or not according to the flight distance, the distribution information of the charging base station and the pre-grazing electricity consumption.
In S143, acquiring the forward moving speed V and the down time of the grazing herd and the time T of the unmanned aerial vehicle flying at the speed V at the full-load saturated electric quantity value according to the information acquisition module; the processor of the unmanned aerial vehicle calculates and obtains the maximum distance value Lmax that can fly when the unmanned aerial vehicle is fully loaded with saturated electric quantity, wherein Lmax is V T.
In some embodiments of the present invention, in order to accurately calculate the flying distance of the drone at the full saturation capacity at the speed of V, the sum of the residence time T1 and the sum of the vertical lifting and landing time T2 of the drone at the same position in the air needs to be obtained; acquiring the longest flight time T0 of the unmanned aerial vehicle to the lowest value of the electric quantity in the process of linearly flying at the speed of V when the unmanned aerial vehicle is saturated with the electric quantity; and the processor calculates T, T is T0-T1-T2.
On this basis, compare according to the unmanned aerial vehicle residual capacity and the full-load saturation capacity of unmanned aerial vehicle and obtain the distance that unmanned aerial vehicle residual capacity can also fly along with the herd animal crowd moves forward to whether confirm that unmanned aerial vehicle need fly to charge to charging base station. It can be understood that, in order to determine more accurately whether the unmanned aerial vehicle needs to fly to the charging base station for charging, the minimum flying electric quantity of the unmanned aerial vehicle, the actual flying path of the unmanned aerial vehicle and other aspects need to be considered, and the present invention is not repeated.
Referring to fig. 4, the same steps in fig. 4 as those in fig. 3 and fig. 2 are numbered the same. As shown in fig. 4, the drone ranch endurance method 300 is substantially identical to the man-machine ranch endurance methods 100 and 200 shown in fig. 3 and 2, except that S140 includes the steps of:
in some embodiments of the present invention, S140 further comprises the steps of:
s144: and determining the optimal charging base station according to the residual electric quantity.
In S144, the optimal charging base station is a comprehensive consideration of the farthest distance of the flyable range of the remaining capacity of the drone and the closest distance to the flight path of the drone.
S145: and sending a charging reservation request to the optimal charging base station.
In S145, the charge reservation request includes the reservation time and the charge time period.
S146: and receiving charging reservation feedback information sent by the optimal charging base station.
In S146, charging reservation feedback information sent by the optimal charging base station is received, and if the charging reservation feedback information indicates that the charging reservation is successful, the optimal charging base station is determined as a target charging base station, and the unmanned aerial vehicle flies to the target charging base station to charge.
In some embodiments of the present invention, the charging reservation feedback information sent by the optimal charging base station is received, and the charging reservation feedback information indicates that the charging reservation fails, and then the following steps are repeatedly performed:
a secondary charging base station is selected.
And sending the charging reservation information to the secondary charging base station.
And receiving charging reservation feedback information sent by the secondary charging base station.
It can be understood that the case of the reservation failure of the optimal charging base station includes: the unmanned aerial vehicle reserves the situation that the reservation time of the optimal charging base station is idle but the reserved charging time does not meet the requirement of the unmanned aerial vehicle or the reservation time of the unmanned aerial vehicle is reserved and cannot be reserved if other reserved time exists. In some optional embodiments, the optimal charging base station feeds back charging reservation failure information and other available reservation time or the time length that the reservation time requested by the drone can be charged. And the unmanned aerial vehicle selects to continue to reserve to the optimal charging base station or reserve to the secondary charging base station according to the received information.
Fig. 5 is a schematic structural diagram of a ranch cruising system of an unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 5, the unmanned plane ranch endurance system 400 corresponds to the unmanned plane ranch endurance method 100, and the unmanned plane ranch endurance system 400 specifically includes:
an obtaining module 410, configured to obtain target pasture information based on grazing by the unmanned aerial vehicle, along-route information, and location information of charging base stations distributed on the target pasture and along-route.
The generating module 420 is configured to acquire flight position information of the unmanned aerial vehicle, and generate prompt information that the unmanned aerial vehicle is close to the charging base station according to the flight position information of the unmanned aerial vehicle and the position information of the charging base station.
And the judging module 430 is used for judging the remaining power of the unmanned aerial vehicle and sending the remaining power information after the unmanned aerial vehicle receives the prompt message.
And the processing module 440 is configured to determine whether the unmanned aerial vehicle flies to the charging base station for charging according to the remaining power information.
In some embodiments of the invention, the processing module is further configured to: acquiring current position information of the unmanned aerial vehicle, and calculating the flight distance of the unmanned aerial vehicle on the remaining path to the target pasture according to the current position information and the target pasture information; acquiring distribution information of charging base stations on the surplus paths and the target pasture and power consumption for pre-grazing; and determining whether to fly to the charging base station for charging or not according to the flight distance, the distribution information of the charging base station and the pre-grazing electricity consumption.
In some embodiments of the present invention, the processing module is further configured to determine an optimal charging base station according to the remaining power; sending a charging reservation request to an optimal charging base station; and receiving charging reservation feedback information sent by the optimal charging base station.
In some embodiments of the present invention, the processing module is further configured to determine, if the charging reservation feedback information indicates that the charging reservation is successful, the best charging base station as the target charging base station, and the unmanned aerial vehicle flies to the target charging base station to perform charging.
According to the method and the system for continuing the pasture of the unmanned aerial vehicle, the flight path of the unmanned aerial vehicle is set by acquiring the position information of the charging base station in the pasture and the geographical form of the pasture, and the stored position information of the charging base station is used for sending prompt information when the unmanned aerial vehicle reaches the vicinity of the stored charging base station to prompt the unmanned aerial vehicle to determine whether the residual electric quantity needs to be charged or not, so that the problem that the charging base station does not exist when the unmanned aerial vehicle flies to the vicinity of the charging base station with low electric quantity is prevented, the charging base station is reserved by the unmanned aerial vehicle in a mode of sending a request to the charging base station, the problem that the unmanned aerial vehicle cannot charge the charging base station in time and needs to wait is avoided.
It should also be noted that the exemplary embodiments mentioned in this patent describe some methods or systems based on a series of steps or systems. However, the present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, may be performed in an order different from the order in the embodiments, or may be performed simultaneously.
As will be apparent to those skilled in the art, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again. It should be understood that the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present invention, and these modifications or substitutions should be covered within the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle pasture continuation method, characterized in that the method comprises:
acquiring target pasture information based on unmanned aerial vehicle grazing, along-the-way path information and position information of charging base stations distributed on the target pasture and the along-the-way path;
acquiring flight position information of an unmanned aerial vehicle, and generating prompt information that the unmanned aerial vehicle approaches a charging base station according to the flight position information of the unmanned aerial vehicle and the position information of the charging base station;
after receiving the prompt message, the unmanned aerial vehicle judges the self residual electric quantity and sends out residual electric quantity information;
and determining whether the unmanned aerial vehicle flies to the charging base station for charging according to the residual electric quantity information, wherein an optimal charging base station is determined according to the residual electric quantity, and the optimal charging base station is a comprehensive consideration of the farthest distance of the flying range of the residual electric quantity of the unmanned aerial vehicle and the closest flying path of the unmanned aerial vehicle.
2. The method of claim 1, wherein determining whether the drone is flying to the charging base station for charging based on the remaining power information further comprises:
acquiring current position information of an unmanned aerial vehicle, and calculating the flight distance of the unmanned aerial vehicle on the surplus path from the unmanned aerial vehicle to the target pasture according to the current position information and the target pasture information;
acquiring the remaining paths, charging base station distribution information on the target pasture and pre-grazing power consumption;
and determining whether to fly to the charging base station for charging or not according to the flight distance, the distribution information of the charging base station and the pre-grazing electricity consumption.
3. The method of claim 1, wherein determining whether the drone is flying to the charging base station for charging according to the remaining power information further comprises:
sending a charging reservation request to the optimal charging base station;
and receiving charging reservation feedback information sent by the optimal charging base station.
4. The method of claim 3, wherein the receiving of the charging reservation feedback information sent by the optimal charging base station further includes determining the optimal charging base station as a target charging base station if the charging reservation feedback information indicates that the charging reservation is successful, and the unmanned aerial vehicle flies to the target charging base station for charging.
5. The method of claim 4, wherein the receiving of the charging reservation feedback information sent by the optimal charging base station further includes that the charging reservation feedback information indicates that the charging reservation fails, and the following steps are repeatedly performed:
selecting a secondary charging base station;
sending charging reservation information to the secondary charging base station;
and receiving charging reservation feedback information sent by the secondary charging base station.
6. The unmanned aerial vehicle ranch continuation method of any one of claims 3 to 5, wherein the charge reservation request includes a reservation time and a charge duration.
7. An unmanned aerial vehicle pasture continuation of journey system, characterized in that, the system includes:
the system comprises an acquisition module, a storage module and a processing module, wherein the acquisition module is used for acquiring target pasture information based on the grazing of the unmanned aerial vehicle, along-the-way path information and position information of charging base stations distributed on the target pasture and the along-the-way path;
the generating module is used for acquiring flight position information of the unmanned aerial vehicle and generating prompt information that the unmanned aerial vehicle approaches the charging base station according to the flight position information of the unmanned aerial vehicle and the position information of the charging base station;
the judging module is used for judging the self residual electric quantity and sending out residual electric quantity information after the unmanned aerial vehicle receives the prompt information;
and the processing module is used for determining whether the unmanned aerial vehicle flies to the charging base station for charging according to the residual capacity information, wherein the optimal charging base station is determined according to the residual capacity, and the optimal charging base station is a comprehensive consideration of the farthest distance of the flying range of the residual capacity of the unmanned aerial vehicle and the closest flying path to the unmanned aerial vehicle.
8. The system of claim 7,
the processing module is further configured to:
acquiring current position information of an unmanned aerial vehicle, and calculating the flight distance of the unmanned aerial vehicle on the surplus path from the unmanned aerial vehicle to the target pasture according to the current position information and the target pasture information;
acquiring the remaining paths, charging base station distribution information on the target pasture and pre-grazing power consumption;
and determining whether to fly to the charging base station for charging or not according to the flight distance, the distribution information of the charging base station and the pre-grazing electricity consumption.
9. The system of claim 7,
the processing module is further configured to: sending a charging reservation request to the optimal charging base station;
and receiving charging reservation feedback information sent by the optimal charging base station.
10. The system of claim 9,
the processing module is further configured to determine the optimal charging base station as a target charging base station if the charging reservation feedback information indicates that the charging reservation is successful, and the unmanned aerial vehicle flies to the target charging base station to charge.
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| CN111422081A (en) * | 2020-04-02 | 2020-07-17 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle cruise system |
| CN111959299B (en) * | 2020-03-02 | 2021-12-21 | 国网江苏省电力有限公司电力科学研究院 | Charging control method and device |
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