CN112488335A - Automatic recycling method, device, recycling equipment and computer readable storage medium - Google Patents

Automatic recycling method, device, recycling equipment and computer readable storage medium Download PDF

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CN112488335A
CN112488335A CN202011419951.4A CN202011419951A CN112488335A CN 112488335 A CN112488335 A CN 112488335A CN 202011419951 A CN202011419951 A CN 202011419951A CN 112488335 A CN112488335 A CN 112488335A
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recovery
charging
recycling
intelligent equipment
unmanned aerial
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不公告发明人
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Zhendi Technology Co Ltd
PowerVision Robot Inc
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Zhendi Technology Co Ltd
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    • G06Q10/00—Administration; Management
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    • G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
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    • G—PHYSICS
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    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/04—Systems determining presence of a target
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    • G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
    • G07C1/20—Checking timed patrols, e.g. of watchman
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
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Abstract

The invention relates to an automatic recovery method, an automatic recovery device, recovery equipment and a computer-readable storage medium, and belongs to the field of intelligent equipment. The method comprises the following steps: confirming that a handshake signal is established between the intelligent equipment and the intelligent equipment; judging whether the intelligent equipment is stopped and descended to a target area of the first recovery equipment or not; and when yes, charging the intelligent equipment. Because at the in-process of patrolling and examining of smart machine, first recovery plant can wait for the smart machine to stop to fall to the target area after it charges, consequently can avoid the smart machine to appear the not enough condition of electric quantity when patrolling and examining a plurality of electric towers to guarantee that smart machine successfully accomplishes and patrols and examines the task.

Description

Automatic recycling method, device, recycling equipment and computer readable storage medium
Technical Field
The application belongs to the field of intelligent equipment, and particularly relates to an automatic recovery method and device, recovery equipment and a computer-readable storage medium.
Background
With the development of the technology, intelligent equipment such as unmanned aerial vehicles and unmanned ships are more widely applied in different fields. For example, a patrol route may be set for the drone so that the drone patrols the equipment box of the electric tower set on the patrol route.
Because the size of smart machines such as unmanned aerial vehicle is less, consequently, the electric capacity of its battery is also less relatively, is not enough to support smart machines such as unmanned aerial vehicle to carry out long-time flight. For this reason, in the prior art, generally, the unmanned aerial vehicle and the equipment box are paired one by one, so that the unmanned aerial vehicle establishing the pairing relationship only inspects the equipment box establishing the pairing relationship. However, when the quantity of equipment box is great, also mean to need equal quantity of unmanned aerial vehicle for the utilization ratio to unmanned aerial vehicle is lower, needs to pay a large amount of expenses to purchase unmanned aerial vehicle simultaneously.
In order to avoid the above problem, in another kind of prior art, in order to improve unmanned aerial vehicle's utilization ratio, set up an unmanned aerial vehicle and establish the mating relationship with a plurality of equipment boxes for the unmanned aerial vehicle who establishes the mating relationship can patrol and examine to a plurality of equipment boxes that establish the mating relationship. However, because unmanned aerial vehicle's battery capacity is less, if unmanned aerial vehicle appears the electric quantity not enough at the in-process of patrolling and examining, may lead to patrolling and examining the task failure.
Disclosure of Invention
In view of this, an object of the present application is to provide an automatic recycling method, an automatic recycling apparatus, a recycling device, and a computer-readable storage medium, in which a plurality of recycling devices are disposed on an inspection route, and after a handshake signal is established between a certain recycling device and an intelligent device, the recycling device can charge the intelligent device, so as to ensure that the intelligent device successfully completes an inspection task.
The embodiment of the application is realized as follows:
in a first aspect, an embodiment of the present application provides an automatic recycling method, which is applied to a first recycling device that performs a spatial layout according to a routing inspection route, and the method includes: confirming that a handshake signal is established between the intelligent equipment and the intelligent equipment; judging whether the intelligent equipment is stopped and descended to a target area of the first recovery equipment or not; and when yes, charging the intelligent equipment. Because at the in-process of patrolling and examining of smart machine, first recovery plant can wait for the smart machine to stop to fall to the target area after it charges, consequently can avoid the smart machine to appear the not enough condition of electric quantity when patrolling and examining a plurality of electric towers to guarantee that smart machine successfully accomplishes and patrols and examines the task.
With reference to the embodiment of the first aspect, in a possible implementation manner, the first recycling device is one recycling device of a plurality of recycling devices included in a pre-established recycling network, and after the determining and the smart device establish a handshake signal, before the determining whether the smart device has stopped descending to the target area, the method further includes: exiting the recovery network;
correspondingly, after the charging the smart device, the method further includes: and after determining that the intelligent device leaves, rejoining the recovery network. Through this kind of mode, can avoid a plurality of smart machine to fly to same recovery plant simultaneously, take place to charge the conflict.
With reference to the embodiment of the first aspect, in a possible implementation manner, the first recovery device includes a pressure sensor, the pressure sensor is disposed in the target area, and the determining whether the smart device has stopped descending to the target area includes: and acquiring a pressure signal through the pressure sensor, and judging whether the intelligent equipment stops descending to the target area or not according to the pressure signal.
With reference to the embodiment of the first aspect, in a possible implementation manner, the first recovery device includes a pressure sensor, the pressure sensor is disposed in the target area, and the determining whether the smart device has stopped descending to the target area includes: and acquiring a pressure signal through the pressure sensor, and judging whether the intelligent equipment stops descending to the target area or not according to the pressure signal.
With reference to the embodiment of the first aspect, in a possible implementation manner, the first recovery device includes a charging component, a limiting component, and a first motor connected to the limiting component, and before the charging of the smart device, the method further includes: the position of the intelligent device is adjusted to a target position through the first motor driving the limiting assembly, and the target position corresponds to the charging assembly. In this way, normality of the charging process can be ensured.
With reference to the first aspect, in one possible implementation manner, a cavity is formed inside the first recycling device, the first recycling device includes a second motor and a movable cover connected to the second motor, the movable cover includes an open state and a closed state, when the movable cover is in the open state, the movable cover forms an opening so that the cavity is communicated with the outside, and when the movable cover is in the closed state, the cavity is isolated from the outside; after determining that the smart device has stopped falling into the target area, the method further comprises: and driving the movable cover body to be in the closed state through the second motor. After the first recovery device determines that the intelligent device stops descending to the target area, the first recovery device can drive the movable cover body to be in the closing state through the second motor to close the intelligent device into the cavity, so that the intelligent device can be ensured to perform a subsequent charging process in a relatively closed environment, and external factors, such as rainwater, sand wind and the like, are prevented from influencing the charging process.
With reference to the embodiment of the first aspect, in one possible implementation manner, the method further includes: and when the intelligent equipment is determined to be charged, the movable cover body is driven to be in the opening state through the second motor.
With reference to the embodiment of the first aspect, in a possible implementation manner, the first recycling device includes a temperature sensor and a wireless charging component, and the charging the smart device includes: and dynamically adjusting the charging current of the wireless charging assembly based on the current environment temperature value detected by the temperature sensor. In this way, the battery life of the smart device is extended.
In a second aspect, an embodiment of the present application provides an automatic recycling apparatus, which is applied to a first recycling device that performs a spatial layout according to a routing inspection route, and the apparatus includes: the determining module is used for determining that a handshake signal is established between the intelligent equipment and the determining module; the judging module is used for judging whether the intelligent equipment stops descending to a target area or not; and the charging module is used for charging the intelligent equipment when the judgment module judges that the intelligent equipment is yes.
With reference to the embodiment of the second aspect, in a possible implementation manner, the first recycling device is one of a plurality of recycling devices included in a pre-established recycling network, the apparatus further includes an exiting module and an joining module, and the exiting module is configured to exit the recycling network; and the joining module is used for rejoining the recovery network after the intelligent equipment is determined to leave.
With reference to the second aspect, in a possible implementation manner, the first recovery device includes a pressure sensor, the pressure sensor is disposed in the target area, and the determining module is configured to acquire a pressure signal through the pressure sensor and determine whether the smart device has stopped descending to the target area according to the pressure signal.
With reference to the second aspect, in a possible implementation manner, the first recovery device includes a radar sensor, and the apparatus further includes a driving module, configured to drive the pressure sensor to acquire the pressure signal when it is determined that a radar signal including identification information of the smart device is detected by the radar sensor.
With reference to the second aspect, in a possible implementation manner, the first recovery device includes a charging component, a limiting component, and a first motor connected to the limiting component, and the apparatus further includes a driving module, configured to drive the limiting component through the first motor to adjust a position of the smart device to a target position, where the target position corresponds to the charging component.
With reference to the second aspect of the embodiments, in one possible implementation manner, a cavity is formed inside the first recycling device, the first recycling device includes a second motor and a movable cover connected to the second motor, the movable cover includes an open state and a closed state, when the movable cover is in the open state, the movable cover forms an opening so that the cavity is communicated with the outside, and when the movable cover is in the closed state, the cavity is isolated from the outside; the device also comprises a driving module which is used for driving the movable cover body to be in the closed state through the second motor.
With reference to the second aspect, in a possible implementation manner, the driving module is further configured to drive the movable cover to be in the open state through the second motor when it is determined that the charging of the smart device is completed.
With reference to the second aspect, in a possible implementation manner, the first recycling device includes a temperature sensor and a wireless charging component, and the charging module is configured to dynamically adjust a charging current of the wireless charging component based on a current ambient temperature value detected by the temperature sensor.
In a third aspect, an embodiment of the present application further provides a recycling apparatus, including: a memory and a processor, the memory and the processor connected; the memory is used for storing programs; the processor calls a program stored in the memory to perform the method of the first aspect embodiment and/or any possible implementation manner of the first aspect embodiment.
In a fourth aspect, the present application further provides a non-transitory computer-readable storage medium (hereinafter, referred to as a computer-readable storage medium), on which a computer program is stored, where the computer program is executed by a computer to perform the method in the foregoing first aspect and/or any possible implementation manner of the first aspect.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts. The foregoing and other objects, features and advantages of the application will be apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. The drawings are not intended to be to scale as practical, emphasis instead being placed upon illustrating the subject matter of the present application.
Fig. 1 shows a schematic structural diagram of a recycling network according to an embodiment of the present application.
Fig. 2 shows a schematic structural diagram of a recycling apparatus provided in an embodiment of the present application.
Fig. 3 shows a flowchart of an automatic recycling method according to an embodiment of the present application.
Fig. 4 shows an activity diagram of a limiting assembly provided in the embodiment of the present application.
Fig. 5 shows a block diagram of an automatic recycling device according to an embodiment of the present application.
Icon: 10-a recovery network; 100-a recovery plant; 110-a processor; 120-a memory; 130-a charging assembly; 400-automatic recovery device; 410-a determination module; 420-a judgment module; 430-charging module.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, relational terms such as "first," "second," and the like may be used solely in the description herein 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 an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Further, the term "and/or" in the present application is only one kind of association relationship describing the associated object, and means that three kinds of relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone.
In addition, the defects (which cause the smart device to be easily lack of power during the inspection process and finally cause the inspection task to fail) of the inspection scheme in the prior art are the results obtained after the applicant has practiced and studied carefully, and therefore, the discovery process of the defects and the solutions proposed by the embodiments of the present application to the defects in the following are considered as the contribution of the applicant to the present application.
In order to solve the above problem, embodiments of the present application provide an automatic recycling method, an automatic recycling device, a recycling apparatus, and a computer-readable storage medium, where in an inspection process of an intelligent device, the recycling apparatus can charge the intelligent device, so as to ensure that the intelligent device successfully completes an inspection task.
The technology can be realized by adopting corresponding software, hardware and a combination of software and hardware. The following describes embodiments of the present application in detail.
First, a recycling network 10 for implementing the automatic recycling method and apparatus according to the embodiment of the present application is described with reference to fig. 1.
The recycling network 10 includes a plurality of recycling devices 100, and the recycling networks 10 may be connected to each other in a wired or wireless manner, so as to perform data interaction. Data interacted with includes but is not limited to: whether the intelligent device is being charged by the intelligent device is judged.
Of course, other devices may be included in the recycling network 10, and are not specifically limited herein.
In the embodiment of the application, the electric tower is patrolled by intelligent equipment (such as an unmanned aerial vehicle, an unmanned ship and the like). The staff can plan out the route of patrolling for the smart machine according to the actual conditions of electricity tower in advance.
The position of each recycling device 100 is determined according to the routing inspection route, so that intelligent equipment can be assisted to inspect the electric tower.
For example, in some embodiments, the recovery apparatus 100 may be disposed on several or each of all of the electric towers. The number of the recovery apparatus 100 provided in the electric tower may be one or more. Further, the number of the recovery apparatus 100 provided on each of the electric towers provided with the recovery apparatus 100 may be the same or may be different, for example, a plurality of the recovery apparatuses 100 are provided on the electric tower in the central area of the inspection route, and one recovery apparatus 100 is provided on the electric tower in the edge area of the inspection route.
For example, in some embodiments, a plurality of recovery devices 100 separated from the electric tower may be disposed on the inspection route according to the trend of the inspection route. In this embodiment, further, a plurality of recycling apparatuses 100 may be provided, and the plurality of recycling apparatuses 100 are arranged in a honeycomb shape, thereby maximizing the use of the respective recycling apparatuses 100.
As mentioned above, the recycling device 100 may assist the smart device in polling, such as recycling the smart device and charging the recycled smart device. To achieve this effect, referring to fig. 2, the recycling apparatus 100 may include: a processor 110, a memory 120, and a charging component 130.
It should be noted that the components and configuration of the recycling apparatus 100 shown in FIG. 2 are exemplary only, and not limiting, and that the recycling apparatus 100 can have other components and configurations as desired. For example, in some cases, the recycling apparatus 100 may also include a sensor.
The processor 110, memory 120, charging component 130, and other components that may be present in the recycling appliance 100 are electrically connected to one another, either directly or indirectly, to enable the transfer or interaction of data. For example, the processor 110, the memory 120, the charging component 130, and other components that may be present may be electrically connected to each other via one or more communication buses or signal lines.
The memory 120 is used to store a program, for example, a program corresponding to an automatic recovery method appearing later or an automatic recovery apparatus appearing later. Optionally, when the memory 120 stores therein the automatic recycling apparatus, the automatic recycling apparatus includes at least one software function module that can be stored in the memory 120 in the form of software or firmware (firmware).
Alternatively, the software function module included in the automatic recycling apparatus may also be solidified in an Operating System (OS) of the recycling device 100.
The charging assembly 130 may be a wireless charging assembly, such as a charging coil, which is charged by electromagnetic induction. Of course, in some embodiments, the charging assembly 130 may also be a wired charging assembly, such as a contact charging pad.
The processor 110 is used to execute executable modules stored in the memory 120, such as software functional modules or computer programs included in the automatic recycling apparatus. When the processor 110 receives the execution instruction, it may execute the computer program, for example, to perform: confirming that a handshake signal is established between the intelligent equipment and the intelligent equipment; judging whether the intelligent equipment is stopped and descended to a target area of the first recovery equipment or not; and when yes, charging the intelligent equipment.
Of course, the method disclosed in any of the embodiments of the present application can be applied to the processor 110, or implemented by the processor 110.
Of course, in some embodiments, the recycling network 10 formed by the recycling devices 100 may be a local area network, and the local area network may be linked with an external network through a communication module, such as a 4G module or a GPRS module. In this embodiment, the recycling device 100 may, in addition to charging the smart device, perform data interaction with the smart device, for example, read image data acquired by the smart device during the inspection, location data of the smart device, and so on, and upload the data to the fixed-point server through the communication module.
The inspection personnel can access the fixed-point server to realize a series of operations on the electric tower, the inspection route, the intelligent equipment and the like, such as information checking, information setting and the like.
Wherein, information viewing includes but is not limited to: battery data, position data, image data of unmanned aerial vehicle. Through looking over battery data, can see data such as voltage, electric current, temperature of battery in real time to judge whether unmanned aerial vehicle work battery is unusual.
The following describes a process of automatically recycling the smart device by the first recycling device, taking the smart device as an unmanned aerial vehicle and taking the first recycling device in the recycling network 10 as an example.
Referring to fig. 3, an embodiment of the present application provides an automatic recycling method for a first recycling apparatus.
The steps involved will be described below in conjunction with fig. 3.
Step S110: and determining to establish a handshake signal with the intelligent device.
In some embodiments, unmanned aerial vehicle is patrolling and examining the in-process of patrolling and examining the electric tower according to patrolling and examining the circuit, can constantly detect the electric quantity of self. When the unmanned aerial vehicle detects that the current electric quantity of the unmanned aerial vehicle is lower than a preset electric quantity threshold value, or when the unmanned aerial vehicle detects that the current electric quantity of the unmanned aerial vehicle is not enough to fly to a next target place (which can be a next electric tower to be patrolled and examined, and can also be a destination when the unmanned aerial vehicle returns), a request assistance signal can be actively sent to the outside through a signal transceiving component included in the unmanned aerial vehicle.
The unmanned aerial vehicle can broadcast the request assistance signal to the outside, so that the recovery network 10 in the signal radiation range of the request assistance signal broadcast by the unmanned aerial vehicle can acquire the request assistance signal. Of course, it is understood that a signal transceiving module is provided in each recycling apparatus 100 for transceiving signals.
Optionally, each recovery device 100 that acquires the request assistance signal may analyze, according to the signal strength of the request assistance signal acquired by itself, to obtain a distance value between itself and the current position of the unmanned aerial vehicle.
After obtaining the distance, the information including the analyzed distance value may be sent between the recovery devices 100 to other recovery devices 100 so as to determine a first recovery device, where the distance value between the first recovery device and the current position of the drone is the smallest.
After the first recovery device is determined, a handshake signal is established between the first recovery device and the unmanned aerial vehicle.
Optionally, in some embodiments, each recovery apparatus 100 that acquires the request assistance signal may also feed back a handshake signal to the drone. Subsequently, the unmanned aerial vehicle determines that the recycling device 100 corresponding to the first acquired feedback handshake signal is the first recycling device, and establishes a handshake signal therewith.
Of course, if recycling equipment 100 is disposed on each electric tower, in some embodiments, the unmanned aerial vehicle may establish a handshake signal with recycling equipment 100 corresponding to the electric tower after polling one electric tower in the process of polling the electric tower according to the polling route.
After the handshake signals are established between the first recovery device and the unmanned aerial vehicle, the first recovery device is characterized to charge the unmanned aerial vehicle, so that the unmanned aerial vehicle flies to the first recovery device and performs a subsequent charging process.
Step S120: and judging whether the intelligent equipment is stopped and descended to the target area of the first recovery equipment or not.
After handshake signals are established between the first recovery equipment and the unmanned aerial vehicle, the unmanned aerial vehicle flies to the position where the first recovery equipment is located, and the first recovery equipment waits for the unmanned aerial vehicle to land.
In some embodiments, the first recovery device can start the charging function after determining that the unmanned aerial vehicle falls, and can close the charging function in the process of waiting for the unmanned aerial vehicle to fall, thereby playing an energy-saving role.
A target area is included on the recovery device 100 for landing by the drone.
Wherein the recycling apparatus 100 may comprise a pressure sensor, and the pressure sensor is disposed at a position corresponding to a target area of the recycling apparatus 100, for example, the target area is a platform, and the pressure sensor is disposed under the platform or disposed in a sandwich of plates constituting the platform, and can detect a pressure applied on the platform.
When the drone lands on the target area of the first recovery device, the weight of the drone may cause pressure changes in the target area. Based on this, first recovery plant can judge whether unmanned aerial vehicle has stopped to descend to the target area through the pressure signal that pressure sensor gathered.
Of course, in some embodiments, the charging parameters adapted for different models of drones are different. In order to play the guard action to unmanned aerial vehicle's the charging, can save the pressure variation value that the unmanned aerial vehicle of different models can arouse in advance in each recovery plant 100, and save the charging parameter that the unmanned aerial vehicle of different models corresponds. Under the embodiment, the first recovery device can determine which type of unmanned aerial vehicle is the unmanned aerial vehicle according to the specific pressure change value after the unmanned aerial vehicle lands in the target area according to the currently detected pressure change, then determine the charging parameter adapted to the unmanned aerial vehicle of the type, and subsequently charge the current unmanned aerial vehicle according to the adapted charging parameter.
Further, in some embodiments, the reclamation apparatus 100 may include a radar sensor. When the first recovery device is started to work, the radar sensor can be used for detecting radar signals. Correspondingly, also be provided with radar signal transmitter on each unmanned aerial vehicle, can launch and contain the identification information who is used for the representation self identity.
Before first recovery plant drive pressure sensor gathered pressure signal, first recovery plant can be when confirming that the radar signal that detects identification information including unmanned aerial vehicle through radar sensor (when arriving through confirming that unmanned aerial vehicle has promptly), and the pressure sensor of redriving gathers pressure signal, avoids pressure sensor to be in operating condition always.
In addition, when corresponding charging parameters are set for unmanned aerial vehicles of different models, the model of the current unmanned aerial vehicle can be determined through identification information included in the radar signal.
Further, in some embodiments, when the charging component 130 is a wireless charging component, a location on the recycling device 100 corresponding to the wireless charging component may be determined as the target location. At this moment, after confirming that unmanned aerial vehicle descends to the target area, first recovery plant can also correct unmanned aerial vehicle's gesture to make unmanned aerial vehicle stop at the target location as far as possible, make unmanned aerial vehicle be close to the position that is provided with wireless subassembly that charges promptly as far as possible, thereby guarantee the charging process normality.
In this embodiment, the recycling apparatus 100 may further include a limit component and a first motor connected to the limit component. In some embodiments, the position-limiting assembly may include an X-axis movable bar moving in a first direction of the target area and a Y-axis movable bar moving in a second direction of the target area, and the first direction is perpendicular to the second direction. The X-axis movable rod and the Y-axis movable rod are positioned in the same horizontal plane and are vertical to each other.
Correspondingly, the first motor comprises a first X-axis motor and a first Y-axis motor, the first X-axis motor is connected with the X-axis movable rod, and the first Y-axis motor is connected with the Y-axis movable rod. The first X-axis motor can drive the X-axis movable rod to move, and the first Y-axis motor can drive the Y-axis movable rod to move. Alternatively, the movement starting point and the movement ending point of the X-axis movable rod and the movement starting point and the movement ending point of the Y-axis movable rod may be limited in advance by configuring the movement parameters. As shown in fig. 4, when the X-axis movable rod moves from the movement starting point to the movement ending point and when the Y-axis movable rod moves from the movement starting point to the movement ending point, the drone that is pushed within the range surrounded by the X-axis movable rod and the Y-axis movable rod is moved to the target position of the recovery apparatus 100, and then the X-axis movable rod and the Y-axis movable rod will respectively return to the respective movement starting point positions.
Subsequently, after first recovery plant is confirming that unmanned aerial vehicle descends to the target area, can drive spacing subassembly through first motor to with unmanned aerial vehicle's position adjustment to the target location.
In addition, in some embodiments, the limiting assembly may further include a Z-axis lifting table moving in a third direction of the target area, and accordingly, the first motor further includes a first Z-axis motor. The Z-axis lifting platform is perpendicular to a horizontal plane where the X-axis movable rod and the Y-axis movable rod are located together, and the third direction is perpendicular to the first direction and the second direction respectively, so that three straight lines where the first direction, the second direction and the third direction are located enclose a three-dimensional coordinate system.
Under the default condition, the Z-axis lifting platform is in a lifting state, when the first recovery device collects a pressure signal through the pressure sensor, namely after the unmanned aerial vehicle is judged to stop to land to a target area, the first Z-axis motor starts to drive the Z-axis lifting platform to land, so that the first recovery device can recover the unmanned aerial vehicle to the interior of the first recovery device (for example, a specially-arranged equipment box) for charging.
When follow-up unmanned aerial vehicle need fly away from first recovery plant, first Z axle motor begins the drive Z axle elevating platform to rise to the Z axle elevating platform holds up unmanned aerial vehicle from the inside of first recovery plant, and the unmanned aerial vehicle of being convenient for flies away from first recovery plant.
Furthermore, in some embodiments, the interior of the recycling apparatus 100 forms a cavity, and the recycling apparatus 100 includes a second motor and a movable cover connected to the second motor.
The movable cover body comprises an opening state and a closing state, when the movable cover body is in the opening state, the movable cover body forms an opening to enable the cavity to be communicated with the outside, when the movable cover body is in the closing state, the opening disappears, and the cavity is isolated from the outside.
After the first recovery device determines that the unmanned aerial vehicle stops to the target area, the first recovery device can drive the movable cover body to be in the closing state through the second motor, and the unmanned aerial vehicle is closed into the cavity, so that the unmanned aerial vehicle can perform a subsequent charging process in a relatively closed environment, and external factors, such as rainwater, sand blown by the wind and the like, are prevented from influencing the charging process.
Of course, in this embodiment, when the first recovery device determines that the charging of the unmanned aerial vehicle is completed, the second motor may also drive the movable cover to be in the open state, so that the unmanned aerial vehicle may normally fly away from the first recovery device.
Certainly, after first recovery plant is confirming that unmanned aerial vehicle flies from first recovery plant, can close mobile lid once more to play the guard action to first recovery plant, detect there being unmanned aerial vehicle to arrive the back when follow-up through radar sensor, open mobile lid once more, be convenient for unmanned aerial vehicle descends to the target area.
Step S130: and when yes, charging the intelligent equipment.
After entering the charging process, the first recovery device charges the unmanned aerial vehicle through the charging assembly.
Wherein, when the charging assembly is a wireless charging assembly, in some embodiments, the recycling apparatus 100 may further include a temperature sensor.
When first recovery plant is charging unmanned aerial vehicle, can also gather the temperature value of current environment according to temperature sensor, then based on current environment temperature value, carry out dynamic adjustment to the charging current of wireless subassembly that charges, for example when detecting outside low temperature, down-regulation charging current, the extension charge time, make the life-span of less charging current can effectual extension battery, for example set up a plurality of ambient temperature intervals in advance again, and set up corresponding charging current for every ambient temperature interval, follow-up according to current environment temperature value, adjust charging current to the charging current with the interval adaptation of current environment temperature value place ambient temperature.
Of course, in some embodiments, the recycling device 100 may also include components such as a solar charging pad, a storage battery, and the like.
Furthermore, in some embodiments, the recovery device 100 may further include a weather meter for detecting the current weather environment, such as detecting the presence of rain, wind, sand, etc. Furthermore, the current environment can be detected by combining the detection results of the weather instrument and the temperature sensor. When at least one of a high-temperature environment, a low-temperature environment, a rainwater environment or a sand wind environment exists, an early warning signal can be generated to remind a worker. Of course, at this time, the first recycling device may also take corresponding measures, for example, when facing a high temperature environment, if continuous charging is performed again, which is risky for a power battery with higher energy density, at this time, charging may be suspended; when facing low temperature environment, the discharge performance of battery can receive the influence, can receive the influence when unmanned aerial vehicle returns to the navigation, interacts with unmanned aerial vehicle this moment, postpones the time that unmanned aerial vehicle flies from first recovery plant.
In addition, in some embodiments, a special meteorological environment may be preset in the recycling apparatus 100 to indicate that the unmanned aerial vehicle cannot perform the inspection task in the special meteorological environment.
In this embodiment, when the recovery apparatus 100 detects that the current weather environment belongs to at least one of the pre-configured special weather environments through the weather meter, it may be determined that the unmanned aerial vehicle is currently unable to perform the inspection task, and send the determination result to the unmanned aerial vehicle, so as to prevent the unmanned aerial vehicle from actively performing the inspection task at the current time. If on the premise that the recovery device 100 comprises the movable cover body, at this time, the recovery device 100 can also prevent the movable cover body from being automatically opened, so that the unmanned aerial vehicle is prevented from actively executing the inspection task at present. Of course, at this moment, the user can control the movable cover body in a manual mode, and the unmanned aerial vehicle is controlled to execute the routing inspection task in the manual mode.
In addition, in some embodiments, the recycling apparatus 100 may calibrate each sensor included in the recycling apparatus after each restart, so as to prevent data drift.
Of course, in this application embodiment, each recovery apparatus 100 is completed charging for the unmanned aerial vehicle, and after the unmanned aerial vehicle flies away from the recovery apparatus 100, the recovery apparatus 100 may also continue to wait for the handshake signal to be established again with other unmanned aerial vehicles, and charge the unmanned aerial vehicle.
In addition, in order to avoid conflicts caused by charging multiple drones flying to the same first recovery device at the same time, in some embodiments, the first recovery device may actively exit the recovery network 10 after determining that the handshake signals are established with any one drone, thereby ensuring that the first recovery device establishes handshake signals with only one drone at a time.
Certainly, first recovery plant accomplishes the back of charging to the unmanned aerial vehicle of establishing the handshake signal with self, if it leaves to detect unmanned aerial vehicle, then the new unmanned aerial vehicle can be retrieved to present self of characterization, and at this moment, first recovery plant can rejoin recovery network 10 to wait for and establish the handshake signal with other unmanned aerial vehicles.
The automatic recovery method provided by the embodiment of the application is characterized in that the first recovery device is arranged on the routing inspection line of the intelligent device, and in the routing inspection process of the intelligent device, if the first recovery device establishes a handshaking signal with the intelligent device, the first recovery device can wait for the intelligent device to stop and descend to a target area and then charge the intelligent device, so that the situation that the electric quantity is insufficient when the intelligent device is used for routing inspection to a plurality of electric towers is avoided, and the intelligent device is ensured to successfully finish routing inspection tasks.
As shown in fig. 5, an automatic recycling apparatus 400 applied to a first recycling device performing a spatial layout according to an inspection route according to an embodiment of the present application may include: a determination module 410, a determination module 420, and a charging module 430.
A determining module 410, configured to determine that a handshake signal is established with the smart device;
a judging module 420, configured to judge whether the smart device has stopped descending to a target area;
and a charging module 430, configured to charge the smart device when the determination module determines that the determination result is yes.
In a possible implementation manner, the first recycling device is one of a plurality of recycling devices included in a pre-established recycling network, the apparatus further includes an exiting module and an joining module, and the exiting module is configured to exit the recycling network; and the joining module is used for rejoining the recovery network after the intelligent equipment is determined to leave.
In a possible implementation manner, the first recovery device includes a pressure sensor, the pressure sensor is disposed in the target area, and the determining module 420 is configured to collect a pressure signal through the pressure sensor and determine whether the smart device has stopped descending to the target area according to the pressure signal.
In a possible implementation, the first recovery device includes a radar sensor, and the apparatus further includes a driving module configured to drive the pressure sensor to acquire the pressure signal when it is determined that a radar signal including identification information of the smart device is detected by the radar sensor.
In a possible implementation manner, the first recovery device includes a charging component, a limiting component, and a first motor connected to the limiting component, and the apparatus further includes a driving module, configured to drive the limiting component through the first motor to adjust a position of the smart device to a target position, where the target position corresponds to the charging component.
In one possible embodiment, a cavity is formed inside the first recycling device, the first recycling device includes a second motor and a movable cover connected to the second motor, the movable cover includes an open state and a closed state, when the movable cover is in the open state, the movable cover forms an opening so that the cavity is communicated with the outside, and when the movable cover is in the closed state, the cavity is isolated from the outside; the device also comprises a driving module which is used for driving the movable cover body to be in the closed state through the second motor.
In a possible implementation manner, the driving module is further configured to drive the movable cover to be in the open state through the second motor when it is determined that the charging of the smart device is completed.
In a possible implementation manner, the first recycling device includes a temperature sensor and a wireless charging component, and the charging module 430 is configured to dynamically adjust a charging current of the wireless charging component based on a current ambient temperature value detected by the temperature sensor.
The automatic recycling apparatus 400 provided in the embodiment of the present application has the same implementation principle and technical effect as the foregoing method embodiments, and for the sake of brief description, reference may be made to the corresponding contents in the foregoing method embodiments for the parts of the embodiment that are not mentioned in the description.
In addition, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a computer, the computer program executes the steps included in the automatic recycling method.
In summary, according to the automatic recycling method, the automatic recycling device, the recycling apparatus, and the computer-readable storage medium provided by the embodiments of the present invention, the first recycling apparatus is provided on the routing inspection line of the smart device, and in the routing inspection process of the smart device, if the first recycling apparatus establishes a handshake signal with the smart device, the first recycling apparatus may wait for the smart device to stop and descend to the target area and then charge the target area, so that the situation that the power of the smart device is insufficient when the smart device is routing inspection for a plurality of power towers is avoided, and the smart device is ensured to successfully complete the routing inspection task.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a notebook computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.

Claims (10)

1. An automatic recycling method applied to a first recycling apparatus spatially arranged according to a routing inspection route, the method comprising:
confirming that a handshake signal is established between the intelligent equipment and the intelligent equipment;
judging whether the intelligent equipment is stopped and descended to a target area of the first recovery equipment or not;
and when yes, charging the intelligent equipment.
2. The method of claim 1, wherein the first recovery device is one of a plurality of recovery devices included in a pre-established recovery network, and wherein after the determining and the smart device establish the handshake signal, the method further comprises, before the determining whether the smart device has stopped falling to the target area:
exiting the recovery network;
correspondingly, after the charging the smart device, the method further includes:
and after determining that the intelligent device leaves, rejoining the recovery network.
3. The method of claim 1, wherein the first recovery device comprises a pressure sensor disposed in the target zone, and wherein determining whether the smart device has stopped descending to the target zone comprises:
and acquiring a pressure signal through the pressure sensor, and judging whether the intelligent equipment stops descending to the target area or not according to the pressure signal.
4. The method of claim 1, wherein the first recovery device comprises a charging component, a restraining component, and a first motor coupled to the restraining component, and wherein prior to the charging the smart device, the method further comprises:
the position of the intelligent device is adjusted to a target position through the first motor driving the limiting assembly, and the target position corresponds to the charging assembly.
5. The method of claim 1, wherein the first recycling device has a cavity formed therein, the first recycling device includes a second motor and a movable cover connected to the second motor, the movable cover includes an open state and a closed state, the movable cover forms an opening when the movable cover is in the open state such that the cavity is in communication with the outside, and the cavity is isolated from the outside when the movable cover is in the closed state; after determining that the smart device has stopped falling into the target area, the method further comprises:
and driving the movable cover body to be in the closed state through the second motor.
6. The method of claim 5, further comprising:
and when the intelligent equipment is determined to be charged, the movable cover body is driven to be in the opening state through the second motor.
7. The method of claim 1, wherein the first recovery device comprises a temperature sensor and a wireless charging component, and wherein charging the smart device comprises:
and dynamically adjusting the charging current of the wireless charging assembly based on the current environment temperature value detected by the temperature sensor.
8. An automatic recovery apparatus, applied to a first recovery device spatially arranged according to a routing inspection route, the apparatus comprising:
the determining module is used for determining that a handshake signal is established between the intelligent equipment and the determining module;
the judging module is used for judging whether the intelligent equipment stops descending to a target area or not;
and the charging module is used for charging the intelligent equipment when the judgment module judges that the intelligent equipment is yes.
9. A recycling apparatus, comprising: a memory and a processor, the memory and the processor connected;
the memory is used for storing programs;
the processor calls a program stored in the memory to perform the method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when executed by a computer, performs the method of any one of claims 1-7.
CN202011419951.4A 2020-12-04 2020-12-04 Automatic recycling method, device, recycling equipment and computer readable storage medium Pending CN112488335A (en)

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