TWI814322B - Charging and patrol replacement system for air-land unmanned vehicle and method thereof - Google Patents

Abstract

A charging and patrol replacement system for air-land unmanned vehicle and method thereof is disclosed. By continuously detecting a remaining battery of an unmanned aerial vehicle (UAV) in flight, and generating a return-to-home signals to transmit to an unmanned ground vehicle (UGV) when the remaining battery is lower than a threshold value, so that the UGV to transmit a coordinates of at least one power supply device to the UAV in flight to guide the return to the power supply device for charging, at the same time, driving another UAV to synchronize the inspection data with the UAV that is returning to charge, and then take over the UAV that is returning to charge for patrolling. The mechanism is help to improve the sustainability and synergy of the air-land unmanned vehicle.

Description

Charging and inspection replacement system and method for air and land unmanned aerial vehicles

The invention relates to a charging and inspection replacement system and a method thereof, in particular to a charging and inspection replacement system and a method for an air-land unmanned aerial vehicle.

In recent years, with the popularity and vigorous development of unmanned aerial vehicles, various applications based on unmanned aerial vehicles have sprung up, such as inspections, pesticide spraying, environmental measurement, etc. However, due to the limited battery capacity used by unmanned aerial vehicles, common unmanned aerial vehicles (such as four-axis drones), for example, can usually only fly for about 30 minutes. Therefore, how to improve the endurance of unmanned aerial vehicles It has become one of the problems that various manufacturers urgently want to solve.

Generally speaking, the power sources of traditional unmanned aerial vehicles include batteries and fuel. No matter which power source is used, in order to enable the unmanned aerial vehicle to have a longer airborne capability, it is common to increase the battery capacity or carry Way more fuel to achieve. However, the above methods will significantly increase the weight and volume, thereby affecting the endurance of the unmanned aerial vehicle, so there is a problem of poor endurance.

In view of this, some manufacturers have proposed a technical method that combines fuel and battery (i.e., fuel-electric hybrid), which automatically uses different power sources in different situations through the hybrid method of fuel and electricity. For example, using fuel as a power source at night , using the battery as a power source during the day, and charging the battery with solar panels at the same time, in this way to increase the endurance of the unmanned aerial vehicle. However, a single unmanned aerial vehicle may still run out of power, so another unmanned aerial vehicle is usually used to take over the mission of the unmanned aerial vehicle that has exhausted its power. However, this method requires manual operation of multiple unmanned aerial vehicles. Vehicles are prone to problems with poor synergy.

To sum up, it can be seen that the problem of poor endurance and coordination of air and land UAVs has long existed in the previous technology. Therefore, it is necessary to propose improved technical means to solve this problem.

The invention discloses a charging and inspection replacement system for air and land unmanned aerial vehicles and a method thereof.

First, the present invention discloses a charging and inspection replacement system for air and land drones. This system includes: unmanned aerial vehicles, unmanned ground vehicles and multiple backup power supply vehicles. The unmanned aerial vehicle includes: a detection module, a transceiver module, a navigation module and a synchronization module. Among them, the detection module is used to generate inspection data through sensors when the unmanned aerial vehicle is flying, while continuously detecting its own remaining power, and generating a return signal when the remaining power is lower than the threshold; the transceiver module A set of connection detection modules is used to transmit the generated inspection data and return-to-home signals, as well as receive control signals for controlling the flight of unmanned aerial vehicles and the coordinates of power-supply vehicles with charging modules; the navigation module is connected to the transceiver module, Used to perform a return-to-home procedure based on the received coordinates of the power-supply vehicle, wherein the return-to-home procedure calculates the distance between the coordinates of the unmanned aerial vehicle in flight and the coordinates of the power-supply vehicle, and guides the unmanned aerial vehicle in flight. The vehicle moves and lands on the power supply vehicle with the shortest distance to electrically connect with the charging module and charge; the synchronization module is connected to the navigation module to transmit inspection data to the unmanned aerial vehicle when it performs the return procedure. Another activated unmanned aerial vehicle completes data synchronization, so that the another activated unmanned aerial vehicle takes over the inspection of the unmanned aerial vehicle that performs the return procedure based on the inspection data, wherein the unmanned aerial vehicle and Another activated unmanned aerial vehicle allows data to be synchronized with each other through the respective synchronization modules. Next, in the unmanned ground vehicle part, it includes: control module and transmission module. Among them, the control module is used to generate a control signal to control the flight of the unmanned aerial vehicle, and to select and activate one of the unmanned aerial vehicles, and when the unmanned ground vehicle detects that the unmanned aerial vehicle performs a return procedure. , select to start another unmanned aerial vehicle; the transmission module is connected to the control module to continuously transmit control signals to the selected unmanned aerial vehicle, and when receiving the return signal from the unmanned aerial vehicle, transmit the power supply to the vehicle coordinates to the unmanned aerial vehicle in flight. In the part of the multiple backup power supply vehicles, each backup power supply vehicle is set up in the inspection area and obtains positioning coordinates through the positioning system. When the unmanned aerial vehicle in flight transmits a return signal, it waits When the coordinates of the power supply vehicle transmitted by the unmanned ground vehicle are not received within the time, the flying unmanned aerial vehicle broadcasts a charging request. When the backup power supply vehicle receives this charging request, it broadcasts its own positioning coordinates, so that The unmanned aerial vehicle in flight receives the positioning coordinates as the coordinates of the power supply vehicle, and performs a return procedure according to the coordinates of the power supply vehicle.

In addition, the present invention also discloses a charging and inspection replacement method for air and land drones, which is applied in an environment with unmanned aerial vehicles, unmanned ground vehicles and multiple backup power supply vehicles. The steps include: setting up in the inspection area Each of the backup power supply vehicles obtains positioning coordinates through the positioning system; the unmanned ground vehicle selects and activates one of the unmanned aerial vehicles, and continuously transmits control signals to the selected unmanned aerial vehicle. Aviation vehicles, used to control the flight of unmanned aerial vehicles; during flight The unmanned aerial vehicle continues to generate inspection data through sensors, while continuously detecting its own remaining power, and when the remaining power is lower than the threshold, it generates a return signal to transmit to the unmanned ground vehicle; the unmanned ground vehicle When the return signal is received, the coordinates of the power supply vehicle with the charging module are transmitted to the flying unmanned aerial vehicle; the flying unmanned aerial vehicle executes the return procedure according to the received coordinates of the power supply vehicle, and when in flight After the unmanned aerial vehicle transmits the return signal, when the coordinates of the power supply vehicle transmitted by the unmanned ground vehicle are not received within the waiting time, the unmanned aerial vehicle in flight broadcasts a charging request, wherein the return program calculates The distance between the coordinates of the flying unmanned aerial vehicle and the coordinates of the power supply vehicle, and guide the flying unmanned aerial vehicle to move and land to the power supply vehicle with the shortest distance to electrically connect with the charging module and perform Charging; when the unmanned ground vehicle detects that the unmanned aerial vehicle is performing the return procedure, the unmanned ground vehicle chooses to start another unmanned aerial vehicle and transmits the control signal to the selected other unmanned aerial vehicle for control Another selected unmanned aerial vehicle is flying, in which the unmanned aerial vehicle and another activated unmanned aerial vehicle are allowed to synchronize data with each other through their respective synchronization modules; when the backup power supply vehicle receives a charging request , broadcasting its own positioning coordinates, so that the flying unmanned aerial vehicle receives the positioning coordinates as the coordinates of the power supply vehicle, and executes the return procedure according to the coordinates of the power supply vehicle; and the unmanned aerial vehicle executing the return procedure will patrol The inspection data is transmitted to another activated unmanned aerial vehicle to complete the data synchronization, so that the other activated unmanned aerial vehicle can take over the inspection of the unmanned aerial vehicle that performs the return procedure based on the inspection data.

The system and method disclosed by the present invention are as above. The difference from the prior art is that the present invention continuously detects the remaining power of the unmanned aerial vehicle in flight, and generates a return signal to transmit when the remaining power is lower than the threshold. to the unmanned ground vehicle, allowing the unmanned ground vehicle to continuously transmit the coordinates of the power supply vehicle to the flying unmanned aerial vehicle to guide it back to the power supply vehicle for charging, and at the same time Another unmanned aerial vehicle is activated to synchronize the inspection data with the unmanned aerial vehicle that returns for recharging, and then takes over the inspection of the unmanned aerial vehicle that returns for recharging.

Through the above technical means, the present invention can achieve the technical effect of improving the endurance and interoperability of air and land drones.

110a~110n: Unmanned aerial vehicle

111:Detection module

112: Transceiver module

113:Navigation module

114: Synchronization module

120:Unmanned ground vehicle

121:Control module

122:Transmission module

123:Charging module

124: Positioning module

310a, 310b: Unmanned aerial vehicle

320,420: Unmanned ground vehicle

410a: Unmanned aerial vehicle

430: Inspection area

430a~430n: Backup power supply vehicle

Step 210: The unmanned ground vehicle selects and activates one of the unmanned aerial vehicles, and continuously transmits a control signal to the selected unmanned aerial vehicle to control the flight of the unmanned aerial vehicle.

Step 220: The unmanned aerial vehicle in flight continues to generate inspection data through at least one sensor, while continuously detecting its own remaining power, and when the remaining power is lower than a threshold, a return flight is generated. signal to the unmanned ground vehicle

Step 230: When the unmanned ground vehicle receives the return signal, it transmits the coordinates of at least one power supply vehicle having a charging module to the unmanned aerial vehicle in flight.

Step 240: The unmanned aerial vehicle in flight executes a return procedure based on the received coordinates of the power supply vehicle, wherein the return procedure calculates the coordinates of the unmanned aerial vehicle in flight and the coordinates of the power supply vehicle. The distance between the coordinates, and guide the unmanned aerial vehicle in flight to move and land to the power supply vehicle with the shortest distance to electrically connect with the charging module and charge it

Step 250: When the unmanned ground vehicle detects that the unmanned aerial vehicle performs the return procedure, the unmanned ground vehicle selects to start another unmanned aerial vehicle and transmits the control information The signal is transmitted to another selected unmanned aerial vehicle for controlling the flight of another selected unmanned aerial vehicle.

Step 260: The unmanned aerial vehicle executing the return procedure transmits the inspection data to another activated unmanned aerial vehicle to complete data synchronization, so that the another activated unmanned aerial vehicle can perform the inspection according to the The inspection data takes over the inspection of the unmanned aerial vehicle that performs the return procedure.

Figure 1 is a system block diagram of the charging and inspection replacement system of an air-land UAV according to the present invention.

Figures 2A to 2C are flow charts of the charging and inspection replacement method of the air-land UAV according to the present invention.

Figure 3 is a schematic diagram of charging and inspection replacement using the present invention.

Figure 4 is a schematic diagram of applying the present invention to charge a backup power supply vehicle.

The embodiments of the present invention will be described in detail below with reference to the drawings and examples, so that the implementation process of how to apply technical means to solve technical problems and achieve technical effects of the present invention can be fully understood and implemented accordingly.

Please refer to "Figure 1" first. "Figure 1" is a system block diagram of the charging and inspection replacement system of an air-land drone according to the present invention. This system includes: unmanned aerial vehicles (110a~110n) and unmanned ground vehicles. 120. The unmanned aerial vehicle (110a~110b) includes: a detection module 111, a transceiver module 112, a navigation module 113 and a synchronization module 114. Among them, the detection module 111 is used to generate inspection data through sensors when the unmanned aerial vehicle (110a~110n) is flying, and at the same time continuously detects its own remaining battery. amount, and when the remaining power is lower than the threshold, a return signal is generated. In actual implementation, the sensors may include infrared sensors, laser sensors, image sensors, sound sensors, air pressure sensors, voltage sensors, current sensors, etc. Sensor is used to generate inspection data and detect the remaining power of its own battery.

The transceiver module 112 is connected to the detection module 111 for transmitting the generated inspection data and return signal, as well as receiving control signals for controlling the flight of the unmanned aerial vehicle (110a~110n) and the coordinates of the power supply vehicle with the charging module. . In actual implementation, the charging module may include a wireless charging platform and an automatic landing guidance system. When the unmanned aerial vehicle (110a~110n) is landing, it continues to receive multiple flight parameters transmitted by the automatic landing guidance system. It is used to guide the unmanned aerial vehicles (110a~110n) to align with the center point of the wireless charging platform according to the flight parameters, and to adjust the flight attitude of the unmanned aerial vehicles (110a~110n) according to the flight parameters. In addition, the charging module may also include a magnetic charging component. When the unmanned aerial vehicle (110a~110n) lands on the power supply vehicle, the magnetic charging module provided at the bottom of the frame of the unmanned aerial vehicle (110a~110n) The suction connector is electrically connected to the magnetic charging element for charging.

The navigation module 113 is connected to the transceiver module 112 to perform a return-to-home procedure based on the received coordinates of the powered vehicle. The return-to-home procedure calculates the distance between the coordinates of the unmanned aerial vehicle in flight and the coordinates of the powered vehicle. , and guide the flying unmanned aerial vehicles (110a~110n) to move and land to the power supply vehicle with the shortest distance to electrically connect with the charging module and charge. In actual implementation, the shortest path algorithm can be used to calculate the shortest distance between two coordinates, or the Dijkstra Algorithm (Dijkstra Algorithm), K Shortest Path (KSP) or other methods can be used to calculate the shortest distance between two coordinates. Calculated using similarity algorithm.

The synchronization module 114 is connected to the navigation module 113 to transmit the inspection data to another activated unmanned aerial vehicle (110a~110n) to complete the data when the unmanned aerial vehicle (110a~110n) performs the return procedure. Synchronize, so that another unmanned aerial vehicle (110a~110n) that has been activated takes over from the unmanned aerial vehicle (110a~110n) performing the return procedure to perform inspections based on the inspection data. In actual implementation, data synchronization can be combined with key signature and verification technology to encrypt and decrypt inspection data to prevent inspection data from being tampered with.

Next, the unmanned ground vehicle 120 includes: a control module 121 and a transmission module 122 . Among them, the control module 121 is used to generate control signals to control the flight of the unmanned aerial vehicles (110a~110n), and select to activate one of the unmanned aerial vehicles (110a~110n), and when the unmanned ground vehicle 120 detects When it is detected that the unmanned aerial vehicle (110a~110n) is executing the return procedure, another unmanned aerial vehicle (110a~110n) is selected to be started. For example, assuming that the unmanned aerial vehicle 110a is initially activated, when the unmanned ground vehicle 120 detects that the unmanned aerial vehicle 110a is performing a return procedure, it may choose to activate another unmanned aerial vehicle 110b.

The transmission module 122 is connected to the control module 121 for continuously transmitting control signals to the selected unmanned aerial vehicles (110a~110n), and transmitting power when receiving return signals from the unmanned aerial vehicles (110a~110n). The coordinates of the vehicle are to the unmanned aerial vehicle in flight (110a~110n). In actual implementation, the transmission module 122 can be used to transmit control signals and return signals through wireless communication technologies, such as wireless networks, cellular networks, short-distance point-to-point communications, wireless sensor networks, etc. In addition, the coordinates of the powered vehicle can be stored in the unmanned ground vehicle 120 in advance, or the coordinates can be obtained instantly through the positioning system.

In addition, the unmanned ground vehicle 120 may also include a charging module 123 and a positioning module 124. When the unmanned ground vehicle 120 receives the return signal, the unmanned ground vehicle 120 can enable the The charging module 123 enables the unmanned ground vehicle 120 itself to become a power supply vehicle, and obtains the coordinates (such as longitude and latitude) of the power supply vehicle through the positioning module 124, and continuously transmits them to the unmanned aerial vehicle performing the return procedure. . In actual implementation, the positioning module 124 can use Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Galileo Positioning System (Galileo), Global Navigation Satellite System (GLONASS) or It is implemented by a similar positioning system. The charging module 123 has been described above, so it will not be described again here.

It should be added that the system of the present invention can also include multiple backup power supply vehicles. Each backup power supply vehicle is set up in the inspection area and obtains positioning coordinates through the positioning system. When the unmanned aerial vehicle in flight transmits After the return signal, if the coordinates of the power supply vehicle transmitted by the unmanned ground vehicle are not received within the waiting time, the flying unmanned aerial vehicle broadcasts a charging request. When the backup power supply vehicle receives the charging request, Broadcast its own positioning coordinates, so that the flying unmanned aerial vehicle receives the positioning coordinates as the coordinates of the power supply vehicle, and executes the return procedure according to the coordinates of the power supply vehicle. It will be explained in detail later with the diagram.

It should be noted that in actual implementation, the modules described in the present invention can be implemented in various ways, including software, hardware or any combination thereof. For example, in some implementations, each module can be implemented using software and hardware, or one of them. In addition, the present invention can also be implemented partially or completely based on hardware. For example, one or more modules in the system can be implemented through integrated circuit chips, system Single chip, Complex Programmable Logic Device (CPLD), Field Programmable Gate Array (FPGA), etc. are implemented. The invention may be a system, method and/or computer program. The computer program may include a computer-readable storage medium having computer-readable program instructions for causing a processor to implement various aspects of the invention. The computer-readable storage medium may be an apparatus that can retain and store instructions for use by an instruction execution device. shaped equipment. The computer-readable storage medium may be, but is not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: hard disks, random access memory, read-only memory, flash memory, optical disks, floppy disks, and any suitable combination of the above. As used herein, computer-readable storage media is not to be construed as a reference to transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical signals through fiber optic cables), or through electrical wires. transmitted electrical signals. In addition, the computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing/processing devices, or downloaded through a network, such as the Internet, a local area network, a wide area network and/or a wireless network to an external computer device or external storage device. Networks may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, hubs and/or gateways. A network card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage on a computer-readable storage medium in each computing/processing device middle. Computer program instructions that perform operations of the present invention may be combination language instructions, instruction set architecture instructions, machine instructions, machine-related instructions, micro-instructions, firmware instructions, or source code or object code written in any combination of one or more programming languages. (Object Code), the programming language includes object-oriented programming languages, such as: Common Lisp, Python, C++, Objective-C, Smalltalk, Delphi, Java, Swift, C#, Perl, Ruby and PHP, etc., as well as conventional programs Procedural programming language, such as C language or similar programming language. The computer program instructions may execute entirely on the computer, partly on the computer, as stand-alone software, partly on the client computer and partly on a remote computer, or entirely on the remote computer or server. execute on.

Please refer to "Figure 2A" to "Figure 2C". "Figure 2A" to "Figure 2C" are method flow charts of the charging and inspection replacement method of the air-land drone of the present invention, which are applied to unmanned aerial vehicles. (110a~110n) and the environment of the unmanned ground vehicle 120, the steps include: the unmanned ground vehicle 120 selects to activate one of the unmanned aerial vehicles (110a~110n), and continuously transmits the control signal to the selected unmanned aerial vehicle (110a~110n). The aerial vehicles (110a~110n) are used to control the flight of the unmanned aerial vehicles (110a~110n) (step 210); the unmanned aerial vehicles (110a~110n) in flight continue to generate inspection data through the sensors, At the same time, it continuously detects its own remaining power, and when the remaining power is lower than the threshold, generates a return signal to transmit to the unmanned ground vehicle 120 (step 220); when the unmanned ground vehicle 120 receives the return signal, it transmits a charging mode The coordinates of the power supply vehicle of the group are sent to the flying unmanned aerial vehicle (110a~110n) (step 230); the flying unmanned aerial vehicle (110a~110n) executes the return procedure according to the received coordinates of the power supply vehicle, Among them, the return program calculates the distance between the coordinates of the flying unmanned aerial vehicle and the coordinates of the power supply vehicle, and guides the flying unmanned aerial vehicle (110a~110n) to move and land to the power supply with the shortest distance. The vehicle is electrically connected to the charging module and charged (step 240); when the unmanned ground vehicle 120 detects that the unmanned aerial vehicle (110a~110n) performs the return procedure, the unmanned ground vehicle 120 chooses to start another Unmanned aerial vehicles (110a~110n), and transmit control signals to another selected unmanned aerial vehicle (110a~110n) to control the flight of another selected unmanned aerial vehicle (110a~110n) (step 250 ); and the unmanned aerial vehicle (110a~110n) that performs the return procedure transmits the inspection data to another activated unmanned aerial vehicle (110a~110n) to complete data synchronization, so that the other activated unmanned aerial vehicle The vehicles (110a~110n) take over from the unmanned aerial vehicles (110a~110n) that perform the return procedure to perform inspections based on the inspection data (step 260). In this way, the flying unmanned aerial vehicle (110a~110n) can continuously detect its remaining power, and when the remaining power is lower than the threshold, a return signal is generated to transmit to the unmanned ground. The surface vehicle 120 allows the unmanned ground vehicle 120 to continuously transmit the coordinates of the power supply vehicle to the flying unmanned aerial vehicle (110a~110n) to guide the return to the power supply vehicle for charging, and at the same time start another unmanned aerial vehicle (110a~110n). 110a~110n) synchronizes the inspection data with the unmanned aerial vehicle (110a~110n) returning for charging, and then takes over the inspection of the unmanned aerial vehicle (110a~110n) returning for charging.

In addition, after step 220, multiple backup power supply vehicles can also be set up in the inspection area, and each backup power supply vehicle obtains positioning coordinates through the positioning system (step 221); when the unmanned aerial vehicle in flight (110a ~110n) after transmitting the return signal, when the coordinates of the power supply vehicle transmitted by the unmanned ground vehicle 120 are not received within the waiting time, the flying unmanned aerial vehicle (110a~110n) broadcasts a charging request (step 222); When the power supply vehicle receives the charging request, it broadcasts its own positioning coordinates, so that the flying unmanned aerial vehicle (110a~110n) receives the positioning coordinates as the coordinates of the power supply vehicle, and executes the return procedure according to the coordinates of the power supply vehicle. (step 223).

The following description is given in the form of an embodiment in conjunction with "Figure 3" and "Figure 4". Please refer to "Figure 3" first. "Figure 3" is a schematic diagram of charging and inspection replacement using the present invention. First, it is assumed that the unmanned ground vehicle 320 has chosen to activate the unmanned aerial vehicle 310a and continues to transmit control signals to the unmanned aerial vehicle 310a to control its flight. At this time, the unmanned aerial vehicle 310a will continue to generate inspection data through the sensor, and at the same time continue to detect its own remaining power. When the remaining power is lower than the threshold, a return signal will be generated and transmitted to the unmanned ground vehicle 320. Then, when receiving the return signal, the unmanned ground vehicle 320 will transmit the coordinates of the power supply vehicle with the charging module to the flying unmanned aerial vehicle 310a. The power supply vehicle with a charging module described here may be an unmanned ground vehicle 320 with a charging module, or other power supply vehicle with a charging module, such as a charging pile, a charging platform, etc. Next, the flying unmanned aerial vehicle 310a will perform the return procedure according to the received coordinates of the power supply vehicle. Assuming that the only power supply vehicle with the charging module is the unmanned ground vehicle 320, the return procedure will The distance between the coordinates of the flying unmanned aerial vehicle 310a and the coordinates of the unmanned ground vehicle 320 will be calculated, and the flying unmanned aerial vehicle 310a will be guided to move and land to the unmanned ground vehicle 320. It is assumed that there are other If the power supply vehicle of the charging module is the power supply vehicle, the return program will choose to guide the flying unmanned aerial vehicle 310a to move and land to the nearest power supply vehicle, so that the unmanned aerial vehicle 310a can be electrically connected to the charging module of the power supply vehicle. and charge. When the unmanned ground vehicle 320 detects that the unmanned aerial vehicle 310a performs the return procedure, the unmanned ground vehicle 320 will select to start another unmanned aerial vehicle 310b, and transmit the control signal to the selected other unmanned aerial vehicle 310b. , used to control the flight of another selected unmanned aerial vehicle 310b, and the unmanned aerial vehicle 310a that performs the return procedure will transmit the inspection data to the other activated unmanned aerial vehicle 310b to complete data synchronization, so that the activated Another unmanned aerial vehicle 310b takes over from the unmanned aerial vehicle 310a that performs the return procedure and performs inspection based on the inspection data. At this point, the charging and inspection replacement of the air and land drones are completed.

As shown in "Figure 4", "Figure 4" is a schematic diagram of applying the present invention to charge a backup power supply vehicle. In actual implementation, multiple backup power supply vehicles (430a~430n) can be set up in the inspection area 430, and each backup power supply vehicle (430a~430n) will obtain corresponding positioning coordinates through the positioning system. When the unmanned aerial vehicle 410a in flight transmits the return signal and does not receive the coordinates of the power supply vehicle transmitted by the unmanned ground vehicle 420 within the waiting time (such as one minute), the unmanned aerial vehicle 410a in flight may Broadcast charging request. When the backup power supply vehicle (430a~430n) receives the charging request, the backup power supply vehicle (430a~430n) will broadcast its own positioning coordinates, so that the flying unmanned aerial vehicle 410a receives the positioning coordinates as a power supply carrier. coordinates of the powered vehicle, and execute the return-to-home procedure based on the coordinates of the powered vehicle. In this way, even if the flying unmanned aerial vehicle 410a cannot obtain the coordinates of the power supply vehicle provided by the unmanned ground vehicle 420, it can still move to the nearest backup power supply vehicle (430a~430n) for charging.

In summary, it can be seen that the difference between the present invention and the prior art is that the flying unmanned aerial vehicle continuously detects its own remaining power, and when the remaining power is lower than the threshold, a return signal is generated to transmit to the unmanned ground The vehicle enables the unmanned ground vehicle to continuously transmit the coordinates of the power-supply vehicle to the flying unmanned aerial vehicle to guide it back to the power-supply vehicle for charging, and at the same time activate another unmanned aerial vehicle to communicate with the returning unmanned aerial vehicle for charging. Synchronizing inspection data, and then taking over the inspection of unmanned aerial vehicles returning to charge, can solve the problems of previous technologies through this technical means, thereby achieving the technical effect of improving the endurance and interoperability of air and land drones.

Although the present invention has been disclosed in the foregoing embodiments, they are not intended to limit the present invention. Anyone skilled in the similar art can make some modifications and modifications without departing from the spirit and scope of the present invention. Therefore, the present invention is The scope of patent protection shall be determined by the scope of the patent application attached to this specification.

110a~110n: Unmanned aerial vehicle

111:Detection module

112: Transceiver module

113:Navigation module

114: Synchronization module

120:Unmanned ground vehicle

121:Control module

122:Transmission module

123:Charging module

124: Positioning module

Claims (8)

A charging and inspection replacement system for air and land drones. The system includes: a plurality of unmanned aerial vehicles. Each of the unmanned aerial vehicles includes: a detection module for detecting when the unmanned aerial vehicles are flying. Generate inspection data through at least one sensor, while continuously detecting its own remaining power, and generating a return signal when the remaining power is lower than a threshold; a transceiver module connected to the detection module , used to transmit the generated inspection data and the return signal, and receive a control signal to control the flight of the unmanned aerial vehicle and the coordinates of at least one power supply vehicle with a charging module; a navigation module, connected The transceiver module is used to execute a return procedure according to the received coordinates of the power supply vehicle, wherein the return procedure calculates the distance between the coordinates of the unmanned aerial vehicle in flight and the coordinates of the power supply vehicle. distance, and guide the unmanned aerial vehicle in flight to move and land to the power supply vehicle with the shortest distance to electrically connect with the charging module and charge; and a synchronization module connected to the navigation module, When the unmanned aerial vehicle performs the return procedure, the inspection data is transmitted to the other unmanned aerial vehicle that has been activated to complete data synchronization, so that the other unmanned aerial vehicle that has been activated According to the inspection data, the unmanned aerial vehicle that performs the return procedure is inspected, and the unmanned aerial vehicle is the same as the one that has started. Another unmanned aerial vehicle moving allows data to be synchronized with each other through the respective synchronization modules; an unmanned ground vehicle, the unmanned ground vehicle includes: a control module for generating and controlling the unmanned aerial vehicle The control signal for vehicle flight, and select to start one of the unmanned aerial vehicles, and when the unmanned ground vehicle detects that the unmanned aerial vehicle performs the return procedure, select to start the other one of the unmanned aerial vehicles. An unmanned aerial vehicle; and a transmission module connected to the control module for continuously transmitting the control signal to the selected unmanned aerial vehicle, and when receiving the return signal from the unmanned aerial vehicle. , transmit the coordinates of the power supply vehicle to the unmanned aerial vehicle in flight; multiple backup power supply vehicles, each backup power supply vehicle is set in an inspection area and obtains a positioning coordinate through the positioning system, when After the unmanned aerial vehicle in flight transmits the return signal, if the coordinates of the power supply vehicle transmitted by the unmanned ground vehicle are not received within a waiting period, the unmanned aerial vehicle in flight broadcasts a Charging request, when the backup power supply vehicle receives the charging request, it broadcasts its own positioning coordinates, so that the unmanned aerial vehicle in flight receives the positioning coordinates as the coordinates of the power supply vehicle, and The return procedure is executed according to the coordinates of the power supply vehicle. For example, the charging and inspection replacement system of air and land UAVs in claim 1, wherein the unmanned ground vehicle further includes the charging module and a positioning module, when the unmanned ground vehicle receives the return signal, it is enabled to set In the charging mode of the unmanned ground vehicle The group makes the unmanned ground vehicle itself become the power supply vehicle, and obtains the coordinates of the power supply vehicle through the positioning module, and continuously transmits them to the unmanned aerial vehicle that performs the return procedure. Such as the charging and inspection replacement system of air and land drones in claim 1, wherein the charging module includes a wireless charging platform and an automatic landing guidance system, and when the unmanned aerial vehicle lands, it continues to receive the automatic landing The multiple flight parameters transmitted by the guidance system are used to guide the unmanned aerial vehicle to align with the center point of the wireless charging platform according to the flight parameters, and to adjust the flight attitude of the unmanned aerial vehicle according to the flight parameters. . As claimed in claim 1, the charging and inspection replacement system for air and land drones, wherein the charging module includes a magnetic charging element, which is disposed on the unmanned aerial vehicle when it lands on the power supply vehicle. A magnetic connector at the bottom of the carrier frame is electrically connected to the magnetic charging component for charging. A charging and inspection replacement method for air and land drones, applied in an environment with multiple unmanned aerial vehicles, an unmanned ground vehicle and multiple backup power supply vehicles, the steps include: setting up the above-mentioned method in an inspection area Backup power supply vehicles, each backup power supply vehicle obtains a positioning coordinate through the positioning system; the unmanned ground vehicle selects to activate one of the unmanned aerial vehicles, and continuously transmits a control signal to the selected The unmanned aerial vehicle is used to control the flight of the unmanned aerial vehicle; The unmanned aerial vehicle in flight continues to generate inspection data through at least one sensor, and at the same time continuously detects its own remaining power, and when the remaining power is lower than a threshold, generates a return signal to transmit to the unmanned ground vehicle; when the unmanned ground vehicle receives the return signal, it transmits the coordinates of at least one power supply vehicle with a charging module to the unmanned aerial vehicle in flight; the unmanned aerial vehicle in flight The vehicle executes a return procedure according to the received coordinates of the power supply vehicle, and after the unmanned aerial vehicle in flight transmits the return signal, the unmanned ground vehicle does not receive the return signal within a waiting period. When the coordinates of the power supply vehicle are determined, the unmanned aerial vehicle in flight broadcasts a charging request, wherein the return procedure calculates the distance between the coordinates of the unmanned aerial vehicle in flight and the coordinates of the power supply vehicle, and Guide the unmanned aerial vehicle in flight to move and land to the power supply vehicle with the shortest distance to electrically connect with the charging module and charge; when the unmanned ground vehicle detects that the unmanned aerial vehicle executes During the return procedure, the unmanned ground vehicle selects to activate another unmanned aerial vehicle, and transmits the control signal to the selected other unmanned aerial vehicle to control the selected other unmanned aerial vehicle. The vehicle is flying, wherein the unmanned aerial vehicle and the other activated unmanned aerial vehicle are allowed to synchronize data with each other through a respective synchronization module; when the backup power supply vehicle receives the charging request, Broadcast its own positioning coordinates so that the unmanned aerial vehicle in flight receives the positioning coordinates for is the coordinates of the power supply vehicle, and executes the return procedure according to the coordinates of the power supply vehicle; and the unmanned aerial vehicle executing the return procedure transmits the inspection data to another activated unmanned aerial vehicle The vehicle completes data synchronization, so that the other unmanned aerial vehicle that has been activated takes over the inspection of the unmanned aerial vehicle that performs the return procedure based on the inspection data. For example, the charging and inspection replacement method of air-land drones in claim 5, wherein the method further includes enabling the charging module provided on the unmanned ground vehicle when the unmanned ground vehicle receives the return signal, so that the unmanned ground vehicle The unmanned ground vehicle itself becomes the power supply vehicle, and the steps of continuously transmitting the coordinates of the power supply vehicle to the unmanned aerial vehicle performing the return procedure. For example, the charging and inspection replacement method of an air-land drone in claim 5, wherein the charging module includes a wireless charging platform and an automatic landing guidance system, and when the unmanned aerial vehicle lands, it continues to receive the automatic landing The multiple flight parameters transmitted by the guidance system are used to guide the unmanned aerial vehicle to align with the center point of the wireless charging platform according to the flight parameters, and to adjust the flight attitude of the unmanned aerial vehicle according to the flight parameters. . As claimed in claim 5, the charging and inspection replacement method of an air-land UAV, wherein the charging module includes a magnetic charging element, which is disposed on the UAV when the UAV lands on the power supply vehicle. A magnetic connector at the bottom of the carrier frame is electrically connected to the magnetic charging component for charging.

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