Subship homeward voyage method and system of marine unmanned aerial vehicle, terminal and storage medium

Abstract

The invention relates to a subship homeward voyage method and system of a marine unmanned aerial vehicle, a terminal and a storage medium, and relates to the technical field of subships, and the method comprises the steps: responding to a received electric quantity alarm signal sent by a subship, and sending a homeward voyage signal to the subship; generating a first return path according to the first positioning information of the sub-ship and the second positioning information of the mother ship; calculating the length of a movable path of the sub-ship according to the residual electric quantity; judging whether the length of the movable path is greater than the length of the first return path; if yes, sending a first return path to the sub-ship; if not, calculating a difference value between the length of the first return path and the length of the movable path to obtain a path difference value; determining a target position on the first return path according to the path difference value; generating a second return path according to the first positioning information and the target position; and sending the second return path to the sub-ship, and controlling the mother ship to move to the target position. The method has the effect of indicating the sub-ship to return to the mother ship.

Description

Technical Field

[0001] The present application relates to the field of marine unmanned aerial vehicle technology, and in particular to a sub-ship return method, system, terminal and storage medium for a marine unmanned aerial vehicle. Background Art

[0002] Sub-ships are unmanned devices designed to perform tasks in marine environments. They can perform monitoring, data collection, detection and search and rescue operations, and are able to operate in marine conditions. When sub-ships perform tasks on the ocean, they usually need to be used in conjunction with a mothership, which is a structure specially designed to support the takeoff and landing of drones in marine environments.

[0003] In the related art, after the daughter ship completes the mission, the daughter ship will send a location request message to the mother ship to obtain the coordinates of the mother ship. After receiving the location request message, the mother ship will transmit its own coordinate information to the daughter ship. After obtaining the coordinate information, the daughter ship will plan the return path according to the coordinate information.

[0004] Regarding the above-mentioned related technologies, the inventors believe that the marine environment is very complex, and various factors will seriously affect the return of the daughter ship, resulting in the daughter ship returning to the mother ship smoothly. Summary of the invention

[0005] In order to enable the daughter ship to return to the mother ship, the present application provides a daughter ship return method, system, terminal and storage medium for an ocean UAV.

[0006] In the first aspect, the present application provides a method for returning a sub-ship of a marine UAV, which adopts the following technical solution: A method for returning a sub-ship of an ocean UAV, comprising: In response to receiving a power alarm signal sent by the daughter ship, generating a first return route according to the first positioning information of the daughter ship and the second positioning information of the mother ship, wherein the power alarm signal is sent when the remaining power of the daughter ship is less than a preset power; Calculate the movable path length of the sub-ship according to the remaining power; Determine whether the length of the movable path is greater than the length of the first return path; If yes, send the first return path to the daughter ship; If not, calculate the difference between the length of the first return path and the length of the movable path to obtain the path difference; determine the target position on the first return path according to the path difference; generate a second return path according to the first positioning information and the target position; send the second return path to the daughter ship, and control the mother ship to move to the target position.

[0007] By adopting the above technical solution, when the daughter ship's power is insufficient, the mother ship will first plan the daughter ship's first return path and calculate the length of the daughter ship's movable path. When the length of the movable path is less than the first return path, the mother ship will actively move to the target position to make up for the problem of insufficient movable length, so that the daughter ship can return to the mother ship.

[0008] Optionally, monitoring environmental influencing factors on the first return path, the environmental influencing factors including wind influencing factors, and the wind influencing factors including ambient wind speed and ambient wind direction; Splitting the ambient wind speed into a first ambient wind speed component and a second ambient wind speed component according to the ambient wind direction, wherein the first ambient wind speed component is parallel to the direction of the first return path, and the second ambient wind speed component is perpendicular to the direction of the first return path; Calculate the power consumption of the daughter ship according to the second environment wind speed component and the rated output power of the daughter ship; Calculating the flight speed of the daughter ship according to the first environmental wind speed component, the second environmental wind speed component and the rated output power of the daughter ship; Calculate the ratio of remaining power to power consumption to obtain the remaining flight time of the daughter ship; The product of the remaining flight time and the flight speed is calculated to obtain the movable path length.

[0009] By adopting the above technical solution, the environmental influencing factors on the first return path are monitored, and the flight speed of the daughter ship is accurately calculated according to the ambient wind speed and ambient wind direction, so as to obtain the accurate movable path length, which is beneficial to the subsequent path planning of the mother ship.

[0010] Optionally, searching for a first warning area where the ambient wind speed is greater than an ambient wind speed threshold on the first return path; Calculate the ambient wind speed variance within a preset historical period; Searching for a second warning area where the environmental wind speed variance is greater than an environmental wind speed variance threshold on the first return path; Calculate the union of the first warning area and the second warning area to obtain the warning area; When the first return path passes through the warning area, obtaining a boundary line of the warning area; The first return path is updated using the first return path and the boundary line so that the updated first return path does not pass through the warning area.

[0011] By adopting the above technical solution, the environmental influencing factors on the first return path are monitored, and the sub-ship is allowed to avoid the first warning area with excessive wind speed and the second warning area with turbulent wind field, so as to prevent the excessive wind speed and turbulent wind field from affecting the normal flight of the sub-ship and prevent the sub-ship from falling into the sea due to the influence of wind.

[0012] Optionally, when the target position includes a first target position and a second target position, a first path length for the mothership to reach the first target position and a second path length for the mothership to reach the second target position are calculated; When the first path length is less than the second path length, calculating a third path length from the first target position to the second target position; According to the flight speed of the daughter ship, the predicted time for the daughter ship to reach the second target position is calculated; The minimum moving speed of the mother ship is obtained according to the first path length, the third path length and the predicted duration.

[0013] By adopting the above technical solution, when the target position includes the first target position and the second target position, the speed of the mother ship will be adjusted according to the first target position and the second target position, so that the mother ship can reach the first target position and the second target position in time to prevent the daughter ship from falling into the sea.

[0014] Optionally, when it is detected that the distance between the daughter ship and the mother ship is less than a preset distance threshold, the flight posture of the daughter ship is obtained; Obtain the environmental impact factors of the area where the mothership is located; The platform attitude of the mothership is adjusted according to the flight attitude and environmental influencing factors, and the platform attitude includes at least one of the horizontal position, height position and tilt angle of the mothership.

[0015] By adopting the above technical solution, when the daughter ship lands on the mother ship, the mother ship will adjust the platform posture of the mother ship according to environmental factors to make the platform posture match the flight posture of the daughter ship, so that the daughter ship can land on the mother ship more stably.

[0016] Optionally, the environmental influencing factors include wind influencing factors; wind influencing factors include environmental wind direction and environmental wind speed; When the ambient wind speed is greater than the first wind speed threshold, the actual inclination angle of the daughter ship is extracted according to the flight attitude; Predict the simulated inclination angle of the daughter ship according to the ambient wind speed; Perform weighted calculation on the actual tilt angle and the simulated tilt angle to obtain the adjusted tilt angle of the mothership; Get the lifting end of the mothership according to the wind direction; Lifting the lifting end of the mothership so that the tilt angle of the mothership is the adjustment tilt angle; When the daughter ship is detected landing on the mother ship, the mother ship is adjusted to a horizontal state.

[0017] By adopting the above technical solution, when the ambient wind speed is greater than the first wind speed threshold, the daughter ship will have an inclination angle. This method makes the inclination angle of the mother ship an adjusted inclination angle. When the daughter ship lands on the mother ship, the adjusted inclination angle matches the inclination angle of the daughter ship, which is conducive to the smooth landing of the daughter ship.

[0018] Optionally, when the ambient wind speed is greater than a second wind speed threshold, the height position of the mother ship is raised to a preset height position, and the second wind speed threshold is greater than the first wind speed threshold; Predict the position deviation direction of the daughter ship according to the environmental wind direction; Predict the position offset distance of the daughter ship according to the environmental wind speed; Control the mothership to move along the position offset direction by the position offset distance; A first extension platform extending out of the mother ship according to a position offset direction; When the sub-ship is detected to have landed on the first extension platform, the manipulator is controlled to grab the sub-ship; When the mother ship retracts the daughter ship, the first extension platform is retracted.

[0019] By adopting the above technical solution, when the ambient wind speed is greater than the second wind speed threshold, the position of the mother ship will be moved and the first extension platform will be extended to alleviate the impact of the ambient wind speed so that the daughter ship can land smoothly on the mother ship.

[0020] In the second aspect, the present application provides a sub-ship return system for a marine UAV, which adopts the following technical solution: A sub-ship return system for a marine UAV, comprising: an acquisition module, for acquiring remaining power, first positioning information, second positioning information, environmental influencing factors, rated output power, environmental wind speed threshold, environmental wind speed threshold, flight attitude, first wind speed threshold and second wind speed threshold; A memory, used to store a program of any of the above-mentioned methods for returning a sub-ship of an ocean drone; The program in the processor and the memory can be loaded and executed by the processor to implement any of the above-mentioned methods for returning the sub-ship of the marine unmanned aerial vehicle.

[0021] By adopting the above technical solution, when the daughter ship's power is insufficient, the mother ship will first plan the daughter ship's first return path and calculate the length of the daughter ship's movable path. When the length of the movable path is less than the first return path, the mother ship will actively move to the target position to make up for the problem of insufficient movable length, so that the daughter ship can return to the mother ship.

[0022] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution: An intelligent terminal comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes any of the above-mentioned methods for returning a sub-ship of an ocean unmanned aerial vehicle.

[0023] By adopting the above technical solution, when the daughter ship's power is insufficient, the mother ship will first plan the daughter ship's first return path and calculate the length of the daughter ship's movable path. When the length of the movable path is less than the first return path, the mother ship will actively move to the target position to make up for the problem of insufficient movable length, so that the daughter ship can return to the mother ship.

[0024] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which is convenient for realizing a smooth landing of a daughter ship on a mother ship, and adopts the following technical solution: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned methods for returning a sub-ship of an ocean drone.

[0025] By adopting the above technical solution, when the daughter ship's power is insufficient, the mother ship will first plan the daughter ship's first return path and calculate the length of the daughter ship's movable path. When the length of the movable path is less than the first return path, the mother ship will actively move to the target position to make up for the problem of insufficient movable length, so that the daughter ship can return to the mother ship.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: When the daughter ship's battery is low, the mother ship will first plan the daughter ship's first return path and calculate the length of the daughter ship's movable path. When the movable path length is less than the first return path, the mother ship will actively move to the target position to make up for the problem of insufficient movable length, so that the daughter ship can return to the mother ship; Monitor the environmental factors on the first return route, and accurately calculate the flight speed of the daughter ship according to the environmental wind speed and direction, so as to obtain the accurate movable path length, which is beneficial to the subsequent path planning of the mother ship; When the daughter ship lands on the mother ship, the mother ship will adjust the platform attitude of the mother ship according to environmental factors to make the platform attitude match the flight attitude of the daughter ship, so that the daughter ship can land on the mother ship more stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of a method for returning a sub-ship of an ocean UAV provided in an embodiment of the present application.

[0028] Figure 2 This is a schematic diagram of a path planning method for an ocean drone provided in an embodiment of the present application. Figure 1 .

[0029] Figure 3 This is a schematic diagram of a path planning method for an ocean drone provided in an embodiment of the present application. Figure 2 .

[0030] Figure 4It is a flowchart of a mothership movement calculation method provided in an embodiment of the present application.

[0031] Figure 5 It is a flow chart of a method for landing a sub-ship of an ocean UAV provided in an embodiment of the present application.

[0032] Figure 6 It is a flow chart of a method for adjusting the landing posture of a mother ship of an ocean UAV provided in an embodiment of the present application.

[0033] Figure 7 It is a flow chart of a method for landing a sub-ship of an ocean UAV provided in an embodiment of the present application.

[0034] Figure 8 It is a flow chart of a method for extending an extension platform of a marine UAV provided in an embodiment of the present application.

[0035] Fig. 9 It is a flow chart of a method for ascending a marine UAV from a mother ship provided in an embodiment of the present application.

[0036] Fig.10 It is a flow chart of a method for lifting an extended platform of a marine UAV provided in an embodiment of the present application.

[0037] Fig.11 It is a flow chart of a method for landing a sub-ship of an ocean UAV provided in an embodiment of the present application.

[0038] Fig.12 It is a structural schematic diagram of a sub-ship return system of a marine UAV provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figures 1 to 12 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0040] The present application embodiment discloses a method for returning a sub-ship of a marine UAV. Figure 1 , the method comprising: Step S101: In response to receiving a power alarm signal sent by a daughter ship, a first return route is generated according to the first positioning information of the daughter ship and the second positioning information of the mother ship. The power alarm signal is sent when the remaining power of the daughter ship is less than a preset power.

[0041] Optionally, the power alarm signal includes the remaining power of the sub-ship.

[0042] Optionally, the first positioning information includes the latitude and longitude coordinates of the sub-ship.

[0043] Optionally, the second positioning information includes the latitude and longitude coordinates of the mother ship. Optionally, the sea area where the mother ship is located is divided into a plurality of grids, and the second positioning information is used to indicate the grid where the mother ship is located.

[0044] Furthermore, both the daughter ship and the mother ship are equipped with positioning devices, which are used to obtain positioning information of the equipment.

[0045] In this embodiment, the mother ship is a mobile take-off and landing platform.

[0046] Optionally, the daughter ship may send the power alarm signal to the mother ship by broadcasting or sending it individually. For example, the daughter ship sends the position information to the mother ship within the broadcast range. For another example, the daughter ship may send the position information to a specific mother ship according to the communication frequency band or communication number of the mother ship.

[0047] Step S102: Calculate the movable path length of the sub-ship according to the remaining power.

[0048] The movable path length refers to the maximum path length that the daughter ship can reach while flying with the remaining power.

[0049] Step S103: Determine whether the length of the movable path is greater than the length of the first return path.

[0050] If the movable path length is greater than the first return path length, step S104 is executed; If the length of the movable path is less than the length of the first return path, steps S105 to S108 are executed.

[0051] Step S104: If yes, send the first return route to the daughter ship.

[0052] When the length of the movable path is greater than the length of the first return path, it means that the daughter ship can still fly back to the mother ship by itself with the remaining power. Therefore, at this time, the daughter ship only needs to fly back to the mother ship.

[0053] Step S105: If not, then calculate the difference between the length of the first return path and the length of the movable path to obtain a path difference.

[0054] If the movable path length is less than the first return path length, it means that the daughter ship cannot fly back to the mother ship with the remaining power, and the daughter ship may fall due to exhaustion of power in the first return path. Therefore, in this case, the mother ship needs to assist the daughter ship to return.

[0055] Step S106: determining the target position on the first return path according to the path difference.

[0056] Since the remaining power of the daughter ship can only provide the length of the movable path of the daughter ship's flight, and the length of the first return path is greater than the length of the movable path, the difference between the two paths needs to be compensated by the mother ship.

[0057] Optionally, a position whose distance from the mother ship is equal to the path difference is determined on the first return path, and the position is used as the target position.

[0058] Step S107: Generate a second return path according to the first positioning information and the target position.

[0059] Exemplarily, the position corresponding to the first positioning information is used as the starting point of the sub-ship flight, and the target position is used as the end point of the sub-ship flight to obtain the second return path.

[0060] Furthermore, the target position is located on the first return path, and the target position divides the first return path into two sections, one section is the path from the position corresponding to the first positioning information to the target position, which is the flight path of the daughter ship, that is, the second return path. The other section is the path from the target position to the second positioning information to the target, which is the path that the mother ship needs to navigate.

[0061] Step S108: Sending a second return path to the daughter ship, and controlling the mother ship to move to the target position.

[0062] In some optional embodiments, the remaining flight time of the daughter ship is calculated based on the remaining power. The sailing length of the mother ship from the position corresponding to the second positioning information to the target position is calculated. The ratio of the sailing length of the mother ship to the remaining flight time is calculated to obtain the minimum sailing speed of the mother ship. The mother ship is controlled to move to the target position at the minimum sailing speed. Further, the actual sailing speed of the mother ship may be greater than the aforementioned minimum sailing speed.

[0063] In summary, when the daughter ship's power is insufficient, the mother ship will first plan the daughter ship's first return path and calculate the length of the daughter ship's movable path. When the length of the movable path is less than the first return path, the mother ship will actively move to the target position to make up for the problem of insufficient movable length so that the daughter ship can return to the mother ship.

[0064] In the following embodiments, due to the complexity of the marine environment, the sub-ship is easily affected by the environment during flight, especially the wind. Therefore, the present application embodiment discloses a process diagram of a path planning method for a marine drone. Figure 1 . Reference Figure 2 , the method comprising: Step S201: monitoring environmental influencing factors on the first return path, where the environmental influencing factors include wind influencing factors, and the wind influencing factors include environmental wind speed and environmental wind direction.

[0065] Optionally, the mother ship may send a wind data request to the meteorological server. After acquiring the wind data request, the meteorological server sends the ambient wind direction and ambient wind speed on the first return route to the mother ship.

[0066] In some other embodiments, environmental factors also include biological factors.

[0067] Step S202: splitting the ambient wind speed into a first ambient wind speed component and a second ambient wind speed component according to the ambient wind direction, wherein the first ambient wind speed component is parallel to the direction of the first return path, and the second ambient wind speed component is perpendicular to the direction of the first return path.

[0068] The direction of the first return path refers to a direction from the first position information to the second position information.

[0069] Exemplarily, the angle between the ambient wind direction and the direction of the first return path is obtained; the cosine value of the ambient wind speed and the aforementioned angle is calculated to obtain the first ambient wind speed component; the sine value of the ambient wind speed and the aforementioned angle is calculated to obtain the second ambient wind speed component.

[0070] When the angle between the ambient wind direction and the direction of the first return path is an obtuse angle, the direction of the first ambient wind speed component is the same as the direction of the first return path. When the angle between the ambient wind direction and the direction of the first return path is an obtuse angle, the direction of the first ambient wind speed component is opposite to the direction of the first return path. When the angle between the ambient wind direction and the direction of the first return path is a right angle, the first ambient wind speed component is 0.

[0071] Step S203: Calculate the power consumption of the daughter ship according to the second environmental wind speed component and the rated output power of the daughter ship.

[0072] The power consumption is used to indicate the power consumed by the sub-ship per second when flying. Furthermore, the power consumption can be expressed as a percentage of the sub-ship power. For example, when the power consumption is 0.01, it means that the sub-ship consumes 0.01% of the sub-ship's maximum power per second when flying.

[0073] The second environmental wind speed component will cause the sub-ship to deviate from the first return path. Therefore, in addition to the sub-ship flying, additional energy needs to be consumed to offset the impact of the second environmental component. Optionally, according to the second environmental wind speed component, the wind power affecting the sub-ship is determined in a preset wind speed-power consumption correspondence. The flight power of the sub-ship is calculated based on the sum of the impact power and the rated output power. The power consumption of the sub-ship is calculated based on the flight power.

[0074] Step S204: Calculate the flight speed of the daughter ship according to the first ambient wind speed component, the second ambient wind speed component and the rated output power of the daughter ship.

[0075] When the daughter ship is flying, its flight speed will be affected by the first environmental wind speed component. When the direction of the first environmental wind speed component is the same as the direction of the first return path, the environmental wind speed will help the daughter ship to fly in the direction of the first return path, resulting in an increase in the flight speed of the daughter ship; when the direction of the first environmental wind speed component is the same as the direction of the first return path, the environmental wind speed will hinder the daughter ship from flying in the direction of the first return path, resulting in a decrease in the flight speed of the daughter ship. On the other hand, the second environmental wind speed component will cause part of the daughter ship's energy to be used to offset the impact of the second environmental wind speed component, resulting in the actual output power of the daughter ship being less than the rated output power.

[0076] Optionally, according to the first environmental wind speed component, the wind speed affecting the sub-ship is determined in a preset wind speed-speed correspondence relationship. The flight speed of the sub-ship is calculated according to the sum of the affecting speed and the rated flight speed of the sub-ship at the actual output power. The preset wind speed-speed correspondence relationship is used to record the influence of different wind speeds on the flight speed of the sub-ship when the wind direction is parallel to the flight direction of the sub-ship.

[0077] Step S205: Calculate the ratio of the remaining power to the power consumption to obtain the remaining flight time of the sub-ship.

[0078] According to the ratio of the remaining power to the power consumption, the remaining flight time of the sub-ship is obtained, and the remaining flight time indicates the maximum time that the sub-ship can fly. However, in actual scenarios, affected by various factors, the actual flight time of the sub-ship is less than the remaining flight time calculated above. Therefore, the difference between the remaining flight time and the first preset error can be calculated to correct the remaining flight time. Among them, the first preset error is a preset empirical value Step S206: Calculate the product of the remaining flight time and the flight speed to obtain the movable path length.

[0079] The product of the remaining flight time and the flight speed is calculated to obtain the movable path length. However, in actual scenarios, affected by various factors, the movable path that the sub-ship can actually fly is shorter than the movable path length calculated above. Therefore, the difference between the movable path length and the second preset error can be calculated to correct the remaining flight time. The second preset error is a preset empirical value.

[0080] In summary, the environmental influencing factors on the first return path are monitored, and the flight speed of the daughter ship is accurately calculated according to the ambient wind speed and ambient wind direction, so as to obtain the accurate movable path length, which is beneficial to the subsequent path planning of the mother ship.

[0081] In the following embodiment, on the return path of the sub-ship, the sub-ship may be affected by the environmental wind, causing it to lose control and fall into the sea. Therefore, the present application embodiment discloses a process diagram of a path planning method for an ocean drone. Figure 2 . Reference Figure 3 , the method comprising: Step S301: searching for a first warning area on a first return path where the ambient wind speed is greater than an ambient wind speed threshold.

[0082] The environmental wind speed threshold is a preset constant, and different types of sub-ships have different corresponding environmental wind speed thresholds. When the wind speed received by the sub-ship is greater than the environmental wind speed threshold, the sub-ship may be out of control, thereby causing the sub-ship to fall into the sea. Therefore, the sub-ship needs to avoid the area with excessively high wind speed, which is the first warning area in this embodiment.

[0083] Step S302: Calculate the ambient wind speed variance within a preset historical period.

[0084] Exemplarily, the preset historical period refers to the past 1 hour, 3 hours or 6 hours relative to the current moment.

[0085] Exemplarily, the historical environmental wind speed within a preset historical period is obtained, and the variance of the historical environmental wind speed is calculated to obtain the environmental wind speed variance. Optionally, the historical environmental wind speed is recorded once every preset interval.

[0086] Step S303: searching for a second warning area on the first return path where the environmental wind speed variance is greater than the environmental wind speed variance threshold.

[0087] The environmental wind speed variance threshold is a preset constant, and different types of sub-ships have different corresponding environmental wind speed variance thresholds. When the environmental wind speed variance is greater than the environmental wind speed variance threshold, it indicates that there is a turbulent wind field in the area, and the sub-ship is prone to lose control due to sudden changes in the wind field in the area, which may cause the sub-ship to fall into the sea. Therefore, the sub-ship needs to bypass the area where the environmental wind speed variance is greater than the environmental wind speed variance threshold, which is the second warning area in this embodiment.

[0088] Step S304: Calculate the union of the first warning area and the second warning area to obtain the warning area.

[0089] The first warning area and the second warning area are both areas where the daughter ship is prohibited from entering. Therefore, it is necessary to calculate the union of the first warning area and the second warning area to obtain the warning area.

[0090] Step S305: When the first return path passes through the warning area, a boundary line of the warning area is obtained.

[0091] If the first return path does not pass through the warning area, it means that the sub-ship will not be affected by the environmental wind in the warning area when flying along the first return path, so there is no need to adjust the first return path. However, when the first return path passes through the warning area, it means that the sub-ship will be affected by the environmental wind in the warning area. At this time, the first return path needs to be adjusted to prevent the sub-ship from entering the warning area.

[0092] Step S306: using the first return path and the boundary line to update the first return path so that the updated first return path does not pass through the warning area.

[0093] Exemplarily, the warning area is set as an area where the sub-ship is prohibited from entering, the coordinates corresponding to the first positioning information are used as the path starting point, and the coordinates corresponding to the second positioning information are used as the path end point, and path planning is performed to obtain the first return path.

[0094] In summary, the environmental influencing factors on the first return path are monitored, and the sub-ship is allowed to avoid the first warning area with excessive wind speed and the second warning area with turbulent wind field, so as to prevent the excessive wind speed and turbulent wind field from affecting the normal flight of the sub-ship and prevent the sub-ship from falling into the sea due to the influence of wind.

[0095] In the following embodiment, the mother ship may receive power alarm signals from different daughter ships at the same time, so that the mother ship needs to go to two different target locations to recover the daughter ships. To solve this problem, the embodiment of the present application discloses a flow chart of a mother ship movement calculation method. Figure 4 , the method comprising: Step S401: when the target position includes a first target position and a second target position, a first path length from the mother ship to the first target position and a second path length from the mother ship to the second target position are calculated.

[0096] When the target position includes the first target position and the second target position, the shortest distance from the mother ship to the first target position is calculated to obtain the first path length. The shortest distance from the mother ship to the second target position is calculated to obtain the second path length.

[0097] Step S402: when the first path length is less than the second path length, calculating a third path length from the first target position to the second target position.

[0098] Exemplarily, the shortest distance from the first target position to the second target position is calculated to obtain the third path length.

[0099] Step S403: Calculate the predicted time for the sub-ship to reach the second target position according to the flight speed of the sub-ship.

[0100] For example, the predicted duration is obtained based on the ratio of the length of the path that the sub-ship passes through to reach the second target position to the flight speed of the sub-ship. Figure 2 The embodiments shown will not be described in detail here.

[0101] Step S404: Obtain the minimum moving speed of the mother ship according to the first path length, the third path length and the predicted duration.

[0102] Exemplarily, the sum of the first path length and the third path length is calculated to obtain the total path length, and the ratio of the total path length to the predicted duration is calculated to obtain the minimum moving speed of the mothership.

[0103] To sum up, when the target position includes the first target position and the second target position, the speed of the mother ship will be adjusted according to the first target position and the second target position so that the mother ship can reach the first target position and the second target position in time to prevent the daughter ship from falling into the sea.

[0104] In the following embodiments, when the daughter ship returns to the mother ship, it is hoped that the daughter ship can land smoothly on the mother ship. However, due to the existence of environmental factors, it is often difficult for the daughter ship to land smoothly. Therefore, the embodiment of the present application discloses a flow chart of a method for landing a daughter ship of an ocean drone. Figure 5 , the method comprising: Step S501: when it is detected that the distance between the daughter ship and the mother ship is less than a preset distance threshold, the flight posture of the daughter ship is obtained.

[0105] The preset distance threshold is a preset fixed value, and this embodiment does not specifically limit the value of the preset distance threshold.

[0106] After receiving the position information, the daughter ship can send the position information of the daughter ship to the mother ship. The mother ship calculates the distance between the daughter ship and the mother ship based on the position information of the daughter ship and its own position information.

[0107] In some other embodiments, a radar is provided on the mothership. When the mothership detects that an object appears within the radar detection range, the mothership may send a query message to the object, and the query message is used to request the object to return relevant information of the object, and the relevant information includes at least one of the type, number and flight purpose of the object. When the mothership receives feedback information returned by the object and the mothership confirms that the object is a daughter ship that has landed on the mothership, the mothership may obtain the distance between the daughter ship and the mothership through the radar. On the other hand, when the mothership does not receive feedback information returned by the object, the mothership may regard the object as not being a daughter ship.

[0108] The flight attitude refers to the spatial orientation of the sub-ship relative to the sea surface and itself during flight. Optionally, the flight attitude parameters include the sub-ship's inclination angle, pitch angle, roll angle, yaw angle, flight speed and flight mode.

[0109] Exemplarily, the mother ship sends a flight attitude request to the daughter ship. When the daughter ship receives the flight attitude request, the daughter ship sends the encrypted flight attitude to the mother ship.

[0110] Step S502: Obtain environmental influencing factors of the area where the mother ship is located.

[0111] Optionally, the area where the mothership is located refers to a circle formed with the mothership as the center and the influence distance as the radius, wherein the influence distance is a preset constant.

[0112] Optionally, the environmental influencing factors include wind influencing factors. Wind influencing factors include environmental wind direction and environmental wind speed. In some embodiments, a wind speed sensor is provided on the mothership, and the wind speed sensor is used to measure the environmental wind direction and environmental wind speed. In some other embodiments, the mothership may send a wind data request to the meteorological server. After the meteorological server obtains the wind data request, the meteorological server sends the environmental wind direction and environmental wind speed to the mothership.

[0113] Optionally, the environmental influencing factors include sea wave influencing factors. Sea wave influencing factors include sea wave height, sea wave direction and sea wave frequency. In some embodiments, a wave meter is also provided on the mothership, and the wave meter is used to measure sea wave height, sea wave direction and sea wave frequency.

[0114] Optionally, the environmental influencing factors include biological influencing factors. Biological influencing factors include bird influencing factors. In some embodiments, a camera is also provided on the mothership, and the mothership obtains real-time images through the camera and identifies the organisms in the real-time images. Further, when the mothership identifies the organism, the historical movement trajectory of the organism can be obtained through radar, and the future movement trajectory of the organism can be predicted based on the historical movement trajectory.

[0115] Step S503: adjusting the platform attitude of the mothership according to the flight attitude and environmental influencing factors, where the platform attitude includes at least one of the horizontal position, height position and tilt angle of the mothership.

[0116] The top plate of the mothership is a movable design, and the top plate can move in the horizontal direction and the vertical direction, and change its own inclination angle. In some optional embodiments, adjusting the platform posture of the mothership is to adjust the top plate.

[0117] The horizontal position of the mother ship refers to the change in the position of the top plate in the horizontal direction relative to the preset initial position.

[0118] The height position of the mother ship refers to the change in the position of the top plate in the vertical direction relative to the preset initial position.

[0119] The tilt angle of the mother ship refers to the angle between the top plate and the horizontal plane.

[0120] To sum up, when the daughter ship lands on the mother ship, the mother ship will adjust the platform attitude of the mother ship according to environmental factors to make the platform attitude match the flight attitude of the daughter ship, so that the daughter ship can land on the mother ship more stably.

[0121] In the following embodiments, taking the environmental influencing factors including wind influencing factors as an example, the wind influencing factors include environmental wind direction and environmental wind speed. When the daughter ship is affected by the wind influencing factors, the daughter ship will have an inclination angle to ensure the stability of its own flight. At this time, the mother ship needs to take corresponding measures to ensure that the daughter ship can land smoothly. Therefore, the embodiment of the present application discloses a flow chart of a method for adjusting the mother ship's attitude and landing of an ocean drone. Figure 6 , the method comprising: Step S601: when the ambient wind speed is greater than a first wind speed threshold, extracting the actual inclination angle of the daughter ship according to the flight attitude.

[0122] The first wind speed threshold is a preset empirical value. The embodiment of the present application does not specifically limit the value of the first wind speed threshold.

[0123] Optionally, the flight attitude includes the inclination angle of the daughter ship, and the mother ship can extract the actual inclination angle of the daughter ship from the flight attitude.

[0124] Step S602: predicting the simulated inclination angle of the daughter ship according to the ambient wind speed.

[0125] Exemplarily, the wind force value received by the sub-ship is calculated according to the ambient wind speed; the minimum lift of the sub-ship is obtained, and the minimum lift refers to the lift required for the sub-ship to achieve hovering; the tangent value is obtained according to the ratio of the minimum lift and the wind force value; the inverse tangent operation is performed on the tangent value to obtain the simulated inclination angle.

[0126] Step S603: Perform weighted calculation on the actual inclination angle and the simulated inclination angle to obtain the adjusted inclination angle of the mother ship.

[0127] Optionally, obtain a first preset weight corresponding to the actual inclination angle and a second preset weight corresponding to the simulated inclination angle; use the first preset weight and the second preset weight to perform weighted calculation on the actual inclination angle and the simulated inclination angle to obtain the adjusted inclination angle of the mothership.

[0128] Optionally, obtain the future environmental wind speed of the area where the mothership is located within a preset future time period; calculate the variance of the aforementioned future environmental wind speed. According to the variance and the mapping relationship, set the first adaptive weight corresponding to the actual tilt angle and the second adaptive weight corresponding to the simulated tilt angle, and the sum of the first adaptive weight and the second adaptive weight is 1, wherein the mapping relationship is used to represent the relationship between the variance and the first adaptive weight, and the first adaptive weight is negatively correlated with the variance. According to the first adaptive weight and the second adaptive weight, perform weighted calculation on the actual tilt angle and the simulated tilt angle to obtain the adjusted tilt angle of the mothership.

[0129] Step S604: Acquire the lifting end of the mother ship according to the ambient wind direction.

[0130] Optionally, take the center point of the mothership, take the center point as the origin, make the direction vector of the ambient wind direction, and obtain the intersection of the direction vector and the mothership; the end where the aforementioned intersection is located is the lifting end of the mothership.

[0131] Step S605: lift the lifting end of the mother ship so that the tilt angle of the mother ship is the adjusted tilt angle.

[0132] For example, when the daughter ship is affected by wind, the daughter ship will form an inclination angle with the horizontal plane to ensure its own balance. The lifting end of the mother ship is lifted according to the environmental wind direction, so that the inclination angle of the mother ship is adjusted. In this way, when the daughter ship lands on the mother ship, the inclination angle of the top surface of the mother ship matches the inclination angle of the daughter ship, and the daughter ship can land on the mother ship more stably.

[0133] Step S606: When it is detected that the daughter ship has landed on the mother ship, the mother ship is adjusted to a horizontal state.

[0134] Optionally, in response to the daughter ship landing on the mother ship, the daughter ship sends a landing notification to the mother ship. The mother ship adjusts the mother ship to a horizontal state according to the landing notification sent by the daughter ship.

[0135] Optionally, a pressure sensor is provided on the mothership, and the pressure sensor is used to measure the pressure on the top of the mothership. When the reading of the pressure sensor matches the weight of the daughter ship, and the above reading is maintained for a preset time, the mothership can consider that the daughter ship has landed on the mothership.

[0136] Optionally, the mothership is provided with a camera, which can capture the top image of the mothership. The mothership identifies the working state of the daughtership in the top image, for example, the mothership can identify whether the rotor blade of the daughtership is rotating. When the working state is not working, the mothership can consider that the daughtership has landed on the mothership.

[0137] In summary, when the ambient wind speed is greater than the first wind speed threshold, the daughter ship will have an inclination angle. This method makes the inclination angle of the mother ship an adjusted inclination angle. When the daughter ship lands on the mother ship, the adjusted inclination angle matches the inclination angle of the daughter ship, which is conducive to the smooth landing of the daughter ship.

[0138] In the following embodiments, when the wind force on the ocean is strong, the daughter ship is prone to lose control during the landing process, causing the daughter ship to deviate from the landing point of the mother ship, and in serious cases, the daughter ship may fall into the sea. To this end, the embodiment of the present application discloses a flow chart of a method for landing a daughter ship of an ocean drone. Figure 7 , the method comprising: Step S701: when the ambient wind speed is greater than a second wind speed threshold, raising the height position of the mother ship to a preset height position, and the second wind speed threshold is greater than the first wind speed threshold.

[0139] The second wind speed threshold is a preset empirical value. The embodiment of the present application does not specifically limit the value of the second wind speed threshold, and only needs to ensure that the second wind speed threshold is greater than the first wind speed threshold.

[0140] The preset height position is a preset constant. In some embodiments, the preset height position corresponds to the maximum height of the mothership.

[0141] When the ambient wind speed is greater than the second wind speed threshold, the daughter ship needs to complete the landing in the shortest possible time, so the landing time of the daughter ship is shortened by raising the height of the mother ship. On the other hand, waves will appear with strong winds, and raising the height of the mother ship can also reduce the impact of waves.

[0142] Step S702: predicting the position offset direction of the daughter ship according to the environmental wind direction.

[0143] Optionally, the position offset direction of the daughter ship is the component of the ambient wind direction on the horizontal plane.

[0144] Step S703: predicting the position offset distance of the daughter ship according to the ambient wind speed.

[0145] For example, let the ambient wind speed be v, the mass of the sub-ship be m, the width of the sub-ship be a, and the height of the sub-ship be b, then the position offset distance L=0.5 αab ρ(v^3), where α is the preset parameter and ρ is the air density.

[0146] Step S704: Control the mother ship to move along the position offset direction by the position offset distance.

[0147] In some other embodiments, when the maximum horizontal movement distance of the mother ship is less than the position offset distance, the mother ship is controlled to move along the position offset direction by the maximum horizontal movement distance.

[0148] Step S705: Extending the first extension platform of the mother ship according to the position offset direction.

[0149] The first extension platform can be used for landing of the daughter ship. In the case of high wind speed, the first extension platform is equivalent to expanding the area on the mother ship for the daughter ship to land, so that the daughter ship can stop on the mother ship and reduce the probability of falling into the ocean.

[0150] In some embodiments, the top plate of the mothership can also be rotated horizontally. After the mothership extends the first extension platform, the top plate of the mothership is rotated so that the first extension platform points to the position offset direction.

[0151] Optionally, the mothership can adjust the extension length of the first extension platform extending from the mothership. In some embodiments, the extension length is positively correlated with the position offset distance, that is, the greater the position offset distance, the longer the extension length.

[0152] Step S706: When it is detected that the sub-ship has landed on the first extension platform, the manipulator is controlled to grab the sub-ship.

[0153] Optionally, the mother ship is provided with a camera, which can also take a top image. The mother ship determines the position of the daughter ship on the first extension platform according to the top image, and controls the manipulator to move toward the daughter ship and grab the daughter ship.

[0154] In some embodiments, the daughter ship may land on the edge of the first extension platform, causing the manipulator to be unable to grab the daughter ship. At this time, the mother ship retracts the first extension platform, and the retraction speed of the second extension platform is the preset retraction speed, for example, the preset retraction speed is 0.3cm / s. When the daughter ship enters the working range of the manipulator, the manipulator is controlled to grab the daughter ship. It should be noted that the preset retraction speed needs to be maintained at a relatively small value. If the preset retraction speed is too fast, the daughter ship may fall into the ocean due to inertia.

[0155] Step S707: When the mother ship retracts the daughter ship, the first extension platform is retracted.

[0156] For example, after the mother ship retracts the daughter ship through the manipulator, the mother ship can retract the first extension platform.

[0157] In some other implementations, when the manipulator grabs the daughter ship, the manipulator and the first extension platform can be controlled to be retracted at the same speed.

[0158] In summary, when the ambient wind speed is greater than the second wind speed threshold, the position of the mother ship will be moved and the first extension platform will be extended to alleviate the impact of the ambient wind speed so that the daughter ship can land smoothly on the mother ship.

[0159] In the following embodiments, when the ambient wind speed is high, the wind force on the sub-ship can be reduced to ensure that the sub-ship can land smoothly. Therefore, the embodiment of the present application discloses a flow chart of a method for extending the extension platform of a marine drone. Figure 8 , the method comprising: Step S801: When it is detected that the vertical distance between the daughter ship and the mother ship is less than the first preset vertical distance, a second extension platform of the mother ship is extended, and the second extension platform and the first extension platform are symmetrically arranged on the mother ship, so that the angle between the second extension platform and the horizontal plane is greater than the preset angle.

[0160] The first preset vertical distance is a preset constant. In some embodiments, after the second extension platform is extended out of the mothership, one end of the second extension platform extending out of the mothership is lifted so that the angle between the second extension platform and the plane where the mothership is located reaches a maximum value. The distance from the end of the second extension platform extending out of the mothership to the mothership is calculated to obtain the first preset vertical distance.

[0161] Step S802: Lift the second extension platform out of one end of the mother ship.

[0162] Optionally, the second extension platform is lifted and extended out of one end of the mother ship so that the angle between the second extension platform and the plane where the mother ship is located reaches a maximum value.

[0163] When the ambient wind speed is high, the second extension platform is lifted and extended out of one end of the mother ship. At this time, the second extension platform acts as a physical barrier, which can reduce the wind force on the daughter ship, thereby facilitating the daughter ship to land smoothly on the mother ship.

[0164] Step S803: When it is detected that the daughter ship has landed on the mother ship, the second extension platform is lowered and then retracted.

[0165] In some other embodiments, during the landing of the daughter ship, the second extension platform is lowered according to the vertical distance between the daughter ship and the mother ship, so that one end of the second extension platform extending out of the mother ship is higher than the daughter ship.

[0166] In some other embodiments, when it is detected that the daughter ship has landed on the mother ship, the first extension platform is lifted and extended out of one end of the mother ship, so that the first extension platform and the second extension platform can both act as physical barriers to reduce the wind impact on the daughter ship. When it is detected that the daughter ship is recovered by the mother ship, the first extension platform and the second extension platform are lowered and the first extension platform and the second extension platform are recovered.

[0167] In summary, the second extension platform is extended and one end of the second extension platform is lifted so that the second extension platform plays a shielding role to reduce the impact of wind on the sub-ship.

[0168] In the following embodiments, when the daughter ship is close to the mother ship, the mother ship can actively raise its own altitude position to assist the daughter ship to land. In summary, the embodiment of the present application discloses a flow chart of a mother ship ascending method for an ocean drone. Fig. 9 , the method comprising: Step S901: when it is monitored that the vertical distance between the daughter ship and the mother ship in the vertical direction is less than a second preset vertical distance, the flight attitude is acquired.

[0169] The second preset numerical distance is a preset empirical value. This embodiment does not specifically limit the specific value of the second preset numerical distance. For example, the second preset numerical value can be 10 cm or 15 cm.

[0170] Step S902: Determine whether the flight attitude is a normal flight attitude.

[0171] If the flight attitude is normal, it means that the daughter ship is flying normally and there is no need to adjust the mother ship; If the flight attitude does not belong to the normal flight attitude, step S903 is executed.

[0172] Normal flight attitude means that the parameters of the flight attitude are all within the preset parameter range. The preset parameter range is a preset experience value. When the sub-ship is in a normal flight attitude, the flight of the sub-ship is in a controllable state and the sub-ship can land normally.

[0173] Step S903: If not, then obtain the shortest distance between the daughter ship and the mother ship in the vertical direction.

[0174] Optionally, a distance sensor is provided on the mother ship, and the mother ship can obtain the shortest distance between the daughter ship and the mother ship in the vertical direction through the distance sensor.

[0175] Optionally, a distance sensor is provided on the daughter ship, and the mother ship sends a shortest distance request to the daughter ship; after receiving the shortest distance request, the daughter ship obtains the aforementioned shortest distance through the distance sensor; and the daughter ship sends the shortest distance to the mother ship.

[0176] Step S904: Raise the height position of the mother ship according to the shortest distance.

[0177] Optionally, the height position of the mothership is raised so that the mothership is raised to the shortest height.

[0178] Optionally, when the shortest distance is greater than the maximum liftable height of the mother ship, the mother ship is lifted to the aforementioned maximum liftable height.

[0179] To sum up, when the daughter ship is not in a normal flight posture, raising the height of the mother ship and allowing the mother ship to actively approach the daughter ship can not only shorten the landing time of the daughter ship, but also reduce the damage to the daughter ship when it falls.

[0180] In the following embodiments, in addition to the wind force, the environmental influencing factors may also include the wave influencing factors. The wave influencing factors include the wave height and the wave direction. The waves will impact the mother ship, causing the seawater to splash onto the mother ship. At this time, if the daughter ship is about to land on the mother ship, the daughter ship will be wetted by the seawater, which may affect the normal operation of the daughter ship. Therefore, the embodiment of the present application discloses a flow chart of a method for lifting the extension platform of an ocean drone. Fig.10 , the method comprising: Step S1001: when the height of the sea waves is greater than a preset height threshold, the height position of the mother ship is increased according to the height of the sea waves.

[0181] Optionally, the preset height threshold is a preset empirical value. This embodiment does not limit the specific value of the preset height threshold.

[0182] Optionally, the preset height threshold is determined according to the current height position of the mothership, and the difference between the current height position and the height error is calculated to obtain the preset height threshold, wherein the height difference is a fixed value. For example, assuming that the height difference is 5 cm, when the current height position of the mothership is 30 cm, the preset height threshold is 25 cm.

[0183] Step S1002: Extending a third extension platform from the mother ship according to the direction of the sea waves, the third extension platform is an extension platform on the mother ship located in the opposite direction of the sea wave direction.

[0184] Optionally, take the center point of the mothership, take the center point as the origin, make a direction vector in the opposite direction of the wave direction, and obtain the intersection of the direction vector and the mothership; and use the extension platform on the side where the aforementioned intersection is located as the third extension platform.

[0185] Optionally, the extension platform is extended from the mother ship, and the mother ship is rotated according to the direction of the waves, so that the extension direction of the extension platform is opposite to the direction of the waves. At this time, the extended extension platform is the third extension platform.

[0186] Step S1003: lift up one end of the third extension platform extending out of the mother ship.

[0187] Optionally, an end of the extension platform extending out of the mother ship is lifted so that the third extension platform forms a preset angle with the plane where the mother ship is located.

[0188] For example, after the third extension platform extends out of the mother ship, the end of the third extension platform extending out of the mother ship is lifted. At this time, when the waves hit the mother ship, seawater will splash on the side of the mother ship, but the seawater will be blocked by the third extension platform and will not splash onto the top of the mother ship, which can ensure that the top surface of the mother ship remains dry and prevent seawater from splashing onto the daughter ship.

[0189] In summary, the third extension platform is extended from the mother ship according to the direction of the waves. The third extension platform can block the splashing of waves, prevent seawater from splashing onto the daughter ship and causing damage to the daughter ship, and can also keep the mother ship dry.

[0190] In the following embodiments, the wave influencing factor also includes the wave frequency. Waves propagate at a specific frequency, so the mother ship will be periodically impacted by the waves. Therefore, it is necessary to instruct the daughter ship to land on the mother ship as much as possible when the waves do not affect the mother ship. The present application embodiment discloses a flow chart of a method for landing a daughter ship of an ocean drone. Fig.11 , the method comprising: Step S1101: Obtain a target time period according to the wave frequency, where the target time period refers to a time period when the mother ship is not affected by the waves.

[0191] Optionally, a wave meter is provided on the mother ship, and the mother ship can obtain the frequency of the waves through the wave meter.

[0192] Step S1102: predicting the landing time of the daughter ship according to the flight attitude and the distance between the daughter ship and the mother ship.

[0193] Exemplarily, the landing speed of the daughter ship is calculated according to the flight attitude; the ratio of the distance from the daughter ship to the mother ship to the landing speed is calculated to obtain the landing time of the daughter ship.

[0194] Step S1103: Determine whether the landing time is within the target time period.

[0195] If the landing time is within the target period, execute step S1104; If the landing time is not within the target time period, steps S1105 to S1109 are executed.

[0196] Step S1104: If yes, a maintenance instruction is sent to the sub-ship, where the maintenance instruction is used to instruct the sub-ship to maintain the current state movement.

[0197] When the landing time is within the target period, it means that the daughter ship is landing according to the current state, and the daughter ship can complete the landing during the period when the mother ship is not affected by the waves. Therefore, a maintenance command is sent to the daughter ship to keep the daughter ship moving in the current state.

[0198] Step S1105: If not, determine the target time period after the landing time.

[0199] When the landing time is within the target period, it means that the daughter ship will land according to the current state. The daughter ship will complete the landing during the period when the mother ship is affected by the waves, so the landing process of the daughter ship needs to be adjusted.

[0200] Step S1106: Calculate the landing time for the sub-ship to land from the critical distance.

[0201] The critical distance is a preset fixed value. The specific value of the critical distance can be adjusted according to actual conditions, and this embodiment does not specifically limit this.

[0202] Exemplarily, the landing speed of the daughter ship is calculated according to the flight attitude; the ratio of the critical distance to the landing speed is calculated to obtain the landing time of the daughter ship.

[0203] Step S1107: Calculate the landing time according to the target time period and the landing duration.

[0204] Exemplarily, the difference between the target time period and the landing duration is calculated to obtain the landing time.

[0205] Step S1108: When the distance between the daughter ship and the mother ship is a critical distance, a hovering instruction is sent to the daughter ship.

[0206] When the distance between the daughter ship and the mother ship is the critical distance, if the daughter ship continues to perform the landing action, the daughter ship will complete the landing outside the target time period, causing the waves to affect the mother ship. Therefore, a hovering command is sent to the daughter ship to make the daughter ship temporarily hover above the mother ship to avoid the daughter ship completing the landing outside the target time period.

[0207] Step S1109: Send a landing instruction to the daughter ship at the landing time.

[0208] Sending a landing command to the daughter ship at the landing time can allow the daughter ship to land on the mother ship within the target time period.

[0209] In summary, the landing time of the daughter ship is adjusted according to the frequency of the waves so that when the daughter ship lands on the mother ship, the mother ship is not affected by the waves, thus ensuring a smooth landing of the daughter ship.

[0210] Based on the same inventive concept, the present application embodiment provides a sub-ship return system for a marine UAV, please refer to Fig.12 The system comprises: An acquisition module 1201 is used to acquire remaining power, first positioning information, second positioning information, environmental influencing factors, rated output power, environmental wind speed threshold, environmental wind speed threshold, flight attitude, first wind speed threshold and second wind speed threshold; The memory 1202 is used to store a program of any of the above-mentioned methods for returning a daughter ship of an ocean UAV; Processor 1203, the program in the memory can be loaded and executed by the processor to implement any of the above-mentioned methods for returning the daughter ship of the marine drone.

[0211] In summary, when the daughter ship's power is insufficient, the mother ship will first plan the daughter ship's first return path and calculate the length of the daughter ship's movable path. When the length of the movable path is less than the first return path, the mother ship will actively move to the target position to make up for the problem of insufficient movable length so that the daughter ship can return to the mother ship.

[0212] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0213] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed by a sub-ship return method of an ocean drone.

[0214] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0215] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a method for returning a sub-ship of a marine drone.

[0216] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0217] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for returning a sub-ship of an ocean drone, characterized in that: The method comprises: In response to receiving a power alarm signal sent by a daughter ship, generating a first return route according to first positioning information of the daughter ship and second positioning information of the mother ship, wherein the power alarm signal is sent when the remaining power of the daughter ship is less than a preset power; Calculating the movable path length of the sub-ship according to the remaining power; Determining whether the length of the movable path is greater than the length of the first return path; If yes, sending the first return path to the daughter ship; If not, calculate the difference between the length of the first return path and the length of the movable path to obtain a path difference; determine the target position on the first return path according to the path difference; generate a second return path according to the first positioning information and the target position; send the second return path to the daughter ship, and control the mother ship to move to the target position.

2. The method for returning a sub-ship of an ocean drone according to claim 1, characterized in that: The calculating the movable path length of the sub-ship according to the remaining power includes: Monitoring environmental influencing factors on the first return path, wherein the environmental influencing factors include wind influencing factors, and the wind influencing factors include environmental wind speed and environmental wind direction; Splitting the ambient wind speed into a first ambient wind speed component and a second ambient wind speed component according to the ambient wind direction, wherein the first ambient wind speed component is parallel to the first return path, and the second ambient wind speed component is perpendicular to the first return path; Calculating the power consumption of the daughter ship according to the second ambient wind speed component and the rated output power of the daughter ship; Calculating a flight speed of the daughter ship according to the first ambient wind speed component, the second ambient wind speed component and the rated output power of the daughter ship; Calculating the ratio of the remaining power to the power consumption to obtain the remaining flight time of the daughter ship; The product of the remaining flight time and the flight speed is calculated to obtain the movable path length.

3. The method for returning a sub-ship of an ocean drone according to claim 2, characterized in that: The method further comprises: Searching for a first warning area where the ambient wind speed is greater than an ambient wind speed threshold on the first return path; Calculating the ambient wind speed variance of the ambient wind speed within a preset historical period; Searching for a second warning area on the first return path where the environmental wind speed variance is greater than an environmental wind speed variance threshold; Calculate the union of the first warning area and the second warning area to obtain a warning area; When the first return path passes through the warning area, obtaining a boundary line of the warning area; The first return path is updated using the first return path and the boundary line so that the updated first return path does not pass through the warning area.

4. The method for returning a sub-ship of an ocean drone according to claim 2, characterized in that: The method further comprises: In a case where the target position includes a first target position and a second target position, calculating a first path length of the mother ship to reach the first target position, and a second path length of the mother ship to reach the second target position; When the first path length is less than the second path length, calculating a third path length from the first target position to the second target position; Calculating the predicted time for the sub-ship to reach the second target position according to the flight speed of the sub-ship; The minimum moving speed of the mother ship is obtained according to the first path length, the third path length and the predicted duration.

5. The method for returning a sub-ship of an ocean drone according to claim 1, characterized in that: The method further comprises: When it is detected that the distance between the daughter ship and the mother ship is less than a preset distance threshold, obtaining the flight posture of the daughter ship; Obtaining environmental impact factors of the area where the mother ship is located; The platform posture of the mother ship is adjusted according to the flight posture and the environmental influencing factors, wherein the platform posture includes at least one of a horizontal position, a height position and an inclination angle of the mother ship.

6. The method for returning a sub-ship of an ocean drone according to claim 5, characterized in that: The environmental influencing factors include wind influencing factors; the wind influencing factors include environmental wind direction and environmental wind speed; The adjusting the platform posture of the mothership according to the flight posture and the environmental influencing factors includes: When the ambient wind speed is greater than a first wind speed threshold, extracting an actual inclination angle of the daughter ship according to the flight attitude; Predicting a simulated inclination angle of the daughter ship according to the ambient wind speed; Performing weighted calculation on the actual inclination angle and the simulated inclination angle to obtain an adjusted inclination angle of the mother ship; Acquire the lifting end of the mother ship according to the environmental wind direction; Lifting the lifting end of the mother ship so that the tilt angle of the mother ship is the adjustment tilt angle; When it is detected that the daughter ship has landed on the mother ship, the mother ship is adjusted to a horizontal state.

7. The method for returning a sub-ship of an ocean drone according to claim 6, characterized in that: The method further comprises: When the ambient wind speed is greater than a second wind speed threshold, raising the height position of the mother ship to a preset height position, and the second wind speed threshold is greater than the first wind speed threshold; Predicting the position offset direction of the daughter ship according to the environmental wind direction; Predicting the position offset distance of the daughter ship according to the environmental wind speed; Controlling the mother ship to move along the position offset direction by the position offset distance; A first extension platform extending out of the mother ship according to the position offset direction; When it is detected that the sub-ship has landed on the first extension platform, controlling the manipulator to grab the sub-ship; When the mother ship retracts the daughter ship, the first extension platform is retracted.

8. A sub-ship return system for an ocean drone, characterized in that: The system comprises: An acquisition module, used to acquire remaining power, first positioning information, second positioning information, environmental influencing factors, rated output power, environmental wind speed threshold, environmental wind speed threshold, flight attitude, first wind speed threshold and second wind speed threshold; A memory for storing a program of the sub-ship return method of the marine UAV according to any one of claims 1 to 7; The program in the processor memory can be loaded and executed by the processor to implement the sub-ship return method of the marine unmanned aerial vehicle as claimed in any one of claims 1 to 7.

9. An intelligent terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes any one of the methods of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and execute the method according to any one of claims 1 to 7.

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