Unmanned aerial vehicle charging device for unmanned ship and power distribution method

Abstract

The invention discloses an unmanned aerial vehicle charging device for an unmanned ship and a power distribution method, the unmanned aerial vehicle charging device comprises a plurality of charging machine aprons arranged in the unmanned ship, power supply modules arranged below the charging machine aprons, and power receiving modules arranged at the lower part of the unmanned aerial vehicle, and the power supply modules are matched with the power receiving modules. The power supply module is electrically connected with the power receiving module, and the power supply module is used for the unmanned ship to charge the unmanned aerial vehicle; wherein the power supply module is installed below the charger apron in a liftable mode, and the charger apron is provided with a through hole used for lifting of the power supply module. By arranging the liftable power supply module, the power supply module retracts below the charging apron when not being charged, does not occupy the upper space of the hangar, and extends out to charge the unmanned aerial vehicle when being used.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned ships and unmanned aerial vehicles, and in particular to an unmanned aerial vehicle charging device for an unmanned ship and a power distribution method. BACKGROUND

[0002] With the continuous upgrading of the demand for ocean resource development, environmental monitoring and maritime safety protection, the collaborative operation mode of unmanned ships and unmanned aerial vehicles has become the core development direction of ocean intelligent equipment. Unmanned ships, with their long endurance and strong environmental adaptability, can serve as mobile base stations and energy supply platforms for unmanned aerial vehicles at sea; and unmanned aerial vehicles, relying on their flexibility and wide coverage, can quickly complete tasks such as sea area inspection, target reconnaissance and data collection, and the combination of the two can break through the limitations of single equipment and significantly improve the efficiency and coverage of ocean tasks.

[0003] The existing charging device for unmanned aerial vehicles on unmanned ships is mostly designed in a "fixed integrated" manner, with the power supply module directly exposed or fixedly installed on the surface of the hangar, which not only occupies a large amount of upper space of the hangar, causing interference between multiple unmanned aerial vehicles when they are stored and charged at the same time, but also is difficult to adapt to the charging needs of unmanned aerial vehicles of different sizes. At the same time, the high humidity and high salinity characteristics of the marine operating environment pose strict requirements on the waterproof and corrosion-resistant performance of the charging device: some schemes use wired charging interfaces, and the exposed metal contacts are easily corroded by seawater, leading to poor contact or short circuit failure; seawater and moisture can easily penetrate into the equipment cabin of the unmanned ship through the gap, damaging the core components such as energy storage and control, and shortening the service life of the equipment. SUMMARY

[0004] In view of the above problems of the existing charging structure, such as easy interference with unmanned aerial vehicles and difficulty in waterproofing and corrosion resistance, the present application is proposed.

[0005] Therefore, an object of the present application is to provide an unmanned aerial vehicle charging device for an unmanned ship, which aims to charge unmanned aerial vehicles on the sea surface by means of an unmanned ship and avoid interference with unmanned aerial vehicles.

[0006] To solve the above technical problems, the present application provides the following technical solutions: a plurality of charging aprons arranged inside the unmanned ship, a power supply module arranged below each charging apron, a power receiving module arranged at the lower part of the unmanned aerial vehicle, the power supply module and the power receiving module being adapted to each other, the power supply module and the power receiving module being electrically connected, and the power supply module being used for charging the unmanned aerial vehicle by the unmanned ship; wherein the power supply module is installed below the charging apron in a liftable manner, and the charging apron is provided with a through hole for lifting the power supply module.

[0007] As a preferred scheme of the unmanned aerial vehicle charging device for the unmanned ship, the power supply module comprises a mounting bracket connected with the lower surface of the charging apron, a lifting rod arranged on the mounting bracket, a power supply head arranged at the top end of the lifting rod, and a power supply adapter arranged on the mounting bracket and electrically connected with the power supply head.

[0008] As a preferred scheme of the unmanned aerial vehicle charging device for the unmanned ship, the upper surface of the power supply head is provided with a wireless charging coil for power supply, the power receiving module is provided with another wireless charging coil for power receiving at the position corresponding to the power supply module, and the two wireless charging coils are close to each other and transmit power after the power supply module is lifted.

[0009] As a preferred scheme of the unmanned aerial vehicle charging device for the unmanned ship, the power supply head is provided with a sealing sleeve on the side surface, the inner ring of the sealing sleeve is connected with the power supply head, the outer ring of the sealing sleeve is connected with the surface of the charging apron, the sealing sleeve is made of soft seawater-proof material and has a margin to match the lifting of the power supply head.

[0010] As a preferred scheme of the unmanned aerial vehicle charging device for the unmanned ship, the charging apron is further provided with a plurality of small magnetic attraction recesses, the unmanned aerial vehicle is provided with a small magnetic attraction protrusion corresponding to the supporting leg, and the magnetic attraction recess and the magnetic attraction protrusion are matched.

[0011] As a preferred scheme of the unmanned aerial vehicle charging device for the unmanned ship, the charging apron is further provided with a guide module on both sides, the guide module comprises a plurality of groups of guide rails, a plurality of groups of first guide members arranged on each group of guide rails, and a second guide member arranged on the first guide member; wherein the first guide member is movably connected with the guide rail, and the second guide member is movably connected with the first guide member.

[0012] As a preferred scheme of the unmanned aerial vehicle charging device for the unmanned ship, each group of guide rails comprises two guide rails arranged in parallel, each group of first guide members comprises two first automatic sliding blocks arranged in front of and behind each guide rail, and each first automatic sliding block is connected with a first automatic sliding block on the other guide rail through a first guide rod.

[0013] As a preferred scheme of the unmanned aerial vehicle charging device for the unmanned ship, each group of second guide members comprises two second automatic sliding blocks movably connected on each first guide rod, and each second automatic sliding block is connected with a second automatic sliding block on the other first guide rod through a second guide rod.

[0014] As a preferred scheme of the unmanned aerial vehicle charging device for the unmanned ship, the first guide further comprises a lifting rail arranged on the first automatic sliding block, the first guide rod is slidably connected with the lifting rail at two ends, the first automatic sliding block is further provided with a lifting sling, and the lifting sling is connected with the lifting rail.

[0015] Another object of the present application is to provide a power distribution method, comprising the steps of collecting core data required for charging power distribution, including unmanned aerial vehicle state data, unmanned ship charging system data and unmanned ship and external environment state data. Based on the collected core data, the output power of the power supply module corresponding to each charging apron is dynamically allocated according to the number of current charging unmanned aerial vehicles and the residual power of each unmanned aerial vehicle. According to the unmanned ship charging system data and the unmanned ship and external environment state data, the charging power distribution strategy is adapted and adjusted.

[0016] The present application has the following advantages: by arranging the liftable power supply module, the power supply module is retracted below the charging apron when not charging, does not occupy the upper space of the hangar, and is extended to charge the unmanned aerial vehicle when in use. By arranging the guide module, the unmanned aerial vehicle is moved to the charging apron, and by arranging the lifting sling and the lifting rail, the first and second guides can be lifted to cross the charging unmanned aerial vehicle return door, without reserving an additional channel to guide the next unmanned aerial vehicle, greatly improving the hangar space utilization.

[0017] According to the size of the unmanned ship and the unmanned aerial vehicle, multiple charging aprons can be arranged, and multiple power supply modules can be arranged to charge multiple different unmanned aerial vehicles, improving the charging efficiency.

[0018] At the same time, by means of the power distribution method, the charging rate of multiple unmanned aerial vehicles is dynamically allocated when charging simultaneously according to the number of unmanned aerial vehicle charging, task conditions, task priority and energy state, so as to ensure that the unmanned aerial vehicle can efficiently perform the task. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 The cross-sectional structure of the unmanned ship for the unmanned aerial vehicle charging device of the present application is shown in the figure.

[0021] Figure 2 Structure diagram of unmanned aerial vehicle charging device for unmanned ship of the present application.

[0022] Figure 3 Structure diagram of power supply module of unmanned aerial vehicle charging device for unmanned ship of the present application.

[0023] Figure 4 Structure diagram of power supply module of unmanned aerial vehicle charging device for unmanned ship of the present application.

[0024] Figure 5 Structure diagram of guiding module of unmanned aerial vehicle charging device for unmanned ship of the present application.

[0025] Figure 6 Structure diagram of guiding module of unmanned aerial vehicle charging device for unmanned ship of the present application. DETAILED DESCRIPTION

[0026] In order to make the above objectives, features and advantages of the present application more apparent, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0027] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without the specific details given herein, that the present application can be practiced with other than the described implementations, and that the present application can be practiced with different or additional components. Therefore, the specific details set forth in the following description are by way of examples and not intended to limit the present application.

[0028] Secondly, the "one embodiment" or "embodiment" referred to herein means that the specific features, structures or characteristics can be included in at least one implementation of the present application. "In one embodiment" appearing in different places in the specification does not mean the same embodiment, nor is it an independent or alternative embodiment.

[0029] Thirdly, the present application is described in detail in conjunction with the schematic diagram. In the detailed description of the embodiments of the present application, the cross-sectional view of the device structure is partially enlarged without the general proportion for the convenience of description, and the schematic diagram is only an example, which should not limit the scope of protection of the present application. In addition, the three-dimensional spatial dimensions including length, width and depth should be included in the actual manufacture.

[0030] Embodiment 1

[0031] Reference Figures 1-4For the first embodiment of the present application, an unmanned aerial vehicle charging device for an unmanned ship is provided, which comprises a plurality of charging aprons 200 arranged in the unmanned ship 100, a power supply module 300 arranged below each charging apron 200, a power receiving module 500 arranged at the lower part of the unmanned aerial vehicle 400, the power supply module 300 and the power receiving module 500 are matched, the power supply module 300 and the power receiving module 500 are electrically connected, and the power supply module 300 is used for charging the unmanned aerial vehicle 400 by the unmanned ship 100.

[0032] A partition 102 is arranged in the middle of the hull 101 of the unmanned ship 100, which divides the space in the hull 101 into two parts, the lower part is used as an equipment cabin to store energy storage equipment, control equipment and other electrical equipment, and the power supply module 300 is electrically connected with the energy storage equipment in the unmanned ship 100, and the upper part is used as a hangar for the unmanned aerial vehicle 400. A cabin door is arranged on the upper part of the hull 101, which can be opened and closed, and can completely close the hull 101 in the closed state to prevent seawater from entering the hangar of the unmanned aerial vehicle 400. The hangar of the unmanned aerial vehicle 400 is divided into a plurality of charging aprons 200 on the partition 102 for charging the unmanned aerial vehicle 400. The unmanned aerial vehicle 400 is modified to install a power receiving module 500 at the lower part of the fuselage for connection and charging with the power supply module 300.

[0033] The power supply module 300 is arranged below the charging apron 200 and can be lifted, and the charging apron 200 is provided with a through hole for lifting the power supply module 300. The power supply module 300 can be lifted through the through hole, so that the power supply module 300 can be extended out of the partition 102 during charging, and can be retracted to the surface of the partition 102 during non-charging.

[0034] During use, the unmanned aerial vehicle 400 is first parked directly above the charging apron 200, so that the power supply module 300 is aligned with the power receiving module 500. Then the power supply module 300 is extended upwards until it is connected with the power receiving module 500, and then the power supply module 300 starts to charge the unmanned aerial vehicle 400 with the power supply of the unmanned ship 100. After charging is completed, the power supply module 300 is automatically lowered, and the unmanned aerial vehicle 400 can leave to perform tasks.

[0035] Embodiment 2

[0036] Reference Figures 2-4 For the second embodiment of the present application, the difference between this embodiment and the first embodiment is that the power supply module 300 comprises a mounting bracket 301 connected with the lower surface of the charging apron 200, a lifting rod 302 arranged on the mounting bracket 301, a power supply head 303 arranged at the top end of the lifting rod 302, and a power supply adapter 304 arranged on the mounting bracket 301, the power supply adapter 304 is electrically connected with the power supply head 303.

[0037] According to the size of the unmanned boat 100 and the size of the unmanned aerial vehicle 400, different numbers of charging aprons 200 can be set, according to the number of charging aprons 200, a power supply module 300 can be set below each charging apron 200, or the mounting bracket 301 can be installed on the track that can be moved, so that the power supply module 300 is movably installed, so that the number of power supply modules 300 can be set to be less than the number of charging aprons 200. The lifting rod 302 is a telescopic rod with electric control lifting, which can be controlled by program to control the position of the power supply head 303 when in use.

[0038] The upper surface of the power supply head 303 is provided with a wireless charging coil 305 for power supply, and the power receiving module 500 is provided with another wireless charging coil 305 for power receiving corresponding to the position of the power supply module 300. After the power supply module 300 is lifted, the two wireless charging coils 305 are close to each other and transmit power.

[0039] By setting the power supply module 300 and the power receiving module 500 as wireless charging, the outer surface of the wireless charging coil 305 can be covered with a waterproof and corrosion-resistant shell when in use, so that the unmanned aerial vehicle 400 and the power supply module 300 no longer have exposed charging interfaces, and seawater corrosion can be avoided.

[0040] Further, the power supply head 303 is provided with a sealing sleeve 306 around the side surface, the inner ring of the sealing sleeve 306 is connected with the power supply head 303, the outer ring of the sealing sleeve 306 is connected with the surface of the charging apron 200, the sealing sleeve 306 is made of soft seawater-proof material and has a margin to cooperate with the lifting of the power supply head 303. The connection between the sealing sleeve 306 and the power supply head 303 and the connection between the sealing sleeve 306 and the charging apron 200 are completely sealed.

[0041] By setting the sealing sleeve 306, when the power supply module 300 is not in use, the sealing sleeve 306 is attached to the surface of the inner partition 102 of the boat body 101, and when the power supply module 300 is in use, it is lifted with the power supply head 303, forming a shape similar to an umbrella. The sealing sleeve 306 can prevent seawater and moisture in the air from entering the equipment cabin in the lower part of the boat body 101 from the through-hole position.

[0042] Reference Figure 4 and Figure 5 The charging apron 200 is also provided with a plurality of small magnetic recesses 202, for example Figure 4In the center of the charging apron 200, four magnetic attraction recesses 202 are arranged in a circumferential array with the center of the charging apron 200 as the center. The specific number and position are corresponding to the number of magnetic attraction protrusions of the unmanned aerial vehicle 400. The unmanned aerial vehicle 400 is correspondingly provided with a small magnetic attraction protrusion at the support leg. The magnetic attraction recess 202 is matched with the magnetic attraction protrusion. The position and size of the support leg of the unmanned aerial vehicle 400 are changed to correspondingly change the position and size of the magnetic attraction recess 202. By opening the magnetic attraction recess 202 on the surface of the apron and internally setting a magnet, and by correspondingly setting a magnetic attraction protrusion at the bottom end of the support leg of the unmanned aerial vehicle 400, when the unmanned aerial vehicle 400 is correctly parked on the charging apron 200, the magnetic attraction protrusion is just sunk into the magnetic attraction recess 202, and meanwhile, they are fixed by magnetic attraction. The unmanned aerial vehicle 400 is prevented from being displaced due to the shaking of the unmanned aerial vehicle 100 during charging, thereby causing the wireless charging coil 305 to be separated, resulting in the failure to charge.

[0043] The rest of the structure is the same as that of example 1.

[0044] Example 3

[0045] Referring to Figure 5 and Figure 6 This is the third embodiment of the application. Different from the second embodiment, the charging apron 200 is further provided with a guide module 600 on both sides. The guide module 600 includes a plurality of guide rails 601, a plurality of first guide members 602 arranged on each guide rail 601, and a second guide member 603 arranged on the first guide member 602.

[0046] The first guide member 602 is movably connected with the guide rail 601, and the second guide member 603 is movably connected with the first guide member 602. The guide module 600 is used to control the movement of the unmanned aerial vehicle 400 after landing and make it correctly parked at the designated position. The first guide member 602 and the second guide member 603 are perpendicular to each other, thereby respectively controlling the horizontal and vertical positions of the unmanned aerial vehicle 400 in the overhead view.

[0047] If the number of charging apron 200 is more, and the unmanned ship 100 internal space is sufficient, can set up multiple groups of guide rail 601, so as to realize a landing and moving multiple unmanned aerial vehicle 400. Each group of guide rail 601 includes two parallel guide rails 601, each group of first guide 602 includes two first automatic slider 602a arranged in front of and behind each guide rail 601, and each first automatic slider 602a is connected with a first automatic slider 602a on the other guide rail 601 through a first guide rod 602b. That is, a group of first guide 602 includes four first automatic slider 602a and two first guide rod 602b, four first automatic slider 602a are movably connected with two guide rails 601 respectively, and the first automatic slider 602a is provided with a structure with moving function, such as moving wheel.

[0048] For example, the first guide 602 controls the longitudinal position of the unmanned aerial vehicle 400, and then the second guide 603 is started to control the lateral position of the unmanned aerial vehicle 400. The length and width data of the unmanned aerial vehicle 400 are pre-set, and the centering position of the unmanned aerial vehicle 400 is predetermined. The target position of the movement of the first guide 602 and the second guide 603 is the four sides of the centering position of the unmanned aerial vehicle 400.

[0049] When moving the unmanned aerial vehicle 400, one first guide rod 602b is in front of the unmanned aerial vehicle 400, and the other first guide rod 602b is behind the unmanned aerial vehicle 400. The two first guide rods 602b are controlled by the first automatic sliders 602a connected thereto respectively. They first move towards each other until they reach the predetermined position. During the movement, the unmanned aerial vehicle 400 can be pushed, and finally the unmanned aerial vehicle 400 is adjusted.

[0050] Each group of second guide 603 includes two second automatic slider 603a movably connected on each first guide rod 602b, and each second automatic slider 603a is connected with a second automatic slider 603a on the other first guide rod 602b through a second guide rod 603b. That is, the second guide 603 includes four second automatic slider 603a and two second guide rod 603b, four second automatic slider 603a are movably connected with two first guide rod 602b respectively, and the second automatic slider 603a is also provided with a structure with moving function.

[0051] At this time, the UAV 400 has been clamped in the front-rear direction by the first guide 602, one second guide rod 603b is on the left side of the UAV 400, and the other second guide rod 603b is on the right side of the UAV 400, the respective second automatic sliders 603a are started to control the two second guide rods 603b to move towards each other to clamp the UAV 400, so that the charging module of the UAV 400 is parallel to the connection line of the power supply module 300 of the charging apron 200 and the guide rail 601. Thus, the UAV 400 is clamped from four directions, and then the first guide 602 is started to synchronously control the four first automatic sliders 602a, so that the two first guide rods 602b drive the UAV 400 to start moving.

[0052] Embodiment 4

[0053] With reference to Figure 6 For the fourth embodiment of the application, the difference between this embodiment and the third embodiment is that the first guide 602 further comprises a lifting rail 602c arranged on the first automatic slider 602a, the two ends of the first guide rod 602b are respectively connected with the lifting rail 602c in sliding mode, the first automatic slider 602a is further provided with a lifting sling 602d, the lifting sling 602d is connected with the lifting rail 602c, the first automatic slider 602a is further provided with a motor and a winding reel for controlling the lifting sling 602d, and the top end of the lifting rail 602c is further provided with a pulley for changing the angle and position of the lifting sling 602d.

[0054] By arranging the lifting rail 602c and the lifting sling 602d, the height of the first guide rod 602b can be controlled, and since the second guide rod 603b is mounted on the first guide rod 602b, the height of the second guide rod 603b can be further controlled. Thus, after the UAV 400 reaches the charging apron 200 to start charging, the first guide rod 602b and the second guide rod 603b can be raised away from the UAV 400 when there is no interference with the UAV 400, so as to cross the UAV 400 and move to the warehouse opening again to move the next UAV 400.

[0055] Each second guide rod 603b is two mutually symmetrical multi-section telescopic rods, one multi-section telescopic rod is provided with an insertion head 603c at the top end, and the other multi-section telescopic rod is provided with a sleeve 603d at the top end, and the insertion head 603c is inserted and matched with the sleeve 603d.

[0056] In use, the motor first releases the lifting cable 602d, lowering the first guide rod 602b to its lowest position. At this point, both the first guide rod 602b and the second guide rod 603b are in their lowest positions. Subsequently, each of the second automatic sliders 603a of the second guide member 603 moves to the two ends of the first guide rod 602b, corresponding to each other. Each of the multi-section telescopic rods of the second guide rod 603b extends out, and the insertion head 603c at the top of the two multi-section telescopic rods is inserted into the sleeve 603d at the top of the other multi-section telescopic rod, thus forming the second guide rod 603b, which can then be used to control the movement of the drone 400. When the drone 400 moves to the charging pad 200 to start charging, the second guide rod 603b begins to move away from each other, and the first guide rod 602b also begins to move away from each other, thus detaching from the drone 400. At this time, the motor controls the reel to start winding up the cable, and the lifting cable 602d retracts along the pulley. At this time, the first guide rod 602b rises, driving the second guide 603 to rise synchronously. Thus, the first automatic slider 602a can drive the first guide 602 and the second guide 603 back to the hatch position to move the next drone 400.

[0057] Example 5

[0058] The fifth embodiment of the present invention provides a power distribution method for automatically and dynamically distributing charging power from an unmanned surface vessel 100 to multiple unmanned aerial vehicles 400, comprising the following steps: Collect the core data required for charging power allocation, including UAV 400 status data, UAV 100 charging system data, and UAV 100 and external environment status data; Based on the collected core data, according to the current number of charging drones 400 and the remaining power of each drone 400, the output power of the power supply module 300 corresponding to each charging pad 200 is dynamically allocated.

[0059] Based on the charging system data of the UAV 100 and the status data of the UAV 100 and the external environment, the charging power distribution strategy is adapted and adjusted.

[0060] Specifically, the core data collection is realized through the following modules: collecting the unmanned aerial vehicle 400 state data through the sensors and communication modules of the unmanned aerial vehicle 400, the unmanned aerial vehicle 400 state data including the remaining power of the unmanned aerial vehicle 400, the charging progress, and the battery health state; collecting the unmanned ship 100 charging system data through the power supply module 300 and the energy storage equipment of the unmanned ship 100, the unmanned ship 100 charging system data including the number of occupied charging pads 200, the total output power of the power supply module 300, and the real-time power of the solar charging equipment of the unmanned ship 100; collecting the unmanned ship 100 and external environment state data through the environment sensing module, the unmanned ship 100 and external environment state data including the sea state level such as wind speed and wave height, the remaining power of the energy storage equipment of the unmanned ship 100, and the diving and floating warning information; and receiving the unmanned aerial vehicle 400 guarding state data transmitted by the land control center through the communication module.

[0061] Before collecting the core data, a data preprocessing step is further included, and the basic parameters required for charging distribution are defined, including the division of the unmanned aerial vehicle 400 power interval, which is divided into low power (0%~30%), basic power (30%~60%), and sufficient power (60%+).

[0062] The fast charging power threshold is set to 80% of the maximum output power of the single channel of the power supply module 300.

[0063] The collected remaining power of the unmanned aerial vehicle 400 and the power data of the power supply module 300 are calibrated to ensure data accuracy (power accuracy to 1%, power accuracy to 10W).

[0064] When there is no guarding unmanned aerial vehicle 400 low power warning and no severe environment warning, that is, in the multi-unmanned aerial vehicle 400 regular charging scene, the output power of the power supply module 300 is dynamically allocated.

[0065] The specific logic is as follows: in the first stage, identify the charging unmanned aerial vehicle 400 in the low power interval (0%~30%) and allocate fast charging power (80% of the maximum output power of the single channel of the power supply module 300) to it to preferentially supplement the basic power; in the second stage, when all charging unmanned aerial vehicles 400 reach the basic guarantee power, calculate the power allocation coefficient of each unmanned aerial vehicle 400 according to the "unmanned aerial vehicle 400 guarding task priority weight (60%) + remaining power weight (40%)", the formula is: power allocation coefficient = (unmanned aerial vehicle 400 guarding priority score / current all charging unmanned aerial vehicle 400 guarding priority total score) x 60% + (current unmanned aerial vehicle 400 / current all charging unmanned aerial vehicle 400 total score) x 40%; allocate the total output power of the power supply module 300 according to the power allocation coefficient to ensure that the unmanned aerial vehicle 400 with high guarding priority is preferentially supplemented with power.

[0066] When the communication module receives a low-power warning (power ≤ 20%) of the standby UAV 400, that is, a high-priority power compensation scene, the specific logic of dynamically adjusting the output power of the power supply module 300 is to select the "fastest power compensation target UAV 400" from the current charging UAV 400, that is, to select the UAV 400 with the highest remaining power and the matching standby priority of the low-power standby UAV 400; the charging power of the target UAV 400 is increased to the maximum output power of the power supply module 300 single channel, while the charging power of other non-target charging UAV 400 is reduced to the basic level of maintaining the activity of the battery, the redundant power is integrated to supply the target UAV 400, and the power compensation of the target UAV 400 is accelerated; after the target UAV 400 takes off, the normal charging power of the non-target UAV 400 is immediately restored, and the charging power distribution is re-distributed.

[0067] When the environmental perception module detects severe sea conditions (wind speed > 15 m / s, wave height > 1.5 m) or the dynamic decision optimization module predicts a severe weather window, that is, a multi-UAV 400 emergency charging scene.

[0068] The specific logic of adapting and adjusting the charging power distribution strategy is to prioritize the charging of the UAV 400 returning to base, instruct the UAV 400 executing tasks outside to return immediately through the communication module, reserve the power of the power supply module 300 of 1-2 charging pads 200 to the maximum output power, and ensure that the returning UAV 400 can be immediately fast-charged to the basic guaranteed power after landing; compress unnecessary charging power, suspend or reduce the charging power of the UAV 400 with a power ≥ 30% to the minimum power to save power resources; for the UAV 400 with a power < 30%, suspend after fast-charging to 30% to avoid battery depletion of the UAV 400 when diving.

[0069] It also includes a dynamic decision optimization step. The unmanned boat 100 is also provided with a dynamic decision optimization module electrically connected with each sensor and power supply module. Based on historical charging distribution data (such as different power interval compensation efficiency and task response time after power allocation) and real-time data, the LSTM neural network is used to iteratively optimize the following parameters: the basic guaranteed power threshold of the UAV 400, which is dynamically adjusted according to the operation radius; the weight proportion of the task standby priority and the remaining power in the power distribution coefficient; the selection condition of the fastest power compensation target UAV 400, which is based on the weight proportion of the task standby priority and the remaining power.

[0070] When the unmanned boat 100 interrupts charging due to diving to avoid severe weather, the charging progress (charged power, charging time) of each UAV 400 is automatically saved; after the unmanned boat 100 rises, the fast-charging of the UAV 400 with low power (< 30%) and high standby priority is prioritized, and the charging power distribution is restarted according to the above logic.

[0071] When the communication module detects a communication interruption with the ground control center, the local emergency charging mode is enabled, and priority is given to fast charging the drones 400 with power < 20% to 30%; if the communication is interrupted for more than 30 minutes and the wave height > 1.5 meters, non-essential charging is suspended, and only the 1 drone 400 with the highest priority is reserved for charging to 30% SOC, and the rest of the charging circuits are disconnected to save energy; During the communication interruption, the charging status of each drone 400 is recorded every 5 minutes, and the data is returned after the communication is restored and the power distribution logic of the above-mentioned logic is re-executed.

[0072] It is important to note that the construction and arrangement of the application shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters, mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter described in the application. For example, elements shown as integrally formed can be constructed of multiple parts or elements, the position of elements can be reversed or otherwise varied, and the nature or number of elements or positions can be altered or varied. Accordingly, all such variations are intended to be included within the scope of the present application. The order or sequence of any process or method steps can be varied or re-sequenced without materially affecting the application. Accordingly, the application is not limited to a particular implementation, but extends to various modifications that nevertheless fall within the scope of the appended claims.

[0073] Furthermore, in an effort to provide a concise description of exemplary embodiments, all features of an actual implementation can not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the application, or those unrelated to enabling the claimed application).

[0074] It should be noted that the above-mentioned embodiments are only used to illustrate the technical solutions of the present application but not to limit the present application, and although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalent replaced without departing from the spirit and scope of the present application, and all should be included in the scope of the claims of the present application.

Claims

1. A charging device for unmanned surface vessels (USVs), characterized in that: include, Several charging pads (200) are set inside the unmanned surface vessel (100), a power supply module (300) is set below each charging pad (200), and a power receiving module (500) is set below the unmanned aerial vehicle (400). The power supply module (300) and the power receiving module (500) are adapted to each other and are electrically connected. The power supply module (300) is used for the unmanned surface vessel (100) to charge the unmanned aerial vehicle (400). The power supply module (300) is installed below the charging platform (200) in a height-adjustable manner, and the charging platform (200) has a through hole for lifting the power supply module (300).

2. The unmanned surface vessel charging device for drones according to claim 1, characterized in that: The power supply module (300) includes a mounting bracket (301) connected to the lower surface of the charging platform (200), a lifting rod (302) disposed on the mounting bracket (301), a power supply head (303) provided at the top of the lifting rod (302), and a power supply adapter (304) disposed on the mounting bracket (301), the power supply adapter (304) being electrically connected to the power supply head (303).

3. The unmanned surface vessel charging device for drones according to claim 2, characterized in that: The upper surface of the power supply head (303) is provided with a wireless charging coil (305) for power supply. The power receiving module (500) is provided with another wireless charging coil (305) for power receiving at the position corresponding to the power supply module (300). After the power supply module (300) is raised, the two wireless charging coils (305) approach each other and transmit power.

4. The unmanned surface vessel charging device for drones according to claim 2 or 3, characterized in that: The power supply head (303) is provided with a sealing sleeve (306) on its periphery. The inner ring of the sealing sleeve (306) is connected to the power supply head (303), and the outer ring of the sealing sleeve (306) is connected to the surface of the charging platform (200). The sealing sleeve (306) is made of soft seawater resistant material and has a margin to accommodate the lifting and lowering of the power supply head (303).

5. The unmanned surface vessel charging device for drones according to claim 1, characterized in that: The charging pad (200) is also provided with several tiny magnetic recesses (202), and the drone (400) is provided with tiny magnetic protrusions on its support legs. The magnetic recesses (202) are adapted to the magnetic protrusions.

6. The unmanned surface vessel charging device for unmanned aerial vehicles according to any one of claims 1, 2, 4 or 5, characterized in that: The charging apron (200) is also provided with a guide module (600) on both sides. The guide module (600) includes several sets of guide rails (601), several sets of first guide members (602) on each set of guide rails (601), and second guide members (603) on the first guide members (602). The first guide (602) is movably connected to the guide rail (601), and the second guide (603) is movably connected to the first guide (602).

7. The unmanned surface vessel charging device for drones according to claim 6, characterized in that: Each set of guide rails (601) includes two guide rails (601) arranged in parallel. Each set of first guide members (602) includes two first automatic sliders (602a) arranged one in front of the other on each guide rail (601). Each first automatic slider (602a) is connected to a first automatic slider (602a) on the other guide rail (601) by a first guide rod (602b).

8. The unmanned surface vessel charging device for drones according to claim 7, characterized in that: Each set of second guides (603) includes two second automatic sliders (603a) movably connected to each first guide rod (602b), and each second automatic slider (603a) is connected to a second automatic slider (603a) on another first guide rod (602b) via the second guide rod (603b).

9. The unmanned surface vessel charging device for drones according to claim 8, characterized in that: The first guide (602) further includes a lifting rail (602c) disposed on the first automatic slider (602a), and the two ends of the first guide rod (602b) are slidably connected to the lifting rail (602c). The first automatic slider (602a) is also provided with a lifting cable (602d), which is connected to the lifting rail (602c). Each of the second guide rods (603b) consists of two symmetrical multi-section telescopic rods. One of the multi-section telescopic rods has an insertion head (603c) at its top end, and the other multi-section telescopic rod has a sleeve (603d) at its top end. The insertion head (603c) and the sleeve (603d) are inserted into each other.

10. A power distribution method, employing the unmanned surface vessel (USV) charging device as described in any one of claims 1 to 9, characterized in that: Includes the following steps, Collect the core data required for charging power allocation, including drone status data, unmanned surface vessel (USV) charging system data, and USV and external environment status data. Based on the collected core data, the power output of the power supply modules corresponding to each charging station is dynamically adjusted according to the current number of charging drones and the remaining power of each drone. Based on data from the unmanned surface vessel (USV) charging system and data on the USV's status with the external environment, the charging power allocation strategy is adjusted accordingly.

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