Unmanned aerial vehicle, unmanned all-terrain trolley and cooperation system thereof

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and aims to provide an unmanned aerial vehicle, an unmanned all-terrain trolley and a cooperative system thereof. In order to solve the problems that the unmanned aerial vehicle needs to be charged in a wired mode, the parking position needs to be horizontal or the energy consumption is high when the unmanned aerial vehicle is charged in a wireless mode only through the unmanned vehicle, the technical scheme can be summarized as follows: a wired charging unit and a wireless charging unit are arranged in the unmanned aerial vehicle; a wired power supply unit and a wireless power supply unit are also arranged in the unmanned all-terrain trolley, and corresponding charging modes and corresponding relations are selected according to actual conditions. The system has the beneficial effects that the problem that the parking position needs to be horizontal or the energy consumption is relatively high when the unmanned vehicle is purely adopted to carry out wired charging on the unmanned aerial vehicle is solved, the cruising ability of the unmanned aerial vehicle is further improved, and the system is suitable for networking of the unmanned aerial vehicle and the unmanned vehicle.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and particularly to UAVs, unmanned all-terrain vehicles, and their collaborative systems. Background Technology

[0002] In complex terrain operation scenarios, UAVs, as aerial reconnaissance platforms, have advantages such as wide field of view and rapid response, but they also face the following three core technological bottlenecks: 1. Limited battery life: Traditional drones rely on built-in batteries for power, and the single operation time is usually no more than 1 hour. In addition, they lack flexible energy supply facilities in complex terrain, making it difficult to support long-term and large-scale operations. 2. Stringent take-off and landing conditions: Drones require flat and unobstructed take-off and landing sites. However, areas in complex terrain often have gravel or steep slopes, and the lack of fixed take-off and landing points limits the expansion of the drone's operating range and mission flexibility. 3. Poor communication stability: Complex terrain (such as valleys, tunnels, etc.) can easily block communication signals, and the reliability of a single communication link (such as relying solely on cellular networks) is insufficient, often resulting in data transmission interruptions and increased latency, which affects task collaboration and remote control.

[0003] To address the above three problems, the following solutions have been proposed in the prior art: To address the limited battery life of drones, existing technologies employ two main approaches. One involves using unmanned vehicles (UAVs) to wire-charge drones. These UAVs carry a charging platform, allowing the drone to dock and receive its wired charge. However, this method requires the UAV to be stationary while the drone rests on the charging platform, and the docking position must be level or nearly level to prevent the drone from slipping or failing to dock. Another approach is to use UAVs for wireless charging, which avoids the leveling issues mentioned above. However, wireless charging consumes more energy and may be unstable, requiring larger UAVs to handle the increased energy consumption and thus raising operating costs.

[0004] To address the issue of poor communication stability, current technologies typically employ multiple drones as relays to transmit signals, thereby ensuring signal quality.

[0005] In summary, existing technologies suffer from the problem that drones have limited battery life, and simply using unmanned vehicles to wire charge drones requires sufficient parking space or that simply using unmanned vehicles to wirelessly charge drones consumes a lot of energy. Summary of the Invention

[0006] The purpose of this invention is to provide a drone, an unmanned all-terrain vehicle, and their collaborative system to solve the problems in the prior art where the drone's endurance is limited, and simply using an unmanned vehicle to wire charge the drone requires parking space level or simply using an unmanned vehicle to wirelessly charge the drone is energy-intensive.

[0007] In the technical solution adopted by the present invention to solve the above-mentioned technical problems, in the first aspect, a drone is provided, including a charging module, a power module, a processing module and a signal transmission module. The charging module is connected to the power module, the power module is connected to the processing module, and the processing module is connected to the signal transmission module. The charging module includes a wired charging unit and a wireless charging unit. The charging module is used to receive external electrical energy to charge the power module; The processing module is used to receive external control commands sent by the signal transmission module to operate the drone. When charging is required, it performs the following processing: The charging method is determined according to the external control command. If it is wired charging, the drone is operated to dock at the designated unmanned all-terrain vehicle or charging platform for charging. If it is wireless charging, the drone is operated to hover above the designated unmanned all-terrain vehicle at a preset position and maintain a constant relative position with the unmanned all-terrain vehicle within a certain range. Alternatively, it can broadcast a charging request via a signal transmission module, receive a response from an unmanned all-terrain vehicle or charging platform, and select an unmanned all-terrain vehicle or charging platform to connect to based on the response. Based on the response from the connected unmanned all-terrain vehicle or charging platform, it determines the charging method. If it is wired charging, it operates the drone to dock at the connected unmanned all-terrain vehicle or charging platform for charging. If it is wireless charging, it operates the drone to hover above the connected unmanned all-terrain vehicle at a preset position and maintain a constant relative position with the unmanned all-terrain vehicle within a certain range. Alternatively, a one-to-one correspondence can be established between the drone and the corresponding unmanned all-terrain vehicle. The drone sends a charging information to the corresponding unmanned all-terrain vehicle through a signal transmission module, receives feedback from the corresponding unmanned all-terrain vehicle, and determines the charging method based on the feedback. If it is wired charging, the drone is operated to dock at the corresponding connected unmanned all-terrain vehicle or charging platform for charging. If it is wireless charging, the drone is operated to hover above the corresponding connected unmanned all-terrain vehicle at a preset position and maintain a constant relative position with the unmanned all-terrain vehicle within a first range.

[0008] In some embodiments, to provide a feasible way to determine whether the drone needs to be charged, the processing module is further configured to monitor the remaining power of the power module in real time, and determine that charging is required when the remaining power reaches a preset threshold.

[0009] In some embodiments, to provide a feasible preset position, the preset position is 10-30 centimeters above the center position of the corresponding unmanned all-terrain vehicle.

[0010] In some embodiments, to provide a feasible range, the first range is a spherical range with a radius of 10-20 centimeters centered at a preset position.

[0011] In some embodiments, since the unmanned all-terrain vehicle is also mobile, it may move to locations where the drone cannot dock, such as tunnels and bushes. However, if the drone receives a response or feedback indicating wired charging, it will be unable to dock and charge. In this case, the step of operating the drone to dock at the corresponding connected unmanned all-terrain vehicle or charging platform for charging includes: After the processing module operates the drone to reach a certain distance above the unmanned all-terrain vehicle or charging platform, it uses a camera device or obstacle distance measuring device to determine whether there is an obstacle between the drone and the corresponding unmanned all-terrain vehicle or charging platform. If there is an obstacle, it sends a message to the corresponding unmanned all-terrain vehicle or charging platform to switch the charging mode and changes the charging mode to wireless charging.

[0012] In some embodiments, to provide a method for broadcasting charging information via a signal transmission module, receiving a response from an unmanned all-terrain vehicle (ATV) or charging platform, and selecting an ATV or charging platform for corresponding connection based on the response, the step of broadcasting charging information via a signal transmission module, receiving a response from an ATV or charging platform, and selecting an ATV or charging platform for corresponding connection based on the response includes: The system broadcasts a charging request through a signal transmission module and receives responses from unmanned all-terrain vehicles or charging platforms. Calculate the distance between the location of each unmanned all-terrain vehicle or charging platform in the response and the location of the machine, and select the unmanned all-terrain vehicle or charging platform that is closest to it according to preset rules; The preset rule is as follows: Select the nearest unmanned all-terrain vehicle or charging platform; Alternatively, within a certain distance from the machine, select the nearest unmanned all-terrain vehicle or charging platform that is connected to wired charging; otherwise, select the nearest unmanned all-terrain vehicle or charging platform.

[0013] In the second aspect of the technical solution adopted by the present invention to solve the above-mentioned technical problems, an unmanned all-terrain vehicle is provided, including a charging and power supply module, a take-off and landing platform, an all-terrain drive module, a control module, and a data transmission module. The charging and power supply module is connected to the all-terrain drive module and the control module respectively. The control module is connected to the take-off and landing platform, the all-terrain drive module, and the data transmission module respectively. The charging and power supply module includes a wired power supply unit, a wireless power supply unit, and an energy storage unit. The take-off and landing platform includes a wired charging interface, and the wired power supply unit is connected to the wired charging interface. The charging power supply module is used to supply power to the all-terrain drive module, the wired charging interface and the control module, and to start the power supply of the wireless power supply unit according to the control of the control module. The take-off and landing platform is used to dock drones and to charge them via a wired charging interface; The all-terrain drive module is used to perform all-terrain movement under the control of the control module; The control module is used to receive external control commands sent by the data transmission module to operate the unmanned all-terrain vehicle. When it receives charging information from the drone through the data transmission module, it determines in real time whether the current position is suitable for the drone to dock. If it is suitable, it stops moving and responds or provides feedback to the corresponding drone or external control terminal, waiting for the drone to dock and begin wired charging. If it is not suitable, it responds or provides feedback to the corresponding drone or external control terminal, and after determining that the corresponding drone has reached the preset position, it starts the wireless power supply unit to wirelessly charge it.

[0014] In some embodiments, since there are many ways to determine whether the current location is suitable for drone docking, and multiple situations need to be considered, the real-time determination of whether the current location is suitable for drone docking includes: The gyroscope is used to determine whether the angle between the current take-off and landing platform and the horizontal plane is within the second range. If it is, it is determined that it is suitable for the drone to dock; otherwise, it is determined that it is not suitable for the drone to dock. And / or, determine whether the machine can stop moving based on the task in the current external control command. If it can, it is determined that it is suitable for the drone to dock; otherwise, it is determined that it is not suitable for the drone to dock. And / or, use a camera device or obstacle distance measuring device to determine whether there are obstacles in a certain area above the take-off and landing platform. If there are obstacles, it is determined that the area is not suitable for drones to dock; otherwise, it is determined that the area is suitable for drones to dock.

[0015] In some embodiments, to provide a feasible second range, the second range is -5° to 5°.

[0016] In some embodiments, to increase the likelihood of wired charging of the drone, the take-off and landing platform includes a drone parking position adjustment unit and a drone parking position, wherein the drone parking position adjustment unit is capable of adjusting the attitude of the drone parking position within a third range. The step of using a gyroscope to determine whether the angle between the current take-off and landing platform and the horizontal plane is within the second range, and if so, determining that it is suitable for the drone to dock, and otherwise determining that it is unsuitable for the drone to dock, includes: The system uses a gyroscope to determine whether the angle between the current drone parking position and the horizontal plane is within the second range. If it is, the drone is deemed suitable for parking. Otherwise, the system calculates whether the drone parking position adjustment unit can adjust the drone parking position to an angle with the horizontal plane within the second range. If the angle can be adjusted to the second range, the system controls the drone parking position adjustment unit to adjust the drone's attitude. After the adjustment is completed, the drone is deemed suitable for parking. If the angle cannot be adjusted to the second range, the drone is deemed unsuitable for parking.

[0017] In some embodiments, to provide a feasible third range, the third range is 25° to 30°.

[0018] In some embodiments, since the energy carried by the unmanned all-terrain vehicle, such as electricity, is not unlimited, the control module monitors the remaining power of the charging module in real time, and does not respond or provide feedback when the remaining power is lower than a preset value.

[0019] In the third aspect of the technical solution adopted by the present invention to solve the above-mentioned technical problems, a collaborative system of unmanned aerial vehicles and unmanned all-terrain vehicles is provided, including the above-mentioned unmanned aerial vehicles, the above-mentioned unmanned all-terrain vehicles and a control terminal. The unmanned aerial vehicles and unmanned all-terrain vehicles are respectively connected to the control terminal. The unmanned aerial vehicles are connected to the unmanned all-terrain vehicles. Both the unmanned aerial vehicles and unmanned all-terrain vehicles can act as relays for signal transmission. The control terminal is used to send corresponding external control commands to the UAV and the unmanned all-terrain vehicle, and to receive and process the data sent by the UAV and the unmanned all-terrain vehicle.

[0020] In some embodiments, since the aforementioned drones may not know when they need to be charged, the control terminal receives the remaining power information of each drone in real time, determines whether each drone needs to be charged based on the remaining power information and the current task, and sends an external control command to a drone that needs to be charged when it is determined that a certain drone needs to be charged.

[0021] In some embodiments, since the aforementioned drones may not know which unmanned all-terrain vehicle or charging platform they are corresponding to for charging, the control terminal, upon learning that a certain drone needs charging, collects the position information of each drone and each unmanned all-terrain vehicle, selects the designated unmanned all-terrain vehicle or charging platform corresponding to the drone based on the position information of each drone, the position information of each unmanned all-terrain vehicle, and the preset position information of each charging platform, and sends the information of the designated unmanned all-terrain vehicle or charging platform as an external control command to the corresponding drone.

[0022] In some embodiments, since the energy carried by the unmanned all-terrain vehicle (UAV) is not unlimited, the step of collecting the location information of each UAV and each UAV when it is known that a certain UAV needs to be charged, and selecting the designated UAV or charging platform corresponding to the UAV based on the location information of each UAV, the location information of each UAV, and the location information of each preset charging platform, includes: When it is known that a certain drone needs to be charged, the location information of each drone and each unmanned all-terrain vehicle is collected, and the energy reserve information of each unmanned all-terrain vehicle is obtained. Based on the location information of each UAV, the location information of each unmanned all-terrain vehicle, the reserve energy information of each unmanned all-terrain vehicle, and the location information of each pre-set charging platform, the designated unmanned all-terrain vehicle or charging platform for the corresponding UAV is selected. If it is determined from the reserve energy information that the reserve energy of a certain unmanned all-terrain vehicle is only enough to complete the current task, the corresponding unmanned all-terrain vehicle will not be designated.

[0023] In some embodiments, since the energy carried by the unmanned all-terrain vehicle (UAV) is not unlimited, the control terminal also monitors the reserve energy information of each UAV in real time. When it is determined from the reserve energy information that the reserve energy of a certain UAV is only enough to complete the current task, an external control command is sent to the corresponding UAV to stop charging the UAV. If a UAV is charging on the UAV at this time, an external control command is sent to the UAV to replace the corresponding UAV or charging platform.

[0024] The beneficial effect of the present invention is that, in the solution of the present invention, by using the above-mentioned drone, unmanned all-terrain vehicle and its collaborative system, a mode combining wired charging and wireless charging is adopted, which solves the problem that simply using unmanned vehicles to wire charge drones requires a parking space level or simply using unmanned vehicles to wirelessly charge drones consumes a lot of energy, thereby further improving the drone's endurance. Attached Figure Description

[0025] Figure 1This is a schematic system block diagram of the drone in an embodiment of the present invention.

[0026] Figure 2 This is a schematic system block diagram of the unmanned all-terrain vehicle in an embodiment of the present invention.

[0027] Figure 3 This is a schematic system block diagram of the collaborative system of unmanned aerial vehicles and unmanned all-terrain vehicles in an embodiment of the present invention. Detailed Implementation

[0028] The technical solution of the present invention will now be described in detail with reference to the embodiments and accompanying drawings.

[0029] like Figure 1 As shown in the embodiments of the present invention, in a first aspect, a drone is provided, including a charging module, a power module, a processing module and a signal transmission module, wherein the charging module is connected to the power module, the power module is connected to the processing module, the processing module is connected to the signal transmission module, and the charging module includes a wired charging unit and a wireless charging unit.

[0030] Here, the charging module is used to receive external electrical energy to charge the power module; The processing module receives external control commands from the signal transmission module to operate the drone. When charging is required, it performs the following processing: The charging method is determined according to the external control command. If it is wired charging, the drone is operated to dock at the designated unmanned all-terrain vehicle or charging platform for charging. If it is wireless charging, the drone is operated to hover above the designated unmanned all-terrain vehicle at a preset position and maintain a constant relative position with the unmanned all-terrain vehicle within a certain range. Alternatively, it can broadcast a charging request via a signal transmission module, receive a response from an unmanned all-terrain vehicle or charging platform, and select an unmanned all-terrain vehicle or charging platform to connect to based on the response. Based on the response from the connected unmanned all-terrain vehicle or charging platform, it determines the charging method. If it is wired charging, it operates the drone to dock at the connected unmanned all-terrain vehicle or charging platform for charging. If it is wireless charging, it operates the drone to hover above the connected unmanned all-terrain vehicle at a preset position and maintain a constant relative position with the unmanned all-terrain vehicle within a certain range. Alternatively, a one-to-one correspondence can be established between the drone and the corresponding unmanned all-terrain vehicle. The drone sends a charging information to the corresponding unmanned all-terrain vehicle through a signal transmission module, receives feedback from the corresponding unmanned all-terrain vehicle, and determines the charging method based on the feedback. If it is wired charging, the drone is operated to dock at the corresponding connected unmanned all-terrain vehicle or charging platform for charging. If it is wireless charging, the drone is operated to hover above the corresponding connected unmanned all-terrain vehicle at a preset position and maintain a constant relative position with the unmanned all-terrain vehicle within a first range.

[0031] It is understood that in the above embodiments, the charging module of the drone has two built-in charging units, namely a wired charging unit and a wireless charging unit. Both the wired charging unit and the wireless charging unit are existing technologies. For example, the wireless charging unit may include a microstrip antenna and a voltage regulator output unit. The microstrip antenna receives the radio frequency microwave signal of wireless charging (it is not recommended to use magnetic coupling wireless charging, as its charging distance is too short), converts it into electrical energy, and then outputs it through the voltage regulator output unit to charge the power module. This will not be described in detail here.

[0032] Since an additional charging unit is added, it is necessary to determine the corresponding charging method. As can be seen from the description of the above embodiments, the determination and implementation of the charging method can be achieved by using software plus the original functions of the drone. Therefore, apart from adding a charging unit, no other hardware costs are required.

[0033] In addition, the camera devices, various sensors, positioning devices, rotors and drive modules that should be present in a drone are all modules that the drone itself has, and they are all powered by the power module, so they will not be described in detail here.

[0034] Meanwhile, when a drone is charging via wired or wireless means, the positioning and navigation required are also based on existing technologies. For example, after determining the charging method based on external control commands, responses or feedback from unmanned all-terrain vehicles, or responses from charging platforms, the drone continues to obtain the position of the corresponding unmanned all-terrain vehicle or charging platform, as well as its own current position, from the external control commands, responses or feedback. It can then establish a navigation path and move according to existing navigation methods. Existing obstacle avoidance schemes can be used during movement, which will not be detailed here.

[0035] In some embodiments, to provide a feasible way to determine whether the drone needs to be charged, the processing module can also be used to monitor the remaining power of the power module in real time, and determine that charging is required when the remaining power reaches a preset threshold.

[0036] It is understandable that, as in the above embodiments, whether the drone needs to be charged can be determined by its own processing module, or the determination process can be placed on an external control terminal. In this case, the processing module only needs to send the real-time monitored remaining power to the external control terminal, thereby saving computing resources. However, this will occupy certain communication resources, so it is necessary to make corresponding settings according to the actual situation.

[0037] In addition, the preset threshold can be set in advance according to the task to be performed when networking the drone, unmanned all-terrain vehicle and the control terminal, or it can be set by the external control terminal according to the actual situation. For example, when performing a mountain exploration scenario, the remaining power is set to 40% of the total power, or when performing a tunnel rescue scenario, the remaining power is set to 30% of the total power, etc. There is no limitation here.

[0038] In some embodiments, to provide a feasible preset position, the preset position may be 10-30 cm above the center position of the corresponding unmanned all-terrain vehicle.

[0039] It is understandable that although the range of existing wireless charging can reach the meter level, its energy loss increases with the charging distance. Therefore, the above embodiments propose a more preferred range for the preset position. Meanwhile, since there may be obstacles between the stopping position of the unmanned all-terrain vehicle and the drone, the preset position can also be set dynamically to avoid corresponding obstacles. Alternatively, the preset position can be set as a spherical range with a certain radius centered on the center position of the corresponding unmanned all-terrain vehicle, while simultaneously meeting obstacle avoidance requirements, such as the ground, the outer shell of the unmanned all-terrain vehicle, trees, and rocks.

[0040] In some embodiments, to provide a feasible range, the first range can be a spherical range with a radius of 10-20 centimeters centered at a preset position.

[0041] It is understandable that since the unmanned all-terrain vehicle may be unable to stop, the corresponding drone needs to follow the unmanned all-terrain vehicle to ensure wireless charging. During the movement, there may be obstacles between the unmanned all-terrain vehicle and the drone, so obstacle avoidance is required in real time. While avoiding obstacles, it is also necessary to maintain the wireless charging state as much as possible. Therefore, the first range in the above embodiment is set, and its specific value is only a preferred solution and can be adjusted according to the actual situation.

[0042] Of course, during obstacle avoidance, it is very likely that the drone will exceed the first range. In this case, the drone can use the current task and / or its own camera device to determine whether the positional relationship between the drone and the corresponding unmanned all-terrain vehicle will be outside the first range for a long time. If so, it can choose to replace the drone with another unmanned all-terrain vehicle for charging or replace it with a charging platform for charging. Otherwise, after obstacle avoidance is completed, the drone will immediately return to the first range of the preset position, that is, after obstacle avoidance is completed, the drone will return to the first range of the preset position above the corresponding connected unmanned all-terrain vehicle.

[0043] In some embodiments, since the unmanned all-terrain vehicle is also mobile, it may move to locations where the drone cannot dock, such as tunnels and bushes. However, if the drone receives a response or feedback indicating wired charging, it will be unable to dock and charge. In this case, the step of operating the drone to dock at the corresponding connected unmanned all-terrain vehicle or charging platform for charging includes: After the processing module operates the drone to reach a certain distance above the unmanned all-terrain vehicle or charging platform, it uses a camera device or obstacle distance measuring device to determine whether there is an obstacle between the drone and the corresponding unmanned all-terrain vehicle or charging platform. If there is an obstacle, it sends a message to the corresponding unmanned all-terrain vehicle or charging platform to switch the charging mode and changes the charging mode to wireless charging.

[0044] Understandably, when a drone docks, it first moves to a certain distance above the designated docking position before descending and parking. Upon reaching the top of the docking position, it typically disables obstacle avoidance mode or stops responding to obstacle avoidance information. This is because in existing technologies, drones are usually launched from relatively open locations, and their recovery and charging also take place in relatively open areas, thus eliminating the need for obstacle avoidance. However, in the aforementioned embodiment, the unmanned all-terrain vehicle (ATV) may move to a non-open location while performing other tasks, preventing the drone from landing or from landing at the ATV's parking spot. For example, if the ATV is in a tunnel, the drone can land on the tunnel roof directly above the ATV, but cannot land at the parking spot. Therefore, wired charging is not possible in this case, and a different charging method is required.

[0045] In some embodiments, to provide a method for broadcasting charging information via a signal transmission module, receiving a response from an unmanned all-terrain vehicle or charging platform, and selecting an unmanned all-terrain vehicle or charging platform for corresponding connection based on the response, the step of broadcasting charging information via a signal transmission module, receiving a response from an unmanned all-terrain vehicle or charging platform, and selecting an unmanned all-terrain vehicle or charging platform for corresponding connection based on the response may include: The system broadcasts a charging request through a signal transmission module and receives responses from unmanned all-terrain vehicles or charging platforms. Calculate the distance between the location of each unmanned all-terrain vehicle or charging platform in the response and the location of the machine, and select the unmanned all-terrain vehicle or charging platform that is closest to it according to preset rules; The preset rule is as follows: Select the nearest unmanned all-terrain vehicle or charging platform; Alternatively, within a certain distance from the machine, select the nearest unmanned all-terrain vehicle or charging platform that is connected to wired charging; otherwise, select the nearest unmanned all-terrain vehicle or charging platform.

[0046] It is understood that in the above embodiments, the broadcast should send charging information to each unmanned all-terrain vehicle and / or charging platform in the entire system, and should not be limited to simple radio broadcast signals, because simple radio broadcast signals may not be received by some unmanned all-terrain vehicles and / or charging platforms in the system due to obstruction.

[0047] In addition, the purpose of selecting the nearest unmanned all-terrain vehicle or charging platform is to reach the unmanned all-terrain vehicle or charging platform that can be charged as soon as possible, so as to get as close as possible to the mission location. The purpose of selecting the nearest unmanned all-terrain vehicle or charging platform within a certain distance from the drone is as follows: Since wireless charging consumes a lot of energy, when it is necessary to extend the endurance of the drone and unmanned all-terrain vehicle as much as possible, wired charging should be used. Therefore, the efficiency of charging, energy consumption and the location of the mission can be balanced based on the selection of this certain distance range.

[0048] Meanwhile, during wireless charging, the processing module of the drone in the above embodiments can also monitor the status of the wireless charging unit in real time. When the charging efficiency of the wireless charging unit is lower than the preset charging threshold, the corresponding unmanned all-terrain vehicle is replaced. Specifically, this can be done by sending relevant information to the external control terminal, waiting for the external control terminal to send an external control command containing the new designated unmanned all-terrain vehicle or charging platform, and then executing the corresponding command. Alternatively, it can be rebroadcast. At the same time, the currently powered unmanned all-terrain vehicle is marked so that it will not be selected for this charging. After finding other powered unmanned all-terrain vehicles or charging platforms, a power supply stop message is sent to the currently powered unmanned all-terrain vehicle.

[0049] Furthermore, to ensure communication quality in complex terrain environments, the UAV signal transmission module in the above embodiments can also act as a relay device, providing signal transmission. This extends the communication distance and ensures communication quality after multiple UAVs and unmanned all-terrain vehicles are networked. The control unit responsible for relaying can employ a distributed network protocol to collect real-time data on signal strength, transmission rate, and packet loss rate of the communication links between nodes, assessing communication quality. When the direct communication command between any two nodes (UAVs, unmanned all-terrain vehicles, and control terminals in the network) falls below a preset threshold (e.g., less than -85dBm), an indirect communication link is automatically established between the two nodes using other nodes as relay nodes. Through a dynamic network topology adjustment mechanism, the primary and backup links can be switched within 500ms, and the communication recovery time is less than or equal to 1 second, thus maintaining the redundancy and continuity of the communication links.

[0050] The signal transmission module can also include various communication units such as satellite communication units, cellular mobile communication units, private network communication units, LoRa communication units, and ZigBee short-range communication units. It can automatically switch between the communication units used according to the environment. For example, cellular mobile communication can be used in urban areas with a transmission rate of ≥10Mbps, while LoRa communication can be used in remote areas with a transmission distance of ≤10km and low power consumption. Satellite communication can be used in areas without signal, providing global coverage with a latency of ≤500ms. This ensures communication quality under various conditions.

[0051] like Figure 2 As shown in the second aspect of this invention, an unmanned all-terrain vehicle is provided, including a charging and power supply module, a take-off and landing platform, an all-terrain drive module, a control module, and a data transmission module. The charging and power supply module is connected to the all-terrain drive module and the control module, respectively. The control module is connected to the take-off and landing platform, the all-terrain drive module, and the data transmission module, respectively. The charging and power supply module includes a wired power supply unit, a wireless power supply unit, and an energy storage unit. The take-off and landing platform includes a wired charging interface, and the wired power supply unit is connected to the wired charging interface.

[0052] Here, the charging power supply module is used to supply power to the all-terrain drive module, the wired charging interface and the control module, and to start the power supply of the wireless power supply unit according to the control of the control module; The take-off and landing platform is used to dock drones and to charge them via a wired charging interface; The all-terrain drive module is used to perform all-terrain movement under the control of the control module; The control module is used to receive external control commands sent by the data transmission module to operate the unmanned all-terrain vehicle. When it receives charging information from the drone through the data transmission module, it determines in real time whether the current position is suitable for the drone to dock. If it is suitable, it stops moving and responds or provides feedback to the corresponding drone or external control terminal, waiting for the drone to dock and begin wired charging. If it is not suitable, it responds or provides feedback to the corresponding drone or external control terminal, and after determining that the corresponding drone has reached the preset position, it activates the wireless power supply unit to wirelessly charge it.

[0053] It is understood that in the above embodiments, the charging and power supply module of the unmanned all-terrain vehicle incorporates two power supply units: a wired power supply unit and a wireless power supply unit. Both the wired and wireless power supply units are existing technologies and will not be described in detail here. Furthermore, the charging and power supply module can employ various energy forms, such as batteries and / or diesel / gasoline generators and corresponding fuel tanks, and can be designed according to actual conditions; these will not be detailed here either.

[0054] In addition, the camera devices, various sensors and positioning devices that should be present in the unmanned all-terrain vehicle are all modules that the unmanned all-terrain vehicle itself has, and they are all powered by the charging power module, which will not be described in detail here.

[0055] The all-terrain drive module of the unmanned all-terrain vehicle can adopt a tracked or wheel-tracked composite structure, with a ground pressure of less than or equal to 50 kPa, so that it can travel on muddy and gravel terrain, and the maximum climbing angle can reach more than 35°.

[0056] Meanwhile, when the drone needs to be wired or wirelessly charged on the unmanned all-terrain vehicle, the drone requires the unmanned all-terrain vehicle to perform positioning and docking operations, such as progressive positioning guidance, which are existing technologies and will not be described in detail here.

[0057] In some embodiments, since there are many ways to determine whether the current location is suitable for drone docking, and multiple situations need to be considered, real-time determination of whether the current location is suitable for drone docking may include: The gyroscope is used to determine whether the angle between the current take-off and landing platform and the horizontal plane is within the second range. If it is, it is determined that it is suitable for the drone to dock; otherwise, it is determined that it is not suitable for the drone to dock. And / or, determine whether the machine can stop moving based on the task in the current external control command. If it can, it is determined that it is suitable for the drone to dock; otherwise, it is determined that it is not suitable for the drone to dock. And / or, use a camera device or obstacle distance measuring device to determine whether there are obstacles in a certain area above the take-off and landing platform. If there are obstacles, it is determined that the area is not suitable for drones to dock; otherwise, it is determined that the area is suitable for drones to dock.

[0058] Understandably, since unmanned all-terrain vehicles travel on the ground, and the ground may be uneven in complex terrain environments, the take-off and landing platform of the unmanned all-terrain vehicle may not be parallel to the horizontal plane within a certain range. This may cause the landing drone to slip or fail to dock. Therefore, it is necessary to ensure that the take-off and landing platform is parallel to the horizontal plane within a certain range. This certain range refers to the second range corresponding to the angle between the take-off and landing platform and the horizontal plane, which can be from -5° to 5°.

[0059] At the same time, because the unmanned all-terrain vehicle travels on the ground, if the mission requires a tight schedule, the unmanned all-terrain vehicle needs to be in a constant state of motion. As we all know, the unmanned all-terrain vehicle in motion is very likely to experience bumps, which may also cause the landing drone to slip or be unable to dock. Therefore, in this case, it is preferable to use the wireless charging mode, which is not suitable for the drone to dock.

[0060] Furthermore, if the unmanned all-terrain vehicle (ATV) enters a narrow tunnel or dense forest, even if the ground is flat (i.e., the landing platform is parallel to the horizontal plane), it may still be unsuitable for drones to dock due to obstructions above it. While this could be addressed by the drone automatically determining its charging needs as it approaches, this could lead to resource waste. For example, if the drone discovers it needs wireless charging after approaching the ATV, another ATV could provide wired charging within a similar distance, resulting in further resource waste. In some embodiments, to increase the likelihood of wired charging for the drone, the landing platform may include a drone parking position adjustment unit and a drone parking position. The drone parking position adjustment unit can adjust the attitude of the drone parking position within a third range. The gyroscope is used to determine whether the angle between the current take-off and landing platform and the horizontal plane is within the second range. If it is, it is determined to be suitable for the drone to dock; otherwise, it is determined to be unsuitable for the drone to dock. This may include: The system uses a gyroscope to determine whether the angle between the current drone parking position and the horizontal plane is within the second range. If it is, the drone is deemed suitable for parking. Otherwise, the system calculates whether the drone parking position adjustment unit can adjust the drone parking position to an angle with the horizontal plane within the second range. If the angle can be adjusted to the second range, the system controls the drone parking position adjustment unit to adjust the drone's attitude. After the adjustment is completed, the drone is deemed suitable for parking. If the angle cannot be adjusted to the second range, the drone is deemed unsuitable for parking.

[0061] Understandably, in the above embodiments, a drone parking position adjustment unit is used to adjust the drone parking position, ensuring that even when the unmanned all-terrain vehicle is tilted, the drone parking position remains as parallel to the horizontal plane as possible, thereby increasing the probability of the drone being wired charged. However, since the adjustment capability of the drone parking position adjustment unit is not unlimited when changing the angle between the drone parking position and the unmanned all-terrain vehicle itself, and the stability of the unmanned all-terrain vehicle itself when stopping and landing with a drone must also be ensured, its adjustment capability does not need to be set too high to save costs; therefore, the third range can be 25° to 30°.

[0062] In some embodiments, since the energy carried by the unmanned all-terrain vehicle, such as electricity, is not unlimited, the control module can also monitor the remaining power of the charging module in real time, and will not respond or provide feedback when the remaining power is lower than a preset value.

[0063] It's understandable that when the unmanned all-terrain vehicle (ATV) doesn't respond or provide feedback, it indicates that the ATV cannot recharge, and the drone will not engage with it, thus ensuring the ATV's own energy supply. The aforementioned preset value can be set according to actual conditions, such as directly setting it to 30% or dynamically determining it based on the difference between the estimated power required for the current mission and the remaining power. A red line for the remaining power required for the return trip can also be set, but these will not be detailed here.

[0064] Meanwhile, when the charging power supply module is a battery paired with a diesel / gasoline generator and a corresponding fuel tank, the real-time monitoring of the remaining power of the charging power supply module can be extended to real-time monitoring of the remaining power of the battery and the remaining fuel in the fuel tank. Based on the remaining fuel, the power generation can be calculated. Combined with the preset power generation capacity of the diesel / gasoline generator, it can be further determined whether the remaining energy can support the completion of the current task while charging the drone, thus realizing intelligent energy allocation.

[0065] Furthermore, to ensure communication quality in complex terrain environments, the data transmission module of the unmanned all-terrain vehicle in the above embodiments can also serve as a relay device, providing signal transmission. This extends the communication distance and ensures communication quality after multiple drones and unmanned all-terrain vehicles are networked. The control unit responsible for relaying can employ a distributed network protocol to collect real-time data on signal strength, transmission rate, and packet loss rate of the communication links between nodes, assessing communication quality. When the direct communication command between any two nodes (drones, unmanned all-terrain vehicles, and control terminals in the network) falls below a preset threshold (e.g., less than -85dBm), an indirect communication link is automatically established between the two nodes using another node as a relay node. Through a dynamic network topology adjustment mechanism, the primary and backup links can be switched within 500ms, and the communication recovery time is less than or equal to 1 second, thus maintaining the redundancy and continuity of the communication links.

[0066] The data transmission module can also include various communication units such as satellite communication units, cellular mobile communication units, private network communication units, LoRa communication units, and ZigBee short-range communication units. It can automatically switch between the communication units used based on the environment. For example, cellular mobile communication can be used in urban areas with a transmission rate of ≥10Mbps, while LoRa communication can be used in remote areas with a transmission distance of ≤10km and low power consumption. Satellite communication can be used in areas without signal, providing global coverage with a latency of ≤500ms. This ensures communication quality under various conditions.

[0067] like Figure 3 As shown, in a third aspect of this invention, a collaborative system of unmanned aerial vehicles (UAVs) and unmanned all-terrain vehicles (UAVs) is provided, including the aforementioned UAV, the aforementioned UAV, and a control terminal. The UAV and the UAV are respectively connected to the control terminal, the UAV is connected to the UAV, and both the UAV and the UAV can act as relays for signal transmission.

[0068] Here, the control terminal is used to send corresponding external control commands to the drones and unmanned all-terrain vehicles, and to receive and process the data sent by the drones and unmanned all-terrain vehicles.

[0069] It is understood that in the above embodiments, the drone, the unmanned all-terrain vehicle and the control terminal are networked. The network may also include the charging platform mentioned above. Since the charging platform is fixed, the relevant information of the charging platform can be pre-set in the control terminal and the drone, and it does not necessarily need to form a network with the drone, etc.

[0070] When the signal transmission module of the drone and the data transmission module of the unmanned all-terrain vehicle can both be used as relay devices, the communication range of the drone will be greatly extended. In actual tests, it can reach more than 4 to 6 times the current communication range of a single drone.

[0071] In some embodiments, since the aforementioned drones may not know when they need to be charged, the control terminal can also receive the remaining power information of each drone in real time, determine whether each drone needs to be charged based on the remaining power information and the current task, and send an external control command to a drone that needs to be charged when it is determined that a certain drone needs to be charged.

[0072] Understandably, this places the process of determining when a drone needs to be charged at the control end. This is because determining whether each drone needs to be charged based on the current task may require a lot of calculations or manual settings (such as in an emergency or when the drone has completed its current task and the operator deems it appropriate to add another less energy-intensive task). Therefore, the drone may not be able to make the judgment or calculation on its own, which requires a control end with stronger computing power that is closer to the operator. However, this may consume certain communication resources.

[0073] In some embodiments, since the aforementioned drones may not know which unmanned all-terrain vehicle or charging platform they are charging, the control terminal can collect the location information of each drone and each unmanned all-terrain vehicle when it knows that a certain drone needs to be charged. Based on the location information of each drone, the location information of each unmanned all-terrain vehicle, and the preset location information of each charging platform, the control terminal can select the designated unmanned all-terrain vehicle or charging platform for the corresponding drone and send the information of the designated unmanned all-terrain vehicle or charging platform as an external control command to the corresponding drone.

[0074] Understandably, this places the process of determining which all-terrain vehicle or charging platform the drone should be paired with at the control end. This is because if the presence of obstacles such as mountains prevents direct communication between the drone and the all-terrain vehicle, the drone may not know that the all-terrain vehicle is the most suitable energy source (all-terrain vehicle or charging platform) for charging. By having the control end make the designation, the above problem is not avoided. At the same time, the designation can also be made manually or through model calculation (intelligent allocation) based on the actual situation.

[0075] In some embodiments, since the energy carried by the unmanned all-terrain vehicle (UAV) is not unlimited, when it is known that a certain UAV needs to be charged, the location information of each UAV and each UAV is collected. Based on the location information of each UAV, the location information of each UAV, and the location information of each pre-set charging platform, the designated UAV or charging platform corresponding to the UAV is selected, which may include: When it is known that a certain drone needs to be charged, the location information of each drone and each unmanned all-terrain vehicle is collected, and the energy reserve information of each unmanned all-terrain vehicle is obtained. Based on the location information of each UAV, the location information of each unmanned all-terrain vehicle, the reserve energy information of each unmanned all-terrain vehicle, and the location information of each pre-set charging platform, the designated unmanned all-terrain vehicle or charging platform for the corresponding UAV is selected. If it is determined from the reserve energy information that the reserve energy of a certain unmanned all-terrain vehicle is only enough to complete the current task, the corresponding unmanned all-terrain vehicle will not be designated.

[0076] It is understandable that the unmanned all-terrain vehicle assigned to the drone here will not be an unmanned all-terrain vehicle with insufficient reserve energy, and the relationship between reserve energy and task is determined at the control end, which reduces the computational load of the unmanned all-terrain vehicle.

[0077] In some embodiments, since the energy carried by the unmanned all-terrain vehicle (UTV) is not unlimited, the control unit can also monitor the energy reserve information of each UTV in real time. When it is determined from the energy reserve information that the energy reserve of a certain UTV is only enough to complete the current task, an external control command is sent to the corresponding UTV to stop charging the UTV. If a UTV is charging on the UTV at this time, an external control command is sent to the UTV to replace the corresponding UTV or charging platform.

[0078] Understandably, this means that when the drone does not obtain external control commands from the control terminal to know the corresponding unmanned all-terrain vehicle, and the unmanned all-terrain vehicle may not know whether its own stored energy (i.e., remaining power and other energy) is sufficient to complete the charging of the drone while fulfilling the mission, the control terminal informs and / or controls the unmanned all-terrain vehicle and the drone.

Claims

1. An unmanned aerial vehicle (UAV), characterized in that, It includes a charging module, a power module, a processing module, and a signal transmission module. The charging module is connected to the power module, the power module is connected to the processing module, and the processing module is connected to the signal transmission module. The charging module includes a wired charging unit and a wireless charging unit. The charging module is used to receive external electrical energy to charge the power module; The processing module is used to receive external control commands sent by the signal transmission module to operate the drone. When charging is required, it performs the following processing: The charging method is determined according to the external control command. If it is wired charging, the drone is operated to dock at the designated unmanned all-terrain vehicle or charging platform for charging. If it is wireless charging, the drone is operated to hover above the designated unmanned all-terrain vehicle at a preset position and maintain a constant relative position with the unmanned all-terrain vehicle within a certain range. Alternatively, it can broadcast a charging request via a signal transmission module, receive a response from an unmanned all-terrain vehicle or charging platform, and select an unmanned all-terrain vehicle or charging platform to connect to based on the response. Based on the response from the connected unmanned all-terrain vehicle or charging platform, it determines the charging method. If it is wired charging, it operates the drone to dock at the connected unmanned all-terrain vehicle or charging platform for charging. If it is wireless charging, it operates the drone to hover above the connected unmanned all-terrain vehicle at a preset position and maintain a constant relative position with the unmanned all-terrain vehicle within a certain range. Alternatively, a one-to-one correspondence can be established between the drone and the corresponding unmanned all-terrain vehicle. The drone sends a charging information to the corresponding unmanned all-terrain vehicle through a signal transmission module, receives feedback from the corresponding unmanned all-terrain vehicle, and determines the charging method based on the feedback. If it is wired charging, the drone is operated to dock at the corresponding connected unmanned all-terrain vehicle or charging platform for charging. If it is wireless charging, the drone is operated to hover above the corresponding connected unmanned all-terrain vehicle at a preset position and maintain a constant relative position with the unmanned all-terrain vehicle within a first range.

2. The drone as described in claim 1, characterized in that, The processing module is also used to monitor the remaining power of the power module in real time, and when the remaining power reaches a preset threshold, it is determined that charging is required.

3. The drone as described in claim 1, characterized in that, The operation of the drone to dock at the corresponding connected unmanned all-terrain vehicle or charging platform for charging includes: After the processing module operates the drone to reach a certain distance above the unmanned all-terrain vehicle or charging platform, it uses a camera device or obstacle distance measuring device to determine whether there is an obstacle between the drone and the corresponding unmanned all-terrain vehicle or charging platform. If there is an obstacle, it sends a message to the corresponding unmanned all-terrain vehicle or charging platform to switch the charging mode and changes the charging mode to wireless charging.

4. The BIM-based simulation analysis method for the trafficability of large-item transportation as described in any one of claims 1-3, characterized in that, The process of broadcasting charging information via a signal transmission module, receiving responses from unmanned all-terrain vehicles or charging platforms, and selecting an unmanned all-terrain vehicle or charging platform for connection based on the response includes: The system broadcasts a charging request through a signal transmission module and receives responses from unmanned all-terrain vehicles or charging platforms. Calculate the distance between the location of each unmanned all-terrain vehicle or charging platform in the response and the location of the machine, and select the unmanned all-terrain vehicle or charging platform that is closest to it according to preset rules; The preset rule is as follows: Select the nearest unmanned all-terrain vehicle or charging platform; Alternatively, within a certain distance from the machine, select the nearest unmanned all-terrain vehicle or charging platform that is connected to wired charging; otherwise, select the nearest unmanned all-terrain vehicle or charging platform.

5. An unmanned all-terrain vehicle, characterized in that, The system includes a charging and power supply module, a take-off and landing platform, an all-terrain drive module, a control module, and a data transmission module. The charging and power supply module is connected to both the all-terrain drive module and the control module. The control module is connected to the take-off and landing platform, the all-terrain drive module, and the data transmission module. The charging and power supply module includes a wired power supply unit, a wireless power supply unit, and an energy storage unit. The take-off and landing platform includes a wired charging interface, and the wired power supply unit is connected to the wired charging interface. The charging power supply module is used to supply power to the all-terrain drive module, the wired charging interface and the control module, and to start the power supply of the wireless power supply unit according to the control of the control module. The take-off and landing platform is used to dock drones and to charge them via a wired charging interface; The all-terrain drive module is used to perform all-terrain movement under the control of the control module; The control module is used to receive external control commands sent by the data transmission module to operate the unmanned all-terrain vehicle. When it receives charging information from the drone through the data transmission module, it determines in real time whether the current position is suitable for the drone to dock. If it is suitable, it stops moving and responds or provides feedback to the corresponding drone or external control terminal, waiting for the drone to dock and begin wired charging. If it is not suitable, it responds or provides feedback to the corresponding drone or external control terminal, and after determining that the corresponding drone has reached the preset position, it starts the wireless power supply unit to wirelessly charge it.

6. The unmanned all-terrain vehicle as described in claim 1, characterized in that, The real-time determination of whether the current location is suitable for the drone to dock includes: The gyroscope is used to determine whether the angle between the current take-off and landing platform and the horizontal plane is within the second range. If it is, it is determined that it is suitable for the drone to dock; otherwise, it is determined that it is not suitable for the drone to dock. And / or, determine whether the machine can stop moving based on the task in the current external control command. If it can, it is determined that it is suitable for the drone to dock; otherwise, it is determined that it is not suitable for the drone to dock. And / or, use a camera device or obstacle distance measuring device to determine whether there are obstacles in a certain area above the take-off and landing platform. If there are obstacles, it is determined that the area is not suitable for drones to dock; otherwise, it is determined that the area is suitable for drones to dock.

7. The unmanned all-terrain vehicle as described in claim 6, characterized in that, The take-off and landing platform includes a drone parking position adjustment unit and a drone parking position. The drone parking position adjustment unit can adjust the attitude of the drone parking position within a third range. The step of using a gyroscope to determine whether the angle between the current take-off and landing platform and the horizontal plane is within the second range, and if so, determining that it is suitable for the UAV to dock, otherwise determining that it is unsuitable for the UAV to dock, includes: The system uses a gyroscope to determine whether the angle between the current drone parking position and the horizontal plane is within the second range. If it is, the drone is deemed suitable for parking. Otherwise, the system calculates whether the drone parking position adjustment unit can adjust the drone parking position to an angle with the horizontal plane within the second range. If the angle can be adjusted to the second range, the system controls the drone parking position adjustment unit to adjust the drone's attitude. After the adjustment is completed, the drone is deemed suitable for parking. If the angle cannot be adjusted to the second range, the drone is deemed unsuitable for parking.

8. The unmanned all-terrain vehicle as described in any one of claims 5-7, characterized in that, The control module monitors the remaining power of the charging module in real time, and does not respond or provide feedback when the remaining power is lower than a preset value.

9. A collaborative system of unmanned aerial vehicles and unmanned all-terrain vehicles, characterized in that, Includes the drone as described in any one of claims 1-4, the unmanned all-terrain vehicle as described in any one of claims 5-8, and a control terminal, wherein the drone and the unmanned all-terrain vehicle are respectively connected to the control terminal, the drone is connected to the unmanned all-terrain vehicle, and both the drone and the unmanned all-terrain vehicle can act as relays for signal transmission; The control terminal is used to send corresponding external control commands to the UAV and the unmanned all-terrain vehicle, and to receive and process the data sent by the UAV and the unmanned all-terrain vehicle.

10. The collaborative system of unmanned aerial vehicles and unmanned all-terrain vehicles as described in claim 9, characterized in that, The control terminal receives the remaining battery information of each drone in real time, and determines whether each drone needs to be charged based on the remaining battery information and the current task. When it is determined that a certain drone needs to be charged, an external control command to charge it is sent. When the control terminal learns that a certain drone needs to be charged, it collects the location information of each drone and each unmanned all-terrain vehicle. Based on the location information of each drone, the location information of each unmanned all-terrain vehicle, and the location information of each preset charging platform, it selects the designated unmanned all-terrain vehicle or charging platform for the corresponding drone and sends the information of the designated unmanned all-terrain vehicle or charging platform as an external control command to the corresponding drone.

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