CN117657509A - A maritime unmanned aerial vehicle system, control method and electronic equipment - Google Patents

Abstract

The invention provides a maritime unmanned aerial vehicle system. The maritime unmanned aerial vehicle system includes a maritime unmanned platform, an unmanned aerial vehicle, a maneuvering device and a control device. The offshore unmanned platform is equipped with a docking device, an energy replenishment device and a communication device; the drone can be parked on the offshore unmanned platform through the docking device, and the drone is connected to the communication device. The energy replenishment device is a maritime unmanned system and an unmanned aerial vehicle The man-machine replenishes energy; since the maneuvering device is connected to the offshore unmanned platform and is used to maintain or change the position of the offshore unmanned platform, the offshore unmanned platform can be submerged into the water, thereby making the entire offshore unmanned platform hidden in the sea, and thus Improve the concealment of maritime UAV systems to overcome the problem in related technologies that offshore platform systems are weak in concealment and cannot have concealed detection capabilities.

Description

A maritime unmanned aerial vehicle system, control method and electronic equipment

Technical field

The invention belongs to the technical field of robotic systems, and in particular relates to a maritime unmanned aerial vehicle system, a control method and electronic equipment.

Background technique

In related technologies, there are already offshore platform systems used for patrolling and situational reconnaissance of the ocean in order to understand the real-time dynamics of the ocean. However, the concealment of offshore platform systems in related technologies is weak and cannot provide covert detection capabilities.

Contents of the invention

The technical problem to be solved by the present invention is to provide a maritime unmanned aerial vehicle system, which aims to solve the problem in related technologies that the concealment of offshore platform systems is weak and cannot have concealed detection capabilities.

In a first aspect, in order to solve the above technical problems, the present invention proposes a maritime UAV system, which includes:

The offshore unmanned platform is equipped with a docking device, a power supply device and a communication device;

The UAV can be parked on the maritime unmanned platform through the docking device, and the UAV is communicatively connected to the communication device. The energy replenishing device is the maritime unmanned system and the UAV. machine for energy replenishment;

A mobile device connected to the offshore unmanned platform and used to maintain or change the position of the offshore unmanned platform;

A control device, the control device is connected to the drone, the communication device and the maneuvering device, and is used to control the drone, the communication device and the maneuvering device.

Further, the maneuvering device includes a position maintaining component and a platform diving component; and/or

The energy supplement device includes solar components and tidal energy components; and/or

The communication device includes space optical communication and near space communication.

Further, the offshore unmanned platform is provided with an attitude sensor and a pressure difference sensor. The attitude sensor is used to monitor the attitude of the offshore unmanned platform, and the pressure difference sensor is used to monitor the impact of sea water on the offshore unmanned platform. force.

Further, the position maintaining component includes fins and/or the platform submersible component includes a water tank, a drainage pump and a water inlet pump.

Further, the docking device includes an electromagnetic component. The electromagnetic component includes an electromagnet. The electromagnet has magnetism when energized and is used to absorb the drone.

In a second aspect, the present invention proposes a method for controlling a maritime UAV system, which is applied to the maritime UAV system described in any one of the first aspects. The method includes:

Obtain flight instructions, control the drone to take off and perform flight missions;

Obtain the performance of the drone, as well as the flight time required for the flight mission, flight energy consumption, and flight area environment;

Determine the route of the UAV according to the performance of the UAV, the flight time, the flight energy consumption and the flight area environment;

The UAV flies along the route and performs the flight mission.

Further, the method also includes:

When the drone is flying, the real-time flight area environment is acquired through the visual sensor of the drone.

Further, the method also includes:

Obtain the position control instructions of the offshore unmanned platform, the position control instructions include saving the position or changing the position;

After obtaining the position control instruction, obtain the attitude information of the offshore unmanned platform and the force information of the offshore unmanned platform in seawater;

Control the operation of the maneuvering device according to the attitude information and the force information to maintain or change the position of the offshore unmanned platform.

Further, the method also includes:

Obtain force information on the offshore unmanned platform in seawater;

Determine tidal conditions based on the force information;

If the tidal conditions indicate that there is a tide, the tidal energy component is controlled to operate to convert tidal energy into electrical energy.

In a third aspect, the present invention proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the second The steps of the method according to any one of the aspects.

Compared with the existing technology, the maritime UAV system of the present invention has beneficial effects in that the maritime UAV system includes a maritime unmanned platform, a UAV, a maneuvering device and a control device. The offshore unmanned platform is equipped with a docking device, an energy replenishment device and a communication device; the drone can be parked on the offshore unmanned platform through the docking device, and the drone is connected to the communication device. The energy replenishment device is a maritime unmanned system and an unmanned aerial vehicle Man-machine replenishes energy; since the maneuvering device is connected to the offshore unmanned platform and is used to maintain or change the position of the offshore unmanned platform, the offshore unmanned platform can be submerged into the water, thus making the entire offshore unmanned platform hidden in the sea, and thus Improve the concealment of maritime UAV systems to overcome the problem of weak concealment of offshore platform systems in related technologies and inability to have concealed detection capabilities.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the maritime UAV system in an embodiment of the present invention;

Figure 2 is a schematic flow chart 1 of a method for controlling a maritime UAV system in an embodiment of the present invention;

Figure 3 is a schematic flow chart 2 of a method for controlling a maritime UAV system in an embodiment of the present invention;

Figure 4 is a schematic flow chart 3 of a method for controlling a maritime UAV system in an embodiment of the present invention;

Figure 5 is a schematic structural diagram of an electronic device in an embodiment of the present invention.

In the drawings, each reference symbol indicates: 1. Unmanned maritime platform; 11. Communication device; 111. Space optical communication; 112. Near space communication; 12. Energy supplement device; 121. Solar components; 122. Tidal energy Components; 13. Docking device; 2. UAV; 3. Maneuvering device; 31. Position maintenance component; 32. Platform dive component.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are illustrative and are intended to explain the present invention and cannot be understood as limiting the present invention. Based on the embodiments of the present invention, those of ordinary skill in the art will not make any creative efforts without premise. All other embodiments obtained below belong to the scope of protection of the present invention.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inside", "Outside", "Clockwise", "Counterclockwise", "Axis", " The orientation or positional relationship indicated by "circumferential", "radial", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must be Has a specific orientation, is constructed and operates in a specific orientation and is therefore not to be construed as limiting the invention.

In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means two or more than two, unless otherwise explicitly and specifically limited.

In related technologies, there are already offshore platform systems used for patrolling and situational reconnaissance of the ocean in order to understand the real-time dynamics of the ocean. However, the concealment of offshore platform systems in related technologies is weak and cannot provide covert detection capabilities.

In view of the above problems, this application proposes a maritime UAV system. The maritime UAV system includes a maritime unmanned platform, a UAV, a maneuvering device and a control device. The offshore unmanned platform is equipped with a docking device, an energy replenishment device and a communication device; the drone can be parked on the offshore unmanned platform through the docking device, and the drone is connected to the communication device. The energy replenishment device is a maritime unmanned system and an unmanned aerial vehicle The man-machine replenishes energy; since the maneuvering device is connected to the offshore unmanned platform and is used to maintain or change the position of the offshore unmanned platform, the offshore unmanned platform can be submerged into the water, thereby making the entire offshore unmanned platform hidden in the sea, and thus Improve the concealment of maritime UAV systems to overcome the problem in related technologies that offshore platform systems are weak in concealment and cannot have concealed detection capabilities.

The non-limiting embodiments of the present application will be described in detail below with reference to the accompanying drawings.

As shown in Figure 1, it is a schematic diagram of the overall structure of the maritime UAV 2 system in the embodiment of the present invention. It can be known from the figure that the maritime UAV 2 system includes a maritime unmanned platform 1, a UAV 2, and a mobile device. 3 and control device.

The offshore unmanned platform 1 is provided with a docking device 13 , an energy supplement device 12 and a communication device 11 . The offshore unmanned platform 1 is used to float on the sea to facilitate inspection and reconnaissance tasks. The energy replenishment device 12 is used to replenish energy to the offshore platform. It does not require the offshore unmanned platform 1 to dock for power replenishment, allowing the offshore unmanned platform 1 to achieve long-term endurance. The communication device 11 is used to communicate between the maritime UAV 2 system and the main console on the shore, so as to facilitate the transmission of inspection and investigation results to the main console on the shore.

The UAV 2 can be parked on the maritime unmanned platform 1 through the docking device 13, and the UAV 2 is communicatively connected to the communication device 11. The energy replenishment device 12 replenishes energy for the maritime unmanned system and the UAV 2. There is a non-carrying connection between the UAV 2 and the maritime unmanned platform 1. The UAV 2 has flight capabilities and can fly over the ocean to perform inspection and reconnaissance missions. The UAV 2 also has a camera that can take pictures of the ocean level to record the ocean conditions. When there is no power, the UAV 2 flies back to the offshore unmanned platform 1 to replenish its power, and stays on the offshore unmanned platform 1 when there is no mission. As sea winds and waves change, if the offshore unmanned platform 1 is mounted on a drone with a load-bearing structure, the load-bearing structure will be easily damaged. At the same time, in order to ensure the stable underwater attitude of the offshore unmanned platform 1 on the ocean surface and foreshore layer, and extend During the self-sustaining time period at sea, the offshore unmanned platform 1 is designed to have a drop-shaped tumbler configuration with a light head and a heavy bottom. The offshore unmanned platform 1 can also support the berthing of multiple drones. Therefore, the offshore unmanned platform 1 can also use the side wall mounting method of cable guidance and traction. When the drones are docked on the side of the offshore unmanned platform 1 When outside, it is parked around the platform shell in a moving attitude to minimize the protruding height of the outer side and improve the system's ability to withstand the continuous impact of ocean surges.

The mobile device 3 is connected to the offshore unmanned platform 1 and is used to maintain or change the position of the offshore unmanned platform 1 . Driven by the maneuvering device 3, the offshore unmanned platform 1 can move in the ocean and maintain its position in the ocean. It can be understood that the maneuvering device 3 is charged by the energy replenishing device 12, and the maneuvering device 3 includes a motor and fins, and the motor drives the fins to rotate, so that the rotation of the fins can be used to maintain or change the position of the offshore unmanned platform 1. For example, the maneuvering device 3 includes a motor and a propeller, and the motor drives the propeller to move, thereby driving the offshore unmanned platform 1 to move. By way of example, the motorized device 3 includes a buoyancy lifting device and a buoyancy maintaining device.

The control device is connected to the UAV 2, the communication device 11 and the mobile device 3, and is used to control the UAV 2, the communication device 11 and the mobile device 3. The control module may include any suitable processing device having data processing capabilities and/or instruction execution capabilities. For example, the control module can adopt a programmable logic controller (PLC), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic array (PLA), a central processing unit (CPU), a dedicated integrated It is implemented by one or a combination of several types of circuits (ASIC), microcontroller units (MCU) and other forms of processing units. For example, the control module can be the main control chip in the maritime UAV 2 system, that is, the main control MCU.

In some embodiments, the maneuvering device 3 includes a position maintaining assembly 31 and a platform diving assembly 32 . The position maintaining assembly 31 includes a motor and fins, a motor and propeller, and a buoyancy maintaining device. The platform submersible component 32 includes a buoyancy lifting device, a motor, a propeller, etc. For example, when it is necessary to keep the position of the offshore unmanned platform 1 unchanged, the force and the direction of the force exerted by the sea water on the offshore unmanned platform 1 can be monitored, and the motor-driven fins can be controlled according to the force and the direction of the force exerted by the sea water on the offshore unmanned platform 1 The fins are paddling, and the fin paddling brings a force of magnitude and opposite direction to the force exerted by the sea water on the unmanned offshore platform 1 . At the same time, the buoyancy of the offshore unmanned platform 1 is kept constant through the buoyancy maintaining device and the buoyancy lifting device, thereby keeping the horizontal position and the vertical position of the offshore unmanned platform 1 unchanged.

In some embodiments, the energy supplement device 12 includes a solar component 121 and a tidal energy component 122. The solar component 121 can convert sunlight into electrical energy, and the tidal energy component 122 can convert seawater flow energy into electrical energy, thereby serving the needs of maritime drones. The power usage of the 2 system does not require the offshore UAV 2 system to be close to the shore for power replenishment. Illustratively, solar component 121 includes photovoltaic panels, voltage converters, and batteries. Illustratively, tidal energy assembly 122 includes an associated water turbine, and a generator. When the sea water rises and falls, the flow of sea water drives the turbine to rotate, which in turn allows the generator to convert kinetic energy into electrical energy.

In some embodiments, the communication device 11 includes space optical communication 111 and near space communication 112 . The communication device 11 is based on the local self-organizing network communication as the main framework, the ADHoc network communication combined with the space optical communication 111 as the main framework, the satellite communication as the supplement, and the near space communication 112 as the supplement. AdHoc network is a mobile network without wired infrastructure support, and the nodes in the network are composed of mobile hosts. Local self-organizing network communication refers to a network communication method in which various devices can automatically discover, establish connections, and exchange information within a local area network or a smaller area. The local network communication of the maritime UAV 2 system requires the use of self-organizing network protocols to achieve automatic discovery, dynamic configuration, routing and other functions between nodes. When space optical communication 111 cannot be achieved or the communication effect is poor, it can be assisted by combining S-band or Ku-band satellite communications. Because we consider how to ensure the normal communication of the maritime UAV 2 system when the satellite communication system fails. For this we will use Near Space Communications 112 in conjunction with Space Light Communications 111.

In some embodiments, the offshore unmanned platform 1 is provided with an attitude sensor and a pressure difference sensor. The attitude sensor is used to monitor the attitude of the offshore unmanned platform 1 , and the pressure difference sensor is used to monitor the force of seawater on the offshore unmanned platform 1 . It can be understood that in order to maintain the position of the offshore unmanned platform 1 or drive the offshore unmanned platform 1 to move at a fixed speed, it is necessary to obtain the force situation of the offshore unmanned platform 1 in the ocean through a pressure difference sensor and an attitude sensor. Obtain the attitude of the offshore unmanned platform 1, so that the maneuvering device 3 can be controlled to work according to the force situation of the offshore unmanned platform 1 in the ocean and the attitude of the offshore unmanned platform 1, so as to better maintain the offshore unmanned platform 1 position or drive the offshore unmanned platform 1 to move.

As in the above embodiment, the position maintaining assembly 31 includes fins. The fins are driven by a motor to paddle in the water, thereby driving the offshore unmanned platform 1 to move or keeping the position of the offshore unmanned platform 1 unchanged. For example, , there are two pairs of fins, that is, four, which are respectively installed on the 1st side of the offshore unmanned platform.

The offshore unmanned platform 1 maintains its position and dives to a small depth for concealment. The position maintaining function can be achieved through two pairs of fins. For example, through the self-trained control device, the fins of the offshore unmanned platform 1 can adjust the force of the offshore unmanned platform 1 in the horizontal and vertical directions of the seawater input by the pressure difference sensor in real time and the posture of the offshore unmanned platform 1 itself. Adjust its own orientation to maintain the dynamic position of the offshore unmanned platform 1. At the same time, the offshore unmanned platform 1 has a built-in dynamic positioning system (DPS) to offset the disturbance and wave moment caused by ocean hydrology to the offshore unmanned platform 1 on the water surface, and reduce the swing strength of the floating platform in three degrees of freedom. , to achieve the effect of maintaining the position of the offshore unmanned platform 1 on the sea. The dynamic positioning system consists of a control device, a power device and a measurement system. The pressure difference sensor mounted on the offshore unmanned platform 1 is used to obtain the longitudinal, transverse and yaw data of the offshore unmanned platform 1, and the data is input to the control device, and the control device centrally calculates the movement mode, status and position of the offshore unmanned platform 1. The changing trend of the power unit is then distributed through a computer-controlled distributor and the thrust is generated by the fins and/or propellers to control the three-degree-of-freedom motion (swing, sway) of the offshore unmanned platform 1 on the horizontal plane. , heading), so that the offshore unmanned platform 1 maintains a predetermined position and heading, or runs according to a predetermined movement trajectory.

In some embodiments, the platform submersible component 32 includes a water tank, a drainage pump, and a water inlet pump. The water tank is provided on the offshore unmanned platform 1 , and the water tank is provided with a drainage outlet and a water inlet. The drainage outlet is connected to a drainage pump, which is used to discharge the water in the water tank, thereby increasing the buoyancy of the offshore unmanned platform 1, so that the offshore unmanned platform 1 floats; the water inlet is connected to a water inlet pump, which is used to drain the water. The warehouse is filled with seawater, thereby reducing the buoyancy of the offshore unmanned platform 1, and the offshore unmanned platform 1 can dive. When the control device receives the dive command, the control device will determine whether the dive conditions are met. When the offshore unmanned platform 1 meets the diving conditions, the offshore unmanned platform 1 will dive below the sea surface to a small depth to conceal itself.

In some embodiments, the docking device 13 includes an electromagnetic component. The electromagnetic component includes an electromagnet. The electromagnet has magnetism when energized and is used to attract the drone 2 . It can be understood that the UAV 2 has metal parts. When the UAV 2 docks at the maritime unmanned platform 1, the electromagnet is energized, so that the electromagnet has magnetism. The magnetic electromagnet attracts the UAV 2, thereby The UAV 2 can be firmly fixed on the offshore unmanned platform 1. When the UAV 2 needs to perform a flight mission, the electromagnet is powered off and the electromagnet loses its magnetism, so that the UAV 2 can leave the offshore unmanned platform 1 and fly.

As shown in Figure 2, this application also provides a method for controlling a maritime UAV system. As can be seen from the attached figure, the method for controlling a maritime UAV system includes:

Step S201, obtain flight instructions, control the UAV to take off and perform flight missions;

Step S202, obtain the performance of the drone, the flight time required for the flight mission, flight energy consumption, and the flight area environment;

Step S203, determine the route of the UAV based on the UAV's performance, flight time, flight energy consumption and flight area environment;

Step S204: The UAV flies along the route and performs the flight mission.

Specifically, the communication device obtains the flight instructions and sends the flight instructions to the control device, and the control device controls the UAV to take off and perform the flight mission. The flight instructions contain the flight information of this flight mission. The flight information includes the flight destination, flight purpose and flight time. When the drone performs a flight mission, the performance of the drone, the flight time required for the mission, flight energy consumption, and the flight area environment are obtained. The performance of the drone includes the flight duration, wind resistance and flight altitude of the drone. Flight duration, flight energy consumption and flight area environment can be used to determine the route. For example, a drone can fly to its flight destination in five routes, and the five routes are marked as the first route, the second route, the third route, the fourth route and the fifth route respectively. For example, if the first route has a longer flight distance and the flight time required to perform the flight mission through the first route exceeds the flight time of the UAV, then the first route is not suitable for the UAV to perform the flight mission along the route. The second route needs to cross a mountain, and the height of the mountain is greater than the flight height of the UAV, so the second route is not suitable for the UAV to perform the flight mission along this route. The wind in the sea area passed by the third route is relatively strong, and the wind in this sea area is greater than the wind resistance capability of the UAV, so the third route is not suitable for the UAV to perform the flight mission along this route. The required flight time, flight altitude and flight environment of the fourth route and the fifth route are more suitable for UAV flight. Therefore, the fourth route and the fifth route are determined to be the routes of the UAV. The UAV will fly along the fourth route or the fifth route. Fly five routes and perform flight missions. The main goal of determining the route of the UAV is to plan one or more routes from the starting point to the UAV based on the sea surface information and the environmental condition information of the mission, comprehensively considering the UAV's performance, threats, flight area and other constraints. The optimal or suboptimal route to the target point ensures that the drone can complete the flight mission efficiently and successfully and return to the floating platform safely.

In some embodiments, the maritime UAV system control method further includes:

When the drone is flying, the real-time flight area environment is obtained through the drone's visual sensor.

Specifically, the flight area environment includes the weather of the flight area, the scenery of the flight area, and the wind force of the sea area in the above embodiment. The visual sensor of a drone refers to the use of artificial intelligence technology to simulate the visual system of the human eye, extract the information we want from the image, and use it to assist or automate the decision-making of the drone. Or transmit the aircraft area environment to the main console on the shore through multidimensional data communication. Multidimensional Data Communication is a communication that transmits data in multiple dimensions (such as time, frequency, space, polarization, etc.) technology. Compared with traditional single-dimensional data transmission methods, multi-dimensional data communication can improve the efficiency, reliability and security of data transmission. For example, when a drone performs a specific flight mission, it also needs to be loaded with instruments, equipment and systems that meet the mission requirements. These instruments, equipment and systems are called the mission load of the drone.

When the control device receives an instruction to perform patrolling, the control device will determine whether the patrolling conditions are met. When the conditions for patrolling are met, the offshore unmanned platform will release the drone for patrolling missions. The drone will replace the mission load that meets the mission requirements based on the current mission instructions. When the UAV completes its patrol mission or the energy storage is insufficient, the UAV returns to the offshore unmanned platform through the docking device to replenish energy.

In some embodiments, as shown in Figure 3, the maritime UAV system control method further includes:

Step S301, obtain the position control instructions of the offshore unmanned platform. The position control instructions include saving the position or changing the position;

Step S302: After obtaining the position control instruction, obtain the attitude information of the offshore unmanned platform and the force information of the offshore unmanned platform in seawater;

Step S303: Control the operation of the maneuvering device according to the attitude information and force information to maintain or change the position of the offshore unmanned platform.

The position control instructions are generated by the control device according to the task instructions or automatically generated according to the ocean conditions where the offshore unmanned platform is located. Mission instructions are sent from the main console on the shore. The task instructions can instruct the maritime UAV system to perform tasks. That is, the task instructions include the mission location, mission time and mission content. If the mission location and the location of the maritime UAV system are different, then the control device generates position control instructions based on the mission location and controls the maneuvering device to drive the maritime UAV platform to move to the mission location. On the contrary, if the mission location and the location of the maritime UAV system are the same, the location of the maritime UAV platform is maintained. In another example, if the ocean conditions in the area where the maritime UAV system is located do not conform to the observations, the control device will generate a position control instruction to control the operation of the maneuvering device to drive the movement of the maritime UAV platform.

It can be understood that step S301-step S303 and step S201-step S204 have no fixed sequence. Step S301-step S303 can be executed before step S201-step S204, or can be executed after step S201-step S204. In this case, There are no restrictions on applications.

In some embodiments, as shown in Figure 4, the maritime UAV system control method further includes:

Step S401, obtain the force information of the offshore unmanned platform in seawater;

Step S402, determine the tidal situation based on the force information;

Step S403, if the tidal situation indicates that there is a tide, control the operation of the tidal energy component to convert tidal energy into electrical energy.

Specifically, the force information of the offshore unmanned platform in the sea water is obtained. The force information can know the flow rate of the sea water. If the sea water flows from a high level to a low level, the sea water flows faster, so it can be determined that there is a tide. This The tidal energy component can be controlled to convert tidal energy into electrical energy. For example, if the flow speed of seawater is greater than the preset speed, the tidal energy component is extended from the storage compartment of the offshore unmanned platform to work, thereby converting tidal energy into electrical energy.

It should be understood that the sequence number of each step in the above embodiment does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

FIG. 5 is a schematic diagram of the electronic device 5 provided by the embodiment of the present application. As shown in FIG. 5 , the electronic device 5 of this embodiment includes: a processor 501 , a memory 502 , and a computer program 503 stored in the memory 502 and executable on the processor 501 . When the processor 501 executes the computer program 503, the steps in each of the above method embodiments are implemented. Alternatively, when the processor 501 executes the computer program 503, it implements the functions of each module/unit in each of the above device embodiments.

The electronic device 5 may be a desktop computer, a notebook, a handheld computer, a cloud server and other electronic devices. The electronic device 5 may include, but is not limited to, a processor 501 and a memory 502 . Those skilled in the art can understand that FIG. 5 is only an example of the electronic device 5 and does not constitute a limitation on the electronic device 5. It may include more or fewer components than shown in the figure, or different components.

The processor 501 may be a Central Processing Unit (CPU), other general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or an on-site processor. Programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

The memory 502 may be an internal storage unit of the electronic device 5 , for example, a hard disk or a memory of the electronic device 5 . The memory 502 may also be an external storage device of the electronic device 5, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SD) card, a flash memory card ( Flash Card), etc. The memory 502 may also include both an internal storage unit of the electronic device 5 and an external storage device. Memory 502 is used to store computer programs and other programs and data required by the electronic device.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above functional units and modules is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs. Module completion means dividing the internal structure of the device into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units.

Integrated modules/units can be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on this understanding, this application can implement all or part of the processes in the methods of the above embodiments. It can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. The computer program can be processed after being processed. When the processor is executed, the steps of each of the above method embodiments can be implemented. A computer program may include computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. Computer-readable media may include: any entity or device that can carry computer program code, recording media, USB flash drives, mobile hard drives, magnetic disks, optical disks, computer memory, read-only memory (Read-Only Memory, ROM), random access Memory (Random Access Memory, RAM), electrical carrier signals, telecommunications signals, and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium is not Including electrical carrier signals and telecommunications signals.

The above embodiments are only used to illustrate the technical solutions of the present application, but are not intended to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments. Modifications are made to the recorded technical solutions, or equivalent substitutions are made to some of the technical features; these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and shall be included in this application. within the scope of protection.

Claims (10)

1. An offshore unmanned aerial vehicle system, the system comprising:

the offshore unmanned platform is provided with a docking device, an energy supplementing device and a communication device;

the unmanned aerial vehicle can be parked on the offshore unmanned platform through the docking device and is in communication connection with the communication device, and the energy supplementing device supplements energy for the offshore unmanned system and the unmanned aerial vehicle;

a motorized device connected to the unmanned offshore platform and configured to maintain or change a position of the unmanned offshore platform;

and the control device is connected with the unmanned aerial vehicle, the communication device and the maneuvering device and is used for controlling the unmanned aerial vehicle, the communication device and the maneuvering device.

2. The offshore unmanned aerial vehicle system of claim 1, wherein the motorized device comprises a position maintenance assembly and a platform submergence assembly; and/or

The energy supplementing device comprises a solar energy component and a tidal energy component; and/or

The communication means comprises spatial optical communication and near-spatial communication.

3. The unmanned aerial vehicle system of claim 2, wherein the unmanned aerial vehicle is provided with a attitude sensor for monitoring the attitude of the unmanned aerial vehicle and a pressure differential sensor for monitoring the force of the sea on the unmanned aerial vehicle.

4. The offshore unmanned aerial vehicle system of claim 2, wherein the position maintenance assembly comprises fins and/or the platform submergence assembly comprises a sump, a drain pump, and a water intake pump.

5. The offshore unmanned aerial vehicle system of claim 1, wherein the docking device comprises an electromagnetic assembly comprising an electromagnet that is magnetically energized for attracting the unmanned aerial vehicle.

6. A method of controlling a marine unmanned aerial vehicle system, applied to a marine unmanned aerial vehicle system according to any of claims 1 to 5, the method comprising:

acquiring a flight instruction, controlling the unmanned aerial vehicle to take off and executing a flight task;

acquiring the performance of the unmanned aerial vehicle, the flight duration required by the flight task, the flight energy consumption and the flight area environment;

determining a route of the unmanned aerial vehicle according to the performance, the flight time, the flight energy consumption and the flight area environment of the unmanned aerial vehicle;

the unmanned aerial vehicle flies along the route and executes the flying task.

7. The method of controlling a marine unmanned aerial vehicle system of claim 6, wherein the method further comprises:

when the unmanned aerial vehicle flies, a real-time flying area environment is obtained through a visual perceptron of the unmanned aerial vehicle.

8. The offshore unmanned aerial vehicle system control method of claim 7, wherein the method further comprises:

acquiring a position control instruction of the offshore unmanned platform, wherein the position control instruction comprises a storage position or a change position;

after the position control instruction is obtained, acquiring attitude information of the unmanned offshore platform and stress information of the unmanned offshore platform in sea water;

and controlling the motorized device to work according to the attitude information and the stress information so as to maintain or change the position of the offshore unmanned platform.

9. The offshore unmanned aerial vehicle system control method of claim 7, wherein the method further comprises:

acquiring stress information of the unmanned offshore platform in sea water;

determining tidal conditions according to the stress information;

if the tidal condition characterizes a tide, the tidal energy component is controlled to operate to convert tidal energy into electrical energy.

10. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 6 to 9 when the computer program is executed.