UAV docking station and control method

Abstract

The present application proposes a drone docking station and control method, the drone docking station includes: a main power supply circuit, a system module and a backup module, one end of the main power supply circuit is used to connect to the power supply, and the other end of the main power supply circuit is connected to the system module. An emergency stop switch is provided in the main power supply circuit, and the backup module is connected to the system module; the system module is connected to a switch reset unit corresponding to the emergency stop switch, and the switch reset unit is transmission-connected to the emergency stop switch; the backup module is used to supply energy to the system module after the emergency stop switch is switched to the cut-off state, and transmit an inquiry instruction to the system module; when it is confirmed that the emergency stop switch is falsely triggered, the switch reset unit is controlled by the system module to drive the emergency stop switch to reset, and the main power supply circuit is restored to the on state, and the drone docking station continues to be powered, maintaining stable power supply for the drone docking station, and avoiding the drone docking station from being unable to work due to power outages, thereby causing unnecessary losses.

Description

Technical Field

[0001] The present application relates to the field of drones, and more specifically, to a drone docking station and a control method. Background Art

[0002] With the development of society and the advancement of science, drones have seen tremendous growth. Drones are widely used in transportation, reconnaissance, surveying, and agricultural production. Taking agricultural drones as an example, autonomous drone operations require a platform, such as a docking station, to protect and automatically resupply drones. These platforms can be used to charge drones, add pesticides, and provide a safe place for drones to dock during rainy days.

[0003] However, drone docking stations are usually located outdoors and are unmanned. How to ensure the stable operation of drone docking stations has become a difficult problem that needs to be solved urgently by technicians in this field. Summary of the Invention

[0004] The purpose of this application is to provide a drone docking station and control method to at least partially improve the above-mentioned problems.

[0005] In order to achieve the above objectives, the technical solutions adopted in the embodiments of the present application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a drone docking station, comprising: a main power supply circuit, a system module, and a backup module, wherein one end of the main power supply circuit is used to connect to a power source, and the other end of the main power supply circuit is connected to the system module, an emergency stop switch is provided in the main power supply circuit, and the backup module is connected to the system module;

[0007] The system module is connected to the switch reset unit corresponding to the emergency stop switch, and the switch reset unit is transmission-connected to the emergency stop switch;

[0008] The backup module is used to supply energy to the system module and transmit an inquiry instruction to the system module after the emergency stop switch is switched to the cut-off state;

[0009] The system module is used to determine whether the emergency stop switch is triggered by mistake when receiving the inquiry instruction, and if so, control the switch reset unit to drive the emergency stop switch to reset.

[0010] In a second aspect, an embodiment of the present application provides a method for controlling a drone docking station. The drone docking station includes: a main power supply circuit and a system module, one end of the main power supply circuit is used to connect to a power supply, and the other end of the main power supply circuit is connected to the system module. An emergency stop switch is provided in the main power supply circuit, and the system module is connected to a switch reset unit corresponding to the emergency stop switch, and the switch reset unit is transmission-connected to the emergency stop switch. The method is applied to the system module, and the method includes:

[0011] Upon receiving the query command, determining whether the emergency stop switch is triggered by mistake;

[0012] Wherein, the query instruction indicates that the emergency stop switch is switched to the cut-off state;

[0013] If so, the switch reset unit is controlled to drive the emergency stop switch to reset.

[0014] Compared with the prior art, the embodiment of the present application provides a drone docking station and control method, wherein the drone docking station includes: a main power supply circuit, a system module, and a backup module. One end of the main power supply circuit is used to connect to a power source, and the other end of the main power supply circuit is connected to the system module. An emergency stop switch is provided in the main power supply circuit, and the backup module is connected to the system module. The system module is connected to a switch reset unit corresponding to the emergency stop switch, and the switch reset unit is connected to the emergency stop switch in a transmission manner. The backup module is used to supply energy to the system module and transmit an inquiry instruction to the system module after the emergency stop switch is switched to the cut-off state. The system module is used to determine whether the emergency stop switch is falsely triggered upon receiving the inquiry instruction. If so, the system module is further used to control the switch reset unit to drive the emergency stop switch to reset. When it is confirmed that the emergency stop switch is falsely triggered, the system module controls the switch reset unit to drive the emergency stop switch to reset, restoring the main power supply circuit to the on state, continuing to supply energy to the drone docking station, maintaining stable energy supply to the drone docking station, and avoiding the drone docking station from being unable to work due to power outages, thereby generating unnecessary losses.

[0015] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0017] Figure 1A schematic diagram of the energy supply of a drone docking station provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of the connection of the drone docking station provided in the embodiment of the present application;

[0019] Figure 3 A schematic diagram of the transmission connection between the emergency stop switch and the switch reset unit provided in an embodiment of the present application;

[0020] Figure 4 A schematic diagram of the structure of the system module and the backup module provided in the embodiment of the present application;

[0021] Figure 5 A communication diagram of a drone docking station provided in an embodiment of the present application;

[0022] Figure 6 A flowchart of a method for controlling a drone docking station according to an embodiment of the present application;

[0023] Figure 7 A schematic diagram of the sub-steps of S101 provided in an embodiment of the present application;

[0024] Figure 8 A schematic diagram of the sub-steps of S101-1 provided in an embodiment of the present application;

[0025] Figure 9 This is one of the sub-step schematic diagrams of S101 provided in an embodiment of the present application;

[0026] Figure 10 This is a flow chart of a method for controlling a drone docking station according to an embodiment of the present application;

[0027] Figure 11 A schematic diagram of the sub-steps of S103 provided in an embodiment of the present application;

[0028] Figure 12 This is one of the sub-step schematic diagrams of S103 provided in an embodiment of the present application.

[0029] In the figure: 10-system module; 101-main processor; 102-monitoring unit; 103-communication unit; 20-backup module; 201-coprocessor; 202-backup power supply; 203-backup power supply circuit; 204-switch status detection unit; 30-main power supply circuit; 301-emergency stop switch; 401-switch reset unit; 50-DC power supply; 60-controlled switch. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0032] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and should not be understood as indicating or implying relative importance.

[0033] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0034] In the description of this application, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on this application.

[0035] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, or electrical connections; direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0036] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0037] First, to facilitate maintenance and repairs at drone docking stations and prevent injuries from the sudden opening or closing of the dock door during maintenance, an emergency stop switch is typically installed on the docking station. This switch controls the connection between the docking station and the power supply. However, drone docking stations are typically located outdoors and unattended. If the emergency stop switch is accidentally or maliciously pressed, the drone docking station could become inoperable, resulting in costly repairs and even causing an aircraft to crash.

[0038] Secondly, if an unavoidable accident occurs at a drone docking station, such as a fire or flood, the drones parked there may be damaged. For example, a flood may cause a high voltage safety hazard, causing the drone to explode.

[0039] In order to overcome the above problems, the embodiment of the present application provides a drone docking station. Figure 1 and Figure 2 As shown, the drone docking station includes: a main power supply circuit 30, a system module 10 and a backup module 20. One end of the main power supply circuit 30 is used to connect to a power source, such as a strong power supply, and the other end of the main power supply circuit 30 is connected to the system module 10. An emergency stop switch 301 is provided in the main power supply circuit 30, and the backup module 20 is connected to the system module 10.

[0040] It is understandable that the subcomponents in the system module 10 are low-power components in the drone docking station, such as devices with power less than 10 W. In one possible implementation, the subcomponents in the system module 10 are all weak-current drive devices.

[0041] The strong power supply in the embodiment of the present application can be Figure 1 and Figure 2 The DC power supply 50 in Figure 1As shown, the DC power supply 50 is used to convert the power provided by the external power supply circuit, for example, converting AC power into DC power, and transmit the converted power to the main power supply circuit 30. The main power supply circuit 30 is used to convert the power provided by the strong power source and use the converted power to power the system module 10. It can be understood that the main power supply circuit 30 can power each component in the system module 10. Of course, the main power supply circuit 30 can also power the high-power control circuit in the drone docking station.

[0042] The system module 10 is connected to the switch reset unit 401 corresponding to the emergency stop switch 301 , and the switch reset unit 401 is in transmission connection with the emergency stop switch 301 .

[0043] The backup module 20 is configured to supply power to the system module 10 and transmit a query command to the system module 10 after the emergency stop switch 301 is switched to the OFF state. It is understood that the backup module 20 can obtain the current state of the emergency stop switch 301. The current state includes an OFF state and an ON state. For example, when the button corresponding to the emergency stop switch 301 is pressed, the emergency stop switch 301 switches from the ON state to the OFF state. When the emergency stop switch 301 is reset after being pressed, the emergency stop switch 301 switches from the OFF state to the ON state.

[0044] It is understood that when the emergency stop switch 301 is in the off state, the main power supply circuit 30 is in the off state and cannot supply energy to the system module 10. When the emergency stop switch 301 is in the on state, the system module 10 and the DC power supply 50 remain connected, and the main power supply circuit 30 supplies energy to the system module 10.

[0045] It is understandable that in order to ensure that the system module 10 can continue to work after the emergency stop switch 301 is switched to the cut-off state, for example, to determine whether the emergency stop switch 301 is triggered by mistake, it is necessary that when the emergency stop switch 301 is in the cut-off state, the backup module 20 starts to supply energy to the system module 10, specifically as follows Figure 1 shown.

[0046] It is understandable that in order to avoid damage to the system module 10 caused by excessive intervals between power off and power on, the backup module 20 can start supplying energy to the system module 10 after a preset time, such as 30 seconds, after the emergency stop switch 301 is switched to the cut-off state.

[0047] The system module 10 is used to determine whether the emergency stop switch 301 is triggered by mistake when receiving the query instruction.

[0048] As mentioned above, when the emergency stop switch 301 is triggered by mistake or pressed maliciously, it will cause the drone docking station to not operate normally, thereby creating some unnecessary safety hazards. Therefore, it is necessary to determine whether the emergency stop switch 301 is triggered by mistake.

[0049] If so, the system module 10 is further configured to control the switch resetting unit 401 to drive the emergency stop switch 301 to reset.

[0050] It can be understood that when the emergency stop switch 301 is triggered by mistake, it is necessary to restore the emergency stop switch 301 from the cut-off state to the on state, thereby restoring the main power supply circuit 30 to the on state, continuing to supply power to the drone docking station, maintaining stable power supply to the drone docking station, and avoiding failure of the drone docking station due to power outage, resulting in unnecessary losses.

[0051] Specifically, the system module 10 sends a reset command to the switch reset unit 401. Upon receiving the reset command, the switch reset unit 401 begins to operate, thereby driving the emergency stop switch 301 to reset and maintaining the main power supply circuit 30. This eliminates the need for manual resetting of the emergency stop switch 301, reducing on-site handling costs.

[0052] In one possible implementation, Figure 2 As shown, the backup module 20 is also in communication with the main processor 101 in the system module 10. The backup module 20 is configured to transmit a query command to the main processor 101 after the emergency stop switch 301 is switched to the off state. Upon receiving the query command, the main processor 101 is further configured to determine whether the emergency stop switch 301 was falsely triggered. If so, the main processor 101 is further configured to control the switch reset unit 401 to reset the emergency stop switch 301.

[0053] In summary, the embodiment of the present application provides a drone docking station, which includes: a main power supply circuit, a system module, and a backup module. One end of the main power supply circuit is used to connect to a power source, and the other end of the main power supply circuit is connected to the system module. An emergency stop switch is provided in the main power supply circuit, and the backup module is connected to the system module. The system module is connected to a switch reset unit corresponding to the emergency stop switch, and the switch reset unit is transmission-connected to the emergency stop switch. The backup module is used to supply energy to the system module and transmit an inquiry instruction to the system module after the emergency stop switch is switched to the cut-off state. The system module is used to determine whether the emergency stop switch is falsely triggered upon receiving the inquiry instruction. If so, the system module is also used to control the switch reset unit to drive the emergency stop switch to reset. When it is confirmed that the emergency stop switch is falsely triggered, the system module controls the switch reset unit to drive the emergency stop switch to reset, restores the main power supply circuit to the on state, and continues to supply energy to the drone docking station, maintains stable energy supply to the drone docking station, and avoids the drone docking station from being unable to work due to power outages, resulting in unnecessary losses.

[0054] Regarding the transmission connection between the emergency stop switch 301 and the switch reset unit 401, the embodiment of the present application also provides a possible implementation method, please refer to Figure 3 When the button corresponding to the emergency stop switch 301 is pressed, the emergency stop switch 301 switches to the off state. When the main processor 101 controls the switch reset unit 401 (e.g., a motor) to drive the gear to rotate clockwise, the gear and the button are engaged with each other, which can drive the button to rotate clockwise. When the button rotates to the target position, the button rebounds, thereby driving the emergency stop switch 301 to switch from the off state to the on state.

[0055] exist Figure 1 and Figure 2 On the basis of the specific composition of the system module, the embodiment of the present application also provides a possible implementation method, please refer to Figure 4 The system module 10 further includes a main processor 101 and a monitoring unit 102 , and the monitoring unit 102 is connected to the main processor 101 .

[0056] The monitoring unit 102 is used to monitor the status information of the drone docking station and transmit the status information to the main processor 101.

[0057] It is understandable that the monitoring unit 102 may include a variety of monitoring devices or monitoring sensors for monitoring various states of the drone docking station, thereby obtaining status information of the drone docking station.

[0058] The main processor 101 is further configured to determine whether the emergency stop switch 301 is falsely triggered based on the status information.

[0059] It is understandable that the status information of the drone docking station can be used to determine whether the drone docking station currently has safety hazards, is in an emergency state, or is under maintenance, etc. If the drone docking station currently has safety hazards, is in an emergency state, or is under maintenance, it indicates that the emergency stop switch 301 needs to remain in the truncated state, that is, the emergency stop switch 301 is not triggered by mistake; otherwise, the emergency stop switch 301 is triggered by mistake. Figure 4 On the basis of this, if the monitoring unit 102 includes one or more of a temperature and humidity sensor, a smoke sensor, a water level sensor, a door position sensor, and a visual sensor. Regarding how to determine whether the emergency stop switch 301 is falsely triggered, the embodiment of the present application also provides a possible implementation method, please refer to the following. The main processor 101 is also used to determine that the emergency stop switch 301 is falsely triggered when the temperature and humidity status information transmitted by the temperature and humidity sensor is lower than the first temperature and humidity threshold, and the smoke status information transmitted by the smoke sensor is lower than the first smoke threshold, and the water level status information transmitted by the water level sensor is lower than the first water level threshold, and the door status information transmitted by the door position sensor indicates that the door is in a closed state.

[0060] When all the above conditions are met, it indicates that the operation status of the drone docking station is normal at this time, and there is no need to disconnect the main power supply circuit 30 of the drone docking station. At this time, it is determined that the emergency stop switch 301 is triggered by mistake.

[0061] The main processor 101 is also used to determine that the emergency stop switch is not triggered by mistake when the temperature and humidity status information is higher than the first temperature and humidity threshold, or the smoke status information is higher than the first smoke threshold, or the water level status information is higher than the first water level threshold, or the hatch status information indicates that the hatch is in an unclosed state.

[0062] When any one of the above conditions is met, it indicates that the operating state of the drone docking station is abnormal and it is necessary to disconnect the main power supply circuit 30 of the drone docking station. At this time, it is determined that the emergency stop switch 301 is not triggered by mistake.

[0063] Specifically, if the temperature and humidity status information is higher than a first temperature and humidity threshold, it indicates that a fire may occur at the drone docking station; if the smoke status information is higher than a first smoke threshold, it indicates that a fire may occur at the drone docking station; if the water level status information is higher than a first water level threshold, it indicates that a flood may occur at the drone docking station; and if the door status information indicates that the door is not closed, it indicates that the drone docking station is undergoing maintenance. Optionally, if the door is pinching a worker's arm and the door is in an open state and is moving toward a closed state, to avoid further damage to the arm, the button corresponding to the emergency stop switch 301 is pressed to cut off power and prevent the door from closing.

[0064] And / or the main processor 101 is further configured to determine whether the emergency stop switch 301 is falsely triggered based on the image status information transmitted by the visual sensor.

[0065] Optionally, image recognition is performed based on the image status information transmitted by the visual sensor to determine whether a flood, fire, or people are present, etc. If no disaster has occurred and there are no staff currently performing control, it is considered a false trigger.

[0066] Optionally, the main processor 101 determines whether the operating status of the current drone docking station is normal through image status information. If the operating status is normal, the emergency stop switch 301 is triggered by mistake; if the operating status is abnormal, the emergency stop switch 301 is not triggered by mistake.

[0067] In one possible scenario, the visual sensor includes an internal sensor and an external sensor. The internal sensor is used to capture images of the drone inside the cabin door, while the external sensor is used to capture images of the environment outside the drone docking station. If the images captured by the internal sensor indicate that the drone is parked inside the cabin door, and the images captured by the external sensor show that the door of the fence corresponding to the drone docking station is closed, or there are no personnel near the drone docking station, this indicates that the emergency stop switch 301 has been falsely triggered.

[0068] Regarding how to reduce losses when a disaster occurs at a drone docking station, the embodiment of the present application also provides a possible implementation method, please refer to the following.

[0069] The main processor 101 is also used to determine whether a disaster has occurred at the drone docking station based on the status information.

[0070] Examples of disasters include fire, flood, and collision.

[0071] If a disaster occurs, the main processor 101 is also used to control the drone to land at a temporary stop.

[0072] It is understood that the temporary stop is a safe location outside the drone docking station. Specifically, when the main processor 101 identifies a disaster, if the drone is parked in the drone docking station, to prevent the drone from being damaged, the main processor 101 controls the door of the drone docking station to open, and then controls the drone to fly away from the drone docking station and land at the temporary stop.

[0073] In one possible implementation, the temporary stop can be a safe location pre-designated by the user. While the drone is operating outside a stop, if the stop determines a disaster has occurred, the stop can communicate with the drone and send the location information of the temporary stop to the drone. Upon receiving the location information, the drone will stop at the temporary stop and will not return to the temporary stop in the disaster area.

[0074] Regarding how to identify whether a disaster has occurred, the embodiment of the present application further provides a possible implementation method, which is described below. The monitoring unit 102 includes one or more of a temperature and humidity sensor, a smoke sensor, a water level sensor, and a visual sensor.

[0075] The main processor 101 is also used to determine that a disaster, such as a fire, has occurred at the drone docking station when the temperature and humidity status information transmitted by the temperature and humidity sensor is higher than a second temperature and humidity threshold.

[0076] The main processor 101 is further configured to determine that a disaster, such as a fire, has occurred at the drone docking station when the smoke status signal transmitted by the smoke sensor is higher than a second smoke threshold.

[0077] The main processor 101 is further configured to determine that a disaster, such as a flood, has occurred at the drone docking station when the water level status information transmitted by the water level sensor is higher than a second water level threshold.

[0078] The main processor 101 is further configured to determine whether a disaster, such as man-made damage, has occurred at the drone docking station based on the image status information transmitted by the visual sensor.

[0079] Optionally, in the embodiment of the present application, the second temperature and humidity threshold is higher than the first temperature and humidity threshold, the second smoke threshold is higher than the first smoke threshold, and the second water level threshold is higher than the first water level threshold. It is understood that after the button of the emergency stop switch 301 is pressed, the emergency stop switch 301 is in the truncated state. This indicates that there may be a hidden danger at this time. In order to avoid missing hidden dangers and resulting losses, it is necessary to lower the judgment conditions. Of course, the above judgment values can also be the same.

[0080] In one possible implementation, when a fire occurs at a drone docking station, the main processor 101 controls the fire extinguishing device to extinguish the fire, thereby preventing the disaster from spreading and reducing losses.

[0081] Regarding how to prevent the spread of a disaster when it occurs at a drone docking station, the embodiment of the present application also provides a possible implementation method, please refer to the following.

[0082] The main processor 101 is also used to control the controlled switch 60 of the external power supply circuit to switch to the cut-off state in the event of a disaster at the drone docking station.

[0083] like Figure 4 As shown, the two ends of the controlled switch 60 are connected to the external power supply circuit and the high-voltage power supply (DC power supply 50 conversion), respectively. The external power supply circuit supplies energy to the DC power supply 50 through the controlled switch 60. When the controlled switch 60 is switched to the cut-off state, the high-voltage power supply of the drone docking station is disconnected, preventing further damage.

[0084] Please continue to refer to Figure 4 Regarding the structure of the system module 10, the embodiment of the present application also provides a possible implementation method, such as Figure 4 As shown, the system module 10 further includes a communication unit 103 , which is connected to the main processor 101 .

[0085] The communication unit 103 is configured to receive a maintenance request transmitted by a client and transmit the maintenance request to the main processor 101 .

[0086] The main processor 101 is further configured to determine that the emergency stop switch 301 is not triggered by mistake when a maintenance request is received.

[0087] It is understandable that when the staff is maintaining or repairing the drone docking station, they need to press the emergency stop switch after opening the cabin door to inspect the inside of the cabin door. At this time, if the emergency stop switch 301 is reset and the main power supply circuit 30 resumes power supply, it may cause the cabin door to close suddenly, posing an unexpected hidden danger, such as the cabin door pinching the hand. In order to avoid this situation, the staff can send a maintenance request to the drone docking station on a handheld terminal (such as a mobile phone). The communication unit 103 is used to receive the maintenance request transmitted by the client and transmit the maintenance request to the main processor 101. When a maintenance request is received, if it is necessary to confirm whether the emergency stop switch is triggered by mistake, the emergency stop switch 301 can be determined to be non-false triggering.

[0088] In a possible implementation, the main processor 101 is further configured to control the switch resetting unit 401 to reset the emergency stop switch 301 upon receiving a maintenance completion indication.

[0089] Please refer to Figure 5 , the drone docking station (drone airport) can interact with the drone through the communication unit 103. Optionally, the communication unit 103 can also interact with the handheld terminal through the base station. It should be noted that, Figure 5 The emergency switch in is the button corresponding to the emergency stop switch 301 in the embodiment of the present application.

[0090] In a possible implementation, the main processor 101 is further configured to control the communication unit 103 to report a disaster when a disaster occurs at the drone docking station.

[0091] In one possible implementation, after receiving the forced power-off command transmitted by the client, the main processor 101 determines whether the drone is currently in an operational state. Optionally, when the drone is outside the cabin door, it is in an operational state, and when it is inside the cabin door, it is in a non-operational state. If the drone is in the non-operational state, the main processor 101 can control the controlled switch 60 to switch to the OFF state, completing the forced power-off. If the drone is in an operational state, the main processor 101 controls the drone to land at a temporary stop or return to the cabin.

[0092] When repair or maintenance is in progress, the state of the emergency stop switch 301 can be switched by sending a corresponding request or instruction through the client, or by setting the corresponding state. If a power outage is required for maintenance, the client can also force a power outage, saving workers the step of turning off the switch and reducing labor costs.

[0093] Please continue to refer to Figure 4 Regarding the structure of the backup module 20, the embodiment of the present application also provides a possible implementation method, such as Figure 4As shown, the backup module 20 includes a coprocessor 201 , a backup power supply 202 and a backup power supply circuit 203 .

[0094] In one possible implementation, the main processor 101 may be an integrated circuit chip with signal processing capabilities. The main processor 101 may be a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0095] The coprocessor 201 may be a microcontroller unit (MCU). It is understandable that the computing capability of the coprocessor 201 is weaker than that of the main processor 101, but it consumes less power and is more energy-efficient.

[0096] like Figure 4 As shown, the DC power supply 50 is also connected to the backup power supply 202 in the backup module 20 for replenishing electrical energy to the backup power supply 202 .

[0097] The backup power supply 202 is connected to the coprocessor 201 and the backup power supply circuit 203. The backup power supply 202 provides energy to the coprocessor 201 and the backup power supply circuit 203. The coprocessor 201 is connected to the main processor 101 and the backup power supply circuit 203.

[0098] The coprocessor 201 is configured to send a power supply instruction to the backup power supply circuit 203 after the emergency stop switch 301 is switched to the cut-off state.

[0099] In one possible implementation, after the coprocessor 201 detects that the emergency stop switch 301 is switched to the cut-off state, it waits for T0 time (for example, 30s) and then sends a power supply instruction to the backup power supply circuit 203 to avoid safety hazards caused by continuous power off and power on.

[0100] As can be understood, coprocessor 201 can be informed of the current state of emergency stop switch 301. When emergency stop switch 301 is disconnected, main power supply circuit 30 is disconnected, and high-power components in the drone docking station cease operation. However, system module 10 still needs to operate, so power is supplied to the system module via backup power supply circuit 203, and a power supply command is sent to backup power supply circuit 203.

[0101] The backup power supply circuit 203 is used to supply energy to the system module 10 after receiving a power supply instruction.

[0102] It can be understood that the backup power supply circuit 203 transmits the electrical energy in the backup power supply 202 to the system module 10, thereby completing the energy supply.

[0103] The coprocessor 201 is further configured to transmit query instructions to the main processor 101 .

[0104] The query instruction prompts the main processor 101 to determine whether the emergency stop switch 301 is in an erroneous triggering state.

[0105] Regarding how the coprocessor 201 obtains the current state of the emergency stop switch 301 , the embodiment of the present application further provides a possible implementation method, which is described below.

[0106] The backup module 20 further includes a switch state detection unit 204 , which is connected to the coprocessor 201 .

[0107] The switch state detection unit 204 is used to detect the current state of the emergency stop switch 301 and transmit the current state to the coprocessor 201 .

[0108] The switch state detection unit 204 is provided relative to the emergency stop switch 301 .

[0109] Regarding how the coprocessor 201 obtains the current state of the emergency stop switch 301, the embodiment of the present application further provides a possible implementation method, please refer to the following.

[0110] The first pin of the main processor 101 is connected to the coprocessor 201. The first pin is normally high. When the emergency stop switch 301 is cut off, the main processor 101 is powered off and the first pin of the main processor 101 is low. At this time, the coprocessor 201 can sense that the emergency stop switch 301 is in the cut-off state.

[0111] Regarding how the main processor 101 controls the switching state of the controlled switch 60, the embodiment of the present application also provides a possible implementation method, please refer to the following.

[0112] The coprocessor 201 is connected to the controlled switch 60 of the external power supply circuit; the main processor 101 is also used to send a circuit breaker instruction to the coprocessor 201 when the emergency stop switch 301 is not triggered by mistake; the coprocessor 201 is used to control the controlled switch 60 to switch to the cut-off state when receiving the circuit breaker instruction.

[0113] The embodiment of the present application also provides a method for controlling a drone docking station, which is applied to the main processor 101 in the drone docking station. Figure 4 Please refer to Figure 6 ,The UAV docking station control method includes : S101 and S102.

[0114] S101, when receiving the query command, determine whether the emergency stop switch is triggered by mistake. If so, execute S102; if not, skip.

[0115] The query instruction indicates that the emergency stop switch is switched to the truncated state. In one possible implementation, the backup module 20 can monitor the current state of the emergency stop switch 301. When the emergency stop switch 301 is switched to the truncated state, the backup module 20 sends a query instruction to the main processor 101.

[0116] S102, controlling the switch reset unit to drive the emergency stop switch to reset.

[0117] When the system module 10 further includes a monitoring unit 102 and the monitoring unit 102 is connected to the main processor 101, Figure 6 In S101, this application embodiment also provides a possible implementation method, please refer to Figure 7 , S101 includes S101-1.

[0118] S101-1, determine whether the emergency stop switch is triggered by mistake based on the status information. If so, execute S102; if not, skip.

[0119] The status information is the information obtained by the monitoring unit from monitoring the status of the drone docking station.

[0120] In the case where the status information is one or more of the following: temperature and humidity status information transmitted by the temperature and humidity sensor, smoke status information transmitted by the smoke sensor, water level status information transmitted by the water level sensor, and hatch status information transmitted by the hatch position sensor, Figure 7 In S101-1, this application embodiment also provides a possible implementation method, please refer to Figure 8 , S101-1 includes: S101-1A, S101-1B, S101-1C, S101-1D, S101-1E and S101-1F.

[0121] S101-1A: Determine whether the door status information indicates that the door is in a closed state. If so, execute S101-1B; if not, execute S101-1F.

[0122] S101-1B: Determine whether the temperature and humidity status information is lower than a first temperature and humidity threshold. If so, execute S101-1C; if not, execute S101-1F.

[0123] S101-1C: Determine whether the smoke status information is lower than the first smoke threshold. If so, execute S101-1D; if not, execute S101-1F.

[0124] S101-1D: Determine whether the water level status information is lower than the first water level threshold. If yes, execute S101-1E; if no, execute S101-1F.

[0125] S101-1E, the emergency stop switch was determined to be triggered by mistake.

[0126] When it is determined that the emergency stop switch is triggered by mistake, S102 is executed to control the switch reset unit to drive the emergency stop switch to reset.

[0127] S101-1F, the emergency stop switch is determined to be non-accidentally triggered.

[0128] In the case where the system module 10 further includes a communication unit 103, and the communication unit 103 is connected to the main processor 101, Figure 6 In S101, this application embodiment also provides a possible implementation method, please refer to Figure 9 , S101 includes S101-2, S101-3 and S101-4.

[0129] S101-2: Upon receiving the query instruction, confirm whether the maintenance request transmitted by the communication unit is received. If so, execute S101-3; if not, execute S101-4.

[0130] S101-3, determine that the emergency stop switch is not triggered by mistake.

[0131] S101-4, it is determined that the emergency stop switch is triggered by mistake.

[0132] After S101 - 4 , S102 is executed to control the switch resetting unit to drive the emergency stop switch to reset.

[0133] Please refer to Figure 10 The drone docking station control method provided in the embodiment of the present application also includes: S103, S104 and S105.

[0134] S103: Determine whether a disaster has occurred at the drone docking station based on the status information. If so, execute S104; if not, skip.

[0135] S104, controlling the UAV to land at a temporary stop.

[0136] S105, controlling the controlled switch of the external power supply circuit to switch to the cut-off state.

[0137] It should be noted that S103 , S104 and S105 may be executed in parallel or crosswise with S101 and S102 , which is not limited here.

[0138] In the case where the status information is one or more of the temperature and humidity status information transmitted by the temperature and humidity sensor, the smoke status information transmitted by the smoke sensor, the water level status information transmitted by the water level sensor, and the image status information transmitted by the visual sensor, Figure 10 In S103, this application embodiment also provides a possible implementation method, please refer to Figure 11 , S103 includes: S103-1A, S103-1B, S103-1C, S103-1D and S103-1E.

[0139] S103-1A: Determine whether the temperature and humidity status information is higher than a second temperature and humidity threshold. If so, execute S103-1E; if not, execute S103-1B.

[0140] S103-1B, determine whether the smoke status signal is higher than the second smoke threshold. If so, execute S103-1E; if not, execute S103-1C.

[0141] S103-1C: Determine whether the water level status information is higher than the second water level threshold. If yes, execute S103-1E; if no, execute S103-1D.

[0142] S103-1D, determined that no disaster occurred at the drone docking station.

[0143] S103-1E, it is determined that a disaster has occurred at the drone docking station.

[0144] After S103-1E, execute S104 to control the UAV to land at a temporary stop.

[0145] about Figure 10 In S103, this application embodiment also provides a possible implementation method, please refer to Figure 12 , S103 includes: S103-2.

[0146] S103-2: Based on the image status information transmitted by the visual sensor, determine whether a disaster has occurred at the drone docking station. If so, execute S104; if not, skip.

[0147] It should be noted that S103-2 and S103-1A, S103-1B, S103-1C, S103-1D and S103-1E may be executed simultaneously or in parallel, or only one side may be executed, which is not limited here.

[0148] It should be noted that the drone docking station control method provided in this embodiment can implement the energy supply purposes of various components in the drone docking station described above to achieve the corresponding technical effects. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments.

[0149] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

[0150] It will be apparent to those skilled in the art that the present application is not limited to the details of the exemplary embodiments described above and that the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present application is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A drone docking station, characterized in that: The UAV docking station includes: a main power supply circuit, a system module and a backup module, one end of the main power supply circuit is used to connect to a power source, the other end of the main power supply circuit is connected to the system module, an emergency stop switch is provided in the main power supply circuit, and the backup module is connected to the system module; The system module is connected to the switch reset unit corresponding to the emergency stop switch, and the switch reset unit is transmission-connected to the emergency stop switch; The backup module is used to supply energy to the system module and transmit an inquiry instruction to the system module after the emergency stop switch is switched to the cut-off state; The system module is used to determine whether the emergency stop switch is triggered by mistake when receiving the query instruction, and if so, control the switch reset unit to drive the emergency stop switch to reset; The backup module includes a coprocessor and a switch state detection unit, and the switch state detection unit is connected to the coprocessor; The switch state detection unit is used to detect the current state of the emergency stop switch and transmit the current state to the coprocessor; The system module includes a main processor and a monitoring unit, and the monitoring unit is connected to the main processor; The monitoring unit is used to monitor the status information of the drone docking station and transmit the status information to the main processor; The main processor is used to determine whether the emergency stop switch is triggered by mistake according to the status information; The monitoring unit includes a visual sensor, which includes an internal sensor and an external sensor. The internal sensor is used to capture images of the drone in the cabin door, and the external sensor is used to capture images of the external environment of the drone docking station. The main processor is also used to determine that the emergency stop switch is falsely triggered when the image captured by the internal sensor indicates that the drone is parked in the cabin door, and the image captured by the external sensor shows that the door of the fence corresponding to the drone docking station is in a closed state, or when the image captured by the internal sensor indicates that the drone is parked in the cabin door and there are no staff around the drone docking station.

2. The drone docking station according to claim 1, wherein: The monitoring unit further includes one or more of a temperature and humidity sensor, a smoke sensor, a water level sensor, and a door position sensor; The main processor is further configured to determine that the emergency stop switch is falsely triggered when the temperature and humidity status information transmitted by the temperature and humidity sensor is lower than a first temperature and humidity threshold, the smoke status information transmitted by the smoke sensor is lower than a first smoke threshold, the water level status information transmitted by the water level sensor is lower than a first water level threshold, and the door status information transmitted by the door position sensor indicates that the door is in a closed state; When the temperature and humidity status information is higher than the first temperature and humidity threshold, or the smoke status information is higher than the first smoke threshold, or the water level status information is higher than the first water level threshold, or the hatch status information indicates that the hatch is in an unclosed state, the emergency stop switch is determined to be non-falsely triggered.

3. The drone docking station according to claim 1, wherein: The main processor is further configured to determine whether a disaster has occurred at the drone docking station based on the status information; If a disaster occurs, the main processor is also used to control the drone to land at a temporary parking point.

4. The drone docking station according to claim 3, wherein: The monitoring unit further includes one or more of a temperature and humidity sensor, a smoke sensor, and a water level sensor; The main processor is further configured to determine that a disaster has occurred at the drone docking station when the temperature and humidity status information transmitted by the temperature and humidity sensor is higher than a second temperature and humidity threshold; The main processor is further configured to determine that a disaster has occurred at the drone docking station when the smoke status signal transmitted by the smoke sensor is higher than a second smoke threshold; The main processor is further configured to determine that a disaster has occurred at the drone docking station when the water level status information transmitted by the water level sensor is higher than a second water level threshold; The main processor is further configured to determine whether a disaster has occurred at the drone docking station based on image status information transmitted by the visual sensor.

5. The drone docking station according to claim 3, wherein: The main processor is further configured to control the controlled switch of the external power supply circuit to switch to a cut-off state in the event of a disaster at the drone docking station.

6. The drone docking station according to claim 1, wherein: The system module includes a main processor and a communication unit, and the communication unit is connected to the main processor; The communication unit is used to receive a maintenance request transmitted by a client and transmit the maintenance request to the main processor; The main processor is further configured to determine that the emergency stop switch is not triggered by mistake when receiving the maintenance request.

7. The drone docking station according to claim 1, wherein: The backup module includes a backup power supply and a backup power supply circuit; The backup power supply is connected to the coprocessor and the backup power supply circuit, and the coprocessor is connected to the main processor in the system module and the backup power supply circuit; The coprocessor is used to send a power supply instruction to the backup power supply circuit after the emergency stop switch is switched to the cut-off state; The backup power supply circuit is used to supply energy to the system module after receiving the power supply instruction; The coprocessor is further configured to transmit an inquiry instruction to the main processor.

8. The drone docking station according to claim 7, wherein: The coprocessor is connected to a controlled switch of an external power supply circuit; The main processor is further configured to send a circuit breaking instruction to the coprocessor when the emergency stop switch is not triggered by mistake; The coprocessor is configured to control the controlled switch to switch to a cut-off state when receiving the circuit-breaking instruction.

9. A method for controlling a drone docking station, characterized in that: A system module applied to a drone docking station according to any one of claims 1 to 8, the method comprising: Upon receiving the query command, determining whether the emergency stop switch is triggered by mistake; Wherein, the query instruction indicates that the emergency stop switch is switched to the cut-off state; If so, controlling the switch reset unit to drive the emergency stop switch to reset; The step of determining whether the emergency stop switch is triggered by mistake includes: Determining whether the emergency stop switch is triggered by mistake based on the status information; The status information is information obtained by the monitoring unit in the system module from monitoring the status of the drone docking station.

10. The method for controlling a drone docking station according to claim 9, wherein: The status information is one or more of temperature and humidity status information transmitted by a temperature and humidity sensor, smoke status information transmitted by a smoke sensor, water level status information transmitted by a water level sensor, and hatch status information transmitted by a hatch position sensor; The step of determining whether the emergency stop switch is triggered by mistake based on the status information includes: When the temperature and humidity status information is lower than a first temperature and humidity threshold, the smoke status information is lower than a first smoke threshold, the water level status information is lower than a first water level threshold, and the door status information indicates that the door is in a closed state, the emergency stop switch is determined to be falsely triggered; When the temperature and humidity status information is higher than the first temperature and humidity threshold, or the smoke status information is higher than the first smoke threshold, or the water level status information is higher than the first water level threshold, and the hatch status information indicates that the hatch is in an unclosed state, the emergency stop switch is determined to be non-falsely triggered.

11. The method for controlling a drone docking station according to claim 9, wherein: The method further comprises: Determining whether a disaster has occurred at the drone docking station based on the status information; If a disaster occurs, the drone will be controlled to land at a temporary stop.

12. The method for controlling a drone docking station according to claim 11, wherein: The status information is one or more of temperature and humidity status information transmitted by a temperature and humidity sensor, smoke status information transmitted by a smoke sensor, water level status information transmitted by a water level sensor, and image status information transmitted by a visual sensor. The step of determining whether a disaster has occurred at the drone docking station based on the status information includes: When the temperature and humidity status information is higher than a second temperature and humidity threshold, or the smoke status information is higher than a second smoke threshold, or the water level status information is higher than a second water level threshold, it is determined that a disaster has occurred at the drone docking station; And / or judging whether a disaster has occurred at the drone docking station based on the image status information transmitted by the visual sensor.

13. The method for controlling a drone docking station according to claim 11, wherein: In the event of a disaster at the drone docking station, the method further includes: The controlled switch controlling the external power supply circuit is switched to the cut-off state.

14. The method for controlling a drone docking station according to claim 9, wherein: The step of determining whether the emergency stop switch is triggered by mistake includes: When the maintenance request transmitted by the communication unit is received, it is determined that the emergency stop switch is not triggered by mistake.

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