Mounting device, unmanned aerial vehicle mounting system and control method thereof

Abstract

The application relates to a mounting device, an unmanned aerial vehicle mounting system and a control method thereof, belongs to the technical field of unmanned aerial vehicles, and comprises a mounting docking mechanism, a first connecting piece and a docking assembly arranged on the first connecting piece; the docking assembly comprises a first hollow cylinder, a push rod and a supporting assembly; the supporting assembly is connected with the first hollow cylinder; the push rod is movably connected with the hollow cylinder through a through hole arranged on the first hollow cylinder and the supporting assembly; and the mounting mechanism is movably connected with the push rod at one end in a curved shape. The application reduces the degree of manual participation, can realize automatic mounting and unloading to improve transportation efficiency, and can be used in multiple scenes.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a mounting device, a UAV mounting system, and a control method thereof. Background Technology

[0002] Currently, with the development of technology, the application of drones is becoming more and more widespread. Power departments and other organizations have successively purchased drones to solve various needs of their departments. In particular, medium and large-sized drones are more widely used. As a carrier, the purpose of a drone depends on its mounting modules. Different modules can be mounted to complete different tasks. Therefore, the mounting capacity of a drone is crucial.

[0003] The payload capacity of a drone determines its application range. Current technologies have a low degree of automation in drone loading and unloading, and most of the operations are manual, which is not conducive to use in special scenarios such as complex terrain and difficult manual operation. Summary of the Invention

[0004] Therefore, it is necessary to provide a mounting device, a UAV mounting system, and a control method to improve the degree of automation of mounting, in order to address the above-mentioned technical problems.

[0005] In a first aspect, a mounting device is provided, the device comprising:

[0006] A mounting docking mechanism, the mounting docking mechanism including a first connector and a docking component disposed on the first connector;

[0007] The docking assembly includes a first hollow column, a push rod, and a support assembly. The support assembly is connected to the first hollow column, and the push rod is movably connected to the hollow column through a through hole provided on the first hollow column and the support assembly.

[0008] The mounting mechanism has one end that is curved and is movably connected to the push rod.

[0009] Optionally, the docking assembly further includes a second hollow column;

[0010] The first end of the second hollow column is connected to the first end of the first hollow column;

[0011] The cross-sectional area of ​​the second end of the second hollow cylinder is greater than the cross-sectional area of ​​the first end of the second hollow cylinder.

[0012] Optionally, the mounting and docking mechanism may further include a pressure sensor and a magnetic attraction component;

[0013] The pressure sensor and the magnetic suction assembly are disposed inside the first connector corresponding to the second end cross-section of the first hollow column.

[0014] The magnetic suction component is movably connected to one of the curved ends of the mounting mechanism, and a positioning component is provided at the curved end of the mounting mechanism.

[0015] Optionally, the support component is disposed between the first connector and the second hollow column;

[0016] The first end of the support component is connected to the first hollow column, and the second end of the support component is provided with a limit component;

[0017] The upper surface of the support component is provided with a groove, and a through hole penetrating the first hollow column is provided on the same horizontal line as the groove;

[0018] The push rod is movably connected to the first hollow column through the groove.

[0019] Secondly, a drone mounting system is provided, the system comprising the mounting device as described above; and,

[0020] The drone, the body of which is connected to the other end of the mounting mechanism via a second connector;

[0021] A ground station, which is connected to the UAV via electrical signals.

[0022] Thirdly, a control method for an unmanned aerial vehicle (UAV) mounting system as described above is provided, the method comprising:

[0023] In response to detecting a cargo loading signal from a ground station, relevant parameter information is acquired, including at least one of the following: cargo attribute information, location information, and environmental information;

[0024] Based on the cargo attribute information and the location information, the first lowering information of the mounting mechanism is determined;

[0025] Based on the environmental information, the first deployment information is corrected to determine the second deployment information of the mounting mechanism;

[0026] Based on the second release information, the drone is controlled to release the mounting mechanism, and when a signal is detected that the mounting mechanism is in contact with the first connector, the sliding push rod is moved to a preset position to complete the mounting of the target cargo.

[0027] Optionally, the cargo attribute information includes at least one of the following: cargo volume and cargo weight; the first lowering information includes at least the initial lowering time, lowering speed, and total lowering time; and determining the first lowering information of the mounting mechanism based on the cargo attribute information and the location information includes:

[0028] Based on the data stored in the database, match the cargo volume and / or cargo weight corresponding to the target cargo;

[0029] The lowering length of the mounting mechanism is determined based on the assigned values ​​of the cargo volume and / or cargo weight.

[0030] Based on the lowering length and lowering speed of the mounting mechanism, the total lowering time of the mounting mechanism is determined;

[0031] Based on the total lowering time and the location information, the initial lowering time of the mounting mechanism is determined.

[0032] Optionally, the location information includes at least the drone's location information and the cargo's location information, and the environmental information includes at least wind speed and obstacles in the flight path. The step of correcting the first deployment information based on the environmental information to determine the second deployment information of the mounting mechanism includes:

[0033] The drone flight planning path is obtained based on the drone location information and the cargo location information, and the size of the obstacles in the flight planning path and their corresponding first values ​​are determined according to the map data.

[0034] Based on weather information, obtain real-time wind speed and determine the second value corresponding to the real-time wind speed;

[0035] Determine the correction value based on the first assignment and the second assignment;

[0036] Based on the correction value, the first deployment information is corrected to determine the second deployment information of the mounting mechanism.

[0037] Optionally, the method further includes:

[0038] In response to detecting that the data stored in the database does not match the cargo volume and / or cargo weight corresponding to the target cargo, image information corresponding to the target cargo is acquired;

[0039] Based on the image information corresponding to the target cargo, the cargo volume of the target cargo is determined;

[0040] The first lowering information of the mounting mechanism is determined based on the assigned value corresponding to the cargo volume of the target cargo.

[0041] Optionally, the method further includes:

[0042] During the process of the UAV lowering the mounting mechanism, in response to the detection of a moving object within a preset range of the mounting mechanism, real-time image information is transmitted back to the ground station, and an alarm message is issued.

[0043] Fourthly, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the following steps:

[0044] In response to detecting a cargo loading signal from a ground station, relevant parameter information is acquired, including at least one of the following: cargo attribute information, location information, and environmental information;

[0045] Based on the cargo attribute information and the location information, the first lowering information of the mounting mechanism is determined;

[0046] Based on the environmental information, the first deployment information is corrected to determine the second deployment information of the mounting mechanism;

[0047] Based on the second release information, the drone is controlled to release the mounting mechanism, and when a signal is detected that the mounting mechanism is in contact with the first connector, the sliding push rod is moved to a preset position to complete the mounting of the target cargo.

[0048] Fifthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0049] In response to detecting a cargo loading signal from a ground station, relevant parameter information is acquired, including at least one of the following: cargo attribute information, location information, and environmental information;

[0050] Based on the cargo attribute information and the location information, the first lowering information of the mounting mechanism is determined;

[0051] Based on the environmental information, the first deployment information is corrected to determine the second deployment information of the mounting mechanism;

[0052] Based on the second release information, the drone is controlled to release the mounting mechanism, and when a signal is detected that the mounting mechanism is in contact with the first connector, the sliding push rod is moved to a preset position to complete the mounting of the target cargo.

[0053] The aforementioned mounting device, UAV mounting system, and control method include: a mounting docking mechanism comprising a first connector and a docking assembly disposed on the first connector; the docking assembly comprising a first hollow column, a push rod, and a support assembly, the support assembly being connected to the first hollow column, and the push rod being movably connected to the hollow column through a through hole disposed on the first hollow column and the support assembly; and a mounting mechanism, one end of which is curved and movably connected to the push rod. This application reduces the degree of manual intervention, enables automatic mounting and unloading to improve transportation efficiency, and thus allows for use in multiple scenarios. Attached Figure Description

[0054] Figure 1 This is an overall structural diagram of the mounting device in one embodiment;

[0055] Figure 2 This is a schematic diagram of the mounting and docking mechanism of the mounting device in one embodiment;

[0056] Figure 3 This is a schematic diagram of the mounting mechanism of the mounting device in one embodiment;

[0057] Figure 4 This is a schematic diagram of the overall modules of the UAV mounting system in one embodiment;

[0058] Figure 5 This is a flowchart illustrating the control method in one embodiment;

[0059] Figure 6 This is an internal structural diagram of a computer device in one embodiment.

[0060] Explanation of reference numerals on the accompanying drawings:

[0061] 1. Mounting and docking mechanism; 2. Mounting mechanism; 3. Second connecting piece; 100. First connecting piece; 101. Docking through hole; 200. Docking assembly; 201. First hollow column; 202. Push rod; 203. Support assembly; 204. Second hollow column; 205. Limiting assembly; 206. Groove; 207. Through hole. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] It should be understood that, in the description of this application, unless the context explicitly requires it, words such as "including" or "comprising" throughout the specification should be interpreted as including rather than exclusive or exhaustive; that is, meaning "including but not limited to".

[0064] It should also be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0065] It should be noted that the terms "S1," "S2," etc., are used only for descriptive purposes and do not specifically refer to the order or sequence, nor are they intended to limit this application. They are merely for the convenience of describing the method of this application and should not be construed as indicating the sequential order of the steps. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0066] As can be seen from the background technology, the degree of automation of drone mounting and unloading in the existing technology is low, and most of it is done manually, which is not conducive to the use of special scenarios such as complex terrain and difficult manual operation.

[0067] To address the aforementioned technical issues, this application provides a mounting device, a drone mounting system, and a control method thereof. By automatically mounting and unloading cargo, the degree of human intervention is reduced, cargo transportation efficiency is improved, and cargo transportation can be realized in various scenarios such as uninhabited areas and harsh environments, thereby expanding the scope of cargo transportation.

[0068] In one embodiment, such as Figure 1 As shown, a mounting device for a drone is provided, the device comprising:

[0069] The mounting docking mechanism 1 includes a first connector 100 and a docking assembly 200 disposed on the first connector 100.

[0070] The docking assembly 200 includes a first hollow column 201, a push rod 202, and a support assembly 203. The support assembly 203 is connected to the first hollow column 201, and the push rod 202 is movably connected to the hollow column through a through hole 207 provided on the first hollow column 201 and the support assembly 203.

[0071] Mounting mechanism 2, one end of which is curved and movably connected to push rod 202.

[0072] Specifically, the mounting mechanism 2 provided in this application is connected to the drone via the second connector 3, and is generally installed below the drone. The mounting docking mechanism 1 is connected to the cargo via the first connector 100. The second connector 3 can be a steel cable, rope, etc. Figure 2 As shown, the first connecting member 100 can be a docking plate with a docking through hole 101 for connecting with cargo. For example, bolts are passed through this through hole 207 and a pre-drilled through hole 207 on the cargo and tightened to fix the mounting docking mechanism 1 to the cargo. Furthermore, the first hollow column 201 can be a hollow cylinder, a hollow square column, etc., to allow the mounting mechanism 2 to pass through the column and contact the surface of the first connecting member 100. The push rod 202 is generally an electric push rod 202, which is connected to the ground station via an electrical signal to push the push rod 202 through the first connecting member 100 when a signal of contact between the mounting mechanism 2 and the surface of the first connecting member 100 is received. Through holes 207 are provided on the first hollow column 201. The number of through holes 207 can be set according to the number of push rods 202. For example, if there is only one push rod 202, two through holes 207 are provided on the first hollow column 201 so that the push rod 202 can pass through the first hollow column 201. If there are two push rods 202, four through holes 207 are provided on the first hollow column 201 so that the push rods 202 can pass through the first hollow column 201. A support assembly 203 is also provided on the first hollow column 201 to support the push rods 202. The push rods 202 and the support assembly 203 are slidably connected. Furthermore, such as Figure 3 As shown, one end of the mounting mechanism 2 described in this embodiment is curved, which is used to hang the goods on the push rod 202 when mounting the goods, so as to facilitate the lifting of the goods and prevent the goods from falling, such as double hooks, four hooks, etc.

[0073] In the specific implementation process, the mounting docking mechanism 1 is pre-fixed to the cargo. When the cargo loading signal is detected, the mounting mechanism 2 is lowered to the upper end of the first hollow column 201 by lowering the second connecting piece 3, and slides down along the inside of the first hollow column 201 until the mounting mechanism 2 contacts the first connecting piece 100 and sends a signal. Based on the received signal, the electric push rod is controlled to push the push rod 202 from one through hole 207 to the other through hole 207 to penetrate the first hollow column 201. Then, the drone is controlled to take off, so that the curved end of the mounting mechanism 2 rises and hangs on the push rod 202 to complete the automatic loading of cargo by the drone. In this process, the degree of human intervention is reduced by automatically loading cargo, the efficiency of cargo transportation is improved, and cargo transportation in multiple scenarios such as uninhabited areas and harsh environments can be realized, thereby increasing the scope of cargo transportation.

[0074] In one embodiment, the docking assembly 200 further includes a second hollow column 204;

[0075] The first end of the second hollow column 204 is connected to the first end of the first hollow column 201, and the second hollow column 204 is an anti-sway device;

[0076] The cross-sectional area of ​​the second end of the second hollow column 204 is greater than the cross-sectional area of ​​the first end of the second hollow column 204.

[0077] Specifically, such as Figure 2 As shown, the second hollow cylinder 204 can also be a hollow cylinder, a hollow square cylinder, etc. Preferably, the second hollow cylinder 204 and the first hollow cylinder 201 are the same type. For example, if the first hollow cylinder 201 is a hollow square cylinder, the second hollow cylinder 204 is also preferably a hollow square cylinder to facilitate connection between the two. Furthermore, one end of the first hollow cylinder 201 is connected to one end of the second hollow cylinder 204. Preferably, the shapes of the connecting ends are the same. The cross-sectional area of ​​the other end of the column 204 is larger than that of one end of the second hollow column 204, so as to initially reduce the sway range of the mounting mechanism 2 when it docks with the mounting docking mechanism 1, and allow the mounting mechanism 2 to slide smoothly along the anti-sway device to the bottom of the first hollow column 201 and contact the first connecting member 100, thereby shortening the docking time of the mounting mechanism 2 due to swaying and further improving the cargo docking efficiency.

[0078] In one embodiment, the mounting docking mechanism 1 further includes a pressure sensor (not shown) and a magnetic suction assembly (not shown);

[0079] The pressure sensor and the magnetic suction assembly are disposed inside the first connector 100 corresponding to the second end cross section of the first hollow column 201;

[0080] The magnetic suction component is movably connected to one end of the mounting mechanism 2 that is in a curved shape, and a positioning component (not shown in the figure) is provided at one end of the mounting mechanism 2 that is in a curved shape.

[0081] Specifically, through the positioning component set on the mounting mechanism 2 (which can obtain the height and position data of the mounting mechanism 2) and the positioning system of the cargo itself, the mounting mechanism 2 and the cargo position can be quickly matched to improve the mounting speed. Furthermore, the pressure sensor and the magnetic suction component are installed in the first connector 100, and their installation range is within the range corresponding to the second end cross-section of the first hollow column 201. A magnet is set at the bottom of the mounting mechanism 2, or the mounting mechanism 2 itself is made of a material that can be attracted by the magnetic suction component. When the mounting mechanism 2 is lowered to a certain range of the first hollow column 201, the magnetic suction component can quickly attract the mounting mechanism 2 to the bottom and make contact with the first connector 100. At this time, the pressure sensor generates pressure based on the contact between the mounting mechanism 2 and the first connector 100 and sends a signal to the ground station to determine that the mounting mechanism 2 and the first connector 100 have made contact. Based on this, the lowering time of the mounting mechanism 2 can be saved, and the mounting efficiency can be further improved.

[0082] In one embodiment, the support component 203 is disposed between the first connector 100 and the second hollow column 04;

[0083] The first end of the support component 203 is connected to the first hollow column 201, and the second end of the support component 203 is provided with a limiting component 205;

[0084] The upper surface of the support component 203 is provided with a groove 206, and a through hole 207 penetrating the first hollow column 201 is provided on the same horizontal line as the groove 206.

[0085] The push rod 202 is movably connected to the first hollow column 201 through the groove 206.

[0086] Specifically, such as Figure 2 As shown, the limiting component 205 is located at the end of the support component 203 away from the first hollow column 201, and is used to limit the sliding position of the push rod 202. This is to prevent the push rod 202 from detaching from the support component 203 due to inertia or inaccurate control of the sliding distance when it slides back, which would affect the drone loading process and may cause safety issues. Furthermore, a groove 206 is provided on the upper surface of the support component 203, and the push rod 202 slides in the groove 206 to prevent the push rod 202 from deviating during the sliding process, so that it can smoothly pass through the through hole 207 and thus realize the loading of the cargo.

[0087] The specific process of cargo mounting based on this mounting device is as follows: The mounting docking mechanism 1 is pre-fixed to the cargo. When a cargo mounting signal is detected, the drone is controlled to fly to the top of the cargo using the cargo's own positioning system and the positioning components set on the mounting mechanism 2. The mounting mechanism 2 is then lowered to the top of the anti-sway device by lowering the second connecting piece 3, and slides down the anti-sway device into the first hollow column 201. When the mounting mechanism 2 reaches the preset range, it is quickly attracted to the surface of the first connecting piece 100 by the magnetic suction component. The pressure signal emitted by the pressure sensor determines that the mounting mechanism 2 is in contact with the first connecting piece 100. Based on the received signal, the electric push rod is controlled to push the push rod 202 from one through hole 207 to the other through hole 207, so as to penetrate the first hollow column 201. 01. Subsequently, the drone is controlled to take off, causing one curved end of the mounting mechanism 2 to rise and hang on the push rod 202, thus enabling the drone to automatically load cargo. Further, when the drone transports the cargo to its destination, it hovers at a certain height and controls the second connector 3 to lower the cargo to the ground. At this time, the mounting mechanism 2 continues to be lowered until it is attracted to the surface of the first connector 100. Similarly, the push rod 202 is slid back to the limit component 205 by the signal emitted by the pressure sensor, and the drone retracts the mounting mechanism 2, realizing the automatic unloading of cargo. In this process, the degree of human intervention is reduced by automatically loading and unloading cargo, improving the efficiency of cargo transportation, and enabling cargo transportation in multiple scenarios such as uninhabited areas and harsh environments, thereby expanding the scope of cargo transportation.

[0088] In one embodiment, such as Figure 4 As shown, a drone mounting system is provided, the system including the mounting device described above; and,

[0089] The drone, the body of which is connected to the other end of the mounting mechanism via a second connector;

[0090] A ground station, which is connected to the UAV via electrical signals.

[0091] The ground station can receive signals from pressure sensors and control the push rod to extend and retract based on these signals, thereby enabling automatic loading and unloading of cargo.

[0092] The solution in this embodiment is an improvement on the above embodiments. The technical content disclosed in the above embodiments will not be described again, and the content disclosed in the above embodiments also belongs to the content disclosed in this embodiment.

[0093] In one embodiment, such as Figure 5 As shown, a control method for the above-mentioned UAV mounting system is provided, the method comprising:

[0094] S1: In response to detecting a cargo loading signal from the ground station, acquire relevant parameter information, which includes at least one of the following: cargo attribute information, location information, and environmental information.

[0095] It should be noted that the cargo attribute information includes at least one of the following: cargo volume and cargo weight; the location information includes at least the drone location information and cargo location information; and the environmental information includes at least wind speed and obstacles in the flight planning path.

[0096] Specifically, cargo volume and weight can be obtained from stored data in a database. For example, when the ground station sends a cargo-to-be-attached signal, it also sends a cargo identifier. Based on this cargo identifier, the cargo volume or weight stored in the database is matched. When no cargo volume and / or weight corresponding to the target cargo is matched in the stored data, the camera device carried by the UAV is used to acquire image information corresponding to the target cargo, and the image information corresponding to the target cargo is transmitted back to the ground station. The ground station determines the cargo volume of the target cargo based on image recognition technology and deep learning technology. Among them, image recognition technology is a commonly used image recognition method, which will not be elaborated here.

[0097] Furthermore, the drone's location information can be obtained through a positioning component mounted on the mounting mechanism, the cargo's location information can be obtained through a positioning system carried by the cargo itself, environmental information can be obtained through the day's weather information, and obstacle information between the drone and cargo locations can be obtained through content recorded and displayed on a map.

[0098] S2: Determine the first lowering information of the mounting mechanism based on the cargo attribute information and the location information.

[0099] It should be noted that the first release information includes at least the initial release time, release speed, and total release time. The ground station can combine satellite positioning technology and image recognition technology to obtain the accurate distance between the UAV and the cargo. Combined with the flight path and obstacle information on the flight path, the cable can be released when the UAV reaches a suitable position. This ensures that when the UAV reaches directly above the cargo, the mounting mechanism is within a relatively close range of the cargo, thereby saving mounting time and improving mounting efficiency.

[0100] Specifically, determining the first lowering information of the mounting mechanism based on the cargo attribute information and the location information includes:

[0101] Based on the data stored in the database, the volume and / or weight of the target cargo are matched. The data stored in the database can be a set of relevant mappings pre-stored by the staff. This set of mappings usually includes cargo identification and the cargo weight and / or cargo volume corresponding to the cargo identification. Alternatively, it can be the cargo weight and / or cargo volume estimated by the staff when they know the type of cargo to be loaded. This data is then input into the server in real time at the ground station to determine the first release information of the loading mechanism.

[0102] The lowering length of the mounting mechanism is determined based on the assigned values ​​of the cargo volume and / or cargo weight. These assigned values ​​are based on an expert assignment method, with different values ​​corresponding to different lowering lengths. Generally, the heavier and larger the cargo, the greater the lifting force required by the drone, resulting in a larger drone or rotor, and thus a longer lowering length, such as tens of meters. This reduces the impact of the rotor on the ground and ensures that the mounting mechanism does not swing significantly due to the rotor's influence. Conversely, the lighter and smaller the cargo, the shorter the required lowering length, such as a dozen meters.

[0103] Based on the lowering length and lowering speed of the mounting mechanism, the total lowering time of the mounting mechanism is determined. The lowering speed of the mounting mechanism generally adopts a commonly used lowering speed, which can be set according to actual needs. Based on the lowering length and lowering speed, the required total lowering time can be calculated.

[0104] Based on the total placement time and the location information, the initial placement time of the mounting mechanism is determined. Specifically, the flight path of the drone is determined according to the location information of the cargo and the drone. Based on the flight path, the required flight distance can be determined. Based on the flight distance, the drone's flight speed, and the drone's takeoff time, the initial placement time of the mounting mechanism can be obtained. Based on the initial placement time, the mounting mechanism is placed.

[0105] In some specific embodiments, in response to detecting that the data stored in the database does not match the cargo volume and / or cargo weight corresponding to the target cargo, image information corresponding to the target cargo is acquired;

[0106] Based on the image information corresponding to the target cargo, the cargo volume of the target cargo is determined. As mentioned above, the cargo volume can be obtained through image recognition technology and deep learning technology, which will not be elaborated here.

[0107] Based on the assigned value corresponding to the volume of the target cargo, the first lowering information of the mounting mechanism is determined. When the drone captures the image information of the cargo, the drone and the cargo are already at a relatively close distance. At this time, if the total time required by the commonly used lowering speed exceeds the time required for the drone to fly over the cargo, the lowering speed of the mounting mechanism can be appropriately increased according to actual needs. This allows the mounting mechanism to quickly dock with the mounting docking mechanism when the drone flies directly over the cargo, thereby improving cargo mounting efficiency.

[0108] S3: Based on the environmental information, the first deployment information is corrected to determine the second deployment information of the mounting mechanism.

[0109] It should be noted that environmental information generally includes wind speed and obstacle information in the flight planning path. Obstacles generally include buildings, trees, utility poles, and other obstacles that affect the flight altitude of the drone. Wind speed can affect the offset of the mounting mechanism. Based on this influencing factor, the first information is further corrected.

[0110] In some specific embodiments, the step of correcting the first deployment information based on the environmental information to determine the second deployment information of the mounting mechanism includes:

[0111] The UAV flight planning path is obtained based on the UAV location information and the cargo location information, and the size of the obstacles in the flight planning path and their corresponding first values ​​are determined according to the map data. The first value is also obtained based on the expert value method.

[0112] Based on weather information, real-time wind speed is obtained, and a second value corresponding to the real-time wind speed is determined, wherein the value is also obtained based on the expert assignment method.

[0113] Based on the first assignment and the second assignment, a correction value is determined. Specifically, the first assignment and the second assignment are accumulated using a linear function, and the accumulated result is the correction value. The linear function is: y = ax + bz, where x and z are the first assignment and the second assignment, respectively, a and b are correction coefficients, and y is the correction value.

[0114] Based on the correction value, the first deployment information is corrected to determine the second deployment information of the mounting mechanism, specifically:

[0115] When the correction value is greater than the first preset value, the total lowering time of the mounting mechanism is shortened, that is, the initial lowering time is delayed, and the lowering speed of the mounting mechanism is increased. The adjusted first lowering information is used as the second lowering information. The first preset value can be set according to actual needs.

[0116] When the correction value is less than or equal to the first preset value, the first information is defined as the second information.

[0117] By correcting the initial information, the impact of surrounding environmental factors on the cargo loading process of drones can be reduced, further improving cargo loading efficiency.

[0118] S4: Based on the second release information, control the drone to release the mounting mechanism, and when a signal is detected that the mounting mechanism is in contact with the first connector, slide the push rod to a preset position to complete the mounting of the target cargo.

[0119] It should be noted that the signal indicating contact between the mounting mechanism and the first connecting member is the pressure signal obtained by the pressure sensor when the mounting mechanism contacts the first connecting member. Based on this pressure signal, it can be determined that the mounting mechanism has reached the bottom of the first hollow column. At this time, the ground station sends a signal to the push rod, controlling the electric push rod to push the push rod from one through hole to the other through hole to penetrate the first hollow column. Then, the drone is controlled to take off, so that the curved end of the mounting mechanism rises and hangs on the push rod, thereby realizing the automatic loading of cargo by the drone. During the process of the drone lowering the mounting mechanism... In response to the detection of a moving object within the preset range of the mounting mechanism, the drone transmits real-time image information back to the ground station and issues an alarm. The preset range value can be set according to actual needs. Furthermore, when the drone transports the goods to the destination, the drone hovers at a certain height and controls the second connector to lower the goods to the ground. At this time, the mounting mechanism continues to be lowered until it is attracted to the surface of the first connector. Similarly, the signal from the pressure sensor controls the push rod to slide back to the limit component, and the drone retracts the mounting mechanism, realizing the automatic unloading of goods by the drone.

[0120] The above control method includes: in response to detecting a cargo loading signal from a ground station, acquiring relevant parameter information, the relevant parameter information including at least one of the following: cargo attribute information, location information, and environmental information; determining first lowering information of the loading mechanism based on the cargo attribute information and the location information; correcting the first lowering information based on the environmental information to determine second lowering information of the loading mechanism; controlling the drone to lower the loading mechanism based on the second lowering information, and sliding the push rod to a preset position when a signal of contact between the loading mechanism and the first connecting member is detected to complete the loading of the target cargo. This application reduces the degree of manual intervention and improves cargo transportation efficiency by automatically loading and unloading cargo, and can realize cargo transportation in multiple scenarios such as uninhabited areas and harsh environments, thereby increasing the cargo transportation range. In addition, by combining relevant parameter information, the drone is controlled to lower the loading mechanism in advance to save the time of lowering the loading mechanism, save the total cargo loading time, and further improve cargo loading efficiency.

[0121] It should be understood that, although Figure 5 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 5 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0122] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a control method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0123] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0124] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the following steps:

[0125] S1: In response to detecting a cargo loading signal from the ground station, acquire relevant parameter information, which includes at least one of the following: cargo attribute information, location information, and environmental information;

[0126] S2: Determine the first lowering information of the mounting mechanism based on the cargo attribute information and the location information;

[0127] S3: Based on the environmental information, the first deployment information is corrected to determine the second deployment information of the mounting mechanism;

[0128] S4: Based on the second release information, control the drone to release the mounting mechanism, and when a signal is detected that the mounting mechanism is in contact with the first connector, slide the push rod to a preset position to complete the mounting of the target cargo.

[0129] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0130] The cargo attribute information includes at least one of the following: cargo volume and cargo weight. The first lowering information includes at least the initial lowering time, lowering speed, and total lowering time. Determining the first lowering information of the mounting mechanism based on the cargo attribute information and the location information includes:

[0131] Based on the data stored in the database, match the cargo volume and / or cargo weight corresponding to the target cargo;

[0132] The lowering length of the mounting mechanism is determined based on the assigned values ​​of the cargo volume and / or cargo weight.

[0133] Based on the lowering length and lowering speed of the mounting mechanism, the total lowering time of the mounting mechanism is determined;

[0134] Based on the total lowering time and the location information, the initial lowering time of the mounting mechanism is determined.

[0135] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0136] The location information includes at least the drone's location information and the cargo's location information. The environmental information includes at least wind speed and obstacles in the flight path. The step of correcting the first deployment information based on the environmental information to determine the second deployment information for the mounting mechanism includes:

[0137] The drone flight planning path is obtained based on the drone location information and the cargo location information, and the size of the obstacles in the flight planning path and their corresponding first values ​​are determined according to the map data.

[0138] Based on weather information, obtain real-time wind speed and determine the second value corresponding to the real-time wind speed;

[0139] Determine the correction value based on the first assignment and the second assignment;

[0140] Based on the correction value, the first deployment information is corrected to determine the second deployment information of the mounting mechanism.

[0141] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0142] In response to detecting that the data stored in the database does not match the cargo volume and / or cargo weight corresponding to the target cargo, image information corresponding to the target cargo is acquired;

[0143] Based on the image information corresponding to the target cargo, the cargo volume of the target cargo is determined;

[0144] The first lowering information of the mounting mechanism is determined based on the assigned value corresponding to the cargo volume of the target cargo.

[0145] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0146] During the process of the UAV lowering the mounting mechanism, in response to the detection of a moving object within a preset range of the mounting mechanism, real-time image information is transmitted back to the ground station, and an alarm message is issued.

[0147] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0148] S1: In response to detecting a cargo loading signal from the ground station, acquire relevant parameter information, which includes at least one of the following: cargo attribute information, location information, and environmental information;

[0149] S2: Determine the first lowering information of the mounting mechanism based on the cargo attribute information and the location information;

[0150] S3: Based on the environmental information, the first deployment information is corrected to determine the second deployment information of the mounting mechanism;

[0151] S4: Based on the second release information, control the drone to release the mounting mechanism, and when a signal is detected that the mounting mechanism is in contact with the first connector, slide the push rod to a preset position to complete the mounting of the target cargo.

[0152] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0153] The cargo attribute information includes at least one of the following: cargo volume and cargo weight. The first lowering information includes at least the initial lowering time, lowering speed, and total lowering time. Determining the first lowering information of the mounting mechanism based on the cargo attribute information and the location information includes:

[0154] Based on the data stored in the database, match the cargo volume and / or cargo weight corresponding to the target cargo;

[0155] The lowering length of the mounting mechanism is determined based on the assigned values ​​of the cargo volume and / or cargo weight.

[0156] Based on the lowering length and lowering speed of the mounting mechanism, the total lowering time of the mounting mechanism is determined;

[0157] Based on the total lowering time and the location information, the initial lowering time of the mounting mechanism is determined.

[0158] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0159] The location information includes at least the drone's location information and the cargo's location information. The environmental information includes at least wind speed and obstacles in the flight path. The step of correcting the first deployment information based on the environmental information to determine the second deployment information for the mounting mechanism includes:

[0160] The drone flight planning path is obtained based on the drone location information and the cargo location information, and the size of the obstacles in the flight planning path and their corresponding first values ​​are determined according to the map data.

[0161] Based on weather information, obtain real-time wind speed and determine the second value corresponding to the real-time wind speed;

[0162] Determine the correction value based on the first assignment and the second assignment;

[0163] Based on the correction value, the first deployment information is corrected to determine the second deployment information of the mounting mechanism.

[0164] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0165] In response to detecting that the data stored in the database does not match the cargo volume and / or cargo weight corresponding to the target cargo, image information corresponding to the target cargo is acquired;

[0166] Based on the image information corresponding to the target cargo, the cargo volume of the target cargo is determined;

[0167] The first lowering information of the mounting mechanism is determined based on the assigned value corresponding to the cargo volume of the target cargo.

[0168] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0169] During the process of the UAV lowering the mounting mechanism, in response to the detection of a moving object within a preset range of the mounting mechanism, real-time image information is transmitted back to the ground station, and an alarm message is issued.

[0170] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0171] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A control method applied to an unmanned aerial vehicle (UAV) mounting system, characterized in that, The UAV mounting system includes: The drone, the body of which is connected to the other end of the mounting mechanism via a second connector; A ground station, which is connected to the UAV via electrical signals; A mounting device, comprising: a mounting docking mechanism, the mounting docking mechanism including a first connector and a docking assembly disposed on the first connector; the docking assembly including a first hollow column, a push rod and a support assembly, the support assembly being connected to the first hollow column, and the push rod being movably connected to the hollow column through a through hole disposed on the first hollow column and the support assembly; and a mounting mechanism, one end of which is curved and movably connected to the push rod. The method includes: In response to detecting a cargo loading signal from a ground station, relevant parameter information is acquired, including at least one of the following: cargo attribute information, location information, and environmental information; Based on the cargo attribute information and the location information, the first lowering information of the mounting mechanism is determined; Based on the environmental information, the first deployment information is corrected to determine the second deployment information of the mounting mechanism; Based on the second release information, the drone is controlled to release the mounting mechanism, and when a signal is detected that the mounting mechanism is in contact with the first connector, the sliding push rod is moved to a preset position to complete the mounting of the target cargo; The cargo attribute information includes at least one of the following: cargo volume and cargo weight. The first lowering information includes at least the initial lowering time, lowering speed, and total lowering time. Determining the first lowering information of the mounting mechanism based on the cargo attribute information and the location information includes: Based on the data stored in the database, match the cargo volume and / or cargo weight corresponding to the target cargo; The lowering length of the mounting mechanism is determined based on the assigned values ​​of the cargo volume and / or cargo weight. Based on the lowering length and lowering speed of the mounting mechanism, the total lowering time of the mounting mechanism is determined; Based on the total lowering time and the location information, the initial lowering time of the mounting mechanism is determined.

2. The control method according to claim 1, characterized in that, The docking assembly also includes a second hollow column; The first end of the second hollow column is connected to the first end of the first hollow column; The cross-sectional area of ​​the second end of the second hollow cylinder is greater than the cross-sectional area of ​​the first end of the second hollow cylinder.

3. The control method according to claim 1, characterized in that, The mounting and docking mechanism also includes a pressure sensor and a magnetic suction component; The pressure sensor and the magnetic suction assembly are disposed inside the first connector corresponding to the second end cross-section of the first hollow column. The magnetic suction component is movably connected to one of the curved ends of the mounting mechanism, and a positioning component is provided at the curved end of the mounting mechanism.

4. The control method according to claim 2, characterized in that, The support component is disposed between the first connector and the second hollow column; The first end of the support component is connected to the first hollow column, and the second end of the support component is provided with a limit component; The upper surface of the support component is provided with a groove, and a through hole penetrating the first hollow column is provided on the same horizontal line as the groove; The push rod is movably connected to the first hollow column through the groove.

5. The control method according to claim 1, characterized in that, The location information includes at least the drone's location information and the cargo's location information. The environmental information includes at least wind speed and obstacles in the flight path. The step of correcting the first deployment information based on the environmental information to determine the second deployment information for the mounting mechanism includes: The drone flight planning path is obtained based on the drone location information and the cargo location information, and the size of the obstacles in the flight planning path and their corresponding first values ​​are determined according to the map data. Based on weather information, obtain real-time wind speed and determine the second value corresponding to the real-time wind speed; Determine the correction value based on the first assignment and the second assignment; Based on the correction value, the first deployment information is corrected to determine the second deployment information of the mounting mechanism.

6. The control method according to claim 5, characterized in that, The method further includes: In response to detecting that the data stored in the database does not match the cargo volume and / or cargo weight corresponding to the target cargo, image information corresponding to the target cargo is acquired; Based on the image information corresponding to the target cargo, the cargo volume of the target cargo is determined; The first lowering information of the mounting mechanism is determined based on the assigned value corresponding to the cargo volume of the target cargo.

7. The control method according to claim 1, characterized in that, The method further includes: During the process of the UAV lowering the mounting mechanism, in response to the detection of a moving object within a preset range of the mounting mechanism, real-time image information is transmitted back to the ground station, and an alarm message is issued.

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