UAV cabin door control system with troubleshooting function and UAV cabin door system

Abstract

The present invention provides a drone cabin door control system and system with troubleshooting capabilities, comprising a transport mechanism, a power output mechanism, a locking mechanism, two micro switches, and a main control module. The main control module includes a cabin door unlocking control unit, a detection cabin door movement control unit, a cabin door unlocking determination unit, an unlocking fault automatic troubleshooting control unit, a cabin door opening control unit, a cabin door opening position determination unit, and an opening fault automatic troubleshooting control unit. Therefore, the control system can automatically troubleshoot when the door is not unlocked properly, causing the second motor to rotate a greater angle, effectively resolving unlocking faults caused by loose wire ropes. Furthermore, the control system drives the cabin door to open after confirming unlocking. It can also determine whether the cabin door has opened properly after the opening operation, and automatically troubleshoot if it is not, causing the first motor to drive the cabin door to open with an increased current. This effectively resolves problems with the door sliding during opening caused by dust, ice, and other conditions.

Description

Technical Field

[0001] The present invention belongs to the technical field of aviation machinery manufacturing, and in particular relates to a UAV cabin door control system and a UAV cabin door system with a troubleshooting function. Background Art

[0002] With technological advancements, drones have been widely used. Compared to conventional drones, unmanned helicopters have advantages such as greater load capacity, low-altitude, low-speed flight, and vertical lift capability within a small area. They are widely used in disaster relief, rescue, and aerial photography scenarios. CN216517349U discloses an electric control system for an automatic hatch door on an unmanned helicopter, capable of automatically opening and closing the hatch door of the unmanned helicopter, thereby reducing the manpower required during drone operation. However, unmanned helicopters employing the aforementioned control system still require relatively frequent maintenance due to the following reasons, impacting their operational efficiency: First, the control system utilizes a steel wire rope to pull the hatch door's locking mechanism to unlock it. After a period of operation, due to aging and loosening of the steel wire rope, the preset electric rotation amount will be insufficient to unlock the locking mechanism, resulting in an unlocking failure. Second, because unmanned helicopters often operate in harsh environments such as dust, rain, snow, and low temperatures, the hatch door's sliding structure is affected, resulting in the hatch door sliding unsmoothly or even failing to open properly.

[0003] Therefore, in order to further reduce the manpower input during the operation of UAVs and enable UAVs to operate independently for a longer time so that they can be applied to more tasks, a new type of hatch control system is needed. Summary of the Invention

[0004] The present invention is made to solve the above problems and aims to provide a UAV cabin door control system that can automatically eliminate various faults and a UAV cabin door system using the control system. The present invention adopts the following technical solutions:

[0005] The present invention provides a UAV cabin door control system with a troubleshooting function, which is used to control the opening and closing of the cabin door of the UAV, wherein the cabin door is slidably arranged on the cabin of the UAV, and is characterized in that it includes: a transportation mechanism for driving the cabin door to slide so as to open or close; a power output mechanism for driving the transportation mechanism, which has a first motor; two locking mechanisms, respectively used to lock the two sides of the cabin door in the closed position; an electric unlocking mechanism for unlocking the locking mechanism, which has a second motor, and the locking mechanism is connected to the second motor by a wire rope; a first micro switch provided on the cabin, when the cabin door moves from the closed position to the open position, the first micro switch and one side of the cabin door change from contact to non-contact, thereby generating a cabin door opening start signal; a second micro switch provided on the cabin, when the cabin door moves to the open position, the second micro switch and the other side of the cabin door change from non-contact to contact, thereby generating a cabin door opening position signal; and a main control module for controlling the opening and closing process of the cabin door, wherein the main control module includes: a cabin door unlocking mechanism; a lock control unit for controlling the second motor to rotate a first angle to unlock the locking mechanism; a detection door movement control unit for controlling the first motor to rotate a predetermined number of revolutions after the door unlocking control unit unlocks the door, thereby performing unlocking detection; a door unlocking judgment unit for judging whether the door opening start signal is received after the unlocking detection; an unlocking fault automatic troubleshooting control unit for controlling the second motor to rotate a second angle to unlock the locking mechanism when the door unlocking judgment unit judges as no, the second angle being greater than the first angle, and controlling the detection door movement control unit for performing the unlocking detection; a door opening control unit for controlling the first motor to drive the door to move toward the open position when the door unlocking judgment unit judges as yes; a door opening position judgment unit for judging whether the door opening position signal is received after waiting for a predetermined first time after the door opening control unit controls the door to open; and an opening fault automatic troubleshooting control unit for controlling the first motor to drive the door to move toward the open position with an increased current when the door opening judgment unit judges as no.

[0006] The unmanned aerial vehicle cabin door control system with troubleshooting function provided by the present invention may also have such technical features, wherein the unlocking fault automatic troubleshooting control unit includes: a gear information storage unit, which stores a plurality of preset gears and the corresponding rotation angles of the second motor, and stores the current gear; a gear switching control unit, which selects the gear that is one gear higher than the current gear in the gear information storage unit when the cabin door unlocking judgment unit judges to be no, and stores it in the gear information storage unit as the new current gear; and a cabin door unlocking control unit for troubleshooting, which controls the second motor according to the current gear to unlock the locking mechanism.

[0007] The drone door control system with troubleshooting function provided by the present invention may also have such technical features, wherein the unlocking fault automatic troubleshooting control unit also includes: a gear switching judgment unit, which judges whether the current gear is lower than the preset highest gear when the door unlocking judgment unit judges to be no, and the gear switching control unit selects the gear that is one gear higher than the current gear in the gear information storage unit when the gear switching judgment unit judges to be yes, and stores it in the gear information storage unit as the new current gear.

[0008] The drone cabin door control system with troubleshooting function provided by the present invention may also have such technical features, wherein the multiple gears include: first gear, a rotation angle of 30°; second gear, a rotation angle of 40°; and third gear, a rotation angle of 50°.

[0009] The unmanned aerial vehicle cabin door control system with troubleshooting function provided by the present invention may also have such technical features, wherein the opening fault automatic troubleshooting control unit includes: a troubleshooting parameter storage unit, which stores a predetermined upper limit on the number of troubleshooting times and corresponding multiple sets of automatic troubleshooting parameters, and the automatic troubleshooting parameters include the number of troubleshooting times and the electrical value flow of the first motor; a troubleshooting number temporary storage unit, which is used to temporarily store the number of troubleshooting times performed; and a start fault troubleshooting control unit, which selects a corresponding set of automatic troubleshooting parameters according to the number of troubleshooting times, and controls the first motor with the set of automatic troubleshooting parameters, so that the cabin door is retracted and then opened again, and the troubleshooting number temporary storage unit also adds one to the temporarily stored troubleshooting number when the troubleshooting control unit controls the cabin door to open again.

[0010] The unmanned aerial vehicle cabin door control system with troubleshooting function provided by the present invention may also have such a technical feature, wherein, among multiple groups of automatic troubleshooting parameters, the current value of each group increases successively according to the number of troubleshooting times.

[0011] The UAV cabin door control system with troubleshooting function provided by the present invention may also have such technical features, wherein the main control module also includes a maintenance need analysis and judgment unit, which is used to analyze and judge whether the UAV needs maintenance; and a warning information generation unit, which generates corresponding warning information when the maintenance need analysis and judgment unit judges that it is yes, and the maintenance need analysis and judgment unit includes: a cabin door operation information storage unit, which is used to store the opening information of the cabin door, the corresponding unlocking fault automatic troubleshooting information and the opening fault automatic troubleshooting information; a periodic self-check information acquisition unit, which obtains the opening information, the unlocking fault automatic troubleshooting information and the opening fault of a predetermined period from the cabin door operation information storage unit according to the system time as analysis information; a periodic self-check calculation unit, which performs analysis and calculation based on the analysis information to obtain the failure rate; and a maintenance judgment unit, which judges whether the failure rate is greater than a predetermined failure rate threshold.

[0012] The unmanned aerial vehicle cabin door control system with troubleshooting function provided by the present invention may also have such technical features, wherein the opening information includes time information of each opening of the cabin door, the unlocking fault automatic troubleshooting information includes time information and troubleshooting results of each unlocking fault automatic troubleshooting, the opening fault automatic troubleshooting information includes time information and troubleshooting results of each opening fault automatic troubleshooting, the periodic self-check calculation unit counts the number of times the cabin door is opened within a predetermined period based on the opening information, and counts the number of failures within a predetermined period based on the unlocking fault automatic troubleshooting information and the opening fault automatic troubleshooting information, and then calculates the ratio of the number of failures to the number of openings as the failure rate.

[0013] The unmanned aerial vehicle cabin door control system with troubleshooting function provided by the present invention may also have such technical features, wherein, when the cabin door moves to the closed position, the first micro switch changes from no contact to contact with one side of the cabin door to generate a cabin door closed position signal, and the main control module also includes: a cabin door closing control unit, which controls the power output mechanism to drive the transportation mechanism to move the cabin door to the closed position when receiving the cabin door closing instruction; a cabin door closed position judgment unit, which waits for a predetermined second time after the cabin door closing control unit controls the cabin door to close, and then judges whether the cabin door closed position signal is received; a cabin door locking control unit, which controls the electric unlocking mechanism to lock the locking mechanism when the cabin door closed position judgment unit judges that it is yes.

[0014] The present invention provides an unmanned aerial vehicle cabin door system, characterized in that it includes: a cabin; at least one cabin door slidably arranged on the side of the cabin; and the above-mentioned unmanned aerial vehicle cabin door control system with troubleshooting function, which is used to control the opening and closing processes of the cabin door.

[0015] Functions and effects of the invention

[0016] The unmanned aerial vehicle cabin door control system and unmanned aerial vehicle cabin door system with troubleshooting capabilities according to the present invention include a transport mechanism for driving the cabin door, a power output mechanism for driving the transport mechanism, a locking mechanism for locking the cabin door, a first microswitch and a second microswitches for detecting the cabin door's open state, and a main control module. The main control module includes a cabin door unlocking control unit, a cabin door movement control unit for detection, a cabin door unlocking determination unit, an automatic unlocking fault troubleshooting control unit, a cabin door opening control unit, a cabin door opening position determination unit, and an automatic opening fault troubleshooting control unit. Therefore, the control system of the present invention can determine whether the cabin door has been properly unlocked after an unlocking operation, and if the cabin door has not been properly unlocked, perform corresponding automatic troubleshooting, causing the second motor to rotate a larger angle, thereby effectively resolving unlocking faults caused by aging or loosening of the wire rope. Furthermore, the control system drives the cabin door open only after confirming normal unlocking, thereby protecting the first motor that drives the cabin door open. Furthermore, the control system can also determine whether the cabin door is opened normally after the opening operation, and perform corresponding automatic troubleshooting when the cabin door is not opened normally, so that the first motor drives the cabin door to open with an increased current, thereby effectively solving the problem of unsmooth sliding of the cabin door during opening caused by dust, ice and other conditions.

[0017] To sum up, the control system of the present invention can automatically control the unlocking and opening of the drone cabin door, and can automatically eliminate various faults during the unlocking and opening process, which can effectively extend the independent working time of the drone, reduce the number of manual maintenance times, and save a lot of manpower and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 2 is a schematic structural diagram of a UAV cabin door system according to an embodiment of the present invention;

[0019] Figure 2 is a perspective view of a UAV cabin door control system according to an embodiment of the present invention;

[0020] Figure 3 is a three-dimensional diagram of a partial structure of a locking mechanism in an embodiment of the present invention;

[0021] Figure 4 This is a block diagram of the structure of the UAV cabin door control system according to an embodiment of the present invention;

[0022] Figure 5 is a flow chart of a hatch opening process according to an embodiment of the present invention;

[0023] Figure 6 This is a flow chart of automatic troubleshooting of unlocking faults in an embodiment of the present invention;

[0024] Figure 7The present invention is a flowchart of automatic troubleshooting of a hatch opening failure in an embodiment of the present invention.

[0025] Reference numerals:

[0026] UAV cabin door system 100; UAV cabin door control system 10; cabin 1; cabin door 2; power output mechanism 3; transport mechanism 4; locking mechanism 5; locking block 514; pulley seat 519; electric unlocking mechanism 6; wire rope 66; handle 7; cabin door unlocking control unit 101, cabin door movement control unit for detection 102; cabin door unlocking judgment unit 103; unlocking fault automatic troubleshooting control unit 104; gear information storage unit 1041; gear switching judgment unit 1042; gear switching control unit 1043; troubleshooting cabin door unlocking control unit 1044; cabin door opening control unit 105; cabin door opening position judgment unit Part 106; start the automatic fault troubleshooting control part 107; troubleshooting parameter storage unit 1071; troubleshooting number temporary storage unit 1072; start the fault troubleshooting judgment unit 1073; start the fault troubleshooting control unit 1074; cabin door closing control part 108; cabin door closed position judgment part 109; cabin door locking control part 110; maintenance need analysis and judgment part 111; cabin door operation information storage unit 1111; periodic self-check information acquisition unit 1112; periodic self-check calculation unit 1113; maintenance judgment unit 1114; warning information generation part 112; operation information storage part 113; general control part 114. DETAILED DESCRIPTION

[0027] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following is a detailed description of the drone cabin door control system and drone cabin door system with troubleshooting function of the present invention in combination with embodiments and drawings.

[0028] In the description of the present invention, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] <Example>

[0030] Figure 1 Schematic diagram of the structure of the UAV door system in this embodiment.

[0031] like Figure 1As shown, the drone door system 100 of this embodiment is installed on one side of an unmanned helicopter and includes a cabin 1, a door 2, and a drone door control system 10. The cabin 1 has an opening on one side, and the door 2 is mounted on the side of the cabin 1 with a slide rail. The door 2 can slide horizontally, and the sliding movement of the door 2 can cover or expose the opening of the cabin 1. The drone door control system 10 is used to control the sliding movement of the door 2, thereby opening or closing it.

[0032] Figure 2 2 is a three-dimensional diagram of the UAV cabin door control system in this embodiment.

[0033] like Figure 2 As shown, the UAV cabin door control system 10 includes a power output mechanism 3, a transportation mechanism 4, a locking mechanism 5, an electric unlocking mechanism 6, and a handle 7. Figure 2 The D1 direction is the direction in which the door slides closed, and the D2 direction is the direction in which the door slides open.

[0034] The power output mechanism 3 includes a first motor and a power locking mechanism. The first motor is connected to the transport mechanism 4 via a transmission structure, driving the transport mechanism 4. The transport mechanism 4 utilizes a synchronous belt drive structure, and the hatch 2 is connected to the synchronous belt of the transport mechanism 4 via a connector. The power locking mechanism is used to lock the transport mechanism 4 when the first motor is powered off. The power locking mechanism includes a locking disk connected to the output end of the first motor and a locking pin that engages the locking disk to lock the vehicle.

[0035] When the door 2 slides fully in direction D1 (i.e., to the closed position), a locking mechanism 5 located upstream in direction D1 is located on one side of its width, locking one side of the door 2. When the door 2 slides fully in direction D2 (i.e., to the open position), a locking mechanism 5 located downstream in direction D1 is located on one side of its width, locking one side of the door 2. In other words, a locking mechanism 5 locks the door 2 both when it is fully opened and closed. The electric unlocking mechanism 6 includes a second motor connected to three steel cables 66: two of which are connected to the two locking mechanisms 5, and one to the locking pin in the power take-off mechanism 3. The rotation of the second motor drives the three steel cables 66, which, through tensioning the steel cables 66, unlock the locking mechanism 5. Another steel cable 66 pulls the locking pin, freeing it from the locking disk, allowing the power take-off mechanism 3 to drive the transport mechanism 4.

[0036] Therefore, to open the hatch 2, the electric unlocking mechanism 6 first unlocks the two locking mechanisms 5 on both sides and unlocks the power take-off mechanism 3. The power take-off mechanism 3 then drives the transport mechanism 4 to slide the hatch 2 open. To close the hatch 2, the power take-off mechanism 3 drives the transport mechanism 4 to slide the hatch 2 to the closed position. The electric unlocking mechanism 6 then locks the two locking mechanisms 5 on both sides and locks the power take-off mechanism 3.

[0037] The handle 7 is connected to the electric unlocking mechanism 6. When the second motor is powered off and cannot be unlocked, the handle 7 can be rotated to manually pull the three steel ropes 66 to unlock.

[0038] The specific structures of the power output mechanism 3, the transport mechanism 4, the locking mechanism 5, the electric unlocking mechanism 6, and the handle 7 can be found in the description in CN216517349U. The difference is that:

[0039] In this embodiment, for the locking mechanism 5 located upstream along the direction D1 , one end of the steel wire rope 66 connected to the locking mechanism 5 is in a straight line shape without a bend.

[0040] In addition, a pulley seat for the wire rope 66 is added to the locking mechanism 5 of this embodiment.

[0041] Figure 3 It is a three-dimensional diagram of the partial structure of the locking mechanism in this embodiment.

[0042] like Figure 3 As shown, a pulley seat 519 is added to the locking mechanism 5 , and the wire rope 66 is wound around the pulley of the pulley seat 519 to achieve deflection. The wire rope 66 is connected to the locking block 514 after being deflected by the pulley seat 519 .

[0043] Through these structural improvements, the travel loss of the wire rope 66 can be reduced, and the wear of the wire rope 66 at the bends can be reduced.

[0044] In addition, the drone door control system 10 of this embodiment further includes a first micro switch and a second micro switch.

[0045] The first microswitch is located downstream of the locking mechanism 5 along direction D1, at position B1 in the figure. When the door 2 slides to its closed position (i.e., to its predetermined maximum travel along direction D1), one side of the door 2 triggers the first microswitch. When the door 2 slides open, the side of the door 2 moves away from the first microswitch and no longer triggers it. For ease of description, the signal change from the untriggered to the triggered state of the first microswitch is referred to as the door fully closed signal, and the signal change from the triggered to the untriggered state is referred to as the door open start signal.

[0046] The second microswitch is located at position B2 in the diagram. When door 2 slides to the open position (i.e., to its predetermined maximum travel along direction D2), the other side of door 2 triggers the second microswitch. When door 2 slides closed, the other side of door 2 moves away from the second microswitch and no longer triggers it. The change in the second microswitch's signal from an untriggered to a triggered state is recorded as the door opening completion signal, and the change in the second microswitch's signal from a triggered to an untriggered state is recorded as the door closing start signal.

[0047] Therefore, the state of the hatch 2 can be determined based on the signal changes of the first micro switch and the second micro switch.

[0048] The unmanned cabin door control system 10 is also designed to automatically troubleshoot various faults during the opening and closing of the cabin door 2. To address issues such as loose wire ropes and insufficient motor rotation to unlock the locking mechanism 5, this embodiment features three gears, automatically switching gears upon detecting an unlocking fault. Furthermore, to address issues such as difficulty opening the cabin door 2 or jamming during opening, this embodiment incorporates a corresponding automatic troubleshooting routine that retracts the cabin door 2 upon detecting an opening fault and then forces it open with greater force.

[0049] Figure 4 It is a structural block diagram of the UAV cabin door control system in this embodiment.

[0050] like Figure 4 As shown, the unmanned cabin control door system 10 also includes a general control module, which includes: a cabin door unlocking control unit 101, a cabin door movement control unit 102 for detection, a cabin door unlocking judgment unit 103, an unlocking fault automatic troubleshooting control unit 104, a cabin door opening control unit 105, a cabin door opening position judgment unit 106, an opening fault automatic troubleshooting control unit 107, a cabin door closing control unit 108, a cabin door closing position judgment unit 109, a cabin door locking control unit 110, a maintenance need analysis and judgment unit 111, a warning information generation unit 112, an operation information storage unit 113 and a general control unit 114.

[0051] Among them, the operation information storage unit 113 stores information for controlling the opening and closing of the cabin door 2, including the working current of the first motor, the rotation direction and number of rotations of the first motor during detection, the rotation direction and number of rotations of the first motor when opening the cabin door, the rotation direction and number of rotations of the first motor when closing the cabin door, the working current of the second motor, the rotation direction and rotation angle of the second motor when unlocking, the rotation direction and rotation angle of the second motor when locking, etc.

[0052] When receiving the hatch opening instruction, the hatch unlocking control unit 101 controls the second motor of the electric unlocking mechanism 6 to operate according to the corresponding information in the operation information storage unit 113, pulls the three steel ropes 66, and unlocks the two locking mechanisms 5 and the power output mechanism 3.

[0053] After the door unlocking control unit 101 performs an unlocking operation, the detection door movement control unit 102 controls the first motor to rotate according to the corresponding information stored in the operating information storage unit 113 for a predetermined number of revolutions. This movement drives the door 2 in the direction D2 by a predetermined detection distance, which is significantly less than the distance the door 2 normally moves. This is to test whether the door has been properly unlocked. In this embodiment, the detection door movement control unit 102 controls the door 2 to move 20 mm in the direction D2 based on the predetermined number of motor revolutions to test whether the door has been properly unlocked.

[0054] After the door movement control unit 102 completes the above detection, that is, after the door 2 moves 20 mm, the door unlocking judgment unit 103 judges whether the above door opening start signal is received. If the signal is received, the door 2 has been unlocked normally; if not, it is an unlocking failure.

[0055] The unlock fault automatic troubleshooting control unit 104 is used to attempt automatic troubleshooting when the door unlock determination unit 103 determines that the unlock fault has occurred (i.e., an unlock fault has occurred). The unlock fault automatic troubleshooting control unit 104 includes a gear information storage unit 1041, a gear switching determination unit 1042, a gear switching control unit 1043, and a door unlock control unit 1044 for troubleshooting.

[0056] The gear information storage unit 1041 stores multiple preset gears and their corresponding motor rotation angles, as well as information about the currently selected gear. In this embodiment, there are three gears: first gear, 30°; second gear, 40°; and third gear, 50°. Initially, it is set to first gear.

[0057] If the door unlocking determination unit 103 returns a negative result, the gear shift determination unit 1042 determines whether the stored current gear is lower than the highest gear among the stored multiple gears. If the negative result indicates that the current gear is already the highest gear and cannot be switched to, the warning information generation unit 112 generates a corresponding unlocking troubleshooting failure warning message.

[0058] If the gear switching determination unit 1042 determines yes, the gear switching control unit 1043 selects a gear one gear higher than the current gear from the gear information storage unit 1041 and stores it as the new current gear in the gear information storage unit 1041. The corresponding rotation angle is stored as the rotation angle of the second motor in the operation information storage unit 113. In other words, after a gear is switched during the automatic troubleshooting process, that gear will always be used for unlocking.

[0059] After the gear switching control unit 1043 switches gears, the troubleshooting door unlocking control unit 1044 controls the second motor according to the current gear, specifically controlling the second motor to pull the wire rope 66 at a higher rotation angle, thereby attempting to correct the unlocking fault. After unlocking at the higher gear, the control unit 1044 controls the testing door movement control unit 102 to perform the aforementioned test. After the test, the door unlocking determination unit 103 performs another determination.

[0060] When the door unlocking determination unit 103 determines that the result is yes, the door opening control unit 105 controls the power output mechanism 3 to drive the transport mechanism 4 according to the corresponding information in the operation information storage unit 113, and the transport mechanism 4 drives the door 2 to move in the direction D2 to open.

[0061] When the door opening control unit 105 controls the door opening, the door opening position determination unit 106 waits for a predetermined first period of time before determining whether the door opening position determination unit 106 has received the door opening position determination signal. If the signal is received, it indicates that the door 2 has moved to its predetermined maximum travel in the opening direction and is opening normally; if the signal is not received, it indicates that the door 2 has failed to open. In this embodiment, the first period of time is 15 seconds.

[0062] The automatic troubleshooting control unit 107 attempts to automatically troubleshoot the door opening fault when the door opening determination unit 106 determines that the door has been fully opened. The automatic troubleshooting control unit 107 includes a troubleshooting parameter storage unit 1071, a troubleshooting times temporary storage unit 1072, a troubleshooting times determination unit 1073, and an opening fault troubleshooting control unit 1074.

[0063] The troubleshooting parameter storage unit 1071 stores multiple sets of automatic troubleshooting parameters and a predetermined upper limit on the number of troubleshooting attempts. Each set of automatic troubleshooting parameters includes the number of troubleshooting attempts, the number of reverse rotations of the first motor (i.e., the door retraction distance), and the current value of the first motor. The current value of each set increases with the number of troubleshooting attempts. In this embodiment, there are three sets of automatic troubleshooting parameters, and the retraction distance in each set is the same.

[0064] The troubleshooting count temporary storage unit 1072 is used to temporarily store the troubleshooting count. The troubleshooting count is initially set to 1. Thereafter, when the fault troubleshooting control unit 1074 is activated to control the power take-off mechanism 3 to perform an automatic troubleshooting operation, the troubleshooting count temporary storage unit 1072 increases the stored troubleshooting count by 1. If the door fully opened determination unit 106 determines that the fault troubleshooting count is yes, the troubleshooting count temporary storage unit 1072 resets the fault troubleshooting count.

[0065] If the door opening determination unit 106 determines that the door has been fully opened, the opening fault troubleshooting determination unit 1073 determines whether the number of automatic troubleshooting attempts is less than a predetermined upper limit. If the determination is negative, the upper limit has been reached and no further attempts are made. If the troubleshooting number determination unit 1073 determines that the door has been fully opened, the warning message generation unit 112 generates a corresponding warning message indicating that the door has been opened and the troubleshooting has failed.

[0066] When the fault troubleshooting judgment unit 1073 determines that the fault troubleshooting control unit 1074 is turned on and the fault troubleshooting judgment unit 1073 is turned on, a corresponding set of automatic troubleshooting parameters is selected in the troubleshooting parameter storage unit 1071 according to the temporarily stored number of troubleshooting times, and the first motor is controlled according to the set of parameters to drive the cabin door 2 back a predetermined distance and then open it again with greater force.

[0067] When the fault troubleshooting control unit 1074 is turned on to control the hatch to open, the hatch opening position determination unit 106 waits for a second time and then determines whether a hatch opening position signal is received.

[0068] When receiving the hatch door closing instruction, the hatch door closing control unit 108 controls the power output mechanism 3 to drive the transport mechanism 4 according to the corresponding information in the operation information storage unit 113, and the transport mechanism 4 drives the hatch door 2 to move in the direction D1 and close.

[0069] When the door opening control unit 105 controls the door opening, the door fully closed determination unit 109 waits for a predetermined first period of time before determining whether it has received the door fully opened signal. Receiving the signal indicates that the door 2 has moved to its predetermined maximum travel in the closing direction and has closed normally; failing to receive the signal indicates that the door 2 has failed to close properly. If the door fully closed determination unit 109 determines otherwise, the warning information generation unit 112 generates a corresponding door closing failure warning message.

[0070] When the door-locking control unit 110 determines that the door has been fully closed, it controls the second motor based on the corresponding information stored in the operating information storage unit 113, loosens the three steel ropes 66, and relocks the two locking mechanisms 5 and the power take-off mechanism 3. In this embodiment, the rotation angle of the second motor during unlocking and locking, as stored in the operating information storage unit 113, remains the same.

[0071] The maintenance need analysis and judgment unit 111 analyzes the UAV's operating data and determines whether the UAV requires manual maintenance. The maintenance need analysis and judgment unit 111 includes a hatch operation information storage unit 1111, a periodic self-check information acquisition unit 1112, a periodic self-check calculation unit 1113, and a maintenance judgment unit 1114.

[0072] The hatch door operation information storage unit 1111 is used to store hatch door 2 opening information, closing information, unlocking automatic troubleshooting information, and opening automatic troubleshooting information. The opening information includes the start and end times of each hatch door 2 opening, as well as the opening result (i.e., whether it opened normally); the closing information is similar. The unlocking automatic troubleshooting information includes the start and end times of each unlocking automatic troubleshooting, as well as the signal sequence of the microswitch during each troubleshooting process. The opening automatic troubleshooting information is similar. This stored information is used for subsequent analysis of the fault condition and the corresponding troubleshooting results.

[0073] The periodic self-check information acquisition unit 1112 acquires data of a predetermined period as analysis data from the hatch operation information storage unit 1111 according to the system time. In this embodiment, the self-check is performed in a period of one week.

[0074] The periodic self-test calculation unit 1113 calculates the failure rate for unlocking and opening the drone's cabin door 2 based on the analytical data acquired by the periodic self-test information acquisition unit 1112. In this embodiment, the total number of cabin door 2 openings and the number of automatic troubleshooting attempts within a predetermined period are calculated based on the analytical data. The failure rate is calculated as the number of troubleshooting attempts divided by the number of cabin door openings within a period.

[0075] Maintenance determination unit 1114 determines whether the failure rate calculated by periodic self-check calculation unit 1113 is greater than a predetermined threshold. A positive determination indicates that the failure rate is high when hatch 2 is open, and manual maintenance is required. Warning message generation unit 112 generates a corresponding manual maintenance warning message if maintenance determination unit 1114 determines the positive result.

[0076] The general control unit 114 controls the operations of the above-mentioned units.

[0077] Figure 5 Flowchart of the hatch opening process in this embodiment.

[0078] like Figure 5 As shown, based on the above-mentioned UAV cabin door control system 10, in this embodiment, the process of automatically opening the cabin door 2 and automatically troubleshooting during the opening process specifically includes the following steps:

[0079] Step S1: Upon receiving the hatch opening command, the hatch unlocking control unit 101 controls the electric unlocking mechanism 6 to unlock the two locking mechanisms 5 and the power output mechanism 3;

[0080] Step S2: the detection door movement control unit 102 controls the power output mechanism 3 to move the door 2 20 mm toward the open position;

[0081] Step S3: The door unlocking determination unit 103 determines whether the door opening start signal is received, that is, whether the door 2 is unlocked normally. If the determination is no, the process proceeds to step S4; if the determination is yes, the process proceeds to step S5.

[0082] Step S4: If an unlocking fault occurs, the unlocking fault automatic troubleshooting control unit 104 performs several automatic troubleshooting operations. If the troubleshooting is successful, the process proceeds to step S5. If the troubleshooting fails, the warning information generating unit 112 generates an unlocking fault troubleshooting failure message.

[0083] Step S5: The hatch 2 is unlocked normally, and the hatch opening control unit 105 controls the power output mechanism 3 to drive the transport mechanism 4 to open the hatch 2;

[0084] Step S6, the door opening determination unit 106 waits for a first time;

[0085] In step S7, the door opening position determination unit 106 determines whether the door opening position signal is received, that is, whether the door 2 is normally opened. If the determination is no, the process proceeds to step S8. If the determination is yes, the door 2 is normally opened, and the process enters the end state.

[0086] Step S8, when a hatch door opening failure occurs, the automatic troubleshooting control unit 107 performs several automatic troubleshooting operations. When the troubleshooting is successful, the hatch 2 opens normally and enters the end state. If the troubleshooting fails, the warning information generating unit 112 generates a hatch door opening fault troubleshooting failure message.

[0087] Figure 6 This is a flow chart of automatic troubleshooting of unlocking faults in this embodiment.

[0088] like Figure 6 As shown, in the above steps, the process of the unlocking fault automatic troubleshooting control unit 104 performing several automatic troubleshooting steps specifically includes the following steps:

[0089] Step S4-1, the gear switching judgment unit 1042 judges whether the current gear is less than the highest gear, that is, whether to switch gears. If the judgment is no, the process proceeds to step S4-2, and if the judgment is yes, the process proceeds to step S4-3;

[0090] Step S4-2, the warning information generating unit 112 generates unlocking fault troubleshooting failure information, and then enters the end state;

[0091] Step S4-3: the gear switching control unit 1043 selects a higher gear from the gear information storage unit 1041 according to the current gear, and stores the selected gear as the current gear in the gear information storage unit 1041 and the operation information storage unit 113;

[0092] Step S4-4: The troubleshooting hatch unlocking control unit 1044 controls the second motor to rotate and pull the wire rope 66 at the current gear position, thereby unlocking the two locking mechanisms 5 and the locking blocks of the power output mechanism 3;

[0093] Step S4-5: the detection door movement control unit 102 controls the power output mechanism 3 to move the door 2 20 mm toward the open position;

[0094] In step S4-6, the door unlocking determination unit 103 determines whether a door opening start signal is received. If the determination is yes, the process enters the end state. If the determination is no, the process returns to step S4-1.

[0095] Figure 7 This is a flow chart for automatically troubleshooting a hatch door opening failure in this embodiment.

[0096] like Figure 7 As shown, in the above steps, the process of starting the automatic fault troubleshooting control unit 107 to perform several automatic troubleshooting steps specifically includes the following steps:

[0097] Step S8-1, the troubleshooting times temporary storage unit 1072 sets the troubleshooting times k = 1;

[0098] Step S8-2, start the fault troubleshooting control unit 1074 to obtain the parameters of the kth automatic troubleshooting from the troubleshooting parameter storage unit 1071;

[0099] Step S8-3: The fault troubleshooting control unit 1074 is activated to control the power output mechanism 3 to retract the hatch 2 by a predetermined distance according to the acquired parameters, and then the current is increased to drive the hatch 2 to open;

[0100] Step S8-4, the door opening determination unit 106 waits for a second time;

[0101] Step S8-5: The door opening position determination unit 106 determines whether a door opening position signal is received. If the determination is yes, the process enters the end state. If the determination is no, the process enters step S8-6.

[0102] Step S8-6: The troubleshooting number determination unit 1073 determines whether the troubleshooting number k is less than the troubleshooting number upper limit N. If the determination is yes, the process proceeds to step S8-7; otherwise, the process proceeds to step S8-8.

[0103] Step S8-7: The upper limit of the number of troubleshooting attempts has been reached, and the warning information generating unit 112 generates a troubleshooting failure message;

[0104] In step S8-8, the troubleshooting times temporary storage unit 1072 sets the troubleshooting times k = k + 1, and returns to step S8-2.

[0105] Through the above steps, the UAV cabin door control system 10 controls the cabin door 2 to open automatically, and automatically troubleshoots unlocking faults and cabin door opening faults encountered during the opening process.

[0106] Example Function and Effect

[0107] The unmanned aerial vehicle cabin door control system 10 and unmanned aerial vehicle cabin door system 100 provided in this embodiment with troubleshooting functionality include a transport mechanism 4 for driving the cabin door 2, a power output mechanism 3 for driving the transport mechanism 4, a locking mechanism 5 for locking the cabin door 2, a first microswitch and a second microswitches for detecting the open state of the cabin door 2, and a main control module. The main control module includes a cabin door unlocking control unit, a cabin door movement control unit for detection, a cabin door unlocking determination unit, an automatic unlocking fault troubleshooting control unit, a cabin door opening control unit, a cabin door opening position determination unit, and an automatic opening fault troubleshooting control unit. Therefore, the control system of the present invention can determine whether the cabin door is properly unlocked after an unlocking operation. If the cabin door is not properly unlocked, it can automatically perform corresponding troubleshooting, rotating the second motor to a greater angle, thereby effectively resolving unlocking faults caused by aging or loosening of the wire rope. Furthermore, the control system 10 activates the cabin door 2 only after confirming that it is properly unlocked, thereby protecting the first motor that activates the cabin door 2. Furthermore, the control system can also determine whether the hatch 2 is opened normally after the opening operation, and automatically perform corresponding troubleshooting if the hatch 2 is not opened normally, causing the first motor to drive the hatch 2 to open with an increased current, thereby effectively resolving the problem of the hatch 2 sliding unsmoothly during the opening process caused by dust, ice, etc. In summary, the control system 10 of this embodiment can automatically control the unlocking and opening of the hatch 2 of the drone, and can automatically troubleshoot various faults during the unlocking and opening process, effectively extending the independent operating time of the drone, reducing the number of manual maintenance times, and saving a lot of manpower and time.

[0108] In the embodiment, in the automatic troubleshooting of unlocking failures, three gears are pre-stored, namely motor rotation angles of 30°, 40°, and 50°. When an unlocking failure occurs, the gear is automatically raised and then the unlocking attempt is made. Through the adjustment of three gears, many unlocking failures caused by aging and loosening of the wire rope can be effectively solved. Only when the unlocking failure still occurs after adjusting to the highest gear, manual maintenance is required, which can save a lot of manpower.

[0109] Furthermore, in this embodiment, when checking for proper unlocking, the cabin door 2 is controlled to move 20 mm toward the open position. This allows detection of proper unlocking of the cabin door 2. Furthermore, in the event of a faulty unlocking of the cabin door 2, the short movement distance (and correspondingly short motor runtime) will prevent damage to the first motor driving the cabin door 2. In this embodiment, the cabin door 2 is not driven open until proper unlocking is confirmed, which also protects the first motor.

[0110] In an embodiment, in the automatic troubleshooting of an opening fault, the motor current value in the pre-stored automatic troubleshooting parameters is greater than the predetermined working current value of the first motor of the power output mechanism 3, and the current value of each group increases sequentially according to the number of troubleshooting times, that is, after the hatch 2 is retracted for a certain distance, the hatch 2 is driven to open with greater force, and after a troubleshooting fails, the next troubleshooting attempt is further increased in force, thereby effectively solving most of the hatch jams caused by dust, ice, etc.

[0111] Furthermore, the embodiment also stores information on each time the hatch is opened, closed, and automatically troubleshooted, and performs periodic self-inspections based on the stored information. The failure rate is calculated according to a predetermined algorithm, and corresponding warning information is generated when the failure rate exceeds a predetermined threshold. Therefore, it can also promptly prompt that the drone has a high failure rate and requires manual maintenance, thereby ensuring that the drone operates in a good condition.

[0112] The above embodiments are only used to illustrate specific implementations of the present invention, and the present invention is not limited to the description scope of the above embodiments.

[0113] In the above embodiment, a cabin door 2 is installed on one side of the cabin 1. In an alternative solution, cabin doors 2 can also be installed on both sides of the cabin 1. The cabin doors 2 on both sides are controlled by different drone cabin door control systems 10, which can also achieve corresponding technical effects.

[0114] In the above embodiment, three gears are preset, namely 30°, 40°, and 50°. In an alternative solution, only two gears can be set, or more gears can be set. As long as the rotation angle of the highest gear is less than 65°, the angles of each gear can be increased successively.

[0115] In the above embodiment, the detection door movement control unit 104 controls the door 2 to move 20 mm to detect whether it is unlocked normally. In an alternative solution, the door 2 can also be controlled to move 20 mm-30 mm, that is, to move a smaller distance, which will not cause damage to the motor even if it is not unlocked.

[0116] In the above embodiment, detection and automatic troubleshooting are performed during the opening process of the hatch 2. In an alternative embodiment, detection and automatic troubleshooting can also be performed during the closing process of the hatch 2.

Claims

1. A UAV cabin door control system with a troubleshooting function, used to control the opening and closing of a cabin door of a UAV cabin, wherein the cabin door is slidably arranged on the cabin, and is characterized in that: include: A transport mechanism, used for driving the door to slide and thereby open or close; a power output mechanism, for driving the transport mechanism, comprising a first motor; Two locking mechanisms, respectively used to lock the hatch in the open position and the closed position; an electric unlocking mechanism, for unlocking the locking mechanism, comprising a second motor, the locking mechanism being connected to the second motor via a steel wire rope; a first micro switch, disposed on the cabin, wherein when the cabin door moves from the closed position to the open position, the first micro switch switches from contact with one side of the cabin door to non-contact, thereby generating a cabin door opening start signal; a second micro switch, disposed on the cabin, wherein when the cabin door moves to the open position, the second micro switch and the other side of the cabin door change from being out of contact to being in contact, thereby generating a cabin door fully opened signal; as well as The main control module is used to control the opening and closing process of the hatch. Wherein, the main control module includes: a door unlocking control unit, configured to control the second motor to rotate by a first angle to unlock the locking mechanism; a detection door movement control unit, which controls the first motor to rotate a predetermined number of revolutions after the door unlocking control unit unlocks the door, thereby performing unlocking detection; a door unlocking determination unit, which determines whether the door opening start signal is received after the unlocking detection; an unlocking fault automatic troubleshooting control unit, which controls the second motor to rotate by a second angle to unlock the locking mechanism when the door unlocking determination unit determines that the unlocking fault is negative, wherein the second angle is greater than the first angle, and controls the detection door movement control unit to perform the unlocking detection; a door opening control unit, which controls the first motor to drive the door to move toward the open position when the door unlocking determination unit determines that the result is yes; a door opening completion determination unit, which, after the door opening control unit controls the door to open, waits for a predetermined first time and determines whether the door opening completion signal is received; and The automatic fault clearing control unit is turned on, and when the door opening determination unit determines that the door is open, the first motor is controlled to drive the door to move toward the open position with an increased current.

2. The UAV cabin door control system with troubleshooting function according to claim 1, Its characteristics are: in, The unlocking fault automatic troubleshooting control unit includes: a gear information storage unit storing a plurality of preset gears and corresponding rotation angles of the second motor, and storing a current gear; a gear switching control unit, which, when the door unlocking determination unit determines that the gear is not unlocked, selects a gear that is one gear higher than the current gear in the gear information storage unit and stores it in the gear information storage unit as the new current gear; and The troubleshooting door unlocking control unit controls the second motor according to the current gear position to unlock the locking mechanism after the gear switching control unit switches the gear position, and controls the detection door movement control unit to perform the unlocking detection.

3. The UAV cabin door control system with troubleshooting function according to claim 2, characterized in that: in, The unlocking fault automatic troubleshooting control unit also includes: The gear shift judgment unit judges whether the current gear is lower than the preset highest gear when the door unlock judgment unit judges that the current gear is lower than the preset highest gear. When the shift switching determination unit determines that the shift switching determination unit is positive, the shift switching control unit selects the shift that is one gear higher than the current shift in the shift information storage unit and stores the selected shift as the new current shift in the shift information storage unit.

4. The UAV cabin door control system with troubleshooting function according to claim 2, characterized in that: in, The plurality of gears include: First gear, the rotation angle is 30°; Second gear, the rotation angle is 40°; and The third gear has a rotation angle of 50°.

5. The UAV cabin door control system with troubleshooting function according to claim 1, Its characteristics are: in, The automatic fault troubleshooting control unit includes: a troubleshooting parameter storage unit storing a predetermined upper limit on troubleshooting times and corresponding sets of automatic troubleshooting parameters, the automatic troubleshooting parameters including the number of troubleshooting times and the current value of the first motor; A temporary storage unit for troubleshooting times, used to temporarily store the number of troubleshooting times performed; as well as The fault troubleshooting control unit is turned on, and a corresponding set of automatic troubleshooting parameters is selected according to the number of troubleshooting times, and the first motor is controlled with the set of automatic troubleshooting parameters to make the hatch retract and then open again. The fault troubleshooting times temporary storage unit also adds one to the temporarily stored fault troubleshooting times when the fault troubleshooting control unit controls the hatch to be opened again.

6. The UAV cabin door control system with troubleshooting function according to claim 5, characterized in that: in, In the plurality of groups of automatic troubleshooting parameters, the current value of each group increases in sequence according to the number of troubleshooting times.

7. The UAV cabin door control system with troubleshooting function according to claim 1, Its characteristics are: in, The main control module also includes: a maintenance need analysis and judgment unit, configured to analyze and judge whether the drone requires maintenance; and The warning information generating unit generates corresponding warning information when the maintenance need analyzing and judging unit determines that the maintenance need is yes. The maintenance need analysis and judgment unit includes: A hatch operation information storage unit, configured to store hatch opening information, corresponding unlocking fault automatic troubleshooting information, and opening fault automatic troubleshooting information; a periodic self-check information acquisition unit, which acquires the opening information, the unlocking fault automatic troubleshooting information and the opening fault of a predetermined period from the hatch operation information storage unit according to the system time as analysis information; a periodic self-check calculation unit, performing analysis and calculation based on the analysis information to obtain a failure rate; and The maintenance judgment unit judges whether the failure rate is greater than a predetermined failure rate threshold.

8. The UAV cabin door control system with troubleshooting function according to claim 7, characterized in that: in, The opening information includes the time information of each opening of the hatch, The unlocking fault automatic troubleshooting information includes the time information and troubleshooting results of each unlocking fault automatic troubleshooting. The automatic fault troubleshooting information includes the time information and troubleshooting results of each automatic fault troubleshooting. The periodic self-check calculation unit counts the number of times the hatch is opened within a predetermined period based on the opening information, and counts the number of failures within a predetermined period based on the unlocking fault automatic troubleshooting information and the opening fault automatic troubleshooting information, and then calculates the ratio of the number of failures to the number of openings as the failure rate.

9. The UAV cabin door control system with troubleshooting function according to claim 1, Its characteristics are: in, When the door moves to the closed position, the first micro switch changes from non-contact to contact with one side of the door, thereby generating a door closed position signal. The main control module also includes: a hatch door closing control unit, which controls the power output mechanism to drive the transport mechanism to move the hatch door toward the closed position upon receiving a hatch door closing command; a door closing position determination unit configured to determine whether the door closing position signal is received after the door closing control unit controls the door to close and then waits for a predetermined second time; The door locking control unit controls the electric unlocking mechanism to lock the locking mechanism when the door fully closed determination unit determines that the result is yes.

10. A UAV cabin door system, characterized in that: include: cabin; at least one door slidably disposed on a side of the cabin; as well as A UAV door control system with troubleshooting function is used to control the opening and closing of the door. Among them, the drone cabin door control system with troubleshooting function is the drone cabin door control system with troubleshooting function as described in any one of claims 1-9.

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