Unmanned aerial vehicle system and unmanned aerial vehicle control method

Abstract

The embodiment of the invention discloses an unmanned aerial vehicle system and an unmanned aerial vehicle control method. The system comprises an unmanned aerial vehicle and a hangar. An air inlet channel and an air outlet channel are arranged in the hangar; an air outlet channel of the air inlet channel is arranged above a rotor arm parking position of the unmanned aerial vehicle when the unmanned aerial vehicle is parked in the hangar, and an air inlet of the air outlet channel is arranged below the rotor arm parking position when the unmanned aerial vehicle is parked in the hangar; the air inlet of the air inlet channel is communicated with the air outlet of the air outlet channel, or the air inlet of the air inlet channel and the air outlet of the air outlet channel are respectively communicated with the outside of the hangar; the air inlet channel and the air outlet channel are respectively used for introducing airflow to the upper part of the rotor wing arm when the unmanned aerial vehicle is started in the hangar, and guiding the airflow generated by the rotor wing arm out from the lower part of the rotor wing arm. According to the technical scheme provided by the invention, the unmanned aerial vehicle can enter a rotor wing starting state in advance in the hangar in cooperation with airflow distribution of the hangar, and stable starting of the unmanned aerial vehicle without stopping the vehicle is realized.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle system and a control method for the unmanned aerial vehicle. Background Art

[0002] With the rise of intelligent driving and drone technology, vehicle-mounted drones have been used more and more. In the existing technology, the vehicle-mounted unmanned hangar is generally built into the vehicle. When the drone needs to take off from the vehicle, the hangar cover is opened to release the drone. In the vehicle-mounted hangar, the drone is generally parked on a fixed parking platform and fixed by a mechanical clamping device. The downward airflow pressure generated by the drone rotor is used to lift the body and fly away from the drone hangar. Vehicle-mounted drones are generally widely used in travel, off-road or special vehicles, and there are certain requirements for the placement space inside the vehicle.

[0003] In the prior art, drones are usually started after the hangar cover is opened, because the closed space inside the cabin will generate large gas turbulence due to the start of the drone's rotor, which can easily cause the drone to roll over and collide. In addition, the drone in the hangar only relies on the clamping and fastening inside the cabin. The drone itself cannot generate lift and self-correction power. If the vehicle opens the cover while driving at high speed, the instantaneous airflow change is not conducive to the fixation of the drone in the hangar. As the vehicle bumps, the drone is more likely to collide with the side wall of the hangar and cannot be safely started.

[0004] Therefore, generally speaking, the takeoff of a drone requires the driver to park the vehicle in a safe place, open the drone hatch when the vehicle is stationary, and then start the drone. However, drones are not only used for aerial photography, but can also be used for road condition detection and route guidance on highways. In the existing technology, it is difficult to realize the takeoff and release of drones while the vehicle is moving, which restricts the scenarios and scope of its application. Summary of the invention

[0005] The embodiments of this specification provide a drone system and a method for controlling a drone. An air inlet channel and an air outlet channel are set in the hangar of the drone, so that the drone's rotor can enter the pre-start state in advance when the hangar door is not opened during the vehicle's driving process. The airflow generated by the drone's rotor is balanced through the air inlet channel and the air outlet channel, so that the drone can maintain a hovering state in the hangar, avoiding the gas turbulence generated by the drone's rotor in the confined space, which causes the drone to roll over or collide with the inner wall of the hangar. After the hangar door is opened, the drone can fly out directly, realizing the startup of the drone during the vehicle's driving process and improving the safety of drone startup.

[0006] On the one hand, an embodiment of this specification provides a drone system, the system comprising: a drone and a hangar on a vehicle for placing the drone;

[0007] An air inlet channel and an air outlet channel are provided in the hangar;

[0008] The air outlet of the air inlet channel is arranged above the parking position of the rotor arm of the UAV when the UAV is parked in the hangar, and the air inlet of the air outlet channel is arranged below the parking position of the rotor arm of the UAV when the UAV is parked in the hangar, and the air inlet of the air inlet channel is connected with the air outlet of the air outlet channel, or the air inlet of the air inlet channel and the air outlet of the air outlet channel are respectively connected to the outside of the hangar;

[0009] The air inlet channel is used to introduce airflow from the air inlet of the air inlet channel to the air outlet of the air inlet channel when the UAV is started in the hangar, so as to direct the airflow to the top of the rotor arm; the air outlet channel is used to guide the airflow generated by the rotor arm from the bottom of the rotor arm through the air outlet of the air outlet channel through the air inlet of the air outlet channel when the UAV is started in the hangar.

[0010] Furthermore, a connecting pipe is provided between the air inlet of the air inlet channel and the air outlet of the air outlet channel, a fan is provided in the connecting pipe, and the fan is electrically connected to the controller of the drone.

[0011] Furthermore, when the air inlet of the air inlet channel and the air outlet of the air outlet channel are connected to the outside of the hangar, the air inlet of the air inlet channel and the air outlet of the air outlet channel are provided with air outlet switches, and the air inlet channel and the air outlet channel are controlled to be connected or closed to the outside of the hangar by opening or closing the air outlet switches.

[0012] Furthermore, the system further comprises a mechanical cantilever;

[0013] When the UAV flies out of the hangar or the UAV is parked in the hangar, the mechanical cantilever is placed on the side wall of the hangar;

[0014] When the UAV is started in the hangar or the UAV lands and hovers in the hangar, the mechanical cantilever is detachably connected to the rotor arm of the UAV, and a motor is provided in the mechanical cantilever, and the motor is used to control the mechanical cantilever to swing up and down.

[0015] Furthermore, an electrical signal contact point and a charging device are provided between the mechanical cantilever and the rotor arm, the electrical signal contact point is used for the mechanical cantilever to communicate with the drone, and the charging device is used for charging the drone.

[0016] Furthermore, an electromagnet is provided on the mechanical cantilever or the rotor arm of the UAV, and the connection or disconnection between the mechanical cantilever and the rotor arm is controlled by powering on or off the electromagnet.

[0017] Furthermore, a base station is also provided in the hangar, a positioning beacon is provided on the UAV, and the base station is used to receive the location information of the UAV transmitted by the positioning beacon;

[0018] The controller of the drone controls the mechanical cantilever to connect or disconnect with the rotor arm based on the position information.

[0019] On the other hand, an embodiment of the present specification provides a method for controlling a drone, wherein a hangar for placing the drone is provided in a vehicle where the drone is located, an air inlet channel and an air outlet channel are provided in the hangar, the air outlet of the air inlet channel is provided above a parking position of a rotor arm of the drone when the drone is parked in the hangar, the air inlet of the air outlet channel is provided below a parking position of the rotor arm when the drone is parked in the hangar, the air inlet of the air inlet channel is connected to the air outlet of the air outlet channel, or the air inlet of the air inlet channel and the air outlet of the air outlet channel are respectively connected to the outside of the hangar, and the method comprises:

[0020] Detecting the location information and status information of the drone;

[0021] When the position information of the UAV is located in the hangar and the rotor arm of the UAV is started, airflow is introduced to the top of the UAV through the air inlet channel, and at the same time, the airflow generated by the rotation of the rotor arm is discharged from the bottom of the UAV through the air outlet channel.

[0022] Furthermore, a connecting pipe is provided between the air inlet of the air inlet channel and the air outlet of the air outlet channel, and a fan is provided in the connecting pipe;

[0023] The airflow is introduced to the upper part of the UAV through the air inlet channel, and the airflow generated by the rotation of the rotor arm is guided out from the lower part of the UAV through the air outlet channel, including:

[0024] When the location information of the UAV is within the hangar and the rotor arm of the UAV is started, the fan is started to draw the airflow generated by the rotation of the rotor arm from the air outlet channel into the air inlet channel, so that the airflow is discharged from the bottom of the UAV through the air outlet channel and the airflow is introduced to the top of the UAV through the air inlet channel.

[0025] Furthermore, the method further comprises:

[0026] detecting a rotation speed of the rotor arm;

[0027] The wind speed of the fan is adjusted according to the rotation speed of the rotor arm.

[0028] Furthermore, a mechanical cantilever is provided in the hangar; and the method further comprises:

[0029] Detecting the position information of the UAV and the driving status of the vehicle in which the UAV is located;

[0030] When the position information of the UAV is located in the hangar and the rotor arm of the UAV is started, the mechanical cantilever is controlled to be connected to the rotor arm of the UAV based on the position information and the posture information;

[0031] According to the driving state and the posture information, the floating direction and amplitude of the mechanical cantilever are controlled so that the UAV maintains a horizontal state in the hangar and a fixed distance from the ground.

[0032] Yet another aspect provides an electronic device, comprising: a processor;

[0033] a memory for storing instructions executable by the processor;

[0034] The processor is configured to execute the instructions to implement the above method.

[0035] On the other hand, a computer-readable storage medium is provided. When instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the above method.

[0036] Another aspect provides a computer program product or a computer program, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the methods provided in the above-mentioned various optional implementations.

[0037] The drone system, drone control method, electronic device, storage medium, and computer program product provided in the embodiments of this specification have the following technical effects:

[0038] The drone system provided in the embodiment of this specification can control the drone to start the rotor into the pre-start state when the hangar door of the drone is not opened during the driving process of the vehicle. By setting an air inlet channel and an air outlet channel in the hangar of the drone, the airflow is supplemented to the top of the rotor arm of the drone through the air inlet channel to complete the airway of the downward airflow generated when the drone rotates. At the same time, the airflow generated by the rotor arm is guided out from the bottom of the rotor arm through the air outlet channel to avoid the high-speed reflux of the airflow inside the closed cavity to the top of the drone rotor to generate turbulence, so that the drone can maintain a hovering state in the hangar and fly out directly after the hangar door is opened. The pre-start method of the drone before taking off in the hangar is realized. With the airflow arrangement of the hangar, the drone can enter the rotor start state in advance before flying out of the hangar, ensuring that the drone can start smoothly. When the hatch is opened, it directly flies away from the vehicle body, which improves the efficiency of the drone take-off. Moreover, the vehicle does not need to stop during the entire process. Through the air inlet and outlet channels, the UAV can maintain a hovering state in the hangar in advance while the vehicle is driving, and can take off directly when the hangar door is opened. Even if the vehicle is driving, the UAV can be started smoothly, which is suitable for more scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions and advantages in the embodiments of this specification or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 is a schematic diagram of the structure of a drone system in one embodiment of this specification;

[0041] Figure 2 is a schematic diagram of the structure of a drone system in another embodiment of the present specification;

[0042] Figure 3 is a schematic diagram of the structure of a drone system in another embodiment of the present specification;

[0043] Figure 4 It is a flowchart of a method for controlling a drone provided in one embodiment of this specification.

[0044] 1-UAV, 2-Hangar, 3-Mechanical boom;

[0045] 11- rotor arm;

[0046] 21-air inlet channel; 22-air outlet channel; 23-connecting pipe; 24-fan;

[0047] 31- Electromagnet. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this specification.

[0049] It should be noted that the terms "first", "second", etc. in the description and claims of the embodiments of this specification and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of this specification described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0050] Figure 1 is a schematic diagram of the structure of a drone system in one embodiment of this specification, such as Figure 1 As shown, the embodiment of this specification can provide a drone system, which can include a drone 1 and a hangar 2 on a vehicle for placing the drone. The hangar 2 is mainly used to park the drone 1. The drone 1 is generally parked in the hangar 2, and the hangar 2 is set on the vehicle. Figure 1 As shown, an air inlet channel 21 and an air outlet channel 22 may be provided in the hangar 2, and the shape and size of the channel may be set according to actual needs, such as: it may be tubular, the opening may be set to be trumpet-shaped, etc., and the embodiments of this specification do not make specific limitations.

[0051] like Figure 1As shown, the air inlet channel 21 can be arranged above the parking position of the rotor arm 11 of the drone 1 when the drone 1 is parked in the hangar 2, and the air outlet of the air inlet channel 21 can be used to introduce airflow from the air outlet of the air inlet channel 21 to the top of the rotor arm 11 when the drone 1 is started in the hangar 2. The air outlet of the air inlet channel 21 can be arranged to be parallel to the rotor arm 11, so that the airflow can be introduced in parallel to the top of the rotor arm 11. The air outlet channel 22 can be arranged below the parking position of the rotor arm 11 of the drone 1 when the drone 1 is parked in the hangar 2, and arranged around the lower side of the hangar 2. The air outlet channel 22 can be used to guide the airflow generated by the rotor arm 11 from the bottom of the rotor arm 11 through the air outlet of the air outlet channel when the drone 1 is started in the hangar 2. Generally, the air inlet channel 21 can be arranged directly above the rotor arm 11, and the air outlet channel 22 is generally not arranged directly below the rotor arm 11, but can be arranged obliquely below the rotor arm 11, so as to facilitate the outlet of the airflow generated when the rotor arm 11 rotates. The vertical distance between the air inlet of the air inlet channel 21 and the air outlet of the air outlet channel 22 and the rotor arm 11 can be set and adjusted according to actual needs to ensure the diversion effect.

[0052] In addition, the air inlet of the air inlet channel 21 can be connected to the air outlet of the air outlet channel 22, or the air inlet of the air inlet channel 21 and the air outlet of the air outlet channel 22 can be connected to the outside of the hangar respectively. For example, the air inlet of the air inlet channel 21 can be connected to the air outlet of the air outlet channel 22, so that the airflow generated when the rotor arm 11 rotates can be introduced into the air inlet channel 21 through the air outlet channel 22 and then introduced into the top of the rotor arm 11, so as to achieve the balance of the upper and lower air pressures of the drone 1.

[0053] For example: during the driving process of the vehicle, the drone 1 placed in the vehicle starts to start in the hangar 2. When it is ready to fly out of the hangar 2, the rotor arm 11 of the drone 1 starts to rotate. At this time, when the drone rotor starts to start and generates downward thrust, the airflow generated by the rotor arm 11 can be guided out from the bottom of the rotor arm 11 through the air outlet channel 22. The air outlet channel 22 can be used as a discharge channel for the airflow to prevent the airflow from flowing back to the top of the drone rotor at high speed inside the closed cavity to generate turbulence, affecting the start of the drone 1. At the same time, the airflow can be introduced to the top of the rotor arm 11 through the air inlet channel 21. At this time, the cabin cover is not opened, and there is no atmospheric connection between the cabin and the outside of the cabin. In this way, the airway for the downward airflow generated when the drone 11 rotors is completed, ensuring the stability of the drone 11 when it is started in the hangar 2.

[0054] like Figure 1As shown, the air inlet channel 21 and the air outlet channel 22 can be connected to the outside of the hangar 2, that is, the air inlet of the air inlet channel 21 and the air outlet of the air outlet channel 22 are connected to the external environment of the hangar 2. For example, an air outlet switch can be set at the air inlet of the air inlet channel 21 and the air outlet of the air outlet channel 22. When the drone 1 is not started or the drone 1 flies out of the hangar 2, the air outlet switch can be turned off. When the airflow in the hangar 2 needs to be balanced, the air outlet switch can be turned on. In this way, the hangar 2 can be connected with the external atmosphere. When the drone 1 is started in the hangar 2 and the rotor arm 11 rotates, the air outside the hangar 2 can be introduced above the rotor arm 11 through the air inlet channel 21, and the airflow generated by the rotor of the rotor arm 11 can be exported to the outside of the hangar 2 through the air outlet channel 22, ensuring the balance of the upper and lower air pressures of the drone 1 and the stability of the drone 1 when it is started, thereby achieving a smooth start of the drone 1 when the vehicle is not stopped.

[0055] Figure 2 is a schematic diagram of the structure of a drone system in another embodiment of the present specification, such as Figure 2 As shown, in some other embodiments of the present specification, a connecting pipe 23 can be set between the air inlet of the air inlet channel 21 and the air outlet of the air outlet channel 22, and the air inlet channel 21 is connected to the air outlet channel 22 through the connecting pipe 23 to ensure the gas circulation and internal and external pressure balance inside the entire hangar. In addition, a fan 24 is set in the connecting pipe 23, and the fan 24 can be connected to the controller of the drone 1 by telecommunication, and the controller can control the rotation of the fan 24. The fan 24 can be an adjustable speed fan. When the drone 1 is started in the hangar 2, the controller can control the fan 24 to start, and the speed of the fan 24 can be linked with the starting speed of the rotor arm 11 of the drone 1, that is, the faster the rotor speed of the drone 1, the faster the follow-up speed of the fan 24, and the relationship between the two can be determined by experimental values.

[0056] The fan 24 can quickly guide the airflow generated by the rotor arm 11 of the drone 1 when the rotor arm 11 rotates from the bottom of the rotor arm 11 to the top of the rotor arm 11 through the air outlet channel 22, the connecting pipe 23, and the air inlet channel 21, actively supplementing the negative pressure of the gas generated above the rotor arm 11 of the drone 1, and releasing the excess positive pressure of the gas generated below the rotor arm 11 of the drone 1, thereby improving the effect of airflow guidance, ensuring the balance of upper and lower air pressures of the drone 1, and ensuring the stability of the drone 1 when starting, thereby achieving a smooth start of the drone 1 when the vehicle is not stopped.

[0057] In the embodiment of this specification, by setting an air inlet channel and an air outlet channel in the hangar of the drone, the drone can start its rotor in the hangar before the hangar door is opened during the vehicle driving process, and the airflow is supplemented to the top of the drone's rotor arm through the air inlet channel to complete the airway of the downward airflow generated by the drone's rotor. At the same time, the airflow generated by the rotor arm is guided out from the bottom of the rotor arm through the air outlet channel to avoid the airflow from flowing back to the top of the drone's rotor at high speed inside the closed cavity to generate turbulence. A pre-start method for the drone before taking off in the hangar is realized. In conjunction with the airflow arrangement of the hangar, the drone can enter the rotor start state in advance before flying out of the hangar, ensuring that the drone can start smoothly. When the hatch is opened, it directly flies away from the vehicle body, improving the efficiency of the drone taking off. Moreover, the whole process does not require the vehicle to stop. Through the air inlet channel and the air outlet channel, the drone can maintain a hovering state in the hangar in advance during the vehicle driving process, and can take off directly when the hangar door is opened. Even if the vehicle is driving, the drone can be started smoothly, which is suitable for more scenarios.

[0058] Figure 3 is a schematic diagram of the structure of a drone system in another embodiment of the present specification, such as Figure 3 As shown, in some embodiments of the present specification, the system may further include a mechanical cantilever 3, and a motor may be provided in the mechanical cantilever 3, and the motor may be used to control the mechanical cantilever 3 to swing up and down. When the drone 1 is parked in the hangar 2 or the drone 1 flies out of the hangar 2, the mechanical cantilever 3 may be placed on the side wall of the hangar 2, such as: a cantilever placement rack may be provided on the side wall of the hangar 2, and when the drone 1 is parked in the hangar 2 or the drone 1 flies out of the hangar 2, the mechanical cantilever 3 may be placed on the cantilever placement rack. When the drone 1 is started in the hangar 2, or the drone 1 lands and hovers in the hangar 2, the mechanical cantilever 3 may be detachably connected to the rotor arm 11 of the drone 1. When the drone 1 completes takeoff and flies out of the hangar 2, or the drone 1 completes landing and is parked in the hangar 2, the mechanical cantilever 3 is disconnected from the rotor arm 11 and placed in the hangar 2.

[0059] The structure and size of the mechanical cantilever 3 can be set according to actual needs, and the embodiments of this specification do not specifically limit it. The number of mechanical cantilevers 3 can be greater than or equal to the number of rotor arms 11 of the UAV 1, that is, each rotor arm 11 can be connected to at least one mechanical cantilever 3, and the posture of the UAV 1 can be adjusted through the mechanical cantilever 3. In addition, the mechanical cantilever 3 can also freely swing passively with the up and down bumps of the vehicle to adjust the posture of the UAV 1, filtering out the up and down shaking of the vehicle during driving.

[0060] The motor of the mechanical cantilever 3 can be connected to the controller of the drone 1 by telecommunication. The controller can control the mechanical cantilever 3 to swing up and down by controlling the motor. The mechanical cantilever 3 can filter out the up and down bumps of the vehicle body, so that the drone 1 always maintains a stable posture in the hangar 2 (including horizontal posture and vertical position relative to the ground plane). Specifically, the posture of the drone 1 in the hangar 2 can be adjusted by the active and / or passive swing of the mechanical cantilever 3, and the up and down shaking of the vehicle during driving can be filtered out, so that the drone 1 can maintain a horizontal posture in the hangar 2 and keep a fixed distance from the ground, which can reduce the risk of the drone 1 colliding with the inner wall of the hangar 2 when taking off or landing. The mechanical cantilever 3 assists the air inlet channel 21 and the air outlet channel 22 to ensure that the drone 1 maintains a stable hovering posture in the hangar 2, further ensuring that the drone 1 takes off or lands smoothly, and the drone 1 can take off and land without stopping the vehicle, thereby improving the applicability of the drone.

[0061] like Figure 3 As shown, in some embodiments of the present specification, an electromagnet 31 may be provided on the mechanical cantilever 3 or the rotor arm 11, and the connection or disconnection of the mechanical cantilever 3 and the rotor arm 11 may be controlled by powering on or off the electromagnet 31. For example, the electromagnet 31 may be connected to a vehicle power supply, or to a charging device on the mechanical cantilever, and the connection of the mechanical cantilever 3 and the rotor arm 11 may be achieved by powering on the electromagnet 31, and the disconnection of the mechanical cantilever 3 and the rotor arm 11 may be achieved by powering off the electromagnet 31, and the quick connection or disconnection of the mechanical cantilever and the rotor arm may be achieved by the electromagnet.

[0062] Of course, according to actual needs, permanent magnets can be set on one side of the mechanical cantilever 3 and the rotor arm 11, and electromagnets can be set on the other side. For example, an electromagnet is set on the mechanical cantilever 3, and a permanent magnet is set on the rotor arm 11. By changing the polarity direction, the mechanical cantilever 3 and the rotor arm 11 can be controlled to be adsorbed or detached.

[0063] In some embodiments of this specification, a base station such as a UWB (Ultra Wide Band) base station can be set in the hangar 2, and a positioning beacon such as a UWB beacon can be set on the drone 1. The UWB beacon is a positioning and communication device that uses ultra-wideband technology. The UWB beacon transmits data by emitting nanosecond non-sinusoidal narrow pulses. It has the characteristics of low power consumption, strong anti-interference ability, and high positioning accuracy. It is particularly suitable for high-speed wireless access and positioning needs in dense multipath places such as indoors. The positioning beacon can realize the spatial precise positioning of the drone 1, and send the location information of the drone 1 to the base station. The base station is connected to the controller of the drone 1 in communication, and the location information of the drone 1 is sent to the controller. The controller controls the connection or disconnection of the mechanical cantilever 3 and the rotor arm 11 based on the location information. For example, if the drone 1 is in the startup state, and the rotor arm 11 is identified to be close to the mechanical cantilever 3 based on the location information, the controller can control the electromagnet to energize and connect the mechanical cantilever 3 to the rotor arm 11.

[0064] In addition, the positioning beacon can also detect the posture information of the UAV 1. The computing platform inside the vehicle body where the UAV 1 is located can be equipped with an IMU (Inertial Measurement Unit) sensor perception unit and a computing unit to accurately determine the real-time posture and position information of the UAV 1 in the hangar 2, and control the connection or disconnection of the mechanical cantilever 3 and the rotor arm 11, as well as the angle and amplitude of the up and down swing of the mechanical cantilever 3 based on the posture and position information of the UAV 1.

[0065] In some embodiments of this specification, an electric signal contact point and a charging device may be provided between the mechanical cantilever 3 and the rotor arm 11. The electric signal contact point is used for communication between the mechanical cantilever 3 and the drone 1, and further for communication and control between the vehicle body and the drone 1 when the vehicle is parked. For example, the mechanical cantilever 3 can detect the state of the drone 1 through the electric signal contact point, such as the power of the drone 1, the relevant data of the sensor, etc., and transmit the detected information to the vehicle where the drone 1 is located. The charging device can be used to charge the drone 1, such as power supply when the drone 1 is parked.

[0066] On the one hand, the floating mechanical cantilever 3 can filter out the ups and downs of the vehicle during the startup of the drone 1, and prevent the vehicle from colliding with the drone 1 in the initial startup. On the other hand, it can provide power supply and communication for the drone 1. Similarly, the drone 1 can be landed flexibly during the landing process, and the magnetic attraction can correct the deviation and fix the position of the drone 1 in the hangar 2.

[0067] Figure 4 FIG. 1 is a flow chart of a method for controlling a drone provided by an embodiment of the present specification. Figure 4As shown, in some embodiments of this specification, a method for controlling a drone may also be provided, wherein the structure of the drone system may refer to the records of the above embodiments, such as: an air inlet channel and an air outlet channel are provided in the hangar where the drone is located, the air inlet channel is provided above the parking position of the drone's rotor arm when the drone is parked in the hangar, and the air outlet channel is provided below the parking position of the drone's rotor arm when the drone is parked in the hangar. The air inlet of the air inlet channel is connected to the air outlet of the air outlet channel, or the air inlet of the air inlet channel and the air outlet of the air outlet channel are respectively connected to the outside of the hangar.

[0068] like Figure 4 As shown, this specification provides method operation steps such as embodiments or flow charts, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiments is only one way of executing the steps among many orders, and does not represent the only execution order. When the actual system or server product is executed, the method sequence shown in the embodiments or drawings may be executed or executed in parallel (for example, in a parallel processor or multi-threaded processing environment). The method can be applied to the controller of a drone, which can be a vehicle controller or a controller used alone by a drone, specifically, it can be on a terminal such as a computer, tablet computer, smart phone, smart wearable device, vehicle-mounted device, or an application on the terminal. Of course, it can also be applied to a server according to actual needs, and the embodiments of this specification do not specifically limit this. Specifically, as Figure 4 As shown, the method may include:

[0069] S402: Detecting the location information and status information of the drone;

[0070] S404: When the location information of the UAV is within the hangar and the rotor arm of the UAV is started, airflow is introduced to the top of the UAV through the air inlet channel, and at the same time, the airflow generated by the rotation of the rotor arm is discharged from the bottom of the UAV through the air outlet channel.

[0071] In the specific implementation process, the position information and status information of the drone 1 can be detected in real time. Among them, the position information of the drone 1 can be calculated in real time by a positioning beacon set on the drone 1, such as a UWB beacon. For details, please refer to the records of the above embodiment. The status information of the drone 1 may include whether the drone 1 is in a start state or a stop state, which can be specifically judged by whether the rotor arm 11 is started or not. Based on the position information and status information of the drone 1, it can be judged whether the airflow around the drone 1 needs to be balanced. For example, if the position information of the drone 1 is detected to be located in the hangar, and the rotor arm 11 of the drone 1 is started, it means that the drone 1 is in the start state in the air reservoir 2. At this time, the airflow can be introduced to the top of the drone 1 through the air inlet channel 21, and at the same time, the airflow generated by the rotation of the rotor arm 11 is guided out from the bottom of the drone through the air outlet channel 22. Specifically, if the air inlet channel 21 and the air outlet channel 22 are connected to the external environment of the hangar 2, when it is determined that the airflow around the drone 1 needs to be balanced, the switch connecting the air inlet channel 21 and the air outlet channel 22 to the outside of the hangar 2 can be turned on. In this way, the airflow generated by the rotation of the rotor arm 11 is discharged to the outside of the hangar through the air outlet channel 22, and the airflow outside the hangar 2 can be introduced to the top of the drone 1 through the air inlet channel 21, thereby achieving a balance of the upper and lower airflows of the drone 1.

[0072] In addition, if Figure 2-Figure 3 As shown, in some embodiments of the present specification, a connecting pipe 23 is provided between the air inlet of the air inlet channel 21 and the air outlet of the air outlet channel 22, and the air inlet channel 21 is connected with the air outlet channel 22 through the connecting pipe 23 to ensure the gas circulation and internal and external pressure balance inside the entire hangar. In addition, a fan 24 is provided in the connecting pipe 23, and the fan 24 can be connected to the controller of the drone 1 by telecommunication, and the controller can control the rotation of the fan 24. When it is detected that the location information of the drone is inside the hangar and the rotor arm of the drone is started, the fan 24 can be controlled to start. The fan 24 can quickly guide the airflow generated by the rotor arm 11 of the drone 1 when it rotates through the air outlet channel 22, the connecting pipe 23, and the air inlet channel 21 from the bottom of the rotor arm 11 to the top of the rotor arm 11, actively supplementing the negative pressure of the gas generated above the rotor arm 11 of the drone 1, and releasing the excess positive pressure of the gas generated below the rotor arm 11 of the drone 1, thereby improving the effect of airflow guidance, ensuring the balance of upper and lower air pressures of the drone 1, and ensuring the stability of the drone 1 when it is started, thereby achieving a smooth start of the drone 1 when the vehicle is not stopped.

[0073] In addition, in some embodiments of the present specification, the fan 24 can be an adjustable speed fan. When the UAV 1 is started in the hangar 2, the controller can control the fan 24 to start, and can detect the rotation speed of the rotor arm 11, and adjust the rotation speed of the fan 24 based on the rotation speed of the rotor arm 11. That is, the speed of the fan 24 can be linked with the start-up speed of the rotor arm 11 of the UAV 1, such as: the faster the rotor speed of the UAV 1, the faster the follow-up speed of the fan 24, and the relationship between the two can be determined by experimental values. In this way, the airflow in the hangar 2 can be adaptively adjusted with the rotation speed of the rotor arm 11, ensuring the stability of the air pressure around the UAV 1, and thus ensuring that the UAV 1 remains stable in the hangar 2.

[0074] In addition, if Figure 3 As shown, in some embodiments of this specification, a mechanical cantilever 3 is further provided in the hangar 2; the method further comprises:

[0075] The position information and posture information of the drone 1 are detected in real time, wherein the posture information may include the posture of the drone 1 in the hangar 2, which can be obtained based on the data collected by the UWB beacon and the sensor on the drone 1. When it is determined that the position information of the drone 1 is located in the hangar and the rotor arm 11 of the drone 1 is started, the mechanical cantilever 3 can be controlled to connect with the rotor arm 11 based on the position information and posture information of the drone 1. When the drone 1 is parked in the hangar 2 or the drone 1 flies out of the hangar 2, the mechanical cantilever 3 can be placed on the side wall of the hangar 2, such as: a cantilever placement rack can be set on the side wall of the hangar 2. For example: when it is detected that the position information of the drone 1 is located in the hangar 2 and the rotor arm 11 of the drone 1 is started, it can be determined based on the position information and posture information of the drone 1 whether the rotor arm 11 of the drone 1 is close to the mechanical cantilever 3. If it is close, the mechanical cantilever 3 is controlled to connect to the corresponding rotor arm 11 from the side wall of the hangar 2. The mechanical cantilever 3 can be detachably connected to the rotor arm 11 of the drone 1. When the UAV 1 completes takeoff and flies out of the hangar 2 , or the UAV 1 completes landing and parks in the hangar 2 , the mechanical cantilever 3 is disconnected from the rotor arm 11 and placed in the hangar 2 .

[0076] In addition, a motor can be provided in the mechanical cantilever 3, and the motor can be used to control the mechanical cantilever 3 to swing up and down. After the mechanical cantilever 3 is connected to the rotor arm 11, the floating direction and amplitude of the mechanical cantilever can be controlled by controlling the speed and steering of the motor based on the driving state of the vehicle where the drone 1 is located, such as information such as the amplitude of the bumps or the steering, and the posture information of the drone 1. For example, according to the real-time changes in the state of the vehicle's bumps, the deflection of the traveling direction, and the posture state of the drone 1 inside the hangar 2, the position of the mechanical cantilever 3 used to hover the drone 1 is controlled, so that the drone 1 always maintains a horizontal posture inside the hangar 2, and the consistency of the distance relative to the ground, reducing the risk of collision between the drone 1 and the inner wall of the hangar 2 during take-off. It further ensures that the drone 1 takes off or lands smoothly, and the drone 1 can take off and land without stopping the vehicle, which improves the applicability of the drone.

[0077] In addition, the connection method between the mechanical cantilever 3 and the rotor arm 11 can refer to the above embodiment, which will not be repeated here. The structure, size and number of the mechanical cantilever 3 can be set according to actual needs, and this specification embodiment does not make specific limitations.

[0078] The embodiments of this specification use the above-mentioned pre-start method before the drone takes off in the hangar, in conjunction with the airflow arrangement of the hangar, to enable the drone to enter the rotor start state in advance before flying out of the hangar, and maintain the hovering effect of the drone in the hangar through the follow-up control of the hovering mechanical cantilever. During the movement of the vehicle, when the hatch is opened, the drone can fly directly away from the vehicle body, improving the efficiency and safety of the drone's take-off. At the same time, by using the follow-up mechanical cantilever in the hangar, the drone can always maintain a horizontal posture and a stable vertical distance relative to the road surface, which is beneficial to the correction of the vehicle's own posture before taking off in bumpy, tilted and other conditions.

[0079] Among them, the specific structure of the drone system can be found in the records of the above embodiments, and will not be repeated here.

[0080] In an exemplary embodiment, an electronic device is also provided, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the control method of the drone as in the embodiment of this specification.

[0081] In an exemplary embodiment, a computer-readable storage medium is also provided. When instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute the control method of the drone in the embodiment of this specification.

[0082] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the control method of the drone provided in the above-mentioned various optional implementations.

[0083] It is understandable that in the specific implementation of this specification, user-related data is involved. When the above embodiments of this specification are applied to specific products or technologies, user permission or consent is required, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0084] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this specification 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. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0085] Those skilled in the art will readily appreciate other implementations of the embodiments of the present specification after considering the specification and practicing the invention disclosed herein. The present specification is intended to cover any variations, uses, or adaptations of the embodiments of the present specification, which follow the general principles of the embodiments of the present specification and include common knowledge or customary technical means in the art that are not disclosed in the embodiments of the present specification. The description and embodiments are to be considered merely as exemplary, and the true scope and spirit of the embodiments of the present specification are indicated by the following claims.

[0086] It should be understood that the embodiments of the present specification are not limited to the precise structures described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the embodiments of the present specification is limited only by the appended claims.

Claims

1. A drone system, characterized in that: The system includes: a drone and a hangar on a vehicle for placing the drone; An air inlet channel and an air outlet channel are provided in the hangar; The air outlet of the air inlet channel is arranged above the parking position of the rotor arm of the UAV when the UAV is parked in the hangar, and the air inlet of the air outlet channel is arranged below the parking position of the rotor arm of the UAV when the UAV is parked in the hangar, and the air inlet of the air inlet channel is connected with the air outlet of the air outlet channel, or the air inlet of the air inlet channel and the air outlet of the air outlet channel are respectively connected to the outside of the hangar; The air inlet channel is used to introduce airflow from the air inlet of the air inlet channel to the air outlet of the air inlet channel when the UAV is started in the hangar, so as to direct the airflow to the top of the rotor arm; the air outlet channel is used to guide the airflow generated by the rotor arm from the bottom of the rotor arm through the air outlet of the air outlet channel through the air inlet of the air outlet channel when the UAV is started in the hangar.

2. The system according to claim 1, characterized in that A connecting pipe is provided between the air inlet of the air inlet channel and the air outlet of the air outlet channel, a fan is provided in the connecting pipe, and the fan is electrically connected to the controller of the drone.

3. The system according to claim 1, characterized in that When the air inlet of the air inlet channel and the air outlet of the air outlet channel are connected to the outside of the hangar, the air inlet of the air inlet channel and the air outlet of the air outlet channel are provided with air outlet switches, and the air inlet channel and the air outlet channel are controlled to be connected or closed to the outside of the hangar by opening or closing the air outlet switches.

4. The system according to claim 1, characterized in that The system also includes a mechanical cantilever; When the UAV flies out of the hangar or the UAV is parked in the hangar, the mechanical cantilever is placed on the side wall of the hangar; When the UAV is started in the hangar or the UAV lands and hovers in the hangar, the mechanical cantilever is detachably connected to the rotor arm of the UAV, and a motor is provided in the mechanical cantilever, and the motor is used to control the mechanical cantilever to swing up and down.

5. The system according to claim 4, characterized in that An electrical signal contact point and a charging device are provided between the mechanical cantilever and the rotor arm. The electrical signal contact point is used for the mechanical cantilever to communicate with the drone, and the charging device is used for charging the drone.

6. The system according to claim 4, characterized in that An electromagnet is provided on the mechanical cantilever or the rotor arm of the UAV, and the connection or disconnection between the mechanical cantilever and the rotor arm is controlled by powering on or off the electromagnet.

7. The system according to claim 4, characterized in that A base station is also provided in the hangar, and a positioning beacon is provided on the UAV, and the base station is used to receive the position information of the UAV transmitted by the positioning beacon; The controller of the drone controls the mechanical cantilever to connect or disconnect with the rotor arm based on the position information.

8. A method for controlling an unmanned aerial vehicle, characterized in that: The vehicle where the drone is located is provided with a hangar for placing the drone, and the hangar is provided with an air inlet channel and an air outlet channel, the air outlet of the air inlet channel is provided above the parking position of the rotor arm of the drone when the drone is parked in the hangar, and the air inlet of the air outlet channel is provided below the parking position of the rotor arm when the drone is parked in the hangar, the air inlet of the air inlet channel is connected with the air outlet of the air outlet channel, or the air inlet of the air inlet channel and the air outlet of the air outlet channel are respectively connected to the outside of the hangar, and the method comprises: Detecting the location information and status information of the drone; When the position information of the UAV is located in the hangar and the rotor arm of the UAV is started, airflow is introduced to the top of the UAV through the air inlet channel, and at the same time, the airflow generated by the rotation of the rotor arm is discharged from the bottom of the UAV through the air outlet channel.

9. The method according to claim 8, characterized in that A connecting pipe is provided between the air inlet of the air inlet channel and the air outlet of the air outlet channel, and a fan is provided in the connecting pipe; The airflow is introduced to the upper part of the UAV through the air inlet channel, and the airflow generated by the rotation of the rotor arm is guided out from the lower part of the UAV through the air outlet channel, including: When the location information of the UAV is within the hangar and the rotor arm of the UAV is started, the fan is started to draw the airflow generated by the rotation of the rotor arm from the air outlet channel into the air inlet channel, so that the airflow is discharged from the bottom of the UAV through the air outlet channel and the airflow is introduced to the top of the UAV through the air inlet channel.

10. The method according to claim 8, characterized in that A mechanical cantilever is also provided in the hangar; and the method further comprises: Detecting the position information of the UAV and the driving status of the vehicle in which the UAV is located; When the position information of the UAV is located in the hangar and the rotor arm of the UAV is started, the mechanical cantilever is controlled to be connected to the rotor arm of the UAV based on the position information and the posture information; According to the driving state and the posture information, the floating direction and amplitude of the mechanical cantilever are controlled so that the UAV maintains a horizontal state in the hangar and a fixed distance from the ground.

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