Split type hovercar docking method and device and storage medium

Abstract

The invention relates to a split type hovercar docking method and device and a storage medium. The split type hovercar comprises a flight module and a chassis module, the method is applied to the chassis module, and the method comprises the steps that coordinate information, sent by the flight module, for determining a target docking position is responded, and the target docking position is determined according to the inclination angle of the chassis module relative to the horizontal plane and environment information of a target docking area; the docking request instruction comprises a target docking area, and the target docking area is determined by the flight module based on the current position of the chassis module; sending a docking confirmation instruction to the flight module, wherein the docking confirmation instruction comprises coordinate information; and under the condition that the flight module reaches the target docking position, the chassis module is controlled to be docked with the flight module. It can be guaranteed that the flight module is stably and safely in butt joint with the chassis module, rollover accidents are avoided, and the butt joint efficiency and safety are improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of flying cars, and in particular to a method, device, storage medium and electronic device for docking a split flying car. Background Art

[0002] In recent years, there are more and more urbanized vehicles in various places, and road traffic is becoming more and more congested. Traffic is facing huge pressure and cannot meet the development needs of modern society and economy. With the popularization and popularity of the concept of low-altitude economy, people are vigorously developing and researching low-altitude transportation tools, among which flying cars are the most representative.

[0003] The split flying car consists of a flight module and a chassis module. In the prior art, the focus is on studying the mechanical structure of the flight module and the chassis module. However, when the flight module and the chassis module are docked, safety accidents such as rollover are prone to occur. Summary of the invention

[0004] In order to solve at least one of the technical problems mentioned above, the present disclosure proposes a split-type flying car docking method, device, storage medium and electronic device.

[0005] According to one aspect of the present disclosure, a split flying car docking method is provided, wherein the split flying car comprises a flight module and a chassis module, and the method is applied to the chassis module, comprising:

[0006] In response to the docking request instruction sent by the flight module, determine the coordinate information of the target docking position, the target docking position is determined by the inclination angle of the chassis module relative to the horizontal plane and the environmental information of the target docking area, the docking request instruction includes the target docking area, and the target docking area is determined by the flight module based on the current position of the chassis module;

[0007] Sending a docking confirmation instruction to the flight module, wherein the docking confirmation instruction includes the coordinate information;

[0008] When the flight module reaches the target docking position, the chassis module is controlled to dock with the flight module.

[0009] In some possible implementations, determining the target docking position includes:

[0010] Determine a first tilt angle corresponding to the current position, where the first tilt angle is used to represent a tilt angle of the chassis module relative to a horizontal plane at the current position;

[0011] If the first tilt angle meets a preset angle condition, the current position is determined to be the target docking position.

[0012] In some possible implementations, the method further includes:

[0013] If the first tilt angle does not meet the preset angle condition, obtaining environmental information of the target docking area, the environmental information including obstacle information and slope information;

[0014] Determining at least one docking area to be tested from the target docking area based on the obstacle information and the slope information, wherein the obstacle information of the docking area to be tested satisfies a first preset obstacle condition and the slope information of the docking area to be tested satisfies a second preset slope condition;

[0015] Determine the docking area to be tested that is closest to the chassis module among the at least one docking area to be tested as the current area to be tested;

[0016] Controlling the chassis module to move in the current area to be tested to determine the target docking position;

[0017] If the target docking position does not exist in the current area to be tested, repeat the steps of: determining the docking area to be tested that is closest to the chassis module among at least one of the docking areas to be tested as the current area to be tested; controlling the chassis module to move in the current area to be tested; until the target docking position is determined in the current area to be tested, or the target docking position does not exist in any of the docking areas to be tested.

[0018] In some possible implementations, the current area to be tested includes a plurality of positions to be tested; and controlling the chassis module to move in the current area to be tested to determine the target docking position includes:

[0019] Traversing the multiple locations to be measured;

[0020] For the current position to be measured, a second inclination angle corresponding to the current position to be measured is judged to obtain a judgment result, wherein the second inclination angle is used to represent the inclination angle of the chassis module relative to the horizontal plane at the target position to be measured;

[0021] If the judgment result indicates that the second inclination angles corresponding to the current position to be measured do not meet the preset angle condition, any position to be measured that has not been traversed among the multiple positions to be measured and is not the current position to be measured is determined as the current position to be measured;

[0022] Repeat the steps of: for the current position to be measured, judging the second tilt angle corresponding to the current position to be measured, and obtaining a judgment result; until the second tilt angle corresponding to the current position to be measured meets the preset angle condition, or the multiple positions to be measured are not the target docking positions;

[0023] When the second tilt angle of the chassis module corresponding to the current position to be measured meets the preset angle condition, the current position to be measured is determined to be the target docking position.

[0024] In some possible implementations, the method further includes:

[0025] Acquire ground condition information of the current area to be measured, wherein the ground condition information includes flatness information;

[0026] The plurality of positions to be measured are determined based on the flatness information, and the flatness information of the positions to be measured meets a third preset flatness condition.

[0027] In some possible implementations, the current area to be tested includes a position to be tested, the position to be tested is a position in the current area to be tested with the highest flatness and closest to the chassis module, and controlling the chassis module to move in the current area to be tested to determine the target docking position includes:

[0028] Controlling the chassis module to move to the position to be tested;

[0029] If the second tilt angle of the chassis module corresponding to the position to be measured meets the preset angle condition, the position to be measured is determined to be the target docking position.

[0030] In some possible implementations, determining the first tilt angle corresponding to the current position includes:

[0031] Acquire angle information corresponding to the chassis module at the current position, wherein the angle information includes pitch angle information and roll angle information of the chassis module;

[0032] The first tilt angle is determined based on the pitch angle information and the roll angle information.

[0033] In some possible implementations, the method further includes:

[0034] If the target docking position does not exist in the at least one docking area to be tested, a docking area invalidation instruction is sent to the flight module, so that the flight module replans the docking area and resends the docking request instruction.

[0035] According to a second aspect of the present disclosure, a split flying car docking device is provided, the device comprising: the split flying car comprises a flight module and a chassis module, the device is applied to the chassis module, the device comprises:

[0036] a docking position determination module, configured to determine coordinate information of a target docking position in response to a docking request instruction sent by the flight module, wherein the target docking position is determined by an inclination angle of the chassis module relative to a horizontal plane and environmental information of a target docking area, wherein the docking request instruction includes a target docking area, and the target docking area is determined by the flight module based on a current position of the chassis module;

[0037] A docking instruction sending module, used for sending a docking confirmation instruction to the flight module, wherein the docking confirmation instruction includes the coordinate information;

[0038] The mechanical docking module is used to control the chassis module to dock with the flight module when the flight module reaches the target docking position.

[0039] According to a third aspect of the present disclosure, there is provided an electronic device, comprising at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the split flying car docking method as described in any one of the first aspects by executing the instructions stored in the memory.

[0040] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, wherein at least one instruction or at least one program is stored in the computer-readable storage medium, and the at least one instruction or at least one program is loaded and executed by a processor to implement the split flying car docking method as described in any one of the first aspects.

[0041] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

[0042] The implementation of this disclosure has the following beneficial effects:

[0043] In response to the docking request instruction sent by the flight module, the coordinate information of the target docking position is determined, the target docking position is determined by the inclination angle of the chassis module relative to the horizontal plane and the environmental information of the target docking area, the docking request instruction includes the target docking area, and the target docking area is determined by the flight module based on the current position of the chassis module; a docking confirmation instruction is sent to the flight module, and the docking confirmation instruction includes the coordinate information; when the flight module reaches the target docking position, the chassis module is controlled to dock with the flight module. Thus, during the docking process of the flight module and the chassis module, the target docking position is determined by the inclination angle of the chassis module with the horizontal plane and the environmental information, which can ensure that the chassis module is on a relatively flat ground, so that the flight module can dock with the chassis module smoothly, avoid rollover accidents, and improve the efficiency of docking between the flight module and the chassis module.

[0044] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments or prior art descriptions. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 A schematic diagram showing a flow chart of a split-type flying car docking method according to an embodiment of the present disclosure;

[0047] Figure 2 A schematic diagram showing a flow chart of a current position determination method according to an embodiment of the present disclosure;

[0048] Figure 3 A schematic diagram showing a flow chart of a method for determining a target docking position in a current area to be tested according to an embodiment of the present disclosure;

[0049] Figure 4 A schematic diagram showing a flow chart of a method for traversing a position to be measured according to an embodiment of the present disclosure;

[0050] Figure 5 A schematic diagram showing a flow chart of a method for determining a target docking position in a target docking area according to an embodiment of the present disclosure;

[0051] Figure 6 A schematic diagram showing a flow chart of a method for determining multiple positions to be measured according to an embodiment of the present disclosure;

[0052] Figure 7 A schematic diagram showing a flow chart of a method for determining a target docking position according to an embodiment of the present disclosure;

[0053] Figure 8 A schematic diagram showing a flow chart of a first tilt angle determination method according to an embodiment of the present disclosure;

[0054] Fig. 9 A schematic structural diagram of a split-type flying car docking device according to an embodiment of the present disclosure is shown;

[0055] Fig.10 A block diagram of an electronic device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0056] 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 creative work are within the scope of protection of the present invention.

[0057] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 the present invention 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.

[0058] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0059] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0060] The term "and / or" herein is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the term "at least one" herein represents any combination of at least two of any one or more of a plurality of. For example, including at least one of A, B, and C can represent including any one or more elements selected from the set consisting of A, B, and C.

[0061] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0062] Figure 1A schematic diagram of a split flying car docking method according to an embodiment of the present disclosure is shown. The split flying car includes a flight module and a chassis module. The method is applied to the chassis module. Figure 1 As shown, the above method includes:

[0063] S101, in response to a docking request instruction sent by a flight module, determining coordinate information of a target docking position, where the target docking position is determined by an inclination angle of the chassis module relative to a horizontal plane and environmental information of a target docking area, where the docking request instruction includes a target docking area, and the target docking area is determined by the flight module based on a current position of the chassis module;

[0064] The split flying car includes a flight module and a chassis module. When the flight module and the chassis module are in a split state, the chassis module communicates with the flight module in real time through radio. The chassis module sends first information to the flight module. The first information includes driving position information, driving status information, driving mission information and request response information. The request response information is information that responds to the control request of the flight module. The flight module sends second information to the chassis module. The second information includes: flight position information, flight status information, flight mission information and control request information. The control request information is used to represent the information of the request control of the chassis module.

[0065] The executor of this application is the chassis module. After the flight module is scheduled to land, the target docking area is determined according to the driving position information sent by the chassis module. A circle is drawn with the current position of the chassis module as the center and the preset length as the radius. The obtained area is the target docking area. The flight module generates a docking request instruction based on the target docking area and sends the docking request instruction to the chassis module. After the chassis module receives the docking request instruction, it detects whether the inclination angle of the chassis module relative to the horizontal plane at the current position meets the preset angle condition. If it does, the current position is determined to be the target docking position. Otherwise, the target docking position is searched in the target docking area based on the environmental information of the target docking area to determine the coordinate information of the target docking position.

[0066] S102, sending a docking confirmation instruction to the flight module, where the docking confirmation instruction includes coordinate information;

[0067] After confirming the target docking position, a docking confirmation instruction including the coordinate information of the target docking position is sent to the flight module to notify the flight module to prepare for docking.

[0068] S103: When the flight module reaches the target docking position, control the chassis module to dock with the flight module.

[0069] After the flight module receives the docking confirmation command sent by the chassis module, it flies to the target docking position based on the coordinate information and sends the docking command to the chassis module. The chassis module receives the docking command, confirms that the flight module has reached the target docking position, and controls itself to perform mechanical docking with the flight module.

[0070] In the above technical solution, before docking with the flight module, the chassis module determines the target docking position in the target docking area according to its own inclination angle relative to the horizontal plane, ensures that its own state meets the landing requirements of the flight module, avoids rollover accidents during the docking process, and improves the safety and efficiency of the docking between the two.

[0071] See also Figure 2 In some embodiments, determining the target docking position includes:

[0072] S1011, determining a first tilt angle corresponding to the current position, where the first tilt angle is used to represent a tilt angle of the chassis module relative to a horizontal plane at the current position;

[0073] S1012: If the first tilt angle meets a preset angle condition, determine the current position as a target docking position.

[0074] The preset angle condition may be that the tilt angle is less than or equal to a preset angle value. The preset angle value is set according to the safety landing requirement. For example, the preset angle value may be 0.

[0075] In some embodiments, the chassis module calculates the tilt angle relative to the horizontal plane at the current position according to the pitch angle information and the roll angle information to obtain a first tilt angle. If the first tilt angle is less than or equal to a preset angle value, the current position is determined to be the target docking position.

[0076] In other embodiments, the chassis module may determine the first tilt angle corresponding to the current position according to a preset angle measuring device. Exemplarily, the preset angle measuring device may be a tilt sensor.

[0077] The above technical solution, after receiving the docking request instruction, detects whether the current position meets the docking requirements through the first inclination angle corresponding to the current position, thereby improving the accuracy and efficiency of determining the target docking position.

[0078] See also Figure 3 In some embodiments, the method further comprises:

[0079] S111. If the first tilt angle does not meet the preset angle condition, obtain environmental information of the target docking area, where the environmental information includes obstacle information and slope information;

[0080] S112, determining at least one docking area to be tested from the target docking area based on the obstacle information and the slope information, wherein the obstacle information of the docking area to be tested satisfies a first preset obstacle condition and the slope information of the docking area to be tested satisfies a second preset slope condition;

[0081] S113, determining the docking area to be tested that is closest to the chassis module in at least one docking area to be tested as the current docking area to be tested;

[0082] S114, controlling the chassis module to move in the current test area to determine the target docking position;

[0083] S115. If the target docking position does not exist in the current area to be tested, repeat the steps of: determining the docking area to be tested that is closest to the chassis module in at least one docking area to be tested as the current area to be tested; controlling the chassis module to move in the current area to be tested; until the target docking position is determined in the current area to be tested, or the target docking position does not exist in at least one docking area to be tested.

[0084] In some embodiments, if the first tilt angle does not meet the preset angle condition, it is determined that the chassis module has a high inclination at the current position and does not meet the docking requirements. Therefore, it is necessary to find a target docking position that meets the requirements in the target docking area. The target docking area is scanned and identified based on the preset radar device and image acquisition device on the chassis module to obtain environmental information of the target docking area. The environmental information includes obstacle information and slope information. The obstacle information includes the location information, type information and depth information of the obstacle. The slope information includes location information and slope value information. Based on the obstacle information and slope information, the target docking area is divided based on the preset area size to avoid larger obstacles and steeper slopes, and at least one docking area to be tested is obtained, that is, the first preset obstacle condition can be a depth less than or equal to a preset depth value, and the second preset slope condition can be a slope value less than or equal to a preset slope value. Exemplarily, the preset depth value can be 0, and the preset slope value can be 0.

[0085] After traversing at least one docking area to be tested, controlling the chassis module to travel to the position to be tested of the currently traversed docking area to be tested, determine the inclination angle of the chassis module at the position to be tested and the horizontal plane, wherein the position to be tested may be one or more. If there are multiple positions to be tested, traverse the positions to be tested in sequence. The position to be tested can be determined according to the flatness information of the ground. If the inclination angle at the position to be tested meets the preset angle condition, the position to be tested of the currently traversed docking area to be tested is determined to be the target docking position. If the inclination angles at the positions to be tested of the currently traversed docking area to be tested do not meet the preset angle condition, the docking area to be tested closest to the currently traversed docking area to be tested is updated as the currently traversed docking area to be tested, and continue to search for the target docking position until the target docking position is determined from at least one docking area to be tested, or it is determined that there is no target docking position in at least one docking area to be tested.

[0086] In some embodiments, the size of the preset area can be determined according to the size of the bottom surface area of ​​the chassis module, wherein the bottom surface of the chassis module is the surface opposite to the ground. The center point of the docking area to be tested is used as the position to be tested, at least one docking area to be tested is traversed, the chassis module is controlled to travel to the center point of the docking area to be tested, the center of the chassis module is aligned with the center of the docking area to be tested, and further detection is performed to determine whether the position to be tested in the currently traversed docking area to be tested is the target docking position.

[0087] According to the above technical solution, if the current position of the chassis module does not meet the docking requirements, a target docking position that meets the docking requirements is determined from the target docking area sent by the flight module, obstacles and steep slopes in the target docking area are avoided, and a safe and reliable docking position is quickly found.

[0088] See also Figure 4 In some embodiments, the current area to be tested includes a plurality of positions to be tested; controlling the chassis module to move in the current area to be tested to determine the target docking position includes:

[0089] S1141, traversing multiple locations to be tested;

[0090] S1142, for the current position to be measured, judging a second inclination angle corresponding to the current position to be measured, and obtaining a judgment result, wherein the second inclination angle is used to represent an inclination angle of the chassis module relative to a horizontal plane at the target position to be measured;

[0091] S1143, if the judgment result indicates that the second tilt angles corresponding to the current position to be measured do not meet the preset angle condition, any position to be measured that has not been traversed among the multiple positions to be measured and is not the current position to be measured is determined as the current position to be measured;

[0092] S1144, repeat the steps of: for the current position to be measured, judging the second tilt angle corresponding to the current position to be measured, and obtaining a judgment result; until the second tilt angle corresponding to the current position to be measured meets the preset angle condition, or the multiple positions to be measured are not the target docking positions;

[0093] S1145. When the second tilt angle corresponding to the current position to be measured of the chassis module meets a preset angle condition, the current position to be measured is determined to be a target docking position.

[0094] In some embodiments, if there are multiple positions to be tested in the current area to be tested, the multiple positions to be tested in the current area to be tested are traversed, the chassis module is controlled to travel to the currently traversed position to be tested, and the second inclination angle of the chassis module on the currently traversed position to be tested is obtained. If the second inclination angle meets the preset angle condition, the currently traversed position to be tested is determined to be the target docking position, and the traversal is stopped; if the second inclination angle does not meet the preset angle condition, any position to be tested that has not been traversed among the multiple positions to be tested and is not the current position to be tested is determined as the current position to be tested.

[0095] In some embodiments, if there are multiple positions to be measured in the current area to be measured, the multiple positions to be measured in the current area to be measured are traversed in sequence based on distance. If the second inclination angle meets the preset angle condition, the currently traversed position to be measured is determined to be the target docking position, and the traversal is stopped; if the second inclination angle does not meet the preset angle condition, the position to be measured closest to the currently traversed position to be measured is updated as the current position to be measured.

[0096] See also Figure 5 In some embodiments, if the first tilt angle does not meet the preset angle condition, the environmental information of the target docking area is obtained; the method for searching the target docking position in the target docking area is as follows:

[0097] S1. Determine at least one docking area to be tested from the target docking area based on environmental information;

[0098] S2. Determine a current area to be tested from at least one docking area to be tested;

[0099] The current area to be tested is the docking area to be tested that is closest to the chassis module among the at least one docking area to be tested;

[0100] S3, check whether the current position to be tested exists in the current area to be tested, if not, execute S2, if yes, execute S4;

[0101] The current position to be tested is any position to be tested that has not been tested among the multiple positions to be tested in the current area to be tested;

[0102] S4, control the chassis module to move to the current position to be tested in the current area to be tested, and determine whether the second tilt angle corresponding to the current position to be tested meets the preset angle condition. If so, execute S5; if not, execute S3;

[0103] S5. Determine the current position to be measured as the target docking position.

[0104] The above technical solution traverses and searches for the target docking position that meets the docking requirements in the current area to be tested, thereby improving the efficiency and accuracy of searching for the target docking position.

[0105] See also Figure 6 In some embodiments, the method further comprises:

[0106] S1147, obtaining ground condition information of the current area to be measured, where the ground condition information includes flatness information;

[0107] S1149. Determine a plurality of positions to be measured based on the flatness information, wherein the flatness information of the positions to be measured satisfies a third preset flatness condition.

[0108] Based on the flatness measurement device preset in the chassis module, the current area to be measured is scanned and identified to obtain flatness information. The third preset flatness condition may be that the flatness is less than or equal to the preset flatness value. The position where the flatness is less than or equal to the preset flatness value is taken as the position to be measured, wherein the size of the position to be measured may be the size of the bottom surface area of ​​the chassis module.

[0109] In some embodiments, the flatness measuring device may be a laser rangefinder, which can quickly and accurately measure the distance between two points. Flatness data can be obtained through multiple measurements and comparisons.

[0110] In the above technical solution, when determining the position to be measured, an area with lower flatness in the area to be measured is selected to improve the efficiency of determining the target docking position.

[0111] See also Figure 7 In some embodiments, the current area to be tested includes a position to be tested, which is a position in the current area to be tested with the highest flatness and closest to the chassis module. Controlling the chassis module to move in the current area to be tested to determine the target docking position includes:

[0112] S1151, controlling the chassis module to move to a position to be tested;

[0113] S1152: If the second tilt angle of the chassis module corresponding to the position to be measured meets the preset angle condition, determine that the position to be measured is the target docking position.

[0114] The area with the highest flatness in the current area to be tested is used as the position to be tested, and the chassis module is controlled to travel to the position to be tested. If the second inclination angle corresponding to the chassis module at the position to be tested meets the preset angle condition, the position to be tested is determined to be the target docking position.

[0115] The above technical solution directly determines the flattest area in each docking area to be tested as the position to be tested, thereby improving the efficiency of searching for the docking position to be tested.

[0116] See also Figure 8 In some embodiments, determining the first tilt angle corresponding to the current position includes:

[0117] S10111. Obtain angle information corresponding to the current position of the chassis module, where the angle information includes pitch angle information and roll angle information of the chassis module;

[0118] S10112. Determine a first tilt angle based on the pitch angle information and the roll angle information.

[0119] The pitch angle information includes the pitch angle value, and the roll angle information includes the roll angle value. The pitch angle value and the roll angle value of the chassis module at the current position are obtained based on the angle measurement device preset on the chassis module, and the first tilt angle is calculated by trigonometric function using the roll angle value and the pitch angle value.

[0120] In some embodiments, the angle measurement device includes an inertial measurement unit (I MU).

[0121] The above technical solution uses the pitch angle and roll angle to determine the tilt angle of the chassis module at the current position, improves the accuracy and efficiency of the tilt angle determination, and quickly detects whether the current position meets the docking requirements.

[0122] In some embodiments, the method further comprises:

[0123] If at least one of the docking areas to be tested does not have a target docking position, a docking area invalidation instruction is sent to the flight module, so that the flight module replans the docking area and resends the docking request instruction.

[0124] After traversing and detecting each position to be tested in each docking area to be tested, if the target docking position is not found, an invalid docking area instruction is sent to the flight module. After receiving the invalid docking area instruction, the flight module replans the docking area and resends the docking request instruction after determining the docking area. The validity of the docking area and the determination of the target docking position are ensured, and the safety and stability of the docking are ensured.

[0125] See also Fig. 9According to a second aspect of the present disclosure, a split flying car docking device is provided. The split flying car includes a flight module and a chassis module. The device is applied to the chassis module. The device includes:

[0126] A docking position determination module 10 is used to determine the coordinate information of the target docking position in response to the docking request instruction sent by the flight module, the target docking position is determined by the inclination angle of the chassis module relative to the horizontal plane and the environmental information of the target docking area, the docking request instruction includes the target docking area, and the target docking area is determined by the flight module based on the current position of the chassis module;

[0127] A docking instruction sending module 20, used to send a docking confirmation instruction to the flight module, wherein the docking confirmation instruction includes coordinate information;

[0128] The mechanical docking module 30 is used to control the chassis module to dock with the flight module when the flight module reaches the target docking position.

[0129] In some embodiments, the docking position determination module 10 includes:

[0130] A first inclination angle determination unit, used to determine a first inclination angle corresponding to a current position, the first inclination angle being used to represent an inclination angle of the chassis module relative to a horizontal plane at the current position;

[0131] The target docking position determining unit is used to determine the current position as the target docking position if the first tilt angle meets a preset angle condition.

[0132] In some embodiments, the apparatus further comprises:

[0133] an environmental information determination unit, configured to obtain environmental information of a target docking area if the first tilt angle does not meet a preset angle condition, the environmental information including obstacle information and slope information;

[0134] A docking area determination unit to be tested, configured to determine at least one docking area to be tested from the target docking area based on the obstacle information and the slope information, wherein the obstacle information of the docking area to be tested satisfies a first preset obstacle condition and the slope information of the docking area to be tested satisfies a second preset slope condition;

[0135] A first current to-be-tested area determining unit, configured to determine, among at least one to-be-tested docking area, the to-be-tested docking area closest to the chassis module as the current to-be-tested area;

[0136] A first target docking position determining unit, used to control the chassis module to move in the current area to be tested to determine the target docking position;

[0137] The loop execution unit is used to repeat the steps of: determining the docking area to be tested that is closest to the chassis module in at least one docking area to be tested as the current docking area to be tested; controlling the chassis module to move in the current docking area to be tested; until the target docking position is determined in the current docking area to be tested, or the target docking position does not exist in at least one docking area to be tested.

[0138] In some embodiments, the current area to be measured includes multiple locations to be measured; the target docking position determination unit includes:

[0139] A traversal unit, used for traversing a plurality of positions to be tested;

[0140] A judgment unit, used for judging a second inclination angle corresponding to the current position to be measured, and obtaining a judgment result, wherein the second inclination angle is used to represent an inclination angle of the chassis module relative to a horizontal plane at the target position to be measured;

[0141] A second determination unit for the current to-be-measured area is configured to determine any to-be-measured position that has not been traversed and is not the current to-be-measured position among the multiple to-be-measured positions as the current to-be-measured position when the judgment result indicates that the second inclination angles corresponding to the current to-be-measured position do not meet the preset angle condition;

[0142] A repeating execution unit is used to repeatedly execute the steps of: for the current position to be measured, judging the second tilt angle corresponding to the current position to be measured, and obtaining a judgment result; until the second tilt angle corresponding to the current position to be measured meets the preset angle condition, or the multiple positions to be measured are not the target docking positions;

[0143] The second target docking position determination unit is used to determine that the current position to be measured is the target docking position when the second tilt angle corresponding to the chassis module at the current position to be measured meets a preset angle condition.

[0144] In some embodiments, the apparatus further comprises:

[0145] A ground condition information determination unit is used to obtain ground condition information of the current area to be measured, where the ground condition information includes flatness information;

[0146] The multiple positions to be measured determining unit is used to determine multiple positions to be measured based on the flatness information, and the flatness information of the positions to be measured meets the third preset flatness condition.

[0147] In some embodiments, the current area to be tested includes a position to be tested, which is a position in the current area to be tested with the highest flatness and closest to the chassis module. Controlling the chassis module to move in the current area to be tested to determine the target docking position includes:

[0148] A mobile control module, used for controlling the chassis module to move to a position to be tested;

[0149] The third target docking position determination unit is used to determine the position to be measured as the target docking position if the second tilt angle corresponding to the chassis module at the position to be measured meets a preset angle condition.

[0150] In some embodiments, the first tilt angle determining unit includes:

[0151] An angle information acquisition unit, used to acquire angle information corresponding to the current position of the chassis module, the angle information including pitch angle information and roll angle information of the chassis module;

[0152] The first tilt angle calculation unit is used to determine a first tilt angle based on the pitch angle information and the roll angle information.

[0153] In some embodiments, the apparatus further comprises:

[0154] The docking area invalid instruction sending module is used to send a docking area invalid instruction to the flight module if there is no target docking position in at least one docking area to be tested, so that the flight module re-plans the docking area and re-sends the docking request instruction.

[0155] In some embodiments, the functions or modules included in the device provided by the embodiments of the present disclosure can be used to execute the method described in the above method embodiments. The specific implementation can refer to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0156] An embodiment of the present application provides a split flying car docking device, which may be a terminal or a server. The split flying car docking device includes a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the split flying car docking method provided in the above method embodiment.

[0157] The memory can be used to store software programs and modules. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required for functions, etc.; the data storage area can store data created according to the use of the device, etc. In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory can also include a memory controller to provide the processor with access to the memory.

[0158] The method embodiments provided in the embodiments of the present application can be executed in electronic devices such as mobile terminals, computer terminals, servers or similar computing devices. Fig.10 1 is a hardware structure block diagram of an electronic device for a split-type flying car docking method provided in an embodiment of the present application. Fig.10 As shown, the electronic device 900 may have relatively large differences due to different configurations or performances, and may include one or more central processing units (CPU) 910 (the processor 910 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 930 for storing data, and one or more storage media 920 (such as one or more mass storage devices) for storing application programs 923 or data 922. Among them, the memory 930 and the storage medium 920 can be short-term storage or permanent storage. The program stored in the storage medium 920 may include one or more modules, and each module may include a series of instruction operations in the electronic device. Furthermore, the central processing unit 910 can be configured to communicate with the storage medium 920 to execute a series of instruction operations in the storage medium 920 on the electronic device 900. The electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input and output interfaces 940, and / or one or more operating systems 921, such as Windows ServerTM, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

[0159] The input / output interface 940 may be used to receive or send data via a network. The specific example of the network may include a wireless network provided by a communication provider of the electronic device 900. In one example, the input / output interface 940 includes a network adapter (NIC), which may be connected to other network devices via a base station so as to communicate with the Internet. In one example, the input / output interface 940 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0160] It can be understood by those skilled in the art that Fig.10 The structure shown is only for illustration and does not limit the structure of the above electronic device. Fig.10 More or fewer components as shown, or with Fig.10 Different configurations are shown.

[0161] An embodiment of the present application also provides a computer-readable storage medium, which can be set in an electronic device to store at least one instruction or at least one program related to a split flying car docking method in a method embodiment, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the split flying car docking method provided in the above method embodiment.

[0162] Optionally, in this embodiment, the storage medium may be located in at least one of the multiple network servers of the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0163] According to one aspect of the present application, a computer program product or a computer program is provided, 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.

[0164] It can be seen from the above-mentioned split flying car docking method, device, equipment, terminal, server, storage medium or computer program embodiment provided by the present application that the present application responds to the coordinate information of the target docking position sent by the flight module, the target docking position is determined by the inclination angle of the chassis module relative to the horizontal plane and the environmental information of the target docking area, the docking request instruction includes the target docking area, and the target docking area is determined by the flight module based on the current position of the chassis module; the docking confirmation instruction is sent to the flight module, and the docking confirmation instruction includes coordinate information; when the flight module reaches the target docking position, the chassis module is controlled to dock with the flight module. Therefore, during the docking process of the flight module and the chassis module, the target docking position is determined by the inclination angle of the chassis module with the horizontal plane and the environmental information, which can ensure that the chassis module is on a relatively flat ground, so that the flight module can dock with the chassis module smoothly, avoid rollover accidents, and improve the efficiency of the docking between the flight module and the chassis module.

[0165] It should be noted that the above-mentioned sequence of the embodiments of the present application is for description only and does not represent the advantages and disadvantages of the embodiments. The above-mentioned specific embodiments of the present application are described. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0166] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, equipment and storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0167] A person skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by instructing the relevant hardware through a program, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0168] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A split flying car docking method, characterized in that: The split flying car comprises a flying module and a chassis module, and the method is applied to the chassis module, and the method comprises: In response to the docking request instruction sent by the flight module, determine the coordinate information of the target docking position, the target docking position is determined by the inclination angle of the chassis module relative to the horizontal plane and the environmental information of the target docking area, the docking request instruction includes the target docking area, and the target docking area is determined by the flight module based on the current position of the chassis module; Sending a docking confirmation instruction to the flight module, wherein the docking confirmation instruction includes the coordinate information; When the flight module reaches the target docking position, the chassis module is controlled to dock with the flight module.

2. The method according to claim 1, characterized in that Determining the target docking position includes: Determine a first tilt angle corresponding to the current position, where the first tilt angle is used to represent a tilt angle of the chassis module relative to a horizontal plane at the current position; If the first tilt angle meets a preset angle condition, the current position is determined to be the target docking position.

3. The method according to claim 2, characterized in that The method further comprises: If the first tilt angle does not meet the preset angle condition, obtaining environmental information of the target docking area, the environmental information including obstacle information and slope information; Determining at least one docking area to be tested from the target docking area based on the obstacle information and the slope information, wherein the obstacle information of the docking area to be tested satisfies a first preset obstacle condition and the slope information of the docking area to be tested satisfies a second preset slope condition; Determine the docking area to be tested that is closest to the chassis module among the at least one docking area to be tested as the current area to be tested; Controlling the chassis module to move in the current area to be tested to determine the target docking position; If the target docking position does not exist in the current area to be tested, repeat the steps of: determining the docking area to be tested that is closest to the chassis module in at least one of the docking areas to be tested as the current area to be tested; controlling the chassis module to move in the current area to be tested; until the target docking position is determined in the current area to be tested, or the target docking position does not exist in at least one of the docking areas to be tested.

4. The method according to claim 3, characterized in that The current area to be tested includes a plurality of positions to be tested; and controlling the chassis module to move in the current area to be tested to determine the target docking position includes: Traversing the multiple locations to be measured; For the current position to be measured, a second inclination angle corresponding to the current position to be measured is judged to obtain a judgment result, wherein the second inclination angle is used to characterize the inclination angle of the chassis module relative to the horizontal plane at the target position to be measured; If the judgment result indicates that the second inclination angle corresponding to the current position to be measured does not satisfy the preset angle condition, any position to be measured that has not been traversed among the multiple positions to be measured and is not the current position to be measured is determined as the current position to be measured; Repeat the steps of: for the current position to be measured, judging the second inclination angle corresponding to the current position to be measured, and obtaining a judgment result; until the second inclination angle corresponding to the current position to be measured meets the preset angle condition, or the multiple positions to be measured are not the target docking positions; When the second tilt angle of the chassis module corresponding to the current position to be measured meets the preset angle condition, the current position to be measured is determined to be the target docking position.

5. The method according to claim 4, characterized in that The method further comprises: Acquire ground condition information of the current area to be measured, wherein the ground condition information includes flatness information; A plurality of positions to be measured in the current area to be measured is determined based on the flatness information, and the flatness information of the positions to be measured satisfies a third preset flatness condition.

6. The method according to claim 3, characterized in that The current area to be tested includes a position to be tested, and the position to be tested is a position in the current area to be tested with the highest flatness and closest to the chassis module. Controlling the chassis module to move in the current area to be tested to determine the target docking position includes: Controlling the chassis module to move to the position to be tested; If the second inclination angle of the chassis module corresponding to the position to be measured meets the preset angle condition, the position to be measured is determined to be the target docking position.

7. The method according to claim 2, characterized in that The determining the first tilt angle corresponding to the current position comprises: Acquire angle information corresponding to the chassis module at the current position, wherein the angle information includes pitch angle information and roll angle information of the chassis module; The first tilt angle is determined based on the pitch angle information and the roll angle information.

8. The method according to claim 4, characterized in that The method further comprises: If the target docking position does not exist in the at least one docking area to be tested, a docking area invalidation instruction is sent to the flight module, so that the flight module replans the docking area and resends the docking request instruction.

9. A split flying car docking device, characterized in that: The split flying car comprises a flying module and a chassis module, and the device is applied to the chassis module. The device comprises: a docking position determination module, configured to determine the coordinate information of the target docking position in response to the information sent by the flight module, wherein the target docking position is determined by the inclination angle of the chassis module relative to the horizontal plane and the environmental information of the target docking area, and the docking request instruction includes the target docking area, and the target docking area is determined by the flight module based on the current position of the chassis module; A docking instruction sending module, used for sending a docking confirmation instruction to the flight module, wherein the docking confirmation instruction includes the coordinate information; The mechanical docking module is used to control the chassis module to dock with the flight module when the flight module reaches the target docking position.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one instruction or at least one program, and the at least one instruction or at least one program is loaded and executed by the processor to implement the split flying car docking method as described in any one of claims 1-8.

Images