Split flying car docking method, device and storage medium

Abstract

The present disclosure relates to a split flying car docking method, device and storage medium. The split flying car includes a flying module and a chassis module, and the method applied to the chassis module includes: in response to the coordinate information of the target docking position sent by the flying 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 flying module based on the current position of the chassis module; send the docking confirmation instruction to the flying module, the docking confirmation instruction includes the coordinate information; in the case that the flying module reaches the target docking position, control the chassis module to dock with the flying module. The present disclosure can ensure that the flying module docks with the chassis module smoothly and safely, avoid rollover accidents, and improve the efficiency and safety of docking.

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-type flying car. Background Art

[0002] In recent years, the increasing number of vehicles in urban areas has led to increasingly congested roads. Traffic is facing tremendous pressure and is unable to meet the needs of modern social and economic development. With the popularization and popularity of the low-altitude economy concept, people are vigorously developing and researching low-altitude transportation vehicles, of which flying cars are the most representative.

[0003] The split flying car consists of a flight module and a chassis module. In the existing technology, the focus is on the mechanical structure of the docking 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 method for docking a split-type flying car is provided. The split-type flying car includes a flight module and a chassis module. The method is applied to the chassis module and includes:

[0006] determining, in response to a docking request command sent by the flight module, coordinate information of a target docking position, the target docking position being determined by an inclination angle of the chassis module relative to a horizontal plane and environmental information of a target docking area, the docking request command including a target docking area, the target docking area being determined by the flight module based on a 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] 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;

[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 meets a first preset obstacle condition and the slope information of the docking area to be tested meets a second preset slope condition;

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

[0016] Controlling the chassis module to move in the current test area 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 in 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; 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 tilt angle corresponding to the current position to be measured is judged to obtain a judgment result, where the second tilt angle is used to represent the tilt 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 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;

[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 none of the multiple positions to be measured is the target docking position;

[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] Acquiring 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 measured includes a position to be measured, where the position to be measured is a position in the current area to be measured that has the highest flatness and is closest to the chassis module. Controlling the chassis module to move in the current area to be measured 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, the angle information including 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-type flying car docking device is provided, the device comprising: the split-type flying car comprises a flight module and a chassis module, the device is applied to the chassis module, the device comprising:

[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, configured to send 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, an electronic device is provided, 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-type 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 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 a processor to implement the split-type 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 a docking request instruction sent by the flight module, coordinate information of a target docking position is determined, the target docking position being determined by the inclination angle of the chassis module relative to the horizontal plane and environmental information of a target docking area, the docking request instruction including the target docking area being determined by the flight module based on the current position of the chassis module; a docking confirmation instruction is sent to the flight module, the docking confirmation instruction including the coordinate information; and 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 between the flight module and the chassis module, the target docking position is determined by the inclination angle of the chassis module relative to the horizontal plane and the environmental information, ensuring that the chassis module is on a relatively flat ground, allowing the flight module to dock smoothly with the chassis module, avoiding rollover accidents, and improving 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] To more clearly illustrate the technical solution of this application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are merely some embodiments of this application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0046] Figure 1 A schematic diagram showing a process 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 location 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 measured 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 is shown;

[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 flow chart showing a first tilt angle determination method according to an embodiment of the present disclosure;

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

[0055] Figure 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 embodiments described 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 any creative efforts are within the scope of protection of this invention.

[0057] It should be noted that the terms "first", "second", etc. in the description 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 numbers used in this way are 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 indicated.

[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 simply describes an association relationship between associated objects, indicating that three relationships can exist. For example, "A and / or B" can represent the existence of three situations: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" herein refers to any combination of at least two of any one or more of a plurality of items. For example, "at least one of A, B, and C" can represent any one or more elements selected from the set consisting of A, B, and C.

[0061] In addition, numerous specific details are provided in the following detailed description to better illustrate the present disclosure. Those skilled in the art will appreciate that the present disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art are not described in detail in order to highlight the main points of the present disclosure.

[0062] Figure 1A schematic diagram of a process for docking a split flying car 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 the flight module, determine 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, and the docking request instruction includes a target docking area, which is determined by the flight module based on a current position of the chassis module.

[0064] The split-body flying car includes a flight module and a chassis module. When the flight and chassis modules are separated, the chassis module communicates with the flight module in real time via 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, which responds to control requests from 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, which represents a request for control of the chassis module.

[0065] The execution subject of this application is the chassis module. After the flight module is scheduled to land, the target docking area is determined based on 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 a 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 receiving the docking request instruction, the chassis module detects whether the inclination angle of the chassis module relative to the horizontal plane at the current position meets the preset angle condition. If so, 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, the docking confirmation instruction including 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, ensuring that its own state meets the landing requirements of the flight module, avoiding rollover accidents during the docking process, and improving the safety and efficiency of the docking between the two.

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

[0072] S1011. 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;

[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 a safe landing requirement. For example, the preset angle value may be 0.

[0075] In some embodiments, the chassis module calculates an inclination angle relative to a horizontal plane at the current position based on the pitch angle information and the roll angle information to obtain a first inclination angle. If the first inclination angle is less than or equal to a preset angle value, the current position is determined to be a 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 tilt 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: 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 meets a first preset obstacle condition and the slope information of the docking area to be tested meets a second preset slope condition;

[0081] S113: Determine 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 and controlling the chassis module to travel to the position to be tested of the currently traversed docking area to be tested, the inclination angle of the chassis module at the position to be tested and the horizontal plane is determined, wherein the position to be tested can be one or more. If there are multiple positions to be tested, the positions to be tested are traversed in sequence. The position to be tested can be determined based on 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 the target docking position is continued to be searched 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 based on the bottom surface area of ​​the chassis module, where the bottom surface of the chassis module is the surface facing the ground. The center point of the docking area to be tested is used as the test position. At least one docking area to be tested is traversed, and the chassis module is controlled to move 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 test position of the currently traversed docking area is the target docking position.

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

[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 measured;

[0090] S1142: For the current position to be measured, determine a second tilt angle corresponding to the current position to be measured to obtain a determination result, where the second tilt angle is used to represent a tilt 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 and is not the current position to be measured among the multiple positions to be measured is determined as the current position to be measured;

[0092] S1144, repeatedly executing the steps of: for the current position to be measured, determining the second tilt angle corresponding to the current position to be measured, and obtaining a determination 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 target docking positions;

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

[0094] 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, the chassis module is controlled to move to the currently traversed position to be measured, and the second inclination angle of the chassis module on the currently traversed position to be measured is obtained. 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, 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.

[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, environmental information of the target docking area is obtained; a 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 measured exists in the current area to be measured, if not, execute S2, if yes, execute S4;

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

[0102] S4, control the chassis module to move to the current position to be measured in the current area to be measured, and determine whether the second tilt angle corresponding to the current position to be measured 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 target docking positions that meet the docking requirements in the current area to be tested, thereby improving the efficiency and accuracy of searching for target docking positions.

[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 can be that the flatness is less than or equal to the preset flatness value, and the position where the flatness is less than or equal to the preset flatness value is used as the position to be measured, wherein the size of the position to be measured can 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 measured includes a position to be measured, which is a position in the current area to be measured that has the highest flatness and is closest to the chassis module. Controlling the chassis module to move in the current area to be measured to determine the target docking position includes:

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

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

[0114] The area with the highest flatness in the current test area is used as the test position, and the chassis module is controlled to move to the test position. If the second tilt angle corresponding to the chassis module at the test position meets the preset angle condition, the test position 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 chassis module at the current position, 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 a pitch angle value, and the roll angle information includes a roll angle value. The pitch angle value and the roll angle value of the chassis module at the current position are obtained based on an angle measurement device preset on the chassis module, and the first tilt angle is calculated by using a trigonometric function based on 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 tilt angle determination, and quickly detects whether the current position meets the docking requirements.

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

[0123] If the target docking position does not exist in 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.

[0124] After traversing and testing every test location in each docking area, if no target docking location is found, a docking area invalidation command is sent to the flight module. Upon receiving the docking area invalidation command, the flight module replans the docking area and resends the docking request command after confirming the docking area. This ensures the validity of the docking area and the determination of the target docking location, thereby ensuring the safety and stability of docking.

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

[0126] a docking position determination module 10, 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;

[0127] A docking instruction sending module 20 is used to send a docking confirmation instruction to the flight module, where 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 tilt angle determining unit, configured to determine a first tilt angle corresponding to a current position, the first tilt angle being used to represent a tilt angle of the chassis module relative to a horizontal plane at the current position;

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

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

[0133] an environmental information determining 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 to be tested determining unit, 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 test area determination unit is configured to determine, from the at least one test area, a test area closest to the chassis module as the current test area;

[0136] a first target docking position determining unit, configured 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 repeatedly execute 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 multiple locations to be measured;

[0140] a judgment unit, configured to judge a second tilt angle corresponding to the current position to be measured, and obtain a judgment result, wherein the second tilt angle is used to represent a tilt 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 measured area, configured to determine, when a judgment result indicates that none of the second tilt angles corresponding to the current measured position satisfies a preset angle condition, any measured position that has not been traversed and is not the current measured position among the multiple measured positions as the current measured position;

[0142] a repeating execution unit, configured to repeatedly execute the steps of: for a current position to be measured, determining a second tilt angle corresponding to the current position to be measured, and obtaining a determination result; until the second tilt angle corresponding to the current position to be measured meets a preset angle condition, or none of the multiple positions to be measured is a target docking position;

[0143] The second target docking position determining unit is configured to determine the current position to be measured as the target docking position when a 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-to-be-measured-position determining unit is configured to determine multiple to-be-measured positions based on the flatness information, wherein the flatness information of the to-be-measured positions satisfies a 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 that has the highest flatness and is 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 is used to control the chassis module to move to a position to be tested;

[0149] The third target docking position determining unit is configured 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 chassis module at the current position, the angle information including pitch angle information and roll angle information of the chassis module;

[0152] The first tilt angle calculation unit is configured 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 replans the docking area and resends 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. For the sake of brevity, it will not be repeated here.

[0156] An embodiment of the present application provides a split-type flying car docking device, which can be a terminal or a server. The split-type flying car docking device includes a processor and a memory. The memory stores at least one instruction or at least one program. The at least one instruction or at least one program is loaded and executed by the processor to implement the split-type 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. The program storage area can store the operating system, application programs required for functions, etc.; the data storage area can store data created based on the use of the device, etc. In addition, the memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. 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. Figure 10 This is a hardware structure diagram of an electronic device for a split-type flying car docking method provided in an embodiment of the present application. Figure 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 (CPUs) 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 temporary storage or permanent storage. The program stored in the storage medium 920 may include one or more modules, each of which may include a series of instruction operations on the electronic device. Furthermore, the central processing unit 910 may 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 Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0159] The input / output interface 940 can be used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by a communications provider of the electronic device 900. In one embodiment, the input / output interface 940 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the input / output interface 940 can be a radio frequency (RF) module for wireless communication with the Internet.

[0160] It can be understood by those skilled in the art that Figure 10 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 10 More or fewer components than shown, or with Figure 10 Different configurations 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 implementing a split-flying car docking method in a method embodiment. 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 a plurality of network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, 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 computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various optional implementations described above.

[0164] As can be seen from the embodiments of the split-type flying car docking method, device, equipment, terminal, server, storage medium, or computer program provided by the present application, the present application determines the coordinate information of the target docking position in response to the flight module, the target docking position being 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 including the target docking area, the target docking area being determined by the flight module based on the current position of the chassis module; sends a docking confirmation instruction to the flight module, the docking confirmation instruction including the coordinate information; and controls the chassis module to dock with the flight module when the flight module reaches the target docking position. Thus, during the docking process between the flight module and the chassis module, the target docking position is determined by the inclination angle of the chassis module relative to the horizontal plane and the environmental information, which can ensure that the chassis module is on a relatively flat ground, allowing the flight module to dock smoothly with the chassis module, avoiding rollover accidents, and improving the efficiency of the docking between the flight module and the chassis module.

[0165] It should be noted that the order of the embodiments of the present application described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described 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 accompanying 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] The various embodiments in this application are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device, equipment, and storage medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For relevant portions, refer to the descriptions of the method embodiments.

[0167] Those 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 replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A split-type flying car docking method, characterized in that: The split-type flying car includes a flight module and a chassis module. The method is applied to the chassis module, and the method includes: determining, in response to a docking request command sent by the flight module, coordinate information of a target docking position, the target docking position being determined by an inclination angle of the chassis module relative to a horizontal plane and environmental information of a target docking area, the docking request command including a target docking area, the target docking area being determined by the flight module based on a 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: 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; 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 meets a first preset obstacle condition and the slope information of the docking area to be tested meets a second preset slope condition; Determine, among the at least one docking area to be tested, the docking area to be tested that is closest to the chassis module as the current docking area to be tested; Controlling the chassis module to move in the current test area 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 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; until the target docking position is determined in the current area to be tested, or the target docking position does not exist in the at least one docking area 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 tilt angle corresponding to the current position to be measured is judged to obtain a judgment result, where the second tilt angle is used to represent the tilt 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 tilt angle corresponding to the current position to be measured does 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; 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 none of the multiple positions to be measured is the target docking position; 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: Acquiring 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 meets 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, where the position to be tested is a position in the current area to be tested that has the highest flatness and is 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 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.

7. The method according to claim 2, characterized in that Determining the first tilt angle corresponding to the current position includes: Acquire angle information corresponding to the chassis module at the current position, the angle information including 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-type flying car docking device, characterized in that: The split-type flying car includes a flight module and a chassis module. The device is applied to the chassis module and includes: a docking position determination module, configured to determine, in response to information transmitted by the flight module, coordinate information of a target docking position, 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; a docking instruction sending module, configured to send 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 according to any one of claims 1 to 8.

Images