Split type hovercar docking method and device, storage medium and electronic equipment

Abstract

The invention relates to a split type hovercar docking method and device, a storage medium and electronic equipment. The method comprises the following steps: in response to a docking request instruction sent by a flight module, sending coordinate information corresponding to a current position of an intelligent chassis to the flight module, so that the flight module moves to a target docking position based on the coordinate information; determining a target inclination angle between the docking platform unit and the horizontal plane; if the target inclination angle does not meet the preset inclination condition, the angle between the docking platform unit and the horizontal plane is adjusted, so that the angle between the docking platform unit and the horizontal plane is smaller than or equal to a preset angle threshold value; and under the condition that the angle between the docking platform unit and the horizontal plane is smaller than or equal to a preset angle threshold value and the flight module reaches the target docking position, controlling the docking platform unit to be docked with the flight module based on the real-time flight angle information of the flight module. The problem of accidents such as rollover caused by uneven butt joint points during butt joint of split type hovercars can be solved.

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 an intelligent chassis. In the prior art, the focus is on studying the mechanical structure of the flight module and the intelligent chassis docking. However, when the flight module is docked with the intelligent chassis, 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 an intelligent chassis and a flight module, wherein the intelligent chassis comprises a docking platform unit, and the method is applied to the intelligent chassis, and comprises:

[0006] In response to the docking request instruction sent by the flight module, the coordinate information corresponding to the current position of the intelligent chassis is sent to the flight module, so that the flight module moves to a target docking position based on the coordinate information, and the target docking position is a position at a preset distance above the current position in the vertical direction;

[0007] determining a target tilt angle between the docking platform unit and a horizontal plane;

[0008] If the target tilt angle does not meet the preset tilt condition, adjusting the angle between the docking platform unit and the horizontal plane so that the angle between the docking platform unit and the horizontal plane is less than or equal to a preset angle threshold;

[0009] When the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold and the flight module reaches the target docking position, the docking platform unit is controlled to dock with the flight module based on the real-time flight angle information of the flight module.

[0010] In some possible implementations, the docking platform unit includes a horizontal measurement device, and determining a target inclination angle between the docking platform unit and a horizontal plane includes:

[0011] Acquiring chassis angle information of the docking platform unit through the horizontal measurement device, wherein the chassis angle information includes chassis pitch angle information and chassis roll angle information;

[0012] The target tilt angle is determined based on the chassis pitch angle information and the chassis roll angle information.

[0013] In some possible implementations, the smart chassis includes a basic chassis unit and a horizontal adjustment unit, the horizontal adjustment unit includes at least two support rods and a support rod adjustment device, the at least two support rods are used to connect the basic chassis unit and the docking platform unit, and the adjusting the angle between the docking platform unit and the horizontal plane includes:

[0014] Determining pitch angle difference information between the chassis pitch angle information and preset pitch angle threshold information;

[0015] Determine roll angle difference information between the chassis roll angle information and preset roll angle threshold information, wherein the preset angle threshold is determined based on the preset pitch angle threshold information and the preset roll angle threshold information;

[0016] Calculating a target stroke corresponding to each support rod and a target speed corresponding to each support rod based on the pitch angle difference information, the roll angle difference information and a target time, wherein the target time is the time before the flight module reaches the target docking position;

[0017] The support rod adjustment device is controlled to adjust the at least two support rods based on the target stroke corresponding to each support rod and the target speed corresponding to each support rod.

[0018] In some possible implementations, after adjusting the at least two support rods, the method further includes:

[0019] If within the preset time, the angle between the docking platform unit and the horizontal plane is greater than the preset angle threshold, repeat the steps of determining the pitch angle difference information between the chassis pitch angle information and the preset pitch angle threshold information to controlling the support rod adjustment device to adjust the at least two support rods based on the target stroke corresponding to each support rod and the target speed corresponding to each support rod, until the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold, or the adjustment time exceeds the preset time.

[0020] In some possible implementations, controlling the docking platform unit to dock with the flight module based on the real-time flight angle information of the flight module includes:

[0021] Acquire real-time flight angle information of the flight module in real time, wherein the real-time flight angle information includes flight pitch angle information and flight roll angle information;

[0022] Determine a real-time flight tilt angle of the flight module based on the flight pitch angle information and the flight roll angle information;

[0023] If the real-time flight tilt angle meets the preset tilt condition, the docking platform unit is adjusted based on the real-time flight tilt angle so that the docking platform unit and the flight module reach a parallel state.

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

[0025] After the docking of the docking platform unit and the flight module is completed, the horizontal adjustment unit is controlled to return to an initial state so that the basic chassis unit and the docking platform unit are in a parallel state.

[0026] In some possible implementations, the method further includes:

[0027] When the angle between the docking platform unit and the horizontal plane is greater than the preset angle threshold within the preset time, sending an invalid docking position instruction to the flight module, so that the flight module determines a new docking position and sends a docking instruction, wherein the docking instruction includes target coordinate information of the new docking position;

[0028] Move to the new docking position based on the target coordinate information.

[0029] 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 an intelligent chassis and a flight module, the intelligent chassis comprises a docking platform unit, the device is applied to the intelligent chassis, and the device comprises:

[0030] a docking request instruction sending module, configured to send coordinate information corresponding to the current position of the intelligent chassis to the flight module in response to the docking request instruction sent by the flight module, so that the flight module flies to a target docking position based on the coordinate information, wherein the target docking position is a position at a preset distance above the current position in a vertical direction;

[0031] A target tilt angle determination module, used to determine a target tilt angle between the docking platform unit and a horizontal plane;

[0032] An angle adjustment module, used for adjusting the angle between the docking platform unit and the horizontal plane if the target tilt angle does not meet the preset tilt condition, so that the angle between the docking platform unit and the horizontal plane is less than or equal to a preset angle threshold;

[0033] A docking module is used to control the docking platform unit to dock with the flight module based on the real-time flight angle information of the flight module when the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold and the flight module reaches the target docking position.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] The implementation of this disclosure has the following beneficial effects:

[0038] In response to the docking request instruction sent by the flight module, the coordinate information corresponding to the current position of the intelligent chassis is sent to the flight module, so that the flight module moves to the target docking position based on the coordinate information, and the target docking position is a position at a preset distance above the current position in the vertical direction; determine the target tilt angle between the docking platform unit and the horizontal plane; if the target tilt angle does not meet the preset tilt condition, adjust the angle between the docking platform unit and the horizontal plane so that the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold; when the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold and the flight module reaches the target docking position, control the docking platform unit and the flight module to dock based on the real-time flight angle information of the flight module. If the docking platform unit of the intelligent chassis does not meet the preset tilt condition at the current position, the docking platform unit is adjusted so that the angle between the docking platform unit and the horizontal plane meets the docking requirement, meets the docking requirements of the flying car in various terrains, and solves the accident problems such as rollover caused by uneven docking points when the split flying car is docked. At the same time, the position information is sent to the flight module in advance, so that the platform unit is adjusted when the flight module moves to the target docking position, thereby improving the docking efficiency.

[0039] 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

[0040] 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.

[0041] 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;

[0042] Figure 2 A schematic diagram showing a flow chart of a method for determining a target tilt angle according to an embodiment of the present disclosure;

[0043] Figure 3 A schematic diagram showing a flow chart of a support rod adjustment method according to an embodiment of the present disclosure;

[0044] Figure 4 A schematic structural diagram of a split flying car according to an embodiment of the present disclosure is shown;

[0045] Figure 5 A schematic diagram showing a flow chart of a support rod cyclic adjustment method according to an embodiment of the present disclosure;

[0046] Figure 6 A schematic diagram showing a flow chart of a method for balancing a docking platform unit and a flight module according to an embodiment of the present disclosure;

[0047] Figure 7 A schematic diagram showing a flow chart of a method for restoring a level adjustment unit according to an embodiment of the present disclosure;

[0048] Figure 8 A schematic diagram showing a flow chart of a new docking position determination method according to an embodiment of the present disclosure;

[0049] Fig. 9 A schematic structural diagram of a split-type flying car docking device according to an embodiment of the present disclosure is shown;

[0050] Fig.10 A block diagram of an electronic device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] Figure 1 A schematic flow chart of a split flying car docking method according to an embodiment of the present disclosure is shown, wherein the split flying car comprises an intelligent chassis and a flight module, wherein the intelligent chassis comprises a docking platform unit, and the method is applied to the intelligent chassis, such as Figure 1 As shown, it includes:

[0058] S101, in response to a docking request instruction sent by the flight module, sending coordinate information corresponding to the current position of the intelligent chassis to the flight module, so that the flight module moves to a target docking position based on the coordinate information, and the target docking position is a position at a preset distance above the current position in a vertical direction;

[0059] The split flying car includes a flight module and an intelligent chassis. When the flight module and the intelligent chassis are in a split state, the intelligent chassis communicates with the flight module in real time through radio. When the flight module has a landing requirement, it sends a docking request command to the intelligent chassis. After receiving the docking request command, the intelligent chassis sends the coordinate information corresponding to the current position to the flight module. After receiving the coordinate information, the flight module moves to the target docking position at a preset distance directly above the current position of the intelligent chassis based on the coordinate information to prepare for docking with the intelligent chassis.

[0060] S102, determining a target tilt angle between the docking platform unit and a horizontal plane;

[0061] The intelligent chassis includes a basic chassis unit, a docking platform unit and a horizontal adjustment unit. The docking platform unit and the basic chassis unit are connected through the horizontal adjustment unit. The docking platform unit is used to be detachably connected with the flight module, that is, the flight module lands and is fixed on the docking platform unit. The inclination angle of the docking platform unit affects the inclination of the flight module when docking. Therefore, the inclination angle between the docking platform and the horizontal plane is determined, that is, the target inclination angle is determined.

[0062] S103: If the target tilt angle does not meet the preset tilt condition, adjust the angle between the docking platform unit and the horizontal plane so that the angle between the docking platform unit and the horizontal plane is less than or equal to a preset angle threshold;

[0063] The preset tilt condition may be that the target tilt angle is less than or equal to a preset angle threshold, and the preset angle threshold may be determined according to actual conditions, such as according to the weight of the flight module. If the target tilt angle is greater than the preset angle threshold, at this time, the tilt angle of the docking platform unit is relatively large. When the flight module is docked with the docking platform, the flight module needs to be tilted at an angle corresponding to the docking platform unit to achieve the mechanical docking task. When the tilt angle of the flight module is relatively large, it is easy to roll over during docking. Therefore, the angle between the docking platform unit and the horizontal plane is adjusted by the horizontal adjustment unit so that the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold, thereby ensuring that the tilt angle of the docking platform unit relative to the horizontal plane is within a safe range.

[0064] S104. When the angle between the docking platform unit and the horizontal plane is less than or equal to a preset angle threshold and the flight module reaches the target docking position, control the docking platform unit to dock with the flight module based on the real-time flight angle information of the flight module.

[0065] When the angle between the docking platform unit and the horizontal plane meets the preset tilt condition, the intelligent chassis sends a docking command to the flight module. After receiving the docking confirmation command, if the flight module reaches the target docking position, it sends a docking confirmation command to the intelligent chassis. The flight module sends the real-time flight angle information to the intelligent chassis. Based on the real-time flight angle information of the flight module, the intelligent chassis controls the docking platform unit and the flight module to perform mechanical docking to realize the transition from the separated state to the combined state.

[0066] The above technical solution, if the docking platform unit of the intelligent chassis does not meet the preset tilt condition at the current position, adjust the docking platform unit so that the angle between the docking platform unit and the horizontal plane meets the docking requirement, meets the docking requirements of the flying car in various terrains, and solves the accident problems such as rollover caused by uneven docking points when the split flying car docks. At the same time, the position information is sent to the flight module in advance, so that the docking platform unit is adjusted when the flight module moves to the target docking position, improving the docking efficiency of the intelligent chassis and the flight module.

[0067] See also Figure 2 In some embodiments, the docking platform unit includes a horizontal measurement device, and determining a target tilt angle between the docking platform unit and the horizontal plane includes:

[0068] S1021. Acquire chassis angle information of the docking platform unit through a horizontal measurement device, where the chassis angle information includes chassis pitch angle information and chassis roll angle information;

[0069] S1022: Determine a target tilt angle based on the chassis pitch angle information and the chassis roll angle information.

[0070] The horizontal measuring device is arranged on the docking platform unit, and is used to obtain the pitch angle and the roll angle of the docking platform unit. The roll angle value and the pitch angle value are used to calculate the target tilt angle through trigonometric functions.

[0071] The level measuring device includes an electronic level measuring instrument or an inertial measurement unit (I MU).

[0072] In other embodiments, the intelligent chassis may determine a target tilt angle corresponding to the docking platform unit at the current position according to a preset angle measuring device on the docking platform unit. Exemplarily, the preset angle measuring device may be a tilt sensor.

[0073] The above technical solution can quickly and accurately determine the target tilt angle of the docking platform unit through the roll angle and the pitch angle, thereby improving the docking efficiency of the intelligent chassis and the flight module.

[0074] See also Figure 3 In some embodiments, the intelligent chassis includes a basic chassis unit and a horizontal adjustment unit, the horizontal adjustment unit includes at least two support rods and a support rod adjustment device, the at least two support rods are used to connect the basic chassis unit and the docking platform unit, and adjusting the angle between the docking platform unit and the horizontal plane includes:

[0075] S1031, determining pitch angle difference information between chassis pitch angle information and preset pitch angle threshold information;

[0076] S1032, determining roll angle difference information between chassis roll angle information and preset roll angle threshold information, where the preset angle threshold is determined based on preset pitch angle threshold information and preset roll angle threshold information;

[0077] S1033, calculating a target stroke corresponding to each support rod and a target speed corresponding to each support rod based on the pitch angle difference information, the roll angle difference information and the target time, where the target time is the time before the flight module reaches the target docking position;

[0078] S1034, controlling the support rod adjustment device to adjust at least two support rods based on the target stroke corresponding to each support rod and the target speed corresponding to each support rod.

[0079] The support rod adjustment device is used to adjust at least two support rods. The basic chassis unit is used to communicate with the flight module in real time, control the intelligent chassis to travel on the ground and control the docking of the intelligent chassis and the flight module. The execution unit of the intelligent chassis can be the basic chassis unit. The intelligent chassis unit and the docking platform unit are fixedly connected through the horizontal adjustment unit.

[0080] The chassis pitch angle information includes the chassis pitch angle value, the preset pitch angle threshold information includes the preset pitch angle threshold, the chassis roll angle information includes the chassis roll angle value, the preset roll angle threshold information includes the preset roll angle threshold, and the preset angle threshold is calculated by the preset pitch angle threshold and the preset roll angle threshold.

[0081] The pitch angle of the chassis is subtracted from the preset pitch angle threshold to obtain the pitch angle difference, the roll angle of the chassis is subtracted from the preset roll angle threshold to obtain the roll angle difference, and the travel information of each support rod is obtained; based on the pitch angle difference, the roll angle difference, the travel information of each support rod and the target time, the target travel and target speed corresponding to each support rod are calculated. The intelligent chassis control support rod adjustment device adjusts at least two support rods based on the target travel and target speed corresponding to each support rod.

[0082] In some embodiments, the support rod is a hydraulic support rod, and the support rod adjustment device is hydraulically electrically controlled. Figure 4 As shown, the split flying car includes a flight module and an intelligent chassis. The intelligent chassis includes a docking platform unit, a horizontal adjustment unit and a basic chassis module. The basic chassis module is composed of power, transmission, chassis intelligent driving system, communication equipment and other components; the horizontal adjustment unit includes at least two hydraulic support rods and hydraulic electric control, the docking platform unit includes a horizontal measurement device and a locking mechanism, and the docking platform unit also includes a landing platform and communication equipment and other components. The docking platform unit is detachably connected to the flight module through a locking mechanism. The basic chassis module is fixedly connected to the docking platform unit through the horizontal adjustment unit.

[0083] The above technical solution calculates the target stroke of each support rod by the angle difference, and accurately and quickly adjusts at least the support rod, so that the angle between the docking platform unit and the horizontal plane meets the preset tilt condition at one time, thereby improving the docking efficiency between the intelligent chassis and the flight module.

[0084] See also Figure 5 In some embodiments, after adjusting the at least two support rods, the method further comprises:

[0085] S1035. If within the preset time, the angle between the docking platform unit and the horizontal plane is greater than the preset angle threshold, repeatedly determine the pitch angle difference information between the chassis pitch angle information and the preset pitch angle threshold information to control the support rod adjustment device to adjust at least two support rods based on the target stroke corresponding to each support rod and the target speed corresponding to each support rod, until the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold, or the adjustment time exceeds the preset time.

[0086] If the angle between the docking platform unit and the horizontal plane is detected again after the support rod is adjusted within the preset time, if the angle between the docking platform unit and the horizontal plane is still greater than the preset angle threshold, the support rod adjustment step is repeated until the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold, or the adjustment time exceeds the preset time. The adjustment time is the time for adjusting the support rod.

[0087] In the above technical solution, if the one-time adjustment of the support rod is unsuccessful, it can be adjusted multiple times within a preset time to ensure that the angle between the docking platform unit and the horizontal plane meets the preset tilt condition, thereby ensuring the safe docking of the flight module and the intelligent chassis.

[0088] See also Figure 6 In some embodiments, controlling the docking platform unit to dock with the flight module based on the real-time flight angle information of the flight module includes:

[0089] S1041, acquiring real-time flight angle information of the flight module in real time, where the real-time flight angle information includes flight pitch angle information and flight roll angle information;

[0090] S1042, determining a real-time flight tilt angle of the flight module based on the flight pitch angle information and the flight roll angle information;

[0091] S1043: If the real-time flight tilt angle meets the preset tilt condition, adjust the docking platform unit based on the real-time flight tilt angle so that the docking platform unit and the flight module are in a parallel state.

[0092] In some embodiments, during the process of mechanical docking between the flight module and the intelligent chassis, the flight module sends real-time flight angle information to the flight module in real time, and the intelligent chassis receives the real-time flight angle information sent by the flight module. The flight pitch angle information includes a flight pitch angle value, and the flight roll angle information includes a flight roll angle value. The real-time flight tilt angle of the flight module is determined based on the flight pitch angle value and the flight roll angle value.

[0093] If the real-time flight tilt angle is less than or equal to the preset angle threshold, that is, the tilt angle of the flight module is not large, the intelligent chassis adjusts the docking platform unit through at least two support rods according to the real-time flight tilt angle of the flight module, so that the docking platform unit and the flight module are parallel to each other, so as to complete the mechanical docking process.

[0094] In the above technical solution, when the inclination angle of the flight module is small, the docking platform unit is controlled to adjust the inclination accordingly to achieve a state parallel to the flight module, thereby ensuring that the mechanical docking process of the two is completed smoothly.

[0095] See also Figure 7 In some embodiments, the method further comprises:

[0096] S201. After the docking of the docking platform unit and the flight module is completed, the horizontal adjustment unit is controlled to return to an initial state so that the basic chassis unit and the docking platform unit are in a parallel state.

[0097] After the flight module completes docking with the docking platform unit, the intelligent chassis controls at least two support rods of the horizontal adjustment unit to return to their initial state, so that the docking platform unit returns to its initial state and is in a parallel state with the basic chassis unit.

[0098] According to the above technical solution, after the docking is completed, the docking platform unit is restored to its initial state through the horizontal adjustment unit, so that the docking platform unit and the basic chassis unit are balanced, thereby ensuring the stability of the flying car.

[0099] See also Figure 8 In some embodiments, the method further comprises:

[0100] S301, when the angle between the docking platform unit and the horizontal plane is greater than a preset angle threshold within a preset time, sending an invalid docking position instruction to the flight module, so that the flight module determines a new docking position and sends a docking instruction, where the docking instruction includes target coordinate information of the new docking position;

[0101] S302: Move to a new docking position based on the target coordinate information.

[0102] If the angle between the docking platform unit and the horizontal plane is still greater than the preset angle threshold after the docking platform unit is adjusted multiple times within the preset time, in order to improve the docking efficiency, an invalid docking position instruction is sent to the flight module. After receiving the invalid docking position instruction, the flight module determines a new docking position nearby based on the current position of the smart chassis, and packages the target coordinate information of the new docking position in the docking instruction and sends it to the smart chassis. After the smart chassis moves to the new docking position according to the target coordinate information, it repeats the steps of determining the target tilt angle between the docking platform unit and the horizontal plane to controlling the docking platform unit to dock with the flight module based on the real-time flight angle information of the flight module until the docking is completed.

[0103] In the above technical solution, if the current position of the smart chassis cannot level the docking platform unit through the horizontal adjustment unit within the preset time, in order to improve the docking efficiency, the docking position is re-determined through the flight module to ensure that the docking between the smart chassis and the flight module can be carried out quickly and safely.

[0104] See also Fig. 9 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 an intelligent chassis and a flight module, the intelligent chassis comprises a docking platform unit, the device is applied to the intelligent chassis, and the device comprises:

[0105] The docking request instruction sending module 10 is used to send coordinate information corresponding to the current position of the intelligent chassis to the flight module in response to the docking request instruction sent by the flight module, so that the flight module flies to a target docking position based on the coordinate information, and the target docking position is a position at a preset distance above the current position in the vertical direction;

[0106] A target tilt angle determination module 20, for determining a target tilt angle between the docking platform unit and a horizontal plane;

[0107] An angle adjustment module 30, for adjusting the angle between the docking platform unit and the horizontal plane if the target tilt angle does not meet the preset tilt condition, so that the angle between the docking platform unit and the horizontal plane is less than or equal to a preset angle threshold;

[0108] The docking module 40 is used to control the docking platform unit to dock with the flight module based on the real-time flight angle information of the flight module when the angle between the docking platform unit and the horizontal plane is less than or equal to a preset angle threshold and the flight module reaches the target docking position.

[0109] In some embodiments, the docking platform unit includes a level measuring device, and the target tilt angle determination module 20 includes:

[0110] A chassis angle information acquisition unit, used to acquire chassis angle information of the docking platform unit through a horizontal measurement device, wherein the chassis angle information includes chassis pitch angle information and chassis roll angle information;

[0111] The target tilt angle calculation unit is used to determine the target tilt angle based on the chassis pitch angle information and the chassis roll angle information.

[0112] In some embodiments, the intelligent chassis includes a basic chassis unit and a horizontal adjustment unit, the horizontal adjustment unit includes at least two support rods and a support rod adjustment device, the at least two support rods are used to connect the basic chassis unit and the docking platform unit, and the angle adjustment module 30 includes:

[0113] A pitch angle difference determination unit, used to determine pitch angle difference information between chassis pitch angle information and preset pitch angle threshold information;

[0114] A roll angle difference determination unit, used to determine roll angle difference information between chassis roll angle information and preset roll angle threshold information, wherein the preset angle threshold is determined based on preset pitch angle threshold information and preset roll angle threshold information;

[0115] A calculation unit, used to calculate a target stroke corresponding to each support rod and a target speed corresponding to each support rod based on the pitch angle difference information, the roll angle difference information and the target time, wherein the target time is the time before the flight module reaches the target docking position;

[0116] The support rod adjustment unit is used to control the support rod adjustment device to adjust at least two support rods based on a target stroke corresponding to each support rod and a target speed corresponding to each support rod.

[0117] In some embodiments, after adjusting the at least two support rods, the apparatus further comprises:

[0118] A loop unit is used to repeatedly determine the pitch angle difference information between the chassis pitch angle information and the preset pitch angle threshold information to control the support rod adjustment device to adjust at least two support rods based on the target stroke corresponding to each support rod and the target speed corresponding to each support rod, if the angle between the docking platform unit and the horizontal plane is greater than the preset angle threshold within the preset time, until the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold, or the adjustment time exceeds the preset time.

[0119] In some embodiments, the docking module 40 includes:

[0120] A flight angle information acquisition unit, used to acquire real-time flight angle information of the flight module in real time, where the real-time flight angle information includes flight pitch angle information and flight roll angle information;

[0121] A flight tilt angle determination unit, used to determine a real-time flight tilt angle of the flight module based on the flight pitch angle information and the flight roll angle information;

[0122] The parallel adjustment unit is used to adjust the docking platform unit based on the target difference angle if the real-time flight tilt angle meets the preset tilt condition, so that the docking platform unit and the flight module reach a parallel state.

[0123] In some embodiments, the apparatus further comprises:

[0124] The initial state recovery module is used to control the horizontal adjustment unit to return to the initial state after the docking platform unit and the flight module have completed docking, so that the basic chassis unit and the docking platform unit are in a parallel state.

[0125] In some embodiments, the apparatus further comprises:

[0126] An invalid instruction sending module is used to send an invalid docking position instruction to the flight module when the angle between the docking platform unit and the horizontal plane is greater than a preset angle threshold within a preset time, so that the flight module determines a new docking position and sends a docking instruction, wherein the docking instruction includes target coordinate information of the new docking position;

[0127] The moving module is used to move to a new docking position based on the target coordinate information.

[0128] 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.

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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.

[0136] 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.

[0137] It can be seen from the embodiments of the split flying car docking method, device, equipment, terminal, server, storage medium or computer program provided by the above-mentioned present application that the present application sends the coordinate information corresponding to the current position of the intelligent chassis to the flight module in response to the docking request instruction sent by the flight module, so that the flight module moves to the target docking position based on the coordinate information, and the target docking position is a position at a preset distance above the current position in the vertical direction; determines the target inclination angle between the docking platform unit and the horizontal plane; if the target inclination angle does not meet the preset inclination condition, adjusts the angle between the docking platform unit and the horizontal plane so that the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold; when the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold and when the flight module reaches the target docking position, controls the docking platform unit and the flight module to dock based on the real-time flight angle information of the flight module. If the docking platform unit of the intelligent chassis does not meet the preset tilt condition at the current position, the docking platform unit is adjusted so that the angle between the docking platform unit and the horizontal plane meets the docking requirement, meeting the docking requirements of the flying car in various terrains and solving the accident problems such as rollover caused by uneven docking points when the split flying car is docked. At the same time, the position information is sent to the flight module in advance, so that the platform unit is adjusted when the flight module moves to the target docking position to improve the docking efficiency.

[0138] 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.

[0139] 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.

[0140] 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.

[0141] 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 includes an intelligent chassis and a flying module, the intelligent chassis includes a docking platform unit, and the method is applied to the intelligent chassis, and the method includes: In response to the docking request instruction sent by the flight module, the coordinate information corresponding to the current position of the intelligent chassis is sent to the flight module, so that the flight module moves to a target docking position based on the coordinate information, and the target docking position is a position at a preset distance above the current position in the vertical direction; determining a target tilt angle between the docking platform unit and a horizontal plane; If the target tilt angle does not meet the preset tilt condition, adjusting the angle between the docking platform unit and the horizontal plane so that the angle between the docking platform unit and the horizontal plane is less than or equal to a preset angle threshold; When the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold and the flight module reaches the target docking position, the docking platform unit is controlled to dock with the flight module based on the real-time flight angle information of the flight module.

2. The method according to claim 1, characterized in that The docking platform unit includes a horizontal measurement device, and determining a target inclination angle between the docking platform unit and a horizontal plane includes: Acquiring chassis angle information of the docking platform unit through the horizontal measurement device, wherein the chassis angle information includes chassis pitch angle information and chassis roll angle information; The target tilt angle is determined based on the chassis pitch angle information and the chassis roll angle information.

3. The method according to claim 2, characterized in that The intelligent chassis comprises a basic chassis unit and a horizontal adjustment unit, wherein the horizontal adjustment unit comprises at least two support rods and a support rod adjustment device, wherein the at least two support rods are used to connect the basic chassis unit and the docking platform unit, and the angle between the docking platform unit and the horizontal plane is adjusted as follows: Determining pitch angle difference information between the chassis pitch angle information and preset pitch angle threshold information; Determine roll angle difference information between the chassis roll angle information and preset roll angle threshold information, wherein the preset angle threshold is determined based on the preset pitch angle threshold information and the preset roll angle threshold information; Calculating a target stroke corresponding to each support rod and a target speed corresponding to each support rod based on the pitch angle difference information, the roll angle difference information and a target time, wherein the target time is the time before the flight module reaches the target docking position; The support rod adjustment device is controlled to adjust the at least two support rods based on the target stroke corresponding to each support rod and the target speed corresponding to each support rod.

4. The method according to claim 3, characterized in that After adjusting the at least two support rods, the method further comprises: If within the preset time, the angle between the docking platform unit and the horizontal plane is greater than the preset angle threshold, repeat the steps of determining the pitch angle difference information between the chassis pitch angle information and the preset pitch angle threshold information to controlling the support rod adjustment device to adjust the at least two support rods based on the target stroke corresponding to each support rod and the target speed corresponding to each support rod, until the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold, or the adjustment time exceeds the preset time.

5. The method according to claim 1, characterized in that The controlling the docking platform unit to dock with the flight module based on the real-time flight angle information of the flight module comprises: Acquire real-time flight angle information of the flight module in real time, wherein the real-time flight angle information includes flight pitch angle information and flight roll angle information; Determine a real-time flight tilt angle of the flight module based on the flight pitch angle information and the flight roll angle information; If the real-time flight tilt angle meets the preset tilt condition, the docking platform unit is adjusted based on the real-time flight tilt angle so that the docking platform unit and the flight module reach a parallel state.

6. The method according to claim 3, characterized in that The method further comprises: After the docking of the docking platform unit and the flight module is completed, the horizontal adjustment unit is controlled to return to an initial state so that the basic chassis unit and the docking platform unit are in a parallel state.

7. The method according to claim 4, characterized in that The method further comprises: When the angle between the docking platform unit and the horizontal plane is greater than the preset angle threshold within the preset time, sending an invalid docking position instruction to the flight module, so that the flight module determines a new docking position and sends a docking instruction, wherein the docking instruction includes target coordinate information of the new docking position; Move to the new docking position based on the target coordinate information.

8. A split flying car docking device, characterized in that: The split flying car includes an intelligent chassis and a flying module, the intelligent chassis includes a docking platform unit, the device is applied to the intelligent chassis, and the device includes: a docking request instruction sending module, configured to send coordinate information corresponding to the current position of the intelligent chassis to the flight module in response to the docking request instruction sent by the flight module, so that the flight module flies to a target docking position based on the coordinate information, wherein the target docking position is a position at a preset distance above the current position in a vertical direction; A target tilt angle determination module, used to determine a target tilt angle between the docking platform unit and a horizontal plane; An angle adjustment module, used for adjusting the angle between the docking platform unit and the horizontal plane if the target tilt angle does not meet the preset tilt condition, so that the angle between the docking platform unit and the horizontal plane is less than or equal to a preset angle threshold; A docking module is used to control the docking platform unit to dock with the flight module based on the real-time flight angle information of the flight module when the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold and the flight module reaches the target docking position.

9. 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 1-7.

10. An electronic device, characterized in that: The invention comprises at least one processor and a memory in communication with 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 claims 1 to 7 by executing the instructions stored in the memory.

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