Split flying car docking method and device, storage medium and electronic equipment

Abstract

The present disclosure relates to a split flying car docking method and device, a storage medium and an electronic device. The method comprises: in response to a docking request instruction sent by a 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 the 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 satisfy a preset inclination 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; in the case that 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, controlling the docking of the docking platform unit and the flight module based on the real-time flight angle information of the flight module. The present disclosure can solve the problem of rollover accidents caused by uneven docking points when the split flying car docks.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of flying cars, and particularly relates to a split flying car docking method and device, a storage medium and an electronic device. BACKGROUND

[0002] In recent years, urbanization vehicles are increasing in various places, and highway traffic is increasingly congested, traffic is under great pressure, and cannot meet the development needs of modern society and economy. With the popularity and heat of the concept of low-altitude economy, people are developing and researching low-altitude transportation tools, among which flying cars are the most representative.

[0003] The split flying car is composed of a flying module and an intelligent chassis. In the prior art, the mechanical structure of the docking of the flying module and the intelligent chassis is mainly studied, and when the flying module and the intelligent chassis are docked, safety accidents such as rollover are prone to occur. SUMMARY

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

[0005] According to an aspect of the present disclosure, a split flying car docking method is provided, the split flying car comprising an intelligent chassis and a flying module, the intelligent chassis comprising a docking platform unit, the method applied to the intelligent chassis, comprising:

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

[0007] Determine the target inclination angle between the docking platform unit and the horizontal plane;

[0008] If the target inclination angle does not meet the preset inclination 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;

[0009] In the case that the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold and the flying module reaches the target docking position, the docking platform unit and the flying module are docked based on real-time flight angle information of the flying module.

[0010] In some possible implementation manners, the docking platform unit comprises a horizontal measurement device, and the determination of the target inclination angle between the docking platform unit and the horizontal plane comprises:

[0011] acquiring chassis angle information of the docking platform unit by the horizontal measurement device, the chassis angle information comprising chassis pitch angle information and chassis roll angle information;

[0012] determining the target tilt angle based on the chassis pitch angle information and the chassis roll angle information.

[0013] In some possible embodiments, the intelligent chassis comprises a base chassis unit and a horizontal adjustment unit, the horizontal adjustment unit comprising at least two support rods and a support rod adjustment device, the at least two support rods being used to connect the base chassis unit and the docking platform unit, the adjusting the angle between the docking platform unit and the horizontal plane comprising:

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

[0015] determining roll angle difference information between the chassis roll angle information and preset roll angle threshold information, the preset angle threshold being 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, the target time being a time before the flight module reaches the target docking position;

[0017] 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.

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

[0019] if the angle between the docking platform unit and the horizontal plane is greater than a preset angle threshold within a preset time, repeating 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 embodiments, 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:

[0021] acquire real-time flight angle information of the flight module in real time, the real-time flight angle information comprising flight pitch angle information and flight roll angle information;

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

[0023] if the real-time flight inclination angle meets the preset inclination condition, adjust the docking platform unit based on the real-time flight inclination angle, so that the docking platform unit and the flight module reach a parallel state.

[0024] In some possible implementation manners, the method further comprises:

[0025] after the docking between the docking platform unit and the flight module is completed, control the horizontal adjustment unit to return to an initial state, so that the base chassis unit and the docking platform unit are in a parallel state.

[0026] In some possible implementation manners, the method further comprises:

[0027] if the angle between the docking platform unit and the horizontal plane is greater than the preset angle threshold within the preset time, send a docking position invalid instruction to the flight module, so that the flight module determines a new docking position and sends a docking instruction, the docking instruction comprising 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 comprising an intelligent chassis and a flight module, the intelligent chassis comprising a docking platform unit, the device being applied to the intelligent chassis, and the device comprising:

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

[0031] a target inclination angle determining module, configured to determine a target inclination angle between the docking platform unit and a horizontal plane;

[0032] an angle adjusting module, configured to adjust an angle between the docking platform unit and a horizontal plane if the target tilt angle does not satisfy a 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, configured to dock the docking platform unit with the flight module based on real-time flight angle information of the flight module if 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, an electronic device is provided, including at least one processor, and a memory connected to the at least one processor in communication; 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 according to any one of the first aspect 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, and 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 flying car docking method according to any one of the first aspect.

[0036] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, but not limiting the present disclosure.

[0037] The present disclosure has the following beneficial effects:

[0038] In response to the docking request instruction sent by the flight module, 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, the target docking position being a position at a preset distance above the current position in the vertical direction; a target inclination angle between the docking platform unit and the horizontal plane is determined; if the target inclination angle does not satisfy a 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 less than or equal to a preset angle threshold; in the case that 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 and the flight module are docked based on real-time flight angle information of the flight module. If the docking platform unit of the intelligent chassis does not satisfy the preset inclination 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, thereby meeting the docking requirement of the flying car in various terrains and solving the problem of rollover accidents 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] Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings from these drawings without creative labor.

[0041] Figure 1 A flowchart of a split flying car docking method according to an embodiment of the present disclosure is shown;

[0042] Figure 2 A flowchart of a target inclination angle determination method according to an embodiment of the present disclosure is shown;

[0043] Figure 3 A flowchart of a support rod adjustment method according to an embodiment of the present disclosure is shown;

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

[0045] Figure 5 A flowchart of a support rod cyclic adjustment method according to an embodiment of the present disclosure is shown;

[0046] Figure 6 Fig. 1 shows a flow diagram of a docking platform unit and flight module balancing method according to an embodiment of the present disclosure;

[0047] Figure 7 Fig. 2 shows a flow diagram of a horizontal adjustment unit recovery method according to an embodiment of the present disclosure;

[0048] Figure 8 Fig. 3 shows a flow diagram of a new docking position determination method according to an embodiment of the present disclosure;

[0049] Figure 9 Fig. 4 shows a structural diagram of a split flying car docking device according to an embodiment of the present disclosure;

[0050] Figure 10 Fig. 5 shows a block diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present specification will be described clearly and completely below with reference to the drawings in the embodiments of the present specification. Obviously, the described embodiments are only part of the embodiments of the present specification, rather than all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present invention.

[0052] It should be noted that the terms "first", "second", and the like in the specification and claims of the present invention and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present invention described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or server including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units 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 numbers in the drawings represent functionally identical or similar elements. Although various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0054] The word "exemplary" is used herein in the sense of being an example, illustration, or demonstration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0055] The term "and / or", used in the present document, only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the term "at least one" in the present document means any one of a plurality of combinations or any combination of at least two of a plurality of combinations, for example, including at least one of A, B, and C can mean 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 specific embodiments below. Those skilled in the art should understand that the present disclosure can also be implemented without some specific details. In some examples, methods, means, elements and circuits that are well known to those skilled in the art are not described in detail, in order to highlight the main ideas of the present disclosure.

[0057] Figure 1 A flowchart of a docking method of a split flying car according to an embodiment of the present disclosure is shown, the split flying car comprising an intelligent chassis and a flying module, the intelligent chassis comprising a docking platform unit, the method being applied to the intelligent chassis, as shown, comprising: Figure 1 As shown, it comprises:

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

[0059] The split flying car comprises a flying module and an intelligent chassis. When the flying module and the intelligent chassis are in a split state, the intelligent chassis communicates with the flying module in real time through radio. When the flying module has a landing requirement, a docking request instruction is sent to the intelligent chassis. After the intelligent chassis receives the docking request instruction, the coordinate information corresponding to the current position is sent to the flying module. After the flying module receives the coordinate information, the flying module moves to the target docking position at a preset distance above the current position of the intelligent chassis based on the coordinate information, in order to prepare for docking with the intelligent chassis.

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

[0061] The intelligent chassis comprises 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 for detachable connection 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 during docking. Therefore, the inclination angle between the docking platform and the horizontal plane is determined, that is, the target inclination angle is determined.

[0062] In S103, if the target inclination angle does not satisfy 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 less than or equal to the preset angle threshold.

[0063] The preset inclination condition can be that the target inclination angle is less than or equal to the preset angle threshold, and the preset angle threshold can be determined according to actual conditions, such as the weight of the flight module. If the target inclination angle is greater than the preset angle threshold, the docking platform unit has a large inclination angle at this time, and when the flight module docks with the docking platform, the flight module needs to be inclined at an angle corresponding to the docking platform unit to realize the mechanical docking task. When the flight module is inclined at a large angle, side overturning is likely to occur 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, and the inclination angle of the docking platform unit relative to the horizontal plane is ensured to be within a safe range.

[0064] In S104, 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 and the flight module are controlled to dock based on real-time flight angle information of the flight module.

[0065] When the angle between the docking platform unit and the horizontal plane satisfies the preset inclination condition, the intelligent chassis sends a docking instruction to the flight module. After the flight module receives the docking confirmation instruction, if it reaches the target docking position, it sends a docking confirmation instruction to the intelligent chassis. The flight module sends real-time flight angle information to the intelligent chassis, and the intelligent chassis controls the docking platform unit and the flight module to mechanically dock based on the real-time flight angle information of the flight module, so as to realize the transition from the split state to the combined state.

[0066] The technical scheme has the advantages that when the docking platform unit of the intelligent chassis does not meet the preset inclination 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, the docking requirement of the flying car in various terrains is met, and the problem of rollover accidents caused by uneven docking points when the split flying car docks is solved. Meanwhile, 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, and the docking efficiency of the intelligent chassis and the flight module is improved.

[0067] Referring to Figure 2 In some embodiments, the docking platform unit comprises a horizontal measurement device, and determining the target inclination angle between the docking platform unit and the horizontal plane comprises:

[0068] S1021, obtaining chassis angle information of the docking platform unit through the horizontal measurement device, the chassis angle information comprising a chassis pitch angle information and a chassis roll angle information;

[0069] S1022, determining the target inclination angle based on the chassis pitch angle information and the chassis roll angle information.

[0070] The horizontal measurement 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 inclination angle through a trigonometric function.

[0071] The horizontal measurement device comprises an electronic horizontal measurement device or an inertial measurement unit (IMU).

[0072] In other embodiments, the intelligent chassis can determine the target inclination angle of the docking platform unit at the current position according to a preset angle measurement device on the docking platform unit. For example, the preset angle measurement device can be an inclination sensor.

[0073] The technical scheme has the advantages that the target inclination angle of the docking platform unit can be quickly and accurately determined through the roll angle and the pitch angle, and the docking efficiency of the intelligent chassis and the flight module is improved.

[0074] Referring to Figure 3 In some embodiments, the intelligent chassis comprises a basic chassis unit and a horizontal adjustment unit, the horizontal adjustment unit comprising at least two support rods and a support rod adjustment device, the at least two support rods being 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 comprising:

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

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

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

[0078] S1034, control the support rod adjusting 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.

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

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

[0081] The chassis pitch angle is processed by difference with the preset pitch angle threshold to obtain a pitch angle difference value, and the chassis roll angle is processed by difference with the preset roll angle threshold to obtain a roll angle difference value. The stroke information of each support rod is obtained. The target stroke corresponding to each support rod and the target speed are calculated based on the pitch angle difference value, the roll angle difference value, the stroke information of each support rod, and a target time. The intelligent chassis controls the support rod adjusting device to adjust the at least two support rods based on the target stroke corresponding to each support rod and the target speed.

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

[0083] The technical scheme above calculates the target stroke of each support rod through the angle difference, accurately and quickly adjusts the at least support rod, makes the angle between the docking platform unit and the horizontal plane meet the preset inclination condition at one time, and improves the docking efficiency of the intelligent chassis and the flight module.

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

[0085] S1035, if the angle between the docking platform unit and the horizontal plane is greater than the preset angle threshold value within the preset time, the steps of determining the pitch angle difference information between the chassis pitch angle information and the preset pitch angle threshold information and adjusting 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 are repeatedly executed until the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold value, or the adjustment time exceeds the preset time.

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

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

[0088] Please refer to Figure 6 In some embodiments, the docking of the docking platform unit and the flight module based on the real-time flight angle information of the flight module comprises:

[0089] S1041, real-time flight angle information of the flight module is acquired in real time, and the real-time flight angle information comprises flight pitch angle information and flight roll angle information;

[0090] S1042, real-time flight inclination angle of the flight module is determined based on the flight pitch angle information and the flight roll angle information;

[0091] S1043, if the real-time flight inclination angle meets the preset inclination condition, the docking platform unit is adjusted based on the real-time flight inclination angle, so that the docking platform unit and the flight module reach a parallel state.

[0092] In some embodiments, during the mechanical docking process between the flight module and the intelligent chassis, the flight module sends real-time flight angle information to the flight module in real time, 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, the flight roll angle information includes a flight roll angle value, and the real-time flight inclination angle of the flight module is determined according to the flight pitch angle value and the flight roll angle value.

[0093] If the real-time flight inclination angle is less than or equal to a preset angle threshold, that is, the inclination angle of the flight module is not large, the intelligent chassis adjusts the docking platform unit through at least two supporting rods according to the real-time flight inclination angle of the flight module, so that the docking platform unit and the flight module reach a parallel state, so as to facilitate the completion of the mechanical docking process.

[0094] The above technical solution adjusts the inclination of the docking platform unit when the inclination angle of the flight module is small, so as to reach a parallel state with the flight module, and ensures the smooth completion of the mechanical docking process.

[0095] Please refer to 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 the initial state, so that the base chassis unit and the docking platform unit are in a parallel state.

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

[0098] The above technical solution restores the docking platform unit to the initial state through the horizontal adjustment unit after docking is completed, so that the docking platform unit and the base chassis unit are balanced, and the stability of the flying car is ensured.

[0099] Please refer to Figure 8 In some embodiments, the method further comprises:

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

[0101] S302, move to the 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 multiple adjustments of the docking platform unit within the preset time, in order to improve the docking efficiency, a docking position invalid instruction is sent to the flight module, and after the flight module receives the docking position invalid instruction, a new docking position near the current position of the intelligent chassis is determined, and the target coordinate information of the new docking position is packaged in the docking instruction and sent to the intelligent chassis. After the intelligent chassis moves to the new docking position according to the target coordinate information, the steps of determining the target inclination angle between the docking platform unit and the horizontal plane based on the real-time flight angle information of the flight module to control the docking platform unit and the flight module to dock are repeatedly executed until the docking is completed.

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

[0104] Please refer to Figure 9 According to a second aspect of the present disclosure, a split flying car docking device is provided, the device comprising: a split flying car comprising an intelligent chassis and a flight module, the intelligent chassis comprising a docking platform unit, the device being applied to the intelligent chassis, and the device comprising:

[0105] The docking request instruction sending module 10 is configured to send 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 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] The target inclination angle determination module 20 is configured to determine a target inclination angle between the docking platform unit and the horizontal plane.

[0107] The angle adjustment module 30 is configured to adjust the angle between the docking platform unit and the horizontal plane if the target inclination angle does not satisfy a preset inclination 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 configured to 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 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.

[0109] In some embodiments, the docking platform unit comprises a horizontal measurement device, and the target inclination angle determination module 20 comprises:

[0110] The chassis angle information acquisition unit is configured to acquire chassis angle information of the docking platform unit by using a horizontal measurement device. The chassis angle information includes chassis pitch angle information and chassis roll angle information.

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

[0112] In some embodiments, the smart chassis includes a base 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 configured to connect the base chassis unit and the docking platform unit. The angle adjustment module 30 includes:

[0113] The pitch angle difference determination unit is configured to determine pitch angle difference information between the chassis pitch angle information and preset pitch angle threshold information.

[0114] The roll angle difference determination unit is configured to determine roll angle difference information between the chassis roll angle information and preset roll angle threshold information. The preset angle threshold is determined based on the preset pitch angle threshold information and the preset roll angle threshold information.

[0115] The calculation unit is configured 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 a target time. The target time is a time before the flight module reaches a target docking position.

[0116] The support rod adjustment unit is configured to control 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.

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

[0118] The cycle unit is configured to repeatedly perform 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, if the angle between the docking platform unit and the horizontal plane is greater than the preset angle threshold within a 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] The flight angle information acquisition unit is configured to acquire real-time flight angle information of the flight module in real time. The real-time flight angle information includes flight pitch angle information and flight roll angle information.

[0121] a flight tilt angle determination unit, configured 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 are docked, 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 invalidation instruction sending module, configured to send an invalidation instruction of the docking position to the flight module if 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 embodiment. Its specific implementation can refer to the description of the above method embodiment. For the sake of brevity, it will not be repeated here.

[0129] 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.

[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. 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.

[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. 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.

[0132] The input / output interface 940 can be configured to receive or transmit data via a network. The network can include a wireless network provided by a communication provider of the electronic device 900. In an example, the input / output interface 940 includes a network interface controller (NIC) that can be connected to other network devices through a base station to communicate with the Internet. In an example, the input / output interface 940 can be a radio frequency (RF) module that is configured to communicate with the Internet through a wireless manner.

[0133] Those skilled in the art can understand that, Figure 10 The structure shown is only schematic, and does not limit the structure of the electronic device. For example, the electronic device 900 can further include more or less components than those shown, or have a different configuration of components than those shown. Figure 10 The structure shown is only schematic, and does not limit the structure of the electronic device. For example, the electronic device 900 can further include more or less components than those shown, or have a different configuration of components than those shown. Figure 10 The structure shown is only schematic, and does not limit the structure of the electronic device. For example, the electronic device 900 can further include more or less components than those shown, or have a different configuration of components than those shown.

[0134] The embodiment of the present application further provides a computer readable storage medium, which can be arranged in the electronic device to save at least one instruction or at least one program related to the split type air car docking method in the method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to realize the split type air car docking method provided by the above method embodiment.

[0135] Optionally, in the embodiment, the storage medium can be located in at least one network server of a plurality of network servers of a computer network. Optionally, in the embodiment, the storage medium can include but is not limited to a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0136] According to an aspect of the present application, a computer program product or a computer program is provided, which includes 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 the processor executes the computer instructions to enable the computer device to perform the method provided in the various optional implementation manners.

[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 application that, in response to the docking request instruction sent by the flying module, the application sends the coordinate information corresponding to the current position of the intelligent chassis to the flying module, so that the flying 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 vertical direction of the current position. The target inclination angle between the docking platform unit and the horizontal plane is determined. 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 less than or equal to the preset angle threshold. In the case where the angle between the docking platform unit and the horizontal plane is less than or equal to the preset angle threshold and the flying module reaches the target docking position, the docking platform unit and the flying module are docked based on the real-time flight angle information of the flying module. If the docking platform unit of the intelligent chassis at the current position does not meet the preset inclination condition, the docking platform unit is adjusted so that the angle between the docking platform unit and the horizontal plane meets the docking requirement, which meets the docking requirement of the flying car in various terrains and solves the problem of rollover accidents caused by uneven docking points when the split flying car docks. At the same time, the position information is sent to the flying module in advance, so that the flying module moves to the target docking position and adjusts the platform unit, thereby improving the docking efficiency.

[0138] It should be noted that the above embodiments of the application are in the order of description only, and do not represent the advantages and disadvantages of the embodiments. The above describes a specific embodiment of the application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited 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, multi-task processing and parallel processing are possible or can be advantageous.

[0139] Each embodiment in the application is described in a progressive manner, and the same or similar parts of each embodiment can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for device, equipment and storage medium embodiments, since they are basically similar to method embodiments, the description is relatively simple, and the relevant parts are referred to the part of the method embodiment.

[0140] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by a program instructing related hardware to complete, and the program can be stored in a computer readable storage medium, which can be a read-only memory, a magnetic disk or an optical disk.

[0141] The above description is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for docking a split flying car, characterized in that, The split flying car includes an intelligent chassis and a flight module, the intelligent chassis includes a docking platform unit, the method is applied to the intelligent chassis, and the method includes the following steps: In response to a docking request instruction sent by the flight module, coordinate information corresponding to a 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; A target inclination angle between the docking platform unit and a horizontal plane is determined; If the target inclination angle does not satisfy a 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 less than or equal to a preset angle threshold; In a case where 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 docked with the flight module based on real-time flight angle information of the flight module.

2. The method of claim 1, wherein, The docking platform unit includes a horizontal measurement device, and the determination of the target inclination angle between the docking platform unit and the horizontal plane includes the following steps: The chassis angle information of the docking platform unit is obtained through the horizontal measurement device, and the chassis angle information includes a chassis pitch angle information and a chassis roll angle information; The target inclination angle is determined based on the chassis pitch angle information and the chassis roll angle information.

3. The method of claim 2, wherein, 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 adjustment of the angle between the docking platform unit and the horizontal plane includes the following steps: Determination of a pitch angle difference value information between the chassis pitch angle information and a preset pitch angle threshold information; Determination of a roll angle difference value information between the chassis roll angle information and a preset roll angle threshold information, and the preset angle threshold is determined based on the preset pitch angle threshold information and the preset roll angle threshold information; Based on the pitch angle difference value information, the roll angle difference value information and a target time, a target stroke corresponding to each support rod and a target speed corresponding to each support rod are calculated, and the target time is a 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 of claim 3, wherein, After the adjustment of the at least two support rods, the method further includes the following steps: If the angle between the docking platform unit and the horizontal plane is greater than the preset angle threshold within the preset time, the steps of determining the pitch angle difference information between the chassis pitch angle information and the preset pitch angle threshold information and controlling the support rod adjusting device to adjust the at least two support rods based on the target stroke and the target speed of each support rod corresponding to each support rod are repeatedly performed 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 of claim 1, wherein, The control of the docking of the docking platform unit and the flight module based on the real-time flight angle information of the flight module includes: Real-time flight angle information of the flight module is acquired in real time, and the real-time flight angle information includes flight pitch angle information and flight roll angle information; The real-time flight inclination angle of the flight module is determined based on the flight pitch angle information and the flight roll angle information; If the real-time flight inclination angle meets the preset inclination condition, the docking platform unit is adjusted based on the real-time flight inclination angle, so that the docking platform unit and the flight module reach a parallel state.

6. The method of claim 3, wherein, The method further includes: After the docking of the docking platform unit and the flight module is completed, the horizontal adjusting unit is controlled to return to the initial state, so that the base chassis unit and the docking platform unit are in a parallel state.

7. The method of claim 4, wherein, The method further includes: If the angle between the docking platform unit and the horizontal plane is greater than the preset angle threshold within the preset time, a docking position invalid instruction is sent to the flight module to make the flight module determine a new docking position and send a docking instruction, and the docking instruction includes target coordinate information of the new docking position; The target coordinate information is used to move to the new docking position.

8. A split flying car docking device, comprising: The split flying car includes an intelligent chassis and a flight 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 is configured to, in response to a docking request instruction sent by the flight module, send coordinate information corresponding to a current position of the intelligent chassis to 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. A target inclination angle determining module is configured to determine a target inclination angle between the docking platform unit and the horizontal plane. An angle adjusting module is configured to, if the target inclination angle does not meet a preset inclination 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. A docking module is configured to, if 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 of the docking platform unit and the flight module based on real-time flight angle information of the flight module.

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 docking method of the split flying car according to any one of claims 1-7.

10. An electronic device, comprising: The device comprises at least one processor and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the docking method of the split flying car according to any one of claims 1-7 by executing the instructions stored in the memory.

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