Unmanned aerial vehicle refrigerator system and control method, device and storage medium thereof

Abstract

The application discloses a kind of unmanned aerial vehicle refrigerator system control method, device, unmanned aerial vehicle refrigerator system, storage medium and computer program product, unmanned aerial vehicle refrigerator system includes refrigerator and unmanned aerial vehicle, the condenser of refrigerator is located in the downwash direction of the blade of unmanned aerial vehicle, the state of condenser is unfolded state and retracted state, and the heat dissipation efficiency in unfolded state is greater than that in retracted state;The method comprises: after system is started, the state of condenser and the rotating speed of blade are controlled according to the control instruction input by user.The scheme, by using the blade of unmanned aerial vehicle for condenser heat dissipation, the rotating speed of blade is controlled to adjust the condensing efficiency when refrigeration, so as to accurately control the temperature in refrigerator, avoid temperature fluctuation, improve the stability of temperature control.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicles, and particularly relates to a control method and device of an unmanned aerial vehicle refrigerator system, the unmanned aerial vehicle refrigerator system, a storage medium and a computer program product. BACKGROUND

[0002] With the rapid development of e-commerce, medical and food industries, the demand for cold chain logistics has increased dramatically. Traditional cold chain logistics methods usually rely on ground transportation such as trucks and railways, which have many limitations in transportation efficiency, cost and flexibility. Especially for remote areas, emergency situations or special situations, the traditional transportation method is often difficult to meet the demand, so the relevant scheme uses unmanned aerial vehicles for cold chain transportation.

[0003] However, the unmanned aerial vehicle cold chain transportation is subject to the performance of the thermal insulation material, and is easily affected by factors such as environmental temperature and flight speed, and has the problem of unstable temperature control. For example, some schemes use foam, heat insulation plates to maintain low temperature, these materials have a certain heat preservation effect, but in long-term transportation or extreme environment, the heat preservation effect will gradually decrease, and the thermal insulation material cannot completely isolate the influence of external temperature, especially in high temperature or low temperature environment, the temperature fluctuation is large, resulting in unstable temperature in the refrigerator. And the unmanned aerial vehicle lacks an active refrigeration system to maintain a stable low temperature environment, and there is no perfect temperature control system to monitor and adjust the temperature in the refrigerator in real time, resulting in temperature fluctuations in the refrigerator.

[0004] The above content is only used to assist in understanding the technical solutions of the present application, and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0005] The purpose of the present application is to provide a control method and device of an unmanned aerial vehicle refrigerator system, the unmanned aerial vehicle refrigerator system, a storage medium and a computer program product, to solve the problem that the unmanned aerial vehicle cold chain transportation in the related scheme is greatly affected by the external environmental temperature, resulting in temperature fluctuations in the refrigerator, and unable to maintain a stable low temperature environment for a long time, to achieve the effect of accurately controlling the temperature in the refrigerator by using the propeller of the unmanned aerial vehicle to dissipate heat for the condenser, controlling the expansion or retraction of the condenser and the rotating speed of the propeller to adjust the condensing efficiency during refrigeration, thereby avoiding temperature fluctuations and improving the stability of temperature control.

[0006] The application provides a control method of a UAV refrigerator system, the UAV refrigerator system comprising: a refrigerator, a UAV; the UAV is used for carrying the refrigerator to fly; the UAV comprises a propeller; the refrigerator comprises a condenser; the condenser is located in the downwash direction of the propeller; the state of the condenser comprises a retracted state and a deployed state; the heat dissipation efficiency of the condenser in the deployed state is greater than that in the retracted state; the method comprises: obtaining a control instruction input by a user; controlling the state of the condenser and the rotating speed of the propeller according to the control instruction.

[0007] In some embodiments, the control of the state of the condenser and the rotating speed of the propeller according to the control instruction comprises: in the case that the UAV is not in a flying state, if the control instruction is an instruction of starting a preset refrigeration mode, the state of the condenser is controlled to be the deployed state, and the rotating speed of the propeller is controlled to be a preset rotating speed to start refrigeration of the refrigerator.

[0008] In some embodiments, the refrigerator further comprises a refrigerator door; the method further comprises: obtaining the weight of the goods in the refrigerator before starting refrigeration of the refrigerator; determining whether the weight of the goods in the refrigerator is greater than a preset weight and whether the refrigerator door is closed; if the weight of the goods in the refrigerator is greater than the preset weight, issuing a prompt information of overloading goods; if the weight of the goods in the refrigerator is less than or equal to the preset weight and the refrigerator door is closed, starting refrigeration of the refrigerator; if the weight of the goods in the refrigerator is less than or equal to the preset weight and the refrigerator door is opened, issuing a prompt information of the refrigerator door being not closed, and not refrigerating the refrigerator.

[0009] In some embodiments, the control of the state of the condenser and the rotating speed of the propeller according to the control instruction further comprises: in the case that the UAV is in a flying state, if the control instruction is an instruction of starting a preset speed limiting function, obtaining the current temperature of the refrigerator; determining the target rotating speed of the propeller according to the current temperature of the refrigerator from a preset corresponding relationship between the temperature of the refrigerator and the rotating speed of the propeller; and controlling the rotating speed of the propeller to be the target rotating speed.

[0010] In some embodiments, the control instruction comprises a set rotating speed of the propeller; the control of the state of the condenser and the rotating speed of the propeller according to the control instruction further comprises: in the case that the UAV is in a flying state, if the control instruction is an instruction of stopping a preset speed limiting function, controlling the rotating speed of the propeller to be the set rotating speed.

[0011] In some embodiments, the control unit controls the state of the condenser and the rotating speed of the propeller according to the control instruction, and the control further comprises: if the control instruction is an instruction to open a preset temperature limiting function, the state of the condenser is controlled to be the unfolded state; if the preset speed limiting function is closed, and if the control instruction is an instruction to close the preset temperature limiting function, the state of the condenser is controlled to be the folded state.

[0012] According to the above method, the present application provides a control device of a UAV refrigerator system. The UAV refrigerator system comprises a refrigerator and a UAV. The UAV is used to carry the refrigerator to fly. The UAV comprises a propeller. The refrigerator comprises a condenser. The condenser is located in the direction of the downwash of the propeller. The state of the condenser comprises an unfolded state and a folded state. The heat dissipation efficiency of the condenser in the unfolded state is greater than that in the folded state. The device comprises an acquisition unit configured to acquire a control instruction input by a user, and a control unit configured to control the state of the condenser and the rotating speed of the propeller according to the control instruction.

[0013] In some embodiments, the control unit controls the state of the condenser and the rotating speed of the propeller according to the control instruction, and the control further comprises: if the control instruction is an instruction to open a preset temperature limiting function, the state of the condenser is controlled to be the unfolded state; if the preset speed limiting function is closed, and if the control instruction is an instruction to close the preset temperature limiting function, the state of the condenser is controlled to be the folded state.

[0014] In some embodiments, the refrigerator further comprises a refrigerator door. The control unit is further configured to acquire the weight of the items in the refrigerator before starting to cool the refrigerator. It is determined whether the weight of the items in the refrigerator is greater than a preset weight and whether the refrigerator door is closed. If the weight of the items in the refrigerator is greater than the preset weight, a prompt information of overloading is issued. If the weight of the items in the refrigerator is less than or equal to the preset weight, and the refrigerator door is closed, the refrigerator starts to cool. If the weight of the items in the refrigerator is less than or equal to the preset weight, and the refrigerator door is opened, a prompt information of the refrigerator door not being closed is issued, and the refrigerator is not cooled.

[0015] In some embodiments, the control unit controls the state of the condenser and the rotating speed of the propeller according to the control instruction, and the control further comprises: if the control instruction is an instruction to open a preset temperature limiting function, the state of the condenser is controlled to be the unfolded state; if the preset speed limiting function is closed, and if the control instruction is an instruction to close the preset temperature limiting function, the state of the condenser is controlled to be the folded state.

[0016] In some embodiments, the control instruction comprises a set rotating speed of the paddle; and the control unit, according to the control instruction, controls the state of the condenser and the rotating speed of the paddle, further comprises: if the control instruction is an instruction of turning off the preset speed limiting function, controlling the rotating speed of the paddle to be the set rotating speed, when the UAV is in the flying state.

[0017] In some embodiments, the control unit, according to the control instruction, controls the state of the condenser and the rotating speed of the paddle, further comprises: if the control instruction is an instruction of turning on the preset temperature limiting function, controlling the state of the condenser to be the unfolded state; and if the control instruction is an instruction of turning off the preset temperature limiting function, controlling the state of the condenser to be the folded state, when the preset speed limiting function is turned off.

[0018] In another aspect, the present application provides a UAV refrigerator system, which is matched with the above-mentioned device.

[0019] In another aspect, the present application provides a storage medium, which comprises a stored program, wherein the device where the storage medium is located executes the above-mentioned control method of the UAV refrigerator system when the program runs.

[0020] In another aspect, the present application provides a computer program product, which comprises a computer program, and the computer program product realizes the steps of the above-mentioned control method of the UAV refrigerator system when the computer program is processed and executed.

[0021] According to the scheme of the present application, the UAV refrigerator system comprises a refrigerator and a UAV, the condenser of the refrigerator is located in the downwash direction of the paddle of the UAV, the state of the condenser comprises an unfolded state and a folded state, and the heat dissipation efficiency in the unfolded state is greater than that in the folded state. After the system is turned on, the state of the condenser and the rotating speed of the paddle are controlled according to the control instruction input by the user. Thus, the paddle of the UAV is used to dissipate heat for the condenser, the condenser is controlled to be unfolded or folded, and the rotating speed of the paddle is controlled to adjust the condensing efficiency during refrigeration, so as to accurately control the temperature in the refrigerator, avoid temperature fluctuation, and improve the stability of temperature control.

[0022] Other features and advantages of the present application will be described in the following description, and become apparent from the description, or be learned through the practice of the present application.

[0023] The technical scheme of the present application will be further described in detail below with the aid of drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 Flowchart of an embodiment of the control method of the unmanned aerial vehicle refrigerator system of the present application;

[0025] Figure 2 Structural diagram of an embodiment of the control device of the unmanned aerial vehicle refrigerator system of the present application;

[0026] Figure 3 Structural diagram of the unmanned aerial vehicle in the unmanned aerial vehicle refrigerator system of the present application;

[0027] Figure 4 Structural diagram of the refrigerator in the unmanned aerial vehicle refrigerator system of the present application;

[0028] Figure 5 Diagram of the condenser being retracted;

[0029] Figure 6 Diagram of the side surface of the rotating body of the condenser being unfolded;

[0030] Figure 7 Diagram of the slidable heat dissipation copper sheet nested on the side surface of the rotating body;

[0031] Figure 8 Flowchart of the refrigeration principle of the unmanned aerial vehicle refrigerator system of the present application;

[0032] Figure 9 Flowchart of the control method of the unmanned aerial vehicle refrigerator system of the present application in the flight mode.

[0033] In combination with the drawings, the reference signs in the embodiments of the present application are as follows:

[0034] 1-refrigerator; 2-blade; 3-condenser; 4-motor; 5-bracket; 6-baffle; 7-refrigerator door; 8-display screen; 9-evaporator; 10-compressor; 11-controller; 12-power box; 102-acquisition unit; 104-control unit. DETAILED DESCRIPTION

[0035] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in combination with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0036] According to an embodiment of the present application, a control method of a UAV refrigerator system is provided, the UAV refrigerator system comprising: a refrigerator, a UAV; the UAV is used to carry the refrigerator to fly; the UAV comprises a propeller; the refrigerator comprises a condenser; the condenser is located in the downwash direction of the propeller; the state of the condenser comprises a retracted state and a deployed state; the heat dissipation efficiency of the condenser in the deployed state is greater than that in the retracted state.

[0037] The structure of the UAV refrigerator system is shown in Figure 3 , which comprises a refrigerator 1 and a UAV. The UAV comprises a propeller 2, a motor 4, a bracket 5, and the number of the propeller, the motor and the bracket corresponds one by one. The propeller is driven by the motor, and the combination of each propeller and motor is connected to the refrigerator through the bracket.

[0038] The structure of the refrigerator 1 is shown in Figure 4 , which comprises a controller 11, a compressor 10, a power box 12, an evaporator 9, a condenser 3, a refrigerator door 7 and a display screen 8. The compressor 10, the evaporator 9 and the condenser 3 form a refrigeration circuit. In the refrigeration mode, the high-temperature and high-pressure refrigerant discharged by the compressor 10 is cooled to low-temperature refrigerant through the condenser 3, and then the cold energy is dissipated to the chamber of the refrigerator at the evaporator 9. The controller 9 is used to control the UAV and the refrigerator according to the user's operation instruction, and the display screen 8 is used to display the state of the refrigerator, such as the temperature in the refrigerator. The refrigerator also comprises a camera, a height radar, a GPS positioning device, a landing gear and other components required for controlling the flight of the UAV.

[0039] The condenser of the refrigerator is arranged in the downwash direction of the propeller of the UAV, and the refrigerant inlet and outlet pipeline connected with the condenser is arranged on the bracket. The condenser can be rotated and deployed and retracted in a fan shape around the central axis of the propeller fan, Figure 3 , in which the condenser is in a fully deployed state, Figure 5 , in which the condenser is in a fully retracted state. When the propeller rotates, the airflow formed by the rotation of the propeller passes through the condenser to dissipate heat for the condenser. When the condenser is deployed, the contact area between the airflow and the condenser increases, and the heat dissipation efficiency of the condenser is higher; when the condenser is retracted, the contact area between the airflow and the condenser decreases, and the heat dissipation efficiency of the condenser is lower. Therefore, the condenser does not need to be provided with a condensing fan, and the propeller of the UAV is used to dissipate heat for the condenser, which reduces the energy consumption of the system and prolongs the endurance time of the UAV.

[0040] Further, the condenser rotates around a rotating body, and the rotating body is driven to rotate by a motor. The side surface expansion structure of the rotating body is shown in Figure 6 , a plurality of openings are arranged on the side surface of the rotating body. The structure of the condenser is shown in Figure 7As shown, the condenser is composed of multiple heat dissipation copper sheets. The heat dissipation copper sheet has a protruding structure. After the protruding structure is nested in the opening on the side of the rotating body, the heat dissipation copper sheet can slide with the rotation of the rotating body. The protruding structure has magnetism, which can make the protruding structure closely fit the rotating body. When the condenser needs to be unfolded, the rotating body rotates and drives the corresponding heat dissipation copper sheet to slide; when the condenser needs to be folded, Figure 6 The left side of the baffle 6 pushes all the copper sheets to move to one side. When the copper sheet contacts the support, the protruding structure of the copper sheet is disconnected from the opening on the side of the rotating body, so that the heat dissipation copper sheet is concentrated on one side of the support, and the folding of the condenser is realized. In the refrigeration mode, the heat of the high-temperature and high-pressure refrigerant is transferred to the cabinet body of the refrigerator, the support, and the condenser composed of multiple copper sheets under the paddle, so as to achieve the condensation effect.

[0041] Optionally, the cabinet body, the support, the landing gear and the like of the refrigerator are made of aviation-grade aluminum alloy, which not only ensures the strength but also reduces the overall weight, and has good heat conductivity, so that the compressor, the power supply, the controller and the like will not overheat.

[0042] The present scheme greatly reduces the weight of the condensing system by using the foldable condenser, and at the same time uses the air flow formed by the rotation of the unmanned aerial vehicle paddle to dissipate heat for the condenser, so as to ensure that a constant low temperature is maintained during the entire transportation process, avoid the influence of temperature fluctuation on the quality of goods, and further expand the application range of unmanned aerial vehicle transportation.

[0043] As shown in the flowchart of an embodiment of the method of the present application. Figure 1 The control method of the unmanned aerial vehicle refrigerator system can include steps S110 and S120.

[0044] At step S110, the control instruction input by the user is acquired.

[0045] At step S120, the state of the condenser and the rotating speed of the paddle are controlled according to the control instruction.

[0046] In some embodiments, the specific process of controlling the state of the condenser and the rotating speed of the paddle according to the control instruction in step S120 includes: if the control instruction is an instruction to start the preset refrigeration mode, the state of the condenser is controlled to be the unfolded state, and the rotating speed of the paddle is controlled to be a preset rotating speed to start refrigeration on the refrigerator when the unmanned aerial vehicle is not in a flight state.

[0047] After the system starts refrigeration, the paddle on the side of the non-refrigerator door is first controlled to rotate. For example,Figure 3 In the upper, left and right sides and the lower part of the refrigerator, there are two paddles respectively. If the refrigerator door is located at the lower part of the refrigerator, only the four paddles in the upper and left and right sides of the refrigerator are controlled to rotate after the refrigeration starts. The paddles on the side of the refrigerator door that is not opened are to prevent the paddles from injuring people in front of the refrigerator door. At the same time of opening the paddles, the condenser below the opened paddles is controlled to expand to ensure the condensing effect.

[0048] When the paddles start to rotate, the rotating speed of the paddles is a preset rotating speed, which is a relatively low rotating speed, to ensure that the condensing is normally performed while avoiding the unmanned aerial vehicle from tilting and taking off. Then, the rotating speed of the paddles is adjusted in real time according to the requirements of the refrigeration mode, so that the heat dissipation efficiency of the condenser meets the current refrigeration working condition. The adjusted rotating speed of the paddles needs to ensure that the unmanned aerial vehicle will not tilt or take off.

[0049] In the process of refrigerating the refrigerator, if an instruction of taking off the unmanned aerial vehicle is received, all the paddles are controlled to start rotating, and the rotating speed of the paddles is controlled according to the requirements of the flight mode.

[0050] In some embodiments, the refrigerator further comprises a refrigerator door. The method further comprises: obtaining the weight of the goods in the refrigerator before starting to refrigerate the refrigerator; determining whether the weight of the goods in the refrigerator is greater than a preset weight and whether the refrigerator door is closed; if the weight of the goods in the refrigerator is greater than the preset weight, issuing a prompt information that the goods are overweight; if the weight of the goods in the refrigerator is less than or equal to the preset weight and the refrigerator door is closed, starting to refrigerate the refrigerator; if the weight of the goods in the refrigerator is less than or equal to the preset weight and the refrigerator door is opened, issuing a prompt information that the refrigerator door is not closed, and not refrigerating the refrigerator.

[0051] When the unmanned aerial vehicle does not take off and the refrigerator does not refrigerate, the condenser is in a retracted state, and the rotating speed of the paddles is 0. Then, if the refrigerator starts to refrigerate, the power of the unmanned aerial vehicle refrigerator system is first turned on manually, the refrigerator enters a standby mode, the refrigerator door is opened and the goods are put in. Since the unmanned aerial vehicle has a maximum load limit for flight, when the goods are put in, the pressure sensor at the bottom of the inner container of the refrigerator detects the weight of the goods in real time and determines whether the weight of the goods exceeds the maximum load. When the weight of the goods exceeds the maximum load, a prompt information is issued to remind the user to take out part of the goods to ensure the normal flight of the unmanned aerial vehicle.

[0052] When the weight of the goods meets the maximum load limit, it is further determined whether the refrigerator door is closed. If the refrigerator door is not closed, a prompt information that the refrigerator door is not closed is issued, and the system does not start refrigeration to prevent the paddles from rotating and causing injury. When the refrigerator door is closed, the refrigeration starts.

[0053] Figure 8A flowchart of the refrigeration principle of the unmanned aerial vehicle refrigerator system of the present application is shown in Figure 8 The method comprises the following steps:

[0054] Step 1, turn on the power supply, and the refrigerator enters standby mode. When the refrigerator is put into goods, it is detected whether the goods in the refrigerator are overweight. If the goods are overweight, overload alarm is performed, and step 2 is executed; if the goods do not exceed, step 2 is directly executed.

[0055] Step 2, detect whether the refrigerator door is closed. If the refrigerator door is not closed, the refrigeration is not started, and the refrigerator continues to standby; if the refrigerator door is closed, step 3 is executed.

[0056] Step 3, determine whether the system receives an instruction to start refrigeration or an instruction to start flight mode. If the system receives an instruction to start refrigeration, the drive motor in front of the refrigerant door is closed, and other drive motors in front of the refrigerator door are opened, and the system starts refrigeration; if the system receives an instruction to start flight mode, the refrigerator enters standby mode, and the unmanned aerial vehicle starts to take off; if the system does not receive an instruction to start refrigeration and an instruction to start flight mode, all motors are closed, and the refrigerator continues to standby.

[0057] In some embodiments, in step S120, the specific process of controlling the state of the condenser and the rotating speed of the paddle according to the control instruction further comprises: in the case that the unmanned aerial vehicle is in a flight state, if the control instruction is an instruction to start a preset speed limiting function, the current temperature of the refrigerator is obtained; the target rotating speed of the paddle is determined according to the current temperature of the refrigerator from a preset corresponding relationship between the temperature of the refrigerator and the rotating speed of the paddle; and the rotating speed of the paddle is controlled to be the target rotating speed.

[0058] In the flight mode, the user can set the speed limit and the temperature limit. The speed limit is determined based on the temperature of the refrigerator to determine the heat dissipation efficiency required by the condenser, and further to determine the rotating speed of the paddle. For example, if the temperature of the refrigerator is higher than the set temperature, the condenser needs higher heat dissipation efficiency, and the rotating speed of the paddle is higher, and the speed of the unmanned aerial vehicle is faster. That is, the flight speed of the unmanned aerial vehicle is determined by the temperature of the refrigerator in the speed limit, not by the user. Specifically, the system pre-stores a corresponding relationship between the temperature of the refrigerator and the rotating speed of the paddle. After starting the speed limit, the system matches the rotating speed of the paddle corresponding to the current temperature of the refrigerator from the corresponding relationship, and controls the paddle to rotate according to the matched rotating speed of the paddle, so that the system can more accurately adjust the temperature in the refrigerator, and improve the temperature control accuracy and stability.

[0059] In some embodiments, the control instruction comprises a set rotating speed of the paddle. In step S120, the specific process of controlling the state of the condenser and the rotating speed of the paddle according to the control instruction further comprises: if the control instruction is an instruction of turning off the preset speed limiting function while the UAV is in the flight state, controlling the rotating speed of the paddle to be the set rotating speed.

[0060] When the UAV is in flight, the user can choose to turn off the speed limit. After turning off the speed limit, the user manually controls the flight speed of the UAV, thereby improving the flexibility of the UAV operation and better responding to unexpected situations to prevent the UAV and the refrigerator from being damaged. At the same time, the accuracy of the UAV operation can be improved, so that the UAV hovers to a specified position.

[0061] In some embodiments, in step S120, the specific process of controlling the state of the condenser and the rotating speed of the paddle according to the control instruction further comprises: if the control instruction is an instruction of turning on the preset temperature limiting function, controlling the state of the condenser to be the unfolded state; and if the control instruction is an instruction of turning off the preset temperature limiting function while the preset speed limiting function is turned off, controlling the state of the condenser to be the folded state.

[0062] The temperature limiting is used to control the temperature in the refrigerator to reach a target temperature. After turning on the temperature limiting, the condenser is unfolded, the condensing efficiency and the refrigeration effect are improved, and the temperature in the refrigerator reaches the target temperature. After turning off the temperature limiting, the condenser is folded, and at this time the high-temperature refrigerant only returns to the refrigerator after reaching the paddle position along the pipeline on the support. Although the air convection in flight can play a role in condensing and heat dissipation, the refrigeration capacity of the system is reduced.

[0063] Since the unfolded condenser will interfere with the normal flow of air during the flight of the UAV, affect the working efficiency of the paddle, and reduce the flight speed of the UAV, therefore, after turning off the temperature limiting, the condenser is folded, the working efficiency of the paddle is improved, and the UAV flies faster.

[0064] Figure 9 A flowchart of the control method of the UAV refrigerator system in the flight mode of the present application is shown in FIG. Figure 9 The method comprises:

[0065] Step 11, turn on the power supply, unfold the condenser, and the refrigerator enters the standby state. When the system receives the instruction of turning on the flight mode, turn on all the driving motors and enter the flight mode.

[0066] Step 12, determine whether to remove the speed limit. If the speed limit is not removed, set the flight speed of the UAV according to the temperature of the refrigerator according to the pre-matched speed limiting table; if the speed limit is removed, execute step 13.

[0067] Step 13, judge whether to remove the temperature limit. If the temperature limit is removed, fold the condenser; if the temperature limit is not removed, keep the condenser unfolded.

[0068] The unmanned aerial vehicle refrigerator system includes a refrigerator and an unmanned aerial vehicle. The condenser of the refrigerator is located in the downwash direction of the propeller of the unmanned aerial vehicle. The condenser has an unfolded state and a folded state, and the heat dissipation efficiency of the condenser in the unfolded state is greater than that in the folded state. When the system is cooling, the state of the condenser and the rotating speed of the propeller are controlled according to the control instruction input by a user. The propeller of the unmanned aerial vehicle is used to dissipate heat for the condenser. The state of the condenser and the rotating speed of the propeller are controlled to adjust the condensing efficiency during cooling, so that the temperature in the refrigerator is accurately controlled, temperature fluctuation is avoided, and the stability of temperature control is improved.

[0069] According to the embodiment of the present application, a control device of an unmanned aerial vehicle refrigerator system corresponding to a control method of the unmanned aerial vehicle refrigerator system is also provided. The unmanned aerial vehicle refrigerator system includes a refrigerator and an unmanned aerial vehicle. The unmanned aerial vehicle is used to carry the refrigerator to fly. The unmanned aerial vehicle includes a propeller. The refrigerator includes a condenser. The condenser is located in the downwash direction of the propeller. The condenser has a folded state and an unfolded state. The heat dissipation efficiency of the condenser in the unfolded state is greater than that in the folded state.

[0070] The structure of the unmanned aerial vehicle refrigerator system is shown in Figure 3 The unmanned aerial vehicle refrigerator system includes a refrigerator 1 and an unmanned aerial vehicle. The unmanned aerial vehicle includes a propeller 2, a motor 4, and a support 5. The number of the propeller, the motor, and the support corresponds one by one. The propeller is driven by the motor. Each combination of the propeller and the motor is connected to the refrigerator through the support.

[0071] The structure of the refrigerator 1 is shown in Figure 4 The refrigerator 1 includes a controller 11, a compressor 10, a power box 12, an evaporator 9, a condenser 3, a refrigerator door 7, and a display screen 8. The compressor 10, the evaporator 9, and the condenser 3 form a refrigeration circuit. In the refrigeration mode, the high-temperature and high-pressure refrigerant discharged by the compressor 10 is cooled to low-temperature refrigerant through the condenser 3, and then the cold energy is dissipated to the chamber of the refrigerator at the evaporator 9. The controller 9 is used to control the unmanned aerial vehicle and the refrigerator according to the operation instruction of the user. The display screen 8 is used to display the state of the refrigerator, such as the temperature in the refrigerator. The refrigerator also includes a camera, a height radar, a GPS positioning device, a landing gear, and other components required for controlling the flight of the unmanned aerial vehicle.

[0072] The condenser of the refrigerator is arranged in the downwash direction of the propeller of the unmanned aerial vehicle. The refrigerant inlet and outlet pipeline connected with the condenser is arranged on the support. The condenser can be rotated and unfolded and folded in a fan shape with the center axis of the propeller fan, Figure 3The middle condenser is in a fully expanded state, Figure 5 The middle condenser is in a fully retracted state. When the blades rotate, the air flow formed by the rotation of the blades passes through the condenser, and the condenser dissipates heat. When the condenser is expanded, the contact area between the air flow and the condenser increases, and the heat dissipation efficiency of the condenser is higher; when the condenser is retracted, the contact area between the air flow and the condenser decreases, and the heat dissipation efficiency of the condenser is lower. Thus, the condenser does not need to be provided with a condensing fan, and the air flow formed by the rotation of the blades of the unmanned aerial vehicle is used to dissipate heat from the condenser, thereby reducing the energy consumption of the system and prolonging the endurance time of the unmanned aerial vehicle.

[0073] Further, the condenser rotates around the rotating body, and the rotating body is driven to rotate by the motor. The side surface of the rotating body is expanded as shown in Figure 6 A plurality of openings are provided on the side surface of the rotating body. The structure of the condenser is shown in Figure 7 The condenser is a slidable heat dissipation copper sheet, and the condenser is composed of a plurality of heat dissipation copper sheets. The heat dissipation copper sheet has a protruding structure, and the protruding structure is nested in the opening on the side surface of the rotating body, so that the heat dissipation copper sheet can slide with the rotation of the rotating body. The protruding structure has magnetism, which can make the protruding structure closely fit the rotating body. When the condenser needs to be expanded, the rotating body rotates and drives the corresponding heat dissipation copper sheet to slide; when the condenser needs to be retracted, Figure 6 The left side of the baffle 6 pushes all the copper sheets to move towards one side, and when the copper sheets contact the support, the protruding structure of the copper sheets is disconnected from the opening on the side surface of the rotating body, so that the heat dissipation copper sheets are concentrated on one side of the support, and the condenser is retracted. In the refrigeration mode, the heat of the high-temperature and high-pressure refrigerant is transferred to the cabinet body of the refrigerator, the support, and the condenser composed of a plurality of copper sheets located below the blades, achieving the condensation effect.

[0074] Optionally, the cabinet body, the support, the landing gear, etc. of the refrigerator are made of aviation-grade aluminum alloy, which not only ensures the strength but also reduces the overall weight, and has good heat conductivity, so that the compressor, power supply, controller and other components will not overheat.

[0075] The present scheme greatly reduces the weight of the condensing system by using the foldable condenser, and at the same time uses the air flow formed by the rotation of the blades of the unmanned aerial vehicle to dissipate heat from the condenser, ensuring that a constant low temperature is maintained throughout the transportation process, avoiding the influence of temperature fluctuations on the quality of goods, and further expanding the application range of unmanned aerial vehicle transportation.

[0076] Referring to Figure 2 The control device of the unmanned aerial vehicle refrigerator system can include an acquisition unit 102 and a control unit 104.

[0077] The acquisition unit 102 is configured to acquire a control instruction input by a user.

[0078] The control unit 104 is configured to control the state of the condenser and the rotating speed of the paddle according to the control instruction.

[0079] In some embodiments, the specific process in which the control unit 104 controls the state of the condenser and the rotating speed of the paddle according to the control instruction includes: in the case where the UAV is not in a flight state, if the control instruction is an instruction to start a preset refrigeration mode, the state of the condenser is controlled to be the unfolded state, and the rotating speed of the paddle is controlled to be a preset rotating speed to start refrigeration of the refrigerator.

[0080] After the system starts refrigeration, the paddle on the side of the non-refrigerator door is controlled to rotate first. For example, Figure 3 In the above example, there are two paddles above, two paddles on the left and right sides, and two paddles below the refrigerator, and if the refrigerator door is located below the refrigerator, only the four paddles above and on the left and right sides of the refrigerator are controlled to rotate after starting refrigeration. The paddles on the side of the refrigerator door are not opened to prevent the paddles from injuring people in front of the refrigerator door. At the same time of opening the paddles, the condenser below the opened paddles is controlled to be unfolded to ensure the condensing effect.

[0081] When the paddle starts to rotate, the rotating speed of the paddle is a preset rotating speed, which is a relatively low rotating speed, to ensure normal condensation and avoid the UAV from rolling over or taking off. Then, the rotating speed of the paddle is adjusted in real time according to the requirements of the refrigeration mode to make the heat dissipation efficiency of the condenser meet the current refrigeration working condition. The adjusted rotating speed of the paddle needs to ensure that the UAV will not roll over or take off.

[0082] During the refrigeration of the refrigerator, if an instruction to take off the UAV is received, all the paddles are controlled to start rotating, and the rotating speed of the paddle is controlled according to the requirements of the flight mode.

[0083] In some embodiments, the refrigerator further includes a refrigerator door. The control unit 104 is further configured to: before starting refrigeration of the refrigerator, acquire the weight of the items in the refrigerator; determine whether the weight of the items in the refrigerator is greater than a preset weight and whether the refrigerator door is closed; if the weight of the items in the refrigerator is greater than the preset weight, issue a prompt information that the items are overweight; if the weight of the items in the refrigerator is less than or equal to the preset weight and the refrigerator door is closed, start refrigeration of the refrigerator; if the weight of the items in the refrigerator is less than or equal to the preset weight and the refrigerator door is opened, issue a prompt information that the refrigerator door is not closed, and do not refrigerate the refrigerator.

[0084] When the unmanned aerial vehicle is not taking off and the refrigerator is not refrigerating, the condenser is in a retracted state, and the rotating speed of the paddle is 0. Then, if the refrigerator starts to refrigerate, the power of the unmanned aerial vehicle refrigerator system is first turned on manually, the refrigerator enters standby mode, the refrigerator door is opened, and the goods are put in. Since the unmanned aerial vehicle has a maximum load limit for flight, when the goods are put in, the pressure sensor at the bottom of the inner container of the refrigerator detects the weight of the goods in real time, and judges whether the weight of the goods exceeds the maximum load. When the weight of the goods exceeds the maximum load, a prompt message is sent to remind the user to remove part of the goods to ensure normal flight of the unmanned aerial vehicle.

[0085] When the weight of the goods meets the maximum load limit, it is further judged whether the refrigerator door is closed. If the refrigerator door is not closed, a prompt message is sent that the door is not closed, and the system does not start refrigeration to prevent the paddle from rotating and causing injury. When the door is closed, refrigeration is started.

[0086] Figure 8 The flowchart of the refrigeration principle of the unmanned aerial vehicle refrigerator system of the present application is shown in Figure 8 The method comprises the following steps:

[0087] Step 1: Turn on the power, and the refrigerator enters standby mode. When goods are put into the refrigerator, it is detected whether the goods exceed the weight limit. If the goods exceed the weight limit, an overload alarm is given, and step 2 is performed. If the goods do not exceed the weight limit, step 2 is directly performed.

[0088] Step 2: Detect whether the refrigerator door is closed. If the refrigerator door is not closed, refrigeration is not started, and the refrigerator continues to standby. If the refrigerator door is closed, step 3 is performed.

[0089] Step 3: Determine whether the system receives an instruction to start refrigeration or an instruction to start flight mode. If the system receives an instruction to start refrigeration, the drive motor in front of the refrigerant door is turned off, and other drive motors in front of the refrigerator door are turned on, and the system starts refrigeration. If the system receives an instruction to start flight mode, the refrigerator enters standby mode, and the unmanned aerial vehicle starts to take off. If the system does not receive an instruction to start refrigeration or an instruction to start flight mode, all motors are turned off, and the refrigerator continues to standby.

[0090] In some embodiments, the specific process of controlling the state of the condenser and the rotating speed of the paddle according to the control instruction by the control unit 104 further comprises: when the unmanned aerial vehicle is in a flight state, if the control instruction is an instruction to start a preset speed limit function, the current temperature of the refrigerator is obtained; from a preset correspondence between the temperature of the refrigerator and the rotating speed of the paddle, the target rotating speed of the paddle is determined according to the current temperature of the refrigerator; and the rotating speed of the paddle is controlled to be the target rotating speed.

[0091] In the flight mode, the user can set a speed limit and a temperature limit. The speed limit is determined based on the temperature of the refrigerator to determine the heat dissipation efficiency required by the condenser and further determine the rotating speed of the paddle. For example, if the temperature of the refrigerator is higher than the set temperature, the condenser needs higher heat dissipation efficiency, and the rotating speed of the paddle is higher, and the speed of the UAV is faster. That is, the flight speed of the UAV under the speed limit is determined by the temperature of the refrigerator, not by the user. Specifically, the system pre-stores a corresponding relationship between the temperature of the refrigerator and the rotating speed of the paddle. After the speed limit is turned on, the system matches the rotating speed of the paddle corresponding to the current temperature of the refrigerator from the corresponding relationship, and controls the paddle to rotate according to the matched rotating speed of the paddle. Therefore, the system can more accurately adjust the temperature in the refrigerator, and improve the accuracy and stability of temperature control.

[0092] In some embodiments, the control instruction includes a set rotating speed of the paddle. The specific process of controlling the state of the condenser and the rotating speed of the paddle by the control unit 104 according to the control instruction further includes: if the control instruction is an instruction to turn off the preset speed limit function, controlling the rotating speed of the paddle to be the set rotating speed when the UAV is in the flight state.

[0093] When the UAV is flying, the user can choose to turn off the speed limit. After turning off the speed limit, the user manually controls the flight speed of the UAV, thereby improving the flexibility of the UAV operation, better responding to unexpected situations, and preventing the UAV and the refrigerator from being damaged. At the same time, the accuracy of UAV operation can be improved, so that the UAV can hover to the specified position.

[0094] In some embodiments, the specific process of controlling the state of the condenser and the rotating speed of the paddle by the control unit 104 according to the control instruction further includes: if the control instruction is an instruction to turn on the preset temperature limit function, controlling the state of the condenser to be the unfolded state; and if the control instruction is an instruction to turn off the preset temperature limit function when the preset speed limit function is turned off, controlling the state of the condenser to be the folded state.

[0095] The temperature limit is used to control the temperature in the refrigerator to reach the target temperature. After turning on the temperature limit, the condenser is unfolded, the condensing efficiency and the refrigeration effect are improved, and the temperature in the refrigerator reaches the target temperature. After turning off the temperature limit, the condenser is folded, and at this time the high-temperature refrigerant only returns to the refrigerator after passing through the pipeline on the support to the paddle position. Although the convection of air in flight can play a role in condensing and heat dissipation, the refrigeration capacity of the system is reduced.

[0096] Since the condenser will interfere with the normal flow of air in the flight process of the unmanned aerial vehicle, affect the working efficiency of the blades, and reduce the flight speed of the unmanned aerial vehicle, when the temperature limit is closed, the condenser is folded, the working efficiency of the blades is improved, and the unmanned aerial vehicle flies faster.

[0097] Figure 9 A flowchart of a control method of the unmanned aerial vehicle refrigerator system in a flight mode is shown in FIG. Figure 9 The method comprises the following steps.

[0098] In step 11, the power is turned on, the condenser is unfolded, and the refrigerator enters a standby state. When the system receives an instruction to start the flight mode, all driving motors are started, and the flight mode is entered.

[0099] In step 12, it is determined whether the speed limit is to be removed. If the speed limit is not to be removed, the flight speed of the unmanned aerial vehicle is limited according to the temperature of the refrigerator according to a pre-matched speed limit table. If the speed limit is to be removed, step 13 is performed.

[0100] In step 13, it is determined whether the temperature limit is to be removed. If the temperature limit is to be removed, the condenser is folded. If the temperature limit is not to be removed, the condenser remains unfolded.

[0101] Since the processing and functions realized by the device of the embodiment are basically corresponding to the embodiments, principles and examples of the foregoing method, details not described in the description of the embodiment can be referred to the related description in the foregoing embodiments, which will not be repeated here.

[0102] By using the technical solution of the present application, the unmanned aerial vehicle refrigerator system comprises a refrigerator and an unmanned aerial vehicle. The condenser of the refrigerator is located in the downwash direction of the blades of the unmanned aerial vehicle. The condenser has an unfolded state and a folded state, and the heat dissipation efficiency in the unfolded state is greater than that in the folded state. When the system is refrigerating, the state of the condenser and the rotating speed of the blades are controlled according to the control instruction input by the user. Thus, the condenser is cooled by the blades of the unmanned aerial vehicle, the condenser is unfolded or folded, and the rotating speed of the blades is controlled to adjust the condensation efficiency during refrigeration, so as to accurately control the temperature in the refrigerator, avoid temperature fluctuations, and improve the stability of temperature control.

[0103] According to the embodiment of the present application, a control device corresponding to the unmanned aerial vehicle refrigerator system is also provided. The control device can comprise the above-mentioned control device of the unmanned aerial vehicle refrigerator system.

[0104] Since the processing and functions realized by the unmanned aerial vehicle refrigerator system of the embodiment are basically corresponding to the embodiments, principles and examples of the foregoing device, details not described in the description of the embodiment can be referred to the related description in the foregoing embodiments, which will not be repeated here.

[0105] The unmanned aerial vehicle refrigerator system comprises a refrigerator and an unmanned aerial vehicle, the condenser of the refrigerator is located in the downwash direction of the propeller of the unmanned aerial vehicle, the condenser has an expanded state and a folded state, and the heat dissipation efficiency in the expanded state is greater than that in the folded state. When the system is refrigerating, the state of the condenser and the rotating speed of the propeller are controlled according to the control instruction input by a user. Thus, the propeller of the unmanned aerial vehicle is used to dissipate heat for the condenser, the rotating speed of the propeller is controlled to adjust the condensing efficiency when refrigerating, and the temperature in the refrigerator is accurately controlled, so that temperature fluctuation is avoided and the stability of temperature control is improved.

[0106] According to an embodiment of the present application, a storage medium corresponding to the control method of the unmanned aerial vehicle refrigerator system is also provided, the storage medium comprises a stored program, wherein when the program is running, the device where the storage medium is located performs the control method of the unmanned aerial vehicle refrigerator system.

[0107] Since the processing and functions realized by the storage medium of the present embodiment are basically corresponding to the embodiments, principles and examples of the foregoing method, the descriptions not elaborated in the present embodiment can be referred to the relevant descriptions in the foregoing embodiments, which will not be repeated here.

[0108] The unmanned aerial vehicle refrigerator system comprises a refrigerator and an unmanned aerial vehicle, the condenser of the refrigerator is located in the downwash direction of the propeller of the unmanned aerial vehicle, the condenser has an expanded state and a folded state, and the heat dissipation efficiency in the expanded state is greater than that in the folded state. When the system is refrigerating, the state of the condenser and the rotating speed of the propeller are controlled according to the control instruction input by a user. Thus, the propeller of the unmanned aerial vehicle is used to dissipate heat for the condenser, the rotating speed of the propeller is controlled to adjust the condensing efficiency when refrigerating, and the temperature in the refrigerator is accurately controlled, so that temperature fluctuation is avoided and the stability of temperature control is improved.

[0109] According to an embodiment of the present application, a computer program product corresponding to the control method of the unmanned aerial vehicle refrigerator system is also provided, the computer program product comprises a computer program, and the computer program product is processed to realize the steps of the control method of the unmanned aerial vehicle refrigerator system.

[0110] Since the processing and functions realized by the computer program product of the present embodiment are basically corresponding to the embodiments, principles and examples of the foregoing method, the descriptions not elaborated in the present embodiment can be referred to the relevant descriptions in the foregoing embodiments, which will not be repeated here.

[0111] The unmanned aerial vehicle refrigerator system comprises a refrigerator and an unmanned aerial vehicle, the condenser of the refrigerator is located in the downwash direction of the propeller of the unmanned aerial vehicle, the condenser has an unfolded state and a folded state, and the heat dissipation efficiency in the unfolded state is greater than that in the folded state. When the system is refrigerating, the state of the condenser and the rotating speed of the propeller are controlled according to the control instruction input by the user. Thus, the propeller of the unmanned aerial vehicle is used to dissipate heat for the condenser, the condenser is controlled to be unfolded or folded, and the rotating speed of the propeller is controlled to adjust the condensing efficiency when refrigerating, so that the temperature in the refrigerator is accurately controlled, temperature fluctuation is avoided, and the stability of temperature control is improved.

[0112] In summary, those skilled in the art can easily understand that the above-mentioned advantageous modes can be freely combined and superimposed without conflict.

[0113] The above only describes the embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method of controlling a drone refrigerator system, the method comprising: The unmanned aerial vehicle refrigerator system comprises a refrigerator and an unmanned aerial vehicle; the unmanned aerial vehicle is used for carrying the refrigerator to fly; the unmanned aerial vehicle comprises a propeller; the refrigerator comprises a condenser; the condenser is located in the direction of the downwash of the propeller; the condenser has a retracted state and a deployed state; the heat dissipation efficiency of the condenser in the deployed state is greater than that in the retracted state; The method comprises: obtaining a control instruction input by a user; controlling the state of the condenser and the rotating speed of the propeller according to the control instruction; wherein controlling the state of the condenser and the rotating speed of the propeller according to the control instruction comprises: if the control instruction is an instruction to open a preset speed limiting function when the unmanned aerial vehicle is in a flying state, obtaining the current temperature of the refrigerator; determining the target rotating speed of the propeller according to the current temperature of the refrigerator from a preset corresponding relationship between the temperature of the refrigerator and the rotating speed of the propeller; and controlling the rotating speed of the propeller to be the target rotating speed; the control instruction comprises a set rotating speed of the propeller; controlling the state of the condenser and the rotating speed of the propeller according to the control instruction further comprises: if the control instruction is an instruction to close the preset speed limiting function when the unmanned aerial vehicle is in a flying state, controlling the rotating speed of the propeller to be the set rotating speed; controlling the state of the condenser and the rotating speed of the propeller according to the control instruction further comprises: if the control instruction is an instruction to open a preset temperature limiting function, controlling the state of the condenser to be the deployed state; and if the control instruction is an instruction to close the preset temperature limiting function when the preset speed limiting function is closed, controlling the state of the condenser to be the retracted state. 2.The method of claim 1, wherein, controlling the state of the condenser and the rotating speed of the propeller according to the control instruction comprises: if the control instruction is an instruction to open a preset refrigeration mode when the unmanned aerial vehicle is not in a flying state, controlling the state of the condenser to be the deployed state and the rotating speed of the propeller to be a preset rotating speed to start refrigeration of the refrigerator. 3.The method of claim 2, wherein, The refrigerator further comprises a refrigerator door; the method further comprises: obtaining the weight of the items in the refrigerator before starting refrigeration of the refrigerator; determining whether the weight of the items in the refrigerator is greater than a preset weight and whether the refrigerator door is closed; if the weight of the items in the refrigerator is greater than the preset weight, issuing a prompt information that the items are overweight; if the weight of the items in the refrigerator is less than or equal to the preset weight and the refrigerator door is closed, starting refrigeration of the refrigerator; if the weight of the items in the refrigerator is less than or equal to the preset weight and the refrigerator door is open, issuing a prompt information that the refrigerator door is not closed, and not refrigerating the refrigerator. 4.A control device of a drone refrigerator system, characterized by, The unmanned aerial vehicle refrigerator system comprises a refrigerator and an unmanned aerial vehicle; the unmanned aerial vehicle is used to carry the refrigerator to fly; the unmanned aerial vehicle comprises a propeller; the refrigerator comprises a condenser; the condenser is located in the downwash direction of the propeller; the condenser has a retracted state and a deployed state; the heat dissipation efficiency of the condenser in the deployed state is greater than that in the retracted state; The device comprises: An acquisition unit configured to acquire a control instruction input by a user; A control unit configured to control the state of the condenser and the rotating speed of the propeller according to the control instruction; The control unit controls the state of the condenser and the rotating speed of the propeller according to the control instruction, which comprises: in the case where the unmanned aerial vehicle is in a flying state, if the control instruction is an instruction to start a preset speed limiting function, acquiring the current temperature of the refrigerator; determining the target rotating speed of the propeller according to the current temperature of the refrigerator from a preset corresponding relationship between the temperature of the refrigerator and the rotating speed of the propeller; and controlling the rotating speed of the propeller to be the target rotating speed. The control instruction comprises a set rotating speed of the propeller; the control unit controls the state of the condenser and the rotating speed of the propeller according to the control instruction, which further comprises: in the case where the unmanned aerial vehicle is in a flying state, if the control instruction is an instruction to stop the preset speed limiting function, controlling the rotating speed of the propeller to be the set rotating speed. The control unit controls the state of the condenser and the rotating speed of the propeller according to the control instruction, which further comprises: if the control instruction is an instruction to start a preset temperature limiting function, controlling the state of the condenser to be the deployed state; and in the case where the preset speed limiting function is stopped, if the control instruction is an instruction to stop the preset temperature limiting function, controlling the state of the condenser to be the retracted state.

5. A drone refrigerator system, comprising: The device comprises: The control device of the unmanned aerial vehicle refrigerator system according to claim 4.

6. A storage medium, characterized by The storage medium comprises a stored program, wherein the program controls the device where the storage medium is located to perform the control method of the unmanned aerial vehicle refrigerator system according to any one of claims 1 to 3 when the program is running.

7. A computer program product comprising a computer program, characterized in that, The computer program is executed by a processor to implement the steps of the method according to any one of claims 1 to 3.

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