Real-time control method and system for UAV return process based on two-way communication between the warehouse and the machine

Abstract

The present invention discloses a real-time control method and system for a UAV returning to a hangar based on two-way communication between a hangar and a machine. The system includes a hangar end and a UAV end. The hangar end includes a hangar and a hangar control module, and the UAV end includes a UAV and a UAV control module. The hangar includes a cabin and a UAV landing platform, and the cabin is used to load the UAV; the UAV landing platform is configured inside the cabin to park the UAV; the hangar control module includes a hangar control unit and a hangar communication unit, and the hangar control unit is used to control the operation of the hangar; the hangar communication unit is used to receive real-time status information sent by the UAV and send real-time control instructions to the UAV; the UAV control module includes a UAV control unit and a UAV communication unit, and the UAV control unit is used to control the operation of the UAV; the UAV communication unit is used to receive real-time control instructions sent by the hangar and send real-time status information to the hangar.

Description

Technical Field

[0001] The present invention relates to the field of drone control technology, and in particular to a real-time control method and system for a drone returning to a warehouse based on two-way communication between the warehouse and the machine. Background Art

[0002] During the flight back to the warehouse, traditional UAVs often encounter flight stability problems caused by wind changes due to the lack of coordinated control between the warehouse and the aircraft, as well as the balance of factors affecting the surrounding environment, namely wind factors. These problems make it difficult for them to adapt to the return to the warehouse scenarios under different wind changes, and the risk of return collision is relatively high. In view of this, the present invention provides a real-time control method and system for the UAV return process based on two-way communication between the warehouse and the aircraft. Through two-way communication between the warehouse and the aircraft, real-time control, adaptive adjustment and other functions are realized, thereby solving the safety problem of UAV return and landing in different wind environments. Summary of the Invention

[0003] In order to solve the above technical problems, the purpose of the present invention is to provide a real-time control method and system for the UAV return process based on two-way communication with the warehouse machine, which realizes wind adaptive adjustment, safe landing point selection and graded wind speed compensation control during the UAV return process through two-way communication with the warehouse machine, so as to improve the safety and accuracy of the UAV return and landing.

[0004] In order to achieve the above-mentioned purpose, the present invention provides, on the one hand, a real-time control system for the UAV return process based on two-way communication between the hangar and the drone. In the technical solution of the present invention, the real-time control system includes a hangar end and a drone end. The hangar end includes a hangar and a hangar control module for controlling the operation of the hangar, and the drone end includes a drone and a drone control module for controlling the operation of the drone.

[0005] Furthermore, in the technical solution of the present invention, the hangar includes a cabin and a UAV landing platform, the cabin is used to load the UAV, a door is provided on the top of the cabin, the door can be rotated along the top of the cabin to change the direction of the door, a number of wind guide plates are installed on the door, the wind guide plates are used to guide the wind blowing toward the top of the cabin, and the wind guide plates can be rotated to change the direction of the wind; the UAV landing platform is arranged inside the cabin to park the UAV, can be controlled to rise and fall by the hangar control module, and can rise to the upper end of the cabin through the door to facilitate the landing of the UAV; the hangar control module includes a hangar control Unit and hangar communication unit, the hangar control unit is used to control the operation of the hangar, including controlling the opening and closing and rotation of the hatch and the raising and lowering of the UAV landing platform; the hangar communication unit is used to establish a communication connection with the UAV, receive real-time status information of the UAV sent by the UAV, and send real-time control instructions to the UAV; the UAV control module includes a UAV control unit and a UAV communication unit, the UAV control unit is used to control the operation of the UAV, including controlling the flight speed and flight route of the UAV; the UAV communication unit is used to establish a communication connection with the hangar, receive real-time control instructions sent by the hangar, and send real-time status information to the hangar.

[0006] Furthermore, in the technical solution of the present invention, the hangar and the drone are both equipped with wind direction sensors and wind speed sensors to obtain the real-time wind direction and real-time wind speed at their respective locations.

[0007] Furthermore, in the technical solution of the present invention, the hangar control unit controls the opening, closing and rotation of the cabin door as follows: when the UAV returns to the hangar, the hangar control unit first controls the opening of the cabin door, and obtains the real-time wind direction and real-time wind speed of the hangar location through the wind direction sensor and the wind speed sensor; based on the real-time wind direction and real-time wind speed, the hangar control unit continues to rotate the cabin door to change its direction so that the cabin door is perpendicular to the wind direction, so that the wind guide plate installed on the cabin door can guide and adjust the wind blowing toward the top of the cabin body; after the UAV returns to the hangar, the hangar control unit controls the closing of the cabin door.

[0008] Furthermore, in the technical solution of the present invention, a plurality of landing points are provided on the drone landing platform. When the drone returns to the warehouse, the real-time landing point is selected based on the direction of the cabin door after rotation. Specifically, the landing point farthest from the cabin door is selected as the real-time landing point.

[0009] Furthermore, in the technical solution of the present invention, the real-time status information sent by the UAV to the hangar includes the real-time position and real-time speed of the UAV and the real-time wind direction and real-time wind speed at the location of the UAV; the real-time control instructions sent by the hangar communication unit to the UAV specifically include the target flight speed and the target landing route, and the target flight speed is based on the real-time wind direction and real-time wind speed at the location of the hangar. Different target flight speeds are set according to different wind force levels. The higher the wind force level, the faster the target flight speed, and there are different specific values ​​based on different models of UAVs; the target landing route is planned based on the real-time position and real-time landing point of the UAV. According to the principle of shortest path, when planning the target landing route, it is necessary to maintain a minimum safety distance from external obstacles including the cabin door.

[0010] Furthermore, in the technical solution of the present invention, the wind guide plates guide and adjust the wind blowing toward the top of the cabin as follows: guide and adjust based on the difference between the real-time wind direction and real-time wind speed at the location of the UAV and the real-time wind direction and real-time wind speed at the location of the hangar, and adjust to reduce the difference to reduce the impact of wind force changes caused by the wind force difference on the flight of the UAV.

[0011] Another aspect of the present invention provides a method for real-time control of a drone's return process based on two-way communication with a warehouse machine. The method employs the above-described real-time control system for a drone's return process based on two-way communication with a warehouse machine. In the technical solution of the present invention, the method specifically includes the following steps:

[0012] The drone sends identity authentication information and a communication connection request to the hangar via the drone communication unit. After establishing a communication connection with the hangar, the drone sends a return request to the hangar and simultaneously sends the drone's real-time status information to the hangar, including the drone's real-time position and speed, as well as the real-time wind direction and speed at the drone's location.

[0013] The hangar receives the drone's communication connection request after identifying the drone's identity authentication information through the hangar communication unit, establishes a communication connection with the drone, accepts the drone's return request, receives the drone's real-time status information, and begins arranging the drone's return to the hangar.

[0014] The hangar controls the opening of the hatch through the hangar control unit, and further controls the raising of the drone landing platform;

[0015] The hangar obtains real-time wind direction and speed through wind direction sensors and wind speed sensors. Based on these real-time wind direction and speed, the hangar control unit continues to rotate the hatch door to change its orientation, making the hatch door perpendicular to the wind direction. At the same time, it obtains the real-time landing point, which is the landing point farthest from the hatch door.

[0016] The hangar control unit controls the rotation of the wind deflector to direct the wind blowing toward the top of the cabin. The specific adjustment is based on the real-time status information of the drone, that is, the difference between the real-time wind direction and real-time wind speed at the drone's location and the real-time wind direction and real-time wind speed at the hangar location, and the adjustment is made to reduce the difference;

[0017] The hangar communication unit further plans the target landing route of the UAV based on the real-time landing point and the real-time position of the UAV, and determines the target flight speed of the UAV based on the real-time wind direction and real-time wind speed at the hangar location. The hangar communication unit further sends real-time control information to the UAV, including the target landing route and target flight speed;

[0018] The UAV receives real-time control information sent by the hangar communication unit through the UAV communication unit, and adjusts its operating status through the UAV control unit based on the target landing route and target flight speed in the real-time control information. At the same time, the UAV updates in real time during the return process and sends real-time status information to the hangar through the UAV communication unit;

[0019] The hangar communication unit receives the real-time status information sent by the drone communication unit during the drone's return to the hangar, compares the real-time control information with the real-time wind direction and real-time wind speed of the drone and the hangar location, and performs further monitoring and control.

[0020] Furthermore, in the technical solution of the present invention, the hangar communication unit receives the real-time status information updated and sent by the drone communication unit in real time during the drone's return to the hangar, and compares the real-time control information with the real-time wind direction and real-time wind speed at the drone and the hangar location to further monitor and control the situation. Specifically, the following steps are involved:

[0021] When the drone's flight position deviates, replan the drone's target landing route;

[0022] When the real-time wind direction and real-time wind speed at the location of the UAV or hangar change suddenly, the target flight speed of the UAV is re-determined.

[0023] Beneficial effects: In summary, the present invention provides a real-time control method and system for the UAV's return to the hangar based on two-way communication between the hangar and the UAV. In the technical solution of the present invention, through two-way communication between the hangar and the UAV, real-time control of the entire UAV's return to the hangar and landing process is achieved. At the same time, an innovative rotatable cabin door is used in conjunction with a wind guide plate to achieve adaptive adjustment of the wind force during the UAV's return to the hangar. Combined with graded wind speed compensation control, the safety and accuracy of the UAV's return to the hangar and landing are effectively improved.

[0024] Other features and advantages of the present invention will be set forth in the description that follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 Schematic diagram of a real-time control system for a UAV returning to a warehouse based on two-way communication between a warehouse and a machine according to an embodiment of the present invention;

[0027] Figure 2 Flowchart of a method for real-time control of a UAV returning to a warehouse based on two-way communication between a warehouse and a machine according to an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of a hangar structure according to an embodiment of the present invention Figure 1 ;

[0029] Figure 4 A schematic diagram of a hangar structure according to an embodiment of the present invention Figure 2 ;

[0030] In the figure: A, hangar; A01, cabin; A02, cabin door; A03, wind deflector; A04, UAV landing platform; A04-1, landing point. DETAILED DESCRIPTION

[0031] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] The core of the embodiment of the present invention is to provide a real-time control method and system for the drone's return process based on two-way communication between the hangar and the hangar machine. Through two-way communication between the hangar and the hangar machine, wind adaptive adjustment, safe landing point selection and graded wind speed compensation control are realized during the drone's return process, so as to improve the safety and accuracy of the drone's return and landing.

[0033] Figure 1 Schematic diagram of a real-time control system for a drone returning to a warehouse based on two-way communication with a warehouse machine according to an embodiment of the present invention. Figure 1 As shown, this embodiment provides a real-time control system for the UAV return process based on two-way communication between the hangar and the aircraft. In this embodiment, the real-time control system includes a hangar end and a UAV end. Figure 3 and Figure 4A schematic diagram of the hangar structure according to an embodiment of the present invention is shown in FIG. Figure 3 and Figure 4 As shown, the hangar end includes a hangar A and a hangar control module (not shown in the figure) for controlling the operation of hangar A, and the drone end includes a drone and a drone control module for controlling the operation of the drone.

[0034] Specifically, in this embodiment, the hangar A includes a cabin A01 for loading drones and a drone landing platform A04 configured inside the cabin A01 for parking drones; wherein, a hatch A02 is opened at the top of the cabin A01, and the hatch A02 is rotatably mounted on the top of the cabin A01. Please continue to refer to Figure 4 ,like Figure 4 As shown, the hatch A02 can be rotated along the top of the cabin body A01 to change the direction of the hatch A02. A number of wind guide plates A03 are installed on the hatch A02. The wind guide plates A03 are used to guide the wind blowing toward the top of the cabin body A01, and the wind guide plates A03 can be rotated to change the direction of the wind. The rotation of the hatch A02 and the rotation of the wind guide plates A03 can guide wind of different directions to different directions; the UAV landing platform A04 can be raised and lowered inside the cabin body A01. The UAV landing platform A04 can be controlled to rise and fall through the hangar control module, and after the hatch A02 is opened, it can rise to the upper end of the cabin body A01 through the hatch A02 to facilitate the landing of the UAV.

[0035] Specifically, in this embodiment, hangar A and the UAV are both equipped with wind direction sensors and wind speed sensors to obtain the real-time wind direction and real-time wind speed at their respective locations.

[0036] Specifically, in this embodiment, the hangar control module includes a hangar control unit for controlling the operation of hangar A and a hangar communication unit for establishing a communication connection with the drone, wherein the hangar control unit controls the operation of hangar A, including controlling the opening and closing and rotation of the cabin door A02, the rotation of the wind guide plate A03, and the raising and lowering of the drone landing platform A04; the hangar communication unit is used for two-way communication with the drone, including receiving real-time status information of the drone sent by the drone and sending real-time control instructions to the drone.

[0037] Specifically, in this embodiment, the drone control module includes a drone control unit for controlling the operation of the drone and a drone communication unit for establishing a communication connection with hangar A; wherein, the drone control unit is used to control the operation of the drone, including controlling the flight speed and flight route of the drone; the drone communication unit is used for two-way communication with hangar A, including receiving real-time control instructions sent by hangar A and sending real-time status information to hangar A.

[0038] Specifically, in this embodiment, the real-time status information sent by the drone to hangar A includes the real-time position and real-time speed of the drone and the real-time wind direction and real-time wind speed at the location of the drone. The real-time control instructions sent by the hangar communication unit to the drone specifically include the target flight speed and target landing route for the drone to return to the hangar and land. The target flight speed is based on the real-time wind direction and real-time wind speed at the location of hangar A. Different target flight speeds are set according to different wind levels. The higher the wind level, the faster the target flight speed. High wind levels tend to set a higher descent rate than when there is no wind to speed up descent, so as to safely leave the dangerous low-altitude turbulence area as quickly as possible and reduce the risk of drift. Low wind levels use a lower, more finely controlled descent rate to land slower, giving priority to ensuring landing accuracy and light landing impact, which is convenient for fine-tuning. At the same time, different specific values ​​are used based on different models of drones. The target landing route is planned based on the real-time position and real-time landing point of the drone. According to the principle of shortest path, when planning the target landing route, it is necessary to maintain a minimum safety distance from external obstacles, including the hatch A02, to prevent collision.

[0039] Specifically, in this embodiment, when the UAV returns to the hangar, the hangar control unit first controls the opening of the cabin door A02, and obtains the real-time wind direction and real-time wind speed of the location of the hangar A through the wind direction sensor and the wind speed sensor; the hangar control unit continues to rotate the cabin door A02 based on the real-time wind direction and real-time wind speed to change the direction of the cabin door A02, so that the cabin door A02 is perpendicular to the wind direction, so that the wind guide plate A03 installed on the cabin door A02 can guide and adjust the wind blowing to the top of the cabin body A01; after the UAV returns to the hangar, the hangar control unit controls the closing of the cabin door A02; a plurality of landing points A04-1 are also provided on the UAV landing platform A04. When the UAV returns to the hangar, the real-time landing point is selected based on the direction of the cabin door A02 after rotation, and the specific landing point is selected as the farthest from the cabin door A02. The landing point A04-1 at the location is the real-time landing point. The landing point A04-1 farthest from the hatch A02 is conducive to the landing of the UAV and reduces the risk of collision with the hatch A02. Among them, a number of wind guide plates A03 guide and adjust the wind blowing towards the top of the cabin A01. The guidance adjustment is based on the difference between the real-time wind direction and real-time wind speed at the location of the UAV and the real-time wind direction and real-time wind speed at the location of the hangar A. The adjustment is made to reduce the difference to reduce the impact of wind force changes caused by the wind force difference on the flight of the UAV. It should be noted that the rotation of the hatch A02 perpendicular to the wind direction can make the wind guide plate A03 face the incoming wind. A number of wind guide plates A03 can be rotated separately to guide the wind in different directions, including guiding and concentrating to increase wind force or guiding and dispersing to reduce wind force. Please continue to refer to Figure 4 ,like Figure 4As shown, several wind guide plates A03 are respectively rotatably installed in the middle of the cabin door A02, and several wind guide plates A03 are adjacent to each other. Several wind guide plates A03 can be rotated to close, that is, adjacent wind guide plates A03 are rotated to fit together to close the cabin door A02 as a whole. Several wind guide plates A03 can also be rotated to open, that is, adjacent wind guide plates A03 are rotated to separate so that the wind blowing toward the cabin door A02 passes through the middle of the adjacent wind guide plates A03. The wind direction can be guided by controlling the rotation and opening angle of the wind guide plates A03.

[0040] Figure 2 Flowchart of a method for real-time control of a drone returning to a warehouse based on two-way communication between a warehouse and a machine according to an embodiment of the present invention. Figure 2 As shown, this embodiment also provides a real-time control method for the UAV return process based on two-way communication with the warehouse machine, using the real-time control system for the UAV return process based on two-way communication with the warehouse machine as described above. In this embodiment, the real-time control method specifically includes the following steps:

[0041] The drone sends identity authentication information and a communication connection request to Hangar A via the drone communication unit. After establishing a communication connection with Hangar A, the drone sends a return request to Hangar A and simultaneously sends the drone's real-time status information to Hangar A, including the drone's real-time position and speed, as well as the real-time wind direction and speed at the drone's location.

[0042] Hangar A recognizes the identity authentication information sent by the drone through the hangar communication unit, accepts the drone's communication connection request, establishes a communication connection with the drone, accepts the drone's return request, receives the drone's real-time status information, and begins arranging the drone's return to the hangar;

[0043] Hangar A controls the opening of hatch A02 through the hangar control unit, and further controls the raising of the drone landing platform A04;

[0044] Hangar A uses wind direction and speed sensors to obtain real-time wind direction and speed. Based on these real-time wind direction and speed, the hangar control unit continues to rotate door A02, changing its orientation so that door A02 is perpendicular to the wind direction. At the same time, the hangar control unit obtains the real-time landing point, i.e., the location of landing point A04-1, which is the farthest point from door A02.

[0045] The hangar control unit controls the rotation of the wind deflector A03 to direct the wind blowing toward the top of the cabin A01. The specific adjustment is based on the real-time status information of the drone, that is, the difference between the real-time wind direction and real-time wind speed at the drone's location and the real-time wind direction and real-time wind speed at the hangar A location, and the adjustment is made to reduce the difference.

[0046] The hangar communication unit further plans the target landing route of the UAV based on the real-time landing point and the real-time position of the UAV. At the same time, the target flight speed of the UAV is determined according to the real-time wind direction and real-time wind speed at the location of Hangar A. The hangar communication unit further sends real-time control information to the UAV, including the target landing route and target flight speed.

[0047] The UAV receives real-time control information sent by the hangar communication unit through the UAV communication unit, and adjusts its operating status through the UAV control unit based on the target landing route and target flight speed in the real-time control information. At the same time, the UAV updates its real-time status information in real time during the return process and sends it to Hangar A through the UAV communication unit.

[0048] The hangar communication unit receives the real-time status information sent by the drone communication unit in real time during the drone's return to the hangar, compares the real-time control information with the real-time wind direction and real-time wind speed of the drone and hangar A, and performs further monitoring and control.

[0049] Specifically, in this embodiment, the hangar communication unit receives real-time status information updated and sent by the drone communication unit during the drone's return to the hangar, compares the real-time control information with the real-time wind direction and real-time wind speed at the location of the drone and hangar A, and performs further monitoring and control. Specifically, the following steps are performed:

[0050] When the drone's flight position deviates, replan the drone's target landing route;

[0051] When the real-time wind direction and real-time wind speed at the location of the UAV or hangar A suddenly change, the target flight speed of the UAV is re-determined.

[0052] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A real-time control system for the UAV return process based on two-way communication between the hangar and the aircraft, comprising a hangar end and a UAV end, wherein the hangar end comprises a hangar and a hangar control module for controlling hangar operation, and the UAV end comprises a UAV and a UAV control module for controlling UAV operation, characterized in that: The hangar includes: A cabin body is used to carry the UAV, and a door is opened at the top of the cabin body. The door can be rotated along the top of the cabin body to change the direction of the door. A plurality of wind deflectors are installed on the door. The wind deflectors are used to guide the wind blowing toward the top of the cabin body, and the wind deflectors can be rotated to change the direction of the wind. A drone landing platform is disposed inside the cabin to park the drone, can be raised and lowered by the hangar control module, and can be raised to the upper end of the cabin through the cabin door to facilitate the landing of the drone; The hangar control module includes: A hangar control unit, used to control the operation of the hangar, including controlling the opening, closing and rotation of the hatch and the raising and lowering of the UAV landing platform; The hangar communication unit establishes a communication connection with the drone, receives real-time status information from the drone, and sends real-time control instructions to the drone; The drone control module includes: A drone control unit, used to control the operation of the drone, including controlling the flight speed and flight path of the drone; The UAV communication unit establishes a communication connection with the hangar, receives real-time control instructions sent by the hangar, and sends real-time status information to the hangar.

2. The real-time control system for the return process of a UAV based on two-way communication between the warehouse and the machine according to claim 1 is characterized in that: The hangar and the UAV are both equipped with wind direction sensors and wind speed sensors to obtain the real-time wind direction and real-time wind speed at their respective locations.

3. The real-time control system for the return process of a UAV based on two-way communication between the warehouse and the machine according to claim 2 is characterized in that: The hangar control unit controls the opening, closing and rotation of the door, specifically including: When the UAV returns to the hangar, the hangar control unit first controls the opening of the hatch and obtains the real-time wind direction and wind speed of the hangar through the wind direction sensor and wind speed sensor; Based on the real-time wind direction and speed, the hangar control unit continues to rotate the door to change its orientation, making the door perpendicular to the wind direction so that the wind deflector installed on the door can guide and adjust the wind blowing toward the top of the cabin; After the drone returns to the hangar, the hangar control unit controls the closing of the hatch.

4. The real-time control system for the return process of a UAV based on two-way communication between the warehouse and the machine according to claim 3 is characterized in that: The drone landing platform is also provided with a plurality of landing points. When the drone returns to the warehouse, the real-time landing point is selected based on the direction of the cabin door after rotation. Specifically, the landing point farthest from the cabin door is selected as the real-time landing point.

5. The real-time control system for the return process of a UAV based on two-way communication between the warehouse and the machine according to claim 4 is characterized in that: The real-time status information sent by the drone to the hangar includes the real-time position and real-time speed of the drone and the real-time wind direction and real-time wind speed at the location of the drone.

6. The real-time control system for the return process of a UAV based on two-way communication between the warehouse and the machine according to claim 5 is characterized in that: The real-time control instructions sent by the hangar communication unit to the drone specifically include: Target flight speed: Based on the real-time wind direction and speed at the hangar location, different target flight speeds are set according to different wind levels. The higher the wind level, the faster the target flight speed. Specific values ​​vary based on different drone models. The target landing route is planned based on the real-time position and landing point of the UAV. According to the principle of shortest path, the target landing route needs to maintain a minimum safe distance from external obstacles including the cabin door.

7. The real-time control system for the return process of a UAV based on two-way communication between the warehouse and the machine according to claim 6 is characterized in that: The wind deflectors guide and adjust the wind blowing toward the top of the cabin body, specifically including: The guidance adjustment is performed based on the difference between the real-time wind direction and real-time wind speed at the location of the UAV and the real-time wind direction and real-time wind speed at the location of the hangar, and the adjustment is made to reduce the difference to reduce the impact of wind changes caused by the wind difference on the flight of the UAV.

8. A method for real-time control of a drone's return process based on two-way communication between a warehouse and a machine, using a real-time control system for a drone's return process based on two-way communication between a warehouse and a machine according to any one of claims 1 to 7, characterized in that: The specific steps include: The drone sends identity authentication information and a communication connection request to the hangar via the drone communication unit. After establishing a communication connection with the hangar, the drone sends a return request to the hangar and simultaneously sends the drone's real-time status information to the hangar, including the drone's real-time position and speed, as well as the real-time wind direction and speed at the drone's location. The hangar receives the drone's communication connection request after identifying the drone's identity authentication information through the hangar communication unit, establishes a communication connection with the drone, accepts the drone's return request, receives the drone's real-time status information, and begins arranging the drone's return to the hangar. The hangar controls the opening of the hatch through the hangar control unit, and further controls the raising of the drone landing platform; The hangar obtains real-time wind direction and speed through wind direction sensors and wind speed sensors. Based on these real-time wind direction and speed, the hangar control unit continues to rotate the hatch door to change its orientation, making the hatch door perpendicular to the wind direction. At the same time, it obtains the real-time landing point, which is the landing point farthest from the hatch door. The hangar control unit controls the rotation of the wind deflector to direct the wind blowing toward the top of the cabin. The specific adjustment is based on the real-time status information of the drone, that is, the difference between the real-time wind direction and real-time wind speed at the drone's location and the real-time wind direction and real-time wind speed at the hangar location, and the adjustment is made to reduce the difference; The hangar communication unit further plans the target landing route of the UAV based on the real-time landing point and the real-time position of the UAV, and determines the target flight speed of the UAV based on the real-time wind direction and real-time wind speed at the hangar location. The hangar communication unit further sends real-time control information to the UAV, including the target landing route and target flight speed; The UAV receives real-time control information sent by the hangar communication unit through the UAV communication unit, and adjusts its operating status through the UAV control unit based on the target landing route and target flight speed in the real-time control information. At the same time, the UAV updates in real time during the return process and sends real-time status information to the hangar through the UAV communication unit; The hangar communication unit receives the real-time status information sent by the drone communication unit during the drone's return to the hangar, compares the real-time control information with the real-time wind direction and real-time wind speed of the drone and the hangar location, and performs further monitoring and control.

9. The real-time control method for the UAV return process based on two-way communication between the warehouse and the machine according to claim 8 is characterized in that: The hangar communication unit receives the real-time status information sent by the drone communication unit during the drone's return to the hangar, compares the real-time control information with the real-time wind direction and real-time wind speed of the drone and the hangar location, and conducts further monitoring and control. The specific details include: When the drone's flight position deviates, replan the drone's target landing route; When the real-time wind direction and real-time wind speed at the location of the UAV or hangar change suddenly, the target flight speed of the UAV is re-determined.

Images