Unmanned aerial vehicle garage control method and system, medium, equipment, program product and vehicle

Abstract

The invention relates to an unmanned aerial vehicle depot control method and system, a medium, equipment, a program product and a vehicle, and the method comprises the steps: controlling each target execution mechanism in the unmanned aerial vehicle depot to return according to preset sequence information when the unmanned aerial vehicle depot breaks down. When the unmanned aerial vehicle depot breaks down, all the execution mechanisms are controlled to return according to the preset sequence information, the situation that a user manually returns all the execution mechanisms in the unmanned aerial vehicle depot is avoided, and then the returning efficiency of all the execution mechanisms when the unmanned aerial vehicle depot breaks down is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a drone hangar control method, system, medium, device, program product, and vehicle. Background Art

[0002] Automobile technology is developing rapidly. Many cars are now equipped with drone hangars for parking drones on the car.

[0003] When a failure occurs in an existing drone library, users are required to manually return each actuator in the drone library, which results in low efficiency in returning each actuator when a failure occurs in the drone library. Summary of the Invention

[0004] An embodiment of the present application provides a drone hangar control method, which can improve the efficiency of returning each actuator when a drone hangar fails, thereby solving the above-mentioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of the present application, a drone hangar control method is provided, which is applied to a target controller. The method includes:

[0006] When a failure occurs in the drone hangar, each target actuator in the drone hangar is controlled to return according to the preset sequence information.

[0007] Optionally, the target actuator is an actuator that is not in an initial position when the drone hangar fails.

[0008] Optionally, before controlling each target actuator in the drone library to return according to a preset sequence information, the method includes:

[0009] Obtaining each target actuator when the drone library fails, and / or location information of each target actuator;

[0010] The preset sequence information of each of the target actuators is determined according to the each of the target actuators and / or the position information.

[0011] Optionally, when a failure occurs in the drone hangar, controlling each target actuator in the drone hangar to return according to a preset sequence includes:

[0012] Obtaining the initial position of each target actuator in the UAV library;

[0013] According to the initial position, each of the target actuators is controlled to return to the initial position according to the preset sequence information.

[0014] Optionally, obtaining the initial position of each target actuator in the drone library includes:

[0015] Obtaining the serial number information of each target actuator in the UAV library;

[0016] Based on the numbering information and the preset position information database, the initial position of each target actuator in the drone library is determined.

[0017] Optionally, controlling each of the target actuators to retract according to the preset sequence information based on the initial position includes:

[0018] Obtaining position information of each of the target actuators when a failure occurs in the drone library;

[0019] According to the initial position and the position information, each of the target execution mechanisms is controlled to retreat according to the preset sequence information.

[0020] Optionally, the method further includes:

[0021] Obtaining the movement speed of each target actuator;

[0022] A retraction screen of each target actuator is displayed according to the movement speed, the initial position and the position information.

[0023] Optionally, the method further includes:

[0024] determining a movement distance of each of the target actuators according to the initial position and the position information;

[0025] The movement time of each target actuator is determined according to the movement distance and the movement speed, and the movement time is displayed.

[0026] Optionally, the method comprises:

[0027] When the drone library receives the preset power-on information, the stored position information of each of the target actuators is obtained, wherein the position information is the information stored in the target controller and / or in a second controller different from the target controller when the drone library receives the preset power-off information or when the drone library fails and the power is not restored.

[0028] Optionally, when the drone library receives preset power-on information, obtaining the stored position information of each target actuator includes:

[0029] When the drone library receives the preset power-on information, obtaining an update identifier;

[0030] If the update identifier is a preset update identifier, the stored position information of each target actuator corresponding to the update identifier is obtained.

[0031] Optionally, before obtaining the update identifier, the method includes:

[0032] When the drone library receives the preset power-off information, it generates an update identifier and binds the update identifier to the position information of each target actuator;

[0033] The bound update identifier and the location information of each target actuator are stored in the target controller.

[0034] Optionally, the method comprises:

[0035] If the update identifier is not a preset update identifier, each of the target actuators is directly controlled to return to an initial position.

[0036] Optionally, determining the preset sequence information of each target actuator according to the position information includes:

[0037] Determining, based on the location information, an operating mode of the drone hangar when a fault occurs;

[0038] According to the working mode, the preset sequence information of each target actuator in the drone library is determined.

[0039] According to a second aspect of the present application, a drone hangar control method is provided, which is applied to a second controller, and the method includes:

[0040] When a failure occurs in the drone hangar, the position information of each target actuator is sent to the third controller of the drone hangar, so that each target actuator in the drone hangar is returned in a preset order according to the position information of each target actuator.

[0041] Optionally, the preset sequence information is determined by the target actuator when the drone hangar fails, and / or the position information of each target actuator.

[0042] Optionally, the method comprises:

[0043] When the drone library receives preset power-off information, or when a failure occurs in the drone library, the position information of each target actuator is received and stored in the second controller.

[0044] Optionally, receiving the position information of each target actuator and storing it in the second controller includes:

[0045] receiving an update identifier and location information of each of the target actuators;

[0046] The update identifier and the position information of each target actuator are associated and stored in the second controller.

[0047] Optionally, after associating the update identifier with the position information of each target actuator and storing it in the second controller, the method further includes:

[0048] When the drone library receives the preset power-on information, obtaining an update identifier;

[0049] If the update identifier is a preset update identifier, the location information of each target actuator stored in association with the update identifier is obtained.

[0050] Optionally, if the update identifier is a preset update identifier, after acquiring the stored position information of each target actuator corresponding to the update identifier, the method further includes:

[0051] When it is determined that the second controller has acquired the position information of each of the target actuators, the association between the update identifier and the position information is cancelled.

[0052] Optionally, the method further includes:

[0053] Obtaining the movement speed of each target actuator;

[0054] The return screen of each target actuator is displayed according to the movement speed and the position information, and / or the movement time of each target actuator is determined according to the movement speed and the position information, and the movement time is displayed.

[0055] According to a third aspect of the present application, a drone hangar control device is provided, comprising:

[0056] The control module is used to control the various target actuators in the drone hangar to return according to the preset sequence information when a failure occurs in the drone hangar.

[0057] According to a fourth aspect of the present application, a drone hangar control device is provided, comprising:

[0058] The sending module is used to send the position information of each target actuator to the third controller of the drone hangar when a failure occurs, so that each target actuator in the drone hangar is returned in a preset order according to the position information of each target actuator.

[0059] According to a fifth aspect of the present application, an embodiment of the present application further provides a drone hangar control system, the system comprising: a drone hangar and a target controller, wherein:

[0060] The target controller is used to control the various target actuators in the drone hangar to return according to a preset sequence when a failure occurs in the drone hangar.

[0061] According to a sixth aspect of the present application, an embodiment of the present application further provides a drone hangar control system, the system comprising: a drone hangar, a second controller, and a third controller, wherein:

[0062] The second controller is used to send the position information of each target actuator to the third controller when a failure occurs in the drone hangar, so that each target actuator in the drone hangar is returned in a preset order according to the position information of each target actuator.

[0063] According to the seventh aspect of the present application, an embodiment of the present application also provides a computer-readable storage medium, which stores multiple computer programs. The computer programs are suitable for loading by a processor to execute the steps of any drone hangar control method provided in the embodiment of the present application.

[0064] According to the eighth aspect of the present application, an embodiment of the present application also provides an electronic device, including a processor and a memory, wherein the memory stores multiple instructions; the processor loads instructions from the memory to execute the steps of any one of the drone hangar control methods provided in the embodiments of the present application.

[0065] According to the ninth aspect of the present application, an embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of any drone hangar control method provided in the embodiment of the present application.

[0066] According to the tenth aspect of the present application, a vehicle is also provided, comprising a processor and a memory, wherein the memory stores a computer program; when the computer program is executed by the processor, the processor executes the steps of the above-mentioned drone hangar control method, or the drone hangar control system described in claim 21 or 22.

[0067] The drone hangar control method of an embodiment of the present application controls the return of each target actuator in the drone hangar according to a preset sequence when a drone hangar malfunctions. By controlling the return of each actuator in the preset sequence when a drone hangar malfunctions, the user is prevented from manually returning each actuator in the drone hangar, thereby improving the efficiency of returning each actuator in the event of a drone hangar malfunction.

[0068] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0070] In order to more completely understand the present application and its beneficial effects, the following description will be given in conjunction with the accompanying drawings.

[0071] Figure 1 This is a flowchart of the first embodiment of the drone library control method provided by this application;

[0072] Figure 2 This is a flow chart of a second embodiment of the drone hangar control method provided by this application;

[0073] Figure 3 This is a flowchart of the third embodiment of the drone library control method provided by this application;

[0074] Figure 4 This is a flowchart of the fourth embodiment of the drone library control method provided by this application;

[0075] Figure 5 This is a flowchart of the fifth embodiment of the drone library control method provided by this application;

[0076] Figure 6 This is a flowchart of the sixth embodiment of the drone library control method provided by the present application;

[0077] Figure 7 Schematic diagram of the structure of a drone hangar control device provided in an embodiment of the present application;

[0078] Figure 8 Schematic diagram of another drone hangar control device provided in an embodiment of the present application;

[0079] Figure 9 It is a structural schematic diagram of the vehicle provided in the embodiment of the present application. DETAILED DESCRIPTION

[0080] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the embodiments described are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0081] Embodiments of the present application provide a drone hangar control method, system, medium, device, program product, and vehicle.

[0082] The drone hangar control method provided in the embodiments of the present application can be applied to a target controller of a drone hangar in a vehicle and / or a second controller in the vehicle. The vehicle can be a fuel vehicle, a plug-in hybrid vehicle, or a new energy vehicle, etc., and this disclosure does not specifically limit this.

[0083] The following is a detailed description of each embodiment in conjunction with the accompanying drawings. It should be noted that the order in which the following embodiments are described does not limit the preferred order of the embodiments. Although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be performed in an order different from that shown in the drawings.

[0084] It should be noted that the drone hangar includes multiple actuators such as clamping actuators, centering actuators, rotating actuators, and lifting actuators. These actuators can be motor actuators or hydraulic actuators. When a fault occurs during the operation of the drone hangar, each actuator in operation will stay in the operating position at the time of the fault. Since the various actuators will cooperate with each other, there are overlapping parts in the spatial positions of each actuator. At this time, if the actuators retreat according to their own motion modes, the actuators are likely to collide or block each other in the overlapping parts of the spatial positions, which may easily cause damage to the actuators or fail to accurately return to the initial position.

[0085] Please refer to Figure 1 , a first embodiment of the drone hangar control method is proposed. The drone hangar control method of the first embodiment is applied to a target controller, comprising the following steps:

[0086] Step 101: When a failure occurs in the drone hangar, each target actuator in the drone hangar is controlled to return according to a preset sequence information;

[0087] In this step, when a drone hangar fails, the target controller obtains the preset sequence information for each target actuator within the drone hangar. After determining the preset sequence information, the target controller controls the return of each target actuator within the drone hangar according to the preset sequence information. It should be noted that the target actuator is the actuator that was not in its initial position when the drone hangar failed. That is, when the drone hangar fails, the operating actuators will remain in their operating positions at the time of the failure. These actuators are then the target actuators. For example, the drone hangar includes four actuators, A, B, C, and D. The actuators that were not in their initial positions when the failure occurred are A, B, and C. In this case, the target controller determines the target actuators to be A, B, and C. The preset sequence information for each target actuator determined by the target controller is B, A, and C. Therefore, the target controller controls the return of each target actuator according to the preset sequence information of B, A, and C.

[0088] Among them, the preset sequence information is used to describe the return order of each target actuator in the drone library; the target controller refers to the controller in the drone library.

[0089] Specifically, before controlling each target actuator in the drone library to return according to a preset sequence, the method includes:

[0090] Step a, obtaining each target actuator when the drone library fails, and / or the position information of each target actuator;

[0091] In this step, during the operation of the drone library, the target controller obtains and stores the number information and location information of each target actuator in the drone library, so as to determine the target actuator when a failure occurs in the drone library, and / or the location information of each target actuator.

[0092] Step b: determining the preset sequence information of each of the target actuators according to the target actuators and / or the position information.

[0093] In this step, the target controller determines the preset sequence information for each target actuator based on the target actuator and / or position information. Optionally, after determining the target actuator for the drone hangar failure, the target controller obtains the return priority of the target actuator and, based on the return priority, determines the return order for each target actuator to obtain the preset sequence information. Optionally, the target controller determines the return order for each target actuator based on the return priority. After obtaining the preset sequence information, the target controller determines whether there is a return blockage between the target actuators based on the position information of each target actuator. If so, the preset sequence information is adjusted to eliminate the return blockage, thereby determining the preset sequence information for each target actuator.

[0094] When a drone hangar malfunctions, the target controller of this embodiment obtains the preset sequence information for each target actuator within the hangar and, based on this preset sequence information, controls the retraction of each target actuator. By controlling the retraction of each target actuator according to the preset sequence information, users are prevented from manually retracting each actuator within the hangar, thereby improving the efficiency of retracting each actuator in the event of a drone hangar malfunction. This also prevents collisions or obstructions between actuators in overlapping areas during retraction, thereby preventing damage to the actuators or their inability to accurately return to their initial positions.

[0095] Further, refer to Figure 2 , a second embodiment of the present application is proposed. The difference between the second embodiment and the first embodiment is that when the drone hangar fails, each target actuator in the drone hangar is controlled to return according to a preset sequence information, including:

[0096] Step 1011, obtaining the initial position of each target actuator in the UAV library;

[0097] In this step, when a failure occurs in the drone hangar, the target controller obtains the initial position of each target actuator in the drone hangar; wherein the initial position is used to describe the starting position of each target actuator in the drone hangar when performing various functions.

[0098] Furthermore, step 1011 includes:

[0099] Step 10111, obtaining the number information of each target actuator in the UAV library;

[0100] In this step, the target controller can obtain the number information of each target actuator in the drone library. Specifically, when a failure occurs in the drone library, the drone library sends the number information of each target actuator to the target controller, so that the target controller can obtain the number information of each target actuator in the drone library.

[0101] Step 10112: Determine the initial position of each target actuator in the drone library based on the numbering information and the preset position information database.

[0102] In this step, the target controller determines the initial position of each target actuator in the drone library based on the number information and the preset position information database. It should be noted that the preset position information database stores the number information and initial position of each target actuator in the drone library. The target controller can find the initial position of each target actuator in the preset position information database based on the number information of each target actuator.

[0103] Specifically, the preset position information database is stored in the target controller; further, the preset position information database can be distributed and stored in the memory of the drone library and the memory of the target controller. When the preset position information database is stored in the drone library's memory, if a drone library malfunctions, the initial position of the drone's own target actuator can be obtained, and the current position of the target actuator can also be obtained. Combined with the preset sequence information sent by the second controller, its own memory, or its own controller, when the drone obtains this information, it can control each target actuator to perform a retraction action. At the same time, this can prevent data corruption in the preset position information database in the drone library's memory in the event of a serious drone library malfunction, thereby improving data security.

[0104] Step 1012: Based on the initial position, control each of the target actuators to return to the initial position according to preset sequence information.

[0105] In this step, the target controller controls each target actuator to return to its initial position according to a preset sequence based on its initial position. Specifically, when executing various functions, each target actuator in the drone hangar operates sequentially in a certain order. In the event of a malfunction in the drone hangar, the target controller controls each target actuator to return to its initial position according to a preset sequence that is the opposite of the order in which each target actuator operated when executing the various functions. For example, if the drone hangar includes four target actuators, A, B, C, and D, and only three target actuators, A, B, and C, are required to execute a certain function, and the order in which each target actuator operates is B, A, and C, then in the event of a malfunction in the drone hangar, the target controller controls each target actuator to return to its initial position according to the order C, A, and B.

[0106] The target controller of this embodiment, when a drone hangar malfunctions, obtains the initial position of each target actuator within the hangar; based on this initial position, it controls each target actuator to return to the initial position in a preset sequence. By determining the initial position of each actuator within the hangar and then controlling each actuator to return to the initial position in a preset sequence based on this initial position, the user is prevented from manually returning each actuator within the hangar, thereby improving the efficiency of returning each actuator in the hangar when a drone hangar malfunctions.

[0107] Further, refer to Figure 3 , a third embodiment of the present application is proposed. The difference between the third embodiment and the first to second embodiments is that, based on the initial position, each of the target actuators is controlled to return to the initial position according to the preset sequence information, including:

[0108] Step 301, obtaining the position information of each target actuator when the drone library fails;

[0109] In this step, the target controller obtains the position information of each target actuator when the drone hangar fails. The position information is the position where each target actuator is located when the drone hangar fails.

[0110] Specifically, when the drone hangar performs a corresponding action, it transmits the real-time location information of each target actuator within the hangar via a message to a target controller. The target controller then receives a message from a third controller, which may be the drone hangar controller, including the location information of each target actuator within the hangar. If the target controller does not receive a message from the third controller within a preset period, it determines that the drone hangar has failed. The target controller then iterates through all messages sent by the third controller, obtains the corresponding reception timestamp for each message, selects the message with the largest reception timestamp as the target message for each target actuator, and obtains the location information from the target message for each target actuator as the location information for each target actuator. For example, when controlling the drone hangar to perform a corresponding action, the third controller in the vehicle sends a message to the target controller every 10 milliseconds. If the target controller does not receive a message from the third controller for 3 consecutive times (10 milliseconds), it determines that the drone hangar has failed, determines the last received message as the target message, and then obtains the location information from the target message. When a drone hangar malfunctions, the target controller can send the position information of each target actuator to the drone hangar's third controller, causing each target actuator in the drone hangar to retract in a pre-set order based on the position information. This retraction position can be the initial position of each actuator when performing its corresponding function, or a manually set retraction position, without further limitation.

[0111] Step 302: Based on the initial position and the position information, control each of the target actuators to return to the initial position according to a preset sequence information.

[0112] In this step, the target controller controls each target actuator to return to the initial position according to the preset sequence information based on the initial position and position information.

[0113] Specifically, after determining the position information, the target controller determines the preset sequence information for each target actuator based on the operating target actuator and the position information. The target controller then controls each target actuator to return to its initial position according to the preset sequence information based on the preset sequence information and initial position. Alternatively, when a malfunction occurs in the drone hangar, the target controller may transmit the position information and initial position of each target actuator to a third controller in the drone hangar, causing each target actuator in the drone hangar to return according to the preset sequence information based on the position information and initial position of each target actuator. The return position may be the initial position when each actuator performs its corresponding function, a manually set return position, or a position determined based on the current position and initial position, without further limitation. The initial position transmitted by the target controller may be stored in the target controller while the hangar is in operation or during operation, or may be retrieved from the drone hangar controller or memory when a malfunction occurs, without further limitation.

[0114] Furthermore, in the process of controlling each target actuator to return to the initial position according to the preset sequence information, the method further includes:

[0115] Step 303, obtaining the movement speed of each target actuator;

[0116] Step 304 : Displaying a return screen of each target actuator according to the movement speed, the initial position, and the position information.

[0117] In steps 303 to 304, the target controller obtains the movement speed of each target actuator in the process of controlling each target actuator to return to the initial position according to the preset sequence information, and generates and displays the return screen of each target actuator based on the movement speed, the initial position and the position information. Specifically, the movement speed of each target actuator is set in advance. The target controller obtains the movement speed of each target actuator from the preset movement speed database, and controls the corresponding target actuator to return based on the movement speed. During the return process, the position information of each target actuator is obtained in real time, and then the return screen of each target actuator is generated and displayed based on the initial position and the position information. When displaying the return screen of each target actuator, it can be displayed on a display device connected to the target controller, or it can be displayed on a display device of another controller different from the target controller, without any specific limitation.

[0118] Furthermore, it also includes:

[0119] Step 305: determining the movement distance of each target actuator according to the initial position and the position information;

[0120] Step 306: Determine the movement time of each target actuator according to the movement distance and the movement speed, and display the movement time.

[0121] In steps 305 and 306, while controlling each target actuator to return to its initial position according to the preset sequence information, the target controller determines the movement distance of each target actuator based on the initial position and position information, and determines the movement time of each target actuator based on the movement distance and movement speed, and displays the movement time. Specifically, the target controller determines the movement distance S of each target actuator based on the initial position and position information of each target actuator, and simultaneously calculates the target actuator's operation time according to the formula S / V=T, where T is the operation time and V is the movement speed. After determining the movement time of each target actuator, the movement time is displayed. The displayed movement time can be the total time to the initial position, or it can be displayed in a countdown manner to remind the user how much time is left until the operation ends. Since the operation speed and distance of each target actuator are fixed, the operation time Tall of each target actuator can be calculated, and the operation time Tc of each target actuator can also be calculated. The remaining time Ts = Tall - Tc, and the remaining time can be displayed in a countdown manner.

[0122] It should be noted that in the process of controlling each target actuator to return to the initial position according to the preset sequence information, the movement time of each target actuator and the return screen of each target actuator are displayed, so that the user can intuitively feel the current status of the drone library, avoid waiting anxiety, and improve the user experience.

[0123] The target controller of this embodiment obtains the position information of each target actuator when a failure occurs in the drone hangar; based on the initial position and the position information, each target actuator is controlled to return to the initial position according to a preset sequence. By controlling the return operation of each actuator based on the position information, the position information of each actuator can be obtained, and the return of each actuator is achieved through the maximum travel blocking and zero position switching. This can reduce wear between the actuators and extend the service life of the drone hangar. At the same time, it can avoid the user manually returning each actuator in the drone hangar, thereby improving the efficiency of returning each actuator when a failure occurs in the drone hangar.

[0124] In one embodiment, before controlling each of the target actuators to return to the initial position according to the preset sequence information based on the initial position and the position information, the process includes:

[0125] Step c, when the drone library receives the preset power-on information, obtains the stored position information of each of the target actuators, wherein the position information is the information stored in the target controller and / or in a second controller different from the target controller when the drone library receives the preset power-off information, or when the drone library fails and the power is not restored.

[0126] In this step, the target controller determines the latest received position information, and when the drone hangar has not received the preset power-off information, it will continue to send the position information and the preset update identifier to the third controller; however, when the drone hangar receives the preset power-off information, and the target controller still has not received the message information of the position information of the target actuator sent by the third controller after the drone hangar returns to normal, the position information is stored in the target memory; wherein the preset power-off information is the power-off information of the entire vehicle, and the target memory is the non-volatile memory in the target controller.

[0127] Furthermore, the location information can be distributed and stored in the non-volatile memory of the drone library and the non-volatile memory of the target controller. This can prevent the location information in the third controller from being corrupted in the event of a serious failure in the drone library, thereby improving data security.

[0128] It can be understood that when the target controller receives the preset power-off information, it stores the location information in the target message information in the target memory to avoid the loss of the target message information after power-off, and thus avoid the third controller being unable to know the current specific position of each target actuator after the drone hangar returns to normal after power-on, resulting in wear and tear during the fallback operation of each target actuator, which helps to improve the service life of the drone hangar.

[0129] After the target controller stores the position information in the target memory, when receiving the preset power-on information, it obtains the position information stored in the target memory to execute the step of controlling each target actuator to return to the initial position according to the preset sequence information based on the initial position and position information.

[0130] It can be understood that when the target controller receives the preset power-off information and has also received the message information of the target actuator's position information sent by the third controller after the drone library returns to normal, there is no need to store the position information in the target message information in the target memory; when the target controller receives the preset power-on information, there is no position information stored in the target memory, and there is no need to execute the step of sending the position information and update identifier in the target message information to the third controller; the third controller can directly control the target actuator of the drone library to perform corresponding actions, and send the message information of the position information of each target actuator to the target controller.

[0131] Specifically, when the drone library receives the preset power-on information, obtaining the stored position information of each target actuator includes:

[0132] Step c1, when the drone library receives the preset power-on information, obtaining an update identifier;

[0133] Step c2: If the update identifier is a preset update identifier, obtain the stored position information of each target actuator corresponding to the update identifier.

[0134] In steps c1 to c2, when the target controller receives the preset power-off information, the location information is stored in the target memory, and the target memory will store the location information and the update identifier in association with each other; therefore, when the target controller receives the preset power-on information, the update identifier stored in the target memory can be read. If the update identifier stored in the target memory is the preset update identifier, the location information corresponding to the update identifier in the target memory is obtained and determined as the location information.

[0135] Furthermore, before obtaining the update identifier, including

[0136] Step c11: when the drone library receives the preset power-off information, generating an update identifier and binding the update identifier with the location information of each target actuator;

[0137] In this step, when the drone library receives the preset power-off information, the drone library will send the preset power-off information to the target controller. When the target controller receives the preset power-off information, it will generate an update identifier according to the preset identifier generation rule, and bind the update identifier to the position information of each target actuator; illustratively, when the target controller receives the preset power-off information, it generates an update identifier Ture, and binds the update identifier Ture to the position information of each target actuator.

[0138] Step c12: storing the bound update identifier and the location information of each target actuator in the target controller.

[0139] In this step, the target controller sends the bound update identifier and the location information of each target actuator to the target memory in the target controller, so that the target memory can store the update identifier in association with the location information of each target actuator.

[0140] Furthermore, after step c1, the method further includes:

[0141] Step c3: If the update identifier is not a preset update identifier, directly control each of the target actuators to return to the initial position.

[0142] In this step, the target controller reads the update identifier stored in the target memory. If it is determined that the update identifier stored in the target memory is not a preset update identifier, each target actuator is controlled to return to the initial position only according to the initial position of the target actuator.

[0143] In this embodiment, if the target controller receives a preset power-off message, it stores the position information in the target message in the target memory. Upon receiving a preset power-on message, it retrieves the position information stored in the target memory to execute the step of controlling each target actuator to return to its initial position in a preset sequence based on the initial position and position information. When the target controller receives the preset power-off message, it stores the position information in the target memory, thereby preventing the loss of the target message information after powering off. This, in turn, prevents wear and tear during the return operation of each target actuator due to the inability to determine the current specific position of each target actuator after powering on, thereby helping to extend the service life of the drone hangar.

[0144] In one embodiment, controlling each of the target actuators to return to an initial position according to a preset sequence based on the position information includes:

[0145] Step 3021: Determine the operating mode of the drone hangar when a fault occurs based on the location information;

[0146] Step 3022: Determine the preset sequence information of each target actuator in the drone library according to the working mode.

[0147] In steps 3021 to 3022, after determining the initial position and position information of each target actuator, the target controller determines the working mode when a failure occurs in the drone hangar based on the position information; based on the working mode, it determines the preset sequence information for each target actuator in the drone hangar to perform the fallback operation. Exemplarily, the target actuators in the drone hangar include: a clamping mechanism, a Y actuator, an X actuator, a rotation actuator, a lifting actuator, a centering actuator, and a door actuator. Based on the position information, the third controller determines that the operating mode of the drone hangar when a fault occurs is that the battery is not out of the compartment and is currently clamped. In this case, the battery needs to be pushed back into the battery compartment before the other target actuators are retracted. The target controller first controls the clamping mechanism to return to the X position of the battery compartment, then rotate it to the Y position, and then open and return the clamping mechanism to zero. The following operations are then executed in sequence: the Y actuator retracts to zero, the X actuator retracts to zero, the rotation actuator rotates to 0 degrees and retracts to zero, the lifting actuator descends to zero, the centering actuator retracts to zero, and finally, the door actuator closes to zero.

[0148] It should be noted that after the vehicle-mounted drone recovers from a fault, the target actuator is no longer in the initial position (it may even be clamping the battery, which is a more complicated situation). At the same time, the functional operations of the hangar are all performed according to fixed calibration point position values. For example, for the operation of clamping battery compartment No. 2 and sending it into the drone, the X-axis actuator first moves to the X-axis calibration point position of "battery compartment No. 2" (148mm), then the Y-axis actuator moves to the Y-axis clamping battery calibration point position of "battery compartment No. 2" (68mm), and finally, the battery is clamped and moved back 68mm, then rotated 90 degrees, and the X-axis actuator moves to the X-axis calibration position of "introducing drone battery" (188mm) to push the battery into the drone. These calibration point positions are pre-calibrated and fixed. If all actuators are not at zero, errors will occur during function execution. The specific retraction and zeroing process is based on the current target actuator position and executes the reverse retraction to zero. However, the target actuators have a certain order (to resolve the problem of mechanism interference, if the battery is currently clamped and not out of the compartment, directly performing the rotary actuator zeroing will hit the battery compartment). Therefore, if the battery is currently clamped, it must be pushed back into the battery compartment (this retraction action is strongly dependent on the current stop position of each target actuator. For example, if the battery is near the end of the drone, it must first return to the battery compartment X position and then rotate to the Y position). Then, the clamp mechanism is opened and zeroed, the Y actuator is retracted to zero, the X actuator is retracted to zero, the rotary actuator is rotated to 0 degrees and then back to zero, the lift actuator is lowered to zero, the centering actuator is retracted to zero, and finally, the hatch actuator is closed to zero.

[0149] This embodiment prevents the third controller from being unable to know the current specific position of each target actuator. When returning each target actuator to zero, it is necessary to execute the maximum retraction stroke through blocking and zero position switching, thereby reducing the wear between the actuators and increasing the service life of the drone hangar.

[0150] refer to Figure 4 , a fourth embodiment of the present application is proposed. The difference between the fourth embodiment and the first to third embodiments is that the drone hangar control method is applied to the second controller, and the method includes:

[0151] Step 401: When a failure occurs in the drone hangar, the position information of each target actuator is sent to the third controller of the drone hangar, so that each target actuator in the drone hangar is returned in a preset order according to the position information of each target actuator.

[0152] In this step, the drone hangar includes a third controller. When controlling the drone hangar to perform a corresponding action, the third controller transmits real-time location information of each actuator in the hangar to a second controller via a message. The second controller receives the message sent by the third controller, which includes the location information of each actuator in the hangar. If the second controller does not receive a message from the third controller within a preset period, it determines that the drone hangar has failed. The second controller iterates through all messages sent by the third controller, obtains the corresponding reception timestamp of each message, selects the message with the largest reception timestamp as the target message for each target actuator, and obtains the location information from the target message for each target actuator as the location information of each target actuator. For example, when controlling the drone hangar to perform a corresponding action, the third controller sends a message to the second controller every 10 milliseconds. If the second controller does not receive a message from the third controller for 3 consecutive times (10 milliseconds), it determines that the drone hangar has failed, determines the last received message as the target message, and then obtains the location information from the target message.

[0153] After determining the position information, the second controller updates the identifier corresponding to the position information to a preset update identifier, and at the same time obtains the initial position of each target actuator, and sends the initial position, position information and preset update identifier to the third controller; the third controller can identify the received preset update identifier, determine that a fault has occurred in the drone library, and at the same time determine the position information of each target actuator in the drone library, and then the third controller controls each target actuator to return to the initial position according to the preset sequence information based on the initial position and position information.

[0154] Exemplarily, after determining the target message information, the second controller updates the identifier corresponding to the target message information to a preset update identifier, which is Ture, and sends the initial position, position information, and preset update identifier to the third controller; when the third controller recognizes that the received preset update identifier is Ture, it determines that a fault has occurred in the drone hangar, and the third controller controls each target actuator to return to the initial position according to the preset sequence information based on the initial position and position information.

[0155] Furthermore, after the second controller sends the location information and the preset update identifier in the target message information to the third controller, it determines whether the message information of the location information of the target actuator sent by the third controller is received. If not, the location information and the preset update identifier in the target message information are continuously resent to the third controller until the message information of the location information of the target actuator sent by the third controller is received. It is then considered that the drone library has returned to normal. At this time, the second controller ends the sending of the location information and the preset update identifier in the target message information, and updates the identifier corresponding to the current location information to FALSE.

[0156] The preset sequence information is determined by the target actuators and / or the position information of each target actuator at the time of the drone hangar failure. Specifically, during operation of the drone hangar, the second controller obtains and stores the numbering information and position information of each target actuator within the drone hangar, thereby determining the target actuators and / or the position information of each target actuator that were in operation when the drone hangar failed. The third controller determines the preset sequence information for each target actuator based on the operating target actuators and / or the position information. Optionally, after determining the operating target actuators, the third controller obtains the return priority of the operating target actuators and, based on the return priority, determines the return order for each target actuator to obtain the preset sequence information. Optionally, after determining the return order for each target actuator based on the return priority, the third controller determines whether there is a return blockage between the target actuators based on the position information of each target actuator. If so, the third controller adjusts the preset sequence information to eliminate the return blockage, thereby determining the preset sequence information for each target actuator.

[0157] The third controller is equivalent to the target controller mentioned in the previous section.

[0158] In the event of a malfunction in the drone hangar, the second controller of this embodiment transmits the position information of each target actuator to the third controller, causing each target actuator in the drone hangar to be retracted in a preset order based on its initial position and the position information. This prevents the inability to obtain the position information of each actuator, and the retraction of each actuator is achieved through a maximum travel lock and zero position switch. This reduces wear on the actuators and increases the service life of the drone hangar. It also avoids the need for users to manually retract each actuator in the drone hangar, thereby improving the efficiency of retracting the actuators in the event of a malfunction.

[0159] refer to Figure 5 , a fifth embodiment of the present application is proposed. The difference between the fifth embodiment and the first to fourth embodiments is that the drone hangar control method further includes:

[0160] Step 501: When the drone library receives a preset power-off message, or when a failure occurs in the drone library, the position information of each target actuator is received and stored in the second controller.

[0161] In this step, when the drone hangar receives a preset power-off message, or when a failure occurs in the drone hangar, and the second controller has not yet received the message information regarding the position information of the target actuators sent by the third controller after the drone hangar returns to normal, the second controller sends the position information of each target actuator to the second memory. The second memory receives and stores the position information of each target actuator sent by the second controller. The second memory is a memory in the second controller.

[0162] Specifically, step 501 includes:

[0163] Step 5011, receiving an update identifier and location information of each target actuator;

[0164] Step 5012: associate the update identifier with the position information of each target actuator and store it in the second controller.

[0165] In steps 5011 to 5012, when the drone library receives the preset power-off information, or when a failure occurs in the drone library, the drone library will send the preset power-off information to the second controller through the third controller. When the second controller receives the preset power-off information, it generates an update identifier according to the preset identifier generation rule, and binds the update identifier with the position information of each target actuator, and sends it to the second memory. The second memory receives the position information and update identifier of each target actuator sent by the second controller, and associates and stores the position information and update identifier of each target actuator.

[0166] Furthermore, after step 5012, the following steps are included:

[0167] Step 5013, when the drone library receives the preset power-on information, obtaining an update identifier;

[0168] Step 5014: If the update identifier is a preset update identifier, obtain the location information of each target actuator stored in association with the update identifier.

[0169] In this step, when the drone hangar receives the preset power-on information, the second controller identifies whether the preset update identifier exists among the update identifiers stored in the second memory. If so, the second controller obtains the location information corresponding to the preset update identifier and transmits the preset update identifier and the corresponding location information to the third controller in the drone hangar. This allows the third controller to obtain the location information associated with the preset update identifier and, in turn, control the return of each target actuator in the drone hangar according to the preset sequence information based on the initial position and location information of each target actuator. It will be appreciated that, since the preset update identifier and location information are associated during storage, the second controller can quickly and accurately obtain the required location information from the large amount of stored location information after power-on, and then transmit the preset update identifier and location information to the third controller.

[0170] Furthermore, after step 5014, the following steps are included:

[0171] Step 5015: When it is determined that the second controller has acquired the position information of each target actuator, cancel the association between the update identifier and the position information.

[0172] In this step, when the drone library receives the preset power-on information, the second memory continuously sends the preset update identifier and the corresponding location information to the second controller. After confirming receipt of the location information, the second controller will send message information to the second memory. When the second memory receives the message information sent by the second controller, it will cancel the association between the preset update identifier and the location information, which means that the location information has been sent, and cancel the association between the preset update identifier and the location information, so as to avoid confusion between the subsequently stored location information and the currently stored location information.

[0173] The second memory of this embodiment receives location information sent by the second controller when the drone hangar receives a preset power-off message, and stores the preset update identifier in association with the location information. Upon receiving a preset power-on message, the second controller obtains the preset update identifier and location information, and transmits the preset update identifier and corresponding location information to a third controller in the drone hangar, enabling the third controller to obtain the location information associated with the preset update identifier and thereby control the retraction of each target actuator in the drone hangar according to the preset sequence information based on the initial position and location information of each target actuator. This ensures the accuracy of the location information sent to the second controller while preventing the loss of target message information after power is off. This also prevents wear and tear during the retraction operation of each target actuator, which could occur when the drone hangar returns to normal after power is on, potentially preventing the third controller from knowing the current specific location of each target actuator. This helps to extend the service life of the drone hangar.

[0174] refer to Figure 6 , a sixth embodiment of the present application is proposed. The sixth embodiment differs from the first to fifth embodiments in that the drone hangar control method further includes:

[0175] Step 601, obtaining the movement speed of each target actuator;

[0176] Step 602: Display the return screen of each target actuator according to the movement speed and the position information, and / or determine the movement time of each target actuator according to the movement speed and the position information, and display the movement time.

[0177] In steps 601 and 602, while controlling each target actuator to retract to its initial position according to the preset sequence information, the second controller obtains the motion speed of each target actuator and generates and displays a retraction screen for each target actuator based on the motion speed, initial position, and position information. Specifically, the motion speed of each target actuator is pre-set. The second controller obtains the motion speed of each target actuator from a preset motion speed database and controls the retraction of the corresponding target actuator based on the motion speed. During the retraction process, the second controller obtains the position information of each target actuator in real time and generates and displays a retraction screen for each target actuator based on the initial position and position information.

[0178] Furthermore, while controlling each target actuator to return to its initial position according to the preset sequence information, the second controller determines the movement distance of each target actuator based on the initial position and position information, and determines the movement time of each target actuator based on the movement distance and movement speed, and displays the movement time. Specifically, the second controller determines the movement distance S of each target actuator based on the initial position and position information of each target actuator, and simultaneously calculates the target actuator's operation time according to the formula S / V=T, where T is the operation time and V is the movement speed. After determining the movement time of each target actuator, the movement time is displayed. The displayed movement time can be the total time to the initial position, or it can be displayed in a countdown manner to remind the user how much time is left until the operation ends. Since the operation speed and distance of each target actuator are fixed, the operation time Tall of each target actuator can be calculated, and the operation time Tc of each target actuator can also be calculated. The remaining time Ts = Tall - Tc, and the remaining time can be displayed in a countdown manner.

[0179] It should be noted that the return screen of each target actuator can be displayed through a display device connected to the second controller, or can be displayed on a display device of another controller different from the second controller, without any specific limitation.

[0180] The second controller of this embodiment displays the movement time and the return screen of each target actuator in the process of controlling each target actuator to return to the initial position according to the preset sequence information, so that the user can intuitively feel the current status of the drone hangar, avoid waiting anxiety, and improve the user experience.

[0181] Accordingly, reference Figure 7 , an embodiment of the present application further provides a drone hangar control device, the drone hangar control device comprising:

[0182] The control module 1001 is used to control each target actuator in the drone hangar to return according to a preset sequence information when a failure occurs in the drone hangar.

[0183] Optionally, the drone hangar control device further includes a determination module, which is configured to:

[0184] Obtaining each target actuator when the drone library fails, and / or location information of each target actuator;

[0185] The preset sequence information of each of the target actuators is determined according to the each of the target actuators and / or the position information.

[0186] Optionally, the control module is further configured to:

[0187] Obtaining the initial position of each target actuator in the UAV library;

[0188] According to the initial position, each of the target actuators is controlled to return to the initial position according to the preset sequence information.

[0189] Optionally, the determination module is further configured to:

[0190] Obtaining the serial number information of each target actuator in the UAV library;

[0191] Based on the numbering information and the preset position information database, the initial position of each target actuator in the drone library is determined.

[0192] Optionally, the control module is further configured to:

[0193] Obtaining position information of each of the target actuators when a failure occurs in the drone library;

[0194] According to the initial position and the position information, each of the target actuators is controlled to return to the initial position according to the preset sequence information.

[0195] Optionally, the drone hangar control device further includes a display module, which is used to:

[0196] Obtaining the movement speed of each target actuator;

[0197] A retraction screen of each target actuator is displayed according to the movement speed, the initial position and the position information.

[0198] Optionally, the display module is further configured to:

[0199] determining a movement distance of each of the target actuators according to the initial position and the position information;

[0200] The movement time of each target actuator is determined according to the movement distance and the movement speed, and the movement time is displayed.

[0201] Optionally, the control module is further configured to:

[0202] When the drone library receives the preset power-on information, the stored position information of each of the target actuators is obtained, wherein the position information is the information stored in the target controller and / or in a second controller different from the target controller when the drone library receives the preset power-off information or when the drone library fails and the power is not restored.

[0203] Optionally, the control module is further configured to:

[0204] When the drone library receives the preset power-on information, obtaining an update identifier;

[0205] If the update identifier is a preset update identifier, the stored position information of each target actuator corresponding to the update identifier is obtained.

[0206] Optionally, the control module is further configured to:

[0207] When the drone library receives the preset power-off information, it generates an update identifier and binds the update identifier to the position information of each target actuator;

[0208] The bound update identifier and the location information of each target actuator are stored in the target controller.

[0209] Optionally, the control module is further configured to:

[0210] If the update identifier is not a preset update identifier, each of the target actuators is directly controlled to return to an initial position.

[0211] Optionally, the control module is further configured to:

[0212] Determining, based on the location information, an operating mode of the drone hangar when a fault occurs;

[0213] According to the working mode, the preset sequence information of each target actuator in the drone library is determined.

[0214] In this embodiment, when a drone hangar fails, each target actuator in the hangar is controlled to be returned according to a preset sequence. By controlling the return of each actuator in the hangar according to a preset sequence, the user is prevented from manually returning each actuator in the hangar, thereby improving the efficiency of returning each actuator in the hangar when a drone hangar fails.

[0215] Accordingly, reference Figure 8 , the embodiment of the present application also provides another drone hangar control device, the drone hangar control device comprising:

[0216] The sending module 1002 is used to send the position information of each target actuator to the third controller of the drone hangar when a failure occurs in the drone hangar, so that each target actuator in the drone hangar is returned in a preset order according to the position information of each target actuator.

[0217] Optionally, the sending module is further configured to:

[0218] The preset sequence information is determined by the target actuator when the drone hangar fails, and / or the position information of each target actuator.

[0219] Optionally, the drone hangar control device further includes a receiving module, which is configured to:

[0220] When the drone library receives preset power-off information, or when a failure occurs in the drone library, the position information of each target actuator is received and stored in the second controller.

[0221] Optionally, the drone hangar control device further includes a storage module, which is used to:

[0222] receiving an update identifier and location information of each of the target actuators;

[0223] The update identifier and the position information of each target actuator are associated and stored in the second controller.

[0224] Optionally, the drone hangar control device further includes an acquisition module, which is configured to:

[0225] When the drone library receives the preset power-on information, obtaining an update identifier;

[0226] If the update identifier is a preset update identifier, the location information of each target actuator stored in association with the update identifier is obtained.

[0227] Optionally, the storage module is further configured to:

[0228] When it is determined that the second controller has acquired the position information of each of the target actuators, the association between the update identifier and the position information is cancelled.

[0229] Optionally, the drone hangar control device further includes a display module, which is used to:

[0230] Obtaining the movement speed of each target actuator;

[0231] The return screen of each target actuator is displayed according to the movement speed and the position information, and / or the movement time of each target actuator is determined according to the movement speed and the position information, and the movement time is displayed.

[0232] In this embodiment, when a drone hangar malfunctions, the position information of each target actuator is transmitted to the hangar, causing each target actuator within the hangar to be retracted in a preset order based on its initial position and the position information. This prevents the inability to obtain the position information of each actuator, and the retraction of each actuator is achieved through a maximum travel lock and zero position switch. This reduces wear on the actuators and increases the service life of the hangar. It also avoids the need for users to manually retract each actuator within the hangar, thereby improving the efficiency of retracting the actuators in the event of a drone hangar malfunction.

[0233] Accordingly, the embodiment of the present application also provides a vehicle, such as Figure 9 As shown, Figure 9 This is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. The vehicle 1100 includes a processor 1101 having one or more processing cores, a memory 1102 having one or more computer-readable storage media, and a computer program stored in the memory 1102 and executable on the processor. The processor 1101 is electrically connected to the memory 1102. It will be understood by those skilled in the art that Figure 9 The vehicle structure shown in the figure does not constitute a limitation of the vehicle and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components. The vehicle may also include the drone hangar control system mentioned above.

[0234] Processor 1101 is the control center of vehicle 1100. It connects various components of vehicle 1100 using various interfaces and lines. By running or loading software programs and / or units stored in memory 1102 and accessing data stored in memory 1102, it executes various functions of vehicle 1100 and processes data, thereby providing overall monitoring of vehicle 1100. Processor 1101 can be a CPU, a graphics processor (GPU), a network processor (NP), etc., and can implement or execute the various methods, steps, and logic blocks disclosed in the embodiments of this application.

[0235] In an embodiment of the present application, the processor 1101 in the vehicle 1100 will load the computer program corresponding to the process of one or more applications into the memory 1102 according to the following steps, and the processor 1101 will run the application stored in the memory 1102 to execute the drone library control method.

[0236] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0237] Optional, such as Figure 9 As shown, the vehicle 1100 further includes: a touch screen 1103, a radio frequency circuit 1104, an audio circuit 1105, an input unit 1106, and a power supply 1107. The processor 1101 is electrically connected to the touch screen 1103, the radio frequency circuit 1104, the audio circuit 1105, the input unit 1106, and the power supply 1107, respectively. It will be understood by those skilled in the art that Figure 9 The vehicle structure shown in the figure does not constitute a limitation to the vehicle, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0238] The touch display screen 1103 can be used to display a graphical user interface and receive operation instructions generated by the user acting on the graphical user interface. The touch display screen 1103 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the vehicle, and these graphical user interfaces can be composed of graphics, text, icons, videos and any combination thereof. Optionally, the display panel can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED, Organic Light-Emitting Diode), etc. The touch panel can be used to collect user touch operations on or near it (such as operations performed by the user using any suitable object or accessory such as a finger, stylus, etc. on or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 1101, and can receive the command sent by the processor 1101 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 1101 to determine the type of touch event. Then the processor 1101 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 1103 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 1103 can also be used as part of the input unit 1106 to realize the input function.

[0239] The RF circuit 1104 may be used to transmit and receive RF signals, thereby establishing wireless communication with network devices or other vehicles through wireless communication, and transmitting and receiving signals with network devices or other vehicles.

[0240] Audio circuit 1105 can be used to provide an audio interface between the user and the vehicle through a speaker and microphone. Audio circuit 1105 converts received audio data into electrical signals and transmits them to the speaker, which then converts them into sound signals for output. The microphone, on the other hand, converts collected sound signals into electrical signals, which are received by audio circuit 1105 and converted into audio data. This audio data is then output to processor 1101 for processing, then transmitted via RF circuit 1104 to, for example, another vehicle, or to memory 1102 for further processing. Audio circuit 1105 may also include an earphone jack to allow communication between an external headset and the vehicle.

[0241] The input unit 1106 may be configured to receive input digital, character information, or user feature information (such as fingerprint, iris, or facial information), and to generate keyboard, mouse, joystick, optical, or trackball signal input related to user settings and function control.

[0242] Power supply 1107 is used to power various components of vehicle 1100. Optionally, power supply 1107 can be logically connected to processor 1101 via a power management device, thereby enabling the power management device to manage charging, discharging, and power consumption. Power supply 1107 can also include one or more DC or AC power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0243] although Figure 9 Not shown, the vehicle 1100 may also include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0244] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0245] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by a computer program, or by controlling related hardware through a computer program. The computer program may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0246] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0247] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0248] The embodiments, implementation methods and related technical features of the present application can be combined and replaced with each other without conflict.

[0249] The above are only preferred embodiments of the present application and do not constitute any form of limitation to the present application. Although the descriptions of each embodiment in the embodiments of the present application have different focuses, for parts that are not described in detail in a certain embodiment, reference can be made to the relevant embodiments of other embodiments. However, any modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of the technical solution of the present application.

Claims

1. A drone hangar control method, characterized in that: Applied to a target controller, the method includes: When a failure occurs in the drone hangar, each target actuator in the drone hangar is controlled to return according to the preset sequence information.

2. The drone hangar control method according to claim 1, characterized in that: The target actuator is an actuator that is not in the initial position when the drone hangar fails.

3. The drone hangar control method according to claim 1, characterized in that: Before controlling each target actuator in the drone library to return according to a preset sequence, the method includes: Obtaining each target actuator when the drone library fails, and / or location information of each target actuator; The preset sequence information of each of the target actuators is determined according to the each of the target actuators and / or the position information.

4. The drone hangar control method according to claim 1, characterized in that: When a failure occurs in the drone hangar, each target actuator in the drone hangar is controlled to return according to a preset sequence, including: Obtaining the initial position of each target actuator in the UAV library; According to the initial position, each of the target actuators is controlled to return to the initial position according to the preset sequence information.

5. The drone hangar control method according to claim 4, characterized in that: The obtaining of the initial position of each target actuator in the UAV library includes: Obtaining the serial number information of each target actuator in the UAV library; Based on the numbering information and the preset position information database, the initial position of each target actuator in the drone library is determined.

6. The drone hangar control method according to claim 4, characterized in that: According to the initial position, controlling each of the target actuators to return to the initial position according to the preset sequence information includes: Obtaining position information of each of the target actuators when a failure occurs in the drone library; According to the initial position and the position information, each of the target actuators is controlled to return to the initial position according to the preset sequence information.

7. The drone hangar control method according to claim 6, characterized in that: The method further comprises: Obtaining the movement speed of each target actuator; A retraction screen of each target actuator is displayed according to the movement speed, the initial position and the position information.

8. The drone hangar control method according to claim 7, characterized in that: The method further comprises: determining a movement distance of each of the target actuators according to the initial position and the position information; The movement time of each target actuator is determined according to the movement distance and the movement speed, and the movement time is displayed.

9. The drone hangar control method according to claim 1, characterized in that: The method comprises: When the drone library receives the preset power-on information, the stored position information of each of the target actuators is obtained, wherein the position information is the information stored in the target controller and / or in a second controller different from the target controller when the drone library receives the preset power-off information or when the drone library fails and the power is not restored.

10. The drone hangar control method according to claim 9, characterized in that: When the drone library receives the preset power-on information, obtaining the stored position information of each target actuator includes: When the drone library receives the preset power-on information, obtaining an update identifier; If the update identifier is a preset update identifier, the stored position information of each target actuator corresponding to the update identifier is obtained.

11. The drone hangar control method according to claim 10, characterized in that: Before obtaining the update identifier, the following steps are included: When the drone library receives the preset power-off information, it generates an update identifier and binds the update identifier to the position information of each target actuator; The bound update identifier and the location information of each target actuator are stored in the target controller.

12. The drone hangar control method according to claim 10, characterized in that: The method comprises: If the update identifier is not a preset update identifier, each of the target actuators is directly controlled to return to an initial position.

13. The drone hangar control method according to claim 3, characterized in that: Determining preset sequence information of each target actuator according to the position information includes: Determining, based on the location information, an operating mode of the drone hangar when a fault occurs; According to the working mode, the preset sequence information of each target actuator in the drone library is determined.

14. A drone hangar control method, characterized in that: Applied to the second controller, the method includes: When a failure occurs in the drone hangar, the position information of each target actuator is sent to the third controller of the drone hangar, so that each target actuator in the drone hangar is returned in a preset order according to the position information of each target actuator.

15. The drone hangar control method according to claim 14, characterized in that: The preset sequence information is determined by the target actuator when the drone library fails, and / or the position information of each target actuator.

16. The drone hangar control method according to claim 14, characterized in that: The method comprises: When the drone library receives preset power-off information, or when a failure occurs in the drone library, the position information of each target actuator is received and stored in the second controller.

17. The drone hangar control method according to claim 16, characterized in that: The receiving the position information of each target actuator and storing it in the second controller includes: receiving an update identifier and location information of each of the target actuators; The update identifier and the position information of each target actuator are associated and stored in the second controller.

18. The drone hangar control method according to claim 17, characterized in that: After associating the update identifier with the position information of each target actuator and storing it in the second controller, the method includes: When the drone library receives the preset power-on information, obtaining an update identifier; If the update identifier is a preset update identifier, the location information of each target actuator stored in association with the update identifier is obtained.

19. The drone hangar control method according to claim 18, characterized in that: If the update identifier is a preset update identifier, after acquiring the stored position information of each target actuator corresponding to the update identifier, the method includes: When it is determined that the second controller has acquired the position information of each of the target actuators, the association between the update identifier and the position information is cancelled.

20. The drone hangar control method according to claim 14, characterized in that: The method further comprises: Obtaining the movement speed of each target actuator; The return screen of each target actuator is displayed according to the movement speed and the position information, and / or the movement time of each target actuator is determined according to the movement speed and the position information, and the movement time is displayed.

21. A drone hangar control system, characterized in that: The system includes: a drone library and a target controller, wherein: The target controller is used to control the various target actuators in the drone hangar to return according to a preset sequence when a failure occurs in the drone hangar.

22. A drone hangar control system, characterized in that: The system includes: a drone hangar, a second controller, and a third controller, wherein: The second controller is used to send the position information of each target actuator to the third controller when a failure occurs in the drone hangar, so that each target actuator in the drone hangar is returned in a preset order according to the position information of each target actuator.

23. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a plurality of computer programs, and the computer programs are suitable for being loaded by a processor to execute the steps of the method according to any one of claims 1 to 13 or 14 to 20.

24. An electronic device, characterized in that: The system comprises a processor and a memory, wherein the memory stores a plurality of instructions; the processor loads instructions from the memory to execute the steps of the method according to any one of claims 1-13 or 14-20.

25. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the computer program product is caused to perform the steps of the method according to any one of claims 1 to 13 or 14 to 20.

26. A vehicle, characterized in that: The invention comprises a processor and a memory, wherein the memory stores a computer program; when the computer program is executed by the processor, the processor executes the steps of the method described in any one of claims 1 to 13 or 14 to 20, or the drone hangar control system described in claim 21 or 22.

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