Control method and system for automatic warehouse entering and exiting of unmanned aerial vehicle

Abstract

The invention discloses a control method and system for automatic warehouse in and out of an unmanned aerial vehicle, and the method comprises the steps: selecting an unmanned aerial vehicle access model according to the size information of an unmanned aerial vehicle hangar and the throughput rate of the unmanned aerial vehicle, and the types of the unmanned aerial vehicle access model comprise a random storage model, a first hierarchical storage model and a second hierarchical storage model; dividing the unmanned aerial vehicle hangar into a plurality of storage areas; a storage area is selected by the selected unmanned aerial vehicle access model according to the throughput rate of the unmanned aerial vehicle, and the unmanned aerial vehicle access device is controlled to execute the unmanned aerial vehicle access action according to the time sequence of receiving the unmanned aerial vehicle access instruction; different unmanned aerial vehicle access models are selected, so that the applicability and the working efficiency of the unmanned aerial vehicle access control method are improved.

Description

Technical Field

[0001] The present invention belongs to the field of unmanned aerial vehicle (UAV) entry and exit control, and in particular relates to a control method and system for automatic UAV entry and exit. Background Art

[0002] In recent years, drone technology has made significant progress in both civil and military fields, and the application scope of drones has become increasingly broad, including but not limited to logistics distribution, agricultural monitoring, environmental monitoring, aerial photography, military reconnaissance, etc.; with the increase in drone applications, drone hangars serve as storage places for drones, so the demand for drone hangars in social production is becoming increasingly urgent.

[0003] Early drone storage relied primarily on simple manual operations and storage racks. With technological advancements, some automated drone hangars have emerged, using automated equipment such as robotic arms and conveyor belts to automatically store and retrieve drones. While automated drone hangars have improved operational efficiency to a certain extent, most existing systems employ a single storage strategy, lacking flexibility and adaptability. Under high loads or complex operating conditions, the system's storage and retrieval efficiency often falls short of expectations, leaving much room for improvement in the storage and operational efficiency of automated drone hangars. Summary of the Invention

[0004] The present invention provides a control method and system for the automatic entry and exit of unmanned aerial vehicles (UAVs), which improves the storage strategy of UAVs, increases the efficiency of access operations, and reduces the waiting time of UAVs.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A first aspect of the present invention provides a method for controlling the automatic entry and exit of a drone, comprising:

[0007] Selecting a drone access model based on the drone hangar size information and the drone throughput rate, wherein the drone access model includes a random storage model, a first hierarchical storage model, and a second hierarchical storage model;

[0008] When the random storage model is selected, the random storage model controls the drone access device to execute the drone storage and access actions according to the time sequence of receiving the drone access instructions;

[0009] When the first hierarchical storage model is selected, the drone hangar is divided into storage area A and storage area B by the first hierarchical storage model. After selecting storage area A or storage area B based on the throughput rate of the drone, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions.

[0010] When the second hierarchical storage model is selected, the drone hangar is divided into storage areas by the second hierarchical storage model. , storage area and storage areas ; Select storage area based on the throughput rate of the drone , storage area or storage area Afterwards, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions.

[0011] Furthermore, the drone access model is selected based on the size of the drone hangar and the throughput rate of the drone, including:

[0012] Optimization functions for the random storage model, the first hierarchical storage model, and the second hierarchical storage model are constructed with the minimum expected outbound time as the goal;

[0013] The in-and-out simulation data of the drone hangar is obtained, including the throughput rate of the drone. The in-and-out simulation data is input into the random storage model, the first hierarchical storage model, and the second hierarchical storage model. The optimization functions of the random storage model, the first hierarchical storage model, and the second hierarchical storage model are solved to obtain the number of storage spaces in the vertical direction of the drone hangar. , Number of storage spaces and storage space ; It is expressed as the optimal number of storage spaces in the vertical direction of the UAV hangar applicable to the random storage model; It is represented by the optimal number of storage spaces in the vertical direction of the UAV hangar applicable to the first-level storage model; It is expressed as the optimal number of storage spaces in the longitudinal direction of the UAV hangar applicable to the second hierarchical storage model;

[0014] The number of storage spaces , Number of storage spaces , Number of storage spaces Compare the size information of the drone hangar to select the drone access model.

[0015] Furthermore, controlling the drone access device to execute the drone entry and exit actions includes:

[0016] The UAV storage and retrieval device includes a stacker and a storage and retrieval vehicle; the storage and retrieval vehicle is arranged on the stacker; the stacker can move laterally along the UAV hangar and drive the storage and retrieval vehicle to rise and fall, and the storage and retrieval vehicle can move longitudinally along the UAV hangar to store and retrieve the UAV;

[0017] Control the stacker crane to move horizontally along the drone hangar and drive the storage and retrieval vehicle to move up and down, and move the storage and retrieval vehicle from the drone hangar entry and exit point to the hangar access surface corresponding to the target drone storage location;

[0018] Control the access vehicles to move longitudinally along the drone hangar, and transport the blocked drones that hinder the target drone's exit operation to the hangar access surface in sequence; the stacker crane transports the blocked drones to the access point;

[0019] Control the storage and retrieval vehicle to take the target drone from the target storage location, transfer the target drone to the warehouse retrieval surface, and then move the target drone to the entry and exit point through the stacker.

[0020] Furthermore, an optimization function of the random storage model is constructed with the minimum expected outbound time as the goal, including:

[0021]

[0022] ; ; ;

[0023] In the formula, Optimization function expressed as a random storage model; Expressed as the lateral length of a single UAV storage location; Expressed as the longitudinal length of a single UAV storage space; Expressed as the height of a single drone storage location; Expressed as the total number of drone storage slots in the drone hangar; It is expressed as the number of lateral storage spaces in the UAV hangar; It is expressed as the number of longitudinal storage spaces in the UAV hangar; Expressed as the lifting and lowering speed of the UAV access device; Expressed as the longitudinal movement speed of the UAV access device; 、 、 Expressed as an intermediate parameter; Expressed as the lateral movement speed of the drone access device.

[0024] Furthermore, the first hierarchical storage model divides the drone hangar into storage area A and storage area B, including:

[0025] Calculate the expected time for the drone to leave the warehouse in storage area A And the expected time for the drone to be released from storage area B ; According to the expected delivery time and delivery time expectations The expected delivery time of the first-tier storage model is calculated using the following formula:

[0026]

[0027]

[0028] In the formula, Indicates the serial number of the drone; Represented as the drone hangar The throughput rate of drones; Expressed as the ratio of the drone’s flying cost to its owning cost; It is represented as the expected delivery time of the first-level storage model; s is represented as the equation parameter of the drone demand curve; It is represented as the set of drones in storage area A; It is represented as the set of drones in storage area B; It is expressed as the expected time for the drone to leave the storage area A; It is expressed as the expected time for the drone to leave the storage area B; Indicates the maximum time required for the drone to access the device; , It is expressed as the maximum time required for the UAV access device to move within the lifting range; It is expressed as the maximum time required for the drone access device to move in the horizontal range; It is expressed as the maximum time required for the drone access device to move in the horizontal range;

[0029] The optimization function of the first hierarchical storage model is constructed with the minimum expected outbound time as the goal. The inbound and outbound simulation data is input into the first hierarchical storage model, and the optimization function of the first hierarchical storage model is solved to obtain the optimal number of storage spaces in the vertical direction of the drone hangar. ;

[0030] Based on the number of storage locations Calculate the side length of storage area A using the following formula:

[0031]

[0032]

[0033] In the formula, Expressed as the side length of storage area A, It is expressed as the ratio of the number of drones in storage area A to the number of drones in the drone hangar; Expressed as the lateral length of a single UAV storage location; Expressed as the height of a single drone storage location; Expressed as the total number of drone storage slots in the drone hangar; It is expressed as the number of lateral storage spaces in the UAV hangar; Expressed as the lifting and lowering speed of the UAV access device; Expressed as the longitudinal movement speed of the UAV access device; Expressed as the lateral movement speed of the drone access device; Expressed as an intermediate parameter;

[0034] Based on the entry and exit points of the drone hangar, the side length is constructed in the horizontal and vertical directions. × side length storage area A; the longitudinal length of the storage area A is equal to the longitudinal length of the drone hangar; the area other than the storage area A in the drone hangar is set as the storage area B.

[0035] Furthermore, the expected time for the drone to leave the warehouse in storage area A is calculated , the expression formula is:

[0036] ;

[0037] In the formula, x represents the horizontal coordinate of the drone storage position in the hangar; y represents the vertical coordinate of the drone storage position in the hangar; It is represented as the maximum coordinate of the UAV storage location in storage area A; It is expressed as the number of longitudinal storage spaces in the UAV hangar; Expressed as an expectation function; Indicated as an intermediate parameter.

[0038] Furthermore, the expected time for the drone to leave the storage area B is calculated using the following formula:

[0039] ;

[0040] In the formula, It is expressed as the expected time for the drone to leave the storage area B; It is expressed as the number of longitudinal storage spaces in the UAV hangar; 、 Indicated as an intermediate parameter.

[0041] Furthermore, the second hierarchical storage model divides the drone hangar into storage areas , storage area and storage areas ,include:

[0042] Calculated in storage area Expected delivery time for drones , the expression formula is:

[0043] ;

[0044] ;

[0045] In the formula, m represents the storage area longitudinal length; Represented as a storage area Medium drone collection; Expressed as the lateral length of a single UAV storage location; Expressed as the total number of drone storage slots in the drone hangar; Expressed as the longitudinal movement speed of the UAV access device; Expressed as the longitudinal length of a single UAV storage space; It is expressed as the number of lateral storage spaces in the UAV hangar; Expressed as the lifting and lowering speed of the UAV access device; It is expressed as the number of longitudinal storage spaces in the UAV hangar; Represented as a storage area Maximum coordinates of the UAV storage location; Expressed as an intermediate parameter;

[0046] Calculated in storage area and storage areas Expected delivery time for drones , the expression formula is:

[0047]

[0048] ;

[0049]

[0050] in, Move stacker cranes from access points to storage areas The expected value of the time required for any point on the corresponding access surface, It moves the stacker crane from the access point to the storage area The expected value of the time required to access any point on the corresponding access surface; Expressed as the height of a single drone storage location; Expressed as the lateral movement speed of the drone access device; Represented as a storage area The ratio of the number of drones in the drone hangar to the number of drones in the drone hangar;

[0051] Based on the expected delivery time and delivery time expectations The expected delivery time of the second-tier storage model is calculated using the following formula:

[0052]

[0053] The optimization function of the first hierarchical storage model is constructed with the minimum expected outbound time as the goal. The inbound and outbound simulation data is input into the first hierarchical storage model, and the optimization function of the first hierarchical storage model is solved to obtain the optimal number of storage spaces in the vertical direction of the drone hangar. ;

[0054] when When it is an integer, the storage area The optimal longitudinal length ,when When it is not an integer, the storage area The optimal longitudinal length ; Represented as a round-down function;

[0055] Based on the number of storage locations and computing storage area The side length is expressed as:

[0056]

[0057] In the formula, Represented as a storage area The side length of

[0058] Based on the entry and exit points of the drone hangar, it is constructed in the horizontal, vertical and longitudinal directions. × × Storage area ; Remove the storage area from the drone hangar Set the area outside as storage area ;

[0059] In the storage area The size of the middle division is Storage area ; Store area Except storage area Set the area outside as storage area ; L represents the horizontal length of the drone hangar, D represents the longitudinal length of the drone hangar; H represents the vertical length of the drone hangar.

[0060] A second aspect of the present invention provides a control system for automatic entry and exit of drones, comprising:

[0061] A selection module selects a drone access model according to the drone hangar size information and the drone throughput rate, wherein the drone access model includes a random storage model, a first hierarchical storage model, and a second hierarchical storage model;

[0062] The random storage module is used to control the drone access device to execute the drone storage and retrieval action according to the time sequence of receiving the drone access instruction when the random storage model is selected;

[0063] A first hierarchical storage module is configured to, when the first hierarchical storage model is selected, divide the drone hangar into storage area A and storage area B according to the first hierarchical storage model; after selecting storage area A or storage area B based on the throughput rate of the drone, control the drone access device to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions;

[0064] The second hierarchical storage module is used to divide the drone hangar into storage areas according to the second hierarchical storage model when the second hierarchical storage model is selected. , storage area and storage areas ; Select storage area based on the throughput rate of the drone , storage area or storage area Afterwards, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions.

[0065] Furthermore, the drone storage and retrieval device includes a stacker and a storage and retrieval vehicle; the storage and retrieval vehicle is arranged on the stacker; the stacker can move laterally along the drone hangar and drive the storage and retrieval vehicle to rise and fall, and the storage and retrieval vehicle can move longitudinally along the drone hangar to store and retrieve drones;

[0066] The stacker moves horizontally along the drone hangar and drives the storage and retrieval vehicles up and down, moving the storage and retrieval vehicles from the entry and exit points of the drone hangar to the hangar access surface corresponding to the target drone storage location;

[0067] The access vehicle moves longitudinally along the drone hangar, transporting the blocked drones that are obstructing the target drone's exit operation to the hangar access surface in sequence; the stacker crane transports the blocked drones to the access point;

[0068] The storage and retrieval vehicle takes the target drone from the target storage location and transfers it to the warehouse retrieval surface, and then moves the target drone to the entry and exit point through the stacker crane.

[0069] In a third aspect, the present invention provides an electronic device comprising a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the control method for automatic entry and exit of drones described in the first aspect.

[0070] Compared with the prior art, the present invention has the following beneficial effects:

[0071] The present invention selects a drone access model based on drone hangar size information and drone throughput rate. The types of drone access models include random storage model, first hierarchical storage model and second hierarchical storage model. The selected drone access model controls the drone access device to execute drone entry and exit actions based on the drone throughput rate and the time sequence of receiving drone access instructions. By selecting different drone access models, the flexibility and applicability of the drone entry and exit control method are improved.

[0072] The present invention divides the drone hangar into storage area A and storage area B by the first hierarchical storage model; divides the drone hangar into storage area , storage area and storage areas After selecting the storage area according to the throughput rate of the drone, the drone access device is controlled to execute the drone's entry and exit actions in the time sequence of receiving the drone's access instructions; under high load or complex operating conditions, the first hierarchical storage model and the second hierarchical storage model are used to improve the efficiency of access operations and reduce the waiting time of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] Figure 1 This is a flow chart of the method for controlling the automatic entry and exit of drones provided in Example 1 of the present invention;

[0074] Figure 2 A structural diagram of storage area A and storage area B provided in Example 2 of the present invention;

[0075] Figure 3 The storage area provided by embodiment 2 of the present invention , storage area and storage areas Structural diagram of

[0076] Figure 4 A structural diagram of a drone access device provided in Example 3 of the present invention;

[0077] In the figure, 1 is a drone hangar, 2 is a drone storage and retrieval device, 21 is a guide rail, 22 is a stacker, and 23 is a storage and retrieval vehicle. DETAILED DESCRIPTION

[0078] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0079] The horizontal direction of the drone hangar is set as the x-axis, and the horizontal length of the drone hangar is set as L. The longitudinal direction of the drone hangar is set as the z-axis, and the longitudinal length of the drone hangar is set as D; the vertical direction of the drone hangar is set as the y-axis, and the vertical length of the drone hangar is set as H.

[0080] Example 1

[0081] like Figure 1 As shown, this embodiment provides a control method for automatic entry and exit of drones, including:

[0082] A drone access model is selected based on the drone hangar size information and the drone throughput rate. The types of drone access models include random storage model, first-level storage model, and second-level storage model. The specific process includes:

[0083] Optimization functions for the random storage model, the first hierarchical storage model, and the second hierarchical storage model are constructed with the minimum expected outbound time as the goal;

[0084] The in-and-out simulation data of the drone hangar is obtained, including the throughput rate of the drone. The in-and-out simulation data is input into the random storage model, the first hierarchical storage model, and the second hierarchical storage model. The optimization functions of the random storage model, the first hierarchical storage model, and the second hierarchical storage model are solved to obtain the number of storage spaces in the vertical direction of the drone hangar. , Number of storage spaces and storage space ; It is expressed as the optimal number of storage spaces in the vertical direction of the UAV hangar applicable to the random storage model; It is represented by the optimal number of storage spaces in the vertical direction of the UAV hangar applicable to the first-level storage model; It is expressed as the optimal number of storage spaces in the longitudinal direction of the UAV hangar applicable to the second hierarchical storage model;

[0085] The number of storage spaces , Number of storage spaces , Number of storage spaces Compare the size information of the drone hangar to select the drone access model.

[0086] When the random storage model is selected, the random storage model controls the drone access device to execute the drone storage and access actions according to the time sequence of receiving the drone access instructions;

[0087] When the first hierarchical storage model is selected, the drone hangar is divided into storage area A and storage area B by the first hierarchical storage model. After selecting storage area A or storage area B based on the throughput rate of the drone, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions.

[0088] When the second hierarchical storage model is selected, the drone hangar is divided into storage areas by the second hierarchical storage model. , storage area and storage areas ; Select storage area based on the throughput rate of drones , storage area or storage area Afterwards, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions.

[0089] Example 2

[0090] This embodiment provides a control method for automatic entry and exit of drones, including:

[0091] Collect drone hangar size information and drone throughput rate, and build random storage models, first-level storage models, and second-level storage models;

[0092] The process of building a random storage model includes:

[0093] Assuming that the probability of each drone being put into or taken out of the warehouse is equal, calculate the expected outbound time of the random storage model, including:

[0094]

[0095] ; ; ;

[0096] In the formula, Optimization function expressed as a random storage model; Expressed as the lateral length of a single UAV storage location; Expressed as the longitudinal length of a single UAV storage space; Expressed as the height of a single drone storage location; Expressed as the total number of drone storage slots in the drone hangar; It is expressed as the number of lateral storage spaces in the UAV hangar; It is expressed as the number of longitudinal storage spaces in the UAV hangar; Expressed as the lifting and lowering speed of the UAV access device; Expressed as the longitudinal movement speed of the UAV access device; 、 、 Expressed as an intermediate parameter; Expressed as the lateral movement speed of the drone access device.

[0097] The optimization function of the random storage model is constructed with the minimum expected outbound time as the goal, including:

[0098]

[0099] in, Express Round down, Express Round up.

[0100] Obtain the in-and-out simulation data of the drone hangar, including the throughput rate of the drone, input the in-and-out simulation data into the random storage model, solve the optimization function of the random storage model, and obtain the number of storage spaces in the vertical direction of the drone hangar ; It is expressed as the optimal number of storage spaces in the longitudinal direction of the UAV hangar applicable to the random storage model.

[0101] Through the random storage model, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions.

[0102] The process of building the first tiered storage model includes:

[0103] like Figure 2 As shown in the figure, the drone hangar is divided into storage area A and storage area B, and the expected time for drones to leave the warehouse in storage area A is calculated. , the expression formula is:

[0104] ;

[0105] In the formula, x represents the horizontal coordinate of the drone storage position in the hangar; y represents the vertical coordinate of the drone storage position in the hangar; It is represented as the maximum coordinate of the UAV storage location in storage area A; It is expressed as the number of longitudinal storage spaces in the UAV hangar; Expressed as an expectation function; Indicated as an intermediate parameter.

[0106] Calculate the expected time for the drone to leave the warehouse in storage area B. The expression formula is:

[0107] ;

[0108] In the formula, It is expressed as the expected time for the drone to leave the storage area B; It is expressed as the number of longitudinal storage spaces in the UAV hangar; 、 Indicated as an intermediate parameter.

[0109] Construct the expected outbound time of the first-tier storage model, expressed as follows:

[0110]

[0111]

[0112] In the formula, Indicates the serial number of the drone; Represented as the drone hangar The throughput rate of drones; Expressed as the ratio of the drone’s flying cost to its owning cost; It is represented as the expected delivery time of the first-level storage model; s is represented as the equation parameter of the drone demand curve; It is represented as the set of drones in storage area A; Represented as the set of drones in storage area B It is expressed as the expected time for the drone to leave the storage area A; It is expressed as the expected time for the drone to leave the storage area B; Indicates the maximum time required for the drone to access the device; , It is expressed as the maximum time required for the UAV access device to move within the lifting range; It is expressed as the maximum time required for the drone access device to move in the horizontal range; It is expressed as the maximum time required for the drone access device to move in the horizontal range;

[0113] Expected delivery time and delivery time expectations Substituting the expected outbound time of the first-tier storage model, the expression formula is:

[0114]

[0115] The optimization function of the first hierarchical storage model is constructed with the minimum expected outbound time as the goal. The inbound and outbound simulation data is input into the first hierarchical storage model, and the optimization function of the first hierarchical storage model is solved to obtain the optimal number of storage spaces in the vertical direction of the drone hangar. ; It represents the optimal number of storage spaces in the longitudinal direction of the UAV hangar applicable to the first-level storage model.

[0116] Based on the number of storage locations Calculate the side length of storage area A using the following formula:

[0117]

[0118]

[0119] In the formula, Expressed as the side length of storage area A, It is expressed as the ratio of the number of drones in storage area A to the number of drones in the drone hangar; Expressed as the lateral length of a single UAV storage location; Expressed as the height of a single drone storage location; Expressed as the total number of drone storage slots in the drone hangar; It is expressed as the number of lateral storage spaces in the UAV hangar; Expressed as the lifting and lowering speed of the UAV access device; Expressed as the longitudinal movement speed of the UAV access device; Expressed as the lateral movement speed of the drone access device; Expressed as an intermediate parameter;

[0120] Based on the entry and exit points of the drone hangar, the side length is constructed in the horizontal and vertical directions. × side length storage area A; the longitudinal length of the storage area A is equal to the longitudinal length of the drone hangar; the area other than the storage area A in the drone hangar is set as the storage area B.

[0121] After selecting storage area A or storage area B according to the throughput rate of the drone through the first hierarchical storage model, the drone access device is controlled to execute the drone's entry and exit actions in the time sequence of receiving the drone's access instructions.

[0122] The process of building the second-tier storage model includes:

[0123] like Figure 3 As shown, the drone hangar is divided into storage areas , storage area and storage areas ; Calculation in storage area Expected delivery time for drones , the expression formula is:

[0124] ;

[0125] ;

[0126] In the formula, m represents the storage area longitudinal length; Represented as a storage area Medium drone collection; Expressed as the lateral length of a single UAV storage location; Expressed as the total number of drone storage slots in the drone hangar; Expressed as the longitudinal movement speed of the UAV access device; Expressed as the longitudinal length of a single UAV storage space; It is expressed as the number of lateral storage spaces in the UAV hangar; Expressed as the lifting and lowering speed of the UAV access device; It is expressed as the number of longitudinal storage spaces in the UAV hangar; Represented as a storage area The maximum coordinates of the UAV storage location; Expressed as an intermediate parameter;

[0127] Calculated in storage area and storage areas Expected delivery time for drones , the expression formula is:

[0128]

[0129] ;

[0130]

[0131] in, Move stacker cranes from access points to storage areas The expected value of the time required for any point on the corresponding access surface, It moves the stacker crane from the access point to the storage area The expected value of the time required to access any point on the corresponding access surface; Expressed as the height of a single drone storage location; Expressed as the lateral movement speed of the drone access device; Represented as a storage area The ratio of the number of drones in the drone hangar to the number of drones in the drone hangar;

[0132] Based on the expected delivery time and delivery time expectations The expected delivery time of the second-tier storage model is constructed using the following formula:

[0133]

[0134] The optimization function of the first hierarchical storage model is constructed with the minimum expected outbound time as the goal. The inbound and outbound simulation data is input into the first hierarchical storage model, and the optimization function of the first hierarchical storage model is solved to obtain the optimal number of storage spaces in the vertical direction of the drone hangar. ; It represents the optimal number of storage spaces in the longitudinal direction of the UAV hangar applicable to the second-level storage model.

[0135] when When it is an integer, the storage area The optimal longitudinal length ,when When it is not an integer, the storage area The optimal longitudinal length ; Represented as a round-down function;

[0136] Based on the number of storage locations and computing storage area The side length is expressed as:

[0137]

[0138] In the formula, Represented as a storage area The side length of

[0139] Based on the entry and exit points of the drone hangar, it is constructed in the horizontal, vertical and longitudinal directions. × × Storage area ; Remove the storage area from the drone hangar Set the area outside as storage area ; In the storage area The size of the middle division is Storage area ; Store area Except storage area Set the area outside as storage area .

[0140] The second hierarchical storage model selects the storage area based on the throughput rate of the drone , storage area or storage area Afterwards, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions.

[0141] The number of storage spaces , Number of storage spaces , Number of storage spaces Compare the size information of the drone hangar to select the drone access model.

[0142] The selected drone access model controls the drone access device to perform drone access actions, including:

[0143] The UAV storage and retrieval device includes a stacker and a storage and retrieval vehicle; the storage and retrieval vehicle is arranged on the stacker; the stacker can move laterally along the UAV hangar and drive the storage and retrieval vehicle to rise and fall, and the storage and retrieval vehicle can move longitudinally along the UAV hangar to store and retrieve the UAV;

[0144] Control the stacker crane to move horizontally along the drone hangar and drive the storage and retrieval vehicle to move up and down, and move the storage and retrieval vehicle from the drone hangar entry and exit point to the hangar access surface corresponding to the target drone storage location;

[0145] Control the access vehicles to move longitudinally along the drone hangar, and transport the blocked drones that hinder the target drone's exit operation to the hangar access surface in sequence; the stacker crane transports the blocked drones to the access point;

[0146] Control the storage and retrieval vehicle to take the target drone from the target storage location, transfer the target drone to the warehouse retrieval surface, and then move the target drone to the entry and exit point through the stacker.

[0147] Example 3

[0148] This embodiment provides a control system for automatic entry and exit of drones. The control system described in this embodiment can apply the control methods for automatic entry and exit of drones described in Examples 1 and 2. The control system includes:

[0149] Collect drone hangar size information and drone throughput rate to select a drone access model; select a drone access model based on the drone hangar size information and drone throughput rate, where the drone access model includes a random storage model, a first-level storage model, and a second-level storage model; the specific process is as follows:

[0150] Optimization functions for the random storage model, the first hierarchical storage model, and the second hierarchical storage model are constructed with the minimum expected outbound time as the goal;

[0151] The in-and-out simulation data of the drone hangar is obtained, including the throughput rate of the drone. The in-and-out simulation data is input into the random storage model, the first hierarchical storage model, and the second hierarchical storage model. The optimization functions of the random storage model, the first hierarchical storage model, and the second hierarchical storage model are solved to obtain the number of storage spaces in the vertical direction of the drone hangar. , Number of storage spaces and storage space ; It is expressed as the optimal number of storage spaces in the vertical direction of the UAV hangar applicable to the random storage model; It is represented by the optimal number of storage spaces in the vertical direction of the UAV hangar applicable to the first-level storage model; It is expressed as the optimal number of storage spaces in the longitudinal direction of the UAV hangar applicable to the second hierarchical storage model;

[0152] The number of storage spaces , Number of storage spaces , Number of storage spaces Compare the size information of the drone hangar to select the drone access model.

[0153] When the random storage model is selected, the random storage model controls the drone access device to execute the drone storage and access actions according to the time sequence of receiving the drone access instructions;

[0154] When the first hierarchical storage model is selected, the drone hangar is divided into storage area A and storage area B by the first hierarchical storage model. After selecting storage area A or storage area B based on the throughput rate of the drone, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions.

[0155] When the second hierarchical storage model is selected, the drone hangar is divided into storage areas by the second hierarchical storage model. , storage area and storage areas ; Select storage area based on the throughput rate of drones , storage area or storage area Afterwards, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions.

[0156] like Figure 4 As shown, the drone storage and retrieval device 2 is arranged in the drone hangar 1; the drone storage and retrieval device 2 includes a guide rail 21, a stacker 22 and a storage and retrieval vehicle 23; the guide rail 21 is arranged horizontally along the drone hangar, and the stacker 22 moves horizontally along the guide rail 21; the storage and retrieval vehicle 23 is arranged on the stacker 22; the stacker 22 can move horizontally along the drone hangar and drive the storage and retrieval vehicle to rise and fall, and the storage and retrieval vehicle 23 can move longitudinally along the drone hangar to store and retrieve drones;

[0157] The stacker 22 moves laterally along the drone hangar and drives the access vehicle up and down, moving the access vehicle 23 from the entry and exit point of the drone hangar to the hangar access surface corresponding to the target drone storage location;

[0158] The access vehicle 23 moves longitudinally along the drone hangar, transporting the blocked drones that are obstructing the target drone's exit operation to the hangar access surface in sequence; the stacker 22 transports the blocked drones to the access point;

[0159] The storage and retrieval vehicle 23 takes the target UAV from the target storage location and transfers the target UAV to the storage retrieval surface, and then moves the target UAV to the storage entry and exit point through the stacker crane 22.

[0160] Example 4

[0161] In a third aspect, the present invention provides an electronic device comprising a storage medium and a processor; the storage medium is used to store instructions; the processor is used to operate according to the instructions to execute the control method for automatic entry and exit of drones described in Examples 1 and 2.

[0162] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0163] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0164] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0165] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0166] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling the automatic entry and exit of drones, characterized in that: include: Selecting a drone access model based on the drone hangar size information and the drone throughput rate, wherein the drone access model includes a random storage model, a first hierarchical storage model, and a second hierarchical storage model; When the random storage model is selected, the random storage model controls the drone access device to execute the drone storage and access actions according to the time sequence of receiving the drone access instructions; When the first hierarchical storage model is selected, the drone hangar is divided into storage area A and storage area B by the first hierarchical storage model. After selecting storage area A or storage area B based on the throughput rate of the drone, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions. When the second hierarchical storage model is selected, the drone hangar is divided into storage areas by the second hierarchical storage model. , storage area and storage areas ; Select storage area based on the throughput rate of drones , storage area or storage area Afterwards, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions.

2. The control method for automatic entry and exit of drones according to claim 1, characterized in that: Select a drone access model based on the size of the drone hangar and the throughput rate of the drone, including: Optimization functions for the random storage model, the first hierarchical storage model, and the second hierarchical storage model are constructed with the minimum expected outbound time as the goal; The in-and-out simulation data of the drone hangar is obtained, including the throughput rate of the drone. The in-and-out simulation data is input into the random storage model, the first hierarchical storage model, and the second hierarchical storage model. The optimization functions of the random storage model, the first hierarchical storage model, and the second hierarchical storage model are solved to obtain the number of storage spaces in the vertical direction of the drone hangar. , Number of storage spaces and storage space ; It is expressed as the optimal number of storage spaces in the vertical direction of the UAV hangar applicable to the random storage model; It is represented by the optimal number of storage spaces in the vertical direction of the UAV hangar applicable to the first-level storage model; It is expressed as the optimal number of storage spaces in the longitudinal direction of the UAV hangar applicable to the second hierarchical storage model; The number of storage spaces , Number of storage spaces , Number of storage spaces Compare the size information of the drone hangar to select the drone access model.

3. The control method for automatic entry and exit of a drone according to claim 1, characterized in that: Control the drone access device to execute drone entry and exit actions, including: The UAV storage and retrieval device includes a stacker and a storage and retrieval vehicle; the storage and retrieval vehicle is arranged on the stacker; the stacker can move laterally along the UAV hangar and drive the storage and retrieval vehicle to rise and fall, and the storage and retrieval vehicle can move longitudinally along the UAV hangar to store and retrieve the UAV; Control the stacker crane to move horizontally along the drone hangar and drive the storage and retrieval vehicle to move up and down, and move the storage and retrieval vehicle from the drone hangar entry and exit point to the hangar access surface corresponding to the target drone storage location; Control the access vehicles to move longitudinally along the drone hangar, and transport the blocked drones that hinder the target drone's exit operation to the hangar access surface in sequence; the stacker crane transports the blocked drones to the access point; Control the storage and retrieval vehicle to take the target drone from the target storage location, transfer the target drone to the warehouse retrieval surface, and then move the target drone to the entry and exit point through the stacker.

4. The method for controlling the automatic entry and exit of a drone according to claim 2, characterized in that: The optimization function of the random storage model is constructed with the minimum expected outbound time as the goal, including: ； ； ； ； In the formula, Optimization function expressed as a random storage model; Expressed as the lateral length of a single UAV storage location; Expressed as the longitudinal length of a single UAV storage space; Expressed as the height of a single drone storage location; Expressed as the total number of drone storage slots in the drone hangar; It is expressed as the number of lateral storage spaces in the UAV hangar; It is expressed as the number of longitudinal storage spaces in the UAV hangar; It is expressed as the optimal number of storage spaces in the vertical direction of the UAV hangar applicable to the random storage model; Expressed as the lifting and lowering speed of the UAV access device; Expressed as the longitudinal movement speed of the UAV access device; 、 、 Expressed as an intermediate parameter; Expressed as the lateral movement speed of the drone access device.

5. The control method for automatic entry and exit of a drone according to claim 1, characterized in that: The first hierarchical storage model divides the drone hangar into storage area A and storage area B, including: Calculate the expected time for the drone to leave the warehouse in storage area A And the expected time for the drone to be released from storage area B ; According to the expected delivery time and delivery time expectations The expected delivery time of the first-tier storage model is calculated using the following formula: ； ； In the formula, Indicates the serial number of the drone; Represented as the drone hangar The throughput rate of drones; Expressed as the ratio of the drone’s flying cost to its owning cost; It is represented as the expected delivery time of the first-level storage model; s is represented as the equation parameter of the drone demand curve; It is represented as the set of drones in storage area A; It is represented as the set of drones in storage area B; It is expressed as the expected time for the drone to leave the storage area A; It is expressed as the expected time for the drone to leave the storage area B; Indicates the maximum time required for the drone to access the device; The optimization function of the first hierarchical storage model is constructed with the minimum expected outbound time as the goal. The inbound and outbound simulation data is input into the first hierarchical storage model, and the optimization function of the first hierarchical storage model is solved to obtain the optimal number of storage spaces in the vertical direction of the drone hangar. ; Based on the number of storage locations Calculate the side length of storage area A using the following formula: ； ； In the formula, Expressed as the side length of storage area A, It is expressed as the ratio of the number of drones in storage area A to the number of drones in the drone hangar; Expressed as the lateral length of a single UAV storage location; Expressed as the height of a single drone storage location; Expressed as the total number of drone storage slots in the drone hangar; It is expressed as the number of lateral storage spaces in the UAV hangar; Expressed as the lifting and lowering speed of the UAV access device; Expressed as the longitudinal movement speed of the UAV access device; Expressed as the lateral movement speed of the drone access device; Expressed as an intermediate parameter; Based on the entry and exit points of the drone hangar, the side length is constructed in the horizontal and vertical directions. × side length storage area A; the longitudinal length of the storage area A is equal to the longitudinal length of the drone hangar; the area other than the storage area A in the drone hangar is set as the storage area B.

6. The method for controlling the automatic entry and exit of a drone according to claim 5, characterized in that: Calculate the expected time for the drone to leave the warehouse in storage area A , the expression formula is: ； In the formula, x represents the horizontal coordinate of the UAV storage position in the hangar; y represents the vertical coordinate of the UAV storage position in the hangar; It is represented as the maximum coordinate of the UAV storage location in storage area A; It is expressed as the number of longitudinal storage spaces in the UAV hangar; Expressed as an expectation function; Indicated as an intermediate parameter.

7. The method for controlling the automatic entry and exit of a drone according to claim 5, characterized in that: Calculate the expected time for the drone to leave the warehouse in storage area B. The expression formula is: ； In the formula, It is expressed as the expected time for the drone to leave the storage area B; It is expressed as the number of longitudinal storage spaces in the UAV hangar; 、 Indicated as an intermediate parameter.

8. The method for controlling the automatic entry and exit of a drone according to claim 1, characterized in that: The drone hangar is divided into storage areas by the second hierarchical storage model , storage area and storage areas ,include: Calculated in storage area Expected delivery time for drones , the expression formula is: ； ； In the formula, m represents the storage area longitudinal length; Represented as a storage area Medium drone collection; Expressed as the lateral length of a single UAV storage location; Expressed as the total number of drone storage slots in the drone hangar; Expressed as the longitudinal movement speed of the UAV access device; Expressed as the longitudinal length of a single UAV storage space; It is expressed as the number of lateral storage spaces in the UAV hangar; Expressed as the lifting and lowering speed of the UAV access device; It is expressed as the number of longitudinal storage spaces in the UAV hangar; Represented as a storage area The maximum coordinates of the UAV storage location; Expressed as an expectation function; Expressed as an intermediate parameter; Calculated in storage area and storage areas Expected delivery time for drones , the expression formula is: ； ； ； in, Move stacker cranes from access points to storage areas The expected value of the time required for any point on the corresponding access surface, It moves the stacker crane from the access point to the storage area The expected value of the time required to access any point on the corresponding access surface; Expressed as the height of a single drone storage location; Expressed as the lateral movement speed of the drone access device; Represented as a storage area The ratio of the number of drones in the drone hangar to the number of drones in the drone hangar; Based on the expected delivery time and delivery time expectations The expected delivery time of the second-tier storage model is calculated using the following formula: ； The optimization function of the first hierarchical storage model is constructed with the minimum expected outbound time as the goal. The inbound and outbound simulation data is input into the first hierarchical storage model, and the optimization function of the first hierarchical storage model is solved to obtain the optimal number of storage spaces in the vertical direction of the drone hangar. ; when When it is an integer, the storage area The optimal longitudinal length ,when When it is not an integer, the storage area The optimal longitudinal length ; Represented as a round-down function; Based on the number of storage locations and computing storage area The side length is expressed as: ； In the formula, Represented as a storage area The side length of Based on the entry and exit points of the drone hangar, it is constructed in the horizontal, vertical and longitudinal directions. × × Storage area ; Remove the storage area from the drone hangar Set the area outside as storage area ; In the storage area The size of the middle division is Storage area ; Store area Except storage area Set the area outside as storage area ; L represents the horizontal length of the drone hangar, D represents the longitudinal length of the drone hangar; H represents the vertical length of the drone hangar.

9. A control system for automatic entry and exit of drones, characterized in that: include: Selecting a drone access model based on the drone hangar size information and the drone throughput rate, wherein the drone access model includes a random storage model, a first hierarchical storage model, and a second hierarchical storage model; When the random storage model is selected, the random storage model controls the drone access device to execute the drone storage and access actions according to the time sequence of receiving the drone access instructions; When the first hierarchical storage model is selected, the drone hangar is divided into storage area A and storage area B by the first hierarchical storage model. After selecting storage area A or storage area B based on the throughput rate of the drone, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions. When the second hierarchical storage model is selected, the drone hangar is divided into storage areas by the second hierarchical storage model. , storage area and storage areas ; Select storage area based on the throughput rate of drones , storage area or storage area Afterwards, the drone access device is controlled to execute the drone entry and exit actions according to the time sequence of receiving the drone access instructions.

10. The control system for automatic entry and exit of drones according to claim 9, characterized in that: The UAV storage and retrieval device includes a stacker and a storage and retrieval vehicle; the storage and retrieval vehicle is arranged on the stacker; the stacker can move laterally along the UAV hangar and drive the storage and retrieval vehicle to rise and fall, and the storage and retrieval vehicle can move longitudinally along the UAV hangar to store and retrieve the UAV; The stacker moves horizontally along the drone hangar and drives the storage and retrieval vehicles up and down, moving the storage and retrieval vehicles from the entry and exit points of the drone hangar to the hangar access surface corresponding to the target drone storage location; The access vehicle moves longitudinally along the drone hangar, transporting the blocked drones that are obstructing the target drone's exit operation to the hangar access surface in sequence; the stacker crane transports the blocked drones to the access point; The storage and retrieval vehicle takes the target drone from the target storage location and transfers it to the warehouse retrieval surface, and then moves the target drone to the entry and exit point through the stacker crane.

11. An electronic device comprising a storage medium and a processor; the storage medium is used to store instructions; and characterized in that: The processor is used to operate according to the instructions to execute the control method for automatic entry and exit of the drone according to any one of claims 1 to 8.

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