Vehicle landing docking system and vehicle landing docking method

Abstract

The invention relates to a vehicle landing docking system and a vehicle landing docking method.The vehicle landing docking system comprises a flight module and a ground module, the flight module comprises at least one docking piece, and the ground module comprises at least one docking interface, at least one execution structure and a controller; at least one execution structure comprises a motion structure, an image acquisition module and an actuator, wherein the image acquisition module and the actuator are sequentially arranged at the tail end of the motion structure; the at least one butt joint interface is used for placing and locking a butt joint piece; the controller is used for controlling the image acquisition module to acquire a target image containing the docking piece after the flight module puts down the docking piece; adjusting the motion structure based on the target image; an actuator on the adjusted motion structure is controlled to clamp the butt joint piece; and the motion structure is controlled to move according to a preset track, and the butt joint piece clamped by the actuator is inserted into the butt joint interface. By means of the technical scheme, accurate butt joint of the flight module and the ground module in the split type hovercar can be achieved.

Description

Technical Field

[0001] This disclosure relates to the field of flying car technology, and in particular to a vehicle docking system and a vehicle docking method. Background Technology

[0002] The core challenge in making split-type flying cars practical is the automatic docking of the flight cabin and the chassis. Therefore, a docking system and method are needed to meet the requirements of automatic docking of the flight cabin and the chassis in split-type flying cars. Summary of the Invention

[0003] This disclosure provides a vehicle docking system and method to meet the requirements for automatic docking of the flight cabin and chassis in a split-type flying car. The technical solution of this disclosure is as follows: According to a first aspect of the present disclosure, a vehicle docking system is provided, the vehicle docking system comprising: a flight module and a ground module, the flight module including at least one docking component, the ground module including at least one docking interface, at least one execution structure and a controller, the at least one execution structure including a corresponding motion structure, a corresponding image acquisition module and a corresponding actuator, wherein: The image acquisition module and the actuator are sequentially arranged at the ends of the corresponding motion structures; The at least one docking interface is used to place and lock the corresponding docking component; The controller is used to control the corresponding image acquisition module to acquire a target image containing the corresponding docking part after the flight module puts down the corresponding docking part; based on the target image, adjust the corresponding motion structure; control the actuator on the adjusted motion structure to clamp the corresponding docking part; and control the corresponding motion structure to move along a preset trajectory to insert the corresponding docking part clamped by the corresponding actuator into the corresponding docking interface to complete the docking.

[0004] According to a second aspect of the present disclosure, a vehicle start-up docking method is provided, comprising: After the target flight module drops at least one preset docking piece, a first image is acquired based on the preset image acquisition module on the corresponding preset motion structure. The first image includes the corresponding preset docking piece. Determine the current position information of the center point of the corresponding preset docking part in the first image; If the difference between the current position information and the current position information of the preset center position information is greater than the preset position threshold, the corresponding preset motion structure is adjusted so that the difference between the current position information of the center point of the corresponding preset docking part in the second image and the current position information of the preset center position information is less than or equal to the preset position threshold. The second image is acquired by the preset image acquisition module on the adjusted preset motion structure. Determine the current area proportion of the corresponding preset docking part on the second image; If the difference between the current area ratio and the current area ratio of the preset area ratio is greater than the preset ratio threshold, the corresponding preset motion structure is adjusted so that the difference between the current area ratio of the corresponding preset docking part on the third image and the current area ratio of the preset area ratio is less than or equal to the preset ratio threshold. The third image is acquired by the preset image acquisition module on the adjusted preset motion structure. Based on the preset actuator on the adjusted preset motion structure, the corresponding preset docking part is clamped; Based on the corresponding preset motion structure, the corresponding preset docking part held by the corresponding preset actuator is inserted into the corresponding preset docking interface.

[0005] According to a third aspect of the present disclosure, an electronic device is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method as described in any one of the second aspects above.

[0006] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided such that, when instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the method described in any of the second aspects of the present disclosure. According to a fifth aspect of the present disclosure, a computer program product including instructions is provided that, when run on a computer, causes the computer to perform the method described in any of the second aspects of the present disclosure.

[0007] The technical solutions provided by the embodiments of this disclosure have at least the following beneficial effects: By coordinating the image acquisition module, motion structure, and actuators with the controller, the docking parts of the flight module can be accurately positioned and stably clamped, ensuring that the docking parts are accurately connected to the docking interface of the ground module and reliably locked. Ultimately, this achieves efficient, accurate, and stable automatic docking between the flight module and the ground module, effectively improving the operational reliability, safety, and automation level of the split-type flying car during the docking process between the flight module and the ground module.

[0008] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0009] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0010] Figure 1This is a schematic diagram illustrating a vehicle docking system according to an exemplary embodiment; Figure 2 This is a schematic flowchart illustrating a vehicle docking method according to an exemplary embodiment; Figure 3(a) is a flowchart illustrating a process for determining the current position information of the center point of a corresponding preset docking component in a first image according to an exemplary embodiment; Figure 3(b) is a schematic diagram illustrating, according to an exemplary embodiment, determining the current position information based on the endpoint position information when the endpoint position information is the coordinates of the two lower vertices of the planar contour of the corresponding preset docking part. Figure 4 This is a schematic diagram illustrating a process of adjusting a corresponding preset motion structure when the difference between the current position information and the preset center position information is greater than a preset position threshold, according to an exemplary embodiment.

[0011] Figure 5 This is a block diagram illustrating an electronic device for vehicle docking according to an exemplary embodiment. Detailed Implementation

[0012] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0013] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0014] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for display, data used for analysis, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties.

[0015] The following first introduces an embodiment of a vehicle docking system according to this application. (See attached diagram.) Figure 1The vehicle docking system includes: a flight module (1) and a ground module (2). The flight module (1) includes at least one docking component (3). The ground module (2) includes at least one docking interface (4), at least one actuation structure (5), and a controller (6). The at least one actuation structure (5) includes a corresponding motion structure (7), a corresponding image acquisition module (8), and a corresponding actuator (9), wherein: The image acquisition module (8) and the actuator (9) are sequentially arranged at the ends of the corresponding motion structure (7); At least one docking interface (4) is used to place and lock the corresponding docking part (3); The controller (6) is used to control the corresponding image acquisition module (8) to acquire a target image containing the corresponding docking part (3) after the flight module (1) puts down the corresponding docking part (3); based on the target image, adjust the corresponding motion structure (7); control the actuator (9) on the adjusted motion structure (7) to clamp the corresponding docking part (3); and control the corresponding motion structure (7) to move according to the preset trajectory to insert the corresponding docking part (3) clamped by the corresponding actuator (9) into the corresponding docking interface (4) to complete the docking.

[0016] At least one docking interface (4) includes a corresponding position detection sensor (10), which is disposed on the inner wall of the corresponding docking interface (4) and is used to detect whether the corresponding docking part (3) is inserted into the corresponding docking interface (4).

[0017] At least one docking component (3) is movably disposed at the bottom of the flight module (1), at least one docking interface (4) and at least one execution structure (5) are disposed at the top of the ground module (2), and the motion structure (7) has multiple degrees of freedom.

[0018] At least one execution structure (5) also includes a corresponding lighting device (11), which is set within a preset range of the corresponding image acquisition module (8).

[0019] Specifically, the flight module (1) can be the flight cabin of a split-type flying car, and the ground module (2) can be the chassis of a split-type flying car. The docking part (3) is movably set at the bottom of the flight module (1) and can be electrically retracted and extended. Furthermore, the electric retraction and extension of the docking part (3) can be achieved by a drive part (12), one end of which is fixed to the bottom of the flight module (1), and the other end is connected to the corresponding docking part (3) to provide it with a movable fulcrum.

[0020] The number of docking parts (3) can be two, one main docking part and one auxiliary docking part, which are symmetrically installed on both sides of the bottom of the flight module (1). Both the main docking part and the auxiliary docking part are printed with barcode patterns, which completely cover the surface of the corresponding docking part, so as to significantly enhance the recognition of the docking part in the image acquired by the image acquisition module (8), which facilitates the subsequent rapid and accurate identification of the area of ​​the docking part in the image based on the preset image recognition algorithm, thereby improving the accuracy of determining the endpoint position information of multiple endpoints of the docking part in the image.

[0021] For example, the docking part (3) can be a cylindrical contact rod that can be electrically retracted and extended at the bottom of the flight cabin of the split flying car. There are two rods, one main contact rod and one auxiliary contact rod. The main contact rod and the auxiliary contact rod are symmetrically installed on both sides of the bottom of the flight cabin. Both the main contact rod and the auxiliary contact rod are printed with barcode patterns, and the barcode patterns completely cover the surface of the corresponding contact rod.

[0022] The number of driving components (12) can be two, one main driving component and one auxiliary driving component. The main driving component is connected to the main docking component, and the auxiliary driving component is connected to the auxiliary docking component.

[0023] For example, the drive unit (12) can be an electric hinge, with one end fixed to the bottom of the flight cabin and the other end connected to the corresponding contact rod. There can be two electric hinges, one main electric hinge and one auxiliary electric hinge. The main electric hinge is connected to the main contact rod and the auxiliary electric hinge is connected to the auxiliary contact rod.

[0024] The docking interface (4) is located on the top of the ground module (2) and can just accommodate the docking parts (3). There can be two docking interfaces, one main docking interface and one auxiliary docking interface. The main docking interface and the auxiliary docking interface are symmetrically installed on both sides of the top of the ground module (2). The main docking interface corresponds to the main docking part, and the auxiliary docking interface corresponds to the auxiliary docking part. The inner walls of the main docking interface and the auxiliary docking interface are equipped with position detection sensors (10). The position detection sensors (10) can be used to detect whether the corresponding docking part (3) is inserted into the corresponding docking interface (4) and send the insertion result indication information of the corresponding docking part (3) to the controller (6). The insertion result indication information is used to indicate whether the corresponding docking part (3) has been successfully inserted into the corresponding docking interface (4).

[0025] For example, the docking interface (4) can be a positioning slot designed on the top of the chassis of the split-type flying car, which can just accommodate the contact rod. There are two slots, one main positioning slot and one auxiliary positioning slot, which are symmetrically installed on both sides of the top of the chassis. The main positioning slot corresponds to the main contact rod, and the auxiliary positioning slot corresponds to the auxiliary contact rod. The position detection sensor (10) can be a proximity switch. The inner walls of the main positioning slot and the auxiliary positioning slot are equipped with proximity switches, which can be used to detect whether the corresponding contact rod is inserted into the corresponding positioning slot.

[0026] The motion structure (7) is set on one side of the corresponding docking interface (4). There can be two motion structures (7), one main motion structure and one auxiliary motion structure. The main motion structure is installed on the side of the main docking interface on the top of the ground module (2), and the auxiliary motion structure is installed on the side of the auxiliary docking interface on the top of the ground module (2). Both the main robotic arm and the auxiliary robotic arm have at least a preset number of degrees of freedom. For example, the preset number can be 6.

[0027] For example, the motion structure (7) can be a robotic arm, with two arms: a main robotic arm and an auxiliary robotic arm. The main robotic arm is mounted on one side of the main positioning slot on the top of the chassis, and the auxiliary robotic arm is mounted on one side of the auxiliary positioning slot on the top of the chassis. Both the main robotic arm and the auxiliary robotic arm have at least 6 degrees of freedom.

[0028] The corresponding actuator (9) is installed at the end of the corresponding motion structure (7) to clamp the corresponding docking part (3). There can be two actuators (9), one main actuator and one auxiliary actuator. The main actuator is installed at the end of the main motion structure (7) and the auxiliary actuator is installed at the end of the auxiliary motion structure (7).

[0029] For example, the corresponding actuator (9) can be a gripper installed at the end of the robotic arm for gripping the corresponding contact rod. There can be two grippers, one main gripper and one auxiliary gripper. The main gripper is installed at the end of the main robotic arm and the auxiliary actuator is installed at the end of the auxiliary robotic arm.

[0030] The image acquisition module (8) can be installed at the end of the corresponding actuator (9) to acquire a target image containing the corresponding docking part (3) after the flight module (1) lowers the corresponding docking part (3). There can be two image acquisition modules (8), one main image acquisition module and one auxiliary image acquisition module. The main image acquisition module is installed at the end of the main actuator and the auxiliary image acquisition module is installed at the end of the auxiliary actuator.

[0031] For example, the image acquisition module (8) can be a camera installed on the gripper end of the robotic arm, with a quantity of two, one main camera and one auxiliary camera. The main camera is installed at the end of the main gripper and the auxiliary camera is installed at the end of the auxiliary gripper.

[0032] The illumination optical axis of the illumination device (11) forms a preset angle with the optical axis of the corresponding image acquisition module (8) to ensure that the illumination range completely covers the acquisition field of view of the image acquisition module (8). When the controller (6) determines that the current ambient light conditions are lower than the preset brightness threshold based on the image acquired by the image acquisition module (8), it automatically turns on the illumination device (11) to provide an auxiliary light source for image acquisition. The number of lighting devices (11) can be two, one main lighting device and one auxiliary lighting device. The main lighting device is installed within the preset range of the main image acquisition module (8), and the auxiliary lighting device is installed within the preset range of the auxiliary image acquisition module (8).

[0033] For example, the lighting device (11) can be an LED light, and the number of LED lights can be two, one main LED light and one auxiliary LED light. The main LED light is installed within a preset range of the main camera, and the auxiliary LED light is installed within a preset range of the auxiliary camera.

[0034] As can be seen from the above, the docking component, which can be movably mounted at the bottom of the flight module, and the docking interface and actuator structure, which are mounted at the top of the ground module, form an adaptive layout. Combined with a motion structure having multiple degrees of freedom, this provides a flexible adjustment basis for the docking operation. The lighting device within the actuator structure, positioned within a preset range of the image acquisition module, effectively ensures that the image acquisition module can acquire a clear target image after the flight module lowers the docking component. The controller precisely adjusts the motion structure based on the clear target image, ensuring that the actuator at the end of the motion structure stably clamps the docking component. Then, the controller controls the motion structure to move along a preset trajectory, accurately delivering the clamped docking component to the docking interface. The position detection sensor on the inner wall of the docking interface accurately detects whether the docking component is inserted. Combined with the docking interface's locking function for the inserted docking component, and following the collaborative logic of each component, the docking process progresses step by step, ultimately achieving precise, stable, and reliable automatic docking between the flight module and the ground module, comprehensively improving the accuracy and safety of the docking process.

[0035] The following is combined Figures 2 to 5 This paper describes a vehicle start-up docking method.

[0036] like Figure 2 As shown, Figure 2 This is a flowchart illustrating a vehicle start-up docking method according to an exemplary embodiment, the method including the following steps: In step S201, after the target flight module lowers at least one preset docking component, a first image is acquired based on the preset image acquisition module on the corresponding preset motion structure.

[0037] In one specific embodiment, the first image includes a corresponding preset docking part.

[0038] For example, after the target flight module lowers at least one preset docking piece, acquiring the first image based on the preset image acquisition module on the corresponding preset motion structure may include: after the flight cabin in the split-type flying car lowers at least one contact rod, acquiring the first image based on the camera on the corresponding robotic arm.

[0039] In practical applications, after at least one preset docking component is deployed on the target flight module and before the first image is acquired by the preset image acquisition module on the corresponding preset motion structure, the above method further includes: Based on the position and orientation information of the target ground module, the target flight module hovers above the target ground module, adjusts its heading to align the flight module with the target ground module's heading, and sends a start-up request command to the target ground module. After the target ground module responds to the start-up request command, the target flight module and the target ground module enter the start-up mode, and the target flight module lowers at least one preset docking component.

[0040] In step S203, the current position information of the center point of the corresponding preset docking part in the first image is determined.

[0041] In one specific embodiment, the current position information can be the coordinates of the center point of the preset docking part in the first image.

[0042] In a specific embodiment, as shown in FIG3(a), the above-mentioned determination of the current position information of the center point of the corresponding preset docking part in the first image includes: In step S301, the endpoint position information of multiple endpoints of the corresponding preset docking parts on the first image is determined.

[0043] In one specific embodiment, the multiple endpoints of the preset docking member can be key feature points of the planar contour of the preset docking member in the first image. The endpoint position information can be the coordinates of the corresponding endpoints on the first image.

[0044] For example, when the pre-defined docking part is a cylindrical contact rod, the multiple endpoints can be any two of the four vertices (upper left vertex, lower left vertex, upper right vertex, and lower right vertex) of the cylindrical contact rod in the planar contour of the second image (i.e., the rectangle formed by the diameter of the cylinder as the length and the length of the contact rod as the width).

[0045] In a specific embodiment, determining the endpoint position information of multiple endpoints of the corresponding preset docking component on the first image may include: identifying the planar contour of the preset docking component in the first image by using a preset image recognition algorithm (such as edge detection or contour analysis), locating multiple key endpoints, and then extracting the coordinates of each endpoint to obtain the endpoint position information.

[0046] In step S303, the current location information is determined based on the endpoint location information.

[0047] For example, as shown in Figure 3(b), when the endpoint position information is the coordinates of the two lower vertices (lower left and lower right vertices) of the planar contour of the preset docking part, and the preset docking part is a cylindrical contact rod, the above-mentioned determination of the current position information based on the endpoint position information may include: based on the formula The current position information is determined, where X is the X-axis coordinate of the center point of the corresponding preset docking part in the first image, Y is the Y-axis coordinate of the center point of the corresponding preset docking part in the first image, X1 is the X-axis coordinate of the lower left vertex in the first image, Y1 is the Y-axis coordinate of the lower left vertex in the first image, X2 is the X-axis coordinate of the lower right vertex in the first image, Y2 is the Y-axis coordinate of the lower right vertex in the first image, L is the preset length of the planar contour of the contact rod, i.e., the preset length of the contact rod, and d is the preset diameter of the cylinder. The planar coordinate system takes the upper left vertex of the first image as the origin, the horizontal direction as the X-axis, and the vertical direction as the Y-axis.

[0048] In the above embodiments, by first determining the endpoint position information of multiple endpoints of the corresponding preset docking parts on the first image, and then determining the current position information of the center point based on these endpoint position information, the accuracy and stability of the determination of the current position information of the center point are effectively improved, thereby enhancing the reliability of the entire docking process.

[0049] In step S205, if the difference between the current position information and the preset center position information is greater than the preset position threshold, the corresponding preset motion structure is adjusted so that the difference between the current position information of the center point of the corresponding preset docking part in the second image and the current position information of the preset center position information is less than or equal to the preset position threshold.

[0050] In one specific embodiment, the second image is acquired by a preset image acquisition module on the adjusted preset motion structure. The preset center position information is the coordinates of the center point of the first image.

[0051] For example, a planar coordinate system is formed with the top left vertex of the first image as the origin (0,0), the horizontal direction as the X-axis, the direction to the right of the origin as the positive direction of the X-axis, the vertical direction as the Y-axis, and the direction below the origin as the positive direction of the Y-axis. If the preset length of the first image is M and the preset width of the first image is N, then the coordinates of the bottom right vertex of the first image are (M, N), and the preset center position information is (M / 2, N / 2).

[0052] In a specific embodiment, the current position difference includes a first difference and a second difference. The first difference is the position difference between the current position information and the preset center position information in a first preset direction, and the second difference is the position difference between the current position information and the preset center position information in a second preset direction. The preset position threshold includes a first preset threshold in the first preset direction and a second preset threshold in the second preset direction. For example, the first preset direction can be the X-axis, and the second preset direction can be the Y-axis. The planar coordinate system takes the upper left vertex of the first image as the origin, the horizontal direction as the X-axis, the direction to the right of the origin as the positive X-axis direction, the vertical direction as the Y-axis, and the direction below the origin as the positive Y-axis direction.

[0053] In a specific embodiment, such as Figure 4 As shown, when the difference between the current position information and the preset center position information is greater than a preset position threshold, adjusting the corresponding preset motion structure includes: In step S401, if the first difference is greater than the first preset threshold, the corresponding preset motion structure is adjusted in the first preset direction.

[0054] For example, when the first preset direction is the X-axis direction and the preset motion structure is a robotic arm, the above-mentioned adjustment of the corresponding preset motion structure in the first preset direction when the first difference is greater than the first preset threshold may include: adjusting the angle of the robotic arm in the X-axis direction when the first difference is greater than the first preset threshold.

[0055] In step S403, if the second difference is greater than the second preset threshold, the corresponding preset motion structure is adjusted in the second preset direction.

[0056] For example, when the first preset direction is the Y-axis direction and the preset motion structure is a robotic arm, the above-mentioned adjustment of the corresponding preset motion structure in the second preset direction when the second difference is greater than the second preset threshold may include: adjusting the angle of the robotic arm in the Y-axis direction when the second difference is greater than the second preset threshold.

[0057] In the above embodiments, by adjusting the corresponding preset motion structure along the first preset direction when the first difference is greater than the first preset threshold, and adjusting the corresponding preset motion structure along the second preset direction when the second difference is greater than the second preset threshold, targeted adjustments can be made for position deviations in different directions, thereby improving the accuracy and effectiveness of the preset motion structure position adjustment.

[0058] In step S207, the current area ratio of the corresponding preset docking part on the second image is determined.

[0059] For example, when the preset docking part is a cylindrical contact rod, the above-mentioned determination of the current area ratio of the corresponding preset docking part on the second image may include: identifying the planar contour of the cylindrical contact rod in the second image (i.e., a rectangle formed by the diameter of the cylinder as the length and the length of the contact rod as the width) through a preset image recognition algorithm (such as edge detection or contour analysis), locating its four vertices (upper left vertex, lower left vertex, upper right vertex, and lower right vertex), then extracting the coordinates of each vertex, calculating the planar area of ​​the planar contour of the corresponding preset docking part based on the coordinates of the four vertices, and using the ratio of the planar area of ​​the preset docking part to the area of ​​the preset image as the current area ratio.

[0060] In step S209, if the difference between the current area ratio and the current area ratio of the preset area ratio is greater than the preset ratio threshold, the corresponding preset motion structure is adjusted so that the difference between the current area ratio of the corresponding preset docking part and the current area ratio of the preset area ratio on the third image is less than or equal to the preset ratio threshold.

[0061] In one specific embodiment, the third image is acquired by a preset image acquisition module on the adjusted preset motion structure.

[0062] In a specific embodiment, adjusting the corresponding preset motion structure when the difference between the current area percentage and the preset area percentage is greater than a preset percentage threshold includes: When the current area ratio is greater than the preset area ratio, and the difference between the current ratios is greater than the preset ratio threshold, the corresponding preset motion structure is controlled to move in the preset opposite direction along the third preset direction, so as to increase the distance between the corresponding preset image acquisition module and the corresponding preset docking part.

[0063] For example, the third preset direction can be the direction in which the preset image acquisition module points to the corresponding preset docking part, and the preset opposite direction in the third preset direction can be the direction in which the preset image acquisition module points to the corresponding preset docking part, away from the preset docking part.

[0064] In the above embodiments, by controlling the corresponding preset motion structure to move in the preset opposite direction along the third preset direction to increase the distance between the preset image acquisition module and the preset docking part when the current area ratio is greater than the preset area ratio and the difference between the current ratios exceeds the preset ratio threshold, the deviation of the area ratio that is too large can be specifically corrected, so that the current area ratio of the preset docking part approaches the preset area ratio, thereby improving the targeting and effectiveness of the area ratio adjustment.

[0065] In a specific embodiment, adjusting the corresponding preset motion structure when the difference between the current area percentage and the preset area percentage is greater than a preset percentage threshold includes: When the current area percentage is less than the preset area percentage and the current percentage difference is greater than the preset percentage threshold, the corresponding preset motion structure is controlled to move along the preset positive direction in the third preset direction to reduce the distance between the corresponding preset image acquisition module and the corresponding preset docking part. The preset positive direction is opposite to the preset negative direction.

[0066] For example, the preset positive direction in the third preset direction can be the direction in which the preset image acquisition module points to the corresponding preset docking part, and the direction closer to the preset docking part.

[0067] In the above embodiments, when the current area ratio is less than the preset area ratio and the difference between the current ratios is greater than the preset ratio threshold, the adjustment method of controlling the corresponding preset motion structure to move along the preset positive direction of the third preset direction to reduce the distance between the preset image acquisition module and the preset docking part can specifically correct the deviation of the area ratio being too small, so that the current area ratio of the preset docking part is accurately close to the preset area ratio, thereby improving the accuracy and adaptability of the area ratio adjustment.

[0068] In step S211, the corresponding preset docking part is clamped based on the preset actuator on the adjusted preset motion structure.

[0069] In step S213, based on the corresponding preset motion structure moving along a preset trajectory, the corresponding preset docking part held by the corresponding preset actuator is inserted into the corresponding preset docking interface.

[0070] In one specific embodiment, the aforementioned preset trajectory is generated based on the preset position information of the preset docking interface, and is used to guide the preset motion structure carrying the preset actuator and the preset docking component held therein to move above the preset docking interface and complete the insertion action.

[0071] In one specific embodiment, at least one preset docking member includes a main docking member and a secondary docking member, and the above method further includes: The main docking component is used as at least one preset docking component. After the target flight module puts down at least one preset docking component, the first image is acquired by the preset image acquisition module on the corresponding preset motion structure and then clamped by the preset actuator on the adjusted preset motion structure. Send the clamping result information of the main docking component to the target flight module so that the target flight module can place the secondary docking component; The secondary docking component is used as at least one preset docking component. After the target flight module puts down at least one preset docking component, the first image is acquired by the preset image acquisition module on the corresponding preset motion structure and then transmitted to the preset actuator on the adjusted preset motion structure to clamp the corresponding preset docking component.

[0072] In the above embodiments, the complete steps from image acquisition to clamping are first performed on the main docking component. Then, the target flight module is guided to put down the secondary docking component by the feedback of the clamping result of the main docking component. The same clamping steps are then repeated on the secondary docking component, which realizes the orderly and precise clamping of the main and secondary docking components. Finally, when both the main and secondary docking components are clamped, they are inserted into their respective preset docking interfaces, which improves the coordination, stability and accuracy of the clamping and docking process.

[0073] Optionally, the above method further includes: receiving insertion result indication information of the corresponding docking component; if the insertion result indication information indicates that the insertion of the corresponding docking component has failed, re-executing the above docking and insertion steps until the insertion is successful.

[0074] As can be seen from the technical solution provided by the above embodiment of the vehicle docking method of this application, by acquiring multi-stage images of the preset docking component through the preset image acquisition module, and by accurately adjusting the center point position information and area ratio, the preset motion structure can correct the relative position and distance with the preset docking component, ensuring that the preset actuator stably clamps the preset docking component. Subsequently, the preset motion structure moves according to the preset trajectory to accurately insert the clamped preset docking component into the corresponding preset docking interface, effectively improving the accuracy and stability of the preset docking component from identification, adjustment, clamping to docking. Furthermore, by adopting passive docking technology, the flight module only needs to put down the docking component, and the vision-based execution structure in the ground module actively completes the identification, grasping and precise insertion, reducing the stringent requirements on the landing attitude of the flight module, improving the fault tolerance of the docking process, thereby improving the adaptability and intelligence level of the docking process, and ensuring the reliability of the split-type flying car docking mission.

[0075] Figure 5 This is a block diagram illustrating an electronic device for vehicle docking according to an exemplary embodiment. The electronic device may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, the electronic device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a vehicle docking method. The display screen can be a liquid crystal display (LCD) or an e-ink display. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the device's casing, or an external keyboard, touchpad, or mouse.

[0076] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present disclosure and does not constitute a limitation on the electronic device to which the present disclosure is applied. A specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements. In an exemplary embodiment, an electronic device is also provided, including: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the vehicle docking method as described in the embodiments of this disclosure.

[0077] In an exemplary embodiment, a computer-readable storage medium is also provided, wherein when the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the vehicle docking method of the present disclosure embodiments.

[0078] In an exemplary embodiment, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to perform the vehicle docking method in the embodiments of this disclosure.

[0079] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. This computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0080] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0081] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A vehicle docking system, characterized in that, The docking system for a split-type flying car includes a flight module (1) and a ground module (2). The flight module (1) includes at least one docking component (3). The ground module (2) includes at least one docking interface (4), at least one execution structure (5), and a controller (6). The at least one execution structure (5) includes a corresponding motion structure (7), a corresponding image acquisition module (8), and a corresponding actuator (9). The image acquisition module (8) and the actuator (9) are sequentially arranged at the ends of the corresponding motion structure (7); The at least one docking interface (4) is used to place and lock the corresponding docking part (3); The controller (6) is used to control the corresponding image acquisition module (8) to acquire a target image containing the corresponding docking part (3) after the flight module (1) puts down the corresponding docking part (3); based on the target image, adjust the corresponding motion structure (7); control the actuator (9) on the adjusted motion structure (7) to clamp the corresponding docking part (3); and control the corresponding motion structure (7) to move according to a preset trajectory to insert the corresponding docking part (3) clamped by the corresponding actuator (9) into the corresponding docking interface (4) to complete the docking.

2. The vehicle docking system according to claim 1, characterized in that, The at least one docking interface (4) includes a corresponding position detection sensor (10), wherein: The position detection sensor (10) is installed on the inner wall of the corresponding docking interface (4). The position detection sensor (10) is used to detect whether the corresponding docking part (3) is inserted into the corresponding docking interface (4).

3. The vehicle docking system according to claim 1, characterized in that, The at least one docking component (3) is movably disposed at the bottom of the flight module (1), the at least one docking interface (4) and the at least one execution structure (5) are disposed at the top of the ground module (2), and the motion structure (7) has multiple degrees of freedom.

4. The vehicle docking system according to claim 1, characterized in that, The at least one execution structure (5) further includes a corresponding lighting device (11), which is set within a preset range of the corresponding image acquisition module (8).

5. A vehicle starting docking method based on a vehicle starting docking system according to any one of claims 1 to 4, characterized in that, The method includes: After the target flight module drops at least one preset docking piece, a first image is acquired based on the preset image acquisition module on the corresponding preset motion structure. The first image includes the corresponding preset docking piece. Determine the current position information of the center point of the corresponding preset docking part in the first image; If the difference between the current position information and the current position information of the preset center position information is greater than the preset position threshold, the corresponding preset motion structure is adjusted so that the difference between the current position information of the center point of the corresponding preset docking part in the second image and the current position information of the preset center position information is less than or equal to the preset position threshold. The second image is acquired by the preset image acquisition module on the adjusted preset motion structure. Determine the current area proportion of the corresponding preset docking part on the second image; If the difference between the current area ratio and the current area ratio of the preset area ratio is greater than the preset ratio threshold, the corresponding preset motion structure is adjusted so that the difference between the current area ratio of the corresponding preset docking part on the third image and the current area ratio of the preset area ratio is less than or equal to the preset ratio threshold. The third image is acquired by the preset image acquisition module on the adjusted preset motion structure. Based on the preset actuator on the adjusted preset motion structure, the corresponding preset docking part is clamped; Based on the corresponding preset motion structure, the corresponding preset docking part held by the corresponding preset actuator is inserted into the corresponding preset docking interface.

6. The method according to claim 5, characterized in that, The current position difference includes a first difference and a second difference. The first difference is the position difference between the current position information and the preset center position information in a first preset direction, and the second difference is the position difference between the current position information and the preset center position information in a second preset direction. The preset position threshold includes a first preset threshold in the first preset direction and a second preset threshold in the second preset direction; When the difference between the current position information and the preset center position information is greater than a preset position threshold, adjusting the corresponding preset motion structure includes: If the first difference is greater than the first preset threshold, the corresponding preset motion structure is adjusted in the first preset direction; If the second difference is greater than the second preset threshold, the corresponding preset motion structure is adjusted in the second preset direction.

7. The method according to claim 5, characterized in that, When the difference between the current area percentage and the preset area percentage is greater than a preset percentage threshold, adjusting the corresponding preset motion structure includes: When the current area ratio is greater than the preset area ratio and the difference between the current ratios is greater than the preset ratio threshold, the corresponding preset motion structure is controlled to move in the preset opposite direction along the third preset direction to increase the distance between the corresponding preset image acquisition module and the corresponding preset docking part.

8. The method according to claim 7, characterized in that, When the difference between the current area percentage and the preset area percentage is greater than a preset percentage threshold, adjusting the corresponding preset motion structure includes: When the current area ratio is less than the preset area ratio and the difference between the current ratios is greater than the preset ratio threshold, the corresponding preset motion structure is controlled to move along the preset positive direction in the third preset direction to reduce the distance between the corresponding preset image acquisition module and the corresponding preset docking part. The preset positive direction is opposite to the preset negative direction.

9. The method according to claim 5, characterized in that, The determination of the current position information of the center point of the corresponding preset docking part in the first image includes: Determine the endpoint position information of multiple endpoints of the corresponding preset docking parts on the first image; Based on the endpoint location information, the current location information is determined.

10. The method according to claim 5, characterized in that, The at least one preset docking component includes a main docking component and a secondary docking component, and the method further includes: Using the main docking component as the at least one preset docking component, the step of acquiring a first image based on the preset image acquisition module on the corresponding preset motion structure and clamping the corresponding preset docking component after the target flight module has placed at least one preset docking component; Send the clamping result information of the main docking component to the target flight module so that the target flight module can lower the secondary docking component; Using the secondary docking component as the at least one preset docking component, the step of acquiring a first image based on the preset image acquisition module on the corresponding preset motion structure and clamping the corresponding preset docking component is performed after the target flight module has placed at least one preset docking component.

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