Unmanned aerial vehicle fixing control method, device, equipment, system and vehicle

Abstract

The invention relates to an unmanned aerial vehicle fixing control method, device, equipment and system and a vehicle, and the method comprises the steps that when an unmanned aerial vehicle is fixed by a fixing mechanism of the vehicle and it is determined that the driving environment of the vehicle meets preset conditions, the fixing mechanism is controlled to move so as to change the clamping force value between the unmanned aerial vehicle and the fixing mechanism.

Description

Technical Field

[0001] This disclosure relates to technology, and more specifically, to a fixed control method, apparatus, equipment, system, and vehicle for unmanned aerial vehicles (UAVs). Background Technology

[0002] Vehicle-mounted drones are products that combine vehicles and drones. They typically use light passenger vehicles as the drone's operating platform, enabling autonomous take-off and landing operations by mounting the drone on a mobile airport.

[0003] Currently, vehicle-mounted drones are fixed in a single way, and the existing fixing methods are prone to damage to the drones when subjected to external impacts.

[0004] Therefore, a new fixed control technology solution for unmanned aerial vehicles (UAVs) is needed to solve the above problems. Summary of the Invention

[0005] One objective of this invention is to provide a new technical solution for a fixed control method for unmanned aerial vehicles (UAVs).

[0006] According to a first aspect of the present invention, a fixed control method for an unmanned aerial vehicle (UAV) is provided, comprising:

[0007] When the drone has been secured by the vehicle's fixing mechanism and the vehicle's driving environment meets preset conditions, the fixing mechanism is controlled to move to change the clamping force between the drone and the fixing mechanism.

[0008] Optionally, controlling the movement of the fixing mechanism to change the clamping force between the UAV and the fixing mechanism includes:

[0009] The movement of the fixing mechanism is controlled based on the clamping force value and the target interaction force value, and / or the position and limiting position of the fixing mechanism.

[0010] The step of controlling the movement of the fixing mechanism based on the clamping force value, the target interaction force value, and the position and limiting position of the fixing mechanism includes:

[0011] A closed-loop control model is constructed based on the clamping force between the UAV and the fixed mechanism, the target interaction force, and the position and constraint position of the fixed mechanism to control the movement of the fixed mechanism.

[0012] Optionally, the step of constructing a closed-loop control model based on the clamping force value between the UAV and the fixed mechanism, the target interaction force value, and the position and constraint position of the fixed mechanism, and controlling the movement of the fixed mechanism, includes:

[0013] The relative position of the fixing mechanism is determined based on its position and the limiting position.

[0014] The target interaction force value is determined based on the relative position using a preset target impedance characteristic relationship formula;

[0015] The movement of the fixing mechanism is controlled based on the clamping force value and the target interaction force value.

[0016] Optionally, the preset target impedance characteristic relationship corresponds to the relationship between at least one of the positions of the fixing mechanism and the motion information of the fixing mechanism and the target interaction force.

[0017] Optionally, controlling the movement of the fixing mechanism based on the clamping force value and the target interaction force value includes:

[0018] Based on the difference between the clamping force value and the target interaction force value, the control parameters of the motor in the fixing mechanism are calculated using a PID algorithm.

[0019] The motor is controlled to drive the fixed mechanism to move according to the control parameters of the motor.

[0020] Optionally, determining the target interaction force value based on the relative position using a preset target impedance characteristic relationship includes:

[0021] The target interaction force value is calculated based on the relative position of the fixed mechanism and the impedance parameter in the preset target impedance characteristic relationship.

[0022] Optionally, determining the target interaction force value based on the relative position using a preset target impedance characteristic relationship further includes:

[0023] The target interaction force value is calculated based on the relative position of the fixed mechanism, the impedance parameter in the preset target impedance characteristic formula, and the motion information of the fixed mechanism. The motion information includes target motion information and actual motion information. The target motion information is at least one of target velocity and target acceleration, and the actual motion information is information corresponding to the target motion information.

[0024] Optionally, the method includes: controlling the fixing mechanism to stop moving when the clamping force value reaches the target interaction force value, and / or when the position of the fixing mechanism reaches the restricted position.

[0025] Optionally, before controlling the movement of the fixing mechanism, the method further includes:

[0026] Unlock the locking mechanism of the fixing mechanism to allow the fixing mechanism to move.

[0027] Optionally, the method further includes:

[0028] Based on the road conditions ahead of the vehicle, determine whether the driving environment of the vehicle meets the preset conditions.

[0029] Optionally, the road condition information includes road surface information ahead of the vehicle, wherein,

[0030] The step of determining whether the vehicle's driving environment meets preset conditions based on the road condition information includes:

[0031] The road surface unevenness level is determined based on the road surface information;

[0032] If the road surface unevenness level exceeds the preset road surface unevenness level, it is determined that the vehicle's driving environment meets the preset conditions.

[0033] Optionally, the road condition information includes the vehicle's wheel speed, the speed of vehicles traveling in front of the vehicle, and the direction of travel, wherein,

[0034] The step of determining whether the vehicle's driving environment meets preset conditions based on the road condition information includes:

[0035] The relative speed between the vehicle and the vehicle in front of it is determined based on the wheel speed of the vehicle and the speed of the vehicle in front of it.

[0036] Based on the relative speed and the direction of travel, determine the collision warning level between this vehicle and the vehicle traveling in front of it.

[0037] If the collision warning level value exceeds the preset collision warning level value, it is determined that the vehicle's driving environment meets the preset conditions.

[0038] Optionally, the method further includes:

[0039] Upon receiving a message indicating that the drone has landed, the control and fixing mechanism executes the drone fixing operation.

[0040] Obtain the clamping force value between the fixing mechanism and the UAV;

[0041] When the clamping force reaches the preset clamping force value, the fixing mechanism is determined to have completed the drone fixing operation.

[0042] According to a second aspect of the present invention, a fixed control device for an unmanned aerial vehicle (UAV) is provided, comprising:

[0043] The first control module is used to control the movement of the fixing mechanism when the UAV has been fixed by the fixing mechanism of the vehicle and the driving environment of the vehicle meets the preset conditions, so as to change the clamping force between the UAV and the fixing mechanism.

[0044] According to a third aspect of the present invention, an electronic device is provided, including a memory and a processor, the memory storing a computer program for controlling the processor to operate in order to execute the UAV fixed control method according to any one of the first aspects of the present invention.

[0045] According to a fourth aspect of the present invention, a fixed control system for an unmanned aerial vehicle (UAV) is provided, comprising a fixing mechanism and electronic equipment as described in the third aspect of the present invention.

[0046] According to a fifth aspect of the invention, a vehicle is provided, including a fixed control system for an unmanned aerial vehicle as described in the fourth aspect of the invention.

[0047] According to a sixth aspect of the present invention, a computer program product is provided, which stores a computer program that, when executed by a processor, implements the fixed control method for unmanned aerial vehicles as described in any one of the first aspects.

[0048] The drone fixing control method provided by this invention controls the movement of the fixing mechanism when an abnormal situation is detected in front of the vehicle. By actively controlling the movement of the fixing mechanism under abnormal conditions, flexible fixing of the drone is achieved. It plays a buffering role when an impact is caused by an abnormal situation, avoiding damage to the drone. At the same time, when the clamping force reaches the target interaction force value or the position of the fixing mechanism reaches the limit position, the fixing mechanism is controlled to stop moving. This ensures that when the movement of the fixing mechanism is actively controlled, the interaction force between the fixing mechanism and the drone is kept within the allowable range, and the position of the fixing mechanism is kept within the allowable range.

[0049] The features and advantages of the embodiments of this specification will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0050] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments of this specification and, together with their description, serve to explain the principles of these embodiments.

[0051] Figure 1 This is a flowchart of a fixed control method for unmanned aerial vehicles according to an embodiment of the present invention.

[0052] Figure 2This is a schematic diagram of closed-loop control of the clamping force between the UAV and the fixed mechanism and closed-loop control of the position of the fixed mechanism according to an embodiment of the present invention.

[0053] Figure 3 This is a flowchart illustrating a process for determining whether an abnormal situation occurs ahead of the vehicle according to an embodiment of the present invention.

[0054] Figure 4 This is a flowchart of a drone landing and fixing method according to an embodiment of the present invention.

[0055] Figure 5 This is a schematic block diagram of a fixed control method device for unmanned aerial vehicles according to an embodiment of the present invention.

[0056] Figure 6 This is a schematic diagram of the hardware structure of an electronic device according to an embodiment of the present invention.

[0057] Figure 7 This is a schematic block diagram of a drone fixing system according to an embodiment of the present invention.

[0058] Figure 8 This is a schematic diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0059] Various exemplary embodiments of this specification will now be described in detail with reference to the accompanying drawings.

[0060] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the embodiments of this specification or their application or use.

[0061] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0062] In one embodiment of the present invention, a fixed control method for an unmanned aerial vehicle (UAV) is provided. The UAV involved in this embodiment is a vehicle-mounted UAV. The landing point of the vehicle-mounted UAV can be the roof of a vehicle, or other locations.

[0063] according to Figure 1 As shown, the fixed control method for unmanned aerial vehicles in this embodiment may include the following step S110.

[0064] Step S110: When the drone has been fixed by the vehicle's fixing mechanism and the vehicle's driving environment meets the preset conditions, control the fixing mechanism to move so as to change the clamping force between the drone and the fixing mechanism.

[0065] The preset conditions are at least one of the following: the road surface where the vehicle is traveling is bumpy, or the vehicle is at risk of colliding with other vehicles.

[0066] When the vehicle encounters bumps on the road surface, the movement of the fixing mechanism is controlled to change the clamping force between the drone and the fixing mechanism. This ensures that the fixing mechanism and the drone maintain the same trend of movement during bumps, preventing the drone from colliding with the fixing mechanism due to the bumps and causing damage. Furthermore, although the fixing mechanism is in motion, it still clamps the drone, effectively securing it. In other words, when the vehicle with the drone attached experiences a significant external impact, the movement of the drone fixing mechanism is actively controlled to ensure that the interaction force between the fixing mechanism and the drone remains within an acceptable range, achieving flexible fixation.

[0067] When there is a risk of collision with other vehicles, the movement of the fixing mechanism is controlled to change the clamping force between the drone and the fixing mechanism. This ensures that the fixing mechanism and the drone maintain the same motion trend upon collision, preventing the drone from colliding with the fixing mechanism and causing damage. Furthermore, although the fixing mechanism is in motion, it still holds the drone, thus securing it.

[0068] The drone fixing control method provided in this embodiment of the invention controls the movement of the fixing mechanism when the vehicle's driving environment meets preset conditions. By actively controlling the movement of the fixing mechanism, the drone is flexibly fixed, which plays a buffering role when the driving environment meets the preset conditions and causes an impact, thus avoiding damage to the drone.

[0069] In one embodiment, the movement of the fixing mechanism is controlled based on the clamping force value and the target interaction force value to change the clamping force value between the UAV and the fixing mechanism.

[0070] The clamping force between the drone and the fixed mechanism can be changed by controlling the movement of the components of the fixed mechanism that clamp the drone. When the clamping force reaches the target interaction force value, the fixed mechanism is controlled to stop moving.

[0071] In one embodiment, the movement of the fixing mechanism is controlled according to the position and the restricted position of the fixing mechanism to change the clamping force value between the drone and the fixing mechanism.

[0072] The clamping force between the drone and the fixed mechanism can be changed by controlling the actual position of the fixed mechanism. The actual position of the fixed mechanism is relative to the drone. When the fixed mechanism reaches its limit position, it stops moving.

[0073] In one embodiment, the movement of the fixing mechanism is controlled based on the clamping force value and the target interaction force value, the position of the fixing mechanism, and the limiting position, so as to change the clamping force value between the UAV and the fixing mechanism.

[0074] The clamping force between the drone and the fixed mechanism can be measured using a pressure sensor installed on the fixed mechanism.

[0075] The stationary mechanism moves under the drive of the motor. The position of the stationary mechanism can be determined by the motor encoder. The motor encoder records the motor's position, speed, and direction. The motor can be a component within the stationary mechanism, or it can be a component independent of the stationary mechanism but connected to it.

[0076] In one embodiment, a closed-loop control model is constructed based on the clamping force between the UAV and the fixed mechanism, the target interaction force, and the position and constraint position of the fixed mechanism to control the movement of the fixed mechanism.

[0077] Specifically, based on the position and constraint position of the fixed mechanism, the relative position of the fixed mechanism is determined. Using a preset target impedance characteristic relationship, the target interaction force value is determined based on the relative position. The movement of the fixed mechanism is controlled according to the clamping force value and the target interaction force value. A force-position hybrid control model is established by using the interaction force between the UAV and the fixed mechanism and the position of the fixed mechanism. The actuator motor is controlled to complete the action. That is, the outer loop adopts position closed-loop control. The target interaction force value is determined by collecting the position of the fixed mechanism after control and the distance of its constraint position. The movement of the fixed mechanism is controlled by the motor, which can be calculated by the positional relationship between the motor shaft end and the end of the fixed mechanism. The inner loop adopts force closed-loop control. The movement of the fixed mechanism is controlled by collecting the deviation between the current clamping force value of the fixed mechanism on the UAV and the target interaction force value determined by the outer loop.

[0078] The relative position of the fixed mechanism is the difference between the fixed mechanism's position and the restricted position, which is the relative distance between the fixed mechanism's position and the restricted position.

[0079] The preset target impedance characteristic formula corresponds to the relationship between the position of the fixed mechanism, the motion information of the fixed mechanism, and at least one of the interaction forces with the target. The motion information of the fixed mechanism includes target motion information and actual motion information. Target motion information is at least one of target velocity and target acceleration, and actual motion information is the information corresponding to the target motion information. For example, when the target motion information is target velocity, the actual motion information is actual velocity. For example, when the target motion information is target velocity and target acceleration, the actual motion information is actual velocity and actual acceleration.

[0080] In one embodiment, the target interaction force value is calculated based on the relative position of the fixing mechanism and the impedance parameter in the preset target impedance characteristic relationship.

[0081] For example, by substituting the relative position of the fixed mechanism into the preset target impedance characteristic relationship, the target interaction force value F(K) can be calculated, as shown in the following calculation formula.

[0082] F(K) = Kd(Xr - X),

[0083] Where X represents the restricted position of the fixing mechanism, Xr represents the actual position of the fixing mechanism, and Kd represents the preset impedance parameter.

[0084] In one embodiment, the target interaction force value is calculated based on the relative position of the fixing mechanism, the impedance parameters in the preset target impedance characteristic formula, and the motion information of the fixing mechanism. The motion information includes target motion information and actual motion information. The target motion information is at least one of target velocity and target acceleration, and the actual motion information is the information corresponding to the target motion information.

[0085] For example, the target interaction force value can be calculated based on the restricted position of the fixed mechanism, the target velocity, the preset impedance parameters, and the actual position and velocity of the fixed mechanism, as shown in the following calculation formula.

[0086]

[0087] Among them, X, Representing the restricted position and target velocity of the fixed mechanism, respectively, Xr, These represent the actual position and actual speed of the fixed mechanism, respectively, while Kd and Bd represent the preset impedance parameters.

[0088] For example, the target interaction force value can be calculated based on the restricted position of the fixed mechanism, the target velocity, the target acceleration, the preset impedance parameters, and the actual position, actual velocity, and actual acceleration of the fixed mechanism, as shown in the following calculation formula.

[0089]

[0090] Among them, X, and These represent the constrained position of the fixed mechanism, the target velocity, and the target acceleration, respectively, Xr, These represent the actual position, actual velocity, and actual acceleration of the fixed mechanism, respectively, while Md, Bd, and Kd represent the preset impedance parameters.

[0091] In one embodiment, the target interaction force value is calculated based on the motion information of the fixed mechanism and the impedance parameters in a preset target impedance characteristic formula. The motion information includes target motion information and actual motion information. The target motion information is at least one of target velocity and target acceleration, and the actual motion information is the information corresponding to the target motion information.

[0092] For example, the target interaction force value can be calculated based on the target speed of the fixed mechanism, the preset impedance parameters, and the actual speed of the fixed mechanism, as shown in the following calculation formula.

[0093]

[0094] in, The target speed representing the fixed mechanism, Bd represents the actual speed of the fixed mechanism, and Bd represents the preset impedance parameter.

[0095] For example, the target interaction force value can be calculated based on the target acceleration of the fixed mechanism, the preset impedance parameters, and the actual acceleration of the fixed mechanism, as shown in the following calculation formula.

[0096]

[0097] in, These represent the target acceleration of the fixed mechanism, represents the actual acceleration of the fixed mechanism, and Md represents the preset impedance parameters.

[0098] For example, the target interaction force value can be calculated based on the target velocity, target acceleration, preset impedance parameters, and the actual velocity and actual acceleration of the fixed mechanism, as shown in the following calculation formula.

[0099]

[0100] in, and These represent the target velocity and target acceleration of the fixed mechanism, respectively. These represent the actual velocity and actual acceleration of the fixed mechanism, respectively, while Md and Bd represent the preset impedance parameters.

[0101] In one embodiment, controlling the movement of the fixing mechanism based on the clamping force value and the target interaction force value specifically includes: calculating the control parameters of the motor in the fixing mechanism using a PID algorithm based on the difference between the clamping force value and the target interaction force value; and controlling the motor to drive the fixing mechanism to move based on the motor control parameters.

[0102] During the process of controlling the motor to drive the fixed mechanism, both the clamping force and the target interaction force change, thus the difference between them also changes. When using the PID algorithm to calculate the motor's control parameters, it is necessary to use the difference between the current clamping force and the target interaction force, as well as the differences between the clamping force and the target interaction force from previous clamping force and target interaction force calculations.

[0103] The motor's control parameter is the motor's PWM value (Pulse Width Modulation).

[0104] Specifically, the PWM value of the motor is calculated according to the following formula:

[0105] PWM=K P ×F(k)+K i ×∑F(k)+K d ×(F(k)-F(k-1))

[0106] Where F(k) is the current deviation between the clamping force and the target interaction force, F(k-1) is the previous deviation between the clamping force and the target interaction force, ∑F(k) is the cumulative value of the current and previous deviations between the clamping force and the target interaction force, and K P K represents the proportional gain of the PID algorithm. i K is the integral gain of the PID algorithm. d This is the differential gain of the PID algorithm.

[0107] It should be noted that during the control of the fixed mechanism's movement, the closed-loop control of the clamping force between the UAV and the fixed mechanism and the closed-loop control of the fixed mechanism's position are performed simultaneously. See details... Figure 2 .

[0108] See Figure 2 X0 represents the restricted position of the fixed mechanism, and X1 represents the actual position of the fixed mechanism. Based on X0 and X1, and using the target impedance characteristic relationship, the target interaction force F can be obtained. 目标 Based on the target interaction force value F 目标 And the clamping force F 夹 The PWM value of the motor is calculated. The motor's operation is controlled using this PWM value to drive the fixed mechanism, thus obtaining a new actual position X1 of the fixed mechanism and a new clamping force F. 夹 Then, based on the actual position X1 and the restricted position X0 of the new fixed mechanism, a new target interaction force value F is obtained. 目标 According to the new clamping force value F 夹 The new target interaction force value F 目标The PWM value of the motor is calculated again. The PWM value of the motor is used to control the operation of the motor, which drives the fixed mechanism to move until the clamping force reaches the target interaction force value and / or the position of the fixed mechanism reaches the limit position, at which point the fixed mechanism stops moving.

[0109] The UAV fixing control method provided in this embodiment of the invention controls the fixing mechanism to stop moving when the clamping force reaches the target interaction force value and / or the position of the fixing mechanism reaches the limit position. This ensures that when the fixing mechanism is actively controlled to move, the interaction force between the fixing mechanism and the UAV is kept within the allowable range, and the position of the fixing mechanism is kept within the allowable range.

[0110] In one embodiment, before controlling the movement of the fixing mechanism, the locking mechanism in the fixing mechanism is unlocked, allowing the fixing mechanism to move under the drive of the motor. When the clamping force reaches the target interaction force value and / or the position of the fixing mechanism reaches the limit position, the locking mechanism in the fixing mechanism is locked, keeping the fixing mechanism stationary.

[0111] In one embodiment, the fixed control method for the unmanned aerial vehicle further includes: determining whether the driving environment of the vehicle meets preset conditions based on road condition information ahead of the vehicle.

[0112] Road condition information ahead of the vehicle can be obtained using the vehicle's vision system.

[0113] In one embodiment, road condition information includes road surface information ahead of the vehicle. The road surface unevenness level is determined based on this information. The unevenness level represents the degree of bumpiness on the road surface. If the unevenness level exceeds a preset level, it is determined that the vehicle's driving environment meets preset conditions.

[0114] To more accurately determine whether the vehicle's driving environment meets the preset conditions, in one embodiment, the vehicle's wheel speed value is also considered. The vehicle's wheel speed value can be obtained using wheel speed sensors installed on the wheels. If the road surface unevenness level exceeds a preset road surface unevenness level, and the vehicle's wheel speed value exceeds a preset wheel speed value, then the vehicle's driving environment is determined to meet the preset conditions.

[0115] The preset road surface unevenness level and preset wheel speed value are both pre-stored information and can be obtained directly.

[0116] In one embodiment, the road condition information includes the vehicle's wheel speed, the speed of vehicles traveling in front of the vehicle, and their directions of travel. The direction of travel of the vehicles traveling in front of the vehicle may be the same as or opposite to the direction of travel of the vehicle.

[0117] Based on the vehicle's wheel speed and the speed of the vehicle in front of it, the relative speed between the two vehicles is determined. Based on the relative speed and the direction of travel, a collision warning level is determined between the two vehicles. If the collision warning level exceeds a preset collision warning level, the vehicle's driving environment is determined to meet preset conditions.

[0118] The preset collision alarm level value is pre-stored information and can be obtained directly.

[0119] Figure 3 This is a flowchart illustrating the process of determining whether the vehicle's driving environment meets preset conditions according to an embodiment of the present invention. See also... Figure 3 Determining whether the vehicle's driving environment meets the preset conditions specifically includes the following steps S301 to S306.

[0120] Step S301: Obtain road condition information ahead of the vehicle and the wheel speed of the vehicle.

[0121] Step S302: Determine the road surface unevenness level and collision warning level based on the road condition information ahead of the vehicle and the vehicle's wheel speed.

[0122] Step S303: Determine whether the road surface unevenness level exceeds the preset road surface unevenness level, whether the vehicle wheel speed value exceeds the preset wheel speed value, and whether the collision warning level value exceeds the preset collision warning level value.

[0123] If the result of step S303 is that the road surface unevenness level exceeds the preset road surface unevenness level, and the vehicle wheel speed value exceeds the preset wheel speed value, and / or the collision alarm level value exceeds the preset collision alarm level value, then step S304 is executed to unlock the locking mechanism in the fixing mechanism.

[0124] Step S305: Control the movement of the fixed mechanism based on the closed-loop control of the clamping force between the UAV and the fixed mechanism and the closed-loop control of the position of the fixed mechanism.

[0125] If the result of step S303 is that the road surface unevenness level does not exceed the preset road surface unevenness level, the vehicle wheel speed value does not exceed the preset wheel speed value, and the collision warning level value does not exceed the preset collision warning level value, then step S306 is executed, and it is not necessary to control the movement of the fixed mechanism.

[0126] In one embodiment, the drone fixing control method further includes: upon receiving a drone landing completion message, controlling the fixing mechanism to perform a drone fixing operation; acquiring the clamping force value between the fixing mechanism and the drone; and determining that the fixing mechanism has completed the drone fixing operation if the clamping force value reaches a preset clamping force value. If the clamping force value does not reach the preset clamping force value, continuing to control the fixing mechanism to perform the drone fixing operation until the clamping force value reaches the preset clamping force value.

[0127] Compared to existing technologies, the fixation of vehicle-mounted drones is accomplished by limiting the fixing mechanism. By utilizing the clamping force value, it is determined whether the drone fixing operation is completed, so that the clamping force value between the drone and the fixing mechanism is kept within a reasonable range. This reasonable range can both ensure the fixing effect and reduce the degree of deformation of the fixing mechanism.

[0128] When the drone lands at the designated landing point on the vehicle, it sends a landing completion message to the drone's anchoring control unit. Upon receiving the landing completion message, the unit acquires the motor's control parameters, such as the motor's rotation direction and speed. Based on these parameters, the unit controls the motor's operation to drive the anchoring mechanism in securing the drone. Once the clamping force reaches the preset value, the unit confirms the drone anchoring operation is complete and stops the motor.

[0129] The clamping force between the drone and the fixed mechanism can be measured using a pressure sensor installed on the fixed mechanism.

[0130] In one embodiment, before the fixing mechanism performs the drone fixing operation, the locking mechanism in the fixing mechanism is unlocked, allowing the fixing mechanism to perform the drone fixing operation under the drive of the motor. When the clamping force reaches a preset clamping force value, it is determined that the fixing mechanism has completed the drone fixing operation, and the locking mechanism in the fixing mechanism is locked, so that the fixing mechanism remains fixed and thus serves to fix the drone.

[0131] Figure 4 This is a flowchart illustrating a drone landing and fixing method according to an embodiment of the present invention. See also... Figure 4 The specific steps for landing and fixing a drone include the following steps: S401 to S407.

[0132] Step S401: Obtain the drone landing completion message.

[0133] Step S402: Unlock the locking mechanism in the fixing mechanism and obtain the motor rotation direction and motor rotation speed.

[0134] Step S403: Control the motor to run according to the motor rotation direction and speed, so as to drive the fixing mechanism to perform the drone fixing operation.

[0135] Step S404: Obtain the clamping force value measured by the pressure sensor installed on the fixed mechanism.

[0136] Step S405: Determine whether the clamping force value has reached the preset clamping force value.

[0137] If the result of step S405 is yes, then step S406 is executed to confirm that the fixing mechanism has completed the drone fixing operation, control the motor to stop running, and lock the locking mechanism in the fixing mechanism.

[0138] If the result of step S405 is negative, proceed to step S407 to continue controlling the motor operation.

[0139] One embodiment of the present invention provides a fixed control device for unmanned aerial vehicles, such as... Figure 5 As shown. The fixed control device 500 for the unmanned aerial vehicle includes a first control module 510.

[0140] The first control module 510 is used to control the movement of the fixing mechanism when the UAV has been fixed by the fixing mechanism of the vehicle and the driving environment of the vehicle meets the preset conditions, so as to change the clamping force between the UAV and the fixing mechanism.

[0141] In one embodiment, the first control module 510 is used to control the movement of the fixing mechanism based on the clamping force value and the target interaction force value, and / or the position and the limiting position of the fixing mechanism.

[0142] In one embodiment, the device further includes a second control module 520 for controlling the fixing mechanism to stop moving when the clamping force reaches the target interaction force value and / or the position of the fixing mechanism reaches the limit position.

[0143] In one embodiment, the first control module 510 is used to construct a closed-loop control model based on the clamping force between the UAV and the fixed mechanism and the target interaction force, as well as the position and constraint position of the fixed mechanism, and to control the movement of the fixed mechanism.

[0144] In one embodiment, the first control module 510 is used to determine the relative position of the fixing mechanism based on the position of the fixing mechanism and the limiting position; determine the target interaction force value based on the relative position and the preset target impedance characteristic relationship; and control the movement of the fixing mechanism based on the clamping force value and the target interaction force value.

[0145] In one embodiment, the preset target impedance characteristic relationship corresponds to the relationship between at least one of the following: the position of the fixed mechanism, the motion information of the fixed mechanism, and the target interaction force.

[0146] In one embodiment, the first control module 510 is used to calculate the control parameters of the motor in the fixing mechanism using a PID algorithm based on the difference between the clamping force value and the target interaction force value; and to control the motor to drive the fixing mechanism to move according to the control parameters of the motor.

[0147] In one embodiment, the first control module 510 is used to calculate the target interaction force value based on the relative position of the fixing mechanism and the impedance parameter in the preset target impedance characteristic relationship.

[0148] In one embodiment, the first control module 510 is used to calculate the target interaction force value based on the relative position of the fixed mechanism, the impedance parameter in the preset target impedance characteristic formula, and the motion information of the fixed mechanism. The motion information includes target motion information and actual motion information. The target motion information is at least one of target velocity and target acceleration, and the actual motion information is information corresponding to the target motion information.

[0149] In one embodiment, the drone fixing control device 500 further includes an unlocking module. The unlocking module is used to unlock the locking mechanism of the fixing mechanism, so that the fixing mechanism can move.

[0150] In one embodiment, the fixed control device 500 for the unmanned aerial vehicle (UAV) further includes an abnormal situation determination module. The abnormal situation determination module is used to determine whether the driving environment of the vehicle meets preset conditions based on road condition information ahead of the vehicle and the vehicle's wheel speed.

[0151] In one embodiment, road condition information includes road surface information ahead of the vehicle. The abnormal condition determination module is used to determine the road surface unevenness level based on the road surface information; if the road surface unevenness level exceeds a preset road surface unevenness level, it is determined that the vehicle's driving environment meets preset conditions.

[0152] In one embodiment, road condition information includes the speed and direction of travel of vehicles traveling in front of the vehicle. The abnormal situation determination module is used to determine the relative speed between the vehicle and the vehicle in front of the vehicle based on the vehicle's wheel speed and the speed of the vehicle in front of the vehicle; determine the collision warning level between the vehicle and the vehicle in front of the vehicle based on the relative speed and the direction of travel; and determine that the vehicle's driving environment meets preset conditions if the collision warning level exceeds a preset collision warning level.

[0153] In one embodiment, the first control module is further configured to control the fixing mechanism to perform a drone fixing operation upon receiving a drone landing completion message; obtain the clamping force value between the fixing mechanism and the drone; and determine that the fixing mechanism has completed the drone fixing operation when the clamping force value reaches a preset clamping force value.

[0154] One embodiment of the present invention provides an electronic device, such as... Figure 6 As shown. The electronic device 600 includes a memory 620 and a processor 610. The memory 620 stores a computer program for controlling the processor 610 to operate and execute the drone fixed control method in any of the above embodiments.

[0155] One embodiment of the present invention provides a fixed control system for an unmanned aerial vehicle (UAV), including a fixing mechanism and electronic equipment as provided in any of the above embodiments, see details below. Figure 7 .

[0156] In one embodiment, the fixing mechanism includes a fixing actuator and a motor. The motor can operate under the control of the UAV fixing control device, thereby driving the fixing actuator to move.

[0157] In one embodiment, the fixing mechanism further includes a locking mechanism. The locking mechanism is used to lock the fixing actuator.

[0158] One embodiment of the present invention provides a vehicle including the UAV fixed control system provided in the above embodiments, see details below. Figure 8 .

[0159] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. For the apparatus embodiments, relevant parts can be referred to the descriptions in the method embodiments.

[0160] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0161] Embodiments of this specification may be systems, methods, and / or computer program products. A computer program product may include a computer-readable storage medium having computer instructions stored thereon for causing a processor to implement various aspects of the embodiments of this specification.

[0162] Computer-readable storage media can be tangible devices capable of holding and storing computer instructions for use by computer instruction execution devices. Computer-readable storage media can be, for example—but not limited to—electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices, such as punch cards or recessed protrusions storing computer instructions thereon, and any suitable combination thereof. The computer-readable storage media used herein are not to be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0163] The computer instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network layer, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network layer may include copper cables, fiber optic cables, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network layer adapter card or network layer interface in each computing / processing device receives computer instructions from the network layer and forwards those instructions for storage on computer-readable storage media within the respective computing / processing device.

[0164] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this specification. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of computer instructions, which contains one or more executable computer instructions for implementing a specified logical function. In some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions. It will be known to those skilled in the art that implementation in hardware, implementation in software, and implementation using a combination of software and hardware are equivalent.

[0165] Various embodiments of this specification have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A fixed control method for an unmanned aerial vehicle (UAV), characterized in that, include: When the drone has been secured by the vehicle's fixing mechanism and the vehicle's driving environment meets preset conditions, the fixing mechanism is controlled to move to change the clamping force between the drone and the fixing mechanism.

2. The method according to claim 1, characterized in that, The control of the movement of the fixing mechanism to change the clamping force between the UAV and the fixing mechanism includes: The movement of the fixing mechanism is controlled based on the clamping force value and the target interaction force value, and / or the position and limiting position of the fixing mechanism.

3. The method according to claim 2, characterized in that, The step of controlling the movement of the fixing mechanism based on the clamping force value, the target interaction force value, and the position and limiting position of the fixing mechanism includes: A closed-loop control model is constructed based on the clamping force between the UAV and the fixed mechanism, the target interaction force, and the position and constraint position of the fixed mechanism to control the movement of the fixed mechanism.

4. The method according to claim 3, characterized in that, The step of constructing a closed-loop control model based on the clamping force between the UAV and the fixed mechanism, the target interaction force, and the position and constraint position of the fixed mechanism, and controlling the movement of the fixed mechanism, includes: The relative position of the fixing mechanism is determined based on its position and the limiting position. The target interaction force value is determined based on the relative position using a preset target impedance characteristic relationship formula; The movement of the fixing mechanism is controlled based on the clamping force value and the target interaction force value.

5. The method according to claim 4, characterized in that, The preset target impedance characteristic relationship corresponds to the relationship between at least one of the positions of the fixed mechanism and the motion information of the fixed mechanism and the target interaction force.

6. The method according to claim 4, characterized in that, The step of controlling the movement of the fixing mechanism based on the clamping force value and the target interaction force value includes: Based on the difference between the clamping force value and the target interaction force value, the control parameters of the motor in the fixing mechanism are calculated using a PID algorithm. The motor is controlled to drive the fixed mechanism to move according to the control parameters of the motor.

7. The method according to claim 4, characterized in that, The step of determining the target interaction force value based on the relative position using a preset target impedance characteristic relationship includes: The target interaction force value is calculated based on the relative position of the fixed mechanism and the impedance parameter in the preset target impedance characteristic relationship.

8. The method according to claim 4, characterized in that, The method of determining the target interaction force value based on the relative position using a preset target impedance characteristic relationship further includes: The target interaction force value is calculated based on the relative position of the fixed mechanism, the impedance parameter in the preset target impedance characteristic formula, and the motion information of the fixed mechanism. The motion information includes target motion information and actual motion information. The target motion information is at least one of target velocity and target acceleration, and the actual motion information is information corresponding to the target motion information.

9. The method according to any one of claims 2-8, characterized in that, The method includes: When the clamping force reaches the target interaction force value, and / or the position of the fixing mechanism reaches the restricted position, the fixing mechanism is controlled to stop moving.

10. The method according to claim 1, characterized in that, Before controlling the movement of the fixing mechanism, the method further includes: Unlock the locking mechanism of the fixing mechanism to allow the fixing mechanism to move.

11. The method according to claim 1, characterized in that, The method further includes: Based on the road conditions ahead of the vehicle, determine whether the driving environment of the vehicle meets the preset conditions.

12. The method according to claim 11, characterized in that, The road condition information includes road surface information ahead of the vehicle, wherein, The step of determining whether the vehicle's driving environment meets preset conditions based on the road condition information includes: The road surface unevenness level is determined based on the road surface information; If the road surface unevenness level exceeds the preset road surface unevenness level, it is determined that the vehicle's driving environment meets the preset conditions.

13. The method according to claim 11, characterized in that, The road condition information includes the vehicle's wheel speed, the speed of vehicles traveling in front of the vehicle, and their direction of travel. The step of determining whether the vehicle's driving environment meets preset conditions based on the road condition information includes: The relative speed between the vehicle and the vehicle in front of it is determined based on the wheel speed of the vehicle and the speed of the vehicle in front of it. Based on the relative speed and the direction of travel, determine the collision warning level between this vehicle and the vehicle traveling in front of it. If the collision warning level value exceeds the preset collision warning level value, it is determined that the vehicle's driving environment meets the preset conditions.

14. The method according to claim 1, characterized in that, The method further includes: Upon receiving a message indicating that the drone has landed, the control and fixing mechanism executes the drone fixing operation. When the clamping force reaches the preset clamping force value, the fixing mechanism is determined to have completed the drone fixing operation.

15. A fixed control device for unmanned aerial vehicles (UAVs), characterized in that, include: The first control module is used to control the movement of the fixing mechanism when the UAV has been fixed by the fixing mechanism of the vehicle and the driving environment of the vehicle meets the preset conditions, so as to change the clamping force between the UAV and the fixing mechanism.

16. An electronic device, characterized in that, It includes a memory and a processor, the memory storing a computer program for controlling the processor to operate in order to execute the UAV fixed control method according to any one of claims 1-14.

17. A fixed control system for unmanned aerial vehicles (UAVs), characterized in that, Includes a fixing mechanism and an electronic device as described in claim 16.

18. A vehicle, characterized in that, Includes the fixed control system for unmanned aerial vehicles as described in claim 17.

19. A computer program product, characterized in that, The device contains a computer program that, when executed by a processor, implements the fixed control method for unmanned aerial vehicles as described in any one of claims 1-14.

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