Method and device for adjusting vehicle-mounted hangar

Abstract

The invention relates to the technical field of hangars, and particularly provides a method and device for adjusting a vehicle-mounted hangar, and the method comprises the steps: determining whether the vehicle-mounted hangar is in an inclined state or not based on the state information of the vehicle-mounted hangar; under the condition that the vehicle-mounted hangar is in an inclined state, obtaining an inclined parameter of the vehicle-mounted hangar; an adjusting instruction corresponding to the inclination parameter is generated so that the balancing device can execute the adjusting instruction, and the vehicle-mounted hangar is adjusted to be in a balanced state; in the balance state, the horizontal plane of the vehicle-mounted hangar is parallel to the horizontal plane; verifying the vehicle-mounted hangar based on the unmanned aerial vehicle state parameters in the vehicle-mounted hangar to obtain a verification result; wherein the verification result represents whether the vehicle-mounted hangar is adjusted to the balance state or not. According to the embodiment of the invention, the vehicle-mounted hangar can be accurately adjusted to a balanced state, so that the unmanned aerial vehicle can take off and land safely.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hangars, in particular to a vehicle-mounted hangar adjustment method and device. BACKGROUND

[0002] A vehicle-mounted hangar is a device integrating an unmanned aerial vehicle and a vehicle-mounted intelligent system, mainly used for deploying and operating unmanned aerial vehicles on vehicles. The vehicle-mounted hangar usually includes an unmanned aerial vehicle, a roof camera, an intelligent hangar, and corresponding control software, and realizes functions such as automatic take-off, landing, charging, and battery replacement of the unmanned aerial vehicle through a vehicle-mounted unmanned aerial vehicle positioning module.

[0003] At present, when the vehicle-mounted hangar is used in the wild, it may be parked on a slope or uneven ground with slopes. Since the sunroof of the vehicle-mounted hangar has a certain width, when the vehicle-mounted hangar is tilted, the unmanned aerial vehicle may touch the sunroof when taking off vertically, causing damage to the unmanned aerial vehicle. Moreover, when the unmanned aerial vehicle returns and lands, the tilt of the vehicle-mounted hangar will also adversely affect its landing.

[0004] Therefore, how to provide a technical solution of a precise vehicle-mounted hangar adjustment method becomes a technical problem to be solved. SUMMARY

[0005] Some embodiments of the present application aim to provide a vehicle-mounted hangar adjustment method and device. Through the technical solution of the embodiments of the present application, the precise adjustment of the vehicle-mounted hangar can be realized, so that the vehicle-mounted hangar is in a balanced state, and the unmanned aerial vehicle can take off and land safely.

[0006] In a first aspect, some embodiments of the present application provide a vehicle-mounted hangar adjustment method, including: confirming whether the vehicle-mounted hangar is in a tilted state based on state information of the vehicle-mounted hangar; wherein the state information includes a first angle of the vehicle-mounted hangar in a horizontal direction and a second angle in a vertical direction; in the case that the vehicle-mounted hangar is in the tilted state, obtaining a tilt parameter of the vehicle-mounted hangar; generating an adjustment instruction corresponding to the tilt parameter, so that a balancing device executes the adjustment instruction to adjust the vehicle-mounted hangar to a balanced state; wherein the balanced state is that the horizontal plane of the vehicle-mounted hangar is parallel to the ground plane direction; verifying the vehicle-mounted hangar based on an unmanned aerial vehicle state parameter in the vehicle-mounted hangar to obtain a verification result; wherein the verification result represents whether the vehicle-mounted hangar is adjusted to the balanced state.

[0007] Some embodiments of the present application determine the current inclination parameter on the premise that the vehicle-mounted hangar is in an inclined state based on the state information of the vehicle-mounted hangar, generate corresponding adjustment instructions, realize balance adjustment of the vehicle-mounted hangar, and then use the state parameters of the unmanned aerial vehicle to verify, to ensure that the vehicle-mounted hangar is in a balanced state. The embodiments of the present application can realize autonomous determination of whether the vehicle-mounted hangar is inclined, as well as accurate balance adjustment and verification, and provide favorable conditions for safe take-off and landing of the unmanned aerial vehicle.

[0008] In some embodiments, before confirming whether the vehicle-mounted hangar is in an inclined state based on the state information of the vehicle-mounted hangar, the method further comprises: receiving a first analog voltage signal sent by a hangar sensor on the vehicle-mounted hangar; and analyzing the first analog voltage signal to determine the state information.

[0009] Some embodiments of the present application determine the state information of the vehicle-mounted hangar through the first analog voltage signal sent by the hangar sensor on the vehicle-mounted hangar, to realize effective acquisition of the current state of the vehicle-mounted hangar.

[0010] In some embodiments, confirming whether the vehicle-mounted hangar is in an inclined state based on the state information of the vehicle-mounted hangar comprises: if at least one of the first angle and the second angle is not equal to a set value, confirming that the vehicle-mounted hangar is in the inclined state; and if the first angle and the second angle are both equal to the set value, confirming that the vehicle-mounted hangar is in the balanced state.

[0011] Some embodiments of the present application determine whether the vehicle-mounted hangar is in an inclined state by comparing the first angle and the second angle with a set value, to realize autonomous and accurate determination of the state of the vehicle-mounted hangar.

[0012] In some embodiments, verifying the vehicle-mounted hangar based on the state parameters of the unmanned aerial vehicle in the vehicle-mounted hangar to obtain a verification result comprises: obtaining the state parameters of the unmanned aerial vehicle in the vehicle-mounted hangar; wherein the state parameters of the unmanned aerial vehicle comprise a third angle of the unmanned aerial vehicle in the horizontal direction and a fourth angle of the unmanned aerial vehicle in the vertical direction; and verifying whether the vehicle-mounted hangar is in the balanced state based on the state parameters of the unmanned aerial vehicle to obtain the verification result.

[0013] Some embodiments of the present application verify whether the adjusted vehicle-mounted hangar is in a balanced state by obtaining the state parameters of the unmanned aerial vehicle, to ensure the accuracy of the adjustment of the vehicle-mounted hangar.

[0014] In some embodiments, obtaining the state parameters of the unmanned aerial vehicle in the vehicle-mounted hangar comprises: receiving a second analog voltage signal sent by a device sensor on the unmanned aerial vehicle; and analyzing the second analog voltage signal to determine the state parameters of the unmanned aerial vehicle.

[0015] Some embodiments of the present application can obtain the state parameters of the UAV through the second analog voltage signal collected by the device sensor on the UAV, and effectively acquire data.

[0016] In some embodiments, the verification of whether the current vehicle-mounted hangar is in the balanced state based on the state parameters of the UAV to obtain the verification result comprises: if the third angle and the fourth angle both satisfy a preset condition, it is determined that the vehicle-mounted hangar is in the balanced state; and if at least one of the third angle and the fourth angle does not satisfy the preset condition, it is determined that the vehicle-mounted hangar is in the inclined state.

[0017] Some embodiments of the present application compare the third angle and the fourth angle with the preset condition to determine whether the vehicle-mounted hangar is in the inclined state, and effectively verify the vehicle-mounted hangar.

[0018] In some embodiments, the verification of whether the vehicle-mounted hangar is in the inclined state based on the state information of the vehicle-mounted hangar comprises: obtaining a coordinate point of a measuring point in the vehicle-mounted hangar in a pre-constructed absolute coordinate system; determining that the vehicle-mounted hangar is in the inclined state if an included angle between a straight line formed by the coordinate point and a vertical direction of the absolute coordinate system is greater than an angle threshold; the straight line and an X-axis direction of the absolute coordinate system are in a non-parallel state; and the vertical direction is a Z-axis direction of the absolute coordinate system.

[0019] In some embodiments, the obtaining of the coordinate point of the measuring point in the vehicle-mounted hangar in the pre-constructed absolute coordinate system comprises: obtaining a body coordinate position of the measuring point in a body coordinate system; and converting the body coordinate position by using a target rotation matrix of a target UAV on the vehicle-mounted hangar and a position of the target UAV in the absolute coordinate system to obtain the coordinate point; wherein the target rotation matrix is a product of a yaw angle, a pitch angle and a roll angle of the target UAV; the absolute coordinate system comprises a Z-axis formed by a direction of a fused gravity vector of a first UAV and a second UAV, an X-axis formed by a horizontal projection direction of the second UAV, and a Y-axis determined by a right-hand rule; the first UAV and the second UAV are arranged in different vehicle-mounted hangars; and the target UAV is one of the first UAV and the second UAV.

[0020] In some embodiments, the absolute coordinate system is constructed by the following steps: obtaining a fused gravity vector fused by a first UAV and a second UAV; wherein the first UAV and the second UAV are arranged in different vehicle-mounted hangars; taking a direction of the fused gravity vector as a Z-axis, taking a horizontal projection direction of the second UAV as an X-axis, and determining a Y-axis by a right-hand rule to obtain the absolute coordinate system.

[0021] In some embodiments, obtaining the fused gravity vector of the first UAV and the second UAV includes: obtaining a first gravity vector and a second gravity vector of the first UAV and the second UAV in the body coordinate system using the roll and pitch angles of the first UAV and the second UAV; calculating a coordinate rotation matrix from the second UAV coordinate system to the first UAV coordinate system; mapping the second gravity vector to the first UAV coordinate system using the coordinate rotation matrix to obtain a mapped vector; determining a first standard deviation and a second standard deviation of the inertial measurement units of the first UAV and the second UAV within a preset time period; calculating a first weight corresponding to the first UAV and a second weight corresponding to the second UAV based on the first standard deviation and the second standard deviation; and obtaining the fused gravity vector using the first weight, the second weight, the first gravity vector, and the mapped vector.

[0022] Secondly, some embodiments of this application provide an apparatus for adjusting a vehicle-mounted hangar, comprising: a hangar status confirmation module, configured to confirm whether the vehicle-mounted hangar is in a tilted state based on the state information of the vehicle-mounted hangar; wherein the state information includes: a first angle of the vehicle-mounted hangar in the horizontal direction and a second angle in the vertical direction; a parameter acquisition module, configured to acquire tilt parameters of the vehicle-mounted hangar when the vehicle-mounted hangar is in the tilted state; an adjustment module, configured to generate an adjustment command corresponding to the tilt parameters, so that a balancing device executes the adjustment command to adjust the vehicle-mounted hangar to a balanced state; wherein the balanced state is that the horizontal plane of the vehicle-mounted hangar is parallel to the ground plane; and a verification module, configured to verify the vehicle-mounted hangar based on the state parameters of the UAVs in the vehicle-mounted hangar, and obtain a verification result; wherein the verification result indicates whether the vehicle-mounted hangar has been adjusted to the balanced state.

[0023] Thirdly, some embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can implement the method described in any embodiment of the first aspect.

[0024] Fourthly, some embodiments of this application provide an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the program, can implement the method as described in any embodiment of the first aspect.

[0025] Fifthly, some embodiments of this application provide a computer program product, the computer program product including a computer program, wherein the computer program, when executed by a processor, can implement the method described in any embodiment of the first aspect. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of some embodiments of this application, the accompanying drawings used in some embodiments of this application will be briefly described below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 One of the flowcharts for a method of adjusting an on-board hangar provided for some embodiments of this application; Figure 2 One of the schematic diagrams of hangar adjustment structure provided for some embodiments of this application; Figure 3 A second schematic diagram of a hangar adjustment structure provided for some embodiments of this application; Figure 4 A second flowchart illustrating a method for adjusting an onboard hangar provided for some embodiments of this application; Figure 5 Block diagrams of apparatus for adjusting vehicle-mounted hangars provided for some embodiments of this application; Figure 6 A schematic diagram of an electronic device provided for some embodiments of this application. Detailed Implementation

[0028] The technical solutions of some embodiments of this application will now be described with reference to the accompanying drawings.

[0029] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] In related technologies, to enable drones to take off and land normally in vehicle-mounted hangars (hereinafter referred to as hangars), an adjustable parking platform is installed. By adjusting the angle of the parking platform, the vehicle-mounted hangar can provide a horizontal parking platform for drones regardless of its position. However, because the skylight of the vehicle-mounted hangar has a certain width, when the vehicle-mounted hangar is tilted, even if the drone takes off vertically from the horizontal parking platform, it may touch the skylight, damaging both the drone and the hangar skylight.

[0031] In view of this, some embodiments of this application provide a method for adjusting a vehicle-mounted hangar. This method can determine whether the vehicle-mounted hangar is tilted based on its state information. If it is confirmed to be tilted, an adjustment command can be generated using tilt parameters, allowing a balancing device to adjust the hangar based on the command, thus balancing the hangar. Finally, a drone inside the hangar is used to verify whether the hangar is balanced. The embodiments of this application can autonomously determine whether a vehicle-mounted hangar is tilted, and can accurately adjust and verify the hangar when tilted, ensuring it is balanced and providing safe and reliable conditions for drone takeoff and landing.

[0032] The following is in conjunction with the appendix Figure 1 The present application provides an exemplary embodiment of the implementation process of vehicle-mounted vehicle (V2V) system adjustments performed by a controller configured within the V2V system.

[0033] like Figure 1 As shown, some embodiments of this application provide a flowchart of a method for adjusting an on-board garage. This method for adjusting an on-board garage may include: S110, Based on the status information of the vehicle-mounted hangar, confirm whether the vehicle-mounted hangar is in a tilted state; wherein, the status information includes: a first angle of the vehicle-mounted hangar in the horizontal direction and a second angle in the vertical direction.

[0034] For example, in a specific embodiment of this application, the hangar controller can autonomously determine whether the hangar is tilted by receiving the hangar's status information. The status information can be obtained through sensors or other functional units, and this embodiment does not specifically limit the scope of the measurement.

[0035] In some embodiments of this application, the method for adjusting the vehicle-mounted hangar before performing S110 may include: receiving a first analog voltage signal sent by a hangar sensor on the vehicle-mounted hangar; parsing the first analog voltage signal to determine the state information.

[0036] For example, in a specific embodiment of this application, a tilt sensor is installed on the hangar (as a specific example of a hangar sensor); the tilt sensor can generate a first analog voltage signal based on the current hangar conditions and send it to the controller. After receiving the first analog voltage signal, the controller analyzes it to obtain first analyzed information (as a specific example of status information), which includes the first angle of the tilt sensor in the x-axis direction (i.e., the horizontal direction). The second angle with the y-axis direction (that is, the vertical direction) .

[0037] Understandably, tilt sensors can reflect the angle of a hangar. A tilt sensor is a sensor used to measure the angle of inclination of a carrier (i.e., a hangar) relative to a reference plane (such as the horizontal ground plane). It determines the degree of tilt of the carrier relative to the reference plane by measuring the change in static gravitational acceleration and converting it into a change in tilt angle.

[0038] In some embodiments of this application, S110 may include: if at least one of the first angle and the second angle is not equal to a set value, then confirm that the vehicle-mounted garage is in the tilted state; if both the first angle and the second angle are equal to the set value, then confirm that the vehicle-mounted garage is in the balanced state.

[0039] For example, in a specific embodiment of this application, taking the coordinate system direction calibrated by the tilt sensor and parallel to the horizontal plane of the ground as an example, when and When both are 0 (as a specific example of a set value), it indicates that the hangar is parallel to the ground level and in a balanced state. and If at least one of the values ​​is not 0, it indicates that the hangar is at a certain angle to the ground plane and is in a tilted state.

[0040] Specifically, >0, =0, the hangar tilts forward, that is, tilts in the positive y-axis direction; <0, =0, the hangar tilts backward, that is, tilts in the negative y-axis direction; >0, =0, the hangar tilts to the right, that is, tilts in the positive x-axis direction; <0, =0, the hangar tilts to the left, that is, tilts in the negative x-axis direction; >0, >0, tilting to the right and forward towards the hangar (upper right in the xy plane); >0, <0, the hangar tilts to the right rear (downward and to the right in the xy plane); <0, >0, the hangar tilts to the left and forward (upper left in the xy plane); <0, <0, the hangar tilts to the left and rear (to the lower left in the xy plane).

[0041] It is understood that the set value can be flexibly adjusted according to the angular relationship between the coordinate system calibrated by the tilt sensor and the horizontal plane of the ground, and this application embodiment does not make specific limitations here.

[0042] In order to determine whether a vehicle-mounted vehicle hangar is tilted, this application also provides a method for determining whether a vehicle-mounted vehicle hangar is tilted when multiple vehicle-mounted vehicle hangars exist simultaneously (e.g., two vehicle-mounted vehicle hangars).

[0043] In some other embodiments of this application, S110 may further include: S111, obtaining the coordinates of the measurement points in the vehicle-mounted garage in a pre-constructed absolute coordinate system; S112, confirming that the angle between the straight line formed by the coordinate points and the vertical direction of the absolute coordinate system is greater than an angle threshold, and then determining that the vehicle-mounted garage is in the tilted state; the straight line is not parallel to the X-axis direction of the absolute coordinate system; the vertical direction is the Z-axis direction of the absolute coordinate system.

[0044] For example, in a specific embodiment of this application, an absolute horizontal reference plane (as a specific example of an absolute coordinate system) is constructed to determine whether the vehicle-mounted hangar is tilted. Specifically, multiple measurement points within the vehicle-mounted hangar are transformed into an absolute coordinate system for representation, resulting in multiple corresponding coordinate points. The angle between the straight line formed by these multiple coordinate points (which is not parallel to the X-axis) and the vertical direction in the absolute coordinate system is compared with a preset angle threshold. If the angle is greater than the preset angle threshold, the vehicle-mounted hangar is determined to be tilted; otherwise, it is in a balanced state.

[0045] In some embodiments of this application, S111 may include: obtaining the body coordinate position of the measurement point in the body coordinate system; transforming the body coordinate position using the target rotation matrix of the target UAV on the vehicle-mounted hangar and the position of the target UAV in the absolute coordinate system to obtain the coordinate point; wherein, the target rotation matrix is ​​the product of the yaw angle, pitch angle and roll angle of the target UAV.

[0046] For example, in a specific embodiment of this application, multiple target points are set within the vehicle-mounted hangar. After connecting these target points into a straight line, the first UAV scans the target points using a laser rangefinder and acquires the laser range value H, the gimbal pitch angle θ_g, and the gimbal azimuth angle φ_g. The coordinates (X, Y, X, Y) of the measurement point P are then calculated in the aircraft coordinate system. p Y p Z p ): ; Wherein, measurement point P is any one of multiple measurement points.

[0047] Transform point P to the absolute coordinate system to obtain the coordinates of point P. i (P) i (where i is one of multiple coordinate points, and i is a positive integer), the conversion formula is: P i =R i×P+T i Among them, T i Let R be the position of the target UAV in the absolute coordinate system. i For example, when i=1, R1=R_z(ψ1) ×R_y(θ1)×R_x(φ1), where ψ1 is the yaw angle of the first UAV (as a specific example of the target UAV), θ1 is the pitch angle of the first UAV, and φ1 is the roll angle of the first UAV. ψ1, θ1, and φ1 are obtained through an inertial measurement unit (IMU).

[0048] In some embodiments of this application, the absolute coordinate system is constructed by the following steps: obtaining the fused gravity vector of the first UAV and the second UAV; wherein the first UAV and the second UAV are set in different vehicle-mounted hangars; taking the direction of the fused gravity vector as the Z-axis and the horizontal projection direction of the second UAV as the X-axis, the Y-axis is determined by the direction rule to obtain the absolute coordinate system.

[0049] For example, in a specific embodiment of this application, after determining the fused gravity vector of the first UAV and the second UAV, an absolute coordinate system is constructed as follows: the Z-axis is aligned with the direction of the fused gravity vector, the X-axis is in the horizontal plane and points to the horizontal projection direction of the second UAV, and the Y-axis is determined by the right-hand rule (as a specific example of the direction rule).

[0050] In some embodiments of this application, obtaining the fused gravity vector of the first UAV and the second UAV includes: obtaining the first gravity vector and the second gravity vector of the first UAV and the second UAV in the body coordinate system using the roll angle and pitch angle of the first UAV and the roll angle and pitch angle of the second UAV; calculating the coordinate rotation matrix from the coordinate system of the second UAV to the coordinate system of the first UAV; mapping the second gravity vector to the coordinate system of the first UAV using the coordinate rotation matrix to obtain the mapped vector; determining the first standard deviation and the second standard deviation of the inertial measurement units of the first UAV and the second UAV within a preset time; calculating the first weight corresponding to the first UAV and the second weight corresponding to the second UAV based on the first standard deviation and the second standard deviation; and obtaining the fused gravity vector using the first weight, the second weight, the first gravity vector and the mapped vector.

[0051] For example, in a specific embodiment of this application, when there are two vehicle-mounted hangars, one drone is placed in each hangar.

[0052] 1) Obtain the roll angle φ and pitch angle θ of the first UAV through its IMU. The first gravity vector of the first UAV is represented in the body coordinate system as follows: G 1: ; Similarly, the second gravity vector of the second UAV can be obtained. G 2.

[0053] 2) Calculate the rotation matrix F1 of the first UAV from the body coordinate system to the global coordinate system, F1= ,in, This is a rotation matrix about the X-axis. Let F be the rotation matrix around the Y-axis. Similarly, the rotation matrix F2 for the second UAV can be obtained. Then, calculate the coordinate rotation matrix R from the second UAV coordinate system to the first UAV coordinate system, R = .Will G 2. Projected onto the first UAV coordinate system, the mapped vector is obtained. .

[0054] 3) Calculate the first standard deviation of the IMU of the first UAV within a preset time period and the second standard deviation of the IMU of the second UAV within a preset time period.

[0055] 4) Based on the first standard deviation of the IMU of the first UAV and the second standard deviation of the IMU of the second UAV, calculate the first weight of the first UAV and the second weight of the second UAV. The specific weight calculation formula is as follows: ; Where i = 1 or 2; The first standard deviation, The second standard deviation, The standard deviation of the angle of the target drone; , The standard deviation of the roll angle of the target drone. The standard deviation of the pitch angle of the target UAV; .

[0056] 5) Based on the first and second weights, perform gravity vector fusion to obtain the gravity vector. g rong The calculation formula is as follows: ; The gravity vector is normalized to obtain the fused gravity vector.

[0057] S120, when the vehicle-mounted hangar is in the tilted state, acquire the tilt parameters of the vehicle-mounted hangar. The tilt parameters include: the highest position, the lowest position of the vehicle-mounted hangar, and the distance difference between the highest and lowest positions.

[0058] For example, in a specific embodiment of this application, when the hangar is tilted, it is necessary to determine the highest and lowest positions of the hangar when it is tilted, and calculate the distance difference between the highest and lowest positions, so as to adjust the hangar to a balanced state based on these data.

[0059] S130, generate an adjustment command corresponding to the tilt parameter so that the balancing device can execute the adjustment command to adjust the vehicle-mounted hangar to a balanced state; wherein, the balanced state is that the horizontal plane of the vehicle-mounted hangar is parallel to the ground plane.

[0060] For example, in a specific embodiment of this application, an adjustment command is generated based on the distance difference and the highest and lowest positions when the hangar is tilted. The adjustment command is a command used to control the operation of the balancing device. Specifically, the adjustment command can be: a command to control the balancing device corresponding to the highest point (i.e., the highest position) to move downwards or a command to control the balancing device corresponding to the lowest point (i.e., the lowest position) to move upwards. The adjustment command can carry a specific distance that the balancing device needs to move in the direction to be moved, and this specific distance is based on... and The value was determined after calculation. Afterwards, the controller can send adjustment commands to the balancing device, which executes the commands to make the hangar's horizontal plane parallel to the horizontal component of the ground plane, thereby achieving the purpose of adjusting the hangar's balance.

[0061] For ease of explanation, this application also provides, as follows: Figure 2 and Figure 3 The diagram shows two different hangar adjustment structures. Figure 2 It includes a hangar 201, a fixed pole 202, a drive unit 203, and a telescopic pole 204. Figure 3 It includes a fixing device 301, a gear 302, and a rack 303. Figure 2 The drive unit 203 is communicatively connected to the controller of the hangar 201; the drive unit 203 may include a motor and a moving block; the inner wall of the fixed rod 202 is provided with a sliding groove; the moving block matches the sliding groove; the motor drives the moving block to move along the extension direction of the sliding groove, and the bottom of the moving block is fixedly connected to the top of the telescopic rod 204. Figure 3 The fixing device 301 is equipped with a motor, and the gear 302 is driven by the motor. The motor can drive the gear 302 to move along the rack 303. The motor is communicatively connected to the controller of the hangar 201. It should be understood that the hangar adjustment structure can be selected according to the actual situation. Any relevant components that can realize the function of vertical movement can be used as the hangar adjustment structure. This application embodiment does not make specific limitations.

[0062] Specifically, with Figure 2For example, when the adjustment command is to control the balancing device corresponding to the highest point to move downwards, the drive device 203 controlling the highest point position will operate, causing the drive device 203 to drive the telescopic rod 204 to extend or retract, completing the downward movement operation. Alternatively, in... Figure 3 For example, if the adjustment command is to control the balancing device corresponding to the highest point position to move down, then the drive device 203 controlling the highest point position will work to make the gear 302 move down along the extension direction of the rack 303.

[0063] It should be understood that when the adjustment command is to control the balancing device corresponding to the lowest point position to move upward, its implementation principle is similar to the above process, that is, adjustment. Figure 2 The telescopic rod 204 in the middle can be extended or adjusted. Figure 3 The gear 302 moves upward along the extension direction of the rack 303.

[0064] During the above adjustment process, real-time monitoring is possible. and The value of , when and When all values ​​are 0, the operation is complete.

[0065] To ensure that the hangar is indeed in a balanced state after adjustment, in some embodiments of this application, the method for adjusting the vehicle-mounted hangar may further include: S140, verifying the vehicle-mounted hangar based on the state parameters of the UAVs in the vehicle-mounted hangar, and obtaining a verification result; wherein, the verification result indicates whether the vehicle-mounted hangar has been adjusted to the balanced state.

[0066] For example, in a specific embodiment of this application, in order to ensure that the vehicle-mounted hangar is adjusted to a balanced state, the status of the drones in the vehicle-mounted hangar can be used to verify whether the vehicle-mounted hangar has been adjusted.

[0067] In some embodiments of this application, S140 may include: S141, obtaining drone status parameters of the drone in the vehicle-mounted hangar; wherein, the drone status parameters include: the third angle of the drone in the horizontal direction and the fourth angle in the vertical direction; S142, verifying whether the vehicle-mounted hangar is currently in the balanced state based on the drone status parameters.

[0068] For example, in a specific embodiment of this application, the hangar is verified to be in a balanced state by the drone status parameters of the drones in the hangar.

[0069] In some embodiments of this application, S141 may include: receiving a second analog voltage signal sent by a device sensor on the UAV; parsing the second analog voltage signal to determine the UAV state parameters.

[0070] For example, in a specific embodiment of this application, the drone is also equipped with a tilt sensor (as a specific example of a device sensor). The tilt sensor can determine the drone's state parameters. The controller receives and analyzes the second analog voltage signal sent by the tilt sensor on the drone to obtain second analyzed information (as a specific example of drone state parameters). The second analyzed information includes a third angle in the x-axis direction and a fourth angle in the y-axis direction.

[0071] In some embodiments of this application, S142 may include: if both the third angle and the fourth angle satisfy a preset condition, then confirm that the vehicle-mounted garage is in the balanced state; if at least one of the third angle and the fourth angle does not satisfy the preset condition, then confirm that the vehicle-mounted garage is in the tilted state.

[0072] For example, in a specific embodiment of this application, if the third angle in the x-axis direction is 0 degrees and the fourth angle in the y-axis direction is also 0 degrees, then the horizontal plane of the hangar is determined to be parallel to the ground plane. If the third angle in the x-axis direction is not 0 degrees and / or the fourth angle in the y-axis direction is not 0 degrees, then the horizontal plane of the hangar is determined to be not parallel to the ground plane. Here, 0 degrees is a currently set preset condition. The preset condition can also be a range, and the specific setting can be flexibly adjusted according to the actual scenario; this embodiment of the application is not limited to this.

[0073] In some embodiments of this application, after confirming that the vehicle-mounted hangar is in the tilted state, the method further includes: generating a current adjustment command again based on the current tilt parameters of the current tilted state, so that the balancing device executes the current adjustment command again to bring the vehicle-mounted hangar into the balanced state.

[0074] For example, in a specific embodiment of this application, when it is determined through the second parsing information that the hangar is not parallel to the ground plane, it is necessary to execute the specific implementation process of S120~S140 again based on the current tilt parameters under the current tilt condition of the hangar, so as to adjust the hangar again and bring it into a balanced state.

[0075] The following is in conjunction with the appendix Figure 4 The present application provides an exemplary implementation of an onboard library adjustment process performed by a controller, based on some embodiments of this application.

[0076] Please see the appendix Figure 4 , Figure 4 A flowchart illustrating a method for adjusting an onboard hangar, provided for some embodiments of this application.

[0077] The above process is illustrated below by example.

[0078] S410: Acquire the first analog voltage signal sent by the tilt sensor on the hangar.

[0079] S420 analyzes the first analog voltage signal to determine the hangar's status information.

[0080] S430: Based on the status information, determine whether the hangar is tilted. If so, execute S440; otherwise, terminate.

[0081] S440, obtain the hangar tilt parameters.

[0082] S450 generates adjustment commands corresponding to the tilt parameters.

[0083] S460 controls the balancing device based on adjustment commands to obtain the adjusted hangar.

[0084] S470 acquires the second analog voltage signal sent by the tilt sensor on the drone in the adjusted hangar.

[0085] S480 analyzes the second analog voltage signal to determine the UAV's state parameters.

[0086] S490: Based on the drone's status parameters, determine whether the hangar is tilted. If so, return to S440; otherwise, end.

[0087] It is understood that the specific implementation process of S410~S490 can refer to the method implementation examples provided above. To avoid repetition, detailed descriptions are omitted here.

[0088] As can be seen from the above embodiments of this application, the tilt sensor in this application can realize the autonomous determination of whether the hangar is tilted, and realize the precise adjustment and verification of the hangar in the tilted state, so that the hangar is in a balanced state, providing a safe environment for the take-off and landing of drones.

[0089] Please refer to Figure 5 , Figure 5 The diagram illustrates the composition of an apparatus for adjusting an on-board garage according to some embodiments of this application. It should be understood that this apparatus corresponds to the method embodiments described above and is capable of performing the various steps involved in the method embodiments. The specific functions of this apparatus can be found in the description above; detailed descriptions are omitted here to avoid repetition.

[0090] Figure 5The device for adjusting a vehicle-mounted hangar includes at least one software function module that can be stored in a memory or embedded in the device in the form of software or firmware. The device includes: a hangar status confirmation module 510, used to confirm whether the vehicle-mounted hangar is in a tilted state based on its status information; wherein the status information includes a first angle of the vehicle-mounted hangar in the horizontal direction and a second angle in the vertical direction; a parameter acquisition module 520, used to acquire the tilt parameters of the vehicle-mounted hangar when it is in the tilted state; an adjustment module 530, used to generate an adjustment command corresponding to the tilt parameters, so that a balancing device can execute the adjustment command to adjust the vehicle-mounted hangar to a balanced state; wherein the balanced state is that the horizontal plane of the vehicle-mounted hangar is parallel to the ground plane; and a verification module 540, used to verify the vehicle-mounted hangar based on the drone status parameters within the hangar, and obtain a verification result; wherein the verification result indicates whether the vehicle-mounted hangar has been adjusted to the balanced state.

[0091] In some embodiments of this application, after the adjustment module 530, the device for adjusting the vehicle-mounted hangar further includes a verification module (not shown in the figure); the verification module is used to: obtain the drone status parameters of the drone in the vehicle-mounted hangar; wherein, the drone status parameters include: the third angle of the drone in the horizontal direction and the fourth angle in the vertical direction; and verify whether the vehicle-mounted hangar is currently in the balanced state based on the drone status parameters.

[0092] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the device described above can be referred to the corresponding process in the aforementioned method, and will not be elaborated further here.

[0093] Some embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, can perform the operation of any of the methods corresponding to the methods provided in the above embodiments.

[0094] Some embodiments of this application also provide a computer program product, which includes a computer program, wherein when the computer program is executed by a processor, it can implement the operation of any of the methods corresponding to the above embodiments provided in the above embodiments.

[0095] like Figure 6As shown, some embodiments of this application provide an electronic device 600, which includes a memory 610, a processor 620, and a computer program stored in the memory 610 and executable on the processor 620. When the processor 620 reads the program from the memory 610 via a bus 630 and executes the program, it can implement the methods of any of the above embodiments.

[0096] Processor 620 can process digital signals and can include various computing architectures. For example, it can be a complex instruction set computer architecture, a reduced instruction set computer architecture, or an architecture that implements multiple instruction set combinations. In some examples, processor 620 can be a microprocessor.

[0097] The memory 610 can be used to store instructions executed by the processor 620 or data related to the execution of instructions. These instructions and / or data may include code for implementing some or all of the functions of one or more modules described in the embodiments of this application. The processor 620 of this disclosure embodiment can be used to execute the instructions in the memory 610 to implement the methods shown above. The memory 610 includes dynamic random access memory, static random access memory, flash memory, optical memory, or other memories well known to those skilled in the art.

[0098] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0099] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0100] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A method for adjusting an on-board hangar, characterized in that, include: The status information of the vehicle-mounted hangar is used to determine whether the vehicle-mounted hangar is tilted; wherein, the status information includes a first angle of the vehicle-mounted hangar in the horizontal direction and a second angle in the vertical direction. When the vehicle-mounted hangar is in the tilted state, the tilt parameters of the vehicle-mounted hangar are obtained; An adjustment command corresponding to the tilt parameter is generated so that the balancing device can execute the adjustment command to adjust the vehicle-mounted hangar to a balanced state; wherein, the balanced state is that the horizontal plane of the vehicle-mounted hangar is parallel to the ground plane. The vehicle-mounted hangar is verified based on the state parameters of the UAVs within it, and a verification result is obtained; wherein, the verification result indicates whether the vehicle-mounted hangar has been adjusted to the equilibrium state.

2. The method as described in claim 1, characterized in that, Before confirming whether the vehicle-mounted hangar is tilted based on the hangar's status information, the method further includes: Receive the first analog voltage signal sent by the hangar sensor on the vehicle-mounted hangar; The first analog voltage signal is analyzed to determine the state information.

3. The method as described in claim 1 or 2, characterized in that, The step of determining whether the vehicle-mounted hangar is tilted based on its status information includes: If at least one of the first angle and the second angle is not equal to the set value, then the vehicle-mounted hangar is confirmed to be in the tilted state; If both the first angle and the second angle are equal to the set value, then the vehicle-mounted hangar is confirmed to be in the balanced state.

4. The method as described in claim 1 or 2, characterized in that, The verification of the vehicle-mounted hangar based on the drone status parameters within the hangar, and the resulting verification results, include: Obtain the drone status parameters of the drone in the vehicle-mounted hangar; wherein, the drone status parameters include: the third angle of the drone in the horizontal direction and the fourth angle in the vertical direction; Based on the drone's state parameters, the verification result is obtained by verifying whether the vehicle-mounted hangar is currently in the balanced state.

5. The method as described in claim 4, characterized in that, The step of obtaining the drone status parameters of the drones in the vehicle-mounted hangar includes: Receive a second analog voltage signal sent by the device sensors on the UAV; The second analog voltage signal is analyzed to determine the state parameters of the UAV.

6. The method as described in claim 5, characterized in that, The step of verifying whether the vehicle-mounted hangar is currently in the balanced state based on the UAV state parameters, and obtaining the verification result, includes: If both the third angle and the fourth angle meet the preset conditions, then the verification result is confirmed that the vehicle-mounted hangar is in the balanced state. If at least one of the third angle and the fourth angle does not meet the preset condition, then the verification result is confirmed that the vehicle-mounted hangar is in the tilted state.

7. The method as described in claim 1, characterized in that, The step of determining whether the vehicle-mounted hangar is tilted based on its status information includes: Obtain the coordinates of the measurement points in the vehicle-mounted parking system in a pre-constructed absolute coordinate system; If the angle between the straight line formed by the coordinate points and the perpendicular direction of the absolute coordinate system is greater than an angle threshold, then the vehicle-mounted hangar is determined to be in the tilted state; the straight line is not parallel to the X-axis direction of the absolute coordinate system; the perpendicular direction is the Z-axis direction of the absolute coordinate system.

8. The method as described in claim 7, characterized in that, The step of obtaining the coordinates of the measurement points in the vehicle-mounted data center in a pre-built absolute coordinate system includes: Obtain the body coordinate position of the measurement point in the body coordinate system; Using the target rotation matrix of the target UAV on the vehicle-mounted hangar and the position of the target UAV in the absolute coordinate system, the coordinate position of the aircraft is transformed to obtain the coordinate point; wherein, the target rotation matrix is ​​the product of the yaw angle, pitch angle and roll angle of the target UAV, and the absolute coordinate system includes a Z-axis formed by the direction of the fused gravity vector of the first UAV and the second UAV, an X-axis formed by the horizontal projection direction of the second UAV, and a Y-axis determined by the direction rule; the first UAV and the second UAV are set in different vehicle-mounted hangars; the target UAV is one of the first UAV and the second UAV.

9. The method as described in claim 8, characterized in that, The fused gravity vector is obtained through the following steps: The first gravity vector and the second gravity vector of the first drone and the second drone in the body coordinate system are obtained by using the roll angle and pitch angle of the first drone and the roll angle and pitch angle of the second drone. Calculate the coordinate rotation matrix from the second UAV coordinate system to the first UAV coordinate system; The second gravity vector is mapped to the first UAV coordinate system using the coordinate rotation matrix to obtain the mapped vector. Determine the first standard deviation and the second standard deviation of the inertial measurement units of the first UAV and the second UAV within a preset time period, respectively; Based on the first standard deviation and the second standard deviation, the first weight corresponding to the first UAV and the second weight corresponding to the second UAV are calculated respectively. The fused gravity vector is obtained using the first weight, the second weight, the first gravity vector, and the mapping vector.

10. A device for adjusting a vehicle-mounted hangar, characterized in that, include: The hangar status confirmation module is used to confirm whether the vehicle-mounted hangar is tilted based on the status information of the vehicle-mounted hangar; wherein, the status information includes a first angle of the vehicle-mounted hangar in the horizontal direction and a second angle in the vertical direction; The parameter acquisition module is used to acquire the tilt parameters of the vehicle-mounted hangar when the vehicle-mounted hangar is in the tilted state. An adjustment module is used to generate adjustment instructions corresponding to the tilt parameters, so that the balancing device can execute the adjustment instructions to adjust the vehicle-mounted hangar to a balanced state; wherein, the balanced state is that the horizontal plane of the vehicle-mounted hangar is parallel to the ground plane. The verification module is used to verify the vehicle-mounted hangar based on the state parameters of the UAVs in the hangar and obtain a verification result; wherein, the verification result indicates whether the vehicle-mounted hangar has been adjusted to the equilibrium state.

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