Vehicle-mounted unmanned aerial vehicle garage and control method

Abstract

The invention discloses a vehicle-mounted unmanned aerial vehicle garage and a control method, and belongs to the technical field of vehicle structures. The vehicle-mounted unmanned aerial vehicle garage comprises a storage platform, an execution mechanism and a cover plate. The storage platform is arranged in a containing space preset in the side portion and / or the rear portion of the vehicle body and used for storing the unmanned aerial vehicle. The execution mechanism drives the storage platform to stretch out or retract into the vehicle body. The cover plate is flush with the automobile body exterior trimming plate when the storage platform retracts, and the overall appearance is formed. According to the corresponding control method, after a take-off instruction is received, whether the safe take-off condition is met or not is intelligently judged by integrating the vehicle speed, environment information and surrounding obstacle information, and when the safe take-off condition is met, the unmanned aerial vehicle garage is automatically controlled to be unfolded and the unmanned aerial vehicle takes off. The unmanned aerial vehicle garage is embedded in the vehicle body, the problems of height limitation, wind resistance increase and reliability caused by vehicle roof installation are avoided, and the safety and the automation level of operation of the mobile platform unmanned aerial vehicle are improved through intelligent control.

Description

Technical Field

[0001] This invention relates to the field of vehicle structure technology, specifically to a vehicle-mounted unmanned aerial vehicle (UAV) hangar and control method. Background Technology

[0002] Drones were initially used in the military field, but with their continuous development, they are also playing an important role in the civilian sector, being widely used in geographic surveying, power line inspection, disaster relief, and film and television production. Among them, vehicle-mounted drones, due to their ease of use in conjunction with automobiles and their high mobility, are gradually becoming the next direction for automotive technology development.

[0003] However, in practical applications, there are many situations where drone take-off and landing are inconvenient. For example, it is difficult to find a suitable environment for drone take-off and landing during disaster relief; or when responding to emergencies, rapid take-off and landing of drones is crucial; or when shooting long distances for film and television production.

[0004] Currently, vehicle-mounted drones are usually mounted on external drone hangars, such as on the roof of the vehicle. This setup has a significant impact on the vehicle's appearance, affecting not only its aesthetics but also the overall size of the drone hangar. After installation, it can interfere with some vehicle functions, such as preventing the sunroof from opening. In addition, vehicle-mounted drone hangars in related technologies typically have multiple drive units, each driving the opening and closing of the cabin door and the lifting platform, resulting in a complex transmission structure and cumbersome layout.

[0005] To address this issue, existing technology entitled "Vehicle-Mounted Drone Garage, Drone Assembly, and Vehicle" proposes a vehicle-mounted drone garage that does not alter the vehicle's exterior. This vehicle-mounted drone garage includes a lifting platform adapted to be housed within the vehicle body and used to hold drones; a hatch adapted to be located within the vehicle body and used to close or open the vehicle body, the hatch being positioned above the lifting platform; and a drive unit connected to both the lifting platform and the hatch to drive their movement.

[0006] When not in use, the vehicle-mounted drone hangar is stored inside the vehicle, thus not adversely affecting the vehicle's exterior. Furthermore, its location inside the vehicle facilitates connection to in-vehicle electrical equipment, allowing for convenient drone charging. In use, the lifting platform is driven by a drive unit, extending from the roof for easy drone takeoff.

[0007] While this type of vehicle-mounted drone hangar possesses the aforementioned advantages, it still suffers from numerous shortcomings in practical use. Although roof-mounted installation offers advantages such as operational convenience and spatial independence, its inherent technical limitations are becoming increasingly apparent as application demands evolve and technology advances. These shortcomings primarily focus on three aspects: vehicle passability, aerodynamic performance, and system reliability, severely restricting the application effectiveness and widespread adoption of vehicle-mounted drone systems in complex environments.

[0008] Height restrictions are the most significant challenge facing rooftop drone hangars. Research data shows that when a typical off-road vehicle is fitted with a traditional rooftop hangar, the overall height of the vehicle typically increases significantly, potentially exceeding common road height limits. Especially in critical scenarios such as emergency rescue and military reconnaissance, this height restriction can cause severe operational obstacles and delays.

[0009] From an aerodynamic perspective, rooftop drone hangars significantly increase a vehicle's drag coefficient. Rooftop attachments disrupt the original airflow pattern around the vehicle, increasing operating costs and reducing driving range, which is particularly detrimental to applications requiring long-distance mobility. Furthermore, increased drag generates noticeable wind noise, affecting passenger comfort and increasing safety hazards in extreme weather conditions.

[0010] In terms of structural reliability, rooftop drone hangars face multiple challenges. The roof's position, being high above the ground, subjectes it to greater vibration and impact loads during off-road driving and complex road conditions, placing higher demands on the hangar's structural strength and the drone's securing system. Summary of the Invention

[0011] The purpose of this application is to address the shortcomings of the aforementioned background technology and provide a vehicle-mounted unmanned aerial vehicle (UAV) hangar and control method.

[0012] The technical solution of this application is as follows: A vehicle-mounted drone hangar, comprising, A storage platform is located on the side and / or rear of the vehicle body, and the vehicle body has a storage space for accommodating storage boxes; the storage platform is used to store drones. An actuator, which is disposed between the vehicle body and the storage platform, is used to drive the storage platform to extend out of the vehicle body or retract into the vehicle body from the accommodating space; The cover plate is located on the side and / or rear of the vehicle body. After the storage platform retracts into the vehicle body, the cover plate and the exterior trim panel form an integral exterior trim piece for the vehicle body.

[0013] According to the present application, a vehicle-mounted drone hangar is provided, wherein the cover plate is connected to the storage platform and moves with the storage platform.

[0014] According to the present application, a vehicle-mounted drone storage platform includes a storage box with a hollow interior for storing drones. The storage box includes an opening and closing structure. When the opening and closing structure is opened, it is used to release the hollow interior of the storage box. When the opening and closing structure is closed, it is used to seal the hollow interior of the storage box.

[0015] According to the present application, a vehicle-mounted drone hangar includes an opening and closing structure comprising an opening and closing drawer structure connected to the storage box body.

[0016] According to the present application, a vehicle-mounted drone hangar includes an opening and closing structure comprising an opening and closing cover connected to the storage box body.

[0017] According to the present application, a vehicle-mounted drone storage facility is provided, wherein the actuator drive includes a rotary motion drive mechanism, which drives the storage platform to extend out of the vehicle body and or retract into the vehicle body in a rotating manner from the vehicle body's accommodating space.

[0018] According to the vehicle-mounted drone hangar provided in this application, the actuator includes, A pivot, which is arranged longitudinally along the vehicle and is supported on the vehicle body rotatably about its own axis; A rotating arm, one end of which is fixedly connected to a rotating shaft, and the other end of which is fixedly connected to a storage platform; The drive unit, which is mounted on the vehicle body, is used to drive the shaft to rotate.

[0019] According to the present application, a vehicle-mounted drone hangar has an opening located on the side of the storage box facing the rear of the vehicle.

[0020] According to the present application, a vehicle-mounted drone hangar is provided, wherein the storage box is provided with a drawer that can be extended and retracted from an opening; when the storage box is in the extended state, the top of the drawer is open to form a platform for drone take-off and landing.

[0021] According to the present application, a vehicle-mounted drone hangar is provided, wherein the cover is disposed at the rear corner window of the vehicle; the rear corner window is located between the D-pillar of the vehicle body and the trunk lid.

[0022] According to the present application, a vehicle-mounted drone hangar is provided, wherein the accommodating space is formed inside the vehicle body.

[0023] This application also relates to a vehicle equipped with the aforementioned vehicle-mounted drone hangar.

[0024] This application also relates to a method for controlling a vehicle-mounted unmanned aerial vehicle (UAV) hangar, including, After receiving the drone takeoff command, the system collects the vehicle's current speed, current environmental information, and information on obstacles around the drone hangar. Determine whether takeoff conditions are met based on current vehicle speed, environmental information, and obstacle information; If the takeoff conditions are met, the control actuator drives the storage platform to extend from the vehicle body and controls the drone to take off.

[0025] According to the vehicle-mounted unmanned aerial vehicle (UAV) hangar control method provided in this application, the method for determining whether takeoff conditions are met based on current vehicle speed, obstacle information, and environmental information includes: collecting the current vehicle speed and determining whether the current vehicle speed meets the takeoff requirements; when the current vehicle speed meets the takeoff requirements, collecting the current environmental information and determining whether the current environment meets the takeoff requirements; when the current environment meets the takeoff requirements, collecting obstacle information around the UAV hangar and determining whether the surrounding obstacles meet the takeoff requirements; if the surrounding obstacles meet the takeoff requirements, then determining that the current takeoff conditions are met.

[0026] According to the vehicle-mounted unmanned aerial vehicle (UAV) hangar control method provided in this application, the current vehicle speed is compared with a set vehicle speed threshold. If the current vehicle speed does not exceed the set vehicle speed threshold, the current vehicle speed is considered to meet the takeoff requirements; otherwise, the takeoff requirements are not met. When the current vehicle speed meets the takeoff requirements, the current wind speed and the current humidity in the environmental information are compared with a set wind speed threshold and a set humidity threshold. If the current wind speed and the current humidity do not exceed the set wind speed threshold and the current humidity does not exceed the set humidity threshold, the current environment is considered to meet the takeoff requirements; otherwise, the takeoff requirements are not met. When the current environment meets the takeoff requirements, the nearest obstacle other than the vehicle body to the extended storage platform is obtained, the shortest distance between the obstacle and the storage platform is calculated, and the shortest distance is compared with a set distance threshold. If the shortest distance exceeds the set distance threshold, the takeoff requirements are determined to be met; otherwise, the takeoff requirements are not met.

[0027] According to the vehicle-mounted unmanned aerial vehicle (UAV) hangar control method provided in this application, the method for determining whether takeoff conditions are met based on current vehicle speed, obstacle information, and environmental information includes: collecting the current vehicle speed; assigning a speed value based on the collected current vehicle speed; calculating a safe value for the current vehicle speed based on the assigned speed value and a speed weighting coefficient; collecting the current humidity and current wind speed of the environment where the vehicle is located; assigning a wind speed value to the current wind speed; calculating a safe value for the current wind speed based on the assigned wind speed and a wind speed weighting coefficient; assigning a humidity value to the current humidity; calculating a safe value for the current humidity based on the assigned humidity and a humidity weighting coefficient; determining a safe value for the current environment based on the safe value for the current wind speed and the safe value for the current humidity; obtaining the nearest obstacle other than the vehicle body to the extended storage platform; calculating the shortest distance between the obstacle and the storage platform as the current distance; calculating an obstacle safety value based on the current distance; using the sum of the safe value for the current vehicle speed, the safe value for the current environment, and the safe value for the obstacle as the current safe value; comparing the current safe value with a set safety threshold; if the current safe value is not less than the safety threshold, it is determined that the takeoff conditions are met; otherwise, the takeoff conditions are not met.

[0028] According to the vehicle-mounted unmanned aerial vehicle (UAV) control method provided in this application, the method for assigning vehicle speed based on the collected current vehicle speed includes: obtaining the vehicle speed value corresponding to the current vehicle speed according to the set vehicle speed range and vehicle speed assignment table.

[0029] According to the vehicle-mounted unmanned aerial vehicle (UAV) control method provided in this application, the method for assigning a wind speed value to the current wind speed includes: obtaining the wind speed value corresponding to the current wind speed according to a set wind speed range and a wind speed assignment table.

[0030] According to the vehicle-mounted unmanned aerial vehicle (UAV) control method provided in this application, the method for assigning a humidity value to the current humidity includes: obtaining the humidity value corresponding to the current humidity according to a set humidity range and a humidity assignment table.

[0031] According to the vehicle-mounted unmanned aerial vehicle (UAV) hangar control method provided in this application, the method for determining the current environmental safety value based on the current wind speed safety value and the current humidity safety value includes: selecting the smaller value between the current wind speed safety value and the current humidity safety value as the current environmental safety value.

[0032] According to the vehicle-mounted unmanned aerial vehicle (UAV) hangar control method provided in this application, the method for calculating obstacle safety values ​​based on current distance includes: Calculate the obstacle safety value using the following formula. in: S(d)— —Safety values ​​for obstacles; d— —The distance between the nearest obstacle extending beyond the storage platform (excluding the vehicle body) and the motion envelope of the storage platform; D safe — —Optimal safe distance; γ— —Growth index.

[0033] This application also relates to a vehicle-mounted unmanned aerial vehicle (UAV) hangar control system, said control system being used to operate according to the above-described control method, including... The data acquisition module is used to collect vehicle speed, environmental information, and information on obstacles around the drone hangar; The processing and judgment module is used to determine whether the conditions for drone takeoff are met based on the collected information. The execution control module is used to control the actuator to extend from the storage platform and initiate the UAV takeoff process when the takeoff conditions are met.

[0034] According to the vehicle-mounted unmanned aerial vehicle (UAV) hangar control system provided in this application, the processing and judgment module includes, The first comparison module is used to compare the current vehicle speed with the set vehicle speed threshold to determine whether the current vehicle speed meets the takeoff requirements. The second comparison module is used to compare the current wind speed in the collected environmental information with the set wind speed threshold and the current humidity in the collected environmental information with the set humidity threshold when the current vehicle speed meets the takeoff requirements, so as to determine whether the current environment meets the takeoff requirements. The third comparison module is used to obtain the nearest obstacle to the extended storage platform (excluding the vehicle body) when the current environment meets the takeoff requirements, calculate the shortest distance between the obstacle and the storage platform, and compare the shortest distance with a set distance threshold to determine whether the surrounding obstacles meet the takeoff requirements. The result output module is used to output a judgment result indicating that the takeoff conditions are met when the surrounding obstacles meet the takeoff requirements, and to output a judgment result indicating that the takeoff conditions are not met when any indicator fails to meet the takeoff requirements.

[0035] According to the vehicle-mounted unmanned aerial vehicle (UAV) hangar control system provided in this application, the processing and judgment module includes, The vehicle speed safety value calculation module assigns a value to the current vehicle speed based on the collected current vehicle speed, and calculates the current vehicle speed safety value based on the assigned speed value and the vehicle speed weighting coefficient. The environmental safety value calculation module assigns a wind speed value to the current wind speed based on the collected environmental information, calculates the current wind speed safety value based on the wind speed value and wind speed weighting coefficient, assigns a humidity value to the current humidity based on the current humidity value and humidity weighting coefficient, and determines the current environmental safety value based on the current wind speed safety value and the current humidity safety value. The obstacle safety value calculation module is used to obtain the nearest obstacle other than the vehicle body to the extended storage platform, calculate the shortest distance between the obstacle and the storage platform, and calculate the obstacle safety value based on the shortest distance. The current safety value calculation module is used to calculate the current safety value as the sum of the current vehicle speed safety value, the current environmental safety value, and the obstacle safety value. The comparison and analysis module is used to compare the current safety value with the set safety threshold. If the current safety value is not less than the safety threshold, it outputs a judgment result that the takeoff conditions are met; otherwise, it outputs a judgment result that the takeoff conditions are not met.

[0036] This application also relates to a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the above-described vehicle-mounted unmanned aerial vehicle (UAV) control method.

[0037] This application also relates to a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the above-described vehicle-mounted unmanned aerial vehicle (UAV) control method.

[0038] This application also relates to a vehicle-mounted drone hangar control device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the above-described vehicle-mounted drone hangar control method.

[0039] The advantages of this application are as follows: 1. The storage platform of the vehicle-mounted drone hangar is located in the side / rear compartment of the vehicle body, completely avoiding the problem of the vehicle height exceeding the standard due to roof installation, and meeting the requirements of road driving regulations; the compartment space utilizes the original structure of the vehicle body, without the need for major modifications to the vehicle body, reducing integration costs; aerodynamic performance is improved, the cover plate and the exterior trim of the vehicle body form a continuous curved surface, completely eliminating protruding parts when retracted, maintaining the original streamlined design of the vehicle body, and reducing wind resistance and turbulence noise at high speeds; when unfolded, only local structural movement occurs, and the aerodynamic disturbance is far less than that of a hangar with the entire roof exposed; it has good structural reliability and protection, the drone is always retracted into the vehicle body during driving, avoiding direct impact from rain, sand, and road splashes, and extending the life of the drone; the cover plate serves as an additional protective layer, enhancing anti-theft and anti-vandalism capabilities; the cover plate is integrated with the vehicle body design, achieving an "invisible hangar" effect, without compromising the overall appearance of the vehicle, and meeting the design aesthetic requirements of passenger cars; 2. The cover plate of this application is connected to and moves with the storage platform. The cover plate moves synchronously with the platform and always covers the opening of the accommodating space to prevent foreign objects from entering or rainwater from leaking in during the extension and retraction process. Compared with a cover plate that opens and closes independently, the control logic is simplified and the number of failure points is reduced. The cover plate and the platform are synchronized through mechanical connection, eliminating the need for a separate drive device and reducing system complexity and energy consumption. The movement trajectory is designed in an integrated manner to avoid the risk of interference between the cover plate and the platform. 3. The storage platform of this application includes a storage box with an opening and closing structure. The drone is in a completely closed environment inside the storage box, which isolates the drone from the impact of drastic changes in humidity and temperature on the precision electronic equipment. The box can be integrated with cushioning materials to further reduce shock and impact. It has rapid deployment capability. The opening and closing structure realizes the process of "standby in the box → rapid release", which shortens the drone's preparation time and is suitable for emergency response scenarios. 4. The opening and closing structure of this application is a drawer type. The drawer type opening and closing is intuitive for human operation, making it easy for ground personnel to quickly pick up and put down the drone or replace the battery; the drawer rail can be designed with a self-locking function to ensure stability and prevent slippage during operation; the space utilization rate is high, and the internal space is fully exposed after the drawer is opened, with no dead corners, which is convenient for cleaning and maintenance. 5. The opening and closing structure of this application is a box cover type. Box covers are generally lighter than drawer structures, reducing the weight of moving parts and reducing the load on the actuator; suitable for design scenarios that are weight-sensitive or have limited space; the box cover can be designed to open upwards, which facilitates unobstructed vertical take-off and landing of drones and is suitable for side deployment where the roof cannot be used for take-off and landing. 6. The actuator of this application is a rotary motion drive mechanism. A servo motor and a reduction mechanism achieve high-precision speed and torque control, ensuring smooth platform deployment / retraction and avoiding vibration and impact. The four-bar linkage converts the rotary motion into a composite motion with a preset trajectory, allowing the platform end to move along an optimized path and avoid obstacles around the vehicle. The reduction mechanism amplifies the torque, allowing the use of a smaller power motor to drive a heavier load, saving energy and reducing costs. The linkage mechanism can form a dead point at the extreme position, achieving mechanical self-locking without the need for continuous power supply to maintain the position. Pure mechanical transmission is more resistant to high and low temperatures and vibration environments than hydraulic / pneumatic systems, making it suitable for harsh vehicle operating conditions. The keyway connects the main drive shaft and the rotating arm, ensuring reliable torque transmission and preventing loosening. 7. The actuator of this application adopts a combination of a rotating shaft, a rotating arm and a drive device, which has a stable structure, direct power transmission and is easy to install and maintain; the drive device (such as a servo motor) and the reduction mechanism can realize high torque output and precise speed control, ensuring that the drone hangar can be extended / retracted smoothly, especially in the case of vehicle shaking. The mechanism can be modularly designed and installed as a whole in the vehicle body space. 8. The opening of this application is located at the rear of the storage box, which is in line with the airflow and facilitates take-off and landing safety. When the vehicle is moving, the airflow behind is relatively stable. The rearward opening can reduce the impact of crosswinds on the take-off and landing of the drone and improve operational safety. When the vehicle is moving, there is more wind and debris in front. The rearward opening can reduce the entry of dust, rainwater, flying stones and other debris into the storage box. 9. This application features a drawer inside the storage box, with the top of the drawer opening to form a platform, which extends the support surface for the drone's take-off and landing. This is especially beneficial for drones with smaller landing gear, increasing take-off and landing stability and safety. The drawer can further protect the internal equipment of the drone and can be designed as a sliding guide to make the drone removal process smoother. The drawer's extension stroke is adjustable to accommodate drones of different sizes and optimizes the platform extension position. 10. This application utilizes the existing vehicle window structure as a cover, eliminating the need for additional cover design, thus reducing weight and cost; the rear corner window serves as a cover, allowing the drone hangar to blend seamlessly with the vehicle's glass when closed, without any abruptness, maintaining the original design style of the vehicle; the elimination of a separate cover opening and closing mechanism results in higher reliability. 11. This application also relates to a vehicle equipped with the aforementioned vehicle-mounted drone hangar, ensuring that the overall vehicle height does not exceed the standard and meets regulatory and road traffic requirements; maintaining excellent aerodynamic performance, which is conducive to reducing energy consumption, improving range and high-speed stability; adding drone carrying and automatic take-off and landing functions to the vehicle, expanding vehicle application scenarios (such as inspection, exploration, rescue, etc.), and enhancing product competitiveness. 12. This application also relates to a control method for a drone hangar, which judges takeoff conditions by comprehensively considering vehicle speed, environmental information (such as wind speed and humidity), and obstacle information, ensuring that the drone operates automatically under safe conditions and avoiding accidents caused by vehicle movement, bad weather, or surrounding obstacles; it achieves fully automatic control from command to extension and takeoff, reduces manual intervention, and improves operational efficiency and consistency; it is particularly suitable for scenarios where vehicles are in motion or temporarily parked, and achieves intelligent decision-making through real-time data collection and judgment. 13. This application employs a cascaded threshold comparison method to determine whether takeoff conditions are met. Its judgment logic is clear, computationally efficient, and it assesses vehicle speed, environment, and obstacles sequentially. The process terminates if any condition is not met, resulting in high processing efficiency and rapid response. Each judgment condition has clearly defined thresholds (vehicle speed threshold, wind speed threshold, humidity threshold, and distance threshold), making it easy to calibrate and adjust, and ensuring good system stability. Using vehicle speed as the primary judgment condition ensures that the vehicle is at low speed or stationary, which is fundamental for safe takeoff and landing. 14. This application employs a weighted scoring and comprehensive evaluation logic to determine whether takeoff conditions are met. Through range assignment, weighted calculation, and accumulation (or minimum value) of safety values, it quantifies and integrates the influence of multiple factors, reflecting the comprehensive safety level under complex conditions better than a simple threshold method. The weighting coefficients and assignment ranges can be optimized and adjusted based on practical experience or data analysis, ensuring the system achieves optimal judgment results in different vehicle types and geographical environments. The mathematical model is highly scientific, using an exponential growth function and parameterized modeling of the optimal safety distance to make obstacle judgment more consistent with the safety perception logic of human-computer interaction; the closer the distance, the faster the safety value decreases, resulting in more sensitive warnings. 15. The control system of this application implements the method as multiple functional modules, each with a clearly defined responsibility, which facilitates development, testing and maintenance; the modular design improves the scalability and portability of the system, making it suitable for integration into existing vehicle electronic systems; the system covers the entire process from data acquisition to takeoff control, ensuring seamless integration between the method and hardware, achieving efficient operation of automated control, and reducing the risk of human error. 16. This application also provides a computer program product. As a computer program product, the method can be deployed in the vehicle control unit in the form of software, providing a flexible and updatable solution; the method steps are automatically implemented when the program is executed, reducing hardware dependence and facilitating large-scale promotion and upgrades. 17. This application also provides a storage medium on which a computer program is stored, enabling the method to be conveniently distributed, installed and updated, supporting the widespread implementation and standardization of the method; the diversity of the storage medium adapts to the needs of different vehicle systems; when the processor executes the stored program, it can consistently implement the method steps, ensuring the reliability and repeatability of the control logic and reducing differences caused by human factors; 18. This application also provides an apparatus comprising a memory, a processor, and a computer program, providing a hardware implementation platform for the method, specifically designed for vehicle-mounted unmanned aerial vehicle (UAV) control, optimizing the integration of the vehicle system; the apparatus is compact in design and easy to install in existing vehicle architectures, improving practicality and reliability; by executing the program through a dedicated processor, high-speed data processing and real-time control are achieved, ensuring the response speed and control accuracy of the method in complex environments.

[0040] The vehicle-mounted drone storage system proposed in this application has a simple structure and is fully automated in operation, which greatly reduces the difficulty of controlling vehicle-mounted drones. At the same time, it solves the problems of existing roof-mounted drone storage systems that have height restrictions and require changes to the vehicle's aerodynamic layout, making it easy to promote and apply to various vehicle models. Attached Figure Description

[0041] Figure 1 This application includes a schematic diagram of the extended vehicle-mounted drone hangar. Figure 2 This application includes a schematic diagram of the retractable vehicle-mounted drone hangar. Figure 3 Axial view of the vehicle-mounted drone in this application; Figure 4 This application includes a schematic diagram of the extended drawer of the vehicle-mounted drone hangar. Figure 5 : A logic diagram for determining takeoff conditions according to this application; Figure 6 Another logic diagram for determining takeoff conditions in this application; Figure 7 : A schematic diagram of the vehicle-mounted unmanned aerial vehicle hangar control equipment of this application; Wherein: 1—storage box; 2—cover plate; 3—rotating shaft; 4—rotating arm; 5—drive device; 6—drawer; 10—body. Detailed Implementation

[0042] The embodiments of this application are described in detail below, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0043] In the description of this application, it should be understood that the terms "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0044] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0045] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0046] This application relates to a vehicle-mounted drone hangar, which solves three core engineering problems of existing vehicle-mounted drone hangars. The embedded design of this vehicle-mounted drone hangar integrates the hangar into the vehicle body, completely avoiding the problem of the vehicle height exceeding regulations or design limits due to external equipment. When folded, the vehicle body surface is smooth and flat, without any protrusions, effectively reducing wind resistance and wind noise, maintaining the original vehicle's low-drag design and energy efficiency. It greatly improves structural reliability and equipment lifespan, and the drone is fully protected by the robust vehicle body structure during driving, avoiding damage from wind, rain, sand, vibration, and accidental collisions.

[0047] Specifically, this application relates to a basic structure for a vehicle-mounted drone hangar, such as Figures 1-4 The system is integrated into the side and / or rear of the vehicle body 10 (such as an SUV or a special vehicle); the side and / or rear of the vehicle body 10 is provided with a dedicated storage space (such as...). Figure 1 The storage platform is used to store drones; the actuator is located between the vehicle body and the storage platform to drive the storage platform to extend out of the vehicle body or retract into the vehicle body from the storage space; the cover plate 2 is located on the side and / or rear of the vehicle body 10. After the storage platform retracts into the vehicle body, the cover plate 2 and the vehicle body exterior panel form an integral exterior trim piece of the vehicle body.

[0048] The vehicle-mounted drone storage system of this application integrates and protects drone carriers through concealed storage and dynamic opening. When the vehicle is in normal operation, the storage platform is completely retracted into the internal storage space of the vehicle body 10. At this time, the cover 2 is fastened, and its outer surface smoothly transitions with the adjacent rear bumper and body sheet metal parts, forming a continuous and complete side or rear curved surface of the vehicle body. When the drone needs to be activated, the control system issues a command, and the actuator moves to push the storage platform out of the storage space and out of the vehicle body, exposing the drone to the external environment. The cover 2 then opens, making room for the take-off and landing of the drone.

[0049] In actual operation, it includes the following two states: Storage status: After the drone completes its mission and flies back, the operator or the automatic guidance system places it into the storage platform and secures it; then, the operator issues a "retract" command through the in-vehicle control panel or remote terminal; the actuator moves to smoothly pull the storage platform back into the storage space inside the vehicle; after the storage platform is completely retracted, the cover 2 automatically snaps shut and locks, restoring the integrated appearance with the vehicle body; Deployment Status: When the drone needs to be used, the operator issues the "deploy" command; the action is executed, and the storage box 1 is smoothly pushed out of the vehicle to the preset fixed position, and the cover 2 is opened; at this time, the operator can open the storage platform to carry out the pre-takeoff inspection and preparation work for the drone.

[0050] The vehicle-mounted drone hangar proposed in this application fundamentally solves the problem of increased vehicle height caused by roof mounting, ensuring that the vehicle complies with road traffic regulations. Secondly, in the stored state, the cover plate 2 forms a seamless and unobstructed exterior surface with the vehicle body, perfectly maintaining the original aerodynamic shape of the vehicle and avoiding additional wind noise and energy consumption. Finally, the drone is completely protected inside the vehicle body structure during operation, effectively avoiding direct damage from wind, rain, gravel, road debris, and accidental collisions, significantly improving the reliability of the system and the service life of the drone.

[0051] In some embodiments of this application, the structure of the cover plate 2 described above has been optimized. For example... Figures 1-4 As shown, the cover plate 2 is no longer independently hinged to the vehicle body, but is fixedly connected to the side wall of the storage platform through a set of rigid connecting rods; when the actuator moves, it directly drives the storage platform and the cover plate 2 to move together; the size of the cover plate 2 is slightly larger than the opening of the vehicle body, and its edge is embedded with sealing strips.

[0052] In this embodiment, the cover plate 2 becomes part of the moving assembly of the storage platform through a rigid connecting rod. When the actuator drives the storage platform to extend or retract, the storage platform drives the cover plate 2 to move synchronously through the connecting rod. During the retraction process, the cover plate 2 is pulled to fit against the vehicle body opening. During the extension process, the cover plate 2 is pushed away from the vehicle body opening and always maintains its relative position to the storage platform. The movement trajectory of the cover plate 2 is completely determined by the movement of the storage platform and the geometric relationship of the connecting rod.

[0053] In actual operation, the opening and closing of the cover plate no longer requires independent drive or locking commands; when the "unfold" command is issued, the actuator directly pushes the storage platform to move outward, and the cover plate 2 moves outward with the storage platform to open the channel; when retracting, the storage platform retracts inward, and the cover plate 2 is pulled back and tightly pressed against the vehicle body opening through the connecting rod, and the sealing strip is deformed by pressure to achieve a seal.

[0054] The cover structure in this embodiment simplifies the system structure and control logic. Since the cover 2 is mechanically linked with the storage platform, the independent cover drive motor, hinge mechanism and corresponding control module are eliminated, reducing manufacturing costs and system complexity, and also reducing potential failure points. Secondly, dynamic sealing is achieved. Throughout the movement of the storage box, the cover 2 can always partially block or completely seal the opening, greatly reducing the risk of dust and mud entering the storage space during the operation.

[0055] In other embodiments of this application, the storage platform structure described above has been optimized, specifically, as follows: Figures 1-4As shown, the storage platform in this embodiment includes a modular storage box 1 and its opening and closing structure; the storage box 1 is an independent rectangular box, equipped with drone fixing buckles, charging contacts and environmental monitoring sensors; the purpose of its opening and closing structure is to provide a protected storage space for the drone and facilitate access; there are two main ways to implement the opening and closing structure. Option 1: Storage box 1 has an open opening on its side; a U-shaped drawer structure is installed inside storage box 1 via a slide rail; the drone is fixed to the tray of the drawer structure; an electric locking pin is used to lock the drawer when closed; During operation, once storage box 1 extends outside the vehicle, the electric lock pin is released; the operator can manually or via an auxiliary motor smoothly pull the entire drawer structure out along the slide rail, thus fully exposing the drone for pre-flight inspection, manual retrieval, or battery replacement.

[0056] The drawer-style structure provides maximum operational accessibility and field of vision, allowing operators to access all parts of the drone without blind spots for maintenance and preparation, and offering a user-friendly human-machine interface; the tray is load-bearing and suitable for carrying heavier drones or additional equipment.

[0057] Option 2: Storage box 1 is designed as a box with an opening at the top; a box cover that matches the box is connected to the box via a rear hinge; the box cover is opened and closed by a small linear motor.

[0058] During operation, after storage box 1 extends outside the vehicle, the linear motor on the box cover starts, lifting the box cover upwards or to the side to open the space above the box.

[0059] The lid-type structure is relatively simple and lightweight; it is particularly suitable for the vertical take-off and landing of drones. After the lid is opened, there are no obstacles above, and the drone can take off or land vertically directly from inside the box, making the process simple and efficient; the box has good sealing performance and excellent waterproof and dustproof performance.

[0060] Whether it is a drawer-type or a lid-type modular storage box 1 defined in this embodiment, it realizes the function of an "all-weather protective cabin"; its internal integrated buffer, fixing and charging facilities ensure the safety of the drone under high-speed vehicle travel and bumpy road conditions; at the same time, the quick-opening structural design meets the timeliness requirements of rapid deployment and recovery at the mission site, reflecting a high degree of functional integration and practical design.

[0061] In some embodiments of this application, the extension and retraction method of the storage box 1 described above has been optimized, and the driving method of the actuator has been further defined. Specifically, the actuator is configured to drive the storage box 1 to rotate about an axis parallel to the vehicle's longitudinal direction (i.e., the vehicle's X-direction) or lateral direction (i.e., the vehicle's Y-direction). Figure 1 , 3As shown in Figure 4, the storage box 1 rotates out of the vehicle through the side opening, like opening a door or unscrewing a drawer, or rotates back into the vehicle.

[0062] Furthermore, the actuator is configured to drive the upper or lower end of the storage box 1 to rotate about an axis parallel to the vehicle's longitudinal direction (i.e., the vehicle's X-direction) or transverse direction (i.e., the vehicle's Y-direction), thus maximizing space utilization.

[0063] In this embodiment, the trajectory of the storage box 1 is constrained to an arc around a fixed axis; the interior space required for this movement is mainly a fan-shaped area, which can make more efficient use of the irregular space on the side of the vehicle body 10 compared to a linear push-out mechanism.

[0064] During operation, the control actuator (such as a motor) rotates forward, driving the storage box 1 to rotate outward around the axis from a vertical or inwardly tilted storage position to a horizontal or outwardly extended position; when retracting, the actuator rotates in the opposite direction, causing the storage box 1 to rotate and reset along the original trajectory.

[0065] The storage box 1 in this embodiment has a high space utilization rate. The internal motion envelope space required for the rotational motion is more in line with the triangular area commonly found on the side of the vehicle body 10. The layout is compact and reduces the encroachment on the passenger compartment or storage space inside the vehicle. The storage box 1 in this embodiment has good structural rigidity and stability. The single-axis rotation support structure is simple and reliable. Under the vibration environment of vehicle driving, it has strong anti-torsion and anti-deformation capabilities, ensuring motion accuracy. The storage box 1 in this embodiment is easy to seal and flatten. When rotated to the closed position, the cover plate 2 can be tightly fitted to the sheet metal of the vehicle body 10 through mechanical limit or locking mechanism, maintaining the flatness of the surface of the vehicle body 10, which is beneficial for wind resistance control and aesthetics.

[0066] In a further embodiment of this application, the aforementioned actuator has been optimized; for details, see [link to relevant documentation]. Figure 3 and 4 The implementing agency includes: The pivot 3 is arranged along the longitudinal direction of the vehicle (i.e., the X-direction of the vehicle), and its two ends are rotatably supported on the frame of the body 10 through structures such as bearing seats. The rotating arm 4 is a rigid arm-shaped structure. One end of it is fixedly connected to the rotating shaft 3 by a key or flange, and the other end is fixedly connected to the storage platform (which is actually the storage box 1). The drive unit 5, which can be a servo motor, is mounted on the body 10. Its output shaft is connected to a reduction mechanism (such as a worm gear or planetary gearbox) via a coupling or directly. The output end of the reduction mechanism is connected to the rotating shaft 3 to provide rotational power.

[0067] The actuator in this embodiment is a crank-rocker mechanism or rotary drive mechanism consisting of a motor, a reducer, a rotating shaft 3, and a rocker arm. The drive device 5 provides the original torque, which is amplified by the reduction mechanism and the rotation speed is controlled to drive the rotating shaft 3 to rotate precisely. The rotational motion of the rotating shaft 3 is converted into the circular motion of the storage box 1 by the rotating arm 4.

[0068] In actual operation, the controller receives the takeoff command and sends a pulse signal to the servo motor of the drive device 5. The motor rotates at the set angle (75°~100°) and speed. The torque is transmitted to the rotating shaft 3 through the reduction mechanism, which drives the rotating arm 4 and the storage box 1 to rotate synchronously, so as to achieve the extension or retraction of the predetermined angle.

[0069] The actuator in this embodiment is highly efficient and reliable, with a mature mechanical transmission chain structure, direct power transmission, high efficiency, and low failure rate. The actuator in this embodiment has large torque and precise control. The reduction mechanism amplifies the torque, enabling even a small motor to drive a storage box 1 with a certain weight. The servo motor, in conjunction with the controller, can achieve closed-loop precise control of angle and speed, resulting in smooth movement. The overall device has a high degree of modularity. The entire actuator (motor, reducer, rotating shaft 3, rotating arm 4) can be pre-assembled into a modular assembly, facilitating rapid assembly and debugging on the vehicle production line.

[0070] In other embodiments of this application, the storage box 1 structure described above has been further optimized, specifically, as follows: Figure 4 As shown, the opening is located on the side of the storage box 1 facing the rear of the vehicle; that is, when the storage box 1 is rotated and extended to the working position, the opening faces the rear of the vehicle.

[0071] This opening structure is designed based on considerations of fluid mechanics and operational safety. When the vehicle is moving forward, the front area has positive pressure and complex airflow; the rear area is the wake zone, where the airflow is relatively stable and the direction is consistent with the direction of vehicle movement; the rearward opening can take advantage of this relatively stable airflow environment.

[0072] When the drone takes off from the rear opening, its initial direction of motion is opposite to or at an angle to the direction of the vehicle's movement, avoiding direct entry into the complex airflow field in front; when landing, the drone approaches from behind the vehicle, so the requirements for positioning accuracy are relatively relaxed.

[0073] The opening design in this embodiment effectively improves takeoff and landing safety. When performing drone takeoff and landing missions while the vehicle is moving at low speed, the relatively stable airflow environment at the rear reduces the interference of crosswinds and turbulence on the drone's attitude, lowering the risk of loss of control. It also reduces the intrusion of foreign objects. When the vehicle moves forward, most of the dust, mud, and small stones kicked up from the road surface move from front to back. The rearward-facing opening greatly reduces the probability of these foreign objects being sucked in or splashed into the storage box 1 during takeoff and landing, protecting the drone's sensitive components. Furthermore, operating from the rear of the vehicle facilitates observation by the driver through the rearview mirror, aligning with the rearward perception advantage of most driver assistance systems.

[0074] In some embodiments of this application, the storage box 1 structure described above has been further optimized. Specifically, as follows: Figure 4 As shown, in this embodiment, a sliding drawer 6 is added inside the storage box 1. The sliding direction of the drawer 6 is consistent with the opening direction (i.e., facing the rear of the vehicle). The top of the drawer 6 is open. When the storage box 1 is in the extended state, the drawer 6 can be further controlled to slide outward from the opening. A drive structure can be set between the storage box 1 and the drawer 6 to control the extension and retraction of the drawer 6.

[0075] In this embodiment, the storage box 1 serves as a primary container, providing protection and storage space for the main body, while the drawer 6 serves as a secondary platform, providing an extended lifting and lowering work area. The open design of the top of the drawer 6 allows it to directly become an open-air platform when extended.

[0076] In actual operation, after the storage box 1 extends into place, the control system activates the drive structure of drawer 6 (such as a small linear motor or lead screw) to smoothly push out drawer 6; the drone is then located on the platform formed by drawer 6 and can take off directly from the platform; when landing, the drone first lands on the platform, then drawer 6 carries the drone back into storage box 1, and finally storage box 1 retracts back into the vehicle body 10.

[0077] This embodiment of the drawer 6 structure provides a superior take-off and landing platform for drones. The expanded platform provides drones (especially models with small landing gear spacing) with a larger and more stable landing area, significantly improving the success rate and safety of automatic landing. The drone is under the protection of the storage box 1 or drawer 6 for most of the time, and is only briefly exposed during the most critical take-off and landing moments, further enhancing the equipment's adaptability to harsh environments. Drawer 6 can integrate charging contacts, positioning poles, locking mechanisms, etc., to facilitate automatic charging, precise positioning, and fixation of the drone during flight.

[0078] In a preferred embodiment of this application, the structure of the cover plate 2 described above has been optimized, providing an optimal integration solution; the cover plate 2 of the storage box 1 is not an additional cover plate, but is directly formed from the original rear corner window of the vehicle; as Figure 1 and 2 As shown, the rear corner window is located in the triangular window area between the D-pillar of the vehicle body and the trunk lid; the outer shell of the storage box 1 is rigidly connected to or integrally formed with the window frame of the rear corner window.

[0079] In this embodiment, the cover plate 2 of the drone hangar is integrated with the inherent rear corner window of the vehicle body, achieving structural sharing. When the drone needs to be operated, the rear corner window (i.e., cover plate 2) rotates and moves away together with the storage box 1, and the storage box 1 extends out from inside the vehicle; after the operation is completed, the rear corner window rotates back into place with the storage box 1, and resumes its dual function as a window and a body panel.

[0080] This embodiment eliminates the need for a dedicated cover with a locking mechanism, reducing the number of parts, weight, and potential failure points. In its stowed state, the drone hangar is completely invisible, and the vehicle's appearance is indistinguishable from that of an ordinary vehicle, maintaining the purity of the original vehicle design. By utilizing the existing window assembly, there is no need to develop new cover molds and assembly processes, thus reducing manufacturing costs.

[0081] The storage space of this application is formed inside the vehicle body. That is, the storage platform of this application uses the interior space of the vehicle as the storage space, without the need to add a corresponding storage structure inside the vehicle body, thus simplifying the complexity of the entire structure.

[0082] In some embodiments of this application, this embodiment provides a complete and preferred vehicle-mounted unmanned aerial vehicle hangar structure scheme; such as Figure 1 and 2 As shown, the system is modularly arranged within the triangular structural space between the D-pillar and the side panel of the trunk of the off-road vehicle; it includes a storage box 1, a drawer 6, a rotary actuator, and a body opening. The storage box 1 is a hollow box, and its outer side wall is integrated with the rear corner window of the vehicle, serving as a cover 2; the storage box 1 has an opening on the side facing the rear of the vehicle; the drawer 6 is installed inside the storage box 1 and can extend horizontally backward from the opening, with its top open; the rotary actuator includes a rotating shaft 3 arranged longitudinally along the vehicle body, which is supported by bearings on the vehicle frame; two robust rotating arms 4, one end of which is fixed to the rotating shaft 3, and the other end is connected to the inside of the cover 2; and a servo motor with a reduction mechanism, which is installed inside the vehicle body to drive the rotating shaft 3 to rotate forward and backward; the body opening has a side through hole pre-drilled on the body sheet metal at the corresponding position, matching the cross-section of the storage box 1.

[0083] In this embodiment, the space on the side of the D-pillar is used as the installation position. The storage box is hidden and exposed by rotational motion. The second-level drawer 6 provides a stable working platform. After the servo motor is decelerated and the torque is increased, the rotational motion is converted into the arc-shaped compound motion of the storage box 1 through the simple lever mechanism of the rotating shaft 3 and the rotating arm 4. Finally, the storage box 1, which integrates the rear corner window, can be opened and closed tightly.

[0084] In practice, the process includes the following steps: Startup command: The user issues the command "Extend drone hangar"; Box rotation: The servo motor starts and drives the rotating shaft 3 to rotate about 90° through the reduction mechanism (not limited to this angle in actual application), which drives the rotating arm 4 and the rear corner window and storage box 1 fixed thereto to rotate outward from the vertical storage position to the horizontal extension position with the opening facing the rear. Drawer 6 extends: After storage box 1 is in place, its internal linear drive mechanism is activated, smoothly pushing drawer 6 backward to its maximum stroke, forming an open-air lifting platform; Ready: The drone completes self-check and positioning on the platform and awaits takeoff command.

[0085] Recovery control: Recovery condition monitoring, continuously monitor the drone's status (via RFID or visual identification), upon receiving a recovery signal: repeat the environmental detection process (vehicle speed / obstacles / weather), and add drone attitude verification (tilt sensor data determines whether it is level, ensuring that the drone can be recovered accurately and safely). Reverse motion control: the actuator moves in the opposite direction according to a preset trajectory, with an added buffer phase, namely, S-curve acceleration and deceleration (jerk ≤ 0.5 m / s) at the end 50 mm. 3 It also adds anti-pinch detection and current loop monitoring for torque surges (emergency stop when threshold ΔT≥1.2Nm to avoid damage to the drone). Fail-safe mechanism, dual redundancy arbitration, synchronous operation through master and slave controllers (Lockstep mode), switch to safe state when the difference is >5%.

[0086] Emergency recovery: When the 12V power supply is abnormal, the backup supercapacitor bank (16V / 10F) drive mechanism will force the retraction.

[0087] Log recording: The BlackBox module stores a full-parameter snapshot of the last 100 operations (compliant with ISO 26262ASIL-B).

[0088] Human-computer interaction design: Status visualization, 3D animation display of the mechanism's real-time pose (rendered based on Unity3D engine); voice interaction, supporting natural language command parsing (such as "emergency recall of drone" triggering safety protocols); through multi-sensor data fusion and real-time dynamic decision-making, a highly reliable automated operation closed loop is achieved.

[0089] This embodiment effectively alleviates the three core problems of the roof design: excessive vehicle height, aerodynamic degradation, and unreliable structure. The modular design facilitates vehicle assembly. The integrated rear corner window achieves ultimate visual concealment, combining a sense of technology with aesthetics. The rotational movement is smooth, and the Drawer 6 platform provides a safe buffer zone for take-off and landing, making it particularly suitable for use on unpaved roads or under slight shaking conditions. The mechanical structure is simple and robust, and the electronic control is precise, enabling it to adapt to the harsh operating environments faced by off-road vehicles and other similar vehicles.

[0090] Furthermore, this application also relates to a control method for controlling the aforementioned vehicle-mounted drone hangar. This control method achieves a highly intelligent and safe operating process. Through multi-sensor fusion and intelligent algorithms, takeoff safety judgment is automated and standardized, eliminating the risk of human error and enabling non-professional users to operate safely. Designed specifically for vehicles that may be in various states such as driving, idling, or parked, the drone hangar possesses true "mobile deployment" and "always-on" capabilities, expanding application scenarios. The system can clearly provide feedback on whether takeoff conditions are met and the specific reasons (such as "excessive vehicle speed" or "obstacles on the side"), improving user experience and trust.

[0091] This embodiment provides a method for controlling the aforementioned vehicle-mounted drone hangar; after receiving a drone takeoff command, the method executes the following steps in sequence: S1: Real-time collection of vehicle current speed, current environmental information (including at least wind speed and humidity), and obstacle information around the drone hangar obtained through onboard sensors (such as ultrasonic radar and surround view cameras); S2: Based on the collected current vehicle speed, current environmental information, and surrounding obstacle information, a pre-set logical judgment model is used to comprehensively determine whether the conditions for safe takeoff of the drone are met. S3: If the judgment result is that the takeoff conditions are met, a control signal is sent to the actuator to first control the storage box 1 to extend, and then start the UAV takeoff process; if the conditions are not met, takeoff is prohibited and an alarm is issued.

[0092] The control method in this embodiment is a safety decision based on multi-source information fusion. By incorporating key dynamic factors (vehicle speed, weather, and surrounding obstacles) that affect the safety of take-off and landing of vehicle-mounted drones into a real-time decision loop, the traditional "manual visual judgment" is upgraded to "system automatic safety authorization," ensuring that every take-off operation is carried out within the safety boundaries confirmed by the system.

[0093] This control method can be programmed into software and run in a vehicle domain controller or a dedicated UAV library control box. The program continuously listens for takeoff commands, and once triggered, it immediately calls the sensor data interface to obtain real-time information, runs the judgment logic, and finally drives the actuator or notifies the user based on the output results.

[0094] The control method in this embodiment achieves automated safety management, transferring safety responsibility from the user to the system and avoiding takeoff accidents caused by human negligence or misjudgment. The control method in this embodiment adapts to dynamic vehicle scenarios and is specifically designed for vehicles that may be in various states such as driving, idling, or parked, enabling the vehicle-mounted drone hangar to truly have mobile deployment capabilities. The control method in this embodiment improves system usability, and the clear judgment conditions allow users to clearly understand why takeoff is not allowed (such as excessive vehicle speed or the presence of other vehicles), enhancing the transparency and trust of human-computer interaction.

[0095] In some embodiments of this application, step S2 described above has been optimized. This embodiment provides a specific implementation of the above judgment logic—a serial threshold comparison method; its judgment process is as follows: Figure 5 As shown, A1: Determine the current vehicle speed; if the current vehicle speed is less than or equal to the set speed threshold (e.g., 5 km / h), proceed to the next step; otherwise, determine that the condition is not met. A2: Determine the current environment; if the current wind speed is less than or equal to the set wind speed threshold (e.g., 5 m / s) and the current humidity is less than or equal to the set humidity threshold (e.g., 80%), proceed to the next step; otherwise, determine that the conditions are not met. A3: Determine obstacle information; after the storage box 1 is virtually extended or actually extended, calculate the shortest distance between the nearest obstacle other than the vehicle body and the motion envelope of the storage box 1 (in fact, taking the motion range of the storage box 1 as the center, collect the nearest obstacle other than the vehicle body to the motion range of the storage box 1, and obtain the distance between the nearest obstacle and the motion range of the storage box 1, i.e., the shortest distance); if the shortest distance is ≥ the set distance threshold (e.g., 1.5m), then it is determined that all takeoff conditions are met; otherwise, they are not met.

[0096] In practical applications, the timing of steps A1, A2, and A3 does not necessarily follow the above pattern. It can also be that A1 is used to determine the vehicle speed first, followed by A3 to determine the obstacle, and finally A2 to determine the environment.

[0097] This embodiment adopts a decision tree model of "conditional filtering and veto". The conditions are evaluated in series according to their importance or logical order. If any condition fails to meet the standard, the process is terminated immediately and the specific unqualified item is returned. This is a classic control strategy with high computational efficiency and clear logic. In practice, the above judgment process can be implemented in the software by setting up three independent judgment functions: check Speed(V), check Environment(W,H), and check Obstacle(D). These functions are called in sequence, and if any function returns FALSE, the overall judgment fails.

[0098] The judgment method in this embodiment has a fast response speed, simple calculation, only a few comparison operations, and extremely low system response latency, which can meet real-time requirements. Its logic is transparent and easy to debug. The judgment conditions and thresholds are clear, and engineers can easily adjust the various set thresholds according to experimental data to balance security and availability. It has low resource consumption, does not require complex mathematical models, and has low requirements for processor computing power, making it suitable for integration into vehicle controllers with limited resources.

[0099] In other embodiments of this application, another judgment method is also provided. Specifically, this embodiment provides a more refined judgment logic—the weighted comprehensive scoring method; its judgment process is as follows: Figure 6 As shown: B1: Calculate the safe speed value S v The values ​​are assigned based on the preset range of the current vehicle speed, as shown in Table 1. Table 1: Characteristics of Vehicle Speed ​​Safety Factor The vehicle speed is obtained by looking up the value in Table 1 and then multiplied by the speed weighting factor. a v Obtain the safe speed value S v =A v K v ; B2: Calculate environmental safety values S e ; Calculate wind speed safety value S w Assign a value based on the current wind speed within the set range. K w As shown in Table 2, Table 2: Characteristics of Wind Speed ​​Safety Factor Then multiply by the weighting factor. A w That is, wind speed safety value S w =A w K w ; Calculate the safe humidity value S h Assign a value based on the current humidity level within the set humidity range. K h As shown in Table 3, Table 3: Characteristics of Humidity Safety Factor Then multiply by the weighting factor. A h That is, the safe humidity value S h =A h K h ; Take the safe value of wind speed S w Humidity safety value S h The smaller value among them is used as the current environmental safety value. S e ; B3: Calculate obstacle safety values S d ; Calculate the obstacle safety value using the following formula. in: S(d)— —Safety values ​​for obstacles; d— —The distance other than the vehicle body extends beyond the motion envelope distance between the nearest obstacle to storage box 1 and storage box 1; D safe — —Optimal safety distance, set value, such as 1.5m, but not limited to this value in actual application; γ— —The growth index is used to control the shape of the safety factor curve; over-adjustment γ It can flexibly match the risk tolerance of different vehicle models and institutions. If the safety distance requirement is very strict, then a larger one should be selected. γ ; B4: Calculate the current safety value S current ; S current =S v +S e +S d ; B5: Final Judgment If the current safety value S current ≥ Set safety threshold S th(The safety threshold can be set to 0.85, but this value is not limited in actual application.) If so, it is determined that the takeoff conditions are met; otherwise, they are not met.

[0100] This embodiment adopts a multi-factor weighted fusion and continuous quantitative evaluation model, which can normalize safety influencing factors of different dimensions and scales into additive safety scores, and reflect the differences in importance of each factor through weighting coefficients; the obstacle safety value is calculated using a nonlinear function, which is more in line with the perception of safe distance (the closer the distance, the higher the risk).

[0101] This weighted calculation method in this embodiment provides a more refined and scientific risk assessment, avoiding black-and-white threshold judgments and distinguishing between barely acceptable and very safe states, providing more nuanced information for decision-making. By adjusting the assignment table, weighting coefficients, and function parameters, the system's safety strategy can be finely refined to adapt to different vehicle models and application scenarios (such as the different wind speed tolerances of urban delivery and field exploration). Continuous safety score outputs can serve as inputs for higher-level autonomous driving or mission planning modules. For example, the system can choose to automatically take off when the safety score is highest or automatically recall the drone when the score decreases.

[0102] The multi-environment combination algorithm provided in this embodiment effectively overcomes the three major technical bottlenecks in existing vehicle-mounted unmanned aerial vehicle (UAV) control strategies: The decision-making model is too simple and has poor environmental adaptability: Existing technologies mostly rely on single threshold judgments, which are difficult to cope with complex and ever-changing driving environments, resulting in a high rate of decision-making errors. This embodiment constructs a weighted state decision matrix and integrates multi-dimensional environmental parameters to upgrade from single-condition judgment to multi-factor collaborative decision-making, which significantly improves the system's environmental adaptability and decision-making accuracy. Insufficient perception dimensions and incomplete safety assessment: Traditional solutions are unable to comprehensively assess aerodynamic risks, electrical safety and physical collision risks due to a lack of perception information. This embodiment introduces multimodal sensor fusion technology to incorporate vehicle speed, wind speed, air humidity and obstacle distance into a unified assessment framework, achieving a panoramic and quantitative assessment of takeoff environment safety. The rigid control logic lacks intelligence and scalability: the hard threshold logic based on fixed rules cannot be dynamically adjusted according to different operating conditions. The weighted decision model in this embodiment introduces configurable weight coefficients, enabling the system to make adaptive decisions based on the real-time importance of different parameters, providing a core algorithmic foundation for the continuous optimization of control strategies and scenario expansion.

[0103] In summary, this embodiment upgrades the control logic of the vehicle-mounted drone hangar from an isolated and rigid "condition judgment" to a comprehensive and adaptive "state decision," fundamentally improving the system's intelligence level and operational safety.

[0104] In practical applications, the control system of this application can integrate two judgment logics and can automatically select according to the configuration or scenario; Mode A (Fast Response Mode): Employs the above-mentioned serial threshold comparison method; this mode has low computational cost and fast response, making it suitable for scenarios with high real-time requirements or limited processor resources. Mode B (Refined Evaluation Mode): This mode adopts the weighted comprehensive scoring method described above. It provides a comprehensive evaluation and continuous security scores, making it suitable for scenarios with extremely high security requirements or those that need to be linked with advanced intelligent systems. Optional hybrid strategy: The system can use mode A by default for quick screening; only when mode A determines that the vehicle is in a "boundary state" (such as the vehicle speed is just below the threshold or the distance is just above the threshold) will mode B be automatically activated for a second fine evaluation to make a better decision.

[0105] This judgment method embodies the advanced control concept of integrating hierarchical decision-making and strategy; it combines simple rule judgment with complex model evaluation, ensuring core security response speed without sacrificing the ability to handle complex boundary situations with fine detail, thus achieving a balance between efficiency and accuracy.

[0106] In practice, the following procedure can be followed: 1. System Initialization The algorithm module is equipped with two judgment logics and a mode selection strategy is set (such as fixed mode or selection based on vehicle driving mode). 2. Real-time monitoring and judgment After the takeoff command is triggered, the system runs the corresponding judgment process according to the selected mode; under the hybrid strategy, mode A is run first, and if the result is "passed but at the boundary", mode B is automatically called for verification. 3. Decision-making and execution Based on the final judgment, the system will either "allow takeoff and extend the mechanism" or "deny takeoff and report the reason"; Mode B can also output a specific safety score for UI display or reporting to the cloud.

[0107] The judgment method presented in this application combines high efficiency and accuracy, meeting the real-time requirements of automotive embedded systems while achieving the most scientific and precise results in critical safety decisions. This method also boasts strong scenario adaptability, with two modes covering diverse needs from ordinary passenger cars to special-purpose vehicles, making the control method widely applicable. It reserves space for intelligent evolution, allowing for continuous collection and use of safety scoring data for machine learning, which can optimize the assignment table, coefficients, and even the judgment model itself in the future, enabling the system to possess self-learning and continuous improvement capabilities. Furthermore, it constructs a complete safety closed loop, from environmental perception to intelligent judgment and then to mechanism execution, forming a complete and automated safety operation closed loop, which is a key software guarantee for the true practical application of automotive drones.

[0108] In addition, this application also relates to a vehicle-mounted drone hangar control system, including a data acquisition module, a processing and judgment module, and an execution control module. The data acquisition module is used to collect vehicle speed, environmental information, and obstacle information around the drone hangar. The processing and judgment module is used to determine whether the drone takeoff conditions are met based on the collected information. The execution control module is used to control the execution mechanism to extend the storage box 1 and start the drone takeoff process when the takeoff conditions are met.

[0109] The processing and judgment module has two forms. Form one includes a first comparison module, a second comparison module, a third comparison module, and a result output module. The first comparison module compares the current vehicle speed with a set speed threshold to determine if the current speed meets the takeoff requirements. The second comparison module, when the current vehicle speed meets the takeoff requirements, compares the current wind speed in the collected environmental information with a set wind speed threshold and the current humidity in the collected environmental information with a set humidity threshold to determine if the current environment meets the takeoff requirements. The third comparison module, when the current environment meets the takeoff requirements, identifies the nearest obstacle (excluding the vehicle body) to the extended storage box 1, calculates the shortest distance between the obstacle and the storage box 1, and compares this shortest distance with a set distance threshold to determine if the surrounding obstacles meet the takeoff requirements. The result output module outputs a judgment result indicating that the takeoff conditions are met when the surrounding obstacles meet the takeoff requirements, and outputs a judgment result indicating that the takeoff conditions are not met when any indicator fails to meet the takeoff requirements. The second type of processing and judgment module includes a vehicle speed safety value calculation module, an environmental safety value calculation module, an obstacle safety value calculation module, a current safety value calculation module, and a comparison and analysis module. The vehicle speed safety value calculation module assigns a speed value to the current vehicle speed based on the set speed range it falls within, and calculates the current speed safety value based on the assigned speed value and a speed weighting coefficient. The environmental safety value calculation module assigns a wind speed value to the current wind speed based on the set wind speed range it falls within, calculates the current wind speed safety value based on the assigned wind speed value and a wind speed weighting coefficient, and assigns a humidity value based on the set humidity range it falls within. The system calculates the current humidity safety value using a humidity weighting coefficient and determines the current environmental safety value based on the current wind speed safety value and the current humidity safety value. The obstacle safety value calculation module is used to obtain the nearest obstacle other than the vehicle body to the extended storage box 1, calculate the shortest distance between the obstacle and the storage box 1, and calculate the obstacle safety value based on the shortest distance. The current safety value calculation module is used to calculate the current safety value as the sum of the current vehicle speed safety value, the current environmental safety value, and the obstacle safety value. The comparison and analysis module is used to compare the current safety value with the set safety threshold. If the current safety value is not less than the safety threshold, it outputs a judgment result that the takeoff conditions are met; otherwise, it outputs a judgment result that the takeoff conditions are not met.

[0110] This system is based on a modular architecture, with each module responsible for a specific function. Automation is achieved through data flow interconnection. The data acquisition module integrates multiple sensors, the start-up judgment module applies logical rules, the calculation module uses formulas for processing, and the control module drives the actuators. In principle, modularity improves the system's scalability, testability, and maintainability.

[0111] The actual control operation includes the following steps: Data acquisition phase: After receiving the drone takeoff command, collect the vehicle's current speed, current environmental information, and information on obstacles around the drone hangar; Initiation judgment phase: Based on the current vehicle speed, environmental information, and obstacle information, determine whether the takeoff conditions are met; Execution phase: If the takeoff conditions are met, the control actuator extends storage box 1 and controls the drone to take off.

[0112] This system achieves efficient integration and flexible deployment through modular design, facilitating development and maintenance; it covers the complete control process, ensuring seamless integration of methods and hardware, improving automation level and reliability; and it reduces the risk of human error, making it suitable for modern intelligent vehicle platforms.

[0113] The vehicle-mounted drone hangar of this application possesses excellent engineering feasibility and commercial value. It adopts a modular and integrated design with a compact hardware structure, allowing for convenient installation as an independent module during vehicle manufacturing. The integrated design with the rear corner window further simplifies components, reducing costs and weight. The vehicle-mounted drone hangar of this application employs dual-judgment logic, enabling the system to adapt to different safety standards and performance requirements from ordinary passenger cars to special-purpose vehicles, demonstrating broad platform adaptability. The comprehensive solution, from mechanical structure and control methods to software systems, provides automakers or modification manufacturers with a complete "out-of-the-box" solution, significantly enhancing the technological added value and market competitiveness of vehicles.

[0114] In addition, this application provides a vehicle-mounted drone hangar control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the vehicle-mounted drone hangar control method in the above embodiments.

[0115] The following is for reference. Figure 7 The diagram illustrates a structural schematic suitable for implementing the vehicle-mounted drone hangar control device of the embodiments of this application. The vehicle-mounted drone hangar control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), vehicle terminals (e.g., vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 7 The illustrated vehicle-mounted drone hangar control device is merely an example and should not be construed as limiting the functionality or scope of application of the embodiments described in this application. The vehicle-mounted drone hangar control device of this application can be integrated into the vehicle control system for unified control and operation.

[0116] like Figure 7As shown, the vehicle-mounted drone hangar control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the vehicle-mounted drone hangar control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the vehicle-mounted drone hangar control equipment to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows a vehicle-mounted drone hangar control equipment with various systems, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0117] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0118] The vehicle-mounted drone hangar control device provided in this application, employing the vehicle-mounted drone hangar control method described in the above embodiments, can solve the technical problem of vehicle-mounted drone hangar control. Compared with the prior art, the beneficial effects of the vehicle-mounted drone hangar control device provided in this application are the same as those of the vehicle-mounted drone hangar control method provided in the above embodiments, and other technical features in this vehicle-mounted drone hangar control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0119] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0120] 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.

[0121] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the vehicle-mounted unmanned aerial vehicle hangar control method in the above embodiments.

[0122] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CDROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0123] The aforementioned computer-readable storage medium may be included in the vehicle-mounted drone hangar control device; or it may exist independently and not be assembled into the vehicle-mounted drone hangar control device.

[0124] The aforementioned computer-readable storage medium carries one or more programs. When the aforementioned one or more programs are executed by the vehicle-mounted drone hangar control device, the vehicle-mounted drone hangar control device: after receiving the drone take-off command, collects the vehicle's current speed, current environmental information, and obstacle information around the drone hangar; determines whether the take-off conditions are met based on the current speed, environmental information, and obstacle information; if the take-off conditions are met, controls the actuator to extend the storage box 1 and controls the drone to take off.

[0125] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server.

[0126] In cases involving remote computers, the remote computer can be connected to the user's computer through any type of network—including a local area network (LAN) or a wide area network (WAN)—or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0127] 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 application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that 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 consecutively indicated 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, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0128] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0129] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described vehicle-mounted unmanned aerial vehicle (UAV) hangar control method, thereby solving the technical problem. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the vehicle-mounted UAV hangar control method provided in the above embodiments, and will not be repeated here.

[0130] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle-mounted unmanned aerial vehicle (UAV) control method described above.

[0131] The computer program product provided in this application can solve the technical problem. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the vehicle-mounted unmanned aerial vehicle hangar control method provided in the above embodiments, and will not be repeated here.

[0132] In this application, the X direction refers to the longitudinal direction of the vehicle, such as... Figure 2 The left and right directions, where left is X forward and right is X backward; the Y direction in this application refers to the left and right directions of the vehicle, such as... Figure 2 The direction perpendicular to the paper is shown; the Z-direction in this application refers to the vertical direction of the vehicle, such as... Figure 2 The aforementioned vertical direction.

[0133] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this application. Various changes and modifications can be made to this application without departing from the spirit and scope thereof, and all such changes and modifications fall within the scope of this application as claimed. The scope of protection of this application is defined by the appended claims and their equivalents.

Claims

1. A vehicle-mounted drone hangar, characterized in that, include, A storage platform is provided on the side and / or rear of the vehicle body (10), and the vehicle body (10) is provided with a accommodating space for accommodating the storage box (1); the storage platform is used to store the drone; An actuator, which is disposed between the vehicle body and the storage platform, is used to drive the storage platform to extend out of the vehicle body or retract into the vehicle body from the accommodating space; The cover plate (2) is set on the side and / or rear of the vehicle body (10). After the storage platform is retracted into the vehicle body, the cover plate (2) and the vehicle body exterior trim form an integral exterior trim piece of the vehicle body.

2. The vehicle-mounted unmanned aerial vehicle hangar according to claim 1, characterized in that, The cover plate (2) is connected to the storage platform and moves with the storage platform.

3. The vehicle-mounted unmanned aerial vehicle hangar according to claim 1, characterized in that, The storage platform includes a storage box (1), which is hollow inside and used to store drones. The storage box (1) includes an opening and closing structure. When the opening and closing structure is opened, it is used to release the hollow inside of the storage box (1). When the opening and closing structure is closed, it is used to close the hollow inside of the storage box (1).

4. The vehicle-mounted unmanned aerial vehicle hangar according to claim 3, characterized in that, The opening and closing structure includes an opening and closing drawer structure connected to the storage box (1) body.

5. A vehicle-mounted unmanned aerial vehicle hangar according to claim 3, characterized in that, The opening and closing structure includes an opening and closing cover connected to the storage box (1) body.

6. A vehicle-mounted unmanned aerial vehicle hangar according to claim 1 or 2, characterized in that, The actuator drive includes a rotary motion drive mechanism, which drives the storage platform to extend out of the vehicle body (10) accommodating space and retract into the vehicle body in a rotating manner.

7. A vehicle-mounted unmanned aerial vehicle hangar according to claim 6, characterized in that, The implementing mechanism includes, A pivot (3) is arranged longitudinally along the vehicle and is rotatably supported on the vehicle body (10) about its own axis. A rotating arm (4) is fixedly connected to a rotating shaft (3) at one end and to a storage platform at the other end; The drive unit (5), which is mounted on the vehicle body (10), is used to drive the rotating shaft (3) to rotate.

8. A vehicle-mounted unmanned aerial vehicle hangar according to claim 4, characterized in that, The storage box (1) has an opening located on the side of the storage box (1) facing the rear of the vehicle.

9. A vehicle-mounted unmanned aerial vehicle hangar according to claim 4 or 8, characterized in that, The storage box (1) is provided with a drawer (6) that can extend and retract from the opening; when the storage box (1) is in the extended state, the top of the drawer (6) is open to form a platform for the take-off and landing of the drone.

10. A vehicle-mounted unmanned aerial vehicle hangar according to claim 1 or 2, characterized in that, The cover plate (2) is located at the rear corner window of the vehicle; the rear corner window is located between the D pillar of the vehicle body (10) and the trunk lid.

11. A vehicle-mounted unmanned aerial vehicle hangar according to claim 1, characterized in that, The accommodating space is formed inside the vehicle body.

12. A method for controlling a vehicle-mounted unmanned aerial vehicle (UAV) hangar, characterized in that, The control method is used to control the vehicle-mounted unmanned aerial vehicle hangar as described in any one of claims 1 to 11, including, After receiving the drone takeoff command, the system collects the vehicle's current speed, current environmental information, and information on obstacles around the drone hangar. Determine whether takeoff conditions are met based on current vehicle speed, environmental information, and obstacle information; If the takeoff conditions are met, the control actuator drives the storage platform to extend from the vehicle body and controls the drone to take off.

13. A vehicle-mounted unmanned aerial vehicle (UAV) hangar control method according to claim 12, characterized in that, The method for determining whether takeoff conditions are met based on current vehicle speed, obstacle information, and environmental information includes: collecting the current vehicle speed and determining whether the current vehicle speed meets the takeoff requirements; when the current vehicle speed meets the takeoff requirements, collecting the current environmental information and determining whether the current environment meets the takeoff requirements; when the current environment meets the takeoff requirements, collecting obstacle information around the UAV hangar and determining whether the surrounding obstacles meet the takeoff requirements; if the surrounding obstacles meet the takeoff requirements, then determining that the current takeoff conditions are met.

14. A vehicle-mounted unmanned aerial vehicle (UAV) hangar control method according to claim 13, characterized in that, The system compares the current vehicle speed with a set speed threshold. If the current speed does not exceed the set speed threshold, the current speed is considered to meet the takeoff requirements; otherwise, the takeoff requirements are not met. When the current speed meets the takeoff requirements, the system compares the current wind speed and humidity in the environmental information with a set wind speed threshold and a set humidity threshold. If the current wind speed and humidity do not exceed the set wind speed threshold and the current humidity does not exceed the set humidity threshold, the current environment is considered to meet the takeoff requirements; otherwise, the takeoff requirements are not met. When the current environment meets the takeoff requirements, the system obtains the nearest obstacle (excluding the vehicle body) to the extended storage platform, calculates the shortest distance between the obstacle and the storage platform, and compares this shortest distance with a set distance threshold. If the shortest distance exceeds the set distance threshold, the takeoff requirements are met; otherwise, the takeoff requirements are not met.

15. A vehicle-mounted unmanned aerial vehicle (UAV) hangar control method according to claim 12, characterized in that, The method for determining whether takeoff conditions are met based on current vehicle speed, obstacle information, and environmental information includes: collecting the current vehicle speed; assigning a speed value based on the collected current vehicle speed; calculating a safe current vehicle speed value based on the assigned speed value and a speed weighting coefficient; collecting the current humidity and current wind speed of the vehicle's environment; assigning a wind speed value to the current wind speed; calculating a safe current wind speed value based on the assigned wind speed and a wind speed weighting coefficient; assigning a humidity value to the current humidity; calculating a safe current humidity value based on the assigned humidity and a humidity weighting coefficient; determining a safe current environment value based on the safe current wind speed value and the safe current humidity value; acquiring the nearest obstacle (excluding the vehicle body) to the extended storage platform; calculating the shortest distance between the obstacle and the storage platform as the current distance; calculating an obstacle safety value based on the current distance; using the sum of the safe current vehicle speed value, the safe current environment value, and the safe obstacle value as the current safety value; comparing the current safety value with a set safety threshold; if the current safety value is not less than the safety threshold, then the takeoff conditions are met; otherwise, the takeoff conditions are not met.

16. A vehicle-mounted unmanned aerial vehicle (UAV) hangar control method according to claim 15, characterized in that, The method for assigning vehicle speed based on the collected current vehicle speed includes: obtaining the vehicle speed value corresponding to the current vehicle speed according to the set vehicle speed range and vehicle speed assignment table.

17. A vehicle-mounted unmanned aerial vehicle (UAV) hangar control method according to claim 15, characterized in that, The method for assigning a wind speed value to the current wind speed includes: obtaining the wind speed value corresponding to the current wind speed according to the set wind speed range and wind speed assignment table.

18. A vehicle-mounted unmanned aerial vehicle (UAV) hangar control method according to claim 15, characterized in that, The method for assigning a humidity value to the current humidity includes: obtaining the humidity value corresponding to the current humidity according to the set humidity range and humidity assignment table.

19. A vehicle-mounted unmanned aerial vehicle (UAV) hangar control method according to claim 15, characterized in that, The method for determining the current environmental safety value based on the current wind speed safety value and the current humidity safety value includes: selecting the smaller value between the current wind speed safety value and the current humidity safety value as the current environmental safety value.

20. A vehicle-mounted unmanned aerial vehicle (UAV) hangar control method according to claim 15, characterized in that, The method for calculating the obstacle safety value based on the current distance includes: Calculate the obstacle safety value using the following formula. in: S(d)— —Safety values ​​for obstacles; d— —The distance between the nearest obstacle extending beyond the storage platform (excluding the vehicle body) and the motion envelope of the storage platform; D safe — —Optimal safe distance; γ— —Growth index.

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