Unmanned aircraft airport, unmanned aircraft system, and unmanned aircraft cruising system

Abstract

To provide an unmanned aircraft airport, an unmanned aircraft system, a cruising inspection system, a cruising inspection method, a control device, a device, a storage medium, and an unmanned aircraft crushing system.SOLUTION: An unmanned aircraft airport includes a support base, a parking apron, a protective cover, and a protective cover opening / closing driving device. The parking apron is mounted on the apex of the support base, the protective cover covers the apex of the parking apron, the protective cover opening / closing driving device is mounted between the support base and the protective cover, and the protective cover opening / closing driving device is configured so that a bar link mechanism drives the protective cover and switch an open position and a close position. The unmanned air craft airport is provided with a protective cover for a parking apron.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] Cross - reference to Related Applications This disclosure is based on and claims priority to Chinese Patent Application No. 201911031815.5 filed on October 28, 2019, Chinese Patent Application No. 201911303904.0 filed on December 17, 2019, and Chinese Patent Application No. 202010253900.2 filed on April 2, 2020, which are hereby incorporated by reference in their entirety.

[0002] This disclosure relates to the field of unmanned aerial vehicles, and particularly to unmanned aerial vehicle airports, unmanned aerial vehicle systems, tour inspection systems, tour inspection methods, control devices, apparatuses, storage media, and unmanned aerial vehicle cruise systems.

Background Art

[0003] An unmanned aerial vehicle is an aircraft that is operated by a wireless remote control device and an autonomous program control device, or is fully or intermittently autonomously operated by an in - vehicle computer. Depending on the application field, unmanned aerial vehicles are divided into military unmanned aerial vehicles and civilian unmanned aerial vehicles. Military unmanned aerial vehicles are further divided into reconnaissance aircraft and target aircraft. In the civilian field, unmanned aerial vehicles are used in many specific industries such as aerial photography, agriculture, plant protection, miniature self - photography, express transportation, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, reporting, industrial patrol inspection, disaster relief, movie and TV shooting, and other fields.

[0004] The inventors have found that there are at least the following problems in the background art. That is, the ground handling system of the unmanned aircraft is still relatively underdeveloped at present, which is mainly composed of a runway / parking apron and a wireless remote control device. The runway is suitable for unmanned aircraft taking off and landing in a rolling manner, and the parking apron is suitable for unmanned aircraft taking off and landing in the vertical direction. At such an airport with a parking apron, the unmanned aircraft after landing is likely to get wet and damaged in rainy or snowy weather.

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present disclosure provides an unmanned aircraft airport, an unmanned aircraft system, an inspection system, an inspection method, a control device, a device, a storage medium, and an unmanned aircraft cruise system, which are configured to optimize the structure of the unmanned aircraft airport.

Means for Solving the Problems

[0006] Some embodiments of the present disclosure provide an unmanned aircraft airport, which includes a support base, a parking apron mounted on the support base, a protective cover covering the top of the parking apron, a protective cover opening and closing drive device mounted between the support base and the protective cover, which is configured to cause a bar link mechanism to drive the protective cover to switch between an open position and a closed position.

[0007] Some embodiments of the present disclosure also provide an unmanned aircraft system including an unmanned aircraft airport according to any one of the technical solutions of the present disclosure.

[0008] The unmanned aircraft airport according to the above embodiment includes a protective cover for the parking apron. The protective cover is open when in the open position, and the unmanned aircraft parks on the parking apron and takes off from the parking apron. The protective cover is closed when in the closed position, thus playing a role in protecting the unmanned aircraft and preventing the unmanned aircraft from being damaged and contaminated by external rain, impurities, and the like. In addition, the protective cover opening and closing drive device drives the protective cover to switch between the open position and the closed position by using a bar link mechanism. The bar link mechanism has high-reliability movement and a small occupied space, and can well meet the opening and closing requirements of the protective cover of the unmanned aircraft airport.

[0009] Some embodiments of the present disclosure provide an inspection tour system, an inspection tour method, a control device, an apparatus, and a storage medium, which realize automatic inspection tour of an unmanned aircraft without manual control, thereby saving labor costs.

[0010] Some embodiments of the present disclosure provide an inspection tour system, which includes an airport monitor device, an airport control device, and an unmanned aircraft control device. When the airport control device receives an unmanned aircraft startup command transmitted by the airport monitor device, it detects whether the unmanned aircraft meets the preset inspection tour conditions. When it detects that the unmanned aircraft meets the preset inspection tour conditions, it transmits an inspection tour request message to the airport monitor device. When it receives an inspection tour command transmitted by the airport monitor device based on the inspection tour request message, it is configured to start the unmanned aircraft control device to detect whether the unmanned aircraft meets the preset takeoff conditions. When the unmanned aircraft control device detects that the unmanned aircraft meets the preset takeoff conditions, it sends a takeoff request message to the airport control device, and when it receives a takeoff order sent by the airport control device based on the takeoff request message, it controls the unmanned aircraft to take off based on the preset inspection route and execute the inspection.

[0011] Some embodiments of the present disclosure further provide an inspection method, which is applied to an airport control device, When receiving a drone startup command sent by an airport monitor device, detect whether the drone meets the preset inspection conditions, When detecting that the drone meets the preset inspection conditions, send an inspection request message to the airport monitor device, When receiving an inspection order sent by the airport monitor device based on the inspection request message, start the unmanned aircraft control device to detect whether the unmanned aircraft meets the preset takeoff conditions, and thereby send a takeoff request message to the airport control device when detecting that the preset takeoff conditions of the unmanned aircraft are met, When receiving the takeoff request message, detect whether the drone airport meets the preset pre-flight conditions, and when detecting that the drone airport meets the preset pre-flight conditions, send a takeoff order to the unmanned aircraft control device, whereby the unmanned aircraft control device controls the unmanned aircraft to take off based on the preset inspection route and execute the inspection.

[0012] Some embodiments of the present disclosure further provide an inspection method, which is applied to an unmanned aircraft control device, When detecting the startup operation of the airport control device, detecting whether the unmanned aircraft meets the preset takeoff conditions; When detecting that the unmanned aircraft meets the preset takeoff conditions, sending a takeoff request message to the airport control device; When receiving a takeoff command sent by the airport control device based on the takeoff request message, controlling the unmanned aircraft to take off based on the preset inspection route and execute the inspection. This includes:

[0013] Some embodiments of the present disclosure further provide an airport control device, which A first detection module configured to detect whether the unmanned aircraft meets the preset inspection conditions when receiving an unmanned aircraft startup command sent by the airport monitor device; An inspection request message sending module configured to send an inspection request message to the airport monitor device when detecting that the unmanned aircraft meets the preset inspection conditions; When receiving an inspection command sent by the airport monitor device based on the inspection request message, triggering the unmanned aircraft control device to detect whether the unmanned aircraft meets the preset takeoff conditions, and thereby when detecting that the preset takeoff conditions are met, the unmanned aircraft control device is configured to send a takeoff request message to the airport control device. A trigger module; When receiving a takeoff request message, detect whether the unmanned aircraft airport meets the preset pre-flight conditions, and when it is detected that the unmanned aircraft airport meets the preset pre-flight conditions, send a takeoff command to the unmanned aircraft control device, whereby the unmanned aircraft control device is configured to control the unmanned aircraft to take off based on the preset inspection route and perform an inspection, and a takeoff command sending module.

[0014] Some embodiments of the present disclosure further provide an unmanned aircraft control device, which A second detection module configured to detect whether the unmanned aircraft meets the preset takeoff conditions when detecting the trigger operation of the airport control device, A takeoff request message sending module configured to send a takeoff request message to the airport control device when it is detected that the unmanned aircraft meets the preset takeoff conditions, A patrol inspection control module configured to control the unmanned aircraft to take off based on the preset inspection route and perform a patrol inspection when receiving a takeoff command sent by the airport control device based on the takeoff request message.

[0015] Some embodiments of the present disclosure further provide a device, which One or more processors, A memory for storing one or more programs, wherein The one or more programs, when executed by the one or more processors, enable the one or more processors to implement an inspection method according to the second aspect or the third aspect, and a memory.

[0016] Some embodiments of the present disclosure further provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the patrol inspection method according to the second or third aspect.

[0017] The above embodiments of the present invention have the following advantages or beneficial effects.

[0018] The automatic patrol inspection process of the unmanned aerial vehicle is realized by using an airport monitor device, an airport control device, and an unmanned aerial vehicle control device. In some embodiments, when the airport control device receives a drone startup command sent by the airport monitor device, it detects whether the drone meets the preset patrol inspection conditions. When it detects that the drone meets the preset patrol inspection conditions, it sends a patrol inspection request message to the airport monitor device. When it receives a patrol inspection command sent by the airport monitor device based on the patrol inspection request message, the unmanned aerial vehicle control device is started to detect whether the drone meets the preset takeoff conditions. When it detects that the drone meets the preset takeoff conditions, the unmanned aerial vehicle control device sends a takeoff request message to the airport control device. When it receives a takeoff command sent by the airport control device based on the takeoff request message, the drone takes off based on the preset patrol inspection route and is controlled to perform a patrol inspection. There is no need to manually control the drone throughout the patrol inspection process, thus realizing the automatic patrol inspection of the drone and saving labor costs.

[0019] The present disclosure provides an unmanned aerial vehicle cruising system, which realizes the continuous cruising operation of the unmanned aerial vehicle in the cruising process of the unmanned aerial vehicle and expands the cruising range of the unmanned aerial vehicle.

[0020] Some embodiments of the present disclosure provide an unmanned aerial vehicle cruising system, which includes an unmanned aerial vehicle and a plurality of cruising control devices. The plurality of cruising control devices are preset according to the cruising route of the unmanned aerial vehicle, The unmanned aerial vehicle cruises to each cruising control device in turn according to the preset cruising route, When the unmanned aerial vehicle arrives at any cruising control device, the unmanned aerial vehicle establishes a connection with the cruising control device, The cruising control device performs a cruising continuation operation on the unmanned aerial vehicle.

[0021] The unmanned aerial vehicle cruising system according to some embodiments of the present disclosure includes an unmanned aerial vehicle and a plurality of cruising control devices preset in the cruising route of the unmanned aerial vehicle. The unmanned aerial vehicle cruises to each cruising control device in turn according to the preset cruising route. When the unmanned aerial vehicle arrives at any cruising control device, the unmanned aerial vehicle establishes a connection with the cruising control device. The cruising continuation operation is performed on the unmanned aerial vehicle through the cruising control device, whereby the unmanned aerial vehicle does not need to return to the previous cruising control device for charging or other cruising continuation operations. The unmanned aerial vehicle further continues the patrol operation to the cruising destination, and the automatic cruising range of the unmanned aerial vehicle is expanded.

Brief Description of the Drawings

[0022]

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Embodiments for Carrying Out the Invention

[0023] The technical solutions provided by the present disclosure will be described in more detail below in relation to FIGS. 1 to 54.

[0024] Referring to FIGS. 1 to 29, the drone 200 is configured to perform a specific task. After completing the task, the drone 200 flies back to the drone airport 100 for maintenance and charging in order to perform the next task. The drone airport 100 according to some embodiments of the present disclosure has a protective cover 3 that opens and closes automatically. When the aircraft flies back to the set position above the parking apron 2, the protective cover 3 is opened and waits for the drone 200 to land in place, and then the protective cover 3 is closed to protect the drone 200.

[0025] In some of the following embodiments, the drone 200 is automatically charged when parked at the drone airport 100. That is, the drone 200 is charged within the protective cover 3. Considering the problem of heat dissipation in the charging process, in some embodiments, the air conditioner 17 is also attached to the drone airport 100, and the air conditioner 17 is configured to dissipate heat from the device being charged, and the air conditioner 17 is also matched with the fan 13, which will be described in detail later, for use in improving the heat dissipation effect.

[0026] Hereinafter, specific implementation forms of the drone airport 100 according to some embodiments of the present disclosure will be described in detail.

[0027] Referring to FIGS. 1 to 7, some embodiments of the present disclosure provide an unmanned aircraft airport 100 including a support base 1, a parking apron 2, a protection cover 3, and a protection cover opening / closing drive device 4.

[0028] The support base 1 is the basic frame of the entire unmanned aircraft airport 100. On the one hand, the support base 1 mounts the unmanned aircraft 200 and provides a base for the attachment of other components. On the other hand, the support base 1 is arranged to realize the modularization of the entire unmanned aircraft airport 100, and the unmanned aircraft airport 100 can be arranged in any desired layout during actual use.

[0029] In some embodiments, a walking device is attached to the support base 1. The walking device is, for example, a caster 15, a universal wheel, or a crawler, which will be described later. The walking device is arranged so that the support base 1 can be easily displaced, and the support base 1 can be easily arranged at any required occasion.

[0030] In some embodiments, referring to FIG. 5, in order to facilitate the movement of the support base 1 of the unmanned aircraft airport 100, casters 15 are provided at the bottom of the rack 11. The casters 15 are fixed at the four corners of the bottom of the rack 11, thereby forming a walkable device for the support base 1. When the unmanned aircraft airport 100 needs to move, the unmanned aircraft airport 100 is pushed to walk.

[0031] Referring to FIG. 5, in order to facilitate the fixation of the support base 1 of the unmanned aircraft airport 100, a foot cup 16 is provided at the bottom of the rack 11. Further, the foot cup 16 is fixed at the four corners of the bottom of the rack 11. The foot cup 16 is adjacent to the caster 15 and serves to support the above-mentioned support base 1. When the unmanned aircraft airport 100 needs to move to a designated position and be fixed, the height of the foot cup 16 is adjusted, whereby the foot cup 16 touches the ground and the caster 15 leaves the ground. In some embodiments, the foot cup 16 is fixed to the ground by an expansion bolt.

[0032] Referring to FIGS. 5 to 8, in some embodiments, the support base 1 includes a rack 11 and a panel 12. The panel 12 is disposed on the side surface of the rack 11, the parking apron 2 is attached to the top of the rack 11, and the unmanned aircraft 200 parks on the top of the parking apron 2. For example, the rack 11 adopts a frame structure formed by splicing aluminum alloy structures, specifically aluminum profiles, which are structurally strong and lightweight. The rigidity and strength of the entire rack 11 meet the requirements, and the weight is very light.

[0033] Referring to FIGS. 5 and 8, the panel 12 covers all the side surfaces of the rack 11. The panel 12 includes, for example, stainless steel plates, aluminum alloy plates, and other rust-proof and moisture-proof materials, and the panel 12 serves to protect the components disposed inside the rack 11. An access door 14 is provided on the panel 12. The access door 14 is attached to the panel 12 by a hinge, is disposed under the protective cover 3, and is connected to the panel 12 by a door lock. The access door 14 is opened when maintenance inside the airport is required.

[0034] The specific structure of the parking apron 2 will be introduced below.

[0035] Referring to FIGS. 1 and 8, the parking apron 2 is attached to the top of the support base 1. The parking apron 2 is a component where the unmanned aircraft 200 lands and stops, and has various implementation forms, such as a flat plate made of stainless steel or aluminum alloy and other non-magnetic materials. The parking apron 2 is attached and fixed to the top of the rack 11.

[0036] Referring to FIGS. 8, and 11 to 13, in order to smoothly place the unmanned aircraft 200 in place after parking, the unmanned aircraft 200 is properly stacked according to a set direction. In some embodiments, an induction device 80 is provided on the top of the parking apron 2. The induction device 80 pushes the unmanned aircraft 200 to move to a set position through the linear movement of each correction rod. In some embodiments, the induction device 80 adopts an existing structure.

[0037] Referring to FIGS. 8 and 11 to 13, the induction device 80 includes a plurality of correction rods. The correction rods are attached to the parking apron 2, and the induction device 80 is configured to clamp the unmanned aircraft 200 by linearly moving the plurality of correction rods, so that the unmanned aircraft 200 reaches the set position on the parking apron 2.

[0038] In particular, the induction device 80 includes four correction rods. The four correction rods are parallel in pairs and define a rectangular frame. The four correction rods move towards each other simultaneously, whereby the side length of the rectangular frame is shortened to a size that clamps the unmanned aircraft 200. The unmanned aircraft 200 arranged within the rectangular frame is then moved by the correction rods. The four correction rods move away from each other simultaneously, whereby the side length of the rectangular frame is extended to a size that clamps the unmanned aircraft 200. The unmanned aircraft 200 arranged within the rectangular frame is unlocked, and the unmanned aircraft 200 then takes off.

[0039] Referring to FIGS. 8 and 11 to 13, the guiding device 80 further includes a locking portion 810, and the locking portion 810 is fixed to the correction rod by a method such as bolting or welding. When the unmanned aircraft 200 lands at the set position of the parking apron 2, the locking portion 810 presses the landing gear 201 of the unmanned aircraft 200. The locking portion 810 is particularly a sheet-like structure, and two or three locking sheets are arranged on one correction rod at intervals. The pressing sheets on the two opposing correction rods are arranged opposite to each other and cooperate to press the landing gear 201 of the unmanned aircraft 200.

[0040] Referring to FIGS. 8 and 11 to 13, the guiding device 80 includes a motor 801, an active sprocket group 802, a passive sprocket group 803, a first correction chain 804, a second correction chain 805, a first correction rod 806, a second correction rod 807, a third correction rod 808, and a fourth correction rod 809. The main body structure is mounted under the parking apron 2, the correction rods are exposed outside the parking apron 2, and are arranged at the top of the parking apron 2.

[0041] Referring to FIGS. 12 and 13, three groups of the active sprocket group 802 and the passive sprocket group 803 are mounted on the rack 11 and arranged at the four corners of the rack 11. The active sprocket group 802 includes a first active sprocket, a second active sprocket, a first passive sprocket, and the like. The first active sprocket and the second active sprocket are mounted and fixed on the same vertical shaft. The first active sprocket is in the upper layer, and the second active sprocket is in the lower layer. The relative positions of the two active sprockets are fixed. The two first passive sprockets are mounted on the other two shafts and are in the same plane as the second active sprocket and are arranged in a triangular configuration. The passive sprocket group 803 mainly has two second passive sprockets mounted on the same vertical shaft. One second passive sprocket is in the upper layer, and the other second passive sprocket is in the lower layer.

[0042] Referring to FIGS. 12 and 13, the first correction chain 804 bypasses and connects together the first active sprocket and the second passive sprocket on the upper layer of the other three passive sprocket groups 803, respectively. The second correction chain 805 bypasses and connects together the second active sprocket, the two first passive sprockets, and the second passive sprocket in the lower layer of the other three passive sprocket groups 803, respectively.

[0043] Referring to FIGS. 12 and 13, both the first correction chain 804 and the second correction chain 805 are closed and form a rectangle that conforms to the shape of the parking apron 2.

[0044] The first correction chain 804 and the second correction chain 805 bypass the sprockets in opposite directions, such that when the active motor 801 drives the active sprocket to rotate, the active sprockets bypassed by the first correction chain 804 and the active sprockets bypassed by the second correction chain 805 have the same rotation direction and the same rotation speed. At the same time, the first correction chain 804 and the second correction chain 805 have the same linear speed and opposite moving directions.

[0045] One end of the first correction rod 806 is attached and fixed to the first correction chain 804, and the other end is attached and fixed to the second correction chain 805 on the opposite side of the rectangle. One end A of the second correction rod 807 parallel to the first correction rod 806 is attached and fixed to the second correction chain 805, and the other end B is attached and fixed to the first correction chain 804 on the opposite side of the rectangle.

[0046] One end of the third correction rod 808, which is perpendicular to both the first correction rod 806 and the second correction rod 807, is attached and fixed to the second correction chain 805, and the other end is attached and fixed to the first correction chain 804 on the opposite side of the rectangle. One end of the fourth correction rod 809 parallel to the third correction rod 808 is attached and fixed to the first correction chain 804, and the other end is attached and fixed to the second correction chain 805 on the opposite side of the rectangle.

[0047] With the above connection method, when the first correction chain 804 and the second correction chain 805 move, the first correction rod 806, the second correction rod 807, the third correction rod 808, and the fourth correction rod 809 have the same linear velocity and move synchronously. The first correction rod 806 and the second correction rod 807 move in opposite directions, and the third correction rod 808 and the fourth correction rod 809 move in opposite directions. When the first correction rod 806 and the second correction rod 807 move towards each other, and the third correction rod 808 and the fourth correction rod 809 move towards each other, the unmanned aircraft 200 that has landed on the parking apron 2 and has at least one of a position deflection angle and an offset is corrected to the fixed position in the middle of the parking apron 2. When the first correction rod 806 and the second correction rod 807 move in opposite directions, and the third correction rod 808 and the fourth correction rod 809 move in opposite directions, the correction rods are opened, and then the unmanned aircraft 200 takes off from the parking apron 2.

[0048] Hereinafter, with reference to FIGS. 1 to 7 and FIGS. 14 to 18, specific implementation forms of the protective cover 3 will be described.

[0049] The protective cover 3 covers the top of the parking apron 2. The protective cover 3 is a cover main body that is bent upward in an arc shape. The cover main body has a concave region, and the parking apron 2, the unmanned aircraft 200 arranged on the parking apron 2, and other parts are arranged under the concave region.

[0050] Referring to FIGS. 1 to 7, in some embodiments, the protective cover 3 includes a first cover main body portion 31 and a second cover main body portion 32. The first cover main body portion 31 is disposed at the top of the parking apron 2, and the second cover main body portion 32 is disposed at the top of the parking apron 2. The first cover main body portion 31 is drivingly connected to the protective cover opening and closing drive device 4. The second cover main body portion 32 is drivingly connected to the protective cover opening and closing drive device 4. When the first cover main body portion 31 and the second cover main body portion 32 move towards each other and reach the mutual contact position, the protective cover 3 is closed, and when the first cover main body portion 31 and the second cover main body portion 32 move to the positions farthest from each other, the protective cover 3 is opened.

[0051] The first cover main body portion 31 and the second cover main body portion 32 are driven by separate drive structures or by a set of drive mechanisms. In some embodiments, the first cover main body portion 31 and the second cover main body portion 32 are each independently driven and move synchronously. On the one hand, with this structure, the opening and closing operation of the protective cover 3 is more efficient, and the first cover main body portion 31 and the second cover main body portion 32 also move synchronously, thereby easily forming the airtight protective cover 3 by these two.

[0052] Referring to FIGS. 1 to 9, in some embodiments, the first cover body portion 31 is attached onto the active rod 43 and rotates together with the active rod 43. The second cover body portion 32 is attached onto the passive rod 44 and rotates together with the passive rod 44. When both the first cover body portion 31 and the second cover body portion 32 move to the upper position, the protective cover 3 is closed, forming a closed space above the parking apron 2 to protect the parking apron 2 from rain and snow. When both the active rod 43 and the passive lever 44 rotate, both the first cover body portion 31 and the second cover body portion 32 move to the lower position, the first cover body portion 31 and the second cover body portion 32 are separated, the protective cover 3 is opened and stopped on both sides of the parking apron 2, whereby the parking apron 2 is exposed, and at this time, the unmanned aircraft 200 takes off and lands.

[0053] A sealing strip 33 is attached between the first cover body portion 31 and the second cover body portion 32, and the sealing strip 33 is attached to either one or both of the first cover body portion 31 and the second cover body portion 32. When the protective cover 3 is closed, the sealing strip 33 enhances the sealing effect and effectively prevents external rainwater and ash layer from entering into the protective cover 3.

[0054] Referring to FIGS. 1 to 6, the second cover body portion 32 has a protection plate 34, and a part of which projects outward. When the first cover body portion 31 and the second cover body portion 32 are closed, the protection plate of the second cover body portion 32 covers a part of the first cover body portion 31 to form an intersection effect and enhance the sealing effect.

[0055] In the above solution, the protective cover 3 adopts a bisected structure, which is convenient for completely exposing the top of the parking apron 2 in the open state and parking the unmanned aircraft 200. After closing, the first cover body portion 31 and the second cover body portion 32 abut against each other, making the sealing firm.

[0056] Hereinafter, with reference to FIGS. 14 to 17, a protection cover opening / closing drive device 4 for driving the protection cover 3 to open and close is described.

[0057] The protection cover opening / closing drive device 4 is attached between the support base 1 and the protection cover 3, and the protection cover opening / closing drive device 4 is configured to drive the protection cover 3 to switch between an open position and a closed position.

[0058] The protection cover opening / closing drive device 4 adopts, for example, a bar link structure, a linear movement mechanism, or other implementation forms.

[0059] Referring to FIG. 15, in some embodiments, the protection cover opening / closing drive device 4 includes a drive source 41, a synchronous transmission mechanism 42, and a plurality of active rods 43. For example, there are four active rods 43, and two active rods 43 are provided on each half of the cover main body portion. The two active rods 43 are arranged on both sides of the cover main body portion, so that the movement of this part of the cover main body portion is more stable and reliable. The drive source 41 is configured to provide a rotational force, and the drive source is, for example, a reduction motor. The input end of the synchronous transmission mechanism 42 is drivingly connected to the output end of the drive source 41. The first end of each active rod 43 is rotatably connected to the synchronous transmission mechanism 42, and the second end of each active rod 43 is rotatably connected to the protection cover 3.

[0060] Referring to FIG. 15, in some embodiments, the unmanned aircraft airport 100 further includes a plurality of passive rods 44. The first end of each passive rod 44 is rotatably connected to the support base 1, and the second end of each passive rod 44 is rotatably connected to the protection cover 3. Each half of the cover main body portion is simultaneously connected to the active rod 43 and the passive rod 44, which makes the movement of each half of the cover main body portion more stable and also smoothly fixes each half of the cover main body portion at the required position.

[0061] Referring to FIGS. 15 and 16, in order to facilitate the installation of components such as the protection cover opening and closing drive device 4, the unmanned aircraft airport 100 also includes a base plate 5. The base plate 5 is fixed to the support base 1, and the drive source 41, the synchronous transmission mechanism 42, and the passive rod 44 are all supported by the base plate 5. The base plate 5, one passive rod 44, one active rod 43, and the protection cover 3 form a parallel four-bar linkage mechanism.

[0062] Referring to FIGS. 14 to 16, the parallel four-bar linkage mechanism is symmetrically arranged on both sides of the symmetry axis of the first cover main body 31 and the second cover main body 32. Each half of the cover main body is driven by two active rods 43, and the forces of each cover main body are more balanced during the opening and closing process.

[0063] Referring to FIGS. 14 to 16, the synchronous transmission mechanism 42 includes a first drive assembly 46 and a second drive assembly 47. The first drive assembly 46 is drivingly connected to the drive source 41. The second drive assembly 47 is drivingly connected to the first drive assembly 46 and is configured to drive the active rod 43.

[0064] In some embodiments shown in FIG. 15, there is one set of the first drive assembly 46 and two sets of the second drive assembly 47. Both sets of the second drive assembly 47 are drivingly connected to the first drive assembly 46 through a connecting shaft 48. Each set of the second drive assembly 47 is connected to two active rods 43 and two passive rods 44.

[0065] Referring to FIGS. 14 to 16, the first drive assembly 46 includes a first sprocket 461, a second sprocket 462, and a first chain 463. The first sprocket 461 is configured to be connected to and driven by a drive source 41. The second sprocket 462 is drivingly connected to a second drive assembly 47. The first chain 463 is wound around the outside of the first sprocket 461 and the second sprocket 462. The first sprocket 461 drives the second sprocket 462 through the first chain 463. The first drive assembly having the above structure has a reliable transmission and a compact structure.

[0066] Referring to FIG. 15, in some embodiments, the second drive assembly 47 includes a third sprocket 471, a fourth sprocket 472, a first gear 475, and a second chain 473. The third sprocket 471 is drivingly connected to the second sprocket 462. The second chain 473 is wound around the outside of the third sprocket 471 and the fourth sprocket 472. The third sprocket 471 is configured to drive the fourth sprocket 472 through the second chain 473. The first gear and the fourth sprocket 472 are coaxially mounted and rotate coaxially. The first gear 475 is drivingly connected to a first end of an active rod 43, and a second end of the active rod 43 is drivingly connected to a first cover body portion 31.

[0067] Continuing to refer to FIG. 15, in some embodiments, the second drive assembly 47 further includes a second gear 474 that meshes with the first gear 475 and has the same number of teeth as the first gear 475. The second gear 474 is drivingly connected to another active rod 43, and a second end of this active rod 43 is drivingly connected to a second cover body portion 32.

[0068] Hereinafter, with reference to FIGS. 1 and 15, a specific implementation form of the protective cover opening and closing drive device 4 will be described as a whole.

[0069] The drive source 41 employs a reduction motor. The reduction motor is attached to the motor mounting plate 411, and the motor mounting plate 411 is fixed on the rack 11. The reduction motor provides power for opening and closing the protective cover 3 through a transmission device.

[0070] In FIG. 15, the first sprocket 461 is attached and fixed to the shaft end of the motor, the second sprocket 462 is attached and fixed to the connecting shaft 48, the connecting shaft 48 is supported by the connecting bearing seat 477, the connecting bearing seat 477 is attached and fixed to the motor mounting plate 411, and the motor mounting plate 411 is fixed on the rack 11. At the same time, the first sprocket 461 and the second sprocket 462 are connected together by the first chain 463. Thus, when rotating, the reduction motor drives the first sprocket 461 to rotate, further drives the second sprocket 462 to rotate, and further drives the connecting shaft 48 to rotate.

[0071] There are two third sprockets 471, which are respectively attached and fixed to both ends of the connecting shaft 48. The fourth sprocket 472 is attached and fixed to the shaft ends of the synchronous gear sets on both sides of the rack 11. At the same time, the third sprocket 471 and the fourth sprocket 472 are connected together by the second chain 473. Thus, when rotated, the connecting shaft 48 drives the third sprocket 471 to rotate, further drives the fourth sprocket 472 to rotate, and further drives the synchronous gear sets to rotate.

[0072] The second drive assembly 47 is attached to and fixed to the rack 11. The fixing plate 478 of the second drive assembly 47 is fixed on the rack 11, four groups of the first bearing sheets are attached to the middle part, and the fourth shaft is attached to each of the two first bearing sheets 476. The second gear 474 and the first gear 475 are respectively attached to and fixed to the two fourth shafts, and the second gear 474 and the first gear 475 are matched with each other through external engagement. The fourth sprocket 472 is fixed to one end of one of the fourth shafts. When rotated, the fourth sprocket 472 further drives the fourth shaft to which the fourth sprocket 472 is attached to rotate, further drives the gear on the fourth shaft to rotate, further drives another engaged gear to rotate, and further drives the other fourth shaft to rotate. The number of teeth of the second gear 474 and the first gear 475 is the same, that is, i = 1, and then the two fourth shafts have the same rotational speed but opposite rotational directions. In this way, the two fourth shafts form a synchronous motion.

[0073] Referring to FIG. 15, two groups of support sheets are also attached to both sides of the fixing plate 478, and the first shaft is attached to and fixed to each of the two groups of support sheets. There are four active rods 43, one end of each active rod 43 is a hinge point such as a spherical bearing, the other end is a fixed connection hole, and the fixed connection hole end is connected to and fixed to one end of the fourth shaft of the synchronous gear set. The third shaft is attached to the hinge point side to form a hinged connection with the third shaft.

[0074] There are four passive rods 44, both ends of each passive rod 44 are hinge points, one end is attached to the first shaft of the synchronous gear set to form a hinged connection with the first shaft. The third shaft is attached to the other end to form a hinged connection with the third shaft.

[0075] The lengths of the first active rod 43 and the second active rod 43 are equal. The lengths of the two passive rods 44 are the same. All the active rods 43 and all the passive rods 44 are attached to and fixed to the first cover main body 31 and the second cover main body 32. The distance between the two active rods 43 is equal to the distance between the two passive rods 44. In this way, the fixed plate 478, the active rods 43, the passive rods 44, the first cover main body 31, and the second cover main body 32 form an equilateral parallelogram bar link mechanism.

[0076] When moving synchronously, the two fourth shafts of each synchronous gear set drive the active rod 43, the passive rod 44, the first cover main body 31, and the second cover main body 32 to form synchronous movement, that is, the rotational speeds are the same but the rotational directions are opposite. That is, the synchronous opening and closing of the first cover main body 31 and the second cover main body 32 are controlled by the rotation of the reduction motor.

[0077] Hereinafter, with reference to FIGS. 19 to 21, an implementation form of the charging device will be described.

[0078] The unmanned aircraft airport 100 also includes a first charging device 6. The first charging device 6 is attached to the parking apron 2 and includes a first electrode 61. The second charging device 7 is attached to the unmanned aircraft 200 and includes a second electrode 71. The first electrode 61 and the second electrode 71 are matched in a rechargeable manner.

[0079] The charging device is attached to the bottom of the central position of the parking apron 2, that is, directly below the position after the unmanned aircraft 200 is corrected.

[0080] For example, there are a plurality of first electrodes 61 and second electrodes 71, and the metal contacts of the first electrode 61 and the second electrode 71 are in contact with each other for conduction and charging, and the metal contacts of these two are separated so as not to charge anymore. Both the first electrode 61 and the second electrode 71 are arranged and configured in an array or configuration.

[0081] Under the unmanned aircraft 200, for example, two second charging devices 7 are arranged, and the two second charging devices 7 are arranged symmetrically with respect to the longitudinal central axis of the fuselage of the unmanned aircraft 200, so the structure of the unmanned aircraft 200 is more balanced and the flight is more stable.

[0082] Referring to FIG. 20, in some embodiments, for every four first charging devices 6, a symmetrical rectangular shape is defined. When the unmanned aircraft 200 is corrected on the parking apron 2, the orientation of the nose of the unmanned aircraft 200 is not restricted, and thus, no matter which direction the nose of the unmanned aircraft 200 is facing, the unmanned aircraft 200 is normally charged.

[0083] Hereinafter, with reference to FIGS. 19 to 22, specific implementation forms of the first charging device 6 will be described.

[0084] The first charging device 6 includes a first insulating member 62, a second insulating member 63, and a lifting device 64. The first insulating member 62 is fixed under the parking apron 2. The first insulating member 62 is provided with a first through hole 621. The first insulating member 62 serves for attachment, fixation, and limitation, and during the charging process, the second insulating member 63 is always under the first insulating member 62.

[0085] The second insulating member 63 is disposed below the first insulating member 62, and the first end of the first electrode 61 is attached to the second insulating member 63. The second end of the first electrode 61 is slidably disposed within the first through hole 621. The lifting device 64 is drivingly connected to the second insulating member 63 and is used to lift and lower the second insulating member 63, whereby the first electrode 61 protrudes to the top of the parking apron 2 through the mounting hole of the parking apron 2. The second insulating member 63 is a mounting component of the first electrode 61, and the lifting of the first electrode 61 is realized through the lifting device 64. When the first electrode 61 is lifted in place, the first electrode 61 is exposed outside the parking apron 2, and charging is performed in this state. When the first electrode 61 is disposed below the parking apron 2, charging is not performed in this state.

[0086] Referring to FIG. 21, the lifting device 64 is lifted and lowered in a direction perpendicular to the plane of the parking apron 2. The second insulating member 63 described above is disposed at the top of the lifting device 64. The second insulating member 63 is provided with a second through hole 631, and the first end of the first electrode 61 is attached within the second through hole 631. In addition, the first end of the first induction device 8 is attached to the second insulating member 63. The second insulating member 63 and the induction device 8 are lifted and lowered together with the lifting device 64, whereby when the unmanned aircraft 200 needs charging, the second end of the first electrode 61 and the second end of the induction device 8 protrude outside the parking apron 2, and when the unmanned aircraft 200 does not need charging, the second end of the first electrode 61 and the second end of the induction device 8 are buried within the parking apron 2. In some embodiments, the first electrode 61 contacts the electrode of the second charging device 7 of the unmanned aircraft 200 to perform charging. In the above charging process, the induction device 8 is inserted into the second induction hole 721 of the second charging device 7 of the unmanned aircraft 200 to play a role in induction. It is understood that the parking apron 2 needs to be provided with a hole without a thread for lifting and lowering the first electrode 61 and the induction device 8.

[0087] The first insulating member 62 is connected and fixed to the bottom surface of the parking apron 2. The first insulating member 62 is provided with a first through hole 621 for accommodating the first electrode 61 and a first guiding hole 622 for accommodating a guiding member 81 described below. When charging is required, the lifting device 64 operates to lift the second insulating member 63, thereby driving the first electrode 61 to rise from the top surface of the first insulating member 62 to a position protruding therefrom. The first electrode 61 at this position is in electrical contact with the second electrode 71 to perform charging. The above-mentioned first insulating member 62 serves to insulate and isolate each first electrode 61, and the first insulating member 62 serves to support the first electrode 61 and the guiding member 81.

[0088] Referring to FIGS. 21 to 23, in some embodiments, a protrusion 65 is provided on the outer wall of the first electrode 61, and an elastic member 66 is disposed between the protrusion 65 and the second insulating member 63. The elastic member 66 is, for example, a spring. The spring is sleeved outside the first electrode 61. The top end of the spring abuts against the convex portion 65, and the bottom end of the spring abuts against the second insulating member 63. When the first electrode 61 is in contact with the second electrode 71, the spring is in a compressed state. Due to the elastic force of the spring, the contact between the first electrode 61 and the second electrode 71 becomes closer, and the occurrence of poor contact caused by the rigid contact between the first electrode 61 and the second electrode 71 is also reduced.

[0089] The second insulating member 63 is provided with a second through hole 631. The first end of the first electrode 61 penetrates through the second through hole 631 and protrudes from one side of the second insulating member 63 away from the first insulating member 62.

[0090] Referring to FIGS. 21 to 23, in some embodiments, the separation prevention member 68 is provided on the first end portion of the first electrode 61, and the first end portion of the first electrode 61 protrudes from one side of the second insulating member 63 away from the first insulating member 62. The separation prevention member 68 is disposed at the bottom end of the first electrode 61 and is configured to prevent the first electrode 61 from separating from the second insulating member 63 during the lifting process of the lifting device 64.

[0091] Referring to FIGS. 21 to 23, the induction device 8 is disposed between the first insulating member 62 and the second insulating member 63 and is configured to provide linear induction with respect to the relative movement of the first insulating member 62 and the second insulating member 63. After the induction device is disposed, the movement of the second insulating member 63 becomes more reliable, so that the first electrode 61 and the second electrode 71 are aligned, effectively improving the charging reliability.

[0092] Referring to FIGS. 21 to 23, in some embodiments, the induction device 8 includes an induction member 81, and the induction member 81 is fixed to the second insulating member 63. The induction member 81 is, for example, a rod member. The first insulating member 62 is provided with a first induction hole 622 that matches the guide member 81.

[0093] There are two induction members 81. One induction member is disposed at one end portion of the second insulating member 63 in the length direction, and the other induction member is disposed at the other end portion of the second insulating member 63 in the length direction. Correspondingly, two first induction holes 622 are provided in the first insulating member 62, thereby making the lifting of the second insulating member 63 more stable.

[0094] The first end of the guiding member 81 is attached and fixed to the second insulating member 63, and the second end of the guiding member 81 is at a position higher than the second end (i.e., the top end) of the first electrode 61. That is, when the elastic member 66, specifically the spring, is in a non-compressed state, the top end of the guiding member 81 is at a position higher than the top end of the first electrode 61. In the lifting process of the lifting device 64, before the first electrode 61 contacts the second electrode 71, the guiding member 81 is first inserted into the first guiding hole 622, and the guiding member 81 is inserted and moved in the first guiding hole 622 to guide the lifting of the first electrode 61.

[0095] Referring to FIGS. 21 to 23, in some embodiments, the second insulating member 63 is fixed to the connection frame 67, and the connection frame 67 is drivingly connected to the lifting device 64.

[0096] Referring to FIGS. 21 to 23, in some embodiments, the connection frame 67 includes a bottom plate 671 and side plates 672. The bottom plate 671 is drivingly connected to the lifting device 64, the side plates 672 are attached to the side edges of the bottom plate 671, and the top ends of the side plates 672 are connected and fixed to the second insulating member 63. There is a void region between the bottom plate 671 and the second insulating member 63, and the height of this region is the same as the height of the side plates 672. This void region provides a space for the movement of the first electrode 61.

[0097] Referring to FIGS. 21 to 23, in some embodiments, there are a plurality of first electrodes 61. The plurality of first electrodes 61 are arranged and configured in a desired array form.

[0098] Hereinafter, with reference to FIGS. 24 to 27, a specific implementation form of the second charging device 7 that is matched with the first charging device 6 for charging will be described.

[0099] Referring to FIGS. 24 to 27, in some embodiments, the second charging device 7 includes a third insulating member 72, and the second electrode 71 is disposed on the third insulating member 72. The second electrode 71 takes, for example, the form of a concave structure, whereby the structure of the second electrode 71 is matched with the structure of the first electrode 61.

[0100] Referring to FIGS. 25 to 27, in some embodiments, the second charging device 7 further includes a mounting frame 73, the third insulating member 72 is mounted on the mounting frame 73, and the mounting frame 73 is used for fixing to the unmanned aerial vehicle 200.

[0101] Referring to FIG. 25, a buffer member 74 is disposed between the mounting frame 73 and the third insulating member 72. The buffer member 74 is made of, for example, a rubber material or the like. The buffer member 74 is configured to enable the first electrode 61 and the second electrode 71 to have good contact under a specific offset state and improve the charging effect.

[0102] Referring to FIGS. 21 to 23, in some embodiments, the third insulating member 72 is disposed in a second induction hole 721 that is matched with the induction member 81.

[0103] It has been described above that the parking apron 2 is provided with the induction device 80. The induction device 80 also smooths the alignment, insertion, and charging of the first charging device 6 and the second charging device 7.

[0104] Referring again to FIG. 8, in some embodiments, the unmanned aerial vehicle airport 100 further includes a fire extinguishing device 9, and the fire extinguishing device 9 is attached to the parking apron 2. The fire extinguishing device 9 is, for example, a fire extinguishing ball. When the unmanned aerial vehicle 200 catches fire due to charging failure, high temperature, and other reasons, the sensor on the fire extinguishing ball automatically senses the fire, and the fire extinguishing ball bursts to extinguish the fire.

[0105] Referring to FIG. 8, in some embodiments, the fan 13 is mounted on the automatic airport parking apron 2. After the protective cover 3 is closed, when the unmanned aircraft 200 is charged, the temperature inside the protective cover 3 becomes relatively high, and the fan 13 has the effect of cooling the unmanned aircraft 200. Of course, the air conditioner 17 is also separately arranged to achieve cooling during the charging process.

[0106] Referring to FIG. 8, in some embodiments, the camera 10 is mounted on the automatic airport parking apron 2 and transmits the internal image of the airport to the central control room in real time.

[0107] In some embodiments, the fan 13 is mounted on the automatic airport parking apron 2, enabling the air in the airport to form a circulating flow and reduce the temperature inside the airport.

[0108] In some embodiments, a weather station is mounted outside the automatic airport and transmits meteorological information near the airport, such as wind speed, temperature, and humidity, as well as the presence or absence of rain or snow, to the control system in real time.

[0109] Some embodiments of the present disclosure also provide an unmanned aircraft system including the unmanned aircraft airport 100 provided by any of the technical solutions of the present disclosure.

[0110] In some embodiments, the first charging device 6 is mounted on the parking apron 2 of the unmanned aircraft airport 100. The unmanned aircraft system further includes an unmanned aircraft 200. The second charging device 7 is mounted on the unmanned aircraft 200, and the first electrode 61 and the second electrode 71 are matched in a rechargeable manner. Reference is made to the specific matching method introduced above.

[0111] In some embodiments, two second charging devices 7 are mounted on the unmanned aerial vehicle 200, and the two second charging devices 7 are symmetrically arranged, thereby making the structure of the unmanned aerial vehicle 200 more stable.

[0112] Correspondingly, four first charging devices 6 are arranged, and the four first charging devices 6 form a rectangle, whereby charging can be achieved regardless of the direction in which the nose of the unmanned aerial vehicle 200 faces. That is, after the unmanned aerial vehicle 200 lands, no matter which direction the nose orientation of the unmanned aerial vehicle 200 faces, as long as the unmanned aerial vehicle 200 is correctly corrected, the second charging device 7 of the unmanned aerial vehicle 200 fits into one of the first charging devices 6, thereby improving the charging accuracy.

[0113] When the position of the unmanned aerial vehicle 200 is corrected and fixed, the lifting device 64 moves, and the first electrode 61 at the rod end is pushed upward to protrude from the parking apron 2 through the threadless hole of the parking apron 2, and the first electrode 61 and the second electrode 71 at the bottom of the unmanned aerial vehicle 200 are in electrical contact to start charging.

[0114] Hereinafter, the interaction process between the unmanned aerial vehicle 200 and the unmanned aerial vehicle airport 100 will be described.

[0115] The charging operation will be described first. The first charging device 6 and the second charging device 7 are configured to charge according to the following steps, that is, when the unmanned aerial vehicle 200 is corrected in place, the first electrode 61 of the first charging device 6 is moved to be exposed from the top surface of the parking apron 2 and be in electrical contact with the second electrode 71 of the second charging device 7 of the unmanned aerial vehicle 200 to be corrected, thereby realizing the charging of the unmanned aerial vehicle 200.

[0116] As described above, when the guiding device 80 includes the locking portion 810, the unmanned aerial vehicle 200 is locked while the unmanned aerial vehicle 200 is being corrected at the same time. After the unmanned aerial vehicle 200 is locked, the first electrode 61 of the first charging device 6 is moved to be exposed from the top surface of the parking apron 2. Even if the first electrode 61 has a certain upward pressing force against the second electrode 71, the unmanned aerial vehicle 200 will not leave the parking apron 2, enhancing the reliability of the charging operation.

[0117] Hereinafter, the matching of the return operation and the charging operation of the unmanned aerial vehicle 200 will be described. Prior to the introduction, it should be noted that the charging operation is not required every time the unmanned aerial vehicle 200 returns, and the charging operation is performed only when the power level of the unmanned aerial vehicle 200 does not meet the usage requirements. For the purpose of detailed introduction, the following description is based on the fact that the unmanned aerial vehicle 200 needs to be charged after returning.

[0118] In some embodiments, the unmanned aerial vehicle 200 is configured to perform a charging operation according to the following steps.

[0119] First, after receiving the return signal of the unmanned aerial vehicle 200, the unmanned aerial vehicle airport 100 that has received the return signal is locked. After the unmanned aerial vehicle airport 100 is locked, no other unmanned aerial vehicle 200 will park randomly.

[0120] Second, the protection cover 3 is opened and waits for the landing of the unmanned aerial vehicle 200, and then the protection cover 3 is closed. The protection cover 3 is generally in a closed state and is opened only when the unmanned aerial vehicle 200 needs to land and take off, so it has a better protection effect on the unmanned aerial vehicle airport 100.

[0121] Here again, after the unmanned aircraft 200 has landed, the guiding device 80 is activated to move the unmanned aircraft 200 to the set position and lock it. In this way, the unmanned aircraft 200 is parked more stably, and whether it will need to be charged later or not, the parked unmanned aircraft 200 will not move randomly.

[0122] Next, after receiving a signal that the unmanned aircraft 200 needs to be charged, the first charging device 6 is activated, whereby the first charging device 6 and the second charging device 7 are electrically contacted for charging.

[0123] Thereafter, at least one of the air conditioner and the fan is activated to dissipate the heat of the unmanned aircraft 200. The air conditioner and the fan dissipate the heat generated during the charging process of the unmanned aircraft 200 in a timely manner, enhancing the reliability of charging.

[0124] Finally, after receiving a signal indicating that the unmanned aircraft 200 is fully charged, the charging is completed and the first charging device 6 is shut off.

[0125] Hereinafter, the process by which the unmanned aircraft 200 starts flying will be described. In some embodiments, the unmanned aircraft 200 is configured to perform a flying operation according to the following steps.

[0126] First, the console transmits route information to the unmanned aircraft 200 and the unmanned aircraft airport 100.

[0127] The console is configured to control the flight parameters of the plurality of unmanned aircraft airports 100 and the unmanned aircraft 200, which include, but are not limited to, route information, charging information, cargo capacity, and the like.

[0128] Second, the unmanned aircraft airport 100 controls the guiding device 80 to move to a position where the lock of the unmanned aircraft 200 is released according to the received route information.

[0129] After receiving the route information, the drone airport 100 instructs the drone 200 to execute a flight command. The drone airport 100 moves to a position where the lock of the drone 200 is released in advance according to the flight time in the route information, and controls the guiding device 80 to guide the subsequent flight preparation of the drone 200.

[0130] Here too, the protective cover 3 is opened.

[0131] The drone airport 100 opens the protective cover 3 in advance according to the flight time in the route information, and then the drone 200 takes off from the protective cover 3.

[0132] Finally, the drone 200 executes a flight task according to the received route information.

[0133] Hereinafter, the specific charging operation process of the drone 200 adopted in some embodiments will be described in detail.

[0134] I. The operations on the drone side are as follows. 1. The drone 200 receives a power-on startup operation. 2. The drone 200 receives a power-on self-check operation. 3. If the received signal is a signal indicating that the drone 200 needs to be charged after the drone 200 is powered on and self-checked, a signal indicating that the drone 200 needs to be charged is transmitted to the drone airport 100.

[0135] II. The operations on the drone airport side are as follows. 1. The state of the first charging device 6 is detected. If there is no abnormality in the detection, it indicates that the subsequent charging operation will be started. 2. After the drone 200 is parked in place and waits to be corrected to a position where it can be charged, the charging is prepared and the protective cover 3 is closed. 3. The lifting device 64 of the first charging device 6 is activated to electrically contact the first electrode 61 with the second electrode 62, realizing automatic charging. 4. Whether the air conditioner 17, the fan 13, and the fire extinguishing device 9 are turned on is determined according to parameters such as the temperature detected during charging and the charging duration. 5. After charging is completed, the first charging device 6 is returned to its original position.

[0136] The inventors have also found that with the rapid development of computer technology, the unmanned aircraft 200 is widely used as a patrol inspection device in various fields such as disaster relief, environmental protection status detection, street scene photography, power line patrol inspection, and agricultural plant protection. In the background technology, in the patrol inspection process of the unmanned aircraft 200, it is often required that the user manually control the patrol inspection of the unmanned aircraft 200 through a wireless remote control device. However, the inventors have found that in the process of implementing the present disclosure, the background technology has at least the following problems, that is, in the existing patrol inspection method, a professional operator is required to control the unmanned aircraft 200, so relatively high labor costs are generated, and in manual operation, the unmanned aircraft 200 will crash if there is an incorrect operation.

[0137] Referring to FIGS. 30 to 37, in order to improve the above technical problems, the inventors provide the following technical solutions.

[0138] FIG. 30 is a schematic structural diagram of a patrol inspection system according to some embodiments of the present disclosure, and these embodiments are applicable to the situation of controlling the automatic patrol inspection of the unmanned aircraft 200 at the unmanned aircraft airport. As shown in FIG. 30, the patrol inspection system includes an airport monitor device 2010, an airport control device 2020, and an unmanned aircraft control device 2030.

[0139] When the airport control device 2020 receives the start command of the unmanned aircraft 200 transmitted by the airport monitor device 2010, it detects whether the unmanned aircraft 200 meets the preset patrol inspection conditions. When it detects that the unmanned aircraft 200 meets the preset patrol inspection conditions, it sends a patrol inspection request message to the airport monitor device 2010. When it receives the patrol inspection command transmitted by the airport monitor device 2010 based on the patrol inspection request message, it is configured to trigger the unmanned aircraft control device 2030 to detect whether the unmanned aircraft 200 meets the preset takeoff conditions. When the unmanned aircraft control device 2030 detects that the unmanned aircraft 200 meets the preset takeoff conditions, it sends a takeoff request message to the airport control device 2020. When it receives the takeoff command transmitted by the airport control device 2020 based on the takeoff request message, it is configured to control the unmanned aircraft 200 to take off based on the preset patrol inspection route and execute the patrol inspection.

[0140] The airport monitor device 2010 is configured to monitor and control the patrol inspection status of the unmanned aircraft airport, and generate the start command and patrol inspection command of the unmanned aircraft 200 based on user operations. The airport monitor device 2010 is placed inside or outside the unmanned aircraft airport, and its specific position is set based on business requirements. The airport control device 2020 is installed inside the unmanned aircraft airport and is configured to control the internal devices of the unmanned aircraft airport. The airport control device 2020 is installed inside the unmanned aircraft 200 and is configured to control the internal devices of the unmanned aircraft 200. These embodiments do not limit the specific installation positions of the airport monitor device 2010, the airport control device 2020, and the unmanned aircraft control device 2030.

[0141] The airport monitor device 2010 is pre-connected and signal-connected to the airport control device 2020 for data transmission. For example, the airport monitor device 2010 and the airport control device 2020 are signal-connected wirelessly through a network. The airport control device 2020 is pre-connected to the unmanned aircraft control device 2030 in terms of signal connection. In some other embodiments, the connection and signal connection state with the unmanned aircraft control device 2030 are also indirectly controlled. For example, when the airport control device 2020 needs to perform data transmission, a signal connection with the unmanned aircraft control device 2030 is established, so that when the patrol inspection is not being performed, the unmanned aircraft control device enters a standby state, avoiding interference and saving energy.

[0142] In some embodiments, when the inspection of the UAV 200 is required, the user induces the start command generation operation of the UAV 200 in the airport monitor device 2010, whereby the airport monitor device 2010 generates a start command for the UAV based on the user operation. For example, when the user clicks or touches the UAV start button on the display interface of the airport monitor device 2010, the airport monitor device 2010 generates a UAV start command, and transmits the generated UAV start command to the airport control device 2020. Thereby, the airport control device 2020 executes a detection operation based on the UAV start command, determines whether the preset inspection conditions are currently satisfied, and ensures the reliability of the inspection. When receiving the UAV start command, the airport control device 2020 acquires the necessary current UAV information based on the preset inspection conditions, detects whether the current UAV satisfies the preset inspection conditions according to the current UAV information. If so, an inspection request message is transmitted to the airport monitor device 2010 to command whether to execute the subsequent inspection operation. Upon receiving the inspection request message, the airport monitor device 2010 displays it on its display interface, prompting the user that the UAV satisfies the preset inspection conditions and whether the subsequent inspection operation needs to be executed. If the user needs to continue the inspection operation, the inspection command generation operation is induced in the airport monitor device 2010. Thereby, the airport monitor device 2010 generates an inspection command based on the user operation, and transmits the generated inspection command to the airport control device 2020.

[0143] When the airport control device 2020 receives a patrol inspection command, it triggers the unmanned aircraft control device 2030 to detect whether the unmanned aircraft meets the preset takeoff conditions by sending a command or controlling the unmanned aircraft control device 2030 that supplies power. For example, if a signal connection with the unmanned aircraft control device 2030 has been established in advance, the airport control device 2020 directly sends a takeoff detection command to the unmanned aircraft control device 2030, whereby the unmanned aircraft control device 2030 detects whether the unmanned aircraft meets the preset takeoff conditions when it receives the takeoff detection command. When the airport control device 2020 does not establish a signal connection with the unmanned aircraft control device 2030, the unmanned aircraft control device 2030 is triggered by supplying power, whereby the unmanned aircraft control device 2030 detects whether the unmanned aircraft meets the preset takeoff conditions after supplying power.

[0144] The unmanned aircraft control device 2030 obtains the necessary current unmanned aircraft information based on the preset takeoff conditions, detects whether the current unmanned aircraft meets the preset takeoff conditions according to the current unmanned aircraft information, and if so, a takeoff request message is sent to the airport control device 2020 to instruct whether to perform a takeoff operation. When the airport control device 2020 receives the takeoff request message, it detects whether the current unmanned aircraft airport ensures the normal takeoff of the unmanned aircraft. If so, it sends a takeoff command to the unmanned aircraft control device 2030. Thereby, when receiving the takeoff command, the unmanned aircraft control device 2030 controls the unmanned aircraft placed on the takeoff and landing platform in the unmanned aircraft airport to take off normally, performs an aerial patrol inspection based on the preset patrol inspection route, and the unmanned aircraft does not require any manual control throughout the patrol inspection process, thereby realizing the automatic patrol inspection of the unmanned aircraft, saving labor costs, and improving reliability.

[0145] The technical solutions of these embodiments realize the automatic inspection process of the unmanned aerial vehicle by using an airport monitoring device, an airport control device, and an unmanned aerial vehicle control device. In some embodiments, when the airport control device receives a unmanned aerial vehicle startup command sent by the airport monitoring device, it detects whether the unmanned aerial vehicle meets the preset inspection conditions. When it detects that the unmanned aerial vehicle meets the preset inspection conditions, it sends an inspection request message to the airport monitoring device. When it receives an inspection command sent by the airport monitoring device based on the inspection request message, the unmanned aerial vehicle control device is triggered to detect whether the unmanned aerial vehicle meets the preset takeoff conditions. When it detects that the unmanned aerial vehicle meets the preset takeoff conditions, the unmanned aerial vehicle control device sends a takeoff request message to the airport control device. When it receives a takeoff command sent by the airport control device based on the takeoff request message, the unmanned aerial vehicle is controlled to take off and perform an inspection based on the preset inspection route. There is no need to manually control the unmanned aerial vehicle throughout the inspection process, thus realizing the automatic inspection of the unmanned aerial vehicle, saving labor costs, and improving reliability.

[0146] Based on the above technical solution, FIG. 31 presents a schematic structural diagram of another inspection system. As shown in FIG. 31, this system further includes a contact control device 2021 connected to the airport control device 2020 and a battery device 2031 in the unmanned aerial vehicle connected to the unmanned aerial vehicle control device 2030.

[0147] The contact control device 2021 moves when receiving a signal connection control command sent by the airport control device 2020, and is configured to signal-connect the airport control device 2020 and the battery device 2031. Therefore, when the airport control device 2020 receives an inspection command sent by the airport monitor device 2010 based on an inspection request message, it sends a power-on command to the battery device 2031, whereby the battery device is configured to supply power to the unmanned aircraft control device. The unmanned aircraft control device is triggered to detect whether the unmanned aircraft meets the preset takeoff conditions.

[0148] In some embodiments, the contact control device 2021 refers to an intermediate device configured to signal-connect the airport control device 2020 and the battery device 2031. The contact control device 2021 moves under the signal connection control command of the airport control device 2020 to signal-connect the airport control device 2020 and the battery device 2031 for data transmission. Therefore, the airport control device 2020 indirectly controls the power supply status of the unmanned aircraft control device 2030 connected to the battery device 2031 by controlling the battery device 2031. In some embodiments, the contact control device 2021 enables the airport control device 2020 and the battery device 2031 to be signal-connected by contact.

[0149] In some embodiments, when the airport control device 2020 receives a drone startup command transmitted by the airport monitor device 2010, or when it receives a patrol inspection command transmitted by the airport monitor device 2010 based on a patrol inspection request message, the airport control device 2020 transmits a signal connection control command to the contact control device 2021. The contact control device 2021 moves to the battery device 2031 based on the signal connection control command, whereby the contact control device 2021 contacts the battery device 2031, thereby enabling communication between the airport control device 2020 and the battery device 2031 and smoothing subsequent signal connections. After establishing a signal connection with the battery device 2031, the airport control device 2020 transmits a power-on command to the battery device 2031. After receiving the power-on command, the battery device 2031 supplies power to the connected drone control device 2030, whereby the drone control device 2030 is activated, thereby triggering the operation of detecting whether the drone meets the preset takeoff conditions. After being activated, the drone control device 2030 establishes a signal connection with the airport control device 2020 through a wireless signal connection device within the drone for subsequent data transmission.

[0150] The battery device 2031 is connected to all devices in the drone that require power supply. Therefore, when receiving a power-on command, the battery device 2031 supplies power to all devices in the drone 200 that should be powered, and it should be noted that the drone is activated. For example, before the battery device 2031 receives the power-on command, the entire drone 200 is in a power-off state, i.e., a standby state, ensuring that the drone is placed at the airport with higher reliability while avoiding energy waste and electromagnetic interference from other devices.

[0151] In some embodiments, after sending a power-on command to the battery device, the airport control device 2020 is further configured to send a disconnection control command to the contact control device 2021, and the contact control device 2021 is further configured to move according to the received disconnection control command to disconnect the signal connection between the airport control device 2020 and the battery device 2031.

[0152] In some embodiments, after the unmanned aerial vehicle is powered on, the unmanned aerial vehicle control device 2030 establishes a signal connection with the airport control device 2020 and no longer requires further contact connection. At this time, the airport control device 2020 sends a disconnection control command to the contact control device 2021, whereby the contact control device 2021 moves to disconnect the signal connection between the airport control device 2020 and the battery device 2031, and then the unmanned aerial vehicle takes off normally.

[0153] Based on the above technical solution, when the airport control device 202 receives a drone startup command sent by the airport monitor device, it is also configured to obtain the first power quantity information and the current weather information of the drone, and detect whether the drone meets the preset inspection conditions according to the first power quantity information and the current weather information.

[0154] In some embodiments, the first power quantity information refers to the power quantity value of the drone before takeoff. The current weather information refers to the current weather information in the area to be inspected. The current weather information includes, but is not limited to, the current wind speed and the current rainfall.

[0155] In some embodiments, when the airport control device 2020 receives a drone startup command transmitted by the airport monitor device 2010, if the airport control device 2020 has previously established a signal connection with the drone control device 2030, the airport control device 2020 transmits a first power quantity information acquisition request to the drone control device 2030. Thereby, the drone control device 2030 acquires the first power quantity information of the drone based on the first power quantity information acquisition request, transmits the first power quantity information to the airport control device 2020, and the airport control device 2020 acquires the first power quantity information of the drone 200. When the airport control device 2020 establishes a signal connection with the drone control device 2030 using the battery device 2031, after establishing the signal connection with the battery device 2031, the airport control device 2020 transmits a first power quantity information acquisition request to the battery device 2031 and acquires the first power quantity information of the drone through the battery device 2031. In some embodiments, the battery device 2031 is further configured to collect the first power quantity information of the drone 200 and transmit the first power quantity information to the airport control device 2020 when receiving the first power quantity information acquisition request transmitted by the airport control device 2020.

[0156] In some embodiments, as shown in FIG. 32a, the system further includes a weather monitor device 2022 connected to the airport control device 2020 and configured to acquire current weather information when receiving a current weather information acquisition request transmitted by the airport control device 2020, and transmit the current weather information to the airport control device 2020, so that the airport control device 2020 acquires the current weather information through the weather monitor device 2022.

[0157] When the first battery level information and the current weather information of the unmanned aircraft 200 are acquired, the airport control device 2020 detects whether the first battery level information and the current weather information guarantee that the unmanned aircraft can perform an automatic patrol inspection. If so, it determines that the unmanned aircraft meets the preset patrol inspection conditions. In some embodiments, the airport control device 2020 detects that the battery level value in the first battery level information is greater than the first preset battery level value, the current wind speed is less than the preset wind speed, and the current rainfall is 0. When both the battery level of the unmanned aircraft and the current weather ensure the normal patrol inspection of the unmanned aircraft, the unmanned aircraft is configured to determine that it meets the preset patrol inspection conditions.

[0158] In some embodiments, when the first battery level information and the current weather information of the unmanned aircraft are acquired, the airport control device 2020 transmits the acquired first battery level information and the current weather information to the airport monitor device 2010. Thereby, the airport monitor device 2010 displays the battery level information and the weather information on the display interface, which is convenient for the user to view.

[0159] Based on the above technical solution, as shown in FIG. 32a, this system also includes an airport cover opening device 2023 connected to the airport control device 2020 and configured to open the airport cabin cover 203 of the unmanned aircraft airport when receiving a cover opening control command transmitted by the airport control device 2020. The cover opening control command is transmitted when the airport control device 2020 receives an unmanned aircraft patrol inspection command transmitted by the airport monitor device 2010 or a takeoff request message transmitted by the unmanned aircraft control device 2030.

[0160] The Airport Cover Opening Device 2023 is a device for controlling the opening and closing of the airport cabin cover 203 of the unmanned aircraft airport. When the unmanned aircraft is preparing for takeoff, the airport cabin cover 203 needs to be opened, so that the unmanned aircraft can take off normally from the unmanned aircraft airport.

[0161] In some embodiments, when the airport control device 2020 receives the unmanned aircraft patrol inspection order transmitted by the airport monitor device 2010 or receives the takeoff request message transmitted by the unmanned aircraft detection device 2010, that is, before the unmanned aircraft takes off, the cover opening control order is transmitted to the airport cover opening device 2023, so that the airport cabin cover 203 of the unmanned aircraft airport is opened, and the unmanned aircraft 200 can take off normally from the airport.

[0162] In some embodiments, FIG. 32b shows a schematic structural diagram of the unmanned aircraft airport 100. As shown in FIG. 32b, the unmanned aircraft airport 100 includes a support frame 201, a parking apron 202, an airport cabin cover 203, and an airport cover opening device 2023. As shown in FIG. 32b, the airport cabin cover 203 is disposed at the top of the parking apron 202 and serves to protect the unmanned aircraft 200. The airport cabin cover 203 is drivingly connected to the airport cover opening device 2023 to control the opening and closing of the airport cabin cover 203. For example, the airport cabin cover 203 includes a first cover main body 31 and a second cover main body 32. When receiving a cover opening control command, the airport cover opening device 2023 relatively moves the first cover main body 31 and the second cover main body 32 to the farthest positions and controls the airport cabin cover 203 to be opened. In some embodiments, the airport cover opening device 2023 is controlled by a bar link structure or a linear movement mechanism. As shown in FIG. 32b, two active rods are disposed on both sides of the first cover main body 31 and the second cover main body 32, so that the movement of the first cover main body 31 and the second cover main body 32 is more stable and reliable. When receiving a cover opening control command, the airport cover opening device 2023 moves both the active rod on the side of the first cover main body 31 and the active rod on the side of the second cover main body 32 outward, causing the first cover main body 31 and the second cover main body 32 to move away from each other, thereby controlling the airport cabin cover 203 to open.

[0163] Based on the above technical solution, as shown in FIG. 32a, this system also includes an unmanned aircraft guidance device 2024 connected to the airport control device 2020. When the unmanned aircraft guidance device 2024 receives a correction unlock command transmitted by the airport control device 2020, it is configured to release a fixing module for fixing the unmanned aircraft 200 within the unmanned aircraft guidance device 2024. The correction unlock command is transmitted when the airport control device 2020 receives an unmanned aircraft patrol inspection command transmitted by the airport monitor device 2010 or receives a takeoff request message transmitted by the unmanned aircraft control device 2030.

[0164] The unmanned aircraft guidance device 2024 uses an internal fixing module to fix the unmanned aircraft, whereby the unmanned aircraft 200 is in a corrected state. When the unmanned aircraft is preparing for takeoff, the fixing module for fixing the unmanned aircraft 200 needs to be unlocked, whereby the unmanned aircraft 200 can take off normally from the unmanned aircraft airport.

[0165] In some embodiments, when the airport control device 2020 receives an unmanned aircraft patrol inspection command transmitted by the airport monitor device 2010 or receives a takeoff request message transmitted by the unmanned aircraft control device 2010, that is, before the unmanned aircraft takes off, a correction unlock command is transmitted to the unmanned aircraft guidance device 2024. Thereby, the fixing module for fixing the unmanned aircraft 200 is unlocked, and the unmanned aircraft 200 can take off normally from the airport.

[0166] In some embodiments, FIG. 32c presents a schematic structural diagram of a drone guidance device. The drone guidance device 2024 is disposed on top of the parking apron 202 of the drone airport, whereby the drone 200 is corrected after parking, and the drone 200 is properly stacked in the set direction. As shown in FIG. 32c, the drone guidance device 2024 pushes the drone 200 and moves it to the set position through the linear movement of each correction rod. As shown in FIG. 32c, the drone guidance device 2024 includes a plurality of correction rods attached to the parking apron 202. The drone 200 is clamped by linearly moving the plurality of correction rods, whereby the drone 200 lands at the set position on the parking apron 202.

[0167] In particular, as shown in FIG. 32c, the fixing module used for the drone 200 in the drone guidance device 2024 is four correction rods, which are respectively the first correction rod 806, the second correction rod 807, the third correction rod 808, and the fourth correction rod 809 in FIG. 32c. The four correction rods are parallel in pairs and form a rectangular frame. The four correction rods move towards each other simultaneously, whereby the side length of the rectangular frame is shortened to a size that clamps the drone 200, and the drone 200 arranged within the rectangular frame is then moved by the correction rods. The four correction rods move away from each other simultaneously, whereby the side length of the rectangular frame is extended to a size that unlocks the drone 200, and then the drone 200 arranged within the rectangular frame is unlocked, and the drone 200 then takes off and flies away. In some embodiments, upon receiving the correction unlock command transmitted by the airport control device 2020, the drone guidance device 2024 controls the four correction rods to move in opposite directions to each other simultaneously to unlock the clamped drone 200, thereby unlocking the fixing module for fixing the drone 200 within the drone guidance device 2024.

[0168] In some embodiments, when the airport control device 2020 receives a takeoff request message sent by the unmanned aircraft control device 2030, it is further configured to detect whether the airport cabin cover 203 of the unmanned aircraft is open and whether the fixing module for fixing the unmanned aircraft 200 in the aircraft guiding device 2024 is unlocked. When the airport cabin cover 203 is open and the fixing module is unlocked, a takeoff command is sent to the unmanned aircraft control device 2030, enabling the unmanned aircraft 200 to take off normally from the unmanned aircraft airport.

[0169] Based on the above technical solution, the unmanned aircraft control device 2030 is configured to execute a self-check of each sensor in the unmanned aircraft 200 based on a preset self-check program. When there is no problem with the self-check, the currently received number of positioning satellites is obtained. When the currently received number of positioning satellites is greater than the preset number, the unmanned aircraft 200 is determined to meet the preset takeoff conditions.

[0170] In some embodiments, the currently received number of positioning satellites refers to the number of positioning satellites currently detected by the unmanned aircraft 200. When that number is greater than the preset number, accurate positioning of the unmanned aircraft 200 in the patrol inspection process is achieved, which facilitates the automatic patrol inspection.

[0171] In some embodiments, as shown in FIG. 32a, the system further comprises a satellite positioning device 2032 connected to the unmanned aircraft control device 2030. When the satellite positioning device 2032 receives a satellite number detection command transmitted by the unmanned aircraft control device 2030, it performs satellite positioning detection, obtains the currently received number of positioning satellites, and transmits the currently received number of positioning satellites to the unmanned aircraft control device 2030, whereby the unmanned aircraft control device 2030 obtains the currently received number of positioning satellites in real time. The satellite number detection command is transmitted by the unmanned aircraft control device 2030 when no self-check problem is detected. In some embodiments, the satellite positioning device 2032 is a device for satellite positioning measurement set by real-time kinematic (RTK) technology.

[0172] Based on the above technical solution, as shown in FIG. 32a, the system further comprises a camera device 2034, an image transmission device 2035 connected to the camera device 2034, and a ground-side image receiving device 2025. The camera device 2034 is configured to collect inspection tour images and transmit the inspection tour images to the image transmission device 2035. The image transmission device 2035 is configured to transmit the received inspection tour images to the ground-side image receiving device 2025. The ground-side image receiving device 2025 is configured to store the received inspection tour images.

[0173] The specific mounting positions of the camera device 2034 and the image transmission device 2035 on the unmanned aircraft are determined based on business requirements. The ground-side image receiving device 2025 is mounted inside or outside the unmanned aircraft airport. In some embodiments, the specific mounting positions of the camera device 2034, the image transmission device 2035, and the ground-side image receiving device 2025 are not limited.

[0174] In some embodiments, the camera device 2034 is connected to the unmanned aircraft control device 2030 such that when the camera device 2034 receives a collection command from the unmanned aircraft control device 2030, it collects inspection images during the patrol. In some embodiments, the camera device 2034 is not connected to the unmanned aircraft control device 2030, and thus, inspection images are collected in real time after the camera device 2034 is powered on. After collecting the inspection images, the camera device 2034 transmits the inspection images to the ground-side image receiving device 2025 through the image transmission device 2035. The ground-side image receiving device 2025 transmits the received inspection images to the cloud side for storage there, or transmits them to the airport monitor device 2010 for storage there, whereby the airport monitor device 2010 displays the inspection images in real time on the display interface, realizing the visualization of the inspection during the patrol.

[0175] Based on the above technical solution, when the airport control device 2020 detects that the unmanned aircraft has landed after the inspection during the patrol, it transmits a signal connection control command to the contact control device 2021, whereby the contact control device 2021 moves based on the signal connection control command and is configured to signal-connect the airport control device 2020 and the battery device 2031, and a power-off command is transmitted to the battery device 2031 to stop the battery device 2031 from supplying power to the unmanned aircraft control device 2030.

[0176] In some embodiments, when the unmanned aircraft lands on the takeoff and landing platform of the unmanned aircraft airport after the patrol inspection based on the preset patrol inspection route is completed, the airport control device 2020 sends a signal connection control command to the contact control device 2021 when detecting that the unmanned aircraft 200 has landed on the takeoff and landing platform, enabling the contact control device 2021 and the battery device 2031 to be in a contact state, thereby enabling communication between the airport control device 2020 and the battery device 2031. The airport control device 2020 stops the battery device 2031 from supplying power to the unmanned aircraft control device 2030 and also stops the battery device 2031 from supplying power to other power supply devices in the unmanned aircraft 200 by sending a power-off command to the battery device 2031, whereby the unmanned aircraft 200 is in a power-off state.

[0177] Based on the above technical solution, the system also includes a charging device 2026 connected to the airport control device 2020, and the charging device 2026 is configured to charge the unmanned aircraft. Correspondingly, the airport control device 2020 is configured to send a second power amount information acquisition request to the battery device 2031 to acquire the second power amount information of the unmanned aircraft 200 collected by the battery device 2031. When detecting that the power amount value in the second power amount information is smaller than the second preset power amount value, the charging device 2026 is controlled to charge the unmanned aircraft 200, and the charging is performed until the power amount value of the unmanned aircraft 200 is equal to the third preset power amount value. After the charging is completed, a disconnection control command is sent to the contact control device 2021 to disconnect the signal connection between the airport control device 2020 and the battery device 2031.

[0178] The second power quantity information is the power quantity information after the drone has completed the patrol inspection or is collected by the battery device 2031. When the airport control device 2020 detects that the power quantity value of the second power quantity information is smaller than the preset second power quantity value, this indicates that the drone 200 needs to be charged for subsequent patrol inspection tasks. At this time, the charging device 2026 and the battery device 2031 are controlled to come into contact, whereby the charging device 2026 charges the drone 200. When the power quantity value of the drone 200 is equal to the preset third power quantity value, the charging device 2026 is controlled to complete the charging. When the charging is completed, a disconnection control command is sent to the contact control device 2021 to disconnect the signal connection between the airport control device 2020 and the battery device 2031. In some embodiments, the charging device 2026 is integrated with the contact control device 2021. Therefore, when charging is required, in some other embodiments, the contact control device 2021 integrated with the charging device 2026 is directly controlled regarding charging to simplify the patrol inspection operation.

[0179] After the airport control device 2020 sends a power-off command to the battery device 2031, the entire drone 200 enters a power-off state. It should be noted that the airport control device 2020 controls the charging device 2026 to charge the drone 200 at this time, so that there is no electromagnetic interference during the charging process and the reliability of the drone 200 is further ensured.

[0180] In some embodiments, FIG. 32d shows a schematic structural diagram of the charging device 2026, and FIG. 32e shows a schematic three-dimensional structural diagram of four charging devices 2026 that define a rectangle at the unmanned aircraft airport. Referring to FIGS. 32d and 32e, the charging device 2026 is mounted on the parking apron 202 and includes a first electrode 2061. Therefore, as shown in FIG. 32f, the battery device 2031 includes a second electrode 2071, whereby the first electrode 2061 and the second electrode 2071 are matched in a chargeable manner. For example, there are one or more first electrodes 2061 and second electrodes 2071, and the metal contacts of the first electrode 2061 and the second electrode 2071 are in contact with each other for conduction and charging, and the metal contacts of these two are separated so as not to charge. Both the first electrode 2061 and the second electrode 2071 are arranged in an array or configuration. As shown in FIG. 32e, the charging device 2026 defines a symmetric rectangular shape, whereby charging is achieved regardless of the direction in which the nose of the unmanned aircraft 200 faces. That is, after the unmanned aircraft 200 lands, regardless of the nose orientation of the unmanned aircraft 200, as long as the unmanned aircraft 200 is correctly corrected, the second electrode 2071 in the battery device 2031 of the unmanned aircraft is surely fitted with the first electrode 2061 in one of the charging devices 2026, thereby ensuring the accuracy of charging.

[0181] In some embodiments, when it is detected that the amount-of-electricity value in the second amount-of-electricity information is smaller than the second preset amount-of-electricity value, the air-port control device 2020 controls the charging device 2026 to move towards the battery device 2031, whereby the first electrode 2061 in the charging device 2026 contacts the second electrode 2071 of the battery device 2031 in the unmanned aerial vehicle, and the metal contacts of these two come into contact with each other to charge the unmanned aerial vehicle. When the amount-of-electricity value of the unmanned aerial vehicle is equal to the third preset amount-of-electricity value, the air-port control device 2020 controls the charging device 2026 to move away from the battery device 2031, so as to disconnect the contact between the first electrode 2061 in the charging device 2026 and the second electrode 2071 of the battery device 2031 in the unmanned aerial vehicle, thereby completing the charging of the unmanned aerial vehicle 200.

[0182] In some embodiments, before the air-port control device 2020 sends a signal connection control command to the contact control device 2021, it also sends a correction command to the unmanned-aerial-vehicle guiding device 2024. Thereby, when receiving the correction command, the unmanned-aerial-vehicle guiding device 2024 uses the fixing module to fix the unmanned aerial vehicle 200, corrects the unmanned aerial vehicle 200, and the contact control device 2021 is moved to the position of the battery device 2031, and the contact between the contact control device 2021 and the battery device 2031 is realized.

[0183] In some embodiments, as shown in FIG. 32c, when receiving the correction command sent by the air-port control device 2020, the unmanned-aerial-vehicle guiding device 2024 controls the four correction rods to move towards each other simultaneously, whereby the side length of the rectangular frame is shortened to a size that clamps the unmanned aerial vehicle 200, thereby enabling the unmanned aerial vehicle 200 to be in place.

[0184] In some embodiments, after the airport control device 2020 detects that the drone has landed after the patrol inspection, it sends a cover closing control command to the airport cover opening device 2023. Thereby, when the airport cover opening device 2023 receives the cover closing control command, it closes the airport cabin cover 203 that is open. Therefore, after the patrol inspection is completed, the airport cabin cover 203 is automatically closed, whereby the entire patrol inspection process is automatically completed without manual control, and the reliability of the drone 200 is ensured.

[0185] For example, as shown in FIG. 32b, when receiving the cover closing control command, the airport cover opening device 2023 controls the active rods on the sides of the first cover main body 31 and the active rods on the sides of the second cover main body 32 to move towards each other until they come into contact with each other. Thereby, the first cover main body 31 and the second cover main body 32 move relative to each other, thereby closing the airport cabin cover 203 to protect the drone 200 and preventing the drone 200 from being damaged and contaminated by external rainwater, impurities, etc.

[0186] FIG. 33 is a flowchart of a patrol inspection method according to some other embodiments of the present disclosure, and these embodiments are applicable to the situation of controlling the execution of the automatic patrol inspection of the drone 200 in the drone airport. The method is executed by the airport control device in the above embodiments, and the device is realized by using software and / or hardware and is incorporated into a device having a data processing function. The same as or corresponding explanations of terms in the above embodiments are not repeated here.

[0187] As shown in FIG. 33, the patrol inspection method according to these embodiments specifically includes the following steps.

[0188] At S410, when receiving a drone startup command transmitted by an airport monitor device, it is detected whether the drone satisfies preset inspection conditions.

[0189] In some embodiments, S410 includes: when receiving a drone startup command transmitted by an airport monitor device, acquiring first battery level information and current weather information of the drone; and detecting whether the drone satisfies preset inspection conditions according to the first battery level information and the current weather information.

[0190] The first battery level information is acquired through the battery device of the drone 200. For example, when receiving a drone startup command transmitted from the airport monitor device 2010, the airport control device 2030 transmits a first battery level information acquisition request to the battery device 2031, whereby the battery device collects the first battery level information of the drone 200, returns the first battery level information, and the airport control device 2030 acquires the first battery level information of the drone 200. The current weather information is acquired through the weather monitor device 2022. For example, when receiving a drone startup command transmitted by the airport monitor device 2010, the airport control device 2030 transmits a current weather information acquisition request to the weather monitor device 2022, whereby the weather monitor device 2022 acquires the current weather information, returns the current weather information, and the airport control device 2030 acquires the current weather information.

[0191] In some embodiments, the current weather information includes, but is not limited to, the current wind speed and the current rainfall amount. Correspondingly, detecting whether the unmanned aircraft 200 meets the preset inspection conditions according to the first electricity quantity information and the current weather information includes determining that the unmanned aircraft 200 meets the preset inspection conditions when it is detected that the electricity quantity value in the first electricity quantity information is greater than the first preset electricity quantity value, the current wind speed is less than the preset wind speed, and the current rainfall amount is 0.

[0192] In S420, when it is detected that the unmanned aircraft meets the preset inspection conditions, a patrol inspection request message is sent to the airport monitor device 2010.

[0193] In S430, when receiving a patrol inspection order sent by the airport monitor device 2010 based on the patrol inspection request message, the unmanned aircraft control device 2020 is triggered to detect whether the unmanned aircraft 200 meets the preset takeoff conditions, and thereby, when it is detected that the preset takeoff conditions are met, the unmanned aircraft control device 2020 sends a takeoff request message to the airport control device 2020.

[0194] In some embodiments, triggering the unmanned aircraft control device 2030 to detect whether the unmanned aircraft 200 meets the preset takeoff conditions when receiving a patrol inspection order sent by the airport monitor device 2010 based on the patrol inspection request message includes the following.

[0195] When receiving an inspection order transmitted by the airport monitor device 2010 based on an inspection request message, a signal connection control order is transmitted to the contact control device 2021, whereby the contact control device 2021 moves based on the signal connection control order, signal-connects the airport control device 2030 and the battery device 2031, and a power-on order is transmitted to the battery device 2031, whereby the battery device 2031 supplies power to the unmanned aircraft control device 2030, and the unmanned aircraft control device 2030 is triggered to detect whether the unmanned aircraft 200 meets the preset takeoff conditions.

[0196] When it is detected based on the first battery level information whether the unmanned aircraft 200 meets the preset inspection conditions, when receiving an unmanned aircraft start order transmitted by the airport monitor device 2010, a signal connection control instruction is transmitted to the contact control device 2021, whereby the contact control device 2021 moves based on the signal connection control order, signal-connects the airport control device 2020 and the battery device 2031, and it should be noted that the airport control device 2020 obtains the first battery level information through the battery device 2031. Correspondingly, when receiving an inspection order transmitted by the airport monitor device 2010 based on an inspection request message, since the airport control device 2020 has already established a signal connection with the battery device 2031, a power-on order is directly transmitted to the battery device 2031, whereby the battery device 2031 supplies the battery level to the unmanned aircraft control device 2030, and the unmanned aircraft control device 2030 is triggered to detect whether the unmanned aircraft meets the preset takeoff conditions.

[0197] In some embodiments, after sending a power-on command to the battery device 2031, the method further includes sending a disconnection control command to the contact control device 2021, whereby the contact control device 2021 moves based on the disconnection control command to disconnect the signal connection between the air port control device 2030 and the battery device 2031.

[0198] In S440, when a takeoff request message is received, it is detected whether the unmanned aircraft air port meets the preset pre-flight conditions. When it is detected that the unmanned aircraft air port meets the preset pre-flight conditions, a takeoff command is sent to the unmanned aircraft control device 2030, whereby the unmanned aircraft control device 2030 controls the unmanned aircraft to take off based on the preset inspection route and perform an inspection.

[0199] In the technical solutions of these embodiments, when the airport control device 2030 receives the unmanned aircraft startup command transmitted by the airport monitor device 2010, it detects whether the unmanned aircraft meets the preset inspection conditions. When it detects that the unmanned aircraft meets the preset inspection conditions, it transmits an inspection request message to the airport monitor device 2010. When it receives the inspection order transmitted by the airport monitor device 2010 based on the inspection request message, the unmanned aircraft control device 2030 is triggered to detect whether the unmanned aircraft meets the preset takeoff conditions. When receiving the takeoff request message transmitted by the airport control device 2030, it is detected whether the unmanned aircraft airport meets the preset pre-flight conditions. When it detects that the unmanned aircraft airport meets the preset pre-flight conditions, a takeoff order is transmitted to the unmanned aircraft control device 2030. Thereby, the unmanned aircraft control device 2030 controls the unmanned aircraft to take off based on the preset inspection route and perform the inspection. It is not necessary to manually control the unmanned aircraft 200 throughout the inspection process, thereby realizing the automatic inspection of the unmanned aircraft 200, saving labor costs, and improving reliability.

[0200] Based on the above technical solution, when receiving the unmanned aircraft inspection order transmitted by the airport monitor device 2010 or receiving the takeoff request message transmitted by the unmanned aircraft control device 2030, this method also includes transmitting a cover opening control order to the airport cover opening device 2023, whereby the airport cover opening device 2023 opens the airport cabin cover 203 of the unmanned aircraft airport.

[0201] Based on the above technical solution, when receiving the unmanned aircraft patrol inspection command sent by the airport monitor device 2010 or receiving the takeoff request message sent by the unmanned aircraft control device 2030, this method also includes sending an unlocking command for the correction lock to the unmanned aircraft guidance device 2024, whereby the unmanned aircraft guidance device 2024 unlocks the fixing module for fixing the unmanned aircraft 200 within the unmanned aircraft guidance device 2024.

[0202] In some embodiments, detecting whether the unmanned aircraft airport meets the preset pre-flight conditions when receiving the takeoff request message in S440 includes detecting whether the airport cabin cover 203 of the unmanned aircraft 200 is open and whether the fixing module for fixing the unmanned aircraft 200 in the unmanned aircraft guidance device 2024 is unlocked when receiving the takeoff request message sent by the unmanned aircraft control device 2030, and determining that the unmanned aircraft airport meets the preset pre-flight conditions when the airport cabin cover 203 is open and the fixing module is unlocked.

[0203] Based on the above technical solution, when detecting that the unmanned aircraft has landed after the patrol inspection, a signal connection control command is sent to the contact control device 2021, whereby the contact control device 2021 moves based on the signal connection control command to signal-connect the airport control device 2030 and the battery device 2031, and a power-off command is sent to the battery device 2031 to stop the battery device 2031 from supplying power to the unmanned aircraft control device 2030.

[0204] In some embodiments, after sending a power-off command to the battery device 2031, the method also sends a second power amount information acquisition request to the battery device 2031 to obtain the second power amount information of the unmanned aerial vehicle collected by the battery device 2031, and when it is detected that the power amount value in the second power amount information is smaller than a second preset power amount value, controls the charging device to charge the unmanned aerial vehicle, and performs the charging until the power amount value of the unmanned aerial vehicle becomes equal to a third preset power amount value. After the charging is completed, a disconnection control command is sent to the contact control device 2021 to disconnect the signal connection between the airport control device 2030 and the battery device 2031.

[0205] It should be noted that after the airport control device 2030 sends a power-off command to the battery device 2031, the entire unmanned aerial vehicle is in a power-off state. At this time, the airport control device 2030 controls the charging device to charge the unmanned aerial vehicle 200, so that there is no electromagnetic interference during the charging process and the reliability of the unmanned aerial vehicle 200 is further ensured.

[0206] In some embodiments, before sending a signal connection control command to the contact control device 2021, the airport control device 2030 also sends a correction command to the unmanned aerial vehicle guidance device. As a result, when the unmanned aerial vehicle guidance device 2024 receives the correction command, it fixes the unmanned aerial vehicle 200 with a fixing module, corrects the unmanned aerial vehicle 200, moves the contact control device 2021 to the position of the battery device 2031, and realizes the contact between the contact control device 2021 and the battery device 2031.

[0207] In some embodiments, when the airport control device 2030 detects that the drone has landed after the patrol inspection and then sends a cover closing control command to the airport cover opening device, the airport cover opening device 2023 closes the airport cabin cover 203 that is open when receiving the cover closing control command. Therefore, after the patrol inspection is completed, the airport cabin cover 203 is automatically closed, whereby the entire patrol inspection process is automatically completed without manual control, and the reliability of the drone 200 is guaranteed.

[0208] FIG. 34 is a flowchart of a patrol inspection method according to some more embodiments of the present disclosure, and these embodiments are applicable to situations where the execution of automatic patrol inspection of drones at a drone airport is controlled. The method is executed by the drone control device 2030 in some of the above embodiments, and the device is realized using software and / or hardware and is incorporated into a device having a data processing function. The description of the same or corresponding terms as in some of the above embodiments will not be repeated here.

[0209] As shown in FIG. 34, the patrol inspection method according to these embodiments specifically includes the following steps.

[0210] In S510, when detecting the trigger operation of the airport control device 2030, it is detected whether the drone meets the preset takeoff conditions.

[0211] In some embodiments, S510 includes, when detecting the trigger operation of the airport control device 2030, performing a self-check on each sensor in the drone based on a preset self-check program, obtaining the current number of received positioning satellites when there is no problem in the self-check, and determining that the drone meets the preset takeoff conditions when the current number of received positioning satellites is greater than the preset number.

[0212] The current number of received positioning satellites is obtained by a satellite positioning device. For example, when it is detected that there is no problem in self-check, a satellite number detection command is sent to the satellite positioning device, and thereby, the satellite positioning device executes satellite positioning detection based on the satellite number detection command, returns the obtained current number of received positioning satellites, and the unmanned aircraft control device 2030 obtains the current number of received positioning satellites in real time.

[0213] In S520, when it is detected that the unmanned aircraft satisfies the preset takeoff conditions, a takeoff request message is sent to the airport control device 2030.

[0214] In S530, when receiving a takeoff command sent by the airport control device 2030 based on the takeoff request message, the unmanned aircraft takes off based on the preset inspection route and is controlled to perform an inspection tour.

[0215] In the technical solutions of these embodiments, when the unmanned aircraft control device 2030 detects a trigger operation of the airport control device 2030, it detects whether the unmanned aircraft satisfies the preset takeoff conditions. If so, it sends a takeoff request message to the airport control device 2030. When receiving a takeoff command sent by the airport control device 2030 based on the takeoff request message, the unmanned aircraft takes off based on the preset inspection route and is controlled to perform an inspection tour. Thereby, it is not necessary to manually control the unmanned aircraft throughout the inspection tour process, thereby realizing the automatic inspection tour of the unmanned aircraft, saving labor costs, and improving reliability.

[0216] FIG. 35 is a schematic structural diagram of an airport control device 2030 according to some further embodiments of the present disclosure, which embodiments are applicable to situations where the execution of an automatic circuit inspection of an unmanned aerial vehicle at an unmanned aerial vehicle airport, and the device particularly comprises a first detection module 610, a circuit inspection request message sending module 620, a trigger module 630, and a takeoff order sending module 640.

[0217] The first detection module 610 is configured to detect whether an unmanned aerial vehicle meets preset circuit inspection conditions when receiving an unmanned aerial vehicle startup order transmitted by an airport monitor device 2010. The circuit inspection request message sending module 620 is configured to send a circuit inspection request message to the airport monitor device 2010 when detecting that the unmanned aerial vehicle meets the preset circuit inspection conditions. The trigger module 630 is configured to trigger an unmanned aerial vehicle control device 2020 to detect whether the unmanned aerial vehicle meets preset takeoff conditions when receiving a circuit inspection order transmitted by the airport monitor device 2010 based on the circuit inspection request message, and thereby, when detecting that the preset takeoff conditions are met, the unmanned aerial vehicle control device 2030 is configured to send a takeoff request message to the airport control device 2030. The takeoff order sending module 640 is configured to detect whether the unmanned aerial vehicle airport meets preset pre-flight conditions when receiving the takeoff request message, and when detecting that the unmanned aerial vehicle airport meets the preset pre-flight conditions, send a takeoff order to the airport control device 2030, thereby controlling the unmanned aerial vehicle to take off based on the preset circuit inspection route of the unmanned aerial vehicle control device 2030 and execute the circuit inspection.

[0218] In some embodiments, the first detection module 610 is An information acquisition unit configured to obtain the first power amount information and the current weather information of the unmanned aerial vehicle when receiving an unmanned aerial vehicle startup command transmitted by the airport monitor device 2010, and a first detection unit configured to detect whether the unmanned aerial vehicle 200 satisfies the preset inspection conditions according to the first power amount information and the current weather information.

[0219] In some embodiments, the information acquisition unit, when receiving an unmanned aerial vehicle startup command transmitted by the airport monitor device 2010, transmits a first power amount information acquisition request to the battery device 2031, so that the battery device 2031 collects the first power amount information of the unmanned aerial vehicle and is configured to return the first power amount information, and includes a first power amount information acquisition subunit.

[0220] In some embodiments, the information acquisition unit also includes a current weather information acquisition subunit configured to, when receiving an unmanned aerial vehicle startup command transmitted by the airport monitor device 2010, transmit a current weather information acquisition request to the weather monitor device 2022, so that the weather monitor device 2022 acquires the current weather information and returns the current weather information.

[0221] In some embodiments, the first detection unit is configured to determine that the unmanned aerial vehicle satisfies the preset inspection conditions when detecting that the power amount value in the first power amount information is greater than the first preset power amount value, the current wind speed is less than the preset wind speed, and the current rainfall is 0.

[0222] In some embodiments, when the trigger module 630 receives an inspection command transmitted by the airport monitor device 2010 based on an inspection request message, the trigger module 630 transmits a signal connection control command to the contact control device 2021. Thereby, the contact control device 2021 moves based on the signal connection control command, signals the connection between the airport control device 2030 and the battery device 2031, and transmits a power-on command to the battery device 2031. Thereby, the battery device 2031 supplies power to the unmanned aircraft control device 2030, and the unmanned aircraft control device 2030 is triggered to detect whether the unmanned aircraft meets the preset takeoff conditions, and is configured as such.

[0223] In some embodiments, the device further includes a disconnection control command transmission module. After transmitting the power-on command to the battery device 2031, the disconnection control command transmission module transmits a disconnection control command to the contact control device 2021. Thereby, the contact control device 2021 moves based on the disconnection control command and disconnects the signal connection between the airport control device 2030 and the battery device 2031, and is configured as such.

[0224] In some embodiments, the device also includes a cover opening control command transmission module. When the cover opening control command transmission module receives an unmanned aircraft inspection command transmitted by the airport monitor device 2010 or receives a takeoff request message transmitted by the unmanned aircraft control device 2030, the cover opening control command transmission module transmits a cover opening control command to the airport cover opening device. Thereby, the airport cover opening device opens the airport cabin cover of the unmanned aircraft airport, and is configured as such.

[0225] In some embodiments, the device also includes a correction unlock command sending module. When the correction unlock command sending module 2020 receives a drone patrol inspection command sent by the airport monitor device 2010 or a takeoff request message sent by the drone control device 2030, it sends a correction unlock command to the drone guidance device, so that the drone guidance device unlocks the fixing module for fixing the drone within the drone guidance device.

[0226] In some implementation forms, when the takeoff command sending module 640 receives a takeoff request message sent by the drone control device 2030, it detects whether the airport cabin cover of the drone is open and whether the fixing module for fixing the drone in the drone guidance device is unlocked. When the airport cabin cover is open and the fixing module is unlocked, it is configured to determine that the drone airport meets the preset pre-flight conditions.

[0227] In some embodiments, the device further includes a signal connection control command sending module and a power-off command sending module. When the signal connection control command sending module detects that the drone has landed after the patrol inspection, it sends a signal connection control command to the contact control device 2021, so that the contact control device 2021 moves based on the signal connection control command to signal-connect the airport control device 2030 and the battery device 2031. The power-off command sending module is configured to send a power-off command to the battery device 2031 to stop the battery device 2031 from supplying power to the drone control device 2030.

[0228] In some embodiments, the device further includes a second power amount information acquisition module, a charging control module, and a connection disconnection control command sending module.

[0229] After the second electric quantity information acquisition module sends a power-off command to the battery device 2031, it sends a second electric quantity information acquisition request to the battery device 2031 to obtain the second electric quantity information of the unmanned aircraft collected by the battery device 2031.

[0230] When the charging control module detects that the electric quantity value in the second electric quantity information is smaller than the second preset electric quantity value, it controls the charging device 2026 to charge the unmanned aircraft 200, and performs the charging until the electric quantity value of the unmanned aircraft 200 becomes equal to the third preset electric quantity value.

[0231] After the charging is completed, the connection disconnection control command sending module also sends a connection disconnection control command to the contact control device 2021 to disconnect the signal connection between the airport control device 2030 and the battery device 2031.

[0232] The airport control device 2030 according to some embodiments of the present disclosure executes the patrol inspection method according to some other embodiments of the present disclosure, and has the beneficial effects by executing the corresponding functional modules and the patrol inspection method.

[0233] FIG. 36 is a schematic structural diagram of an airport control device 2030 according to some more embodiments of the present disclosure. These embodiments are applicable to the situation of controlling the execution of the automatic patrol inspection of the unmanned aircraft at the unmanned aircraft airport. This device particularly includes a second detection module 710, a takeoff request message sending module 720, and a patrol inspection control module 730.

[0234] The second detection module 710 is configured to detect whether the unmanned aircraft meets the preset takeoff conditions when detecting the trigger operation of the airport control device 2030. The takeoff request message sending module 720 is configured to send a takeoff request message to the airport control device 2030 when detecting that the unmanned aircraft meets the preset takeoff conditions. The patrol inspection control module 730 is configured to control the unmanned aircraft to take off and perform a patrol inspection based on the preset patrol inspection route when receiving the takeoff order sent by the airport control device 2030 based on the takeoff request message.

[0235] In some implementations, when detecting the trigger operation of the airport control device 2030, the second detection module 710 executes a self-check on each sensor in the unmanned aircraft based on a preset self-check program. When there is no problem with the self-check, it obtains the current number of received positioning satellites. When the current number of received positioning satellites is greater than the preset number, it is configured to determine that the unmanned aircraft meets the preset takeoff conditions.

[0236] In some embodiments, the second detection module 710 includes a positioning satellite number acquisition unit. When detecting that there is no problem with the self-check, the positioning satellite number acquisition unit sends a satellite number detection command to the satellite positioning device. Thereby, the satellite positioning device executes satellite positioning detection based on the satellite number detection command and returns the obtained current number of received positioning satellites.

[0237] The unmanned aircraft control device 2030 according to some embodiments of the present disclosure executes the patrol inspection method according to some more embodiments of the present disclosure and has the beneficial effects of executing the corresponding functional modules and the patrol inspection method.

[0238] FIG. 37 is a schematic structural diagram of an apparatus according to some further embodiments of the present disclosure. Referring to FIG. 37, the apparatus includes one or more processors 810 and a memory 820. The memory 820 is configured to store one or more programs. When the one or more programs are executed by the one or more processors 810, the one or more processors 810 are enabled to implement the patrol inspection method according to some other embodiments or implementation forms 3 of the present disclosure.

[0239] In FIG. 37, one processor 810 is taken as an example, and the processor 810 and the memory 820 in the apparatus are connected by a bus or other means. In FIG. 37, the connection by a bus is taken as an example.

[0240] The memory 820 as a computer-readable storage medium is configured to store software programs, computer-executable programs, and modules such as program instructions / modules corresponding to the patrol inspection method in some embodiments of the present disclosure. The processor 810 executes the software programs, instructions, and modules stored in the memory 820 to execute various functional applications and data processing of the apparatus, that is, to implement the patrol inspection method according to some other embodiments or implementation forms 3 of the present disclosure.

[0241] The memory 820 exclusively comprises a memory program area and a memory data area. The memory program area stores an operating system and an application program required by at least one function. The memory data area stores data created according to the use of the device and the like. In addition, the memory 820 includes a high-speed random access memory and also includes non-volatile memory such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some examples, the memory 820 further includes a memory disposed remotely with respect to the processor 810, and these remote memories are connected to the device through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile signal connection network, and combinations thereof.

[0242] The device according to some embodiments of the present disclosure executes the patrol inspection method according to some other embodiments or implementation forms 3 of the present disclosure and has corresponding beneficial effects by executing the patrol inspection method.

[0243] Some more embodiments of the present disclosure provide a computer-readable storage medium storing a computer program, and when the program is executed by a processor, it implements the patrol inspection method according to some other embodiments of the present disclosure.

[0244] Computer storage media according to some embodiments of the present disclosure employ any combination of one or more computer-readable media. The computer-readable media is either a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium is, without limitation, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (non-exhaustive list) of computer-readable storage media include an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device device, a magnetic storage device device, or any suitable combination of the foregoing. As used herein, a computer-readable storage medium is any tangible medium that includes, or stores a program for use by or in connection with an instruction execution system, apparatus, or device.

[0245] A computer-readable signal medium includes a data signal propagated in baseband or as part of a carrier wave and carrying computer-readable program code. Such a propagated data signal takes various forms, including, without limitation, electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium is any computer-readable medium other than a computer-readable storage medium that transmits, propagates, or conveys a program for use by or in connection with an instruction execution system, apparatus, or device.

[0246] The program code included in the computer-readable medium is transmitted by any suitable medium, including, without limitation, wireless, wired, optical cable, RF, or any suitable combination of the foregoing.

[0247] The computer program code for performing the operations of the present disclosure is written in one or more programming languages or combinations thereof, including object-oriented programming languages such as Java, Smalltalk, and C++, and 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 stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. When accompanied by a remote computer, the remote computer is connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or is connected to an external computer (e.g., connected via the Internet through an Internet service provider).

[0248] The various modules or steps of the present disclosure are implemented using general-purpose computing devices, which can be centralized on a single computing device or distributed over a network formed by multiple computing devices. In some embodiments, they are implemented in program code executable by a computer device, which is stored in a storage device and executed by the computing device, or separately fabricated within various integrated circuit modules, or it should be understood by those skilled in the art that multiple modules or steps therein can be fabricated and implemented as a single integrated circuit module. That is, the present disclosure is not limited to any specific combination of hardware and software.

[0249] The inventors have also found that, in some embodiments, with the continuous development of unmanned aircraft technology, unmanned aircraft are widely used in aerial photography, agriculture, express transportation, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, reporting, power line inspection, disaster relief, movie and TV shooting, and many other fields. In actual application scenarios, due to limitations in battery technology, the cruising duration of unmanned aircraft is very limited. In order to enable unmanned aircraft to automatically navigate for a long time, automatic charging devices are usually arranged at fixed positions. When the battery level is low, the unmanned aircraft returns to the automatic charging device for charging, and after the charging is completed, it continues to cruise, thus increasing the working time of the unmanned aircraft. However, in the prior art, since the unmanned aircraft needs to return to the automatic charging device for charging, the unmanned aircraft can only cruise within a range centered on the automatic charging device, and the cruising range of the unmanned aircraft is limited. In order to solve the above technical problems, the following technical solutions are provided in some embodiments.

[0250] As an unmanned aircraft controlled by a wireless remote control device and a self-provided program, the unmanned aircraft is often used to cruise a specific area for inspection work, and the image collection device of the unmanned aircraft is configured to collect and store video data during cruising. For an unmanned aircraft that automatically cruises, the automatic charging device is usually arranged at a fixed position, stores the battery level so that the unmanned aircraft can return when the battery level is insufficient, and the unmanned aircraft returns to the automatic charging device to charge and continues to cruise after the charging is completed. Then, due to the limitation of the battery capacity and the storage area of the unmanned aircraft, the cruising distance of the unmanned aircraft is also limited. In actual use scenarios, unmanned aircraft are often required to cruise longer distances. When the cruise at a longer distance exceeds the maximum flight distance of the unmanned aircraft supported by the battery level, the unmanned aircraft does not return to the automatic charging device, and then manual operation is necessary to complete the charging of the unmanned aircraft, transfer the stored data, and meet the conditions of the battery level required to continue cruising and the storage area required to continue cruising.

[0251] Referring to FIGS. 38 to 54, in some embodiments of the present disclosure, in order to expand the cruising range of the automatic cruise of the unmanned aircraft 200 without the need for manual charging, a plurality of cruise control devices are arranged within the cruise route of the unmanned aircraft. The unmanned aircraft is connected to each cruise control device during cruising, whereby the cruise control device brings about a continuous cruising operation for the unmanned aircraft and assists the unmanned aircraft in continuously completing a long-distance automatic cruise. FIG. 38 is a schematic diagram of an unmanned aircraft cruise system according to some embodiments of the present disclosure. As shown in FIG. 38, the unmanned aircraft cruise system 30100 includes an unmanned aircraft 200 and a plurality of cruise control devices 3002. The unmanned aircraft 200 establishes a wired or wireless connection with the cruise control device 3002, whereby the cruise control device 3002 performs a continuous cruising operation for the unmanned aircraft 200, such as charging the unmanned aircraft or storing the cruise video data transmitted by the unmanned aircraft 200. The unmanned aircraft 200 essentially exports the stored cruise video data and selects the storage area necessary to continue cruising. The unmanned aircraft 200 needs to complete the cruise from the cruise control device 3002 to the cruise control device n with the assistance of a plurality of cruise control devices 3002. The n cruise control devices are arranged throughout the cruise route. The unmanned aircraft 200 takes off from the cruise control device 1 and cruises to the cruise control device 3002, then takes off from the cruise control device 3002 and cruises to the cruise control device 3, and so on, until the unmanned aircraft 200 reaches the end cruise control device n.

[0252] An image collection device such as a camera is mounted within the unmanned aircraft 200 and is configured to collect cruise video data during cruising.

[0253] In some embodiments, each cruise control device 3002, also known as an unmanned aircraft airport, includes at least a takeoff / landing platform and a charging device. A correction mechanism for correcting and locking the landed unmanned aircraft is attached to the takeoff / landing platform. The correction mechanism has a retractable structure and is automatically retracted under the control of the cruise control device to correct the unmanned aircraft to a fixed position. In some embodiments, the takeoff / landing platform is disposed within the parking cabin, and the cabin cover is disposed above the cabin. When the unmanned aircraft needs to land or attempts to take off, the cruise control device 3002 controls the cabin cover to open. When the unmanned aircraft lands within the cabin, the cabin cover is controlled to close.

[0254] In some embodiments, the unmanned aircraft cruise system 30100 further includes a server (not shown in the figure). The server establishes a signal connection with each cruise control device 3002, receives the state information of the unmanned aircraft transmitted by the cruise control device 3002, such as one or more of the state of each sensor and the battery charge level, and further receives cruise evaluation information, determines whether to control the unmanned aircraft to continue cruising according to the state information of the unmanned aircraft and / or the cruise evaluation information, and transmits the confirmation result to the cruise control device 3002 connected to the unmanned aircraft 200. The cruise control device 3002 controls the unmanned aircraft 200 to continue cruising or temporarily stop cruising according to the confirmation result. In some embodiments, the unmanned aircraft cruise system 30100 does not include a server, and the cruise control device 3002 determines whether to control the unmanned aircraft to continue cruising according to the state information of the unmanned aircraft and the cruise evaluation information.

[0255] FIG. 39 is a schematic structural diagram of an unmanned aerial vehicle cruising system 30100 according to some embodiments of the present disclosure, and these embodiments are applicable to a situation where an unmanned aerial vehicle is controlled at an unmanned aerial vehicle airport to perform automatic cruising. As shown in FIG. 39, the unmanned aerial vehicle cruising system includes an airport monitor device 3010, an airport control device 3020, and an unmanned aerial vehicle control device 3030.

[0256] The airport control device 3020 executes a cruising continuation operation on the unmanned aerial vehicle, detects in real time whether the unmanned aerial vehicle meets the preset cruising conditions, and when it detects that the unmanned aerial vehicle meets the preset cruising conditions, it transmits a cruising request message to the airport monitor device 3010. When it receives a cruising command transmitted by the airport monitor device 3010 based on the cruising request message, it is configured to start the unmanned aerial vehicle control device 3030 to detect whether the unmanned aerial vehicle 200 meets the preset takeoff conditions. After receiving the cruising start command transmitted by the airport control device 3020 and when it detects that the unmanned aerial vehicle meets the preset takeoff conditions, the unmanned aerial vehicle control device 3030 transmits a takeoff request message to the airport control device 3020 and is configured to control the unmanned aerial vehicle to take off based on the preset cruising route and execute cruising.

[0257] The airport monitor device 3010 is configured to monitor and control the cruising status of the unmanned aircraft airport. The airport monitor device 3010 is placed inside or outside the unmanned aircraft airport, and its specific position is set based on business requirements. The airport control device 3020 is installed inside the unmanned aircraft airport and is configured to control the internal devices of the unmanned aircraft airport. The unmanned aircraft control device 3030 is installed inside the unmanned aircraft and is configured to control the internal devices of the unmanned aircraft. These embodiments do not limit the specific installation positions of the airport monitor device 3010, the airport control device 3020, and the unmanned aircraft control device 3030.

[0258] The airport monitor device 3010 is pre-connected and signal-connected to the airport control device 3020 for data transmission. For example, the airport monitor device 3010 is signal-connected to the airport control device 3020 wirelessly through a network. In some embodiments, the airport control device 3020 is pre-connected and signal-connected to the unmanned aircraft control device 3030. In some other embodiments, the connection and signal connection status with the unmanned aircraft control device 3030 are indirectly controlled. For example, the airport control device 3020 establishes a signal connection with the unmanned aircraft control device 3030 when data transmission is required, so that when not cruising, the unmanned aircraft control device enters a standby state to avoid interference and save energy.

[0259] In some embodiments, in the process of the unmanned aircraft preparing to start cruising from the first cruise control device within the cruise route, the user induces the unmanned aircraft startup command generation operation in the airport monitor device 3010, whereby the airport monitor device 3010 generates an unmanned aircraft startup command based on the user operation. For example, when the user clicks or touches the unmanned aircraft startup button on the display interface of the airport monitor device 3010, the airport monitor device 3010 generates an unmanned aircraft startup command, sends the generated unmanned aircraft startup command to the airport control device 3020, and the airport control device 3020 executes a detection operation based on the unmanned aircraft startup command to determine whether the preset cruise conditions are currently met to ensure the reliability of the cruise. Upon receiving the unmanned aircraft startup command, the airport control device 3020 obtains the necessary current cruise evaluation information based on the preset cruise conditions, detects whether the current unmanned aircraft meets the preset cruise conditions according to the current cruise evaluation information, and if so, a cruise request message is sent to the airport monitor device 3010 to instruct whether to execute the subsequent cruise operation. Upon receiving the cruise request message, the airport monitor device 3010 displays it on its display interface, prompting the user that the unmanned aircraft meets the preset cruise conditions and whether the subsequent cruise operation needs to be executed. If the user needs to continue the cruise operation, the cruise command generation operation is triggered in the airport monitor device 3010, whereby the airport monitor device 3010 generates a cruise command based on the user operation and sends the generated cruise command to the airport control device 3020.

[0260] When receiving a patrol command, the airport control device 3030 starts the UAV control device 3030 and detects whether the UAV meets the preset takeoff conditions by sending a command or controlling the UAV control device 3030 that supplies power. For example, when a signal connection with the UAV control device 3030 has been established in advance, the airport control device 3030 directly sends a takeoff detection command to the UAV control device 3030, whereby the UAV control device 3030 detects whether the UAV meets the preset takeoff conditions when receiving the takeoff detection command. When the airport control device 3030 does not establish a signal connection with the UAV control device 3030, the UAV control device 3030 is started by supplying power, whereby the UAV control device 3030 detects whether the UAV meets the preset takeoff conditions after power supply.

[0261] The UAV control device 3030 obtains the necessary UAV information based on the preset takeoff conditions, detects whether the current UAV meets the preset takeoff conditions according to the current UAV information. For example, it detects whether the sensor is normal. If so, a takeoff request message is sent to the airport control device 3020 to command whether to execute the takeoff operation. When receiving the takeoff request message, the airport control device 3020 detects whether the current UAV airport ensures the normal takeoff of the UAV. If so, it sends a cruise start command to the UAV control device 3030. Thereby, when receiving the cruise start command, the UAV control device 3030 controls the UAV placed on the takeoff and landing platform in the UAV airport to take off normally and cruise to the next cruise control device based on the preset cruise route. The UAV 200 does not require any manual control throughout the cruise process, thereby realizing the automatic cruise of the UAV 200, saving labor costs, and improving reliability.

[0262] The technical solutions of these embodiments are implemented by an airport monitor device, an airport control device, and a drone control device to realize the automatic cruise process of the drone.

[0263] Based on the above technical solutions, FIG. 40 is a schematic structural diagram of a drone cruise system according to some embodiments of the present disclosure. As shown in FIG. 40, this system further includes a contact control device 3021 connected to an airport control device 3020 and a smart battery 3031 in a drone 200 connected to a drone control device 3030.

[0264] The contact control device 3021 is configured to move a charging contact according to an instruction of the airport control device 3020 and control it to be connected to the smart battery 3031, whereby the airport control device 3020 is signal-connected to the smart battery 3031. Correspondingly, the airport control device 3020 is configured to obtain the remaining power of the smart battery 3031 and charge the smart battery 3031. In some embodiments, when receiving a cruise command transmitted by the airport monitor device 3010 based on a cruise request message, a power-on command is transmitted to the smart battery 3031, whereby the smart battery supplies power to the drone control device and triggers the drone control device to detect whether the drone 200 meets the preset takeoff conditions.

[0265] The contact control device 3021 refers to an intermediate device configured to signal-connect the air port control device 3020 and the smart battery 3031. The contact control device 3021 controls the movement of the charging contact under the signal connection control command of the air port control device 3020, signal-connects the air port control device 3020 and the smart battery 3031 for data transmission, whereby the air port control device 3020 indirectly controls the power supply status of the unmanned aircraft control device 3030 connected to the smart battery 3031 by controlling the smart battery 3031.

[0266] In some embodiments, when receiving the unmanned aircraft startup command transmitted by the air port monitor device 3010, or when receiving the cruise command transmitted by the air port monitor device 3010 based on the cruise request message, the air port control device 3020 transmits a signal connection control command to the contact control device 3021, and the contact control device 3021 controls the charging contact to move to the smart battery 3031 based on the signal connection control command, thereby performing communication between the air port control device 3020 and the smart battery 3031 for subsequent signal connection. After establishing the signal connection with the smart battery 3031, the air port control device 3020 transmits a power-on command to the smart battery 3031. After receiving the power-on command, the smart battery 3031 supplies power to the connected unmanned aircraft control device 3030, whereby the unmanned aircraft control device 3030 is activated, thereby triggering the operation of detecting whether the unmanned aircraft control device 3030 meets the preset takeoff conditions of the unmanned aircraft. After being activated, the unmanned aircraft control device 3030 establishes a signal connection with the air port control device 3020 through the wireless signal connection device in the unmanned aircraft 200 for subsequent data transmission.

[0267] The smart battery 3031 is connected to all devices within the unmanned aircraft 200 that require power supply. Therefore, when receiving a power-on command, the smart battery 3031 supplies power to all devices to be powered within the unmanned aircraft. It should be noted that the unmanned aircraft is started. For example, before the smart battery 3031 receives a power-on command, the entire unmanned aircraft 200 is in a power-off state, that is, a standby state. The unmanned aircraft 200 is placed at the airport with higher reliability, and at the same time, energy waste and electromagnetic interference of other devices are ensured to be avoided.

[0268] In some embodiments, after the airport control device 3020 sends a power-on command to the smart battery 3031, it is further configured to send a disconnection control command to the contact control device 3021. The contact control device 3021 is further configured to control and move the charging contacts according to the received disconnection control command to disconnect the signal connection between the airport control device 3020 and the smart battery 3031.

[0269] In some embodiments, after the unmanned aircraft 200 is powered on, the unmanned aircraft control device 3030 establishes a signal connection with the airport control device 3020 and no longer requires a contact connection. At this time, the airport control device 3020 sends a disconnection control command to the contact control device 3021. Thereby, the contact control device 3021 controls to move the charging contacts to disconnect the contact with the smart battery 3031, thereby disconnecting the signal connection between the airport control device 3020 and the smart battery 3031 for the subsequent normal takeoff of the unmanned aircraft.

[0270] Based on the above technical solution, when the airport control device 3020 receives the unmanned aircraft startup command sent by the airport monitor device, it also acquires the power quantity information and cruise evaluation information of the unmanned aircraft 200. The cruise evaluation information includes real-time weather information and / or the number of GPS satellites. Based on the power quantity information and cruise evaluation information, it is also configured to detect whether the unmanned aircraft meets the preset cruise conditions.

[0271] The power quantity information refers to the remaining power quantity of the unmanned aircraft before takeoff. The weather information refers to the current weather information of the area to be cruised. The current weather information includes, but is not limited to, temperature, humidity, wind speed, and rainfall.

[0272] In some embodiments, when the airport control device 3020 receives the unmanned aircraft startup command sent by the airport monitor device 3010, if the airport control device 3020 has previously established a signal connection with the unmanned aircraft control device 3030, the airport control device 3020 sends a power quantity information acquisition request to the unmanned aircraft control device 3030. Thereby, the unmanned aircraft control device 3030 acquires the power quantity information of the unmanned aircraft 200 based on the power quantity information acquisition request, and sends the power quantity information to the airport control device 3020, and the airport control device 3020 acquires the power quantity information of the unmanned aircraft 200. When the airport control device 3020 establishes a signal connection with the unmanned aircraft control device 3030 through the smart battery 3031, after establishing the signal connection with the smart battery 3031, the airport control device 3020 sends a power quantity information acquisition request to the smart battery 3031, and acquires the power quantity information of the unmanned aircraft through the smart battery 3031. In some embodiments, the smart battery 3031 is further configured to collect the power quantity information of the unmanned aircraft when receiving the power quantity information acquisition request sent by the airport control device 3020, and send the power quantity information to the airport control device 3020.

[0273] Figure 41 is a schematic structural diagram of an unmanned aerial vehicle cruising system according to some embodiments of the present disclosure. In some embodiments, as shown in Figure 41, this system is connected to an airport control device 3022, acquires current weather information when receiving a current weather information acquisition request sent by the airport control device 3020, and transmits the current weather information to the airport control device 3020, and further includes a weather monitoring device 3022 configured such that the airport control device 3020 acquires current weather information through the weather monitoring device 3022.

[0274] When acquiring the power amount information and the current weather information of the unmanned aerial vehicle 200, the airport control device 3020 detects whether the power amount information and the current weather information ensure the automatic cruise of the unmanned aerial vehicle. If so, it determines that the unmanned aerial vehicle meets the preset cruise conditions. In some embodiments, the airport control device 3020 detects that the power amount value in the power amount information is greater than the preset power amount value, the current wind speed is less than the preset wind speed, and the current rainfall amount is 0, and is configured to determine that the unmanned aerial vehicle meets the preset cruise conditions when both the power amount of the unmanned aerial vehicle and the current weather indicate that they ensure the normal cruise of the unmanned aerial vehicle.

[0275] In some embodiments, when acquiring the power amount information and the current weather information of the unmanned aerial vehicle, the airport control device 3020 transmits the acquired power amount information and the current weather information to the airport monitoring device 3010, whereby the airport monitoring device 3010 displays the power amount information and the weather information on the display interface for the user to view.

[0276] Based on the above technical solution, as shown in FIG. 41, this system also includes a cabin cover opening device 3023 connected to the airport control device 3020 and configured to open the cabin cover of the unmanned aircraft airport when receiving a cover opening control command transmitted by the airport control device 3020. The cover opening control command is transmitted when the airport control device 3020 receives a drone cruise command transmitted by the airport monitor device 3010 or a takeoff request message transmitted by the drone control device 3030.

[0277] The cabin cover control device 3023 controls the opening and closing of the cabin cover of the unmanned aircraft airport. When the unmanned aircraft 200 is preparing for takeoff, the cabin cover needs to be opened so that the unmanned aircraft 200 can take off normally from the unmanned aircraft airport.

[0278] In some embodiments, when the airport control device 3020 receives a drone cruise command transmitted by the airport monitor device 3010 or a takeoff request message transmitted by the drone control device 10, that is, before the drone takes off, a cover opening control command is transmitted to the cabin cover control device 3023, whereby the cabin cover of the unmanned aircraft airport is opened and the unmanned aircraft takes off normally from the airport.

[0279] In some embodiments, FIG. 42 is a schematic structural diagram of an unmanned aircraft airport 100 according to some embodiments of the present disclosure. As shown in FIG. 42, the unmanned aircraft airport 100 includes a support frame 301, a parking apron 302, a cabin cover 303, a cabin cover control device 4, and a cabin cover control device 304. As shown in FIG. 42, the cabin cover 303 is disposed at the top of the parking apron 302 to protect the unmanned aircraft 200. The cabin cover 303 is drivingly connected to the cabin cover control device 3023 and is configured to control the opening and closing of the cabin cover 303. For example, the cabin cover 303 includes a first cover body portion 31 and a second cover body portion 32. When receiving a cover opening control command, the cabin cover control device 3023 controls the first cover body portion 31 and the second cover body portion 32 to move relative to each other to the farthest positions, whereby the cabin cover 303 is opened. In some embodiments, the cabin cover control device 3023 is controlled by a bar link structure or a linear movement mechanism. As shown in FIG. 42, two active rods are disposed on both sides of the first cover body portion 31 and the second cover body portion 32, whereby the movement of the cover body portion is more stable and the reliability is increased. When receiving a cover opening control command, the cabin cover control device 3023 controls both the active rod on the side of the first cover body portion 31 and the active rod on the side of the second cover body portion 32 to move outward, whereby the first cover body portion 31 and the second cover body portion 32 move away from each other, thereby opening the cabin cover 303.

[0280] Based on the above technical solution, as shown in FIG. 41, this system also includes a correction mechanism 3024 connected to the airport control device 3020. The correction mechanism 3024 is configured to unlock a fixing module for fixing the unmanned aircraft in the correction mechanism 3024 when receiving a correction unlocking command sent by the airport control device 3020. The correction unlocking command is sent when the airport control device 3020 receives an unmanned aircraft cruising command sent by the airport monitor device 3010 or receives a takeoff request message sent by the unmanned aircraft control device 3030.

[0281] The correction mechanism 3024 uses an internal fixing module to fix the unmanned aircraft 200, whereby the unmanned aircraft 200 enters a correction state. When the unmanned aircraft 200 is preparing for takeoff, the fixing module for fixing the unmanned aircraft 200 needs to be unlocked, whereby the unmanned aircraft 200 can take off normally from the unmanned aircraft airport.

[0282] In some embodiments, when the airport control device 3020 receives an unmanned aircraft cruising command sent by the airport monitor device 3010 or receives a takeoff request message sent by the unmanned aircraft control device 10, that is, before the unmanned aircraft takes off, a correction unlocking command is sent to the correction mechanism 3024, whereby the fixing module for fixing the unmanned aircraft is unlocked and the unmanned aircraft takes off normally from the airport.

[0283] In some embodiments, FIG. 43 is a schematic structural diagram of a correction mechanism according to some embodiments of the present disclosure. The correction mechanism 3024 is disposed at the top of the parking apron 302 of the unmanned aircraft airport, whereby the unmanned aircraft 200 is in place after parking, and the unmanned aircraft 200 is properly stacked in a set direction. As shown in FIG. 43, the correction mechanism 3024 pushes the unmanned aircraft 200 and moves it to a set position through the linear movement of each correction rod. As shown in FIG. 43, the correction mechanism 3024 includes a plurality of correction rods attached to the parking apron 302. The unmanned aircraft 200 is clamped by linearly moving a plurality of correction rods, whereby the unmanned aircraft 200 lands at a set position on the parking apron 302.

[0284] In particular, as shown in FIG. 43, the fixing module used for the unmanned aircraft in the correction mechanism 3024 is four correction rods, which are respectively the first correction rod 806, the second correction rod 807, the third correction rod 808, and the fourth correction rod 809 in FIG. 43. The four correction rods are paired and parallel to form a rectangular frame. The four correction rods move towards each other simultaneously, whereby the side length of the rectangular frame is shortened to a size that clamps the unmanned aircraft 200, and the unmanned aircraft 200 arranged within the rectangular frame is then moved by the correction rods. The four correction rods move away from each other simultaneously, whereby the side length of the rectangular frame is extended to a size that unlocks the unmanned aircraft 200, and then the unmanned aircraft 200 arranged within the rectangular frame is unlocked, and the subsequent unmanned aircraft 200 then takes off. In some embodiments, upon receiving a correction unlock command transmitted by the airport control device 3020, the correction mechanism 3024 controls the four correction rods to move in opposite directions to each other simultaneously to unlock the clamped unmanned aircraft 200, thereby unlocking the fixing module for fixing the unmanned aircraft 200 in the correction mechanism 3024.

[0285] In some embodiments, when the airport control device 3020 receives a takeoff request message transmitted by the unmanned aircraft control device 3030, it detects whether the cabin cover of the unmanned aircraft is open, detects whether the fixing module for fixing the unmanned aircraft in the correction mechanism is unlocked, and when the cabin cover is open and the fixing module is unlocked, it transmits a cruise start command to the unmanned aircraft control device, whereby the unmanned aircraft is configured to take off normally from the unmanned aircraft airport.

[0286] Based on the above technical solution, the unmanned aircraft control device 3030 executes a self-check on each sensor in the unmanned aircraft based on a preset self-check program. When there is no problem in the self-check, it obtains the current number of positioning satellites being received, and determines that the unmanned aircraft meets the preset takeoff conditions when the current number of positioning satellites being received is greater than the preset number.

[0287] The current number of positioning satellites being received refers to the number of positioning satellites currently detected by the unmanned aircraft. When the quantity is greater than the preset number, it is ensured that the unmanned aircraft is accurately positioned during the cruise process, which is convenient for automatic patrolling.

[0288] In some embodiments, as shown in FIG. 41, the system further includes a satellite positioning device 3032 connected to the unmanned aircraft control device 3030. When the satellite positioning device 3032 receives a satellite number detection command transmitted by the unmanned aircraft control device 3030, it performs satellite positioning detection, obtains the current number of received positioning satellites, and transmits the current number of received positioning satellites to the unmanned aircraft control device 3030. Thereby, the unmanned aircraft control device 3030 is configured to obtain the current number of received positioning satellites in real time. The satellite number detection command is transmitted by the unmanned aircraft control device 3030 when it detects that there is no problem with the self-check. The satellite positioning device 3032 is a device for satellite positioning measurement set by using real-time kinematic (RTK) technology.

[0289] Based on the above technical solution, as shown in FIG. 41, the system further includes an image collection device 3034, an image transmission device 3035 connected to the image collection device 3034, and a ground-side image receiving device 3025. The image collection device 3034 is configured to collect cruise images and transmit the cruise images to the image transmission device 3035. The image transmission device 3035 is configured to transmit the received cruise images to the ground-side image receiving device 3025. The ground-side image receiving device 3025 is configured to store the received cruise images.

[0290] The specific mounting positions of the image collection device 3034 and the image transmission device 3035 in the unmanned aircraft 200 are determined based on business requirements. The ground-side image receiving device 3025 can be mounted inside or outside the unmanned aircraft airport. These embodiments do not limit the specific mounting positions of the image collection device 3034, the image transmission device 3035, and the ground-side image receiving device 3025.

[0291] In some embodiments, the image collection device 3034 is connected to the unmanned aircraft control device 3030 to collect cruise images when receiving a collection command from the unmanned aircraft control device 3030. The image collection device 3034 is also not connected to the unmanned aircraft control device 3030. Therefore, after the image collection device 3034 is powered on, cruise images are collected in real time. After collecting the cruise images, the image collection device 3034 transmits the cruise images to the ground-side image receiving device 3025 through the image transmission device 3035. The ground-side image receiving device 3025 transmits the received cruise images to the cloud side for storage there, and also transmits them to the airport monitor device 3010 for storage there. Thereby, the airport monitor device 3010 displays the cruise images on the display interface in real time, realizing the visualization of the cruise.

[0292] Based on the above technical solution, when the airport control device 3020 detects the landing of the unmanned aircraft, it also transmits a signal connection control command to the contact control device 3021. Thereby, the contact control device 3021 moves based on the signal connection control command, signals the connection between the airport control device 3020 and the smart battery 3031, and transmits a power-off command to the smart battery 3031 to stop the smart battery 3031 from supplying power to the unmanned aircraft control device 3030.

[0293] In some embodiments, after the cruise based on the preset cruise route is completed, when the unmanned aircraft lands on the takeoff and landing platform of the unmanned aircraft airport, when the airport control device 3020 detects that the unmanned aircraft has landed on the takeoff and landing platform, it sends a signal connection control command to the contact control device 3021 to enable the charging contact point and the smart battery 3031 to come into contact, thereby enabling communication between the airport control device 3020 and the smart battery 3031. The airport control device 3020 sends a power-off command to the smart battery 3031 to stop the smart battery 3031 from supplying power to the unmanned aircraft control device 3030 and also stop supplying power to other power supply devices in the unmanned aircraft, whereby the unmanned aircraft enters a power-off state.

[0294] Based on the above technical solution, the system also includes a charging device 3026 connected to the airport control device 3020 and configured to charge the unmanned aircraft. Correspondingly, the airport control device 3020 sends an electric quantity information acquisition request to the smart battery 3031 to obtain the remaining electric quantity of the smart battery 3031. When it detects that the electric quantity value in the electric quantity information is smaller than the first preset electric quantity value, it controls the charging device 3026 to charge the unmanned aircraft until the electric quantity value of the unmanned aircraft equals the second preset electric quantity value. After the charging is completed, it sends a disconnection control command to the contact control device 3021 to disconnect the signal connection between the airport control device 3020 and the smart battery 3031.

[0295] The electricity quantity information is also collected and obtained by the smart battery 3031. When the airport control device 3020 detects that the electricity quantity value of the electricity quantity information is smaller than the first preset electricity quantity value, indicating that the unmanned aircraft needs to be charged for subsequent cruise tasks, at this time, the charging device 3026 is controlled to contact the smart battery 3031, whereby the charging device 3026 charges the unmanned aircraft. When the electricity quantity value of the unmanned aircraft is equal to or greater than the second preset electricity quantity value, the charging device 3026 is controlled to complete the charging. After the charging is completed, a disconnection control command is sent to the contact control device 3021 to disconnect the signal connection between the airport control device 3020 and the smart battery 3031. In some embodiments, the contact control device 3021 is integrated with the charging device 3026. Therefore, when charging is required, the charging device 3026 integrated with the contact control device 3021 is directly controlled regarding charging, simplifying the cruise operation.

[0296] After the airport control device 3020 sends a power-off command to the intelligent battery 3031, the entire unmanned aircraft enters a power-off state. At this time, the airport control device 3020 controls the charging device 3026 to charge the unmanned aircraft, thereby ensuring no electromagnetic interference during the charging process and further ensuring the reliability of the unmanned aircraft.

[0297] In some embodiments, FIG. 44 is a schematic structural diagram of a charging device 3026 according to some embodiments of the present disclosure, and FIG. 45 is a schematic three-dimensional structural diagram of four charging devices 3026 that define a rectangle within an unmanned aircraft airport according to some embodiments of the present disclosure. As shown in FIGS. 44 and 45, the charging device 306 is mounted on the parking apron 302 and includes a first electrode 3061. FIG. 46 is a schematic diagram of a charging connection according to some embodiments of the present disclosure. Correspondingly, as shown in FIG. 46, the smart battery 3031 includes a second electrode 3071, whereby the first electrode 3061 and the second electrode 3071 are matched in a chargeable manner. For example, there are one or more first electrodes 3061 and second electrodes 3071, and the metal contacts of the first electrode 3061 and the second electrode 3071 contact each other for conduction and charging, and the metal contacts of these two are separated so as not to charge anymore. Both the first electrode 3061 and the second electrode 3071 are arranged in an array or configuration. As shown in FIG. 45, the charging device 306 defines a symmetric rectangular shape, whereby charging is achieved regardless of the direction in which the nose of the unmanned aircraft 200 faces. That is, after the unmanned aircraft 200 lands, regardless of the nose orientation of the unmanned aircraft 200, as long as the unmanned aircraft 200 is correctly corrected, it is guaranteed that the second electrode 3071 in the smart battery 3031 of the unmanned aircraft fits with the first electrode 3061 in one of the charging devices 3026, thereby ensuring the accuracy of charging.

[0298] In some embodiments, when it is detected that the electrical quantity value in the electrical quantity information is smaller than a first preset electrical quantity value, the air port control device 3020 controls the charging contacts of the charging device 3026 to move to the smart battery 3031, whereby the first electrode 3061 in the charging device 3026 contacts the second electrode 3071 of the smart battery 3031 in the unmanned aerial vehicle, and the metal contacts of these two come into contact with each other, thereby charging the unmanned aerial vehicle. When the electrical quantity value of the unmanned aerial vehicle is equal to a third preset electrical quantity value, the air port control device 3020 controls the charging device 3026 to move away from the smart battery 3031, disconnecting the contact between the first electrode 3061 in the charging device 3026 and the second electrode 3071 in the smart battery 3031 in the unmanned aerial vehicle, thereby completing the charging of the unmanned aerial vehicle.

[0299] In some embodiments, before sending a signal connection control command to the contact control device 3021, the air port control device 3020 also sends a correction command to the correction mechanism 3024, whereby the correction mechanism 3024, when receiving the correction command, fixes the unmanned aerial vehicle 200 with the fixing module, corrects the unmanned aerial vehicle 200, and moves the contact control device 3021 to the position of the smart battery 3031, whereby the contact control device 3021 controls the contact between the charging contact and the smart battery 3031.

[0300] For example, as shown in FIG. 43, when receiving the correction command sent by the air port control device 3020, the correction mechanism 3024 controls the four correction rods to move towards each other simultaneously, whereby the side length of the rectangular frame is shortened to a size that clamps the unmanned aerial vehicle 200, enabling the unmanned aerial vehicle to be in place.

[0301] In some embodiments, after the airport control device 3020 detects that the UAV has landed after cruising, it sends a cover closing control command to the cabin cover control device 3023, whereby the cabin cover control device 3023 closes the cabin cover that is open when it receives the cover closing control command. Thus, after the cruise is completed, the cabin cover is automatically closed, whereby the entire cruise process is automatically completed without manual control, ensuring the reliability of the UAV.

[0302] For example, as shown in FIG. 42, when receiving the cover closing control command, the cabin cover control device 3023 controls the active rods on the sides of the first cover body 31 and the active rods on the sides of the second cover body 32 to move towards each other until they come into contact with each other, whereby the first cover body 31 and the second cover body 32 move relative to each other, thereby closing the cabin cover 303 to protect the UAV and preventing the UAV from being damaged and contaminated by external rainwater, impurities, etc.

[0303] In the application of the above UAV cruise system, during the cruise process of the UAV, the UAV and the cruise control device implement a cruise control method for the UAV according to any one of the following embodiments, respectively.

[0304] FIG. 47 is a schematic flowchart of a cruise control method for an unmanned aerial vehicle according to some embodiments of the present disclosure. In order to enable the unmanned aerial vehicle to perform a long-distance automatic circuit inspection operation, in some embodiments of the present disclosure, a plurality of cruise control devices are arranged on a preset cruise route of the unmanned aerial vehicle, whereby the unmanned aerial vehicle performs continuous cruise flight. In particular, each cruise control device brings about a cruise continuation operation for the unmanned aerial vehicle, whereby the unmanned aerial vehicle obtains the amount of electricity and storage area necessary to continue cruising, or whether the unmanned aerial vehicle is suitable to continue cruising is confirmed according to the state of the unmanned aerial vehicle or the surrounding environment. In some embodiments, the method includes the following.

[0305] In S1, the unmanned aerial vehicle cruises to the cruise control device in order according to the preset cruise route.

[0306] In this solution, a plurality of cruise control devices are deployed according to the cruise route. The plurality of cruise control devices are also selected from pre-deployed cruise control devices to form the cruise route of the unmanned aerial vehicle, but it should be understood that this is not necessary in this solution.

[0307] In this step, the unmanned aerial vehicle control device of the unmanned aerial vehicle controls the unmanned aerial vehicle to regard one cruise control device as the takeoff point, and the takeoff point is not the first takeoff point on the cruise route, but the unmanned aerial vehicle flies to the cruise control device adjacent to this cruise control device until the cruise is completed.

[0308] In S2, after the unmanned aerial vehicle arrives at any cruise control device, the unmanned aerial vehicle establishes a connection with the cruise control device, whereby the cruise control device performs a cruise continuation operation on the unmanned aerial vehicle.

[0309] In this step, the unmanned aircraft is controlled to establish a connection with the cruise control device. The connection includes a signal connection and / or a charging connection. After the connection is established, the cruise control device performs a cruise operation on the unmanned aircraft, for example, by charging the unmanned aircraft through the cruise control device, or transferring the cruise video data stored in the unmanned aircraft to the cruise control device, or checking the state of the unmanned aircraft, or determining whether the environmental conditions are suitable for the unmanned aircraft to continue cruising.

[0310] In some embodiments, after the cruise control device completes the cruise continuation operation on the unmanned aircraft, the unmanned aircraft continues to cruise to the next cruise control device adjacent to the current cruise control device.

[0311] In some embodiments, each cruise control device has the same cruise continuation operation function.

[0312] In some embodiments of the present disclosure, the cruise control devices within the cruise route provide a cruise continuation operation to the unmanned aircraft during flight, so that the unmanned aircraft does not need to return to the first cruise control device for charging or other cruise continuation operations. Furthermore, the unmanned aircraft continues the patrol inspection operation to the further cruise destination, which expands the automatic cruise range of the unmanned aircraft.

[0313] FIG. 48 is a schematic flowchart of a cruise control method for an unmanned aircraft according to some embodiments of the present disclosure. To achieve long-distance automatic cruise of the unmanned aircraft, after the second cruise control device performs a cruise continuation operation on the unmanned aircraft, the unmanned aircraft needs to continue to start cruising. In some embodiments, the method includes steps S3 and S4 as shown in FIG. 48.

[0314] In S3, the unmanned aircraft receives a cruise start command transmitted by the cruise control device.

[0315] The cruise control device determines the moment to continue starting the cruise of the unmanned aircraft. This moment is comprehensively determined after the completion of the cruise continuation operation, or when the time required to continue the cruise arrives, or by combining the weather conditions of the cruise, the state of the unmanned aircraft, and the state of the satellites (e.g., the detectable number of Global Positioning System (GPS) satellites) according to different cruise tasks of the unmanned aircraft. At the moment of continuing to start the cruise, the cruise control device sends a cruise start command to the unmanned aircraft, and thus, the unmanned aircraft receives the cruise start command.

[0316] In S4, the unmanned aircraft is controlled to cruise to the next cruise control device according to the cruise route.

[0317] In response to the received cruise start command, the unmanned aircraft continues to cruise according to the preset cruise route and arrives at the next cruise control device.

[0318] In these embodiments, according to the cruise start command sent by the cruise control device, the unmanned aircraft continues to fly to the next cruise control device and continues the inspection work, which realizes continuous cruising and expands the automatic cruise range. At the same time, the moment of continuing the cruise is controlled by the second cruise control device, thereby providing personalized cruise control applicable to different scenarios.

[0319] Based on the above embodiments, the unmanned aircraft and the cruise control device establish a connection, and the cruise control device brings about a cruise continuation operation for the unmanned aircraft, which includes the following several possible implementation methods.

[0320] In Method 1, the cruise video data in the unmanned aircraft is transferred to the cruise control device, so that the unmanned aircraft has sufficient storage space and continues to collect new cruise video data during the process of continuing the cruise.

[0321] FIG. 49 is a schematic diagram showing the flow of interactive operations of a cruise control method for an unmanned aircraft according to some embodiments of the present disclosure. When cruising to a preset area around the cruise control device, the unmanned aircraft requests to establish a signal connection with a second cruise control device. In some embodiments, the process of establishing the signal connection includes the following.

[0322] In S101, a connection request is sent to the cruise control device.

[0323] In S102, a connection response returned by the cruise control device is received.

[0324] After the signal connection is established, the transfer of cruise video data to the cruise control device by the unmanned aircraft includes the following.

[0325] In S103, the cruise video data is sent to the cruise control device.

[0326] In S104, the cruise video data stored in the unmanned aircraft is deleted.

[0327] The unmanned aircraft transfers the cruise video data to the cruise control device, the cruise control device stores the received cruise video data, and the unmanned aircraft deletes the stored cruise video data itself.

[0328] In some embodiments, before the unmanned aircraft sends the cruise video data to the cruise control device, first, the remaining storage area in the unmanned aircraft is confirmed by the cruise device, and when the size of the remaining storage area is smaller than a preset value, the process of transferring the cruise video data to the cruise control device is executed. Alternatively, after the unmanned aircraft sends the cruise video data to the cruise control device, the size of the remaining storage area is determined. When the size of the remaining storage area is larger than a preset value, it is not necessary to delete the stored cruise video data itself.

[0329] In Mode 2, the UAV is charged, whereby the UAV has enough electricity to cruise to the next cruise control device.

[0330] FIG. 50 is a schematic diagram showing the flow of interactive operations of a cruise control method for a UAV according to some embodiments of the present disclosure. When cruising to a preset area around the cruise control device, the UAV requests to establish a signal connection with the cruise control device. In some embodiments, the process of establishing the signal connection includes the following.

[0331] In S101, a connection request is sent to the cruise control device.

[0332] In S102, a connection response returned by the cruise control device is received.

[0333] After the signal connection is established, the UAV signals with the cruise control device to complete the charging connection with the cruise control device, whereby the cruise control device charges the UAV, which includes the following.

[0334] In S105, the smart battery of the UAV is controlled to be connected to the charging device of the cruise control device.

[0335] The UAV signals with the cruise control device to transmit positioning information in real time. The UAV lands accurately on the takeoff / landing platform of the cruise control device, whereby the correction mechanism on the takeoff / landing platform performs position correction and fixation on the UAV. Correspondingly, in the process of the UAV landing on the takeoff / landing platform, the cruise control device controls the cabin cover to be opened, whereupon the UAV lands on the takeoff / landing platform inside the cabin. The UAV undergoes position correction and fixation through the correction mechanism, and then the cabin cover is controlled to be closed.

[0336] In some embodiments, the cruise control device controls to raise the charging contact of the charging device so as to connect it to the charging contact of the smart battery of the unmanned aerial vehicle.

[0337] In S106, the unmanned aerial vehicle is charged.

[0338] In this step, the cruise control device charges the smart battery of the unmanned aerial vehicle through the charging device.

[0339] As an example, before the cruise control device charges the smart battery through the charging device, the remaining battery power of the smart battery is first obtained, it is determined whether charging is required according to the remaining battery power of the smart battery, and when the remaining battery power is less than a preset value, the smart battery is charged, otherwise, the smart battery is not charged.

[0340] It should be understood that the smart battery uses an internal electronic circuit to measure, calculate, and store battery data, so that the use and management of the power supply become more predictable, and after the charging contact is connected to the smart battery, the battery information including the remaining battery power is read by the cruise control device.

[0341] In Mode III, the unmanned aerial vehicle is charged and the cruise video data of the unmanned aerial vehicle is also transferred. As shown in FIGS. 49 and 50, in these embodiments, when the unmanned aerial vehicle arrives at any cruise control device indicated by the cruise route, the unmanned aerial vehicle is charged by the cruise control device, and the cruise video data of the unmanned aerial vehicle is also transferred. First, it is necessary to establish a signal connection between the unmanned aerial vehicle and the cruise control device, which is similar to the above steps S101 and S102 and will not be repeated here. In addition, this solution does not require the transfer and charging of the cruise video data to be performed in sequence, and both are executed simultaneously.

[0342] In some embodiments, the cruise control device transmits the cruise video data to the server for storage.

[0343] In addition to the above three methods, the cruise control device also detects the operating state of the unmanned aircraft, such as the state of each sensor and the appearance state by the detection device. If there is an abnormality, an alarm and maintenance are executed to avoid the failure of the unmanned aircraft after continuing the cruise.

[0344] FIG. 51 is a schematic diagram showing the flow of interactive operations of a cruise control method for an unmanned aircraft according to some embodiments of the present disclosure. Based on the above embodiments, after performing a cruise continuation operation on the unmanned aircraft, the cruise control device determines the moment of starting at which the unmanned aircraft continues the cruise, and controls the unmanned aircraft to continue the cruise at this moment, realizing an automatic start for continuing the cruise.

[0345] As shown in FIG. 51, this process includes the following steps.

[0346] In S201, the power level of the smart battery of the unmanned aircraft is acquired in real time.

[0347] After establishing a charging connection with the unmanned aircraft, the cruise control device reads or receives in real time the power level information transmitted by the smart battery of the unmanned aircraft, and the power level information is the power level value or power level ratio of the smart battery.

[0348] In S202, when the power level information of the smart battery is greater than a preset value, the cruise evaluation information of the unmanned aircraft is acquired.

[0349] In this solution, after it is determined that the power level information of the smart battery is greater than a preset value, it is necessary to further determine whether the unmanned aircraft is suitable to continue the cruise according to the cruise evaluation information of the unmanned aircraft.

[0350] In this step, the cruise control device acquires the cruise evaluation information by communicating with an external device.

[0351] In some embodiments, the cruise evaluation information includes weather information and / or the number of GPS satellites, and the weather information includes at least one of temperature, humidity, wind speed, and rainfall. For the weather information, the cruise control device obtains real-time weather information by communicating with an automatic weather station, and for the number of GPS satellites, the cruise control device obtains the number of GPS satellites transmitted from the RTK base station.

[0352] In S203, it is determined whether the cruise evaluation information meets the preset cruise conditions.

[0353] According to the preset cruise conditions, it is determined whether the current weather, environment, and GPS status are suitable for the cruise of the unmanned aircraft. For example, the cruise conditions are set such that when the rainfall is less than the preset value, the unmanned aircraft is activated to continue cruising, or when the wind speed is less than the preset value, the unmanned aircraft is activated to continue cruising, so as to avoid the influence of abnormal weather on the cruise of the unmanned aircraft. The number of GPS satellites determines the positioning accuracy. Therefore, this solution, in combination with the number of GPS satellites, determines whether the unmanned aircraft is activated to continue cruising, thereby avoiding the influence of the reduction in positioning accuracy on the cruise of the unmanned aircraft.

[0354] In S204, when the cruise evaluation information meets the preset cruise conditions, the unmanned aircraft is controlled to continue cruising.

[0355] When the cruise evaluation information meets one or more preset cruise conditions, the cruise control device controls the unmanned aircraft to continue cruising.

[0356] In S205, the unmanned aircraft is controlled to cruise to the next cruise control device according to the cruise route.

[0357] The unmanned aircraft is controlled to continue cruising to the next cruise control device adjacent to the current cruise control device according to the received cruise start command.

[0358] FIG. 52 is a schematic diagram showing the flow of interactive operation of a cruise control method for an unmanned aerial vehicle according to some embodiments of the present disclosure. Based on the embodiment shown in FIG. 51, some embodiments of the present disclosure provide steps S2041 and S2042 as shown in FIG. 52 regarding how to control the unmanned aerial vehicle to continue cruising after the cruise evaluation information meets the preset cruise conditions.

[0359] In S2041, the cruise control device is adjusted to the pre-takeoff mode.

[0360] In this step, the cruise control device controls to open the cabin cover, controls the charging contact of the charging device to descend, presents the conditions necessary for the unmanned aerial vehicle to continue cruising, and prevents the cabin cover and the charging contact from interfering with the takeoff of the unmanned aerial vehicle.

[0361] In some embodiments, adjusting the cruise control device to the pre-takeoff mode further includes sending a power-on command to the unmanned aerial vehicle. In response to the power-on command, the smart battery of the unmanned aerial vehicle supplies power to the unmanned aerial vehicle. In some embodiments, adjusting the cruise control device to the pre-takeoff mode also includes turning on the correction mechanism.

[0362] In S2042, a cruise start command is sent to the unmanned aerial vehicle.

[0363] The cruise start instruction is configured to command the unmanned aerial vehicle to continue cruising to the next cruise control device according to the preset cruise route.

[0364] Correspondingly, the unmanned aerial vehicle receives the cruise start command, and in response to the cruise start command, the unmanned aerial vehicle is controlled to take off.

[0365] In some embodiments, before the unmanned aerial vehicle takes off, the unmanned aerial vehicle executes a self-check program to perform a self-check on each sensor. After the self-check result indicates that the state of each sensor is normal, the unmanned aerial vehicle is started and continues cruising.

[0366] FIG. 53 is a structural block diagram of an unmanned aerial vehicle according to some embodiments of the present disclosure. Generally, the unmanned aerial vehicle 200 includes an unmanned aerial vehicle control device 505 and a memory 506, and in some embodiments, a peripheral device interface 507. The processor 505, the memory 506, and the peripheral device interface 507 are connected through a bus or signal lines. Each peripheral device is connected to the peripheral device interface 507 through a bus, signal lines, or a circuit board. In some embodiments, the peripheral device includes at least one of an image acquisition device 501, a signal connection device 502, and a smart battery 503.

[0367] The image acquisition device 501 collects video data during the cruising process of the unmanned aerial vehicle.

[0368] A signal connection with the cruise control device is established through the signal connection device 502.

[0369] The smart battery 503 supplies power to the unmanned aerial vehicle and transmits the battery power amount to the cruise control device.

[0370] The unmanned aircraft control device 505 includes one or more processing cores such as a quad-core processor and an octa-core processor. The unmanned aircraft control device 505 is implemented by at least one of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The unmanned aircraft control device 505 also includes a main processor and a coprocessor. The main processor is a processor for processing data in the awake state and is also called a central processing unit (CPU). The coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the unmanned aircraft control device 505 is integrated with a graphics processing unit (GPU), which is configured to render and draw the content that needs to be displayed on the display screen. In some embodiments, the unmanned aircraft control device 505 also includes an artificial intelligence (AI) processor configured to process computational operations related to machine learning.

[0371] The memory 506 includes one or more non-transitory computer-readable storage media. The memory 506 includes high-speed random access memory and non-volatile memory such as one or more disk storage devices and flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 506 is configured to store at least one program code. The at least one program code is executed by the unmanned aircraft control device 505 and is configured to implement a cruise control method for an unmanned aircraft applied to the unmanned aircraft side according to the method embodiments of the present disclosure.

[0372] The structure shown in FIG. 53 is not a limitation on the unmanned aircraft 200, and it will be understood by those skilled in the art that it may include more or fewer components than those illustrated, or combine some components, or adopt different component arrangement configurations.

[0373] FIG. 54 is a structural block diagram of a cruise control device according to some embodiments of the present disclosure. Generally, the cruise control device 30600 includes a processor 30605 and a memory 30606, and in some embodiments, also includes a peripheral device interface 30607. The processor 30605, the memory 30606, and the peripheral device interface 30607 are connected through a bus or signal lines. Each peripheral device is connected to the peripheral device interface 30607 through a bus, signal lines, or a circuit board. In some embodiments, the peripheral device includes at least one of a charging device 30601 and a signal connection device 30602.

[0374] The charging device 30601 is connected to the smart battery of the unmanned aircraft and charges the unmanned aircraft according to the control of the processor 30605.

[0375] A signal connection with the unmanned aircraft is established through the signal connection device 30602.

[0376] The processor 30605 includes one or more processing cores such as a 4-core processor and an 8-core processor. The processor 30605 is implemented by at least one of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 30605 also includes a main processor and a coprocessor. The main processor is a processor for processing data in an awake state and is also called a central processing unit (CPU). The coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 30605 is integrated with a graphics processing unit (GPU), which is configured to render and draw the content that needs to be displayed on the display screen. In some embodiments, the processor 30605 also includes an artificial intelligence (AI) processor configured to process the computational operations related to machine learning.

[0377] The memory 30606 includes one or more non-transitory computer-readable storage media. The memory 30606 includes high-speed random access memory, and further includes non-volatile memory such as one or more disk storage devices and flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 30606 is configured to store at least one program code. The at least one program code is executed by the processor 30605 and is configured to implement the cruise control method of the unmanned aerial vehicle applied to the cruise control device side according to the method embodiments of the present disclosure.

[0378] The structure shown in FIG. 54 is not a limitation on the cruise control device 30600, and it will be understood by those skilled in the art that it may include more or fewer components than those illustrated, or combine some components, or adopt different component arrangement configurations.

[0379] Some embodiments of the present disclosure also provide a non-transitory computer-readable storage medium, and the instructions in the storage medium, when executed by the unmanned aerial vehicle control device of the unmanned aerial vehicle, enable the unmanned aerial vehicle to execute the cruise control method of the unmanned aerial vehicle according to the above embodiments.

[0380] Some embodiments of the present disclosure also provide a non-transitory computer-readable storage medium, and the instructions in the storage medium, when executed by the processor of the cruise control device, enable the cruise control device to execute the cruise control method of the unmanned aerial vehicle according to the above embodiments.

[0381] In the description of the present disclosure, terms such as "center", "vertical", "horizontal", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", and "outside" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the referenced device or element must have a specific orientation and be created and operated in a specific orientation. It is only for convenience in explaining the present disclosure and simplifying the description, and therefore should not be construed as limiting the scope of protection of the present disclosure.

[0382] Finally, it should be noted that the above embodiments are only intended to illustrate the technical solutions of the present disclosure and are not intended to limit them. Although the present disclosure has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that without departing from the spirit of the technical solutions of the present disclosure, the specific embodiments of the present disclosure can be directly modified or some of the technical features can be equivalently replaced, and all of them should fall within the scope of the technical solutions claimed to be protected by the present disclosure.

Description of Reference Numerals

[0383] 1 Support base 2 Parking apron 3 Protection cover 4 Protection cover opening and closing drive device, cabin cover control device 5 Base plate 6 First charging device 7 Second charging device 9 Fire extinguishing device 10 Unmanned aircraft control device, camera 11 Rack 12 Panel 13 Fan 14 Access door 15 Caster 16 Foot cup 17 Air conditioner 31 First cover body part 32 Second cover body part 33 Sealing strip 34 Protection plate 35 Ground - side image receiving device 41 Drive source 42 Synchronous transmission mechanism 43 Active rod 44 Passive rod 46 First drive assembly 47 Second drive assembly 48 Connecting shaft 61 First electrode 62 First insulating member 63 Second insulating member 64 Lifting device 65 Protrusion, convex part 66 Elastic member 67 Connection frame 68 Separation prevention member 71 Second electrode 72 Third insulating member 73 Mounting frame 74 Buffer member 80 Induction device 81 Induction member 100 Unmanned aircraft airport 200 Unmanned aircraft 201 Landing device, support frame 202 Parking apron 203 Airport cabin cover 301 Support frame 302 Parking apron 303 Cabin cover 304 Cabin cover control device 306 Charging device 411 Motor mounting plate 461 First sprocket 462 Second sprocket 463 First chain 471 Third sprocket 472 Fourth sprocket 473 Second chain 474 Second gear 475 First gear 477 Connecting bearing sheet 478 Fixed plate 501 Image collection device 502 Signal connection device 503 Smart battery 505 Unmanned aircraft control device 506 Memory 507 Peripheral device interface 610 First detection module 620 Patrol inspection request message sending module 621 First through hole 622 First induction hole 630 Trigger module 631 Second through hole 640 Takeoff order sending module 671 Bottom plate 672 Side plate 710 Second detection module 720 Takeoff request message sending module 721 Second induction hole 730 Patrol inspection control module 801 Motor 802 Active sprocket group 803 Passive sprocket group 804 First correction chain 805 Second correction chain 806 First correction rod 807 Second correction rod 808 Third correction rod 809 Fourth correction rod 810 Locking part, processor 820 Memory 2010 Airport monitor device 2020 Airport control device 2021 Contact control device 2022 Weather Monitoring Device 2023 Airport Cover Opening Device 2024 Unmanned Aerial Vehicle Guidance Device 2025 Ground - side Image Receiving Device 2026 Charging Device 2030 Unmanned Aerial Vehicle Control Device 2031 Battery Device 2032 Satellite Positioning Device 2034 Camera Device 2035 Image Transmission Device 2061 First Electrode 2071 Second Electrode 3002 Cruise Control Device 3010 Airport Monitoring Device 3020 Airport Control Device 3021 Contact Control Device 3022 Weather Monitoring Device 3023 Cabin Cover Control Device 3024 Correction Mechanism 3025 Ground - side Image Receiving Device 3026 Charging Device 3030 Unmanned Aerial Vehicle Control Device 3031 Smart Battery, Intelligent Battery 3032 Satellite Positioning Device 3034 Image Collection Device 3035 Image Transmission Device 3061 First Electrode 3071 Second Electrode 30100 Unmanned Aerial Vehicle Cruise System 30600 Cruise Control Device 30601 Charging Device 30602 Signal Connection Device 30605 Processor 30606 Memory 30607 Peripheral Device Interface

Claims

1. A patrol inspection system comprising: an airport monitor device, an airport control device, and an unmanned aerial vehicle control device; The airport control device is configured to: detect whether the unmanned aerial vehicle meets a preset round-trip inspection condition when receiving an unmanned aerial vehicle start command sent by the airport monitor device; send a round-trip inspection request message to the airport monitor device when detecting that the unmanned aerial vehicle meets the preset round-trip inspection condition; and start the unmanned aerial vehicle control device to detect whether the unmanned aerial vehicle meets a preset takeoff condition when receiving a round-trip inspection command sent by the airport monitor device based on the round-trip inspection request message; A patrol inspection system configured such that, when the unmanned aircraft control device detects that the unmanned aircraft satisfies the preset takeoff conditions, it sends a takeoff request message to the airport control device, and when it receives a takeoff command sent by the airport control device based on the takeoff request message, it controls the unmanned aircraft to take off and perform a patrol inspection based on a preset patrol inspection route.

2. a touch control device in signal communication with the airport control device; and a battery device in the unmanned aerial vehicle in signal communication with the unmanned aerial vehicle control device; The touch control device is configured to move when receiving a signal connection control command sent by the airport control device, and to signal connect the airport control device and the battery device; The patrol inspection system of claim 1, wherein the airport control device is configured to send a power-on command to the battery device when the airport control device receives the patrol inspection command sent by the airport monitor device based on the patrol inspection request message, thereby causing the battery device to supply electricity to the unmanned aircraft control device, and triggering the unmanned aircraft control device to detect whether the unmanned aircraft meets the preset takeoff conditions.

3. The airport control device is further configured to send a disconnection control command to the touch control device after sending the power-on command to the battery device; The patrol inspection system of claim 2 , wherein the touch control device is further configured to move according to the received disconnection control command to disconnect the signal connection between the airport control device and the battery device.

4. The airport control device includes: Upon receiving the unmanned aerial vehicle start command transmitted by the airport monitor device, obtain first electrical quantity information and current weather information of the unmanned aerial vehicle; The patrol inspection system of claim 1 , further configured to detect whether the unmanned aerial vehicle meets the preset patrol inspection condition according to the first electrical quantity information and the current weather information.

5. an airport cover opening device, signal-connected to the airport control device and configured to open an airport cabin cover of the unmanned aerial vehicle airport upon receiving a cover opening control command transmitted by the airport control device; The patrol inspection system of claim 1 , wherein the cover opening control command is transmitted when the airport control device receives the unmanned aerial vehicle patrol inspection command transmitted by the airport monitor device or receives the takeoff request message transmitted by the unmanned aerial vehicle control device.

6. The system further includes a camera device, an image transmission device signal-connected to the camera device, and a ground-side image receiving device; The camera device is configured to collect a tour inspection image and transmit the tour inspection image to the image transmission device; The image transmission device is configured to transmit the received inspection image to the ground-side image receiving device; The patrol inspection system according to claim 1 , wherein the ground-side image receiving device is configured to store the received patrol inspection images.

7. An unmanned aerial vehicle cruise system, comprising: an unmanned aerial vehicle and a plurality of cruise control devices, the plurality of cruise control devices being preset according to a cruise route of the unmanned aerial vehicle; The unmanned aerial vehicle is configured to navigate to each cruise control device in turn according to a preset cruise route; when the unmanned aerial vehicle arrives at a cruise control device, the unmanned aerial vehicle is configured to establish a connection with the cruise control device; An unmanned aerial vehicle cruise system, wherein the cruise control device is configured to perform a continue cruise operation for the unmanned aerial vehicle.

8. the unmanned aerial vehicle configured to send a connection request to the cruise control device; the cruise control device is configured to receive the connection request and return a connection response; 8. The unmanned aerial vehicle cruise system of claim 7, configured to: in response to the connection response, the unmanned aerial vehicle establishes a connection with the cruise control device, whereby the cruise control device performs a continue cruise operation for the unmanned aerial vehicle.

9. The cruise control device includes: Acquire electrical charge information of the smart battery of the unmanned aerial vehicle in real time; When the electrical quantity information of the smart battery is greater than a preset value, obtain cruise evaluation information of the unmanned aerial vehicle; determining whether the cruise evaluation information satisfies preset cruise conditions; The unmanned aerial vehicle cruise system of claim 7 , further configured to, if yes, control the unmanned aerial vehicle to continue said cruise.

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