Vehicle-mounted unmanned aerial vehicle dock control method, controller, vehicle, medium and product

Abstract

A vehicle-mounted unmanned aerial vehicle dock control method, a controller, a vehicle, a medium and a product. A vehicle-mounted unmanned aerial vehicle dock comprises an unmanned aerial vehicle dock temperature control system provided on a vehicle. The method comprises: in response to an unmanned aerial vehicle entering a vehicle-mounted unmanned aerial vehicle dock, acquiring a current temperature value and a vehicle state; and, on the basis of the current temperature value and the vehicle state, controlling the unmanned aerial vehicle dock temperature control system to regulate and control the temperature.

Description

Vehicle-mounted unmanned aerial vehicle (UAV) hangar control methods, controllers, vehicles, media, and products

[0001] This application claims priority to Chinese patent application No. 202411555698.3, filed on October 31, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of vehicle-mounted equipment technology, and in particular to a vehicle-mounted unmanned aerial vehicle hangar control method, a vehicle controller, a vehicle, a computer-readable storage medium, and a computer program product. Background Technology

[0003] As an intelligent mobile platform, the vehicle-mounted drone hangar integrates automated deployment, intelligent control and environmental perception technologies, and incorporates multiple sensors and obstacle avoidance systems. It is widely used in logistics transportation, security inspection and disaster relief and other fields. Summary of the Invention

[0004] This disclosure provides a vehicle-mounted unmanned aerial vehicle hangar control method, a vehicle, a computer-readable storage medium, and a computer program product.

[0005] A first aspect provides a method for controlling a vehicle-mounted drone hangar, the vehicle-mounted drone hangar including a drone hangar temperature control system installed on the vehicle, the method comprising:

[0006] In response to the drone entering the vehicle-mounted drone hangar, the current temperature value and vehicle status are obtained;

[0007] Based on the current temperature value and the vehicle status, the temperature of the drone hangar temperature control system is adjusted.

[0008] In some embodiments, the drone hangar temperature control system is equipped with a cooling fan, and controlling the drone hangar temperature control system to regulate the temperature based on the current temperature value and the vehicle status includes:

[0009] The temperature threshold is determined based on the vehicle's condition;

[0010] In response to the current temperature value being greater than the temperature threshold, the cooling fan is controlled to start.

[0011] In some embodiments, determining the temperature threshold based on the vehicle state includes:

[0012] In response to the vehicle being in a powered-on state, the temperature threshold is determined to be a first threshold.

[0013] In response to the vehicle being in a power-off state, the temperature threshold is determined to be a second threshold; the second threshold is greater than the first threshold.

[0014] In some embodiments, when the vehicle is in the powered-on state, the current temperature value includes the drone battery temperature value and the hangar temperature value, and controlling the cooling fan to start in response to the current temperature value being greater than the temperature threshold includes:

[0015] In response to the drone battery temperature or the hangar temperature exceeding the first threshold, the cooling fan is activated.

[0016] In some embodiments, when the vehicle is in the off-power state, the current temperature value includes a hangar temperature value, and controlling the cooling fan to start in response to the current temperature value being greater than the temperature threshold includes:

[0017] In response to the hangar temperature value being greater than the second threshold, the cooling fan is controlled to start.

[0018] In some embodiments, controlling the cooling fan to start in response to the current temperature value being greater than the temperature threshold includes:

[0019] In response to the current temperature value being greater than the temperature threshold, the minimum speed of the cooling fan is determined;

[0020] Based on the minimum speed, the cooling fan is controlled to run for a preset duration, and the current temperature value is updated and used for feedback control.

[0021] In some embodiments, the vehicle-mounted drone hangar further includes a drone hangar movement system mounted on the vehicle, and the method further includes:

[0022] In response to a takeoff command, control the UAV hangar movement system to release the UAV;

[0023] In response to a landing command, the drone hangar motion system is controlled to retract the drone and secure it.

[0024] In some embodiments, the drone hangar movement system includes: a lifting mechanism and a clamping mechanism connected to the lifting mechanism, wherein controlling the drone hangar movement system to release the drone in response to a takeoff command includes:

[0025] In response to the takeoff command, the lifting mechanism is controlled to lift the drone;

[0026] In response to the lifting structure's signal indicating that the drone has been lifted into position, the clamping mechanism is controlled to release the drone.

[0027] In some embodiments, the drone hangar motion system further includes a centering mechanism, and the control of the drone hangar motion system to retract the drone and fix the drone in response to a landing command includes:

[0028] In response to a landing command, the lifting mechanism is controlled to descend;

[0029] In response to the descent signal of the lifting structure, the centering mechanism is controlled to position the UAV.

[0030] In response to the centering mechanism's movement positioning signal, the clamping structure is controlled to fix the UAV.

[0031] In some embodiments, the vehicle-mounted drone hangar further includes a drone hangar charging system disposed on the vehicle, and the method further includes:

[0032] In response to the fixed operation of the drone by the drone hangar motion system, the drone hangar charging system is controlled to charge the drone.

[0033] In some embodiments, the drone hangar charging system includes a first charging spring and a second charging spring, and controlling the drone hangar charging system to charge the drone in response to the fixed operation of the drone by the drone hangar motion system includes:

[0034] In response to the drone hangar motion system's fixation operation on the drone, one of the first charging spring and the second charging spring is identified as the target charging spring;

[0035] Contact detection is performed between the target charging spring and the drone;

[0036] In response to the contact detection indicating normal contact, the target charging spring is energized to charge the drone.

[0037] In some embodiments, the contact detection between the target charging spring and the drone includes:

[0038] After a preset time, contact detection is performed between the target charging spring and the drone.

[0039] In some embodiments, the vehicle-mounted drone hangar further includes a drone hangar self-testing system installed on the vehicle. The drone hangar self-testing system satisfies at least one of the following: the drone hangar self-testing system is connected to a drone hangar temperature control system; the drone hangar self-testing system is connected to a drone hangar motion system; and the drone hangar self-testing system is connected to a drone hangar charging system. The method further includes:

[0040] Based on the vehicle status, the drone hangar self-test system is controlled to perform fault detection on at least one of the drone hangar temperature control system, drone hangar motion system, and drone hangar charging system.

[0041] In some embodiments, controlling the drone hangar self-test system to perform fault detection on at least one of the drone hangar temperature control system, drone hangar motion system, or drone hangar charging system based on the vehicle status includes:

[0042] In response to the vehicle being powered on, the drone hangar self-test system is activated to perform fault detection on the drone hangar temperature control system, drone hangar motion system, and drone hangar charging system.

[0043] In a second aspect, a vehicle controller is provided, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the vehicle-mounted unmanned aerial vehicle hangar control method as described above.

[0044] Thirdly, a vehicle is provided, the vehicle including the vehicle controller as described above.

[0045] Fourthly, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the vehicle-mounted unmanned aerial vehicle hangar control method as described above.

[0046] Fifthly, a computer program product is provided, including a computer program that, when executed by a processor, implements the vehicle-mounted unmanned aerial vehicle hangar control method as described above.

[0047] The embodiments disclosed herein have the following advantages:

[0048] This embodiment of the disclosure obtains the current temperature value and vehicle status in response to a drone entering the vehicle-mounted drone hangar; based on the current temperature value and vehicle status, it controls the drone hangar temperature control system to regulate the temperature; by combining temperature control with vehicle status after the drone enters the vehicle-mounted drone hangar, and performing corresponding temperature control, the drone temperature control and vehicle status are coupled in the scenario of the vehicle-mounted drone hangar, thereby making reasonable use of the vehicle's energy for accurate heat dissipation, avoiding waste of vehicle energy, and improving the accuracy of temperature control. Attached Figure Description

[0049] Figure 1 is a flowchart of a vehicle-mounted unmanned aerial vehicle hangar control method according to some embodiments;

[0050] Figure 2 is a flowchart of another vehicle-mounted unmanned aerial vehicle hangar control method according to some embodiments;

[0051] Figure 3 is a block diagram of a vehicle-mounted drone hangar according to some embodiments;

[0052] Figure 4 is a schematic diagram of the physical logic connection of a vehicle-mounted unmanned aerial vehicle hangar control method according to some embodiments;

[0053] Figure 5 is a flowchart of the control of the drone hangar temperature control system according to some embodiments of the vehicle-mounted drone hangar control method;

[0054] Figure 6 is a flowchart of the drone hangar temperature control system control according to some embodiments of the vehicle-mounted drone hangar control method;

[0055] Figure 7 is a flowchart of the cooling fan control of the drone hangar temperature control system according to some embodiments of the vehicle-mounted drone hangar control method;

[0056] Figure 8 is a flowchart of the drone takeoff process of a vehicle-mounted drone hangar control method according to some embodiments;

[0057] Figure 9 is a flowchart of the drone landing process of a vehicle-mounted drone hangar control method according to some embodiments;

[0058] Figure 10 is a flowchart of the charging process of a vehicle-mounted unmanned aerial vehicle hangar control method according to some embodiments;

[0059] Figure 11 is a flowchart of the self-test process of the vehicle-mounted unmanned aerial vehicle hangar control method according to some embodiments;

[0060] Figure 12 is a block diagram of a vehicle controller according to some embodiments;

[0061] Figure 13 is a block diagram of a vehicle according to some embodiments.

[0062] Reference numerals: 10-Vehicle-mounted UAV hangar; 100-UAV hangar temperature control system; 200-UAV hangar motion system; 300-UAV hangar charging system; 400-UAV hangar self-test system; 500-Vehicle controller; 600-Vehicle; 700-Processor; 800-Memory. Detailed Implementation

[0063] To make the above-mentioned objectives, features and advantages of this disclosure more apparent and understandable, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0064] In related technologies, the temperature control of the built-in drones in vehicle-mounted drone hangars only detects the temperature inside the hangar or the drone itself to activate the relevant heat dissipation devices, without taking into account the drone hangar operation in a vehicle environment. This results in inaccurate temperature control during the heat dissipation process and causes energy loss in the vehicle.

[0065] Referring to FIG1, a flowchart of a vehicle-mounted drone hangar control method according to some embodiments of the present disclosure is shown. The vehicle-mounted drone hangar includes a drone hangar temperature control system installed on the vehicle. The method includes the following steps 101 and 102.

[0066] In step 101, in response to the drone entering the vehicle-mounted drone hangar, the current temperature value and vehicle status are obtained;

[0067] The drone and the vehicle-mounted drone hangar interact based on their own communication. After the drone enters the vehicle-mounted drone hangar, either the drone or at least one of the drones in the hangar can emit a relevant signal. This signal confirms that the drone has entered the hangar. In response to the drone entering the hangar, the current temperature value and vehicle status are acquired; the current temperature value may include the temperature inside the hangar and the drone's own temperature. The vehicle status may include the vehicle's power-on status.

[0068] In step 102, the temperature is adjusted by controlling the drone hangar temperature control system based on the current temperature value and vehicle status.

[0069] Based on the current temperature value and vehicle status, the environment in which the drone is located and the status of the vehicle are determined. The drone hangar temperature control system is then controlled to regulate the temperature and adjust the storage environment temperature of the drone.

[0070] This disclosure discloses a vehicle-mounted drone hangar control method in some embodiments. In response to a drone entering the vehicle-mounted drone hangar, the method acquires the current temperature value and vehicle status. Based on the current temperature value and vehicle status, it controls the drone hangar temperature control system to regulate the temperature. By combining temperature control with the vehicle status after the drone enters the vehicle-mounted drone hangar, and performing corresponding temperature control, the method achieves drone temperature control coupled with vehicle status in the vehicle-mounted drone hangar scenario. This allows for the rational use of vehicle energy for accurate heat dissipation, avoids energy waste, and improves the accuracy of temperature control.

[0071] Referring to Figure 2, a flowchart of another vehicle-mounted drone hangar control method according to some embodiments of this disclosure is shown. The vehicle-mounted drone hangar includes a drone hangar temperature control system, a drone hangar motion system, a drone hangar charging system, and a drone hangar self-test system installed on the vehicle. Referring to Figure 3, the vehicle-mounted drone hangar 10 includes: a drone hangar temperature control system 100, a drone hangar motion system 200, a drone hangar charging system 300, and a drone hangar self-test system 400 installed on the vehicle.

[0072] The drone hangar self-test system 400 meets at least one of the following conditions: the drone hangar self-test system 400 is connected to the drone hangar temperature control system 100, the drone hangar self-test system 400 is connected to the drone hangar motion system 200, or the drone hangar self-test system 400 is connected to the drone hangar charging system 300.

[0073] The drone hangar self-test system 400 is configured to perform a self-test on at least one of the drone hangar temperature control system 100, the drone hangar motion system 200, and the drone hangar charging system 300 in response to the vehicle being powered on; the drone hangar motion system 200 is configured to take off, land, and fix the drone; the drone hangar charging system 300 is configured to charge the drone in response to the drone being fixed; and the drone hangar temperature control system 100 is configured to regulate the temperature.

[0074] In some embodiments of this disclosure, the vehicle-mounted drone hangar 10 integrates a drone hangar temperature control system 100, a drone hangar motion system 200, a drone hangar charging system 300, and a drone hangar self-test system 400. The drone hangar temperature control system 100, drone hangar motion system 200, drone hangar charging system 300, and drone hangar self-test system 400 are all connected to the hangar housing and mounted on the vehicle.

[0075] The drone hangar self-diagnosis system 400 can perform self-diagnosis on the equipment inside the drone hangar to determine whether there are any faults. When the vehicle is powered on, it can perform self-diagnosis on at least one of the drone hangar temperature control system 100, drone hangar motion system 200, and drone hangar charging system 300, thereby achieving the self-diagnosis function.

[0076] The drone hangar motion system 200 is responsible for the take-off, landing, and fixation of drones. It provides a platform for drone take-off and landing, allowing drones to take off and land on the drone hangar motion system 200. After landing, since there will be vibrations when the vehicle is in motion, the drone hangar motion system 200 can also fix the drone after landing to prevent damage to the drone due to vibrations or other factors when the vehicle is in motion.

[0077] The drone hangar charging system 300 can charge the drone in response to its fixed position, thereby realizing the charging function; the drone hangar temperature control system 100 can collect the temperature in the drone hangar and adjust the temperature accordingly to ensure that the temperature inside the drone hangar is suitable for drone storage.

[0078] Some embodiments of this disclosure can be applied to the vehicle controller. Referring to FIG2, the vehicle-mounted UAV hangar control method may include the following steps 201 to 206.

[0079] In step 201, in response to the drone entering the vehicle-mounted drone hangar, the current temperature value and vehicle status are obtained.

[0080] When a drone enters and is stored in a vehicle-mounted drone hangar, the current temperature value and vehicle status can be obtained. The current temperature value can include the temperature inside the vehicle-mounted drone hangar as well as the temperature of the drone itself. The vehicle status can include the vehicle's power-on status.

[0081] In step 202, the temperature is adjusted by controlling the drone hangar temperature control system based on the current temperature value and vehicle status.

[0082] Based on the current temperature value and vehicle status, the drone hangar temperature control system is controlled to regulate the temperature to dissipate heat from the inside of the drone hangar and from the drones. The current temperature value may include the temperature inside the vehicle-mounted drone hangar and the temperature of the drone itself. The vehicle status may include the vehicle's power-on status.

[0083] In some embodiments of this disclosure, the drone hangar temperature control system includes a cooling fan, and controlling the drone hangar temperature control system to regulate the temperature based on the current temperature value and the vehicle status includes: determining a temperature threshold based on the vehicle status; and controlling the cooling fan to start in response to the current temperature value being greater than the temperature threshold.

[0084] As shown in Figure 4, the cooling fan operates under the control of the hangar based on the temperature detected by the temperature sensor.

[0085] In some embodiments, a temperature threshold can be determined based on the vehicle's status, allowing for appropriate temperature control based on different vehicle operating conditions, thus adapting to the in-vehicle environment. When the current temperature exceeds the temperature threshold, if the temperature is determined to be too high, the cooling fan can be activated for heat dissipation.

[0086] In some embodiments of this disclosure, determining the temperature threshold based on the vehicle state includes: determining the temperature threshold as a first threshold in response to the vehicle state being powered on; determining the temperature threshold as a second threshold in response to the vehicle state being powered off; the second threshold being greater than the first threshold.

[0087] The temperature threshold can be determined based on the vehicle's different power-on states. When the vehicle is powered on, to ensure the drone can take off at any time, a first temperature threshold can be set. When the vehicle is not powered on, a second temperature threshold can be set, which is greater than the first threshold.

[0088] In some embodiments of this disclosure, when the vehicle is in a powered-on state, the current temperature value includes the drone battery temperature value and the hangar temperature value. Controlling the cooling fan to start in response to the current temperature value being greater than the temperature threshold includes: controlling the cooling fan to start in response to the drone battery temperature value or the hangar temperature value being greater than the first threshold.

[0089] In some embodiments, the cooling fan can be activated to dissipate heat when the drone battery temperature or hangar temperature exceeds a first threshold. For example, referring to Figure 5, with the first threshold at 50°C, the vehicle is in the ON position and the drone is inside the hangar; when the larger of the drone battery temperature or hangar temperature exceeds 50°C, the cooling fan is activated to dissipate heat; when the temperature is below 53°C for 5 minutes, the fan is turned off to stop heat dissipation, or an alarm is triggered if the temperature fails to reach the target value.

[0090] In some embodiments of this disclosure, when the vehicle is in a power-off state, the current temperature value includes the hangar temperature value, and controlling the cooling fan to start in response to the current temperature value being greater than the temperature threshold includes: controlling the cooling fan to start in response to the hangar temperature value being greater than the second threshold.

[0091] To avoid excessive energy consumption of the vehicle when it is not powered on, the cooling fan can be activated when the hangar temperature exceeds a second threshold.

[0092] For example, as shown in Figure 6, the second threshold can be 60℃. With the vehicle in the OFF position and the drone inside the hangar, when the hangar temperature is detected to be greater than 60℃, the cooling fan is activated to dissipate heat. When the temperature is less than 53℃ and remains so for 5 minutes, the fan is turned off to stop cooling, or an alarm is triggered if the temperature fails to reach the target value.

[0093] In some embodiments of this disclosure, controlling the cooling fan to start in response to the current temperature value being greater than the temperature threshold includes: determining the minimum speed of the cooling fan in response to the current temperature value being greater than the temperature threshold; controlling the cooling fan to run for a preset running time based on the minimum speed; updating the collected current temperature value; and using the updated temperature value for feedback control.

[0094] For the control of the cooling fan, it can start running at the lowest speed at the beginning, and then after running for a preset time, the current temperature value is detected again. The current temperature value is used as a feedback signal for closed-loop feedback control by the slave device to reduce energy consumption.

[0095] For example, referring to Figure 7, upon receiving a temperature sensor signal, the temperature control logic is activated. After the fan starts, the temperature sensor continues to work, continuously monitoring the ambient temperature. After running for 1 minute, it determines whether the temperature is higher than the threshold. If the temperature is still higher than the threshold (target value), the fan speed is increased (e.g., by 10%), and the temperature sensor continues to work, continuously monitoring the ambient temperature for another 1 minute. Conversely, if the temperature is lower than or equal to the threshold, the fan speed is decreased (e.g., by 10%), and it is determined whether the minimum speed has been maintained for 5 minutes. If yes, the fan stops running; if no, the temperature sensor continues to work, continuously monitoring the ambient temperature for another 1 minute. In this way, the ambient temperature and fan speed are linked and controlled until the ambient temperature drops below the preset threshold, ensuring the drone is at the optimal storage temperature.

[0096] It should be noted that when increasing the fan speed, the increase should stop once the fan reaches its maximum speed; when decreasing the fan speed, the decrease should stop once the fan reaches its minimum speed.

[0097] In step 203, in response to a takeoff command, the UAV hangar motion system is controlled to release the UAV;

[0098] When a user needs to take off the drone, they can send a takeoff command to the vehicle-mounted drone hangar. In response to this takeoff command, the drone hangar's motion system releases the drone, allowing it to take off from the hangar.

[0099] For example, the drone hangar motion system includes a lifting mechanism and a clamping mechanism. Releasing the drone in response to a takeoff command by controlling the drone hangar motion system includes: controlling the lifting mechanism to lift the drone in response to the takeoff command; and controlling the clamping mechanism to release the drone in response to a lifting position signal from the lifting mechanism.

[0100] In response to a takeoff command, once it is determined that the drone needs to take off, the lifting mechanism can be controlled to raise the drone to its highest position. A "lift in place" signal is generated when the drone is raised to its highest position. In response to the "lift in place" signal, the clamping mechanism is controlled to release the drone, allowing it to take off while at its highest position, thus avoiding any interference from the hangar's internal structure with the drone's flight.

[0101] For example, referring to Figure 8, the takeoff process of the UAV is as follows: UAV automatic takeoff operation command, hatch opens, lifting mechanism rises, centering clamping mechanism releases, UAV successfully takes off and sends a normal takeoff signal, centering clamping mechanism retracts, lifting mechanism descends, hatch closes, and the process ends.

[0102] In step 204, in response to a landing command, the drone hangar motion system is controlled to retract the drone and fix the drone.

[0103] When a drone needs to land, a landing command can be issued. In response to the landing command, the drone hangar movement system can be controlled to retrieve and secure the drone, thereby storing it.

[0104] For example, the drone hangar motion system further includes a centering mechanism. The process of controlling the drone hangar motion system to retract and fix the drone in response to a landing command includes: controlling the lifting mechanism to descend in response to a landing command; controlling the centering mechanism to position the drone in response to a descent positioning signal from the lifting mechanism; and controlling the clamping structure to fix the drone in response to a movement positioning signal from the centering mechanism.

[0105] When a drone needs to land, a landing command is issued. In response to this command, the lifting mechanism, after catching the drone, descends to allow the drone to be stored in the hangar. Once the lifting mechanism reaches its lowest point, a landing completion signal is issued. In response to this signal, a centering mechanism is controlled to move towards the center of the lifting mechanism to center and position the drone. Once the centering mechanism has reached its designated position, a movement completion signal is also issued. In response to this signal, the clamping structure is controlled to secure the drone, thus fixing it firmly inside the drone hangar.

[0106] Furthermore, to further protect the drone, a door mechanism can be installed. The control of the door mechanism is mutually exclusive with the lifting, clamping, and centering mechanisms. That is, the door mechanism cannot operate when any of the lifting, clamping, or centering mechanisms is running. Conversely, the door mechanism can only operate when none of the lifting, clamping, or centering mechanisms are running.

[0107] For example, referring to Figure 9, the landing process of the UAV is as follows: UAV automatic landing operation command, hatch opens, lifting mechanism rises, centering clamping mechanism releases, UAV successfully lands and sends a normal landing signal, centering clamping mechanism retracts, UAV in-situ detection, lifting mechanism descends, hatch closes, and the process ends.

[0108] In step 205, in response to the drone hangar motion system's fixation operation on the drone, the drone hangar charging system is controlled to charge the drone.

[0109] Once the drone is secured by the clamping mechanism, it can be charged. In response to the drone being secured, the drone hangar charging system is controlled to charge the drone.

[0110] In some embodiments of this disclosure, the drone hangar charging system includes a first charging spring and a second charging spring. The step of controlling the drone hangar charging system to charge the drone in response to the drone being fixed includes: in response to the drone hangar motion system's operation of fixing the drone, determining one of the first charging spring and the second charging spring as a target charging spring; performing contact detection between the target charging spring and the drone; and in response to the contact detection indicating normal contact, controlling the target charging spring to be energized to charge the drone.

[0111] The drone hangar charging system features a redundant control design. Charging contacts are located on both sides of the drone. The drone hangar charging system includes a first charging spring and a second charging spring, which can be individually connected to the charging contacts, enabling charging from both sides. When the clamping mechanism is engaged, the first and second charging springs located in the clamping mechanism can contact the charging contacts on both sides of the drone, establishing electrical conductivity. This redundant design on both sides avoids the problem of electrochemical corrosion of the contacts on one side or failure to charge due to structural fatigue under harsh vehicle-mounted conditions, effectively improving charging reliability.

[0112] In response to the drone's fixation, one of the first and second charging contacts is identified as the target charging contact. Contact detection can be performed between the target charging contact and the drone to determine if the drone is in the correct position within the hangar. Once the contact detection is confirmed to be normal, the target charging contact can be energized to charge the drone.

[0113] In addition, in order to have a certain degree of motion space redundancy and avoid false detection and motion interference, the contact detection between the target charging spring and the drone includes: waiting for a preset time and then conducting contact detection between the target charging spring and the drone.

[0114] In some embodiments, a preset time period can be waited for, which can be set according to actual control requirements; this disclosure does not limit the duration. After waiting for the preset time period, contact detection is performed between the target charging spring and the drone.

[0115] For example, referring to Figure 10, to ensure the reliability of detection and charging, the detection and charging judgment must begin 1 second after the clamping mechanism completes clamping. This avoids unreliable signals caused by intermittent contact during the initial contact state.

[0116] Once the contact detection result confirms normal contact, charging can begin by energizing the target charging contacts to charge the drone.

[0117] Furthermore, once the dual-sided detection contacts detect that the drone is in place / rechargeable, charging is initiated by one of the contact contacts. The two charging contacts alternate every five uses to ensure that the usage frequency of both sides is approximately the same. If electrochemical corrosion or damage occurs on one of the contact contacts, charging will be initiated by the other side.

[0118] In step 206, based on the vehicle status, the drone hangar self-test system is controlled to perform fault detection on at least one of the drone hangar temperature control system, drone hangar motion system, and drone hangar charging system.

[0119] Based on the vehicle's status, the system controls the drone hangar self-test system to perform self-tests on at least one of the drone hangar temperature control system, drone hangar motion system, and drone hangar charging system to determine whether there is a fault in at least one of these systems, and completes the fault detection.

[0120] In some embodiments of this disclosure, controlling the UAV hangar self-test system to perform fault detection on at least one of the UAV hangar temperature control system, the UAV hangar motion system, and the UAV hangar charging system based on the vehicle status includes:

[0121] In response to the vehicle being powered on, the drone hangar self-test system is activated to perform fault detection on at least one of the drone hangar temperature control system, drone hangar motion system, and drone hangar charging system.

[0122] When the vehicle is powered on, in response to the vehicle being powered on, the drone hangar self-test system can be controlled to perform a self-test on at least one of the drone hangar temperature control system, drone hangar motion system, and drone hangar charging system. This will determine whether there are any faults in the drone hangar temperature control system, drone hangar motion system, and drone hangar charging system, and perform a system reset, thereby enabling the drone hangar to be reset and faults to be eliminated in a timely manner.

[0123] For example, referring to Figure 11, in order to avoid malfunctions during the use of the drone, the vehicle will perform a system self-check on the drone hangar every time it is powered on. The main checks are whether the controller status is normal, whether the signals of each mechanism are normal, whether there was an abnormal power outage last time, and whether the mechanism needs to be reset.

[0124] The control logic requires the mechanical structure to periodically zero itself based on mileage, vehicle usage time, and hangar usage frequency to ensure the drone is clamped and all mechanisms within the hangar are in standard positions. Furthermore, the control logic itself can connect drone signals, hangar control information, and the vehicle's DLink (networked system) to convert the signals, enabling the vehicle to detect the position and status of the hangar structure itself in both forward and reverse directions, facilitating further motion-driven control.

[0125] This disclosure discloses a vehicle-mounted drone hangar control method in several embodiments. The method includes a drone hangar temperature control system, a drone hangar motion system, a drone hangar charging system, and a drone hangar self-test system installed on the vehicle. The drone hangar self-test system is configured to perform a self-test on at least one of the drone hangar temperature control system, the drone hangar motion system, and the drone hangar charging system in response to the vehicle being powered on. The drone hangar motion system is configured to take off, land, and fix the drone. The drone hangar charging system is configured to charge the drone in response to it being fixed. The drone hangar temperature control system is configured to regulate the temperature. By integrating the drone hangar temperature control system, drone hangar motion system, drone hangar charging system, and drone hangar self-test system into the drone hangar, the drone hangar can realize drone take-off, landing, charging, storage temperature control, and self-test functions, and the corresponding control is integrated with the vehicle's state, making the drone hangar suitable for vehicles and improving the applicability of vehicle-mounted drones in vehicle environments.

[0126] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this disclosure are not limited to the described order of actions, because according to the embodiments of this disclosure, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the descriptions in the specification are some embodiments, and the actions involved are not necessarily required for the embodiments of this disclosure.

[0127] Referring to FIG12, a vehicle controller 500 is disclosed in some embodiments of this disclosure, including a processor 700, a memory 800, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, it implements the vehicle-mounted unmanned aerial vehicle hangar control method as described above.

[0128] Referring to FIG13, a vehicle 600 is disclosed in some embodiments of this disclosure, including the vehicle controller 500 as described above.

[0129] In some embodiments of this disclosure, a computer-readable storage medium is disclosed, on which a computer program is stored, which, when executed by a processor, implements the vehicle-mounted unmanned aerial vehicle hangar control method as described above.

[0130] Some embodiments of this disclosure disclose a computer program product, including a computer program that, when executed by a processor, implements the vehicle-mounted unmanned aerial vehicle hangar control method as described above.

[0131] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0132] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this disclosure can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) containing computer-usable program code.

[0133] This disclosure describes embodiments of methods, terminal devices (systems), and computer program products according to embodiments of this disclosure with reference to flowchart illustrations and / or block diagrams. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0134] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0135] These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable terminal equipment, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0136] While preferred embodiments of the present disclosure have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the present disclosure.

[0137] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0138] The foregoing has provided a detailed description of a vehicle-mounted unmanned aerial vehicle hangar control method, a vehicle controller, a vehicle, a computer-readable storage medium, and a computer program product provided by this disclosure. Specific examples have been used to illustrate the principles and implementation methods of this disclosure. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this disclosure. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this disclosure. Therefore, the content of this specification should not be construed as a limitation of this disclosure.

Claims

1. A method for controlling a vehicle-mounted unmanned aerial vehicle (UAV) hangar, wherein, The vehicle-mounted drone hangar (10) includes a drone hangar temperature control system (100) installed on the vehicle, and the method includes: In response to the drone entering the vehicle-mounted drone hangar (10), the current temperature value and vehicle status are obtained; Based on the current temperature value and the vehicle status, the temperature is controlled by the UAV hangar temperature control system (100).

2. The method according to claim 1, wherein, The UAV hangar temperature control system (100) is equipped with a cooling fan. The method of controlling the temperature regulation of the UAV hangar temperature control system (100) based on the current temperature value and the vehicle status includes: The temperature threshold is determined based on the vehicle's condition; In response to the current temperature value being greater than the temperature threshold, the cooling fan is controlled to start.

3. The method according to claim 2, wherein, Determining the temperature threshold based on the vehicle status includes: In response to the vehicle being in a powered-on state, the temperature threshold is determined to be a first threshold. In response to the vehicle being in a power-off state, the temperature threshold is determined to be a second threshold. Wherein, the second threshold is greater than the first threshold.

4. The method according to claim 3, wherein, When the vehicle is in the powered-on state, the current temperature value includes the drone battery temperature value and the hangar temperature value. The step of controlling the cooling fan to start in response to the current temperature value exceeding the temperature threshold includes: In response to the drone battery temperature or the hangar temperature exceeding the first threshold, the cooling fan is activated.

5. The method according to claim 3 or 4, wherein, When the vehicle is in the off-power state, the current temperature value includes the hangar temperature value. The step of controlling the cooling fan to start in response to the current temperature value exceeding the temperature threshold includes: In response to the hangar temperature value being greater than the second threshold, the cooling fan is controlled to start.

6. The method according to any one of claims 2 to 5, wherein, The step of controlling the cooling fan to start in response to the current temperature value being greater than the temperature threshold includes: In response to the current temperature value being greater than the temperature threshold, the minimum speed of the cooling fan is determined; Based on the minimum speed, the cooling fan is controlled to run for a preset duration, and the current temperature value is updated and used for feedback control.

7. The method according to any one of claims 1 to 6, wherein, The vehicle-mounted drone hangar (10) further includes a drone hangar motion system (200) installed on the vehicle, and the method further includes: In response to a takeoff command, the unmanned aerial vehicle hangar motion system (200) is controlled to release the unmanned aerial vehicle; In response to a landing command, the UAV hangar motion system (200) is controlled to retract the UAV and fix the UAV.

8. The method according to claim 7, wherein, The UAV hangar movement system (200) includes: a lifting mechanism and a clamping mechanism connected to the lifting mechanism. The step of controlling the UAV hangar movement system (200) to release the UAV in response to a takeoff command includes: In response to the takeoff command, the lifting mechanism is controlled to lift the drone; In response to the lifting structure's signal indicating that the drone has been lifted into position, the clamping mechanism is controlled to release the drone.

9. The method according to claim 8, wherein, The UAV hangar movement system (200) further includes a centering mechanism, wherein the mechanism for controlling the UAV hangar movement system (200) to retract the UAV and fix the UAV in response to a landing command includes: In response to the landing command, control the lifting mechanism to descend; In response to the descent signal of the lifting structure, the centering mechanism is controlled to position the UAV. In response to the centering mechanism's movement positioning signal, the clamping structure is controlled to fix the UAV.

10. The method according to any one of claims 7 to 9, wherein, The vehicle-mounted drone hangar (10) further includes a drone hangar charging system (300) installed on the vehicle, and the method further includes: In response to the fixed operation of the UAV hangar motion system (200) on the UAV, the UAV hangar charging system (300) is controlled to charge the UAV.

11. The method according to claim 10, wherein, The drone hangar charging system (300) includes a first charging spring and a second charging spring. The step of controlling the drone hangar charging system (300) to charge the drone in response to the fixed operation of the drone by the drone hangar motion system (200) includes: In response to the fixed operation of the UAV hangar motion system (200) on the UAV, one of the first charging spring and the second charging spring is determined to be the target charging spring; Contact detection is performed between the target charging spring and the drone; In response to the contact detection indicating normal contact, the target charging spring is energized to charge the drone.

12. The method according to claim 11, wherein, The contact detection between the target charging spring and the drone includes: After a preset time, contact detection is performed between the target charging spring and the drone.

13. The method according to any one of claims 1 to 12, wherein, The vehicle-mounted drone hangar (10) further includes a drone hangar self-inspection system (400) installed on the vehicle, the drone hangar self-inspection system (400) satisfying at least one of the following: The UAV hangar self-inspection system (400) is connected to the UAV hangar temperature control system (100); The UAV hangar self-test system (400) is connected to the UAV hangar motion system (200); and The unmanned aerial vehicle (UAV) hangar self-inspection system (400) is connected to the UAV hangar charging system (300); The method further includes: Based on the vehicle status, the unmanned aerial vehicle hangar self-test system (400) is controlled to perform fault detection on at least one of the unmanned aerial vehicle hangar temperature control system (100), the unmanned aerial vehicle hangar motion system (200), and the unmanned aerial vehicle hangar charging system (300).

14. The method according to claim 13, wherein, Based on the vehicle status, the method of controlling the UAV hangar self-test system (400) to perform fault detection on at least one of the UAV hangar temperature control system (100), the UAV hangar motion system (200), and the UAV hangar charging system (300) includes: In response to the vehicle being powered on, the drone hangar self-test system (400) is activated to perform fault detection on at least one of the drone hangar temperature control system (100), the drone hangar motion system (200), and the drone hangar charging system (300).

15. A vehicle controller (500) comprising a processor (700), a memory (800), and a computer program stored in the memory (800) and capable of running on the processor (700), wherein the computer program, when executed by the processor (700), implements the vehicle-mounted unmanned aerial vehicle hangar control method according to any one of claims 1 to 14.

16. A vehicle (600) comprising a vehicle controller (500) according to claim 15.

17. A computer-readable storage medium, wherein, The computer-readable storage medium stores a computer program that, when executed by a processor (700), implements the vehicle-mounted unmanned aerial vehicle hangar control method according to any one of claims 1 to 14.

18. A computer program product comprising a computer program that, when executed by a processor, implements the vehicle-mounted unmanned aerial vehicle hangar control method according to any one of claims 1 to 14.

Images