CN111422081A

CN111422081A - Unmanned aerial vehicle cruise system

Info

Publication number: CN111422081A
Application number: CN202010253900.2A
Authority: CN
Inventors: 郄新越
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2020-04-02
Filing date: 2020-04-02
Publication date: 2020-07-17

Abstract

The application provides an unmanned aerial vehicle cruise system, a plurality of cruise control equipment including unmanned aerial vehicle and presetting in unmanned aerial vehicle's the route of cruising, unmanned aerial vehicle is according to predetermined route of cruising, cruise to every cruise control equipment in proper order, when unmanned aerial vehicle reachs arbitrary cruise control equipment, unmanned aerial vehicle establishes with this cruise control equipment and is connected, and carry out the continuation of the journey operation to unmanned aerial vehicle through cruise control equipment, make unmanned aerial vehicle need not return cruise control equipment before and charge or other continuation of the journey operation, and then make unmanned aerial vehicle can continue its work of patrolling and examining to farther destination of cruising, unmanned aerial vehicle's automatic cruise scope has been enlarged.

Description

Unmanned aerial vehicle cruise system

Technical Field

The application relates to the technical field of unmanned aerial vehicles, especially, relate to an unmanned aerial vehicle cruise system.

Background

With the continuous development of the unmanned aerial vehicle technology, the unmanned aerial vehicle has wide application in a plurality of fields such as aerial photography, agriculture, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, movie and television shooting.

In the practical application scene, often receive the restriction of battery technology, unmanned aerial vehicle's duration is very limited, in order to make unmanned aerial vehicle can long-time automatic cruise, is provided with automatic charging equipment at a certain fixed position usually, and unmanned aerial vehicle returns automatic charging equipment when the electric quantity is not enough and charges to continue to cruise after the completion of charging, prolonged unmanned aerial vehicle's operating time.

However, in the prior art, the unmanned aerial vehicle needs to return to the automatic charging device for charging, so that the unmanned aerial vehicle can only cruise within a section of range with the automatic charging device as the center, and the cruising range of the unmanned aerial vehicle is limited.

Disclosure of Invention

The application provides an unmanned aerial vehicle system of cruising can carry out the operation of continuing a journey to unmanned aerial vehicle at the in-process that unmanned aerial vehicle cruises, enlarges unmanned aerial vehicle's the scope of cruising.

In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle cruise system, including: an unmanned aerial vehicle and a plurality of cruise control devices; the cruise control devices are preset according to the cruise route of the unmanned aerial vehicle;

the unmanned aerial vehicle sequentially cruises to each cruise control device according to a preset cruise route;

when the unmanned aerial vehicle reaches any cruise control device, the unmanned aerial vehicle is connected with the cruise control device;

the cruise control equipment carries out endurance operation on the unmanned aerial vehicle.

Illustratively, the drone sends a connection request to the cruise control device;

the cruise control equipment receives the connection request and returns a connection response;

responding to the connection response, the unmanned aerial vehicle establishes connection with the cruise control equipment, and the cruise control equipment carries out cruising operation on the unmanned aerial vehicle.

In a particular implementation, the cruise control apparatus includes a charging device; the cruise control device is specifically configured to:

controlling the charging device to be connected with an intelligent battery of the unmanned aerial vehicle;

right the unmanned aerial vehicle charges.

Optionally, the cruise control apparatus is specifically configured to:

and controlling a charging contact of the charging device to rise to be connected with the intelligent battery.

Optionally, the drone comprises a drone control device;

the unmanned aerial vehicle control device is used for controlling the unmanned aerial vehicle to land on a take-off and landing platform of the cruise control equipment according to the positioning information;

the mechanism of reforming on the platform of taking off and landing of cruise control equipment control is right unmanned aerial vehicle carries out position correction and fixed, so that cruise control equipment control charging device with unmanned aerial vehicle's smart battery is connected.

Further, the cruise control apparatus is also configured to:

acquiring the residual electric quantity of the intelligent battery;

and if the residual electric quantity is smaller than a preset value, executing the step of charging the intelligent battery.

In another specific implementation manner, the unmanned aerial vehicle sends cruise video data to the cruise control device; the cruise video data are video data acquired by the unmanned aerial vehicle in the cruise process;

the cruise control device receives the cruise video data and stores the cruise video data.

Further, the drone is further configured to: and deleting the cruise video data stored in the unmanned aerial vehicle.

In a particular implementation, the cruise control apparatus is further configured to:

acquiring electric quantity information of an intelligent battery of the unmanned aerial vehicle in real time;

when the electric quantity information of the intelligent battery is larger than a preset value, obtaining cruise evaluation information of the unmanned aerial vehicle;

determining whether the cruise evaluation information meets a preset cruise condition;

if so, controlling the unmanned aerial vehicle to continue cruising.

Optionally, the cruise evaluation information includes weather information and/or GPS satellite number, where the weather information includes at least one of temperature, humidity, wind speed, and rainfall;

the cruise evaluation information of the unmanned aerial vehicle is obtained, and the method comprises the following steps:

communicating with an automatic weather station to acquire real-time weather information; and/or acquiring the GPS star number sent by the RTK base station by the carrier phase differential technology.

Optionally, the cruise control apparatus is specifically configured to:

adjusting the cruise control equipment to a pre-takeoff mode;

and sending a cruise starting instruction to the unmanned aerial vehicle, wherein the cruise starting instruction is used for controlling the unmanned aerial vehicle to continuously cruise.

In a specific implementation manner, the drone controlling device of the drone is specifically configured to:

receiving a cruise starting instruction sent by the cruise control equipment;

and in response to the cruise starting instruction, controlling the unmanned aerial vehicle to cruise to the next cruise control device according to the cruise route.

The embodiment of the application provides an unmanned aerial vehicle cruise system, including unmanned aerial vehicle and a plurality of cruise control equipment that set up in advance in unmanned aerial vehicle's the route of cruising, unmanned aerial vehicle is according to predetermined route of cruising, cruise to every cruise control equipment in proper order, when unmanned aerial vehicle reachs arbitrary cruise control equipment, unmanned aerial vehicle and this cruise control equipment establish and be connected, and carry out the continuation of the journey operation to unmanned aerial vehicle through cruise control equipment, make unmanned aerial vehicle need not return cruise control device before and charge or other continuation of the journey operation, and then make unmanned aerial vehicle can continue its work of patrolling and examining to farther destination of cruising, unmanned aerial vehicle's automatic cruise scope has been enlarged.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic view of an unmanned aerial vehicle cruise system provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of an unmanned aerial vehicle cruise system provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of an unmanned aerial vehicle cruise system provided in an embodiment of the present application;

fig. 4 is a schematic structural diagram of an unmanned aerial vehicle cruise system provided in an embodiment of the present application;

fig. 5 is a schematic structural diagram of a drone airport 100 provided in an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a centering mechanism provided in an embodiment of the present application;

fig. 7 is a schematic structural diagram of a charging device 26 according to an embodiment of the present disclosure;

fig. 8 is a schematic perspective view of four charging devices 26 enclosing a rectangle in an unmanned aerial vehicle airport according to an embodiment of the present application;

fig. 9 is a schematic diagram of a charging connection according to an embodiment of the present application;

fig. 10 is a schematic flowchart of a cruise control method for an unmanned aerial vehicle according to an embodiment of the present application;

fig. 11 is a schematic flowchart of a cruise control method for an unmanned aerial vehicle according to an embodiment of the present application;

fig. 12 is an interaction flow diagram of a cruise control method for an unmanned aerial vehicle according to an embodiment of the present application;

fig. 13 is an interaction flow diagram of a cruise control method for an unmanned aerial vehicle according to an embodiment of the present application;

fig. 14 is an interaction flow diagram of a cruise control method for an unmanned aerial vehicle according to an embodiment of the present application;

fig. 15 is an interaction flow diagram of a cruise control method for an unmanned aerial vehicle according to an embodiment of the present application;

fig. 16 is a block diagram of a structure of a drone provided in an embodiment of the present application;

fig. 17 is a block diagram showing a configuration of a cruise control apparatus according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Unmanned aerial vehicle is as an unmanned vehicles who utilizes radio remote control equipment and self-contained program control, often is used for cruising in certain area in order to accomplish the work of patrolling and examining, and the video data of cruising in-process is gathered and stored through unmanned aerial vehicle's image acquisition device. As an unmanned aerial vehicle that automatic cruise, be provided with automatic charging equipment at a certain fixed position usually, reserve the electric quantity that can support its to return when the electric quantity is not enough, return automatic charging equipment and charge to continue to cruise after charging and accomplish, then receive unmanned aerial vehicle battery capacity's restriction and storage space's restriction, unmanned aerial vehicle's range of cruising is also limited. And in actual use scene, often need unmanned aerial vehicle to carry out the cruise of far distance, if this kind of cruise of far distance has surpassed the farthest distance that battery electric quantity can support unmanned aerial vehicle flight, then unmanned aerial vehicle can't return automatic charging equipment, just needs manual operation to accomplish the unmanned aerial vehicle charge and with the memory data dump to satisfy the electric quantity that continues to cruise and continue to cruise required storage space.

This application embodiment is in order to make under the unmanned aerial vehicle does not need the artifical condition that charges, enlarges automatic cruise's the scope of cruising, sets up a plurality of cruise control equipment in unmanned aerial vehicle's the route of cruising, and unmanned aerial vehicle is connected with every cruise control equipment at the in-process that cruises, makes cruise control equipment provide the continuation of journey operation for unmanned aerial vehicle to the long-range automatic cruise of completion of supplementary unmanned aerial vehicle continuation formula. Fig. 1 is an unmanned aerial vehicle cruise system schematic diagram that this application embodiment provided. As shown in fig. 1, the drone cruise system 100 includes: unmanned aerial vehicle 01 and a plurality of cruise control equipment 02, unmanned aerial vehicle 01 establishes wired or wireless connection with cruise control equipment 02, makes cruise control equipment 02 carry out the continuation of the journey operation to unmanned aerial vehicle 01, for example charges unmanned aerial vehicle, perhaps saves the video data that cruises that unmanned aerial vehicle 01 sent, makes unmanned aerial vehicle 01 derive the video data that cruises of self storage, arranges out the required storage space that satisfies continuation cruises. The unmanned aerial vehicle 01 needs to finish cruising to the cruise control device n from the cruise control device 1 under the assistance of the cruise control devices 02, n cruise control devices are arranged in the whole cruising route, the unmanned aerial vehicle 01 takes off from the cruise control device 1 and cruises to the cruise control device 2, then takes off from the cruise control device 2 and cruises to the cruise control device 3, and the rest is done in sequence until the unmanned aerial vehicle 01 cruises to the cruise control device n at the end point.

Wherein, install image acquisition device among the unmanned aerial vehicle 01, for example the camera for video data cruises in the cruises process collection.

Each cruise control device 02, also referred to as an unmanned aerial vehicle airport, illustratively includes at least a take-off and landing platform and a charging device, and the take-off and landing platform is provided with a righting mechanism for righting and locking the descending unmanned aerial vehicle, and the righting mechanism is a retractable structure and can be automatically retracted under the control of the cruise control device to righting the unmanned aerial vehicle at a fixed position. Optionally, the take-off and landing platform is arranged in the shutdown cabin body, a cabin cover is arranged above the cabin body, when the unmanned aerial vehicle needs to land or is about to take off, the cruise control device 02 controls the cabin cover to be opened, and when the unmanned aerial vehicle lands in the cabin body, the cabin cover is controlled to be closed.

Illustratively, the drone cruise system 100 further includes a server (not shown in the figure), the server establishing a communication connection with each cruise control device 02, receiving the state information of the drone, such as one or more of the state of each sensor and the battery level, and the cruise evaluation information, sent by the cruise control device 02, determining whether to control the drone to continue cruising according to the state information and/or the cruise evaluation information of the drone, and sending the confirmation result to the cruise control device 02 connected to the drone 01, and the cruise control device 02 controlling the drone 01 to continue cruising or temporarily not to start cruising according to the confirmation result. Alternatively, the drone cruise system 100 may not include a server, and the cruise control device 02 determines whether to control the drone 01 to continue cruising according to the state information and cruise evaluation information of the drone.

Fig. 2 is the structural schematic diagram of an unmanned aerial vehicle cruise system that this application embodiment provided, and this embodiment can be applicable to the condition that unmanned aerial vehicle in the control unmanned aerial vehicle airport carries out automatic cruise. As shown in fig. 2, the unmanned aerial vehicle cruise system includes: airport monitoring device 10, airport control device 20 and unmanned aerial vehicle control device 30.

Wherein the airport control apparatus 20 is configured to: performing cruising operation on the unmanned aerial vehicle, detecting whether the unmanned aerial vehicle meets a preset cruising condition in real time, and sending a cruising request message to the airport monitoring device 10 when the unmanned aerial vehicle is detected to meet the preset cruising condition; when a cruise instruction sent by the airport monitoring device 10 based on the cruise request message is received, the unmanned aerial vehicle control device 30 is triggered to detect whether the unmanned aerial vehicle meets a preset takeoff condition; the drone control device 30 is configured to: after receiving a cruise starting instruction sent by the airport control device 20, when detecting that the unmanned aerial vehicle meets a preset takeoff condition, sending a takeoff request message to the airport control device 20, and controlling the unmanned aerial vehicle to take off and cruise based on a preset cruise route.

The airport monitoring device 10 may be, among other things, a device for monitoring and controlling the cruise conditions of an unmanned airplane airport. Airport monitoring devices 10 can be placed in the unmanned aerial vehicle airport, also can place outside the unmanned aerial vehicle airport, and its specific position can set up based on the business demand. The airport control device 20 may be installed in a drone airport for controlling drone airport internal devices. The drone controlling device 30 may be installed in the drone for controlling the drone internal devices. The specific installation positions of the airport monitoring device 10, the airport control device 20, and the unmanned aerial vehicle control device 30 are not limited in this embodiment.

The airport monitoring device 10 can be connected to and communicate with the airport control device 20 in advance for data transmission. For example, the airport monitoring device 10 and the airport control device 20 may communicate wirelessly over a network. The airport control device 20 can be connected with the unmanned aerial vehicle control device 30 in advance for communication; also can indirect control and unmanned aerial vehicle controlling means 30's the connection communication state, for example, airport controlling means 20 establishes communication connection with unmanned aerial vehicle controlling means 30 again when needs carry out data transmission to can make unmanned aerial vehicle controlling means get into the dormant state when not cruising, avoid interfering, the energy can be saved.

Optionally, during the process that the drone is prepared to start the cruise by the first cruise control device in the cruise route, the user may trigger the drone start instruction generation operation in the airport monitoring device 10, so that the airport monitoring device 10 may generate the drone start instruction based on the user operation. For example, the user can click or touch the mode of unmanned aerial vehicle start button on the display interface of airport monitoring device 10 for airport monitoring device 10 can generate unmanned aerial vehicle start instruction, and send the unmanned aerial vehicle start instruction that generates to airport control device 20 in, so that airport control device 20 can carry out detection operation based on this unmanned aerial vehicle start instruction, in order to determine whether current satisfies preset cruise condition, guarantees the security of cruising. When the airport control device 20 receives the starting instruction of the unmanned aerial vehicle, it may obtain the required current cruise evaluation information based on the preset cruise condition, and detect whether the current unmanned aerial vehicle meets the preset cruise condition according to the current cruise evaluation information, and if so, send a cruise request message to the airport monitoring device 10 to request whether to perform subsequent cruise operation. When the airport monitoring device 10 receives the cruise request message, the cruise request message can be displayed on a display interface of the airport monitoring device to prompt the user that the unmanned aerial vehicle meets a preset cruise condition and whether subsequent cruise operation needs to be executed or not, and if the user needs to continue the cruise operation, the cruise instruction generation operation can be triggered in the airport monitoring device 10, so that the airport monitoring device 10 can generate a cruise instruction based on the user operation and send the generated cruise instruction to the airport control device 20.

When the airport control device 20 receives the cruise instruction, the unmanned aerial vehicle control device 30 may be triggered to detect whether the unmanned aerial vehicle satisfies the preset takeoff condition by sending the instruction or controlling the unmanned aerial vehicle control device 30 to supply power. For example, if the airport control device 20 establishes a communication connection with the drone control device 30 in advance, a takeoff detection instruction may be directly sent to the drone control device 30, so that the drone control device 30 may detect whether the drone satisfies a preset takeoff condition when receiving the takeoff detection instruction. If the airport control device 20 does not establish a communication connection with the unmanned aerial vehicle control device 30, the unmanned aerial vehicle control device 30 can be triggered in a power supply mode, so that the unmanned aerial vehicle control device 30 detects whether the unmanned aerial vehicle meets the preset takeoff condition after the electric energy is supplied.

The drone control device 30 may obtain the required drone information based on the preset takeoff condition, and detect whether the current drone satisfies the preset takeoff condition according to the current drone information, for example, whether the sensor is normal, and if so, send a takeoff request message to the airport control device 20 to request whether to perform a takeoff operation. Airport control device 20 is when receiving the request message of taking off, whether detect current unmanned aerial vehicle airport and can guarantee that unmanned aerial vehicle normally takes off, if, then send the start instruction that cruises to unmanned aerial vehicle control device 30, make unmanned aerial vehicle control device 30 when receiving the start instruction that cruises, can control the unmanned aerial vehicle of placing on the inside platform of taking off and land in unmanned aerial vehicle airport and normally take off, and cruises to next cruise control equipment based on the preset route of crusing in advance, and need not manual control unmanned aerial vehicle at whole cruise in-process, thereby unmanned aerial vehicle's automatic cruise has been realized, the cost of labor has been saved and the security has been promoted.

The technical scheme of this embodiment can realize unmanned aerial vehicle's automatic cruise process through utilizing airport monitoring devices, airport controlling means and unmanned aerial vehicle controlling means.

On the basis of the above technical scheme, fig. 3 is a schematic structural diagram of an unmanned aerial vehicle cruise system provided by the embodiment of the present application. As shown in fig. 3, the system may further include: a contact control device 21 connected to the airport control device 20, and a smart battery 31 connected to the drone control device 30 in the drone.

The contact control device 21 is configured to control the charging contact to move to be connected to the smart battery 31 according to an instruction from the airport control device 20, so that the airport control device 20 communicates with the smart battery 31. Accordingly, the airport control apparatus 20 is specifically configured to: acquiring the residual electric quantity of the intelligent battery 31 and charging the intelligent battery 31; optionally, when receiving a cruise instruction sent by the airport monitoring device 10 based on the cruise request message, the airport monitoring device sends a power-on instruction to the smart battery 31, so that the smart battery provides electric quantity for the unmanned aerial vehicle control device, and triggers the unmanned aerial vehicle control device to detect whether the unmanned aerial vehicle meets a preset takeoff condition.

The contact control device 21 may be an intermediate device for communicating the airport control device 20 with the smart battery 31. The contact control device 21 can control the charging contact to move under the communication control command of the airport control device 20, so that data transmission can be performed after the airport control device 20 and the intelligent battery 31 are communicated, and the airport control device 20 can indirectly control the power supply condition of the unmanned aerial vehicle control device 30 connected with the intelligent battery 31 in a mode of controlling the intelligent battery 31.

Optionally, when receiving the unmanned aerial vehicle start instruction sent by the airport monitoring device 10, or when receiving the cruise instruction sent by the airport monitoring device 10 based on the cruise request message, the airport control device 20 sends a communication control instruction to the contact control device 21, and the contact control device 21 may control the charging contact to move to the smart battery 31 based on the communication control instruction, so that the airport control device 20 may be communicated with the smart battery 31, thereby facilitating subsequent communication. Airport control device 20 can be after establishing communication with smart battery 31, sends to smart battery 31 and goes up the electric instruction, and smart battery 31 is receiving this power-on instruction after, can provide the electric quantity to unmanned aerial vehicle controlling means 30 rather than being connected for unmanned aerial vehicle controlling means 30 can start, and then has triggered unmanned aerial vehicle controlling means 30 and has detected whether the operation of the preset condition of taking off is satisfied to unmanned aerial vehicle. After the drone control device 30 is started, communication can be established with the airport control device 20 through the wireless communication device in the drone, so that data transmission can be performed subsequently.

It should be noted that the smart battery 31 can be connected with all devices that need to supply power in the unmanned aerial vehicle, so that when the smart battery 31 receives a power-on instruction, all devices to be supplied power in the unmanned aerial vehicle are supplied with electric energy, and the unmanned aerial vehicle can start to start. For example, before smart battery 31 received the instruction of going up electricity, unmanned aerial vehicle is whole to be in the outage state, i.e. dormant state to can guarantee that unmanned aerial vehicle can place in the airport more safely, can avoid the electromagnetic interference of the extravagant and other equipment of energy simultaneously.

Illustratively, the airport control apparatus 20 is also configured to: after sending a power-on command to the smart battery, sending a disconnection control command to the contact control device 21; the contact control means 21 are also adapted to: the charging contact is controlled to move according to the received opening control instruction to disconnect the airport control device 20 from the smart battery 31.

Specifically, after the unmanned aerial vehicle is powered on, the unmanned aerial vehicle control device 30 establishes communication with the airport control device 20, and contact connection is not required, at this moment, the airport control device 20 can send a disconnection control instruction to the contact control device 21, so that the contact control device 21 controls the charging contact to move, and the contact with the intelligent battery 31 is disconnected, so that the communication between the airport control device 20 and the intelligent battery 31 is disconnected, and the subsequent unmanned aerial vehicle normally takes off.

On the basis of the above technical solution, the airport control device 20 is further configured to: when an unmanned aerial vehicle starting instruction sent by an airport monitoring device is received, acquiring electric quantity information and cruise evaluation information of the unmanned aerial vehicle, wherein the cruise evaluation information comprises weather information and/or GPS star number acquired in real time; according to the electric quantity information and the cruise evaluation information, whether the unmanned aerial vehicle meets the preset cruise condition is detected.

Wherein, the electric quantity information can refer to the residual electric quantity in the unmanned aerial vehicle before takeoff. The weather information may refer to current weather information within the area to be patrolled. The current weather information may include, but is not limited to, temperature, humidity, wind speed, rainfall.

Optionally, when the airport control device 20 receives the unmanned aerial vehicle start instruction sent by the airport monitoring device 10, if the airport control device 20 establishes communication with the unmanned aerial vehicle control device 30 in advance, the airport control device 20 may send an electric quantity information acquisition request to the unmanned aerial vehicle control device 30, so that the unmanned aerial vehicle control device 30 may acquire the electric quantity information of the unmanned aerial vehicle based on the electric quantity information acquisition request, and send the electric quantity information to the airport control device 20, so that the airport control device 20 may acquire the electric quantity information of the unmanned aerial vehicle. If the airport control device 20 establishes communication with the unmanned aerial vehicle control device 30 through the smart battery 31, the airport control device 20 may send an electric quantity information acquisition request to the smart battery 31 after establishing communication with the smart battery 31, so that the electric quantity information of the unmanned aerial vehicle may be acquired through the smart battery 31. Illustratively, the smart battery 31 is also used for: when receiving the electric quantity information acquisition request sent by the airport control device 20, the electric quantity information of the unmanned aerial vehicle is collected and sent to the airport control device 20.

Fig. 4 is a schematic structural diagram of an unmanned aerial vehicle cruise system provided in the embodiment of the present application. Illustratively, as shown in fig. 4, the system further comprises: the weather monitoring device 22 is connected to the airport control device 20, and is configured to acquire the current weather information when receiving the current weather information acquisition request sent by the airport control device 20, and to transmit the current weather information to the airport control device 20, so that the airport control device 20 can acquire the current weather information through the weather monitoring device 22.

Airport control device 20 can detect whether electric quantity information and current weather information can guarantee that unmanned aerial vehicle carries out automatic cruise when acquireing unmanned aerial vehicle's electric quantity information and current weather information, if, then can confirm that unmanned aerial vehicle satisfies and predetermine the condition of cruising. Exemplarily, the airport control apparatus 20 is specifically configured to: the electric quantity value that detects in the electric quantity information is greater than predetermineeing the electric quantity value to and current wind speed is less than predetermineeing wind speed and current precipitation is zero, shows that unmanned aerial vehicle's electric quantity and current weather all can guarantee that unmanned aerial vehicle normally cruises, can confirm this moment that unmanned aerial vehicle satisfies the condition of predetermineeing.

For example, when acquiring the power information and the current weather information of the unmanned aerial vehicle, the airport control device 20 may send the acquired power information and the current weather information to the airport monitoring device 10, so that the airport monitoring device 10 may display the power information and the weather information on a display interface for a user to monitor.

On the basis of the above technical solution, as shown in fig. 4, the system further includes: the hatch cover control device 23 is connected with the airport control device 20 and is used for opening the hatch cover of the unmanned aerial vehicle airport when receiving the uncovering control instruction sent by the airport control device 20; the uncovering control instruction is sent by the airport control device 20 when receiving the unmanned aerial vehicle cruising instruction sent by the airport monitoring device 10 or when receiving the takeoff request message sent by the unmanned aerial vehicle control device 30.

Among other things, the hatch control device 23 may be a device for controlling the opening or closing of the hatch of the drone airport. When the drone is ready to take off, the hatch needs to be opened so that the drone can take off normally from the drone airport.

Specifically, when receiving the unmanned aerial vehicle cruise instruction sent by the airport monitoring device 10, or when receiving the takeoff request message sent by the unmanned aerial vehicle control device 10, that is, before the unmanned aerial vehicle takes off, the airport control device 20 may send an uncovering control instruction to the hatch cover control device 23, so that the hatch cover of the unmanned aerial vehicle airport is opened, so that the unmanned aerial vehicle can take off normally from the airport.

Exemplarily, fig. 5 is a schematic structural diagram of a drone airport 100 provided in an embodiment of the present application. As shown in fig. 5, the drone airport 100 includes a support frame 1, a apron 2, a hatch 3, and a hatch control device 4. As shown in fig. 5, the hatch 3 is located on top of the apron 2, and may protect the drone 200. The hatch 3 is in driving connection with a hatch control device 23 for controlling the opening and closing of the hatch 3. For example, the lid 3 includes a first enclosure 301 and a second enclosure 302. When the hatch control device 23 receives the uncovering control instruction, the first cover 301 and the second cover 302 may be controlled to move relatively to the farthest position, so that the hatch 3 is opened. Specifically, the hatch control device 23 may be controlled by a link structure, a linear movement mechanism, or the like. As shown in fig. 5, two active rods are respectively disposed on two sides of the first cover 301 and the second cover 302, so that the movement of the covers is more stable and reliable. When the hatch control device 23 receives the opening control instruction, the first cover 301 and the second cover 302 may move away from each other by controlling the active lever on the first cover 301 side and the active lever on the second cover 302 side to move outward, so as to open the hatch 3.

On the basis of the above technical solution, as shown in fig. 4, the system further includes: the righting mechanism 24 is connected with the airport control device 20 and used for removing a fixing module used for fixing the unmanned aerial vehicle in the righting mechanism 24 when a righting removing instruction sent by the airport control device 20 is received; the righting release instruction is sent by the airport control device 20 when receiving the unmanned aerial vehicle cruise instruction sent by the airport monitoring device 10 or when receiving the takeoff request message sent by the unmanned aerial vehicle control device 30.

Wherein, the mechanism 24 of reforming can be utilizing inside fixed module to fix unmanned aerial vehicle for unmanned aerial vehicle can be in the state of reforming. When unmanned aerial vehicle prepares to take off, need to remove the fixed module that is used for fixed unmanned aerial vehicle to make unmanned aerial vehicle can normally take off from the unmanned aerial vehicle airport.

Optionally, when receiving the unmanned aerial vehicle cruise instruction sent by the airport monitoring device 10, or when receiving the takeoff request message sent by the unmanned aerial vehicle control device 10, that is, before the unmanned aerial vehicle takes off, the airport control device 20 may send a righting release instruction to the righting mechanism 24, so that the fixing module for fixing the unmanned aerial vehicle is released, and the unmanned aerial vehicle may take off normally from the airport.

Fig. 6 is a schematic structural diagram of a righting mechanism according to an embodiment of the present application. The mechanism 24 of reforming can be set up at the top of the air park 2 at the unmanned aerial vehicle airport to carry out the playback after unmanned aerial vehicle 200 parks, make unmanned aerial vehicle 200 can neatly put things in good order according to the direction of setting for. As shown in fig. 6, the righting mechanism 24 can push the drone 200 to move to a set position by the linear movement of each righting rod. As shown in fig. 6, the righting mechanism 24 may include a plurality of righting bars mounted on the apron 2. The unmanned aerial vehicle 200 is clamped through linear movement of the plurality of righting rods, so that the unmanned aerial vehicle 200 stops at the set position of the parking apron 2.

Specifically, as shown in fig. 6, the fixing module for the drone in the righting mechanism 24 may be four righting levers, which are the righting lever 806, the righting lever 807, the righting lever 808, and the righting lever 809 in fig. 6. The four correcting rods are parallel two by two and form a rectangular frame. Four poles of reforming move in opposite directions simultaneously for the length of side of rectangular frame shortens to the size of cliping unmanned aerial vehicle 200, then is located the unmanned aerial vehicle 200 of rectangular frame and can be moved by the pole of reforming afterwards. Four pole of reforming move back to back simultaneously for the length of side of rectangular frame is elongated to the size of loosening unmanned aerial vehicle 200, and then unmanned aerial vehicle 200 that is located the rectangular frame can the unblock, and follow-up unmanned aerial vehicle 200 can fly away. Specifically, when the righting mechanism 24 receives the righting releasing instruction sent by the airport control device 20, the four righting rods can be controlled to move back and forth at the same time, and the clamped unmanned aerial vehicle 200 is loosened, so that the fixing module for fixing the unmanned aerial vehicle in the righting mechanism 24 is released.

Illustratively, the airport control apparatus 20 is also configured to: when receiving a takeoff request message sent by the unmanned aerial vehicle control device 30, detecting whether a hatch cover of the unmanned aerial vehicle is opened and whether a fixing module for fixing the unmanned aerial vehicle in the righting mechanism is released; if the hatch cover is opened and the fixing module is released, a cruise starting instruction is sent to the unmanned aerial vehicle control device, so that the unmanned aerial vehicle can normally take off from an unmanned aerial vehicle airport.

On the basis of the above technical scheme, the unmanned aerial vehicle control device 30 is specifically used for: carrying out self-checking on each sensor in the unmanned aerial vehicle based on a preset self-checking program; if the self-checking problem does not exist, the number of the positioning satellites currently received is obtained, and when the number of the positioning satellites currently received is larger than the preset number, the unmanned aerial vehicle is determined to meet the preset takeoff condition.

Wherein, the positioning satellite quantity of current receipt can mean the current quantity of the positioning satellite that can detect of unmanned aerial vehicle, when this quantity is greater than predetermined quantity, can guarantee that unmanned aerial vehicle fixes a position accurately at the in-process that cruises, is convenient for carry out automatic cruise.

Illustratively, as shown in fig. 4, the system further comprises: satellite positioning means 32 connected to the drone controlling means 30 for: the satellite positioning detection is performed when receiving a satellite number detection instruction sent by the unmanned aerial vehicle control device 30, the number of currently received positioning satellites is acquired, and the number of currently received positioning satellites is sent to the unmanned aerial vehicle control device 30, so that the unmanned aerial vehicle control device 30 can obtain the number of currently received positioning satellites in real time. The satellite number detection instruction may be sent by the drone controlling device 30 when detecting that there is no self-detection problem. The satellite positioning means 32 may be a device for satellite positioning measurements arranged using Real-time kinematic (RTK) techniques.

On the basis of the above technical solution, as shown in fig. 4, the system further includes: the image acquisition device 34, the image transmission device 35 connected with the image acquisition device 34 and the ground-end image receiving device 35; the image acquisition device 34 is used for acquiring a cruise image and sending the cruise image to the image transmission device 35; the image transmission device 35 is used for transmitting the received cruise image to the ground-end image receiving device 25; the ground-side image receiving device 25 is used for storing the received cruise image.

The specific installation positions of the image acquisition device 34 and the image transmission device 35 in the unmanned aerial vehicle can be determined based on business requirements. Ground end image receiving device 25 can install in the unmanned aerial vehicle airport, also can install outside the unmanned aerial vehicle airport. The present embodiment does not limit the specific installation positions of the image capturing device 34, the image transmitting device 35, and the ground-side image receiving device 25.

In particular, the image acquisition device 34 may be connected with the drone control 30 in order to acquire the cruise image upon receiving an acquisition instruction of the drone control 30. The image capturing device 34 may not be connected to the drone controlling device 30, so that the image capturing device 34 captures the cruise image in real time after power is supplied thereto. After the image capturing device 34 captures the cruise image, the cruise image may be transmitted to the ground-side image receiving device 25 through the image transmission device 35. The ground-side image receiving device 25 may send the received cruise image to the cloud for storage, and may also send the received cruise image to the airport monitoring device 10 for storage, so that the airport monitoring device 10 may display the cruise image on a display interface in real time, thereby realizing the cruise visualization.

On the basis of the above technical solution, the airport control device 20 is further configured to: when the unmanned aerial vehicle is detected to land, sending a communication control instruction to the contact control device 21 so that the contact control device 21 moves based on the communication control instruction to communicate the airport control device 20 with the intelligent battery 31; send the outage instruction to smart battery 31 to stop smart battery 31 and provide the electric quantity for unmanned aerial vehicle controlling means 30.

Specifically, when unmanned aerial vehicle based on predetermine after the route cruise and end, can descend on the platform of taking off and landing at the unmanned aerial vehicle airport, airport controlling means 20 when detecting that unmanned aerial vehicle lands the platform of taking off and landing, can send the intercommunication control instruction to contact controlling means 21 to contact charging contact and intelligent battery 31, and then make airport controlling means 20 and intelligent battery 31 communicate. The airport control device 20 can stop the intelligent battery 31 to provide electric quantity for the unmanned aerial vehicle control device 30 by sending a power-off instruction to the intelligent battery 31, and can also stop providing electric quantity for other power supply equipment in the unmanned aerial vehicle, so that the unmanned aerial vehicle is in a power-off state.

On the basis of the above technical solution, the system further includes: a charging device 26 connected to the airport control device 20 for charging the unmanned aerial vehicle; correspondingly, the airport control apparatus 20 is also configured to: sending a power information acquisition request to the smart battery 31 to obtain the remaining power of the smart battery 31; when detecting that the electric quantity value in the electric quantity information is smaller than a first preset electric quantity value, controlling the charging device 26 to charge the unmanned aerial vehicle, and stopping charging until the electric quantity value of the unmanned aerial vehicle is equal to a second preset electric quantity value; after the charging is stopped, an off control command is sent to the contact control device 21 to disconnect the airport control device 20 from the smart battery 31.

Wherein, the electric quantity information can also be acquired by the intelligent battery 31. Airport controlling means 20 indicates that this unmanned aerial vehicle needs to charge when detecting the electric quantity value of electric quantity information and being less than first preset electric quantity value to carry out subsequent task of cruising, can control charging device 26 and intelligent battery 31 and contact this moment, make charging device 26 can charge to unmanned aerial vehicle. When the electric quantity value of the unmanned aerial vehicle is greater than or equal to the second preset electric quantity value, the charging device 26 may be controlled to stop charging. When the charging is stopped, an off control command may be sent to the contact control device 21 to disconnect the airport control device 20 from the smart battery 31. For example, the contact control device 21 may be integrated in the charging device 26, so that when charging is required, the charging device 26 integrated with the contact control device 21 may be directly controlled for charging, simplifying the cruise operation.

It should be noted that, airport control device 20 is after sending the outage instruction to smart battery 31 for whole unmanned aerial vehicle is in the outage state, and airport control device 20 can control charging device 26 and charge to unmanned aerial vehicle this moment, makes can not have electromagnetic interference in the charging process, has further guaranteed unmanned aerial vehicle's security.

Fig. 7 is a schematic structural diagram of a charging device 26 according to an embodiment of the present disclosure; fig. 8 is a schematic perspective view of four charging devices 26 that enclose a rectangle in an unmanned aerial vehicle airport provided in the embodiment of the present application. As shown in fig. 7 and 8, the first charging device 6 is mounted on the apron 2 and includes a first electrode 61. Fig. 9 is a schematic diagram of a charging connection according to an embodiment of the present disclosure. Accordingly, as shown in fig. 9, the smart battery 31 may include a second electrode 71 such that the first electrode 61 is in chargeable engagement with the second electrode 71. For example, the number of the first electrode 61 and the second electrode 71 may be one or more, and the metal contacts of the first electrode 61 and the second electrode 71 are in contact conduction and can be charged; the metal contacts are separated and no longer charged. The first electrodes 61 and the second electrodes 71 may be arranged in an array or arrangement. As shown in fig. 8, a symmetrical rectangular shape can be enclosed by the charging device 6, so that the head of the drone 200 can be charged regardless of the orientation. That is to say, after unmanned aerial vehicle 200 fell, no matter how unmanned aerial vehicle 200 course, as long as unmanned aerial vehicle 200 is correctly reformulated, all can guarantee that second electrode 71 in unmanned aerial vehicle's the smart battery 31 can all pair with first electrode 61 in one of them charging device 26 to the rate of accuracy of charging has been guaranteed.

Specifically, when detecting that the electric quantity value in the electric quantity information is smaller than a first preset electric quantity value, the airport control device 20 may control the charging contact of the charging device 26 to move to the smart battery 31, so that the first electrode 61 in the charging device 26 contacts with the second electrode 71 in the smart battery 31 in the unmanned aerial vehicle, and the metal contacts of the two are in contact conduction, so that the unmanned aerial vehicle may be charged. When the electric quantity value of the unmanned aerial vehicle is equal to the third preset electric quantity value, the airport control device 20 may control the charging device 26 to be away from the smart battery 31, disconnecting the contact between the first electrode 61 in the charging device 26 and the second electrode 71 in the smart battery 31 in the unmanned aerial vehicle, so that the charging of the unmanned aerial vehicle may be stopped.

For example, before sending the communication control instruction to the contact control device 21, the airport control device 20 may also send a return instruction to the return mechanism 24, so that the return mechanism 24 may fix the fixed module on the unmanned aerial vehicle when receiving the return instruction, and return the unmanned aerial vehicle, so that the contact control device 21 may be moved to the position of the smart battery 31, and the contact control device 21 controls the contact between the charging contact and the smart battery 31.

For example, as shown in fig. 6, when receiving a homing command sent by the airport control device 20, the homing mechanism 24 may control the four homing rods to move simultaneously in the opposite directions, so that the side length of the rectangular frame is shortened to a size of clamping the drone 200, thereby homing the drone.

Exemplarily, the airport control device 20 may further send a closing control instruction to the hatch cover control device 23 after detecting that the unmanned aerial vehicle finishes cruising and landing, so that the hatch cover control device 23 closes the opened hatch cover when receiving the closing control instruction, and thus after cruising, the hatch cover may be automatically closed, so that the whole cruising process may be automatically completed without manual control, and the safety of the unmanned aerial vehicle is ensured.

For example, as shown in fig. 5, when the hatch cover control device 23 receives a closing control command, the active rod of the first cover 301 side and the active rod of the second cover 302 side can be controlled to move oppositely to the positions of mutual contact, so that the first cover 301 and the second cover 302 move relatively, and the hatch cover 3 is closed, thereby protecting the unmanned aerial vehicle and preventing external rain, impurities and the like from being damaged and polluting the unmanned aerial vehicle.

In the application of the unmanned aerial vehicle cruise system, when the unmanned aerial vehicle cruises, the unmanned aerial vehicle and the cruise control device respectively execute the cruise control method of the unmanned aerial vehicle provided by any one of the following embodiments.

Fig. 10 is a schematic flow chart of a cruise control method for an unmanned aerial vehicle according to an embodiment of the present application. In order to make unmanned aerial vehicle can carry out remote automation and patrol and examine work, this application embodiment has set up a plurality of cruise control equipment on the route of cruising that unmanned aerial vehicle predetermines, make unmanned aerial vehicle carry out the flight of cruising of a continuation formula, it is concrete, every cruise control equipment provides continuation of the journey operation for unmanned aerial vehicle, make unmanned aerial vehicle obtain continue to cruise required electric quantity, storage space, or confirm whether unmanned aerial vehicle is fit for continuing the navigation according to unmanned aerial vehicle's state or surrounding environment, exemplary, the method includes:

s1: and sequentially cruising to the cruise control equipment according to a preset cruise route.

It should be understood that, according to the scheme, a plurality of cruise control devices can be deployed according to the cruise route, and also a plurality of cruise control devices can be selected from the cruise control devices deployed in advance to form the cruise route of the unmanned aerial vehicle, which is not required by the scheme.

In this step, unmanned aerial vehicle's unmanned aerial vehicle controlling means control unmanned aerial vehicle uses a cruise control equipment as the departure point, and this departure point can not be the first departure point in this cruise route, flies to the cruise control equipment adjacent with this cruise control equipment, and so on, ends up cruising.

S2: after the unmanned aerial vehicle reaches any cruise control equipment, the unmanned aerial vehicle is connected with the cruise control equipment, so that the cruise control equipment can continue the journey of the unmanned aerial vehicle.

In this step, the unmanned aerial vehicle is controlled to establish a connection with the cruise control device, the connection includes a communication connection and/or a charging connection, after the connection is established, the cruise control device performs cruise operation on the unmanned aerial vehicle, for example, the unmanned aerial vehicle is charged through the cruise control device, or cruise video data stored in the unmanned aerial vehicle is transferred to the cruise control device, or the state of the unmanned aerial vehicle is checked, or whether the environmental condition is suitable for the unmanned aerial vehicle to continue cruising is determined, and the like.

Optionally, after the cruise control device completes the cruising operation on the unmanned aerial vehicle, the unmanned aerial vehicle continues cruising to the next cruise control device adjacent to the current cruise control device.

Alternatively, each cruise control device has the same cruising operation function.

In this application embodiment, the in-process that the control equipment that cruises through in the route of crusing oneself provides the continuation of the journey operation at unmanned aerial vehicle flight for unmanned aerial vehicle, makes unmanned aerial vehicle need not return first cruiser control equipment and charges or other continuation of the journey operations, and then makes unmanned aerial vehicle can continue its work of patrolling and examining to farther destination of crusing oneself, has enlarged unmanned aerial vehicle's automatic cruise scope.

Fig. 11 is a schematic flow chart of a cruise control method of an unmanned aerial vehicle according to an embodiment of the present application. In order to realize the long-distance automatic cruise of the unmanned aerial vehicle, after the second cruise control device continues the cruising operation of the unmanned aerial vehicle, the unmanned aerial vehicle needs to continue to start the cruising operation, which illustratively includes steps S3 and S4 as shown in fig. 11.

S3: and the unmanned aerial vehicle receives a cruise starting instruction sent by the cruise control equipment.

The cruise control device determines the timing of continuing to start the cruise of the unmanned aerial vehicle, which can be determined after completing the cruising operation or when the required time for continuing the cruise arrives or the timing comprehensively determined by combining the weather state, the unmanned aerial vehicle state and the satellite state (such as the number of detectable satellite positioning System (GPS)) of the cruise according to the cruising task of the unmanned aerial vehicle. Cruise control device is under the opportunity that continues to start cruising, sends the start instruction that cruises to unmanned aerial vehicle, and is corresponding, and unmanned aerial vehicle receives this start instruction that cruises.

S4: and controlling the unmanned aerial vehicle to cruise to the next cruise control device according to the cruise route.

And responding to the received cruise starting instruction, the unmanned aerial vehicle continues cruising according to the preset cruise route and reaches the next cruise control device.

In this embodiment, unmanned aerial vehicle continues to the next cruise control equipment flight according to the cruise start-up instruction that cruise control equipment sent, continues to patrol and examine work, realizes the cruise of continuation formula, has enlarged automatic cruise scope, and the opportunity of continuing cruise is confirmed by second cruise control device simultaneously, provides the individualized cruise control that can be applied to different scenes.

Based on above-mentioned embodiment, unmanned aerial vehicle and cruise control equipment establish and are connected to cruise control equipment provides the continuation of the journey operation for unmanned aerial vehicle, includes following several possible implementation:

mode one, the video data that cruises among the unmanned aerial vehicle roll out to cruise control device to make unmanned aerial vehicle have sufficient memory space, can continue to gather new video data that cruises in the in-process that continues to cruise.

Fig. 12 is an interaction flow diagram of a cruise control method for an unmanned aerial vehicle according to an embodiment of the present application. When the unmanned aerial vehicle cruises into a preset area around the cruise control device, the unmanned aerial vehicle requests to establish communication connection with the second cruise control device, and the process of establishing communication connection exemplarily comprises the following steps:

s101: a connection request is sent to the cruise control device.

S102: and receiving a connection response returned by the cruise control device.

After the communication connection is established, the drone may transfer out the cruise video data to the cruise control device, including:

s103: the cruise video data is sent to the cruise control device.

S104: and deleting the cruise video data stored in the unmanned aerial vehicle.

Unmanned aerial vehicle rolls out cruise video data to cruise control equipment, and cruise control equipment saves received cruise video data to unmanned aerial vehicle deletes the cruise video data of self saving.

For example, before the unmanned aerial vehicle sends the cruise video data to the cruise control device, the remaining storage space in the unmanned aerial vehicle may be confirmed by the cruise device, and if the size of the remaining storage space is smaller than a preset value, the process of transferring the cruise video data to the cruise control device is performed. Or after the unmanned aerial vehicle sends the cruise video data to the cruise control device, the size of the remaining storage space of the unmanned aerial vehicle is determined, and if the size of the remaining storage space is larger than a preset value, the cruise video data stored in the unmanned aerial vehicle does not need to be deleted.

Mode two, charge unmanned aerial vehicle, make unmanned aerial vehicle can have sufficient electric quantity to cruise to next cruise control equipment.

Fig. 13 is an interaction flow diagram of a cruise control method for an unmanned aerial vehicle according to an embodiment of the present application. When the unmanned aerial vehicle cruises to a preset area around the cruise control device, the unmanned aerial vehicle requests to establish communication connection with the cruise control device, and the process of establishing communication connection exemplarily comprises the following steps:

s101: a connection request is sent to the cruise control device.

After communication connection establishes, unmanned aerial vehicle accomplishes the connection of charging through communicating with cruise control equipment and cruise control equipment, makes cruise control equipment charge for unmanned aerial vehicle, includes:

s105: the intelligent battery of control unmanned aerial vehicle is connected with cruise control equipment's charging device.

Unmanned aerial vehicle is through communicating with cruise control equipment, and real-time transmission locating information descends unmanned aerial vehicle accuracy on cruise control equipment's the platform of taking off and land, makes the mechanism of reforming on the platform of taking off and land carry out position correction and fixed to unmanned aerial vehicle. Correspondingly, at the in-process that unmanned aerial vehicle descends to the platform that takes off and land, cruise control equipment control hatch cover is opened, makes unmanned aerial vehicle descend on the platform that takes off and land in the under-deck, carries out position correction and fixed to unmanned aerial vehicle through the mechanism that reforms, controls the hatch cover again and closes.

Further, the cruise control equipment controls the charging contact of the charging device to rise, so that the charging contact is connected with the intelligent battery of the unmanned aerial vehicle.

S106: charging the unmanned aerial vehicle.

In this step, the cruise control equipment charges the intelligent battery of the unmanned aerial vehicle through the charging device.

As an example, before the cruise control device charges the smart battery through the charging device, the remaining power of the smart battery may be obtained, whether charging is needed or not may be determined according to the remaining power of the smart battery, if the remaining power is less than a preset value, the smart battery is charged, otherwise, the smart battery is not charged.

It will be appreciated that the smart battery utilizes internal electronics to measure, calculate and store battery data, making the use and management of the power supply more predictable, and that the cruise control device can read battery information, including the remaining battery capacity, of the smart battery after it is connected to the smart battery via the charging contacts.

Mode three, both charge unmanned aerial vehicle, also roll out unmanned aerial vehicle's video data that cruises. As shown in fig. 12 and 13, in this embodiment, when the unmanned aerial vehicle reaches any one of the cruise control devices that the cruise route indicates, the cruise video data of the unmanned aerial vehicle is diverted even if the unmanned aerial vehicle is charged by the cruise control device. First, a communication connection between the drone and the cruise control device still needs to be established, which is similar to the above steps S101 and S102 and is not described here again. In addition, the scheme does not require the sequence of the cruise video data transferring or the charging, and the cruise video data transferring and the charging can be carried out simultaneously.

Alternatively, the cruise control device may send the cruise video data to a server for storage.

Except the three modes, the cruise control equipment can also detect the running state of the unmanned aerial vehicle, such as the state of each sensor and the appearance state and the like through the detection device, and alarm and maintenance are carried out if abnormality exists so as to avoid the unmanned aerial vehicle from breaking down after cruising continuously.

Fig. 14 is an interaction flow diagram of a cruise control method for an unmanned aerial vehicle according to an embodiment of the present application. On the basis of the embodiment, after cruise control equipment carries out endurance operation on the unmanned aerial vehicle, the continuous cruise starting time of the unmanned aerial vehicle is determined, the unmanned aerial vehicle is controlled to continuously cruise at the continuous cruise starting time, and automatic starting of continuous cruise is achieved.

As shown in fig. 14, the process includes:

s201: and acquiring the electric quantity of the intelligent battery of the unmanned aerial vehicle in real time.

The cruise control equipment can read or receive the electric quantity information sent by the intelligent battery of the unmanned aerial vehicle in real time after establishing charging connection with the unmanned aerial vehicle, and the electric quantity information is the electric quantity value or the electric quantity percentage of the intelligent battery.

S202: when the electric quantity information of the intelligent battery is larger than a preset value, the cruise evaluation information of the unmanned aerial vehicle is acquired.

This scheme is in the electric quantity information of confirming intelligent battery after being greater than the default, need further confirm whether unmanned aerial vehicle is fit for continuing to cruise according to unmanned aerial vehicle's evaluation information that cruises.

In this step, the cruise control apparatus may acquire the cruise evaluation information by communicating with the external apparatus.

Illustratively, the cruise evaluation information includes weather information and/or a satellite positioning system GPS star number, wherein the weather information includes at least one of temperature, humidity, wind speed and rainfall. Aiming at weather information, the cruise control equipment can acquire real-time weather information through communication with the automatic weather station; and aiming at the GPS star number, the cruise control equipment acquires the GPS star number sent by the RTK base station.

S203: it is determined whether the cruise evaluation information satisfies a preset cruise condition.

Through the condition of predetermineeing cruises, can judge whether current weather, environment, GPS state are fit for unmanned aerial vehicle and cruises, set up the condition of crusing for example and be less than the default and then can start unmanned aerial vehicle and continue cruises for the rainfall, perhaps set up the wind speed and be less than the default and can start unmanned aerial vehicle and continue cruises to avoid weather unusual to cause the influence to unmanned aerial vehicle cruises. The number of the GPS stars determines the positioning accuracy, so that whether the unmanned aerial vehicle can be started to continue cruising can be determined by combining the number of the GPS stars, and the cruise of the unmanned aerial vehicle is prevented from being influenced by the descending of the positioning accuracy.

S204: and if the cruise evaluation information meets the preset cruise condition, controlling the unmanned aerial vehicle to continue cruising.

And if the cruise evaluation information meets one or more preset cruise conditions, the cruise control equipment controls the unmanned aerial vehicle to continue cruising.

S205: and controlling the unmanned aerial vehicle to cruise to the next cruise control device according to the cruise route.

And the unmanned aerial vehicle is controlled to continuously cruise to the next cruise control device adjacent to the current cruise control device according to the received cruise starting instruction.

Fig. 15 is an interaction flow diagram of a cruise control method for an unmanned aerial vehicle according to an embodiment of the present application. On the basis of the embodiment shown in fig. 14, the embodiment of the present application provides steps S2041 and S2042 shown in fig. 15 for how to control the unmanned aerial vehicle to continue cruising after the cruise evaluation information meets the preset cruise condition.

S2041: and adjusting the cruise control equipment to a pre-takeoff mode.

In this step, cruise control equipment control cabin cover is opened to control charging device's charging contact descends, provide necessary condition for unmanned aerial vehicle continues the navigation, prevent that cabin cover and charging contact from causing the interference to unmanned aerial vehicle takes off.

Optionally, adjusting the cruise control device to the pre-takeoff mode further includes sending a power-on instruction to the unmanned aerial vehicle, and in response to the power-on instruction, an intelligent battery of the unmanned aerial vehicle supplies power to the unmanned aerial vehicle; the optional adjusting the cruise control device to the pre-takeoff mode further comprises turning on a righting mechanism.

S2042: and sending a cruise starting instruction to the unmanned aerial vehicle.

The cruise start instruction is used for instructing the unmanned aerial vehicle to continue cruising to the next cruise control device according to a preset cruise route.

Correspondingly, the unmanned aerial vehicle receives the cruise starting instruction and responds to the cruise starting instruction to control the unmanned aerial vehicle to take off.

Optionally, before the unmanned aerial vehicle takes off, the unmanned aerial vehicle runs a self-checking program to perform self-checking on each sensor of the unmanned aerial vehicle, and after the self-checking result indicates that the state of each sensor is normal, the unmanned aerial vehicle starts to continue cruising.

Fig. 16 is a block diagram of a structure of the unmanned aerial vehicle provided in the embodiment of the present application. Generally, the drone 500 includes: a processor 505 and a memory 506; optionally, a peripheral interface 507 is also included. The processor 505, memory 506, and peripheral interface 507 may be connected by bus or signal lines. Each peripheral may be connected to peripheral interface 507 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of an image acquisition device 501, a communication device 502 and a smart battery 503.

The image acquisition device 501 acquires video data in the cruising process of the unmanned aerial vehicle;

establishing a communication connection with the cruise control device via a communication device 502;

the smart battery 503 supplies power to the unmanned aerial vehicle and sends battery power to the cruise control device;

the drone control device 505 may also include a main processor, which is a processor for Processing data in a wake-up state, also called a CPU (Central Processing Unit), and a coprocessor, which is a low power processor for Processing data in a standby state, the drone control device 505 may be integrated with a GPU (graphics Processing Unit, graphics processor) for rendering and rendering content to be displayed on a screen, and in some embodiments, the drone control device 505 may also include an intelligent AI (intelligent AI processor) for learning related operations.

Memory 506 may include one or more computer-readable storage media, which may be non-transitory. Memory 506 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 506 is used to store at least one instruction for execution by drone control 505 to implement the cruise control method applied to a drone-side drone provided by method embodiments herein.

Those skilled in the art will appreciate that the configuration shown in fig. 16 does not constitute a limitation of the drone 500, and may include more or fewer components than shown, or combine certain components, or employ a different arrangement of components.

Fig. 17 is a block diagram showing a configuration of a cruise control apparatus according to an embodiment of the present application. In general, the cruise control apparatus 600 includes: a processor 605 and a memory 606; optionally, a peripheral interface 607 is also included. The processor 605, memory 606, and peripheral interface 607 may be connected by buses or signal lines. Various peripheral devices may be connected to peripheral interface 607 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of the charging device 601 and the communication device 602.

The charging device 601 is connected with an intelligent battery of the unmanned aerial vehicle to charge the unmanned aerial vehicle according to the control of the processor 605;

establishing a communication connection with the unmanned aerial vehicle through the communication device 602;

the processor 605 may include one or more Processing cores, such as a 4-core processor, an 8-core processor, etc., the processor 605 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), a P L a (Programmable logic Array), the processor 605 may also include a main processor and a coprocessor, the main processor being a processor for Processing data in a wake-up state, also known as a CPU (Central Processing Unit), the coprocessor being a low-power processor for Processing data in a standby state, the processor 605 may, in some embodiments, be integrated with a GPU (Graphics Processing Unit) for rendering and rendering content desired for a display screen, the processor 605 may further include an intelligent processor for learning operations related to an AI (Artificial Intelligence processor) for computing operations related to display screens.

Memory 606 may include one or more computer-readable storage media, which may be non-transitory. Memory 606 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 606 is used to store at least one instruction for execution by processor 605 to implement the cruise control method provided by the method embodiments herein applied to a cruise control device-side drone.

Those skilled in the art will appreciate that the configuration shown in fig. 17 does not constitute a limitation of cruise control device 600, and may include more or fewer components than shown, or combine certain components, or employ a different arrangement of components.

The embodiment of the application also provides a non-transitory computer-readable storage medium, and when instructions in the storage medium are executed by an unmanned aerial vehicle control device of the unmanned aerial vehicle, the unmanned aerial vehicle can execute the cruise control method of the unmanned aerial vehicle provided by the embodiment.

The embodiment of the application also provides a non-transitory computer-readable storage medium, and when instructions in the storage medium are executed by a processor of the cruise control device, the cruise control device is enabled to execute the cruise control method of the unmanned aerial vehicle provided by the above embodiment.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An unmanned aerial vehicle cruise system, comprising: an unmanned aerial vehicle and a plurality of cruise control devices; the cruise control devices are preset according to the cruise route of the unmanned aerial vehicle;

2. The system of claim 1,

the unmanned aerial vehicle sends a connection request to the cruise control equipment;

3. The system of claim 2, wherein the cruise control apparatus comprises a charging device; the cruise control device is specifically configured to:

right the unmanned aerial vehicle charges.

4. A system according to claim 3, characterised in that the cruise control device is specifically adapted to:

5. The system of claim 3,

the unmanned aerial vehicle comprises an unmanned aerial vehicle control device;

6. The system of claim 3, wherein the cruise control apparatus is further configured to:

acquiring the residual electric quantity of the intelligent battery;

7. The system of claim 2,

the unmanned aerial vehicle sends cruise video data to the cruise control equipment; the cruise video data are video data acquired by the unmanned aerial vehicle in the cruise process;

8. The system of claim 7, wherein the drone is further configured to:

and deleting the cruise video data stored in the unmanned aerial vehicle.

9. The system according to any one of claims 1 to 8, characterized in that the cruise control device is further configured to:

if so, controlling the unmanned aerial vehicle to continue cruising.

10. The system of claim 9, wherein the cruise evaluation information comprises weather information and/or a satellite positioning system GPS star count, the weather information comprising at least one of temperature, humidity, wind speed, rainfall;

11. The system according to claim 9, characterized in that said cruise control device is particularly adapted to:

adjusting the cruise control equipment to a pre-takeoff mode;

12. The system of claim 11, wherein the drone control device of the drone is specifically configured to:

receiving a cruise starting instruction sent by the cruise control equipment;