CN112078814A - Unmanned aerial vehicle start-stop control method, system, equipment and storage medium - Google Patents
Unmanned aerial vehicle start-stop control method, system, equipment and storage medium Download PDFInfo
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- CN112078814A CN112078814A CN202011019167.4A CN202011019167A CN112078814A CN 112078814 A CN112078814 A CN 112078814A CN 202011019167 A CN202011019167 A CN 202011019167A CN 112078814 A CN112078814 A CN 112078814A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Arresting gear; Liquid barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
Abstract
The embodiment of the application provides a start-stop control method, a start-stop control system, start-stop control equipment and a storage medium for an unmanned aerial vehicle, wherein the method comprises the following steps: after receiving a takeoff signal of the unmanned aerial vehicle, controlling the environment detection device to detect a field environment so as to obtain an environment parameter; judging whether preset flight condition parameters are met or not according to the environment parameters, and if yes, controlling the cabin to open the cabin door; controlling the transportation device to transport the unmanned aerial vehicle to the apron center; after a signal that the unmanned aerial vehicle finishes landing is received, determining a moving path of the transportation device to the unmanned aerial vehicle; controlling the transportation device to move to the unmanned aerial vehicle according to the moving path to acquire the unmanned aerial vehicle and return to the cabin; and after confirming that the unmanned aerial vehicle enters the cabin, controlling the cabin to close the cabin door. The method avoids the problem that the size of the base station is increased due to the fact that the landing precision of the unmanned aerial vehicle is difficult to solve and the area of the apron needs to be increased, so that the cost and the transportation difficulty are increased.
Description
Technical Field
The application relates to the technical field of electricity, in particular to a start-stop control method, a start-stop control system, start-stop control equipment and a storage medium for an unmanned aerial vehicle.
Background
At present, the unmanned aerial vehicle basic station is overall structure more, and basic station and air park integrative design promptly, and when unmanned aerial vehicle descends to the air park on, its descending accuracy control degree of difficulty is great, on this basis, can guarantee through the size of increase air park that unmanned aerial vehicle can accurate descend to the air park on to remedy the problem of descending precision, and just so lead to the basic station volume increase thereupon, improved the cost and the transportation degree of difficulty.
Disclosure of Invention
An object of the embodiment of the application is to provide an unmanned aerial vehicle start-stop control method, system, equipment and storage medium, which are used for making up the problem of unmanned aerial vehicle landing errors by arranging a separate parking apron, and realizing the automatic transportation process of the unmanned aerial vehicle from a cabin to a start-flight point or from a landing point to the cabin in the unmanned aerial vehicle start-stop process.
In a first aspect, an embodiment of the present application provides an unmanned aerial vehicle start-stop control method, which is applied to a controller of an unmanned aerial vehicle base station, where the unmanned aerial vehicle base station includes a cabin, an apron, a transportation device, and an environment detection device, and is characterized in that the method includes: after receiving a takeoff signal of the unmanned aerial vehicle, controlling the environment detection device to detect a field environment so as to obtain an environment parameter; judging whether preset flight condition parameters are met or not according to the environment parameters, and if yes, controlling the cabin to open the cabin door; controlling the transportation device to transport the unmanned aerial vehicle to the apron center; after a signal that the unmanned aerial vehicle finishes landing is received, determining a moving path of the transportation device to the unmanned aerial vehicle; controlling the transportation device to move to the unmanned aerial vehicle according to the moving path to acquire the unmanned aerial vehicle and return to the cabin; and after confirming that the unmanned aerial vehicle enters the cabin, controlling the cabin to close the cabin door.
In the implementation process, after receiving a takeoff signal of the unmanned aerial vehicle, the environment monitoring device is controlled to detect the field environment around the unmanned aerial vehicle base station so as to obtain the environment parameters of the field environment, whether the environment parameters meet preset flight condition parameters is judged according to the obtained environment parameters so as to ensure the flight safety of the unmanned aerial vehicle, and after the environment parameters meet requirements, the cabin door is controlled to be opened backwards, so that the transportation device is controlled to transport the unmanned aerial vehicle to the central position of an apron, namely a flying starting point; accomplish the task at unmanned aerial vehicle and descend back on the parking apron, the controller of unmanned aerial vehicle basic station can receive the signal that unmanned aerial vehicle accomplished the descending, then determine the removal route that the conveyer removed unmanned aerial vehicle's position, and then remove unmanned aerial vehicle department according to the removal route control conveyer of confirming and acquire unmanned aerial vehicle and return the cabin, furthermore, confirm that unmanned aerial vehicle enters into the cabin in back, the hatch door is closed to the control cabin, the parking apron adopts the disconnect-type setting with the cabin, thereby under the unchangeable circumstances in assurance cabin volume, can compensate the problem that unmanned aerial vehicle descending precision is difficult to control through the area that promotes the parking apron, and realize accomplishing automatically that unmanned aerial vehicle transports from cabin to flying spot and from the landing spot to cabin through conveyer.
Further, after receiving the signal that the drone lands, determining a movement path along which the transportation device moves to the drone includes: after receiving a signal that the unmanned aerial vehicle finishes landing, identifying the landing position of the unmanned aerial vehicle; and determining a moving path of the transportation device to the unmanned aerial vehicle according to the landing position.
In the implementation process, after the signal that unmanned aerial vehicle accomplished the landing is received, can at first discern the landing position of unmanned aerial vehicle on the air park, and then determine the removal route that the conveyer removed to unmanned aerial vehicle department according to the landing position of confirming to make the conveyer can accurately remove unmanned aerial vehicle department automatically, and then realize unmanned aerial vehicle's recovery operation.
Further, said controlling the transport device to move to the drone to acquire the drone and return to the nacelle according to the movement path comprises: controlling the transportation device to move to the unmanned aerial vehicle according to the moving path and acquiring the unmanned aerial vehicle; determining a return path for the transport device to deliver the drone to the cabin; and controlling the transportation device to send the unmanned aerial vehicle back to the cabin according to the back-to-cabin path.
In the implementation process, after the moving path of the transporting device is determined, the transporting device is controlled to move to the unmanned aerial vehicle along the moving path, the unmanned aerial vehicle is obtained, then the returning path of the transporting device for returning the unmanned aerial vehicle to the cabin is determined, and then the transporting device is controlled to return the unmanned aerial vehicle to the cabin along the returning path, so that the recovery operation after the unmanned aerial vehicle falls can be automatically completed.
Further, the determining a return path for the transport device to deliver the drone to the cabin includes: identifying a location of the nacelle; and determining a return path of the transport device for sending the unmanned aerial vehicle to the cabin according to the position of the cabin.
In the above-mentioned implementation process, after control conveyer acquires unmanned aerial vehicle, the position in discernment cabin, then determine the transport device and send back the route of returning the cabin of cabin with unmanned aerial vehicle according to the position in cabin and transport device current position to can be with the accurate cabin of sending back of unmanned aerial vehicle.
In a second aspect, an embodiment of the present application provides an unmanned aerial vehicle start-stop control system, is applied to the controller of unmanned aerial vehicle basic station, the unmanned aerial vehicle basic station includes the cabin, the air park, conveyer and environment detection device, the system includes: the detection control unit is used for controlling the environment detection device to detect the field environment to acquire the environment parameters after receiving the takeoff signal of the unmanned aerial vehicle; the central control unit is used for judging whether preset flight condition parameters are met or not according to the environment parameters, if so, controlling the cabin to open the cabin door, and controlling the cabin to close the cabin door after confirming that the transportation device and the unmanned aerial vehicle enter the cabin; the path planning unit is used for determining a moving path of the transportation device moving to the unmanned aerial vehicle after receiving a signal that the unmanned aerial vehicle finishes landing; and the trolley control unit is used for controlling the transportation device to transport the unmanned aerial vehicle to the center of the parking apron, and controlling the transportation device to move to the unmanned aerial vehicle according to the moving path to obtain the unmanned aerial vehicle and return the unmanned aerial vehicle to the cabin.
Furthermore, the path planning unit is further configured to identify a landing position of the unmanned aerial vehicle after receiving a signal that the unmanned aerial vehicle completes landing, and determine a moving path along which the transportation device moves to the unmanned aerial vehicle according to the landing position.
Further, the path planning unit is further configured to determine a return path for the transportation device to deliver the drone to the cabin; the trolley control unit is also used for controlling the transport device to move to the unmanned aerial vehicle according to the moving path, acquiring the unmanned aerial vehicle, and controlling the transport device to send the unmanned aerial vehicle back to the cabin according to the returning path.
Further, the path planning unit is further configured to identify a position of the cabin, and determine a return path for the transportation device to deliver the drone to the cabin according to the position of the cabin.
In a third aspect, an apparatus provided in an embodiment of the present application includes: memory, a processor and a computer program stored in the memory and executable on the processor, the processor when executing the computer program implementing the steps of the unmanned aerial vehicle start-stop control method according to any one of the first aspect.
In a fourth aspect, a storage medium is provided in an embodiment of the present application, where the storage medium has instructions stored thereon, and when the instructions are executed on a computer, the instructions cause the computer to execute the method for controlling start and stop of an unmanned aerial vehicle according to any one of the first aspect.
In a fifth aspect, an embodiment of the present application provides a computer program product, which when running on a computer, causes the computer to execute the method for controlling start and stop of an unmanned aerial vehicle according to any one of the first aspect.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle base station provided in an embodiment of the present application;
fig. 2 is a schematic flowchart of a start-stop control method for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a start-stop control method for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 4 is a schematic flowchart of a start-stop control method for an unmanned aerial vehicle according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an unmanned aerial vehicle start-stop control system provided in an embodiment of the present application;
fig. 6 is a block diagram of an apparatus for start-stop control of an unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The embodiment of the application provides an unmanned aerial vehicle start-stop control method, a system, equipment and storage medium, can be applied to in the unmanned aerial vehicle field, can make can increase the area of air park in order to compensate the problem that unmanned aerial vehicle descending precision is difficult to control when guaranteeing that the cabin volume is unchangeable through the design of cabin and air park disconnect-type, and then can realize on this basis that automatic send unmanned aerial vehicle to the flying spot on the air park from the cabin and automatic retrieve unmanned aerial vehicle to the cabin from its landing spot on the air park through a conveyer, thereby realize unmanned aerial vehicle's automatic take-off and descending recovery process when remedying the problem that unmanned aerial vehicle descending precision is difficult to control. Referring to fig. 1, fig. 1 is a schematic structural diagram of an unmanned aerial vehicle base station provided in an embodiment of the present application, the unmanned aerial vehicle base station 10 includes a cabin 110, an apron 120, a transportation device 130, and an environment detection device 140, the cabin 110 and the apron 120 are separately disposed and are adjacent to each other, so as to ensure that the transportation device 130 enters the apron 120 immediately after exiting the cabin 110, the environment detection device 140 is disposed on or around the cabin 110, and the area of the apron 120 may not be limited by the volume of the cabin 110, so that the unmanned aerial vehicle 20 may be ensured to land on the apron 120 by increasing the area of the apron 120, and then the unmanned aerial vehicle 20 is recovered by the transportation device 130, thereby effectively reducing the increase of the volume of the entire base station due to the increase of the area of the apron 120, which leads to the increase of cost and increases the transportation difficulty.
In one embodiment, the transportation device 130 may be a shuttle vehicle, a forklift, a robotic arm, or other device capable of performing automatic transportation operation of the drone 20, and is not particularly limited thereto.
Illustratively, the transportation device in fig. 1 of the embodiment of the present application is illustrated by taking a hunting vehicle as an example, which is merely an illustration, and it should not be understood that the transportation device is the structure in fig. 1.
Please refer to fig. 2, fig. 2 is a start-stop control method for an unmanned aerial vehicle according to an embodiment of the present application, including:
and S110, after receiving the takeoff signal of the unmanned aerial vehicle, controlling the environment detection device to detect the field environment so as to obtain the environment parameters.
Exemplarily, before the unmanned aerial vehicle 20 takes off, the controller of the unmanned aerial vehicle base station 10 may receive a task signal of the unmanned aerial vehicle 20 sent by the remote terminal, that is, a takeoff signal of the unmanned aerial vehicle 20, and then the controller may control the environment detection device 140 to detect a field environment condition around the unmanned aerial vehicle base station 10, and acquire a corresponding environment parameter.
In an embodiment, environment detection device 140 can include temperature and humidity sensor, anemoscope and surveillance camera head, and temperature and humidity sensor is used for detecting the humiture data of surrounding environment, and the anemoscope is used for detecting the wind speed situation in place, and surveillance camera head can be monitored whether have the barrier etc. that influence unmanned aerial vehicle 20 flight on every side to guarantee that unmanned aerial vehicle 20 can normally fly.
And S120, judging whether preset flight condition parameters are met or not according to the environment parameters, and if so, controlling the cabin to open the cabin door.
Exemplarily, after the environment detection device 140 acquires the environment parameter, the environment parameter is sent to the controller, and then the controller compares the environment parameter with the preset flight condition parameter, and determines whether the environment parameter satisfies the preset flight condition parameter, when satisfying, it indicates that the unmanned aerial vehicle 20 can normally fly, and then the controller controls the cabin 110 to open the cabin door, so as to subsequently transport the unmanned aerial vehicle 20 to the departure point.
In one embodiment, the preset flight parameters may include temperature, humidity, and wind speed, which are not limited in this respect.
Optionally, when the detected environmental parameters do not meet the preset flight condition parameters, indicating that the current environment is not suitable for the unmanned aerial vehicle 20 to fly, terminating the flight task, or waiting for the environmental parameters to meet the requirements and then performing the task.
And S130, controlling the transportation device to transport the unmanned aerial vehicle to the center of the apron.
Illustratively, after the nacelle 110 is controlled to open the door, the controller controls the transportation device 130 parked in the nacelle 110 to lift the unmanned aerial vehicle 20, then controls the transportation device 130 to drive out of the nacelle 110 along a preset route into the apron 120 and move to the central position of the apron 120, i.e., the flying spot of the unmanned aerial vehicle 20, and then controls the transportation device 130 to put the unmanned aerial vehicle 20 down and return to the nacelle 110, and then controls the nacelle 110 to close the door, and then the unmanned aerial vehicle 20 starts to take off and perform a flight mission. The preset route is fixed, that is, the transportation device 130 sends the drone 20 to the central position of the apron 120 along the preset route each time.
And step S140, after receiving the signal that the unmanned aerial vehicle finishes landing, determining a moving path of the transportation device to the unmanned aerial vehicle.
Exemplarily, the controller can receive unmanned aerial vehicle 20's flight data in real time, after unmanned aerial vehicle 20 accomplished the flight mission and descended to the air park 120, the controller then can receive the signal that unmanned aerial vehicle 20 shut down, and unmanned aerial vehicle 20 accomplishes the signal of descending promptly, and then the controller can determine the best moving path of unmanned aerial vehicle 20 that conveyer 130 removed to make conveyer 130 can be fast accurate reach unmanned aerial vehicle 20 department in order to retrieve unmanned aerial vehicle 20.
Alternatively, when determining the moving path of the transportation device 130, a shortest path planning method, such as dijkstra algorithm, a-algorithm, etc., may be used, which is not particularly limited.
And S150, controlling the transportation device to move to the unmanned aerial vehicle according to the moving path to acquire the unmanned aerial vehicle and return to the cabin.
For example, after determining the suitable moving path, the controller may control the transportation device 130 to move to the position of the drone 20 along the moving path, and then the controller controls the transportation device 130 to acquire the drone 20 and return to the nacelle 110, thereby completing the recovery operation of the drone 20.
And step S160, after the unmanned aerial vehicle is confirmed to enter the cabin, controlling the cabin to close the cabin door.
For example, after confirming that the drone 20 enters the nacelle 110, the controller may control the nacelle 110 to close the doors, and the recovery operation of the drone 20 is completed.
In one embodiment, the controller may determine whether the drone 20 is located in the nacelle 110 by means of position recognition, and when the drone 20 is recognized as being located in the nacelle 110, control the nacelle 110 to close the hatch door.
Optionally, after the unmanned aerial vehicle 20 is sent back to the cabin 110, the electric quantity may be supplemented by wireless charging, and the data acquired during the flight process may be sent to the controller for storage by wireless transmission.
Please refer to fig. 3, fig. 3 is a start-stop control method for an unmanned aerial vehicle according to an embodiment of the present application, including:
and step S210, after receiving the takeoff signal of the unmanned aerial vehicle, controlling the environment detection device to detect the field environment so as to obtain the environment parameters.
And S220, judging whether preset flight condition parameters are met or not according to the environment parameters, and if so, controlling the cabin to open the cabin door.
And step S230, controlling the transportation device to transport the unmanned aerial vehicle to the center of the apron.
Steps S210, S220, and S230 are the same as steps S110, S120, and S130, and are not repeated here.
And S240, identifying the landing position of the unmanned aerial vehicle after receiving the signal that the unmanned aerial vehicle finishes landing.
Illustratively, after the drone 20 completes the flight mission and lands on the apron 120, the controller may receive a signal that the drone 20 completes the landing, and then the controller may identify and determine the landing position of the drone 20, and at the same time the controller may control the cabin 110 to open the hatch door to facilitate subsequent path planning and control the transportation device 130 to acquire the drone.
And S250, determining a moving path of the transportation device to the unmanned aerial vehicle according to the landing position.
For example, the controller may calculate a movement path for the planned movement of the transporter 130 to the drone 20 based on the identified landing position of the drone 20.
And step S260, controlling the transportation device to move to the unmanned aerial vehicle according to the moving path to acquire the unmanned aerial vehicle and return to the cabin.
And step S270, after the unmanned aerial vehicle is confirmed to enter the cabin, controlling the cabin to close the cabin door.
Steps S260 and S270 are the same as steps S150 and S160, and are not described again here.
Referring to fig. 4, fig. 4 is a method for controlling start and stop of an unmanned aerial vehicle according to an embodiment of the present application, including:
and S310, after receiving the takeoff signal of the unmanned aerial vehicle, controlling the environment detection device to detect the field environment so as to obtain the environment parameters.
And S320, judging whether preset flight condition parameters are met or not according to the environment parameters, and if so, controlling the cabin to open the cabin door.
And step S330, controlling the transportation device to transport the unmanned aerial vehicle to the center of the apron.
Step S340, after receiving the signal that the unmanned aerial vehicle completes landing, determining a moving path along which the transportation device moves to the unmanned aerial vehicle.
Steps S310, S320, S330, and S340 are the same as steps S110, S120, S130, and S140, and are not repeated here.
And S350, controlling the transportation device to move to the unmanned aerial vehicle according to the moving path and acquiring the unmanned aerial vehicle.
For example, after planning the moving path of the transportation device 130, the controller may control the transportation device 130 to move to the drone 20 along the moving path, and then the transportation device 130 acquires the drone 20.
And S360, determining a return path of the unmanned aerial vehicle sent to the cabin by the transportation device.
For example, after the transportation device 130 acquires the drone 20, the controller may further determine a return path for the transportation device 130 to return the drone 20 to the cabin 110, so that the transportation device 130 can accurately return the drone 20 to the cabin 110 to complete the recovery operation.
Optionally, in step S360, the method for controlling start and stop of an unmanned aerial vehicle provided in the embodiment of the present application includes: identifying a location of the nacelle; and determining a return path of the transport device for sending the unmanned aerial vehicle to the cabin according to the position of the cabin.
Illustratively, after the transportation device 130 acquires the drone 20, the controller identifies the location of the nacelle 110, and calculates a return path for the transportation device 130 to return the drone 20 to the nacelle 110.
And step S370, controlling the transportation device to send the unmanned aerial vehicle back to the cabin according to the return route.
Illustratively, the controller controls the transporter 130 to return to the nacelle 110 along a planned return path to complete the recovery operation of the drone 20.
And step S380, after confirming that the unmanned aerial vehicle enters the cabin, controlling the cabin to close the cabin door.
Step S380 is the same as step S160, and is not described herein again.
In a possible implementation scenario, when the unmanned aerial vehicle 20 is required to execute a flight task, the controller of the unmanned aerial vehicle base station 10 receives unmanned aerial vehicle 20 task information sent by a remote terminal, that is, unmanned aerial vehicle 20 takeoff information, then the controller controls the environment detection device 140 to detect a surrounding field environment and acquire an environment parameter, the controller acquires the environment parameter and compares the environment parameter with a preset flight condition parameter, when the above conditions are met, the controller controls the cabin 110 to open a cabin door, then the transportation device 130 takes the unmanned aerial vehicle 20 away from the cabin 110, further transports the unmanned aerial vehicle 20 to a central position of the parking apron 120, then the controller controls the transportation device 130 to put down the unmanned aerial vehicle 20, and then remotely controls the unmanned aerial vehicle 20 to start and take off to execute the flight task; after the unmanned aerial vehicle 20 finishes a flight mission and lands on the apron 120, the controller receives a signal that the unmanned aerial vehicle 20 finishes landing, then the controller controls the cabin 110 to open the cabin door, identifies and determines the position of the unmanned aerial vehicle 20, then calculates and plans the moving path of the transportation device 130, then the controller controls the transportation device 130 to move to the unmanned aerial vehicle 20 along the planned moving path and acquires the unmanned aerial vehicle 20, further the controller identifies the cabin 110 position and plans a cabin returning path, then controls the transportation device 130 to return to the cabin 110 with the unmanned aerial vehicle 20, and controls the cabin 110 to close the cabin door after the unmanned aerial vehicle 20 enters the cabin 110, so that the recovery operation of the unmanned aerial vehicle 20 is finished; the drone 20 may then wirelessly charge in the nacelle 110 and wirelessly transmit data acquired during flight to the controller for storage. Air park 120 and cabin 110 adopt the disconnect-type design, thereby can increase air park 120 area alone and compensate the problem that unmanned aerial vehicle 20 landing precision is difficult to control, and then realize that unmanned aerial vehicle 20 takes off automatically and the recovery process that descends through conveyer 130, solved because of the difficult problem that solves of unmanned aerial vehicle 20 landing precision needs increase air park 120 area and then makes the volume increase of basic station integrative with air park 120, thereby lead to the cost-push, the problem that the transportation degree of difficulty increases.
Please refer to fig. 5, fig. 5 is a schematic structural diagram of an unmanned aerial vehicle start-stop control system according to an embodiment of the present application. It should be understood that the system in fig. 5 corresponds to the method embodiments in fig. 2 to 4, and can perform the steps related to the method embodiments, and the specific functions of the system can be referred to the description above, and the detailed description is appropriately omitted here to avoid redundancy. The system includes at least one software functional module that can be stored in memory in the form of software or firmware (firmware) or solidified in the Operating System (OS) of the system. Specifically, the system comprises:
the detection control unit 510 is configured to control the environment detection device to detect a field environment to obtain an environment parameter after receiving a takeoff signal of the unmanned aerial vehicle;
the central control unit 520 is used for judging whether preset flight condition parameters are met or not according to the environment parameters, if so, controlling the cabin to open the cabin door, and controlling the cabin to close the cabin door after confirming that the unmanned aerial vehicle enters the cabin;
a path planning unit 530, configured to determine, after receiving a signal that the drone completes landing, a moving path along which the transportation device moves to the drone;
and a vehicle control unit 540, configured to control the transportation device to transport the drone to the center of the apron, and control the transportation device to move to the drone according to the moving path to acquire the drone and return to the cabin.
In one embodiment, the path planning unit 530 is further configured to identify a landing position of the drone after receiving the signal that the drone completes landing, and determine a moving path of the transportation device to the drone according to the landing position.
In one embodiment, the path planning unit 530 is further configured to determine a return path for the transportation device to deliver the drone to the cabin; the trolley control unit 540 is further configured to control the transportation device to move to the unmanned aerial vehicle according to the moving path, acquire the unmanned aerial vehicle, and control the transportation device to return the unmanned aerial vehicle to the cabin according to the returning path.
In one embodiment, the path planning unit 530 is further configured to identify a position of the nacelle and determine a return path for the transportation device to deliver the drone to the nacelle according to the position of the nacelle.
Fig. 6 shows a structural block diagram of an apparatus for start-stop control of an unmanned aerial vehicle according to an embodiment of the present application. The device may include a processor 610, a communication interface 620, a memory 630, and at least one communication bus 640. Wherein communication bus 640 is used to enable direct, coupled communication of these components. The communication interface 620 of the device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The processor 610 may be an integrated circuit chip having signal processing capabilities.
The Processor 610 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 610 may be any conventional processor or the like.
The Memory 630 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like. The memory 630 has stored therein computer-readable instructions that, when executed by the processor 610, may cause the apparatus to perform the various steps involved in the method embodiments of fig. 2-4 described above.
Optionally, the device may further include a memory controller, an input output unit.
The memory 630, the memory controller, the processor 610, the peripheral interface, and the input/output unit are electrically connected to each other directly or indirectly to implement data transmission or interaction. For example, these components may be electrically coupled to each other via one or more communication buses 640. The processor 610 is adapted to execute executable modules stored in the memory 630, such as software functional modules or computer programs comprised by the device.
The input and output unit is used for providing a task for a user to create and start an optional time period or preset execution time for the task creation so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in figure 6 is merely illustrative and that the apparatus may also include more or fewer components than shown in figure 6 or have a different configuration than shown in figure 6. The components shown in fig. 6 may be implemented in hardware, software, or a combination thereof.
The embodiment of the present application further provides a storage medium, where the storage medium stores instructions, and when the instructions are run on a computer, when the computer program is executed by a processor, the method in the method embodiment is implemented, and in order to avoid repetition, details are not repeated here.
The present application also provides a computer program product which, when run on a computer, causes the computer to perform the method of the method embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. An unmanned aerial vehicle start-stop control method is applied to a controller of an unmanned aerial vehicle base station, wherein the unmanned aerial vehicle base station comprises a cabin, an apron, a transportation device and an environment detection device, and the method comprises the following steps:
after receiving a takeoff signal of the unmanned aerial vehicle, controlling the environment detection device to detect a field environment so as to obtain an environment parameter;
judging whether preset flight condition parameters are met or not according to the environment parameters, and if yes, controlling the cabin to open the cabin door;
controlling the transportation device to transport the unmanned aerial vehicle to the apron center;
after a signal that the unmanned aerial vehicle finishes landing is received, determining a moving path of the transportation device to the unmanned aerial vehicle;
controlling the transportation device to move to the unmanned aerial vehicle according to the moving path to acquire the unmanned aerial vehicle and return to the cabin;
and after confirming that the unmanned aerial vehicle enters the cabin, controlling the cabin to close the cabin door.
2. The method as claimed in claim 1, wherein the determining the moving path of the transportation device to the drone after receiving the signal that the drone completes landing includes:
after receiving a signal that the unmanned aerial vehicle finishes landing, identifying the landing position of the unmanned aerial vehicle;
and determining a moving path of the transportation device to the unmanned aerial vehicle according to the landing position.
3. The method of claim 1, wherein the controlling the transportation device to move to the drone to acquire the drone and return to the nacelle according to the movement path comprises:
controlling the transportation device to move to the unmanned aerial vehicle according to the moving path and acquiring the unmanned aerial vehicle;
determining a return path for the transport device to deliver the drone to the cabin;
and controlling the transportation device to send the unmanned aerial vehicle back to the cabin according to the back-to-cabin path.
4. The method of claim 3, wherein the determining a return path for the transport device to deliver the drone to the cabin comprises:
identifying a location of the nacelle;
and determining a return path of the transport device for sending the unmanned aerial vehicle to the cabin according to the position of the cabin.
5. The utility model provides an unmanned aerial vehicle start-stop control system, is applied to the controller of unmanned aerial vehicle basic station, unmanned aerial vehicle basic station includes the cabin, the air park, conveyer and environment detection device, its characterized in that, the system includes:
the detection control unit is used for controlling the environment detection device to detect the field environment to acquire the environment parameters after receiving the takeoff signal of the unmanned aerial vehicle;
the central control unit is used for judging whether preset flight condition parameters are met or not according to the environment parameters, if so, controlling the cabin to open the cabin door, and controlling the cabin to close the cabin door after confirming that the unmanned aerial vehicle enters the cabin;
the path planning unit is used for determining a moving path of the transportation device moving to the unmanned aerial vehicle after receiving a signal that the unmanned aerial vehicle finishes landing;
and the trolley control unit is used for controlling the transportation device to transport the unmanned aerial vehicle to the center of the parking apron, and controlling the transportation device to move to the unmanned aerial vehicle according to the moving path to obtain the unmanned aerial vehicle and return the unmanned aerial vehicle to the cabin.
6. The unmanned aerial vehicle start-stop control system of claim 5, wherein the path planning unit is further configured to identify a landing position of the unmanned aerial vehicle after receiving a signal that the unmanned aerial vehicle completes landing, and determine a moving path along which the transportation device moves to the unmanned aerial vehicle according to the landing position.
7. The unmanned aerial vehicle start-stop control system of claim 5, wherein the path planning unit is further configured to determine a return path for the transport device to deliver the unmanned aerial vehicle to the cabin;
the trolley control unit is also used for controlling the transport device to move to the unmanned aerial vehicle according to the moving path, acquiring the unmanned aerial vehicle, and controlling the transport device to send the unmanned aerial vehicle back to the cabin according to the returning path.
8. The unmanned aerial vehicle start-stop control system of claim 7, wherein the path planning unit is further configured to identify a location of the nacelle and determine a return path for the transport device to deliver the unmanned aerial vehicle to the nacelle based on the location of the nacelle.
9. An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the unmanned aerial vehicle start-stop control method of any of claims 1 to 4 when executing the computer program.
10. A storage medium for storing instructions which, when run on a computer, cause the computer to perform the drone start-stop control method of any one of claims 1 to 4.
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