CN114355975B - Method, system, processing equipment and medium for returning flying equipment to nest - Google Patents
Method, system, processing equipment and medium for returning flying equipment to nest Download PDFInfo
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Abstract
The embodiment of the application provides a method, a system, a processing device and a medium for returning a flight device, wherein the method comprises the following steps: acquiring a first position of the flying device and a second position of the intelligent robot; receiving a first flight control instruction, responding to the first flight control instruction, flying to the space range of the second position and switching to a cruising mode; sending a first message to the intelligent robot, wherein the first message is used for indicating the intelligent robot to start a machine nest and displaying the equipment identifier of the intelligent robot; and after the equipment identifier is successfully identified, receiving a second flight control instruction, and responding to the second flight control instruction, and moving towards the intelligent robot nest until returning to the nest. The scheme can accurately control the flying equipment to return to the nest.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a method and a device for returning a flying device to a nest and a storage medium.
Background
At present, intelligent robots are widely applied, outdoor operation environments are diversified and complicated, requirements on intelligent robot capabilities are more and more, and initial robot designs and configurations are difficult to meet the increasing business requirements. After the intelligent robot body is integrated with the flying device, the characteristics of the flying device and the characteristics of the intelligent robot are further fused, so that the intelligent robot is suitable for various complex and different outdoor environments.
The intelligent robot and the flying equipment are provided with GPS, when the flying equipment returns to the vicinity of the robot, the robot opens the machine nest to expose the two-dimensional code in the machine nest, and the flying equipment can recognize the two-dimensional code through the video of the camera and then track the two-dimensional code to realize returning to the machine nest. Because the existing flight equipment nests are mostly in a static state, in an integrated system of the intelligent robot, the nests are in a motion state on the robot, so that the difficulty of returning the flight equipment to the nests is increased.
Although the intelligent robot and the flying equipment are provided with the GPS, because the GPS has certain errors and the area shot by the camera is limited, when the flying equipment is far away from the robot, the two-dimensional code on the camera of the flying equipment cannot be found in the video of the camera of the flying equipment due to the GPS errors, and finally the flying equipment cannot return to the camera.
Disclosure of Invention
The embodiment of the application provides a method, a device and a storage medium for homing of flight equipment, which can control the accurate homing of the flight equipment.
In a first aspect, embodiments of the present application provide a method for nesting a flying device from the perspective of the flying device, the method comprising:
acquiring a first position of the flying device and a second position of the intelligent robot;
receiving a first flight control instruction, responding to the first flight control instruction, flying to the space range of the second position and switching to a cruising mode;
sending a first message to the intelligent robot, wherein the first message is used for indicating the intelligent robot to start a machine nest and displaying the equipment identifier of the intelligent robot;
and after the intelligent robot starts the machine nest, if the equipment identifier is successfully identified, receiving a second flight control instruction, and responding to the second flight control instruction, and moving towards the machine nest of the intelligent robot until the machine nest returns.
In a second aspect, embodiments of the present application provide a method for nesting a flying device from the perspective of an intelligent robot, the method comprising:
receiving a first message from a flying device, wherein the first message is used for instructing the intelligent robot to start a machine nest and displaying a device identifier of the intelligent robot;
opening the machine nest;
and closing the aircraft nest after detecting that the flight equipment enters the aircraft nest.
In a third aspect, embodiments of the present application further provide a robot nesting system, where the robot nesting system includes a plurality of intelligent robots for performing the method of the first aspect and a plurality of intelligent positioning devices for performing the method of the second aspect.
In a fourth aspect, embodiments of the present application further provide a processing device, including a processor and a memory, where the memory stores a computer program, and when the processor invokes the computer program in the memory, the processor executes the steps in the method described in the first aspect provided by the embodiments of the present application, or executes the steps in the method described in the second aspect provided by the embodiments of the present application.
In a fifth aspect, embodiments of the present application further provide a computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform steps in a method according to the first aspect provided by embodiments of the present application or to perform steps in a method according to the second aspect provided by embodiments of the present application.
From the above, in the present application, a first position of the flying device and a second position of the intelligent robot are obtained first; receiving a first flight control instruction, responding to the first flight control instruction, flying to the space range of the second position and switching to a cruising mode; sending a first message to the intelligent robot, wherein the first message is used for indicating the intelligent robot to start a machine nest and displaying the equipment identifier of the intelligent robot; and after the equipment identifier is successfully identified, receiving a second flight control instruction, and responding to the second flight control instruction, and moving towards the intelligent robot nest until returning to the nest. The scheme can accurately control the flying equipment to return to the nest.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method of homing a flying device of the present application;
FIG. 2 is another flow diagram of a method of homing a flying device of the present application;
FIG. 3 is a schematic diagram of a robot nesting system of the present application;
fig. 4 is a schematic view of a structure of the processing apparatus of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In the following description, specific embodiments of the present application will be described with reference to steps and symbols performed by one or more computers, unless otherwise indicated. Accordingly, these steps and operations will be described in terms of a computer executing an operation involving a computer processing unit representing electronic signals representing data in a structured form. This operation transforms the data or maintains it in place in the computer's memory system, which may reconfigure or otherwise alter the computer's operation in a manner well known to those skilled in the art. The data structure maintained by the data is the physical location of the memory, which has specific characteristics defined by the data format. However, the principles of the present application are described in the foregoing text and are not meant to be limiting, and one skilled in the art will recognize that various steps and operations described below may also be implemented in hardware.
The principles of the present application operate using many other general purpose or special purpose operations, communication environments, or configurations. Examples of well known computing systems, environments, and configurations that may be suitable for use with the application include, but are not limited to, hand-held telephones, personal computers, servers, multiprocessor systems, microcomputer-based systems, mainframe computers, and distributed computing environments that include any of the above systems or devices.
The terms "first," "second," and "third," etc. in this application are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The execution main body of the method for the fly equipment to return to the nest can be an intelligent positioning device or an intelligent robot and the like, wherein the intelligent positioning device or the intelligent robot can be realized in a hardware or software mode. The application is to introduce the scheme with the intelligent positioner and the intelligent robot that are located same indoor space, and at least one perhaps is provided with at this same indoor space's intelligent positioner, and intelligent robot perhaps is provided with at least one.
Referring to fig. 1, fig. 1 is a schematic diagram of a robot homing system for implementing the method of homing a flying device of the present application. The robot nesting system in the embodiment of the application comprises at least one flying device and at least one intelligent robot. The embodiment of the application does not limit the volume and the number of the flying equipment and the intelligent robots. The flying device can be controlled remotely by a control end of the ground, and can also be controlled by a driver on the flying device, and the embodiment of the application is not limited in this way. The intelligent robot is controlled by the control end and can also be controlled by operators in the intelligent robot, and the embodiment of the application is not limited to the control end.
The intelligent robot body is connected with the cloud server through a wireless network, and the state and information of the intelligent robot body are synchronized to the cloud server in real time.
The cloud server gathers, stores and analyzes all information of the intelligent robot and the unmanned aerial vehicle, and finally gathers analysis results to the cloud service control center. And the service control center guides the robot and the unmanned aerial vehicle to complete various service processes according to the analysis result and the reserved service plan. Based on the powerful computing power of the cloud server, the flying equipment and the intelligent robot can be accurately positioned, and global business planning with higher accuracy is achieved.
The aircraft nest provides a landing platform for the flying equipment. Two-dimensional codes can be posted in the machine nest. And taking the flight equipment nest as a peripheral, integrating the flight equipment nest into an intelligent robot body, and synchronizing the state and information of the unmanned aerial vehicle to a cloud server through connection of the intelligent robot and the cloud server. The cloud server fuses all information (including newly-added peripheral flying equipment) of the intelligent robot body, and expands the business capability of the intelligent robot based on the flying equipment function.
Referring to fig. 2, fig. 2 shows a schematic flow chart of a method for homing a flying device according to the present application, which is applied to a robot homing system. The method provided by the application specifically comprises the following steps:
101. the flying device obtains a first position of the flying device and a second position of the intelligent robot.
It can be appreciated that in the embodiment of the application, the intelligent positioning device is built in both the flying equipment and the intelligent robot, the first position of the flying equipment can be acquired by the built-in intelligent positioning device, and the second position of the flying equipment can be acquired by the built-in intelligent positioning device of the intelligent robot. The intelligent positioning device supports UWB wireless carrier communication, wi-Fi, mobile network, GPS connection and other modes to be connected into a cloud network, and a built-in loudspeaker is arranged in the intelligent positioning device, and the intelligent robot supports UWB signals, bluetooth and other communication modes. The intelligent positioning device may send the device connection relationship data to the intelligent robot under various triggering conditions, for example, the intelligent positioning device may send the device connection relationship data outwards according to a set sending period, or may detect that a communication connection relationship is established with the intelligent robot, etc. Correspondingly, the flying equipment and the intelligent robot can communicate through the function positioning devices which are respectively arranged in the flying equipment and the intelligent robot to mutually acquire the positions of the other sides.
First, 1 intelligent robot and 1 intelligent positioning device are arranged in the same indoor space for example. All intelligent positioning devices in the same indoor space (taking the same indoor space provided with 1 intelligent positioning device as an example at this time, all intelligent positioning devices refer to 1 intelligent positioning device which is uniquely arranged) can send Bluetooth signals (wireless communication signals such as Wi-Fi signals) according to a preset timing sending period (for example, the timing sending period is set to be any time value in 0.5-10 s), once the distance between the intelligent robot and the intelligent positioning device does not exceed the Bluetooth communication distance (generally, the Bluetooth communication distance is any distance value in 1-100, and the specific Bluetooth communication distance is determined by the performance of a Bluetooth module arranged in the intelligent positioning device), the intelligent robot can receive the Bluetooth signals and acquire the current positioning data of the intelligent robot. And then the robot sends the acquired current positioning data to the intelligent positioning device. After the intelligent positioning device receives the current positioning data, the current positioning data can be cached. If all the intelligent positioning devices in the same indoor space refer to the uniquely arranged intelligent positioning device, the device data stored in the equipment connection relation data in the intelligent positioning device are the device unique identification number, the device positioning information and the connected device identification number with the null value of the intelligent positioning device.
And the same indoor space is provided with 1 intelligent robot and at least 2 intelligent positioning devices for example. All intelligent positioning devices in the same indoor space can send Bluetooth signals according to a preset timing sending period (for example, the timing sending period is set to be any time value in 0.5-10 s), once the distance between the intelligent robot and any intelligent positioning device does not exceed the Bluetooth communication distance, the intelligent robot can receive the Bluetooth signals and establish Bluetooth connection with the corresponding intelligent positioning device (if the distance between the intelligent robot and all the intelligent positioning devices in the same indoor space does not exceed the Bluetooth communication distance, bluetooth connection can be established with all the intelligent positioning devices in the same indoor space), and current positioning data of the intelligent robot can be obtained. And then the robot sends the acquired current positioning data to an intelligent positioning device which is connected with the robot through Bluetooth. After the intelligent positioning device receives the current positioning data, the current positioning data can be cached. If all the intelligent positioning devices in the same indoor space refer to at least 2 intelligent positioning devices, the device connection relation data comprise device data with the same number as the total number of the intelligent positioning devices, and each device data comprises a device unique identification number, device positioning information and a connected device identification number. For example, taking the intelligent positioning device a as an example, the device connection relationship data stored in the intelligent positioning device a has device data with the same number as the total number of the intelligent positioning devices, specifically, if one device data is { NODE1, (X1, Y1), (NODE 2, NODE 3) }, the unique identifier of the device corresponding to the intelligent positioning device a is NODE1, the coordinate corresponding to the device positioning information corresponding to the intelligent positioning device a is (X1, Y1), and the connected device identifier corresponding to the intelligent positioning device a includes NODE2 and NODE3. Therefore, the intelligent positioning device can provide accurate positioning reference information after acquiring the current positioning data of the intelligent robot and sending the equipment connection relation data.
102. The flight device receives a first flight control instruction, and in response to the first flight control instruction, flies into the space range of the second position and switches to a cruising mode.
The first flight control instruction may be sent by a control end at the ground end, or may be sent by a driver on the flight device, which is not limited in the embodiment of the present application.
103. The flying device sends a first message to the intelligent robot.
The first message is used for indicating the intelligent robot to start the machine nest and displaying the equipment identifier of the intelligent robot. The device identifier can be an identifiable identifier such as a two-dimensional code, and the embodiment of the application does not limit the expression mode of the device identifier.
Specifically, the flying device may establish a communication connection with the intelligent robot through the cloud server. The flying device sends a first message to the cloud server, and the cloud server sends the first message to the intelligent robot. And sending the first message to the intelligent robot through a cloud server.
104. After receiving the first message from the flying device, the intelligent robot opens the aircraft nest.
Specifically, the intelligent robot receives a first message from a cloud server.
In some embodiments, the machine nest includes at least two directional hatches, and the opening the machine nest includes:
detecting current azimuth information of the flight equipment;
determining a target cabin door to be opened on the aircraft nest according to the azimuth information;
and opening the target cabin door.
In the embodiment of the application, besides the device identifier can be stuck to the outer wall of the intelligent robot body or the opposite side facing the opening cabin door in the nest in a graphical mode, the device identifier can be displayed in a digital display mode. Specifically, in some embodiments, after the opening of the nest, the method further comprises:
and displaying the equipment identifier of the intelligent robot, wherein the equipment identifier is used for identifying the identity of the intelligent robot by the flying equipment.
The equipment identification is displayed in a digital display mode, so that the situation that the flying equipment cannot be scanned successfully due to falling off, damage, missing of the equipment identification, light darkness and the like in the machine nest can be avoided.
105. After the intelligent robot opens the machine nest, if the equipment identification is successfully identified, the flight equipment receives a second flight control instruction, and responds to the second flight control instruction, and moves towards the machine nest of the intelligent robot until the intelligent robot returns to the nest.
In some embodiments, after the intelligent robot opens the nest, the method further comprises:
if the equipment identification of the intelligent robot is not successfully identified, generating a target flight route;
and winding the intelligent robot according to the target flight route until the equipment identifier is scanned.
How the flying device returns to the nest is described from the two angles that the intelligent robot is ground end equipment and the flying device respectively:
1. the intelligent robot is ground terminal equipment
In some embodiments, the moving towards the nest of the intelligent robot until the nest returns in response to the second flight control instruction comprises one of:
and (5) falling towards the machine nest until returning to the nest.
If the opening direction of the aircraft nest is far away from the ground, a first flight route is planned; after flying to the upper part of the machine nest according to the first flying route, the aircraft nest is descended to the machine nest towards the machine nest, and a cover plate of the machine nest is closed;
or if the opening direction of the aircraft nest faces to the horizontal direction, planning a second flight path; and flying into the machine nest according to the second flying route, and closing the side plate of the machine nest.
For example, as shown in fig. 2, fig. 2 is a schematic diagram of a ground-end intelligent robot after opening a nest, in which a two-dimensional code is displayed, and an unmanned plane can scan the two-dimensional code to identify the identity of the intelligent robot so as not to enter the nest of the wrong intelligent robot.
After GPS positioning through unmanned aerial vehicle GPS and intelligent robot, begin to return near intelligent robot to cruise at certain altitude, unmanned aerial vehicle inform intelligent robot open the machine nest top cap this moment, spill the two-dimensional code.
The unmanned aerial vehicle shoots the video right below by using the camera, and recognizes the two-dimensional code in the machine nest through the video, and if the two-dimensional code is recognized, the unmanned aerial vehicle follows the two-dimensional code of the machine nest, realizes landing and returns to the machine nest.
If the two-dimensional code is not identified in the video, the two-dimensional code in the robot nest is possibly not in the field of view of the unmanned aerial vehicle, and the unmanned aerial vehicle starts to try to find the two-dimensional code in the robot nest around the flight according to the walking direction of the robot and a certain area, and only the two-dimensional code is found, then the two-dimensional code is followed, landing is realized, and the robot nest is returned. If the two-dimensional code in the robot nest is not found, the robot starts to try to find the two-dimensional code around the flight according to the walking direction of the robot and a certain area.
Therefore, through the mode of controlling the nest returning, no matter what azimuth of the flying device is positioned in the intelligent robot, the intelligent robot can flexibly open the cabin door which is most suitable for the nest returning of the flying device at present, so that on one hand, the time for the nest returning of the flying device can be saved, and on the other hand, the flow of a flying route which needs to be planned to be complicated because of the azimuth can be reduced.
2. The intelligent robot is flight equipment
In some embodiments, the intelligent robot is exemplified as a flying device hovering over the air. The moving towards the nest of the intelligent robot until returning to the nest in response to the second flight control instruction comprises one of the following modes:
if the flying equipment is higher than the intelligent robot and the opening direction of the aircraft nest is far away from the ground, a third flying route is planned; after flying to the upper part of the machine nest according to the third flying route, the aircraft nest is descended to the machine nest towards the machine nest, and a cover plate of the machine nest is closed;
if the height of the flight equipment is lower than that of the intelligent robot and the opening direction of the aircraft nest faces the ground, a fourth flight route is planned; after flying to the lower part of the machine nest according to the fourth flying route, ascending towards the machine nest to the machine nest, and closing the bottom plate of the machine nest;
or if the opening direction of the aircraft nest faces to the horizontal direction, planning a fifth flight route; and flying into the machine nest according to the fifth flying route, and closing the side plate of the machine nest.
Therefore, through the mode of controlling the nest returning, no matter what azimuth of the flying device is positioned in the intelligent robot, the intelligent robot can flexibly open the cabin door which is most suitable for the nest returning of the flying device at present, so that on one hand, the time for the nest returning of the flying device can be saved, and on the other hand, the flow of a flying route which needs to be planned to be complicated because of the azimuth can be reduced.
To facilitate better practice of the methods of the present application, the embodiments also provide a robotic nesting system 30.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a robot nesting system 30 according to the present application, wherein the robot nesting system 30 may specifically include the following structures: a flying device 31 and an intelligent robot 32.
Wherein the flying apparatus 31 comprises: a transceiver module 311 and a processing module 312.
The transceiver module 311 may be configured to obtain a first position of the flying device and a second position of the intelligent robot; receiving a first flight control instruction, responding to the first flight control instruction, flying to the space range of the second position and switching to a cruising mode;
the transceiver module 311 is further configured to send a first message to the intelligent robot, where the first message is used to instruct the intelligent robot to start a machine nest and display a device identifier of the intelligent robot;
and after the intelligent robot starts the machine nest, if the equipment identifier is successfully identified, receiving a second flight control instruction, and responding to the second flight control instruction, and moving towards the machine nest of the intelligent robot until the machine nest returns.
In some embodiments, after the intelligent robot opens the nest, the processing module 312 is configured to:
if the equipment identification of the intelligent robot is not successfully identified, generating a target flight route;
and winding the intelligent robot according to the target flight route until the equipment identifier is scanned.
In some embodiments, the intelligent robot is a ground-side device, and the processing module 312 performs one of the following operations:
and (5) falling towards the machine nest until returning to the nest.
If the opening direction of the aircraft nest is far away from the ground, a first flight route is planned; after flying to the upper part of the machine nest according to the first flying route, the aircraft nest is descended to the machine nest towards the machine nest, and a cover plate of the machine nest is closed;
or if the opening direction of the aircraft nest faces to the horizontal direction, planning a second flight path; and flying into the machine nest according to the second flying route, and closing the side plate of the machine nest.
In some embodiments, the intelligent robot is an over-the-air flying device, and the processing module 312 performs one of the following operations:
if the flying equipment is higher than the intelligent robot and the opening direction of the aircraft nest is far away from the ground, a third flying route is planned; after flying to the upper part of the machine nest according to the third flying route, the aircraft nest is descended to the machine nest towards the machine nest, and a cover plate of the machine nest is closed;
if the height of the flight equipment is lower than that of the intelligent robot and the opening direction of the aircraft nest faces the ground, a fourth flight route is planned; after flying to the lower part of the machine nest according to the fourth flying route, ascending towards the machine nest to the machine nest, and closing the bottom plate of the machine nest;
or if the opening direction of the aircraft nest faces to the horizontal direction, planning a fifth flight route; and flying into the machine nest according to the fifth flying route, and closing the side plate of the machine nest.
In other embodiments, the intelligent robot 32 with built-in nest includes: a transceiver module 32, a processing module 322 and a display module 323.
Wherein the transceiver module 32 is configured to receive a first message from a flying device, where the first message is configured to instruct the intelligent robot to start a nest and display a device identifier of the intelligent robot;
a processing module 322 for opening the nest;
and closing the aircraft nest after detecting that the flight equipment enters the aircraft nest.
In some embodiments, the nest includes at least two directional hatches, and the processing module 322 is specifically configured to:
detecting current azimuth information of the flight equipment;
determining a target cabin door to be opened on the aircraft nest according to the azimuth information;
and opening the target cabin door.
In some embodiments, the display module 323 is further configured to, after the processing module 322 opens the nest:
and displaying the equipment identifier of the intelligent robot, wherein the equipment identifier is used for identifying the identity of the intelligent robot by the flying equipment.
In some embodiments, the transceiver module 311 is specifically configured to send the first message to the intelligent robot through a cloud server.
The present application further provides a processing device, referring to fig. 4, fig. 4 shows a schematic structural diagram of the processing device, and specifically, the processing device provided in the present application includes a processor, where the processor is configured to implement steps in the corresponding embodiment as shown in fig. 1 when executing a computer program stored in a memory; alternatively, the processor may be configured to implement the functions of the modules in the corresponding embodiment as shown in fig. 3 when executing the computer program stored in the memory.
For example, a computer program may be split into one or more modules/units, which are stored in a memory and executed by a processor to complete the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing particular functions to describe the execution of the computer program in a computer device.
The processing device may include, but is not limited to, a processor, a memory. It will be appreciated by those skilled in the art that the illustrations are merely examples of processing devices, and are not limiting of processing devices, and may include more or less components than illustrated, or may combine some components, or different components, e.g., processing devices may also include input and output devices, network access devices, buses, etc., through which processors, memories, input and output devices, network access devices, etc. are connected.
The processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like that is a control center for a processing device that utilizes various interfaces and lines to connect various parts of the overall processing device.
The memory may be used to store computer programs and/or modules, and the processor implements various functions of the computer device by running or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, video data, etc.) created according to the use of the processing device, and the like. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
The display screen is used for displaying characters of at least one character type output by the input-output unit.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the apparatus, the processing device and the corresponding modules described above may refer to the description in the corresponding embodiment as shown in fig. 1 or fig. 2, and the detailed description is omitted here.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.
For this reason, the embodiments of the present application provide a computer readable storage medium, in which a plurality of instructions capable of being loaded by a processor to execute steps in the embodiments corresponding to fig. 1 or fig. 2 are stored, and specific operations may refer to the descriptions in the embodiments corresponding to fig. 1 or fig. 2, which are not repeated herein.
Wherein the computer-readable storage medium may comprise: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.
Since the steps in the embodiment of the present application corresponding to fig. 1 may be performed by the instructions stored in the computer readable storage medium, the beneficial effects that can be achieved in the embodiment of the present application corresponding to fig. 1 may be achieved, which are described in detail in the foregoing description and are not repeated herein.
The above describes in detail a method, an apparatus and a storage medium for homing a flight device provided in the present application, and specific examples are applied in the embodiments of the present application to illustrate the principles and implementations of the present application, where the descriptions of the above examples are only used to help understand the method and core ideas of the present application; meanwhile, those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present application, and the present description should not be construed as limiting the present application in view of the above.
Claims (10)
1. The method for the nest returning of the flying equipment is applied to the flying equipment and is characterized in that the flying equipment and the intelligent robot are in communication connection through a cloud server;
the method comprises the following steps:
acquiring a first position of flight equipment and a second position of the intelligent robot;
receiving a first flight control instruction, responding to the first flight control instruction, flying to the space range of the second position and switching to a cruising mode;
sending a first message to the intelligent robot, wherein the first message is used for indicating the intelligent robot to start a machine nest and displaying the equipment identifier of the intelligent robot; the machine nest comprises cabin doors in at least two directions;
after the intelligent robot opens the machine nest, if the equipment identifier is successfully identified, a second flight control instruction is received, and the second flight control instruction is responded to move towards an opened target cabin door in the machine nest of the intelligent robot until the intelligent robot returns to the nest;
the sending a first message to the intelligent robot includes: and sending the first message to the intelligent robot through the cloud server.
2. The method of claim 1, wherein after the intelligent robot opens the nest, the method further comprises:
if the equipment identification of the intelligent robot is not successfully identified, generating a target flight route;
and winding the intelligent robot according to the target flight route until the equipment identifier is scanned.
3. The method of claim 1 or 2, wherein the intelligent robot is a ground-side device, and wherein the moving towards the intelligent robot's nest until nest back in response to the second flight control command comprises one of:
landing towards the machine nest until nest returning;
if the opening direction of the aircraft nest is far away from the ground, a first flight route is planned; after flying to the upper part of the machine nest according to the first flying route, the aircraft nest is descended to the machine nest towards the machine nest, and a cover plate of the machine nest is closed;
or if the opening direction of the aircraft nest faces to the horizontal direction, planning a second flight path; and flying into the machine nest according to the second flying route, and closing the side plate of the machine nest.
4. The method of claim 1 or 2, wherein the intelligent robot is a hovering flying device, the moving towards the intelligent robot's nest until nest back in response to the second flight control instruction, comprising one of:
if the flying equipment is higher than the intelligent robot and the opening direction of the aircraft nest is far away from the ground, a third flying route is planned; after flying to the upper part of the machine nest according to the third flying route, the aircraft nest is descended to the machine nest towards the machine nest, and a cover plate of the machine nest is closed;
if the height of the flight equipment is lower than that of the intelligent robot and the opening direction of the aircraft nest faces the ground, a fourth flight route is planned; after flying to the lower part of the machine nest according to the fourth flying route, ascending towards the machine nest to the machine nest, and closing the bottom plate of the machine nest;
or if the opening direction of the aircraft nest faces to the horizontal direction, planning a fifth flight route; and flying into the machine nest according to the fifth flying route, and closing the side plate of the machine nest.
5. The method for returning the flight equipment to the nest is applied to an intelligent robot with the built-in nest and is characterized in that the flight equipment and the intelligent robot are in communication connection through a cloud server; the method comprises the following steps:
receiving a first message from a flying device, wherein the first message is used for instructing the intelligent robot to start a machine nest and displaying a device identifier of the intelligent robot; the machine nest comprises cabin doors in at least two directions;
opening a target cabin door of the machine nest;
closing the aircraft nest after detecting that the flying device enters the aircraft nest;
the receiving a first message from a flying device includes: and receiving a first message sent by the flight equipment through the cloud server.
6. The method according to claim 5, wherein the nest comprises at least two directional hatches, and the opening the target hatches of the nest comprises:
detecting current azimuth information of the flight equipment;
determining a target cabin door to be opened on the aircraft nest according to the azimuth information;
and opening the target cabin door.
7. The method of claim 6, wherein after the opening of the target door of the nest, the method further comprises:
and displaying the equipment identifier of the intelligent robot, wherein the equipment identifier is used for identifying the identity of the intelligent robot by the flying equipment.
8. A robot nesting system, characterized in that it comprises at least one flying device according to any one of claims 1-4, at least one intelligent robot according to any one of claims 5-7, and a cloud server, said flying device and said intelligent robot being in communication connection through said cloud server;
wherein the flying device is for performing the method of any one of claims 1 to 4 and the intelligent robot is for performing the method of any one of claims 5 to 7.
9. A processing device comprising a processor and a memory, the memory having stored therein a computer program, the processor, when invoking the computer program in the memory, performing the method of any of claims 1-4 or for performing the method of any of claims 5-7.
10. A computer readable storage medium storing a plurality of instructions adapted to be loaded by a processor to perform the method of any one of claims 1 to 4 or to perform the method of any one of claims 5 to 7.
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