CN114458120B

CN114458120B - Unmanned aerial vehicle cabin-leaving control method, device and system and unmanned aerial vehicle airport

Info

Publication number: CN114458120B
Application number: CN202110626398.XA
Authority: CN
Inventors: 尧兆辉; 杨余; 丁胜东
Original assignee: Guangzhou Xaircraft Technology Co Ltd
Current assignee: Guangzhou Xaircraft Technology Co Ltd
Priority date: 2021-06-04
Filing date: 2021-06-04
Publication date: 2023-11-17
Anticipated expiration: 2041-06-04
Also published as: CN114458120A

Abstract

The embodiment of the application provides a method, a device and a system for controlling the cabin outlet of an unmanned aerial vehicle and an airport of the unmanned aerial vehicle, wherein the method comprises the following steps: after receiving a task pushed by a cloud server, acquiring a current cabin-outlet release requirement; when the condition of the external environment is detected to meet the discharge requirement of the present cabin, opening the cabin door; when the cabin door is opened, notifying the unmanned aerial vehicle to leave the cabin; judging whether a cabin closing condition is reached according to the state of the unmanned aerial vehicle, and controlling the cabin door to be closed when the cabin closing condition is reached. According to the scheme, when the unmanned aerial vehicle is out of the cabin, the cabin outlet safety can be met, and meanwhile, the time for opening the cabin door of the airport is as short as possible, so that the service life of the airport is prolonged, and the like.

Description

Unmanned aerial vehicle cabin-leaving control method, device and system and unmanned aerial vehicle airport

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a method, a device and a system for controlling cabin discharge of an unmanned aerial vehicle and an airport of the unmanned aerial vehicle.

Background

An airport for placing an unmanned aerial vehicle (also called an unmanned aerial vehicle) is generally provided with a cabin door, and the cabin door is opened when the unmanned aerial vehicle enters and exits the cabin through control, and is closed at other times, so that the unmanned aerial vehicle and the airport internal equipment can be protected, and the damage of external environments such as wind, rain, dust and the like to the unmanned aerial vehicle and the internal equipment is reduced.

In the existing unmanned aerial vehicle cabin-leaving process, when the unmanned aerial vehicle has a task, the unmanned aerial vehicle controls the airport cabin door to be opened, the airport cabin door is opened for a certain time to wait for the unmanned aerial vehicle to leave the cabin, and then the cabin door is closed. However, in this control process, the airport is in a completely passive control state, and when a flight mission exists, the door is opened, and the door closing is determined by a preset time, so that the time for opening and closing the door cannot be accurately mastered.

Disclosure of Invention

The embodiment of the application provides a cabin outlet control method, device and system of an unmanned aerial vehicle and an airport of the unmanned aerial vehicle.

The embodiment of the application provides a method for controlling the cabin outlet of an unmanned aerial vehicle, which is applied to an airport and comprises the following steps:

after receiving a task pushed by a cloud server, acquiring a current cabin-outlet release requirement;

when the external environment state is detected to meet the current cabin discharging release requirement, opening a cabin door;

when the cabin door is opened, notifying the unmanned aerial vehicle to leave the cabin;

Judging whether a cabin closing condition is reached according to the state of the unmanned aerial vehicle, and controlling the cabin door to be closed when the cabin closing condition is reached.

In some embodiments, the current delivery request includes an external environment parameter threshold to be met when the unmanned aerial vehicle executes the mission, where the external environment parameter threshold is determined according to the mission, the geographic location of the airport, and the current season.

In some embodiments, the external environmental parameter threshold comprises an illumination intensity threshold, and different tasks are provided with respective required minimum illumination intensities; the determining the illumination intensity threshold according to the task, the geographic location of the airport and the current season comprises:

and determining an illumination intensity range corresponding to the geographic position of the airport in the current season according to different geographic positions, seasons and preset relations between illumination intensities, and determining the illumination intensity threshold according to the minimum illumination intensity required by the task and the illumination intensity range.

In some embodiments, the ambient parameter threshold further includes a maximum amount of air and a maximum amount of rain allowed by the unmanned aerial vehicle when performing the mission.

In some embodiments, the determining whether the cabin-off condition is reached according to the state of the unmanned aerial vehicle includes:

judging whether the minimum cabin closing door height is reached or not according to the flying height of the unmanned aerial vehicle after taking off, and judging that the cabin closing condition is reached when the minimum cabin closing door height is reached.

In some embodiments, before reaching the cabin-closing condition, the method further comprises:

and monitoring cabin-leaving state information of the unmanned aerial vehicle according to the flying height change of the unmanned aerial vehicle after taking off, and reporting corresponding cabin-leaving abnormal information to the cloud server when cabin-leaving abnormality occurs.

In some embodiments, the monitoring the cabin-leaving state information of the unmanned aerial vehicle according to the flying height change of the unmanned aerial vehicle after taking off comprises:

if the flying height change of the unmanned aerial vehicle is monitored to rise firstly and then fall to be lower than the lowest position of the air park of the airport in the minimum cabin closing time, judging that the unmanned aerial vehicle is abnormal in cabin leaving, and the cabin leaving abnormal information is that the unmanned aerial vehicle falls out of the airport;

if the flying height change of the unmanned aerial vehicle is detected to rise firstly and then fall onto an air park in the airport in the minimum cabin closing time, judging that the unmanned aerial vehicle is abnormal in cabin leaving, wherein cabin leaving abnormal information is that the unmanned aerial vehicle falls into the airport;

If the flying height change of the unmanned aerial vehicle is detected to be firstly raised and then kept at the corresponding position lower than the lowest cabin closing door height and the minimum cabin closing time is not changed, judging that the unmanned aerial vehicle is abnormal in cabin-leaving, wherein cabin-leaving abnormal information is hovering in a cabin-leaving stage;

and if the real-time flight altitude information of the unmanned aerial vehicle in the cabin-leaving stage is not acquired, controlling the cabin door to close after waiting for the minimum cabin-closing time, wherein the cabin-leaving abnormal information is the lost altitude information in the cabin-leaving stage.

In some embodiments, the minimum closing time is calculated as:

T _min ＝H/v；

wherein T is _min The minimum closing time is set; h is the height of the lowest closing door; v is the ascending flight speed of the unmanned aerial vehicle.

In some embodiments, the door is a flip-open structure, and the calculation formula of the lowest closed door height is:

H＝H1+H2；

wherein H is the height of the lowest closing door; h1 is the height between the lowest position of the parking apron of the airport and the highest position reached by the cabin door in the opening and closing process; h2 is the fuselage altitude of the unmanned aerial vehicle.

In some embodiments, the unmanned aerial vehicle out-of-cabin control method further comprises:

And if the external environment state is detected not to meet the current cabin-outlet release requirement, the feedback condition does not meet the information to the cloud server.

detecting whether the unmanned aerial vehicle successfully loads the task under the condition that the external environment state meets the current cabin-outlet release requirement;

if the unmanned aerial vehicle is detected to successfully load the task, controlling the cabin door to be opened;

and if the unmanned aerial vehicle loading task is detected to fail, feeding back loading failure information to the cloud server.

when the cabin door is controlled to be opened or closed, whether the cabin door fails in the opening or closing process is monitored;

if a fault occurs in the starting process, reporting relevant fault information to the cloud server to inform the unmanned aerial vehicle that the unmanned aerial vehicle cannot leave the cabin;

and if the fault occurs in the closing process, reporting relevant fault information to the cloud server.

The embodiment of the application also provides a device for controlling the cabin outlet of the unmanned aerial vehicle, which is applied to an airport and comprises the following components:

The acquisition module is used for acquiring the current cabin-outlet release requirement after receiving the task pushed by the cloud server;

the cabin door control module is used for controlling the cabin door to be opened when the condition of the external environment is detected to meet the requirement of the cabin outlet release;

the reporting module is used for notifying the unmanned aerial vehicle to leave the cabin when the cabin door is opened;

the cabin door control module is further used for judging whether a cabin closing condition is reached according to the state of the unmanned aerial vehicle, and controlling the cabin door to be closed when the cabin closing condition is reached.

The embodiment of the application also provides an unmanned aerial vehicle cabin-outlet control system, which comprises: cloud server and airport;

the cloud server is used for launching a flight task to the airport;

the airport is used for acquiring the current cabin-outlet release requirement after receiving the task, and controlling the cabin door to be opened when detecting that the external environment state meets the current cabin-outlet release requirement;

the airport is also used for notifying the unmanned aerial vehicle to leave the cabin when the cabin door is opened, judging whether a cabin closing condition is reached according to the state of the unmanned aerial vehicle, and controlling the cabin door to be closed when the cabin closing condition is reached.

The embodiment of the application also provides an unmanned aerial vehicle airport, which comprises: the system comprises a processor and a memory, wherein the memory stores a computer program, and the processor is used for executing the computer program to implement the unmanned aerial vehicle cabin-leaving control method.

The embodiment of the application also provides a readable storage medium which stores a computer program, and the computer program implements the unmanned aerial vehicle cabin-outlet control method when being executed on a processor.

The embodiment of the application has the following beneficial effects:

according to the technical scheme, the interactive communication link between the unmanned aerial vehicle and the airport is additionally arranged to realize active control of opening and closing of the cabin door of the airport, wherein when a cabin-outlet task is received, the cabin-outlet release requirement of the time is firstly acquired, and when the condition of the external environment is detected to meet the cabin-outlet release requirement of the time, the cabin door is controlled to be opened, so that the safety and reliability of the operation of the unmanned aerial vehicle when the cabin-outlet release requirement of the time is met are ensured; meanwhile, when the condition of closing the cabin is judged according to the state of the unmanned aerial vehicle, the cabin door is controlled to be closed, and the cabin door is controlled to be opened and closed at a reasonable time, so that the time of the cabin door in the opened state is as short as possible, devices in the airport can be prevented from being influenced by external environments, and the service life of the airport is prolonged.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 shows a schematic application diagram of an unmanned aerial vehicle cabin-outlet control method according to an embodiment of the present application;

FIG. 2 illustrates a first flow diagram of an unmanned aerial vehicle off-board control method according to an embodiment of the present application;

fig. 3 is a schematic diagram showing an opening and closing structure of a cabin door of an unmanned aerial vehicle cabin-outlet control method according to an embodiment of the present application;

FIG. 4 illustrates a schematic view of a minimum closeout door height setting for an unmanned aerial vehicle cabin outlet control method of an embodiment of the present application;

FIG. 5 illustrates a second flow diagram of an unmanned aerial vehicle off-board control method according to an embodiment of the present application;

fig. 6 shows a schematic structural diagram of an unmanned aircraft airport according to an embodiment of the application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.

The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.

In the existing cabin outlet control method, cabin doors of an airport are in a completely passive control state, and interaction of the control method is too simple and has a certain limitation. For example, for the time of the unmanned aerial vehicle to get out of the cabin, because the uncertainty factor of the external environment is larger, but the airport does not judge the condition outside the cabin, if some weather is bad, the unmanned aerial vehicle is easily damaged to a certain extent by direct out of the cabin, and the service life of the unmanned aerial vehicle is shortened. For another example, when tasks such as farmland mapping and crop pest analysis are performed for the out-of-cabin, if the unmanned aerial vehicle performs the tasks under the condition that the illumination intensity is not satisfied, some deviation may exist in the obtained measurement data. In addition, in the cabin-out process of the unmanned aerial vehicle, as the airport cannot acquire the cabin-out state of the unmanned aerial vehicle, if the cabin is directly closed when the preset time length is reached, the door closing time is inaccurate, and certain damage is caused to the unmanned aerial vehicle which is in cabin-out. And the state of the cabin door is not monitored in real time in the conventional airport, and when the cabin door is opened, a certain risk and the like can exist when the unmanned aerial vehicle is out of the cabin.

Therefore, the embodiment of the application provides a cabin-out control method of an unmanned aerial vehicle, which can solve some problems existing in the prior art.

It is worth noting that after receiving the cabin-out task of the unmanned aerial vehicle pushed by the cloud server, the airport disclosed by the application does not trigger the cabin door to open at the first time, but needs to obtain the cabin-out release requirement corresponding to the task, and only allows the cabin to be opened after judging that the cabin-out release requirement is met, so that on one hand, the unmanned aerial vehicle can be ensured to safely exit the cabin under proper environmental conditions, and on the other hand, the task at the present time can be ensured to be better executed, and the like. This is because the task of unmanned aerial vehicle may be different each time, and the environmental conditions required for each task are different, for example, the illumination intensity is different for different tasks such as crop pest analysis and mapping, and the lower limit of the illumination intensity required for each task is also inconsistent, and the illumination intensities corresponding to different regions in the same season or different seasons in the same region are also inconsistent. Therefore, when executing different tasks, it is necessary to set environmental parameter thresholds such as illumination intensity according to the corresponding task conditions.

Fig. 1 is a schematic diagram illustrating an application of a method for controlling a cabin entering of an unmanned aerial vehicle according to an embodiment of the present application. As shown in fig. 1, the system includes an airport 100, an unmanned aerial vehicle 200, and a cloud server 300 between the airport 100 and the unmanned aerial vehicle 200. Illustratively, wireless network communication modes such as 4G, 5G and the like can be adopted for communication between the airport 100 and the cloud server 300 and between the cloud server 300 and the unmanned aerial vehicle 200. The cloud server 300 is used as an intermediate bridge to assist in realizing real-time interaction between the airport 100 and the unmanned aerial vehicle 200, on one hand, active control of cabin opening and closing of the cabin door can be realized without adding additional devices in the existing scheme, hardware cost is saved, and user experience is improved; on the other hand, the cloud server 300 may also be used to monitor the communication data of the airport 100 and the unmanned aerial vehicle 200 in real time, so as to track the states of the airport 100 and the unmanned aerial vehicle 200, analyze the subsequent problems, and so on. The following description will be made with reference to specific examples.

Example 1

Fig. 2 is a flow chart of an unmanned aerial vehicle out-of-cabin control method for airport 100.

Step S110, after receiving the task pushed by the cloud server 300, the current cabin-leaving release request is obtained.

The cabin-out release requirement refers to an external environment requirement that needs to be met when the unmanned aerial vehicle 200 is released. Considering that the external environmental conditions required for executing different tasks are different, in this embodiment, the delivery requirements of each time are dynamically adjusted according to the corresponding information such as the delivery task.

The above-mentioned requirements for discharging from the cabin at this time mainly include the external environment parameter threshold values that the unmanned aerial vehicle 200 needs to meet when executing the task at this time, for example, the external environment parameter threshold values may include, but are not limited to, an illumination intensity threshold value, a maximum air volume (or a maximum wind power level), a maximum rainfall (or a maximum rainfall level), and the like, and specifically, various external environment parameters that need to be considered may be selected according to actual requirements.

Taking the above-mentioned illumination intensity threshold as an example, considering that different tasks are provided with respective minimum illumination intensities, in one embodiment, the illumination intensity threshold of this time may be determined according to the current task, the geographic location of the airport 100, and the current season. Illustratively, the determining of the illumination intensity threshold value at this time may include: the illumination intensity range corresponding to the geographic position of the airport 100 in the current season is determined according to the different geographic positions, seasons and preset relations between illumination intensities, and the illumination intensity threshold value of the current time is determined according to the minimum illumination intensity required by the current task and the illumination intensity range.

For the preset relationship between the different geographic positions, seasons and illumination intensities, because the illumination intensities of the same geographic position are different in different seasons, the illumination intensities of the different geographic positions in the same season are also different, so that the data acquisition and task execution conditions of the illumination intensities can be recorded by carrying out the data acquisition and task execution recording on the geographic positions placed in different airports in different seasons, further, the change rule among the geographic positions, the seasons and the illumination intensities can be obtained through deep learning, predictive analysis and other processes, and then the change rule is prestored so as to obtain the illumination intensity range corresponding to the geographic position of the designated airport in the corresponding season by subsequent inquiry.

Considering that the minimum illumination intensity required to be met by each of the field inspection task, the crop disease and pest analysis task and the like is also different in the minimum illumination intensity between different tasks, when the illumination intensity threshold of this time is determined, the minimum illumination intensity can be determined according to the operation type of the task issued this time. Further, if the lowest illumination intensity is within the illumination intensity range of the current airport 100 in the current season, that is, the current illumination intensity range can satisfy the lowest illumination intensity required by the unmanned aerial vehicle 200, the lowest illumination intensity may be used as the illumination intensity threshold of the present time. If the minimum value of the illumination intensity range is greater than the minimum illumination intensity, the illumination of the area where the current airport is located in the current season is better, at this time, the illumination intensity can be adaptively increased on the basis of the minimum illumination intensity, and the adjusted illumination intensity is used as the illumination intensity threshold of this time, so that the quality of image data acquired by the cameras of the unmanned aerial vehicle 200 is higher, and the like. In the case where the maximum value of the illumination intensity range is smaller than the minimum illumination intensity, the actual situation is rare, and the user can be prompted to prompt that the task is not suitable for executing at present.

For the above-described step S110, the cloud server 300, upon receiving the issued out-of-cabin task, exemplarily, pushes the task to the airport 100, where the task includes a specific job type, a job route, and the like. Meanwhile, the cloud server 300 determines the current illumination intensity threshold according to the task type, the current geographical position of the airport 100, the current season and the like, and determines the corresponding air volume threshold, the corresponding rainfall threshold and the like according to the characteristics of the unmanned aerial vehicle 200, such as the wind resistance, the visibility in rain and the like, so as to obtain the current cabin-leaving release requirement, and then the cloud server 300 sends the current cabin-leaving release requirement to the airport 100.

And step S120, when the condition of the external environment is detected to meet the current cabin-outlet release requirement, opening the cabin door is controlled.

The airport 100 acquires the current external environment parameters outside the airport 100 after acquiring the current discharge request, and determines whether the current external environment state meets all external environment parameter thresholds in the discharge request, for example, the measured actual external environment parameters and the corresponding external environment parameter thresholds may be compared, if the measured actual external environment parameters and the corresponding external environment parameter thresholds meet the corresponding external environment parameter thresholds, the current discharge request is determined to be met, and then the cabin door is allowed to be opened.

Otherwise, if at least one external environment parameter does not meet the corresponding threshold condition, that is, the external environment state is detected not to meet the current cabin-outlet release requirement, the cabin door is not allowed to be opened at the moment. Alternatively, the airport 100 may feed back information that the current external environmental conditions are not satisfied to the cloud server 300. For example, the cloud server 300 or the airport 100 may suspend the current task and wait for a period of time before detecting again whether the external environment state reaches the current discharge request.

In one embodiment, the external environmental parameters outside the airport 100 may be acquired by corresponding environmental monitoring sensors disposed outside the housing of the airport 100, where the type and specific location of each environmental monitoring sensor may be set according to the actual requirements, and is not limited herein. For example, the illumination intensity may be measured by an illumination sensor or the like; rainfall is measured by a humidity sensor and the like; the air volume is measured by a gas flow sensor or the like, and of course, only a few environmental monitoring sensors are exemplified here, and the air volume is not limited to these three types, or other sensors having the same function may be used instead. Further, more types of sensors may be included to measure desired external environmental parameters.

Step S130, when the cabin door opening is completed, the unmanned aerial vehicle 200 is notified to leave the cabin.

For the case of allowed cabin opening, upon detecting successful opening of a cabin door, the airport 100 may report cabin-out information to the cloud server 300 to inform the unmanned aerial vehicle 200 that cabin is currently out. Alternatively, the out-of-cabin information may be sent by the airport 100 directly to the unmanned aerial vehicle 200 via a connection port or the like at the apron within the airport to inform it of the current out-of-cabin.

Then, unmanned aerial vehicle 200 will be ready to fly off the cabin upon receiving the out-of-cabin information. Meanwhile, the unmanned aerial vehicle 200 also reports the state information of the flying height and the like thereof to the cloud server 300 in real time, and then pushes the state information to the airport 100, so that the airport 100 can judge when to perform the cabin door closing operation according to the real-time state information of the unmanned aerial vehicle 200.

Step S140, judging whether the cabin closing condition is reached according to the state of the unmanned aerial vehicle 200, and controlling the cabin door to close when the cabin closing condition is reached.

The cabin closing condition is also a timing of opening the closing of the cabin door, and may be set according to the flying height, the flying time, etc. of the unmanned aerial vehicle 200, for example. Taking the flying height as an example, the unmanned aerial vehicle 200 can be taken as a cabin closing condition when reaching the designated height; taking the flight time as an example, the flight time can be set according to actual requirements according to the condition that the flight time of the unmanned aerial vehicle 200 reaches the preset duration and the like as the cabin closing condition.

Here, the flying height is exemplified, and in one embodiment, it may be exemplarily determined whether the preset minimum closing door height is reached according to the flying height of the unmanned aerial vehicle 200 after taking off, and when the minimum closing door height is reached, it is determined that the closing condition is reached. Then, when the unmanned aerial vehicle 200 is detected to rise to the position where the specified lowest door closing height is located after normal take-off, the doors are controlled to be closed in time. This allows the door to be opened to close as short as possible, avoiding prolonged exposure of the components within the airport 100.

The unmanned aerial vehicle 200 is provided with a minimum closing door height when being normally away from the cabin, namely, when the unmanned aerial vehicle 200 takes off from an apron in the airport 100 and ascends to a position corresponding to the minimum closing door height, the cabin door can be normally closed at the moment without affecting the unmanned aerial vehicle 200.

In one embodiment, if the airport 100 can employ the door 101 in a flip-open structure, as shown in fig. 3, that is, the door 101 includes a first side sub-door 101a and a second side sub-door 101b, the two sub-doors 101a and 101b are closed to close the airport door 101 and wrap the apron 102 in the cabin, and separated to open the airport door 101. To ensure that the unmanned aerial vehicle 200 can safely exit the cabin, the minimum closing door height at this time mainly considers two parts, as shown in fig. 4, namely, the distance H1 between the lowest position of the apron 102 and the highest position reached by the cabin door 101 during the opening and closing process, and the fuselage height H2 of the unmanned aerial vehicle 200 itself. At this time, the calculation formula of the lowest closing door height H satisfies: h=h1+h2.

It will be appreciated that, for the door 101 of the flip-open structure, since the sub-doors 101a and 101b on both sides of the door 101 have a certain lifting height during the opening and closing process, the distance H1 mainly considers the highest position reached by the door 101 during the opening and closing, and when the lowest point of the unmanned aerial vehicle 200 is not lower than the highest position, the unmanned aerial vehicle 200 can not collide with the door that is closed immediately after the cabin is just completed.

According to the unmanned aerial vehicle cabin-outlet control method, the communication link between the unmanned aerial vehicle and the airport is additionally arranged, so that the airport can actively control cabin doors, wherein when a task is received, whether the external environment state meets the cabin-outlet release requirement at this time is judged firstly instead of directly opening the cabin for release, and the absolute safety of unmanned aerial vehicle operation is ensured; meanwhile, the closing time of the cabin door is accurately controlled by monitoring the cabin outlet state of the unmanned aerial vehicle, so that the time of the cabin door in the open state of the airport is as short as possible under the condition that the safety cabin outlet of the unmanned aerial vehicle is ensured, devices in the airport are prevented from being influenced by external environments, the airport is protected, and the service life of the unmanned aerial vehicle is prolonged.

Example 2

Fig. 5 is another flow chart of the method for controlling the cabin-leaving of the unmanned aerial vehicle according to the present embodiment. Based on the method of the above embodiment 1, the method for controlling the unmanned aerial vehicle to enter the cabin further includes:

in step S210, the cabin-leaving status information of the unmanned aerial vehicle 200 is monitored according to the flying height change of the unmanned aerial vehicle 200 after taking off, and when the cabin-leaving abnormality occurs, the corresponding cabin-leaving abnormality information is reported to the cloud server 300.

After the unmanned aerial vehicle 200 takes off and before reaching the above cabin closing condition, the present embodiment further monitors the cabin-leaving state according to the flying height change of the unmanned aerial vehicle 200 after taking off, for example, when the flying height change is different from the expected height change rule (such as that the flying height should be uniformly increased according to the set speed, etc.), it may determine that the cabin-leaving abnormality occurs, determine the corresponding cabin-leaving abnormality type, and further report the corresponding cabin-leaving abnormality information to the cloud server 300 in time to notify the cloud server 300 to perform the corresponding processing. Otherwise, if the flying height change changes according to the expected height change rule, it is determined that the cabin-leaving abnormality does not occur, which indicates that the unmanned aerial vehicle 200 is normally out of the cabin.

In one embodiment, the types of off-cabin anomalies described above may include, but are not limited to, one or more of off-airport drop, off-cabin hover, off-cabin altitude information loss, and the like. The above-mentioned abnormal conditions of the off-board can be determined according to the specific flying height change condition of the unmanned aerial vehicle 200 after taking off.

For example, in the case of the above-mentioned off-airport drop, the unmanned aerial vehicle 200 normally rises vertically above the apron 102 after taking off normally, and if the unmanned aerial vehicle collides with the cabin door 101 due to deviation of the flight path caused by wind or interference of other foreign objects, the unmanned aerial vehicle may drop out of the airport 100. Since the apron 102 of the airport 100 has a certain height from the ground, if it falls outside the airport, its flying height will drop from a position above the apron 102 to a position below the lowest position of the apron 102.

Then, if it is detected that the flying height of the unmanned aerial vehicle 200 changes to be first raised and then lowered to be lower than the lowest position of the apron of the airport 100 within the minimum cabin closing time, it is determined that the unmanned aerial vehicle 200 has an abnormal cabin leaving, and at this time, cabin leaving abnormal information that falls outside the airport may be reported to the cloud server 300.

The minimum closing time may be preset according to the minimum closing door height and the ascending flying speed of the unmanned aerial vehicle 200. For example, the calculation formula of the minimum closing time may be:

T _min ＝H/v；

wherein T is _min Is the minimum closing time; h is the height of the lowest closing door; v is the ascending flight speed of the unmanned aerial vehicle. It will be appreciated that after the unmanned aerial vehicle 200 begins to take off, the off-board operation should be able to be completed within this minimum off-board time if it rises at normal rising flight speed. In practical use, the calculated minimum closing time may be appropriately adjusted.

Similarly, for the above-mentioned situation of falling in the airport, if it is monitored that the flying height of the unmanned aerial vehicle 200 changes to rise first and then fall onto the apron 102 in the airport 100 in the minimum cabin closing time, it is determined that the unmanned aerial vehicle 200 has abnormal cabin leaving, and at this time, cabin leaving abnormal information falling in the airport can be reported to the cloud server 300. Further alternatively, airport 100 will be prohibited from closing at this point to prevent secondary injury to unmanned aerial vehicle 200.

For the hover situation in the off-cabin stage, if it is monitored that the flying height of the unmanned aerial vehicle 200 changes to be at the corresponding position lower than the lowest cabin closing door height after rising, and the flying height of the unmanned aerial vehicle 200 is still unchanged beyond the minimum cabin closing time, that is, the flying height of the unmanned aerial vehicle 200 is always kept at the corresponding position, it is determined that the off-cabin abnormality occurs in the unmanned aerial vehicle 200, and at this time, off-cabin abnormality information hovered in the off-cabin stage can be reported to the cloud server 300. Further, airport 100 will also be prohibited from closing at this time. And, the cloud server 300 may control the unmanned aerial vehicle 200 to perform operations such as re-takeoff after receiving information hovering in the off-cabin stage.

For the situation that the altitude information of the cabin-leaving stage is lost, if the real-time flight altitude information of the unmanned aerial vehicle 200 in the cabin-leaving stage is not acquired, the cabin door is controlled to be closed after waiting for the minimum cabin-closing time, and at the moment, cabin-leaving abnormal information of the lost altitude of the cabin-leaving stage can be reported to the cloud server 300. By waiting for the minimum off-hold time described above, it is possible to prevent the unmanned aerial vehicle 200 from damaging the unmanned aerial vehicle 200 due to the closing of the door 101 while the unmanned aerial vehicle 200 is in the off-hold stage.

In practical use, the above-mentioned types of abnormal cabin-leaving can be determined according to the relationship between the flying height of the unmanned aerial vehicle 200 and the lowest cabin-door height H. For example, as shown in fig. 5, if the position of the lowest door height H is set as the relative reference height, and if it is determined that the value of the flying height of the unmanned aerial vehicle 200 becomes smaller than-H, it can be determined that the unmanned aerial vehicle 200 falls outside the airport. If the value of the flying height is between (-H, -H1) after waiting for the minimum off-hold time T, it can be determined that the unmanned aerial vehicle 200 falls within the airport. If the value of the altitude is unchanged and is always between (-H1, 0) after the waiting time T, it can be determined that the unmanned aerial vehicle 200 is in a post-takeoff hover state. If the altitude information of the unmanned aerial vehicle 200 cannot be obtained within the time T, it may be determined that the altitude information of the unmanned aerial vehicle 200 is lost.

It can be appreciated that by judging the cabin-leaving state of the unmanned aerial vehicle 200 after taking off according to the state information of the unmanned aerial vehicle 200, whether the unmanned aerial vehicle 200 has abnormal cabin-leaving or not can be known timely, and corresponding response can be made timely, so as to avoid secondary damage to the unmanned aerial vehicle 200 or expose devices in the airport 100 to the outside as much as possible.

In some other embodiments, for the step S120, when it is detected that the external environment state meets the current cabin-outlet release requirement, the unmanned aerial vehicle cabin-inlet control method further includes determining a task loading condition of the unmanned aerial vehicle 200, so as to further determine a more appropriate cabin-outlet timing.

Exemplary, the unmanned aerial vehicle cabin entering control method further comprises:

step S220, detecting whether the unmanned aerial vehicle 200 successfully loads the present mission. If it is detected that the unmanned aerial vehicle 200 successfully loads the mission, step S230 is performed, otherwise step S240 is performed.

Step S230, controlling the cabin door to open. Further, upon completion of the door opening, unmanned aerial vehicle 200 may be notified of the cabin departure.

In step S240, the loading failure information is fed back to the cloud server 300. Further alternatively, the unmanned aerial vehicle 200 may wait for reloading, and report the end cabin opening request to the cloud server 300 when no loading success information of the unmanned aerial vehicle 200 is received after the preset loading time is exceeded.

It can be appreciated that, instead of immediately sending the unmanned aerial vehicle 200 to load the task after receiving the task pushed by the cloud server 300, the airport 100 of the present embodiment pushes the unmanned aerial vehicle 200 to load the task after judging that the cabin clearance requirement is met, so that it is avoided that the unmanned aerial vehicle 200 cannot execute the task when the cabin clearance requirement is not met, and unnecessary data transmission and the like can be reduced.

In some other embodiments, the present embodiment will perform fault monitoring of the door opening or closing process in order to achieve a safe exit of the unmanned aerial vehicle 200.

step S250, monitoring whether the cabin door fails during the opening process.

If an open failure occurs, step S260 is performed, in which relevant failure information is reported to the cloud server 300 to notify that the unmanned aerial vehicle 200 cannot be taken out of the cabin currently.

In step S270, it is monitored whether the door fails during the closing process.

If a failure occurs during the shutdown process, step S280 is performed, i.e. the relevant failure information is reported to the cloud server 300.

For the fault monitoring of the door during the opening and/or closing process, in one embodiment, the airport 100 may be provided with a door opening and closing detection device, for example, the door opening and closing detection device may include several switch-type sensors disposed at different positions of the door, and so on. Exemplarily, the current state of the hatch door, for example, whether it is a closed state or an open state, is detected by a change in the signal quantity of the switch-type sensor at the corresponding position; and the time length of opening or closing the cabin door is obtained according to the interval time length of the signal quantity change, and if the time length of opening or closing the cabin door exceeds the preset cabin door opening and closing time, the opening fault or closing fault of the cabin door can be judged.

As shown in fig. 3, taking the door 101 of the flip-open structure as described above as an example, for example, a switch-type sensor, such as a micro switch, may be disposed on each of the left side, the right side, and the rear side of the two sub-doors 101a and 101 b. Wherein the left and right sensors are used to detect if the door 101 is completely closed, and the rear sensor is used to detect if the door 101 is completely opened. It should be understood that the area division of the left side, the right side, and the rear side is not strictly limited, and is usually located at a corresponding position where the door 101 can be opened and closed.

During the opening of the door 101, it is embodied as follows: setting the pressing of a microswitch as a signal quantity 1, the bouncing of the microswitch as a signal quantity 0, and defining the state of a closing door as a left side 1, a right side 1 and a tail side 0; the cabin opening door state is left side 0, right side 0 and tail side 1; the cabin door moving process is left side 0, right side 0 and tail side 0. Thus, the opening/closing state of the door 101 can be determined by detecting the signal amount change of the left and right trailing side micro switches. When the door 101 is opened, the left and right side signal quantity is changed from 1 to 0, the tail side signal quantity is changed from 0 to 1 when the door is opened, the tail side signal quantity is changed from 1 to 0 when the door is closed, and the left and right side signal quantity is changed from 0 to 1 when the door is closed. The opening time length can be calculated according to the interval time length of the signal quantity change of the corresponding position. The principle is similar for the door 101 closing process and will not be described again.

Further, the airport 100 may be further provided with a current detection device, for example, the current detection device may obtain the current in the process of driving the cabin door 101 by sampling the current through a sampling resistor, and detect whether the current is within a preset current range, that is, whether the current is the expected driving current, and if the current is not within the preset current range, determine that the cabin door 101 has a driving failure.

It will be appreciated that by monitoring the door for faults during opening and/or closing, the airport 100 may be enabled to respond in real time based on the status of the door, thereby improving the safety of the unmanned aerial vehicle 200, etc. For example, when it is detected that the door is open, the unmanned aerial vehicle 200 may be timely alerted that it is currently unable to take off from the cabin. Or, if the cabin door is detected to have a closing failure, the cabin-closing failure information may be immediately reported to the cloud server 300. Further alternatively, the door protection mode may be switched on in order to prevent damage to the external environment and to avoid more serious damage. It will be appreciated that this door protection mode is one protection mechanism for the airport 100 to cope with emergency situations, in particular, the power supply may be cut off, etc. This prevents damage to the components in the cabin that are energized and not closed in the airport 100 from outside rain water or the like.

The method for controlling the cabin outlet of the unmanned aerial vehicle can realize the active control of the cabin door of the airport, wherein the cabin is not directly opened and released when a task is received, and the absolute safety of the operation of the unmanned aerial vehicle is ensured by judging whether the external environment meets the task take-off condition of this time or not; meanwhile, the state of the cabin door and the cabin outlet state of the unmanned aerial vehicle are monitored, so that the time of the cabin door of the airport is as short as possible under the condition that the unmanned aerial vehicle is safely away from the cabin, the devices in the airport of the unmanned aerial vehicle are prevented from being influenced by external environments, the airport is protected, and the service lives of the airport and the unmanned aerial vehicle are prolonged.

Example 3

Fig. 6 is a schematic structural view of an unmanned aerial vehicle cabin-outlet control device 10 according to an embodiment of the present application. Illustratively, the unmanned aerial vehicle out-of-cabin control device 30 is applied to the airport 100, including:

the obtaining module 301 is configured to obtain the current delivery request after receiving the task pushed by the cloud server 300.

And the cabin door control module 302 is used for controlling the cabin door to be opened when the condition of the external environment is detected to meet the current cabin-outlet release requirement.

And the reporting module 303 is configured to notify the unmanned aerial vehicle 200 to leave the cabin when the cabin door is opened.

The cabin door control module 302 is further configured to determine whether a cabin closing condition is reached according to a state of the unmanned aerial vehicle 200, and control closing of the cabin door when the cabin closing condition is reached.

It is understood that the functions performed by the modules of the present embodiment correspond to the steps of the above-described embodiment 1 or 2, and the options of the above-described embodiment 1 are also applicable to the present embodiment, so that the description thereof will not be repeated here.

Example 4

Referring to fig. 1, an embodiment of the present application provides an unmanned aerial vehicle cabin entering control system. Exemplarily, the unmanned aerial vehicle cabin entering control system comprises: an airport 100 and a cloud server 300.

During the out-of-cabin process, cloud server 300 is used to issue take-off tasks for unmanned aerial vehicle 200 to airport 100.

The airport 100 is configured to obtain the current discharge request after receiving the task, and control the opening of the cabin door when detecting that the external environment condition meets the current discharge request.

The airport 100 is further configured to notify the unmanned aerial vehicle 200 to leave the cabin when the cabin door is opened, determine whether a cabin closing condition is reached according to the state of the unmanned aerial vehicle 200, and control the cabin door to close when the cabin closing condition is reached.

It will be appreciated that the functions of the unmanned aerial vehicle 200, the cloud server 300 and the airport 100 of the present embodiment correspond to the method steps performed by the unmanned aerial vehicle, the cloud server and the airport of the above embodiment 1 or 2, respectively, and the options of the above embodiment 1 or 2 are also applicable to the present embodiment, so that the description thereof will not be repeated here.

The application also proposes an unmanned aerial vehicle airport, which, illustratively, comprises: a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the computer program to implement the unmanned aerial vehicle cabin entering control method in the above embodiment 1 or 2.

The application also provides a readable storage medium for storing the computer program for use in the unmanned aerial vehicle airport described above.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which 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 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 or units in various embodiments of the application may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single 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 may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a smart phone, a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application.

Claims

1. A method of controlling the discharge of an unmanned aircraft, for use in an airport, the method comprising:

judging whether a cabin closing condition is reached according to the state of the unmanned aerial vehicle, and controlling the cabin door to be closed when the cabin closing condition is reached;

wherein, the judging whether the cabin closing condition is reached according to the state of the unmanned aerial vehicle comprises:

2. The unmanned aerial vehicle out-of-cabin control method of claim 1, wherein the current out-of-cabin clearance requirement comprises an ambient parameter threshold to be met when the unmanned aerial vehicle performs the mission, wherein the ambient parameter threshold is determined according to the mission, the geographic location of the airport, and the current season.

3. The unmanned aerial vehicle out-of-cabin control method of claim 2, wherein the external environmental parameter threshold comprises an illumination intensity threshold, different tasks being provided with respective required minimum illumination intensities; the determining the illumination intensity threshold according to the task, the geographic location of the airport and the current season comprises:

4. A method of controlling the out-of-cabin of an unmanned aerial vehicle according to claim 3, wherein the ambient parameter threshold further comprises a maximum amount of wind and a maximum amount of rain allowed by the unmanned aerial vehicle when performing the mission.

5. The unmanned aerial vehicle out-of-cabin control method of claim 1, wherein the prior to reaching the out-of-cabin condition further comprises:

6. The method of claim 5, wherein the step of monitoring the unmanned aerial vehicle off-cabin status information based on the change in flying height of the unmanned aerial vehicle after takeoff comprises:

7. The unmanned aerial vehicle out-of-cabin control method of claim 6, wherein the minimum off-cabin time is calculated as:

T _min ＝H/v；

8. The unmanned aerial vehicle cabin-out control method according to claim 1, wherein the cabin door is of a flip-open structure, and the calculation formula of the lowest closed cabin door height is:

H＝H1+H2；

9. The unmanned aerial vehicle out-of-cabin control method of claim 1, further comprising:

10. The unmanned aerial vehicle out-of-cabin control method of any one of claims 1 to 9, further comprising:

11. The unmanned aerial vehicle out-of-cabin control method of any one of claims 1 to 9, further comprising:

12. An unmanned aerial vehicle out-of-cabin control device, characterized in that it is applied to an airport, comprising:

The cabin door control module is further used for judging whether a cabin closing condition is reached according to the state of the unmanned aerial vehicle, and controlling the cabin door to be closed when the cabin closing condition is reached;

13. An unmanned aerial vehicle out-of-cabin control system, comprising: cloud server and airport;

the cloud server is used for launching a flight task to the airport;

the airport is also used for notifying the unmanned aerial vehicle to leave the cabin when the cabin door is opened, judging whether a cabin closing condition is reached according to the state of the unmanned aerial vehicle, and controlling the cabin door to be closed when the cabin closing condition is reached;

14. An unmanned aircraft airport, comprising: a processor and a memory, the memory storing a computer program for executing the computer program to implement the unmanned aerial vehicle off-board control method of any of claims 1-11.

15. A readable storage medium, characterized in that it stores a computer program which, when executed on a processor, implements the unmanned aerial vehicle out-of-cabin control method according to any one of claims 1-11.