阅读说明：本技术 一种无人机停靠站及控制方法 (Unmanned aerial vehicle docking station and control method ) 是由 李洪权 欧永能 于 2021-10-29 设计创作，主要内容包括：本申请提出一种无人机停靠站及控制方法,无人机停靠站包括：主供电电路、系统模块以及备用模块,主供电电路的一端用于连接电源,主供电电路的另一端连接于系统模块,主供电电路内设置有急停开关,备用模块与系统模块连接；系统模块与急停开关对应的开关复位单元连接,开关复位单元与急停开关传动连接；备用模块用于在急停开关切换为截断状态后,向系统模块进行供能,并向系统模块传输询问指令；在确认急停开关为误触发时,通过系统模块控制开关复位单元驱动急停开关复位,将主供电电路恢复为导通状态,继续为无人机停靠站供能,维持无人机停靠站稳定供能,避免因为断电导致无人机停靠站无法工作,产生不必要的损失。(The application provides an unmanned aerial vehicle stop and control method, and the unmanned aerial vehicle stop includes: the emergency power supply system comprises a main power supply circuit, a system module and a standby module, wherein one end of the main power supply circuit is used for being connected with a power supply, the other end of the main power supply circuit is connected with the system module, an emergency stop switch is arranged in the main power supply circuit, and the standby module is connected with the system module; the system module is connected with a switch reset unit corresponding to the emergency stop switch, and the switch reset unit is in transmission connection with the emergency stop switch; the standby module is used for supplying energy to the system module and transmitting an inquiry command to the system module after the emergency stop switch is switched to the cut-off state; when confirming the scram switch and for the false triggering, reset the unit drive scram switch through system module control switch and reset, resume main supply circuit for on-state, continue to be unmanned aerial vehicle stop energy supply, maintain unmanned aerial vehicle stop stable energy supply, avoid leading to the unable work of unmanned aerial vehicle stop because the outage, produce the unnecessary loss.)

1. An unmanned aerial vehicle docking station, comprising: the emergency power supply system comprises a main power supply circuit, a system module and a standby module, wherein one end of the main power supply circuit is used for being connected with a power supply, the other end of the main power supply circuit is connected with the system module, an emergency stop switch is arranged in the main power supply circuit, and the standby module is connected with the system module;

the system module is connected with a switch reset unit corresponding to the emergency stop switch, and the switch reset unit is in transmission connection with the emergency stop switch;

the standby module is used for supplying energy to the system module and transmitting an inquiry instruction to the system module after the emergency stop switch is switched to a cut-off state;

the system module is used for judging whether the emergency stop switch is triggered by mistake or not under the condition of receiving the inquiry instruction, and controlling the switch reset unit to drive the emergency stop switch to reset if the emergency stop switch is triggered by mistake.

2. The unmanned aerial vehicle docking station of claim 1, wherein the system module comprises a main processor and a monitoring unit, the monitoring unit being connected to the main processor;

the monitoring unit is used for monitoring the state information of the unmanned aerial vehicle stop station and transmitting the state information to the main processor;

and the main processor is used for judging whether the emergency stop switch is triggered by mistake according to the state information.

3. The unmanned aerial vehicle docking station as defined in claim 2, wherein the monitoring unit includes one or more of a temperature and humidity sensor, a smoke sensor, a water level sensor, a hatch position sensor, and a vision sensor; the main processor is further used for determining that the emergency stop switch is triggered by mistake when the temperature and humidity state information transmitted by the temperature and humidity sensor is lower than a first temperature and humidity threshold value, the smoke state information transmitted by the smoke sensor is lower than a first smoke threshold value, the water level state information transmitted by the water level sensor is lower than a first water level threshold value, and the cabin door state information transmitted by the cabin door position sensor indicates that the cabin door is in a closed state;

when the temperature and humidity state information is higher than a first temperature and humidity threshold, or the smoke state information is higher than a first smoke threshold, or the water level state information is higher than a first water level threshold, or the cabin door state information represents that the cabin door is in a non-closed state, the emergency stop switch is determined to be not triggered by mistake;

and/or the main processor is also used for judging whether the emergency stop switch is triggered by mistake according to the image state information transmitted by the visual sensor.

4. The unmanned aerial vehicle docking station of claim 2, wherein the main processor is further configured to determine whether a disaster occurs in the unmanned aerial vehicle docking station based on the status information;

if a disaster occurs, the main processor is also used for controlling the unmanned aerial vehicle to land to a temporary stop point.

5. An unmanned aerial vehicle docking station as defined in claim 4, wherein the monitoring unit includes one or more of a temperature and humidity sensor, a smoke sensor, a water level sensor, and a vision sensor;

the main processor is further used for determining that the unmanned aerial vehicle stops in a disaster situation when the temperature and humidity state information transmitted by the temperature and humidity sensor is higher than a second temperature and humidity threshold value;

the main processor is further used for determining that the unmanned aerial vehicle stops in a disaster situation when the smoke state signal transmitted by the smoke sensor is higher than a second smoke threshold;

the main processor is further used for determining that the unmanned aerial vehicle stop station has a disaster when the water level state information transmitted by the water level sensor is higher than a second water level threshold value;

the main processor is further used for judging whether the unmanned aerial vehicle stop station has a disaster or not according to the image state information transmitted by the vision sensor.

6. The drone docking station of claim 4, wherein the main processor is further configured to control the controlled switch of the external power supply circuit to switch to an off state in the event of a disaster at the drone docking station.

7. The drone docking station of claim 1, wherein the system module includes a main processor and a communication unit, the communication unit being connected with the main processor;

the communication unit is used for receiving a maintenance request transmitted by a client and transmitting the maintenance request to the main processor;

the main processor is further configured to identify the scram switch as non-false triggering upon receiving the maintenance request.

8. The unmanned aerial vehicle docking station of claim 1, wherein the backup module comprises a co-processor, a backup power supply, and a backup power supply circuit;

the standby power supply is connected with the coprocessor and the standby power supply circuit, and the coprocessor is connected with a main processor and the standby power supply circuit in the system module;

the coprocessor is used for sending a power supply instruction to the standby power supply circuit after the emergency stop switch is switched to an off state;

the standby power supply circuit is used for supplying power to the system module after receiving the power supply instruction;

the coprocessor is also used for transmitting an inquiry instruction to the main processor.

9. The unmanned aerial vehicle docking station of claim 8, wherein the standby module further comprises a switch state detection unit, the switch state detection unit being connected with the co-processor;

the switch state detection unit is used for detecting the current state of the emergency stop switch and transmitting the current state to the coprocessor.

10. The unmanned aerial vehicle docking station as defined in claim 8, wherein the co-processor is connected to a controlled switch of an external power supply circuit;

the main processor is also used for sending a circuit breaking instruction to the coprocessor when the emergency stop switch is not triggered by mistake;

the coprocessor is used for controlling the controlled switch to be switched into an interruption state under the condition of receiving the circuit breaking instruction.

11. An unmanned aerial vehicle docking station control method is characterized in that the unmanned aerial vehicle docking station comprises the following steps: the emergency power supply system comprises a main power supply circuit and a system module, wherein one end of the main power supply circuit is used for being connected with a power supply, the other end of the main power supply circuit is connected with the system module, an emergency stop switch is arranged in the main power supply circuit, the system module is connected with a switch reset unit corresponding to the emergency stop switch, and the switch reset unit is in transmission connection with the emergency stop switch; the method is applied to the system module and comprises the following steps:

under the condition of receiving an inquiry instruction, judging whether the emergency stop switch is triggered by mistake;

wherein the interrogation command characterizes the scram switch being switched to an off state;

and if so, controlling the switch reset unit to drive the emergency stop switch to reset.

12. The method of claim 11, wherein the step of determining whether the emergency stop switch is false triggered comprises:

judging whether the emergency stop switch is triggered by mistake according to the state information;

the state information is obtained by monitoring the state of the unmanned aerial vehicle stop station by a monitoring unit in the system module.

13. The unmanned aerial vehicle docking station control method of claim 12, wherein the status information is one or more of temperature and humidity status information transmitted by a temperature and humidity sensor, smoke status information transmitted by a smoke sensor, water level status information transmitted by a water level sensor, and cabin door status information transmitted by a cabin door position sensor;

the step of judging whether the emergency stop switch is triggered by mistake according to the state information comprises the following steps:

when the temperature and humidity state information is lower than a first temperature and humidity threshold, the smoke state information is lower than a first smoke threshold, the water level state information is lower than a first water level threshold, and the cabin door state information represents that the cabin door is in a closed state, the emergency stop switch is determined to be triggered by mistake;

and when the temperature and humidity state information is higher than a first temperature and humidity threshold value, or the smoke state information is higher than a first smoke threshold value, or the water level state information is higher than a first water level threshold value, and the cabin door state information represents that the cabin door is not in a closed state, the emergency stop switch is determined to be not triggered by mistake.

14. The drone docking station control method of claim 12, further comprising:

judging whether the unmanned aerial vehicle stop station has a disaster or not according to the state information;

if a disaster occurs, the unmanned aerial vehicle is controlled to land to a temporary stop point.

15. The method as claimed in claim 14, wherein the status information is one or more of temperature and humidity status information transmitted by a temperature and humidity sensor, smoke status information transmitted by a smoke sensor, water level status information transmitted by a water level sensor, and image status information transmitted by a vision sensor, and the step of determining whether the unmanned aerial vehicle is in a disaster or not according to the status information includes:

when the temperature and humidity state information is higher than a second temperature and humidity threshold, or the smoke state information is higher than a second smoke threshold, or the water level state information is higher than a second water level threshold, determining that the unmanned aerial vehicle stops at the station and a disaster occurs;

and/or judging whether the unmanned aerial vehicle stop station has a disaster or not according to the image state information transmitted by the vision sensor.

16. The drone dock control method of claim 14, wherein in the event of a disaster at the drone dock, the method further comprises:

and controlling the controlled switch of the external power supply circuit to be switched into an interruption state.

17. The method of claim 11, wherein the step of determining whether the emergency stop switch is false triggered comprises:

and under the condition of receiving the maintenance request transmitted by the communication unit, determining that the emergency stop switch is not triggered by mistake.

Technical Field

The application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle docking station and a control method.

Background

With the development and scientific progress of the society, the unmanned aerial vehicle project has been developed greatly. Unmanned aerial vehicles are widely used in the fields of transportation, investigation, surveying, and agricultural production. By taking the unmanned aerial vehicle in the field of agricultural production as an example for illustration, in order to realize autonomous operation of the unmanned aerial vehicle, a platform, such as an unmanned aerial vehicle docking station, needs to be provided for the unmanned aerial vehicle, so that protection and automatic replenishment are provided for the unmanned aerial vehicle. For example, charging, dosing and supplying the unmanned aerial vehicle to stop in rainy days.

But unmanned aerial vehicle stop is located the open air usually, and unmanned on duty, and how to ensure unmanned aerial vehicle stop's steady operation has become the difficult problem that technical staff in the field await help and waits to solve.

Disclosure of Invention

An object of the application is to provide an unmanned aerial vehicle docking station and a control method to at least partly improve above-mentioned problem.

In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:

in a first aspect, an embodiment of the present application provides an unmanned aerial vehicle docking station, the unmanned aerial vehicle docking station includes: the emergency power supply system comprises a main power supply circuit, a system module and a standby module, wherein one end of the main power supply circuit is used for being connected with a power supply, the other end of the main power supply circuit is connected with the system module, an emergency stop switch is arranged in the main power supply circuit, and the standby module is connected with the system module;

the system module is connected with a switch reset unit corresponding to the emergency stop switch, and the switch reset unit is in transmission connection with the emergency stop switch;

the standby module is used for supplying energy to the system module and transmitting an inquiry instruction to the system module after the emergency stop switch is switched to a cut-off state;

the system module is used for judging whether the emergency stop switch is triggered by mistake or not under the condition of receiving the inquiry instruction, and controlling the switch reset unit to drive the emergency stop switch to reset if the emergency stop switch is triggered by mistake.

In a second aspect, an embodiment of the present application provides a method for controlling an unmanned aerial vehicle docking station, where the unmanned aerial vehicle docking station includes: the emergency power supply system comprises a main power supply circuit and a system module, wherein one end of the main power supply circuit is used for being connected with a power supply, the other end of the main power supply circuit is connected with the system module, an emergency stop switch is arranged in the main power supply circuit, the system module is connected with a switch reset unit corresponding to the emergency stop switch, and the switch reset unit is in transmission connection with the emergency stop switch; the method is applied to the system module and comprises the following steps:

under the condition of receiving an inquiry instruction, judging whether the emergency stop switch is triggered by mistake;

wherein the interrogation command characterizes the scram switch being switched to an off state;

and if so, controlling the switch reset unit to drive the emergency stop switch to reset.

Compared with the prior art, the unmanned aerial vehicle stop station and the control method provided by the embodiment of the application comprise: the emergency power supply system comprises a main power supply circuit, a system module and a standby module, wherein one end of the main power supply circuit is used for being connected with a power supply, the other end of the main power supply circuit is connected with the system module, an emergency stop switch is arranged in the main power supply circuit, and the standby module is connected with the system module; the system module is connected with a switch reset unit corresponding to the emergency stop switch, and the switch reset unit is in transmission connection with the emergency stop switch; the standby module is used for supplying energy to the system module and transmitting an inquiry command to the system module after the emergency stop switch is switched to the cut-off state; the system module is used for judging whether the emergency stop switch is triggered by mistake or not under the condition of receiving the inquiry instruction; if yes, the system module is also used for controlling the switch reset unit to drive the emergency stop switch to reset. When confirming the scram switch and for the false triggering, reset the unit drive scram switch through system module control switch and reset, resume main supply circuit for on-state, continue to be unmanned aerial vehicle stop energy supply, maintain unmanned aerial vehicle stop stable energy supply, avoid leading to the unable work of unmanned aerial vehicle stop because the outage, produce the unnecessary loss.

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic diagram of an energy supply of an unmanned aerial vehicle docking station provided in an embodiment of the present application;

fig. 2 is a schematic connection diagram of an unmanned aerial vehicle docking station provided in an embodiment of the present application;

FIG. 3 is a schematic diagram of a transmission connection between the emergency stop switch and the switch reset unit provided by the embodiment of the application;

fig. 4 is a schematic structural diagram of a system module and a standby module provided in an embodiment of the present application;

fig. 5 is a communication schematic diagram of an unmanned aerial vehicle docking station provided in the embodiment of the present application;

fig. 6 is a schematic flow chart of a method for controlling a docking station of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 7 is a schematic view of substeps of S101 provided in an embodiment of the present application;

FIG. 8 is a schematic diagram illustrating the substeps of S101-1 provided in an embodiment of the present application;

fig. 9 is one of the sub-steps of S101 provided in the embodiments of the present application;

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

fig. 11 is a schematic diagram illustrating the substeps of S103 according to an embodiment of the present application;

fig. 12 is a schematic diagram of a sub-step of S103 according to an embodiment of the present disclosure.

In the figure: 10-a system module; 101-a main processor; 102-a monitoring unit; 103-a communication unit; 20-a standby module; 201-a coprocessor; 202-a backup power supply; 203-standby power supply circuit; 204-a switch state detection unit; 30-a main power supply circuit; 301-emergency stop switch; 401-a switch reset unit; a 50-DC power supply; 60-controlled switch.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

Firstly, for the convenience of staff maintains or maintains the unmanned aerial vehicle stop, avoids opening suddenly or closing the door at the hatch door of unmanned aerial vehicle stop in the maintenance process, to the staff injury, generally need set up the scram switch on unmanned aerial vehicle stop, and the scram switch is used for controlling the relation of being connected between unmanned aerial vehicle stop and the forceful electric power. However, the unmanned aerial vehicle docking station is usually located outdoors, and unattended operation, such as an emergency stop switch being pressed unintentionally or maliciously, may cause the unmanned aerial vehicle to fail to work, resulting in processing cost and even causing aircraft to explode.

Secondly, when an unavoidable accident occurs at the unmanned aerial vehicle docking station, such as a fire or flood, the unmanned aerial vehicle parked in the unmanned aerial vehicle docking station may be damaged. For example, flood causes strong electric safety hazard, causes unmanned aerial vehicle explosion, and the like.

In order to overcome above problem, this application embodiment provides an unmanned aerial vehicle docking station. As shown in fig. 1 and 2, the drone docking station comprises: the emergency power supply system comprises a main power supply circuit 30, a system module 10 and a standby module 20, wherein one end of the main power supply circuit 30 is used for being connected with a power supply, such as a strong power supply, the other end of the main power supply circuit 30 is connected with the system module 10, an emergency stop switch 301 is arranged in the main power supply circuit 30, and the standby module 20 is connected with the system module 10.

It will be appreciated that the sub-components in the system module 10 are low power components in the drone docking station, for example devices with a power of less than 10W. In one possible implementation, the subcomponents in the system module 10 are all weak current driven devices.

The strong power source in the embodiment of the present application may be the DC power source 50 in fig. 1 and 2. As shown in fig. 1, the DC power supply 50 is used for converting electric energy provided by an external power supply circuit, for example, converting alternating current into direct current, and transmitting the converted electric energy to the main power supply circuit 30. The main power supply circuit 30 is used for converting the electric energy provided by the strong power source and supplying the system module 10 with the converted electric energy, and it is understood that the main power supply circuit 30 may supply each component in the system module 10 with the electric energy. Of course, the main power supply circuit 30 may also power a high power control circuit in the drone docking station.

The system module 10 is connected with the emergency stop switch 301 corresponding to the switch reset unit 401, and the switch reset unit 401 is in transmission connection with the emergency stop switch 301.

The standby module 20 is configured to supply power to the system module 10 and transmit an inquiry command to the system module 10 after the emergency stop switch 301 is switched to the off state. It will be appreciated that the standby module 20 may be informed of the current state of the emergency stop switch 301. The current state includes an off state and an on state. For example, when the button corresponding to the emergency stop switch 301 is pressed, the emergency stop switch 301 is switched from the on state to the off state, and when the emergency stop switch 301 is reset by being pressed, the emergency stop switch 301 is switched from the off state to the on state.

It is understood that when the emergency stop switch 301 is in the off state, the main power supply circuit 30 is in the off state, and the main power supply circuit 30 cannot supply power to the system module 10. When the emergency stop switch 301 is in the on state, the system module 10 and the DC power supply 50 are kept on, and the main power supply circuit 30 supplies power to the system module 10.

It will be appreciated that, in order to ensure that the system module 10 can continue to operate after the emergency stop switch 301 is switched to the off state, it is determined whether the emergency stop switch 301 is triggered by mistake, for example. It is desirable that the standby module 20 begin to power the system module 10 when the scram switch 301 is off, as particularly shown in fig. 1.

It is understood that, in order to avoid damage to the system module 10 due to the interval between power-down and power-up, the standby module 20 may start to supply power to the system module 10 after the scram switch 301 is switched to the off state for a preset time, for example, 30S.

The system module 10 is configured to determine whether the emergency stop switch 301 is triggered by mistake when receiving the inquiry command.

As described above, when the emergency stop switch 301 is triggered by mistake or pressed maliciously, the unmanned aerial vehicle stop station may not operate normally, so that some unnecessary potential safety hazards may be generated. Therefore, it is necessary to determine whether the emergency stop switch 301 is erroneously triggered.

If yes, the system module 10 is further configured to control the switch resetting unit 401 to drive the emergency stop switch 301 to reset.

It can understand ground, when scram switch 301 is the false triggering, need restore scram switch 301 to the conducting state by the truncation state to restore main supply circuit 30 to the conducting state, continue to be the unmanned aerial vehicle stop energy supply, maintain the stable energy supply of unmanned aerial vehicle stop, avoid because the outage leads to unmanned aerial vehicle stop to break down, produce unnecessary loss.

Specifically, the system module 10 sends a reset instruction to the switch reset unit 401, and the switch reset unit 401 starts to operate after receiving the reset instruction, so as to drive the emergency stop switch 301 to reset and keep the main power supply circuit 30 turned on. The emergency stop switch 301 does not need to be reset manually, so that the labor cost of field processing is reduced.

In one possible implementation, as shown in fig. 2, the standby module 20 is further communicatively connected to the main processor 101 in the system module 10, and the standby module 20 is configured to transmit an inquiry command to the main processor 101 after the emergency stop switch 301 is switched to the off state. The main processor 101 is further configured to determine whether the emergency stop switch 301 is triggered by mistake when receiving the inquiry command. If yes, the main processor 101 is further configured to control the switch resetting unit 401 to drive the emergency stop switch 301 to reset.

To sum up, this application embodiment provides an unmanned aerial vehicle stop, and unmanned aerial vehicle stop includes: the emergency power supply system comprises a main power supply circuit, a system module and a standby module, wherein one end of the main power supply circuit is used for being connected with a power supply, the other end of the main power supply circuit is connected with the system module, an emergency stop switch is arranged in the main power supply circuit, and the standby module is connected with the system module; the system module is connected with a switch reset unit corresponding to the emergency stop switch, and the switch reset unit is in transmission connection with the emergency stop switch; the standby module is used for supplying energy to the system module and transmitting an inquiry command to the system module after the emergency stop switch is switched to the cut-off state; the system module is used for judging whether the emergency stop switch is triggered by mistake or not under the condition of receiving the inquiry instruction; if yes, the system module is also used for controlling the switch reset unit to drive the emergency stop switch to reset. When confirming the scram switch and for the false triggering, reset the unit drive scram switch through system module control switch and reset, resume main supply circuit for on-state, continue to be unmanned aerial vehicle stop energy supply, maintain unmanned aerial vehicle stop stable energy supply, avoid leading to the unable work of unmanned aerial vehicle stop because the outage, produce the unnecessary loss.

Regarding the transmission connection between the emergency stop switch 301 and the switch reset unit 401, the embodiment of the present application also provides a possible implementation manner, please refer to fig. 3, when the key corresponding to the emergency stop switch 301 is pressed, the emergency stop switch 301 is switched to the off state. When the main processor 101 controls the switch reset unit 401 (e.g., a motor) to drive the gear to rotate clockwise, the gear and the key are engaged with each other to drive the key to rotate clockwise, and when the key is rotated to the target position, the key rebounds to drive the emergency stop switch 301 to switch from the off state to the on state.

On the basis of fig. 1 and fig. 2, regarding the specific structure of the system module, a possible implementation manner is further provided in the embodiment of the present application, please refer to fig. 4, the system module 10 further includes a main processor 101 and a monitoring unit 102, and the monitoring unit 102 is connected to the main processor 101.

The monitoring unit 102 is configured to monitor status information of the unmanned aerial vehicle docking station, and transmit the status information to the main processor 101.

It will be appreciated that the monitoring unit 102 may include a variety of monitoring devices or monitoring sensors for monitoring various states of the drone dock to obtain status information of the drone dock.

The main processor 101 is further configured to determine whether the emergency stop switch 301 is triggered by mistake according to the state information.

The state information of the unmanned aerial vehicle stop can be used for judging whether the unmanned aerial vehicle stop has potential safety hazards or not, whether the unmanned aerial vehicle stop is in an emergency state or whether the unmanned aerial vehicle stop is in a maintenance state or not. If the unmanned aerial vehicle stop station has potential safety hazard currently, or is in an emergency state, or is in a maintenance state, it indicates that the emergency stop switch 301 needs to be kept in a cut-off state, that is, the emergency stop switch 301 is not erroneously triggered at this time; otherwise, the emergency stop switch 301 is triggered by mistake. On the basis of fig. 4, if the monitoring unit 102 includes one or more of a temperature/humidity sensor, a smoke sensor, a water level sensor, a door position sensor, and a visual sensor. As to how to determine whether the emergency stop switch 301 is triggered by mistake, the embodiment of the present application further provides a possible implementation manner, please refer to the following. The main processor 101 is further configured to determine that the emergency stop switch 301 is triggered by mistake when the temperature and humidity state information transmitted by the temperature and humidity sensor is lower than a first temperature and humidity threshold, the smoke state information transmitted by the smoke sensor is lower than a first smoke threshold, the water level state information transmitted by the water level sensor is lower than a first water level threshold, and the cabin door state information transmitted by the cabin door position sensor indicates that the cabin door is in a closed state.

When the above conditions are all met, it is indicated that the operation state of the unmanned aerial vehicle stop station is normal at the moment, the main power supply circuit 30 of the unmanned aerial vehicle stop station is not necessary to be disconnected, and the emergency stop switch 301 is determined to be triggered by mistake at the moment.

The main processor 101 is further configured to determine that the emergency stop switch is not erroneously triggered when the temperature and humidity state information is higher than a first temperature and humidity threshold, or the smoke state information is higher than a first smoke threshold, or the water level state information is higher than a first water level threshold, or the cabin door state information indicates that the cabin door is in the non-closed state.

When any one of the above conditions is met, it is indicated that the operation state of the unmanned aerial vehicle stop station is abnormal at this time, it is necessary to disconnect the main power supply circuit 30 of the unmanned aerial vehicle stop station, and at this time, the emergency stop switch 301 is determined to be not erroneously triggered.

Specifically, the fact that the temperature and humidity state information is higher than the first temperature and humidity threshold value indicates that fire disasters may occur in the unmanned aerial vehicle stop station, the fact that the smoke state information is higher than the first smoke threshold value indicates that fire disasters may occur in the unmanned aerial vehicle stop station, the fact that the water level state information is higher than the first water level threshold value indicates that flood disasters may occur in the unmanned aerial vehicle stop station, and the fact that the cabin door state information represents that the cabin door is in the non-closed state indicates that the unmanned aerial vehicle stop station is being maintained. Optionally, when the cabin door clamps the arm of the worker, the cabin door is in the non-closed state and is closing to the closed state, so as to avoid further increasing the damage to the arm, the button corresponding to the emergency stop switch 301 is pressed at the moment, the power is cut off, and the closing of the cabin door is avoided.

And/or the main processor 101 is further configured to determine whether the emergency stop switch 301 is triggered by mistake according to the image status information transmitted by the vision sensor.

Optionally, image recognition is performed according to image state information transmitted by the visual sensor, whether flood or fire occurs or whether people exist or not is judged, and if no flood occurs and no worker is currently regulating and controlling, false triggering is determined.

Optionally, the main processor 101 determines, through the image state information, whether the current operation state of the unmanned aerial vehicle docking station is normal, if the operation state is normal, the emergency stop switch 301 is triggered by mistake, and if the operation state is abnormal, the emergency stop switch 301 is not triggered by mistake.

Under a possible scene, the vision sensor includes internal sensor and external sensor, and internal sensor is used for carrying out image acquisition to the unmanned aerial vehicle in the cabin, and external sensor is used for carrying out image acquisition to the external environment of unmanned aerial vehicle docking station. When the image that the inside sensor was gathered indicates that unmanned aerial vehicle is parking in the door, and the image display unmanned aerial vehicle that the outside sensor was gathered the door of the rail that the unmanned aerial vehicle stop corresponds is in the closed condition, or does not have the staff around the unmanned aerial vehicle stop, and sign scram switch 301 is the false triggering.

Regarding how to reduce the loss when the disaster happens at the unmanned aerial vehicle stop station, this application embodiment also provides a possible implementation, please refer to the following.

The main processor 101 is further configured to determine whether a disaster occurs in the unmanned aerial vehicle docking station according to the state information.

The disaster is, for example, a fire, a flood, an impact, and the like.

If a disaster occurs, the main processor 101 is also used for controlling the unmanned aerial vehicle to land to a temporary stop point.

Understandably, the temporary stop is a safe location other than the unmanned aerial vehicle stop. Specifically, when main processor 101 discerned the disaster and took place, if unmanned aerial vehicle is parking in unmanned aerial vehicle stop, in order to avoid unmanned aerial vehicle to be damaged, main processor 101 control unmanned aerial vehicle stop's hatch door is opened, then control unmanned aerial vehicle to fly away from unmanned aerial vehicle stop, descends to the temporary stop.

In one possible implementation, the temporary stop may be a secure location previously specified by the user. Under the condition that the unmanned aerial vehicle is already operating outside the parking station, if the parking station determines that a disaster happens, the parking station can communicate with the unmanned aerial vehicle, the position information of the temporary parking point is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle can park at the temporary parking point after receiving the position information of the temporary parking point and temporarily does not return to the temporary parking point in the disaster.

The embodiment of the present application also provides a possible implementation manner of how to identify whether a disaster occurs, please refer to the following. The monitoring unit 102 includes one or more of a temperature and humidity sensor, a smoke sensor, a water level sensor, and a vision sensor.

The main processor 101 is further configured to determine that a disaster, such as a fire, occurs at the unmanned aerial vehicle stop station when the temperature and humidity state information transmitted by the temperature and humidity sensor is higher than a second temperature and humidity threshold.

The main processor 101 is also arranged to identify a disaster, such as a fire, at the drone dock when the smoke status signal transmitted by the smoke sensor is above a second smoke threshold.

The main processor 101 is further configured to determine that a disaster, such as a flood, occurs at the unmanned aerial vehicle docking station when the water level status information transmitted by the water level sensor is higher than the second water level threshold.

The main processor 101 is further configured to determine whether a disaster, such as an artificial damage, occurs in the unmanned aerial vehicle docking station according to the image status information transmitted by the vision sensor.

Optionally, in this embodiment of the application, the second temperature and humidity threshold is higher than the first temperature and humidity threshold, the second smoke threshold is higher than the first smoke threshold, and the second water level threshold is higher than the first water level threshold. It is understood that the scram switch 301 is in the off state after the key of the scram switch 301 is pressed. This indicates that there may be a risk, and in order to omit the risk and cause a loss, the determination condition needs to be lowered. Of course, the above determination values may be the same.

In a possible implementation, when a fire occurs at the unmanned aerial vehicle stop, the main processor 101 controls the fire extinguishing device to extinguish the fire, thereby avoiding the spread of the disaster and reducing the loss.

Regarding how to avoid disaster spreading when the unmanned aerial vehicle stops at a station, this application embodiment also provides a possible implementation way, please refer to the following.

The main processor 101 is also used for controlling the controlled switch 60 of the external power supply circuit to be switched to an off state when the disaster occurs in the unmanned aerial vehicle stop.

As shown in fig. 4, both ends of the controlled switch 60 are connected to an external power supply circuit and a strong power supply (DC power supply 50 switching), respectively. The external power supply circuit supplies power to the DC power supply 50 through the controlled switch 60. When the controlled switch 60 is switched to the cut-off state, the strong power supply of the unmanned aerial vehicle stop station is cut off, and the loss is prevented from being enlarged.

Referring to fig. 4, regarding the structure of the system module 10, the embodiment of the present application further provides a possible implementation manner, as shown in fig. 4, the system module 10 further includes a communication unit 103, and the communication unit 103 is connected to the main processor 101.

The communication unit 103 is configured to receive a maintenance request transmitted by a client, and transmit the maintenance request to the main processor 101.

The main processor 101 is also configured to identify the emergency stop switch 301 as non-false triggering if a maintenance request is received.

When the staff is maintaining or repairing the unmanned aerial vehicle docking station, the emergency stop switch is pressed down to overhaul the cabin door after the cabin door is opened. At this time, if the emergency stop switch 301 is reset, the main power supply circuit 30 recovers power supply, which may cause the cabin door to be suddenly closed, and there is an unexpected hidden danger, such as a cabin door tong. To avoid this, the staff may send a maintenance request to the drone docking station at a handheld terminal (e.g., a mobile phone), and the communication unit 103 is configured to receive the maintenance request transmitted by the client and transmit the maintenance request to the main processor 101. In the case where a maintenance request is received, if it is necessary to confirm whether the scram switch is erroneously triggered, the scram switch 301 may be determined as not erroneously triggered.

In one possible implementation, the main processor 101 is further configured to control the switch resetting unit 401 to reset the emergency stop switch 301 when receiving the maintenance-completed indication.

Referring to fig. 5, a drone docking station (drone station) may interact with a drone through the communication unit 103. Optionally, the communication unit 103 can also interact with the handheld terminal through the base station. It should be noted that the emergency switch in fig. 5 is a key corresponding to the emergency stop switch 301 in the embodiment of the present application.

In a possible implementation manner, the main processor 101 is further configured to control the communication unit 103 to report a disaster situation when the disaster situation occurs at the unmanned aerial vehicle stop.

In a possible implementation manner, after the main processor 101 receives a forced power-off instruction transmitted by the client, the main processor 101 determines whether the current unmanned aerial vehicle is in an operating state. Optionally, when the drone is outside the door, i.e. the drone is in operation, when the drone is inside the door, the drone is in non-operation. If the unmanned aerial vehicle is in the non-operation state, the main processor 101 can control the controlled switch 60 to be switched to the cut-off state, and the forced power-off is completed. If the unmanned aerial vehicle is in the operation state, the unmanned aerial vehicle is controlled to land to a temporary stopping point or return to the cabin.

When the emergency stop/start light 301 is being repaired or maintained, the client may send a corresponding request or indication, or set a corresponding state, so as to complete the state switching of the emergency stop/start light 301. If the maintenance of the total power is needed, the client can be used for forcibly powering off, so that the step of switching off the switch by workers is saved, and the labor cost is reduced.

With continuing reference to fig. 4, regarding the structure of the standby module 20, the embodiment of the present application further provides a possible implementation manner, as shown in fig. 4, the standby module 20 includes a coprocessor 201, a standby power supply 202, and a standby power supply circuit 203.

In one possible implementation, the main processor 101 may be an integrated circuit chip having signal processing capabilities. The main Processor 101 may be a Central Processing Unit (CPU), a Network Processor (NP), or the like; the device can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.

Coprocessor 201 may be a Microcontroller Unit (MCU for short). It will be appreciated that the computing power of coprocessor 201 is less than that of main processor 101, and therefore consumes less power and is more power efficient.

As shown in fig. 4, the DC power source 50 is also connected to a backup power source 202 in the backup module 20 for replenishing the backup power source 202 with power.

The standby power supply 202 is connected to the coprocessor 201 and the standby power supply circuit 203. The standby power supply 202 powers the coprocessor 201, the standby power supply circuit 203. The coprocessor 201 is connected to the main processor 101 and the standby power supply circuit 203.

The coprocessor 201 is configured to send a power supply instruction to the standby power supply circuit 203 after the emergency stop switch 301 is switched to the off state.

In a possible implementation manner, after monitoring that the emergency stop switch 301 is switched to the off state, the coprocessor 201 sends a power supply instruction to the standby power supply circuit 203 after waiting for T0 time (for example, 30s), so as to avoid potential safety hazards caused by continuous power failure and power up.

It will be appreciated that the coprocessor 201 may be informed of the current state of the scram switch 301. When the emergency stop switch 301 is turned off, the main power supply circuit 30 is turned off, and the high-power components in the unmanned aerial vehicle stop station stop working. However, at this time, the system module 10 still needs to operate, and therefore, it is necessary to supply power to the system module through the backup power supply circuit 203 and send a power supply instruction to the backup power supply circuit 203.

The standby power supply circuit 203 is configured to supply power to the system module 10 after receiving the power supply instruction.

It will be appreciated that the backup power circuit 203 transmits power from the backup power source 202 to the system module 10 to complete the power supply.

Coprocessor 201 is also used to transmit query instructions to host processor 101.

The inquiry command causes the main processor 101 to determine whether the emergency stop switch 301 is in the false trigger state.

The embodiment of the present application also provides a possible implementation manner of how the coprocessor 201 knows the current state of the emergency stop switch 301, please refer to the following.

The standby module 20 further includes a switch state detection unit 204, and the switch state detection unit 204 is connected to the coprocessor 201.

The switch state detection unit 204 is configured to detect a current state of the scram switch 301 and transmit the current state to the coprocessor 201.

The switch state detection unit 204 is provided with respect to the scram switch 301.

The embodiment of the present application also provides a possible implementation manner of how the coprocessor 201 knows the current state of the emergency stop switch 301, please refer to the following.

The first pin of the main processor 101 is connected to the coprocessor 201, and the normal state of the first pin is high level. When the scram switch 301 is turned off, the main processor 101 is powered off, and the first pin of the main processor 101 is at a low level, at which time the coprocessor 201 may sense that the scram switch 301 is in the off state.

The embodiment of the present application also provides a possible implementation manner of how the main processor 101 controls the controlled switch 60 to switch states, please refer to the following.

The coprocessor 201 is connected with the controlled switch 60 of the external power supply circuit; the main processor 101 is further configured to send a disconnection instruction to the coprocessor 201 when the scram switch 301 is not erroneously triggered; the coprocessor 201 is configured to control the controlled switch 60 to switch to the off state when receiving the open command.

The embodiment of the application also provides a control method of the unmanned aerial vehicle stop, which is applied to a main processor 101 in the unmanned aerial vehicle stop, wherein the unmanned aerial vehicle stop is shown in fig. 4. Referring to fig. 6, the method for controlling the unmanned aerial vehicle docking station includes: s101 and S102.

And S101, judging whether the emergency stop switch is triggered by mistake or not when the inquiry command is received. If yes, executing S102; if not, skipping.

Wherein the interrogation command indicates that the emergency stop switch is switched to the off state. In one possible implementation, the standby module 20 may monitor the current state of the emergency stop switch 301, and when the emergency stop switch 301 is switched to the off state, the standby module 20 sends an inquiry command to the main processor 101.

And S102, controlling the switch reset unit to drive the emergency stop switch to reset.

In the case that the system module 10 further includes a monitoring unit 102, and the monitoring unit 102 is connected to the main processor 101, as for S101 in fig. 6, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 7, where S101 includes S101-1.

S101-1, judging whether the emergency stop switch is triggered by mistake according to the state information. If yes, executing S102; if not, skipping.

The state information is information obtained by monitoring the state of the unmanned aerial vehicle stop station by the monitoring unit.

In a case that the state information is one or more of temperature and humidity state information transmitted by a temperature and humidity sensor, smoke state information transmitted by a smoke sensor, water level state information transmitted by a water level sensor, and cabin door state information transmitted by a cabin door position sensor, as for S101-1 in fig. 7, an embodiment of the present application further provides a possible implementation manner, please refer to fig. 8, where S101-1 includes: S101-1A, S101-1B, S101-1C, S101-1D, S101-1E and S101-1F.

S101-1A, judging whether the cabin door state information represents that the cabin door is in a closed state. If yes, executing S101-1B, otherwise executing S101-1F.

And S101-1B, judging whether the temperature and humidity state information is lower than a first temperature and humidity threshold value. If so, executing S101-1C, otherwise, executing S101-1F.

S101-1C, judging whether the smoke state information is lower than a first smoke threshold value. If so, executing S101-1D, otherwise, executing S101-1F.

And S101-1D, judging whether the water level state information is lower than a first water level threshold value. If so, executing S101-1E, otherwise, executing S101-1F.

And S101-1E, determining that the emergency stop switch is triggered by mistake.

And when the emergency stop switch is judged to be triggered by mistake, S102 is executed, and the control switch resetting unit drives the emergency stop switch to reset.

And S101-1F, determining that the emergency stop switch is not triggered by mistake.

In the case that the system module 10 further includes a communication unit 103, and the communication unit 103 is connected to the main processor 101, as for S101 in fig. 6, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 9, where S101 includes S101-2, S101-3, and S101-4.

S101-2, when the inquiry instruction is received, whether the maintenance request transmitted by the communication unit is received or not is confirmed. If yes, executing S101-3; if not, S101-4 is executed.

And S101-3, determining that the emergency stop switch is not triggered by mistake.

And S101-4, determining that the emergency stop switch is triggered by mistake.

After S101-4, S102 is executed, and the control switch resetting unit drives the emergency stop switch to reset.

Referring to fig. 10, the method for controlling an unmanned aerial vehicle docking station provided in the embodiment of the present application further includes: s103, S104, and S105.

And S103, judging whether the unmanned aerial vehicle stop station has a disaster or not according to the state information. If yes, executing S104; if not, skipping.

And S104, controlling the unmanned aerial vehicle to land to a temporary stop point.

And S105, controlling the controlled switch of the external power supply circuit to be switched into an interruption state.

It should be noted that S103, S104, S105, S101, and S102 may be executed in parallel or in an intersecting manner, and are not limited herein.

In a case that the state information is one or more of temperature and humidity state information transmitted by the temperature and humidity sensor, smoke state information transmitted by the smoke sensor, water level state information transmitted by the water level sensor, and image state information transmitted by the vision sensor, regarding S103 in fig. 10, an embodiment of the present application further provides a possible implementation manner, please refer to fig. 11, where S103 includes: S103-1A, S103-1B, S103-1C, S103-1D and S103-1E.

And S103-1A, judging whether the temperature and humidity state information is higher than a second temperature and humidity threshold value. If yes, executing S103-1E; if not, S103-1B is executed.

And S103-1B, judging whether the smoke state information is higher than a second smoke threshold value. If yes, executing S103-1E; if not, S103-1C is executed.

And S103-1C, judging whether the water level state information is higher than a second water level threshold value. If yes, executing S103-1E; if not, S103-1D is executed.

And S103-1D, determining that the unmanned aerial vehicle stop station has no disaster.

And S103-1E, identifying that the disaster happens to the unmanned aerial vehicle stop station.

After S103-1E, S104 is executed, and the unmanned aerial vehicle is controlled to land to a temporary stopping point.

With reference to S103 in fig. 10, the embodiment of the present application further provides a possible implementation manner, please refer to fig. 12, where S103 includes: s103-2.

S103-2, judging whether the unmanned aerial vehicle stop station has a disaster or not according to the image state information transmitted by the vision sensor. If yes, executing S104; if not, skipping.

It should be noted that, S103-2, S103-1A, S103-1B, S103-1C, S103-1D and S103-1E may be executed concurrently and in parallel, or may be executed on only one side, which is not limited herein.

It should be noted that, the method for controlling the unmanned aerial vehicle docking station provided by the embodiment can perform energy supply purposes of each component in the unmanned aerial vehicle docking station, so as to achieve corresponding technical effects. For the sake of brevity, the corresponding contents in the above embodiments may be referred to where not mentioned in this embodiment.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.