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CN-122009585-A - Vehicle-mounted unmanned aerial vehicle library and control method

CN122009585ACN 122009585 ACN122009585 ACN 122009585ACN-122009585-A

Abstract

The invention discloses a vehicle-mounted unmanned aerial vehicle library and a control method, and belongs to the technical field of vehicle structures. The vehicle-mounted unmanned aerial vehicle library comprises a storage platform, an executing mechanism and a cover plate. The storage platform is arranged in a preset accommodating space at the side part and/or the rear part of the vehicle body and used for storing the unmanned aerial vehicle. The actuating mechanism drives the storage platform to extend or retract into the vehicle body. The cover plate is flush with the exterior trim panel of the vehicle body when the storage platform is retracted, forming an overall appearance. According to the corresponding control method, after receiving a take-off instruction, the vehicle speed, the environment information and the surrounding obstacle information are integrated, whether the safe take-off condition is met is intelligently judged, and the unmanned aerial vehicle library is automatically controlled to be unfolded and the unmanned aerial vehicle to take off when the safe take-off condition is met. According to the invention, the unmanned aerial vehicle library is embedded in the vehicle body, so that the problems of height limitation, wind resistance increase and reliability caused by roof installation are avoided, and the safety and automation level of unmanned aerial vehicle operation of the mobile platform are improved through intelligent control.

Inventors

  • YANG SHIQIANG
  • ZHU CHANGJIAN
  • ZHANG ERRONG
  • DU RONGBO
  • WANG TAN

Assignees

  • 东风汽车集团股份有限公司

Dates

Publication Date
20260512
Application Date
20260106

Claims (20)

  1. 1. A vehicle-mounted unmanned aerial vehicle library is characterized by comprising, The storage platform is arranged at the side part and/or the rear part of the vehicle body (10), and the vehicle body (10) is provided with a containing space for containing the storage box (1); the executing mechanism is arranged between the vehicle body and the storage platform and used for driving the storage platform to extend out of the vehicle body or retract into the vehicle body from the storage space; And the cover plate (2) is arranged on the side part and/or the rear part of the vehicle body (10), and after the storage platform is retracted into the vehicle body, the cover plate (2) and the vehicle body exterior trim plate form the integrated exterior trim part of the vehicle body.
  2. 2. A vehicle-mounted unmanned aerial vehicle according to claim 1, wherein the cover plate (2) is connected to the storage platform and is adapted to follow the storage platform.
  3. 3. The vehicle-mounted unmanned aerial vehicle library according to claim 1, wherein the storage platform comprises a storage box (1), the storage box (1) is hollow and used for storing the unmanned aerial vehicle, the storage box (1) comprises an opening and closing structure, when the opening and closing structure is opened, the opening and closing structure is used for releasing the hollow inside the storage box (1), and when the opening and closing structure is closed, the hollow inside the storage box (1) is closed.
  4. 4. A vehicle-mounted unmanned aerial vehicle according to claim 3, wherein the opening and closing structure comprises an opening and closing drawer structure connected to the box body of the storage box (1).
  5. 5. A vehicle-mounted unmanned aerial vehicle according to claim 3, wherein the opening and closing structure comprises an opening and closing box cover connected to the box body of the storage box (1).
  6. 6. A vehicle-mounted unmanned aerial vehicle according to claim 1 or 2, wherein the actuator drive comprises a rotary motion drive mechanism which drives the storage platform in a rotary manner out of and/or into the vehicle body (10) from the receiving space.
  7. 7. The vehicle unmanned aerial vehicle of claim 6, wherein the actuator comprises, A rotating shaft (3) which is arranged in the longitudinal direction of the vehicle and is rotatably supported on the vehicle body (10) about its own axis; one end of the rotating arm (4) is fixedly connected with the rotating shaft (3), and the other end of the rotating arm is fixedly connected with the storage platform; and the driving device (5) is arranged on the vehicle body (10) and is used for driving the rotating shaft (3) to rotate.
  8. 8. The vehicle-mounted unmanned aerial vehicle according to claim 4, wherein the storage box (1) is provided with an opening, and the opening is arranged on the side of the storage box (1) facing the rear of the vehicle.
  9. 9. A vehicle-mounted unmanned aerial vehicle according to claim 4 or 8, wherein a drawer (6) which can be extended and retracted from the opening is arranged in the storage box (1), and the drawer (6) is opened at the top to form a platform for the unmanned aerial vehicle to take off and land when the storage box (1) is in the extended state.
  10. 10. A vehicle-mounted unmanned aerial vehicle according to claim 1 or 2, wherein the cover plate (2) is arranged at a rear corner window of the vehicle, the rear corner window being located between the D-pillar of the vehicle body (10) and the trunk lid.
  11. 11. The vehicle-mounted unmanned aerial vehicle library according to claim 1, wherein the accommodating space is formed inside the vehicle body.
  12. 12. A control method of a vehicular unmanned aerial vehicle, which is characterized in that the control method is used for controlling the vehicular unmanned aerial vehicle according to any one of claims 1-11, comprising, After receiving an unmanned aerial vehicle take-off instruction, collecting current speed, current environment information and surrounding obstacle information of an unmanned aerial vehicle library; Judging whether a take-off condition is met or not based on the current vehicle speed, the environment information and the obstacle information; and if the take-off condition is met, controlling the executing mechanism to drive the storage platform to extend out of the vehicle body, and controlling the unmanned aerial vehicle to take off.
  13. 13. The vehicle-mounted unmanned aerial vehicle library control method according to claim 12, wherein the method for judging whether the take-off condition is met based on the current vehicle speed, the obstacle information and the environment information comprises the steps of collecting the current vehicle speed, judging whether the current vehicle speed meets the take-off requirement, collecting current environment information when the current vehicle speed meets the take-off requirement, judging whether the current environment meets the take-off requirement, collecting surrounding obstacle information of the unmanned aerial vehicle library when the current environment meets the take-off requirement, judging whether surrounding obstacles meet the take-off requirement, and judging that the take-off condition is met currently if the surrounding obstacles meet the take-off requirement.
  14. 14. The method for controlling the vehicular unmanned aerial vehicle according to claim 13, wherein the current vehicle speed is compared with a set vehicle speed threshold, if the current vehicle speed does not exceed the set vehicle speed threshold, the current vehicle speed is considered to meet the take-off requirement, otherwise, the take-off requirement is not met, when the current vehicle speed meets the take-off requirement, the current wind speed in the environment information is compared with the set wind speed threshold, the current humidity in the environment information is compared with the set humidity threshold, if the current wind speed does not exceed the set wind speed threshold and the current humidity does not exceed the set humidity threshold, the current environment is considered to meet the take-off requirement, otherwise, the take-off requirement is not met, when the current environment meets the take-off requirement, an obstacle closest to a storage platform which extends beyond a vehicle body is acquired, the shortest distance between the obstacle and the storage platform is calculated, and the shortest distance is compared with the set distance threshold, if the shortest distance exceeds the set distance threshold, the take-off requirement is judged to be met, otherwise, the take-off requirement is not met.
  15. 15. The vehicle-mounted unmanned aerial vehicle library control method according to claim 12 is characterized in that the method for judging whether the take-off condition is met or not based on the current vehicle speed, the obstacle information and the environment information comprises the steps of collecting the current vehicle speed, carrying out vehicle speed assignment based on the collected current vehicle speed, calculating a current vehicle speed safety value based on the vehicle speed assignment and a vehicle speed weighting coefficient, collecting the current humidity and the current wind speed of the environment where the vehicle is located, carrying out wind speed assignment on the current wind speed, carrying out wind speed assignment based on the wind speed assignment and the wind speed weighting coefficient, carrying out humidity assignment on the current humidity, carrying out current humidity safety value based on the humidity assignment and the humidity weighting coefficient, determining the current environment safety value according to the current wind speed safety value and the current humidity weighting coefficient, obtaining the nearest obstacle except for the vehicle body from a storage platform, calculating the shortest distance between the obstacle and the storage platform as the current distance, calculating the obstacle safety value based on the current distance, comparing the current vehicle speed safety value, the current environment safety value and the sum value of the obstacle safety value with a set safety threshold, and if the current safety value is not smaller than the safety threshold, judging that the take-off condition is met.
  16. 16. The method for controlling the vehicle-mounted unmanned aerial vehicle library according to claim 15, wherein the method for assigning the vehicle speed based on the collected current vehicle speed comprises the steps of obtaining a vehicle speed assignment corresponding to the current vehicle speed according to a set vehicle speed range and a vehicle speed assignment table.
  17. 17. The method for controlling the vehicular unmanned aerial vehicle according to claim 15, wherein the method for assigning wind speed to the current wind speed comprises the steps of obtaining wind speed assignments corresponding to the current wind speed according to a set wind speed range and a wind speed assignment table.
  18. 18. The method for controlling the vehicle-mounted unmanned aerial vehicle library according to claim 15, wherein the method for assigning the current humidity comprises the step of acquiring the humidity assignment corresponding to the current humidity according to the set humidity range and the humidity assignment table.
  19. 19. The method for controlling a vehicle-mounted unmanned aerial vehicle according to claim 15, wherein the method for determining the current environmental safety value according to the current wind speed safety value and the current humidity safety value comprises selecting the smaller value of the current wind speed safety value and the current humidity safety value as the current environmental safety value.
  20. 20. The method for controlling a vehicle-mounted unmanned aerial vehicle according to claim 15, wherein the method for calculating the obstacle safety value based on the current distance comprises: The obstacle safety value is calculated according to the following formula, Wherein S (d) -obstacle safety value; d, the movement envelope distance between the nearest obstacle which extends out of the storage platform except the vehicle body and the storage platform; d safe —optimal safe distance; gamma-growth exponent.

Description

Vehicle-mounted unmanned aerial vehicle library and control method Technical Field The invention relates to the technical field of vehicle structures, in particular to a vehicle-mounted unmanned aerial vehicle library and a control method. Background Unmanned aerial vehicles are applied to the military field at the earliest time, but with the continuous development of unmanned aerial vehicles, the unmanned aerial vehicles play an important role in the civil field, and are widely applied to the fields of geographic mapping, electric power inspection, rescue and relief work and film and television shooting. The vehicle-mounted unmanned aerial vehicle is convenient to use and high in maneuverability due to mutual matching with an automobile, and gradually becomes the next development direction of automobile technology. However, in practical application, many unmanned aerial vehicles are inconvenient to take off and land, for example, environments suitable for taking off and land of the unmanned aerial vehicles are difficult to conveniently find in rescue and relief work, or emergency is handled, the rapid take-off and landing of the unmanned aerial vehicles are important, or long-distance shooting work of film and television shooting is also difficult. At present, the vehicle-mounted unmanned aerial vehicle is usually an externally-hung unmanned aerial vehicle library, for example, the vehicle-mounted unmanned aerial vehicle library is arranged at the top of a vehicle, so that the influence on the appearance of the vehicle is large, the appearance of the vehicle is influenced, the whole volume of the vehicle-mounted unmanned aerial vehicle library is large, the functions of the vehicle can be influenced after the vehicle-mounted unmanned aerial vehicle library is installed, for example, a skylight cannot be opened by the vehicle, in addition, the vehicle-mounted unmanned aerial vehicle library in the related art is usually provided with a plurality of driving devices, and the driving devices respectively drive a cabin door to open and close and drive a lifting platform to lift, so that the transmission structure is complex and the arrangement is complex. To solve this problem, a prior art named "vehicle-mounted unmanned aerial vehicle library, unmanned aerial vehicle assembly, and vehicle" proposes a vehicle-mounted unmanned aerial vehicle library that does not change the appearance of the vehicle. The vehicle-mounted unmanned aerial vehicle garage comprises a lifting platform, a cabin door and a driving device, wherein the lifting platform is suitable for being arranged in a vehicle body and used for placing an unmanned aerial vehicle, the cabin door is suitable for being arranged in the vehicle body and used for sealing or opening the vehicle body, the cabin door is located above the lifting platform, and the driving device is in transmission connection with the lifting platform and the cabin door respectively so as to drive the lifting platform and the cabin door to move. The vehicle-mounted unmanned aerial vehicle library is stored in the vehicle under the condition of not being used, so that adverse effects on the appearance of the vehicle body are avoided, and the vehicle-mounted unmanned aerial vehicle library is positioned in the vehicle and is convenient to connect with electric equipment in the vehicle, so that the unmanned aerial vehicle can be charged conveniently. When the unmanned aerial vehicle is used, the lifting platform is driven by the driving device and stretches out from the roof, so that the unmanned aerial vehicle can take off conveniently. Although the vehicle-mounted unmanned aerial vehicle has the advantages, a plurality of defects still exist in the actual use process. Roof mounting, while having advantages of convenient operation and space independence, has increasingly revealed its inherent technical limitations with the continued upgrading and technical development of application requirements. These defects are mainly concentrated on three aspects of vehicle trafficability, aerodynamic performance and system reliability, and severely restrict the application effect and popularity of the vehicle-mounted unmanned aerial vehicle system in a complex environment. The height limitation problem is the most prominent challenge faced by roof unmanned aerial vehicles. Research data shows that a typical off-road vehicle, after being installed with a conventional roof hangar, roof hangars typically increase the overall height of the vehicle significantly, possibly beyond the usual road limit. In particular, in critical situations such as emergency rescue and military reconnaissance, such high restrictions may cause serious operational disturbances and delays in timing. From an aerodynamic perspective, the roof unmanned aerial vehicle has significantly increased the wind resistance coefficient of the vehicle. The roof additional device can destroy the airflow trend of the original automobile