CN107943073A

CN107943073A - Unmanned plane landing method, equipment, system and unmanned plane

Info

Publication number: CN107943073A
Application number: CN201711122565.7A
Authority: CN
Inventors: 王振勇; 刘莞尔; 郝永杰; 陈孝礼
Original assignee: Goertek Inc
Current assignee: Goertek Inc
Priority date: 2017-11-14
Filing date: 2017-11-14
Publication date: 2018-04-20
Anticipated expiration: 2037-11-14
Also published as: CN107943073B

Abstract

The embodiment of the present invention provides a kind of unmanned plane landing method, equipment, system and unmanned plane.Wherein, unmanned plane landing method includes：After the landing solicited message for receiving the transmission of the first unmanned plane, the first position information of the mobile landing platform after stagnation of movement is obtained；The first position information is sent to first unmanned plane, so that first unmanned plane flies to the mobile landing platform overhead according to the first position information；First unmanned plane shoots the mobile landing platform and completes landing according to the image information photographed.The embodiment of the present invention can realize that unmanned plane takes off from a place, in the operating mode of another place landing, and then increase the working region scope that unmanned plane work efficiency and unmanned plane can cover.

Description

Unmanned aerial vehicle taking-off and landing method, equipment and system and unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle taking-off and landing method, equipment and system and an unmanned aerial vehicle.

Background

The unmanned plane is an unmanned plane for short, and is an unmanned aerial vehicle operated by utilizing a radio remote control device and a self-contained program control device. Along with the development of unmanned aerial vehicle technique, unmanned aerial vehicle is all carrying out a large amount of operations at plant protection, commodity circulation, electric power patrol line etc. convenience.

In the prior art, most unmanned aerial vehicle take-off and landing platforms are fixed at a certain position. After the unmanned aerial vehicle takes off from the position where the unmanned aerial vehicle takes off and lands, if the unmanned aerial vehicle wants to return to a return journey, the unmanned aerial vehicle still needs to return to the taking off place to finish landing. And in practical application, unmanned aerial vehicle can fly to a work area work far away from the place of taking off usually, if want to return to voyage, just must fly a very long distance and just can return to unmanned aerial vehicle platform of taking off and landing, and it is thus obvious, among the prior art, unmanned aerial vehicle need keep a certain amount of electric quantity when preparing to return to voyage just can guarantee to land to the platform of taking off and landing successfully.

As is well known, most unmanned aerial vehicles's battery capacity electric quantity is limited at present, if return voyage occupies a large amount of electric quantities, must lead to unmanned aerial vehicle work efficiency low, and the work area scope that can cover reduces.

Disclosure of Invention

The embodiment of the invention provides a method, equipment and a system for taking off and landing an unmanned aerial vehicle and the unmanned aerial vehicle, which aim to realize a working mode that the unmanned aerial vehicle takes off from one place and lands on another place, thereby increasing the working efficiency of the unmanned aerial vehicle and the working area range which can be covered by the unmanned aerial vehicle.

Accordingly, in one embodiment of the present invention, a method for taking off and landing an unmanned aerial vehicle is provided. The unmanned aerial vehicle taking-off and landing method comprises the following steps: after receiving landing request information sent by a first unmanned machine, acquiring first position information of a stopped mobile take-off and landing platform; sending the first position information to the first unmanned machine so that the first unmanned machine flies above the mobile take-off and landing platform according to the first position information; the first unmanned machine shoots the mobile lifting platform and completes the landing according to the shot image information.

Optionally, a landing positioning identifier for the first unmanned aerial vehicle to shoot is arranged on the mobile lifting platform, so that the first unmanned aerial vehicle can complete landing according to a landing positioning identifier image shot over the mobile lifting platform.

Optionally, the unmanned aerial vehicle taking-off and landing method further includes outputting a wireless charging signal to the first unmanned aerial vehicle to charge the first unmanned aerial vehicle after the first unmanned aerial vehicle finishes landing.

Optionally, the unmanned aerial vehicle taking off and landing method further includes: after receiving landing request information sent by the first unmanned aerial vehicle, sending a takeoff instruction to a second unmanned aerial vehicle according to the current position of the first unmanned aerial vehicle carried in the landing request information so that the second unmanned aerial vehicle flies to the current position; and sending the first location information to the first drone, including: and after receiving a follow-up signal fed back after the second unmanned aerial vehicle takes off or reaches the current position, sending the first position information to the first unmanned aerial vehicle.

Optionally, the unmanned aerial vehicle taking off and landing method further includes: acquiring the posture information of the first unmanned aerial vehicle in the landing process; judging the first unmanned machine running state according to the attitude information; and if the running state is an abnormal state, outputting warning information.

Optionally, the unmanned aerial vehicle taking off and landing method further includes: after receiving the landing request information sent by the first unmanned machine, sending a stopping instruction to the mobile lifting platform so that the mobile lifting platform executes a stopping action after receiving the stopping instruction or driving to a specified stopping position; and after the first unmanned machine finishes the landing, sending a driving instruction to the mobile lifting platform so that the mobile lifting platform drives to the position indicated by the driving instruction.

In another embodiment of the invention, a method for taking off and landing an unmanned aerial vehicle is provided. The unmanned aerial vehicle taking-off and landing method comprises the following steps: sending landing request information to the unmanned aerial vehicle take-off and landing equipment; receiving first position information sent by unmanned aerial vehicle take-off and landing equipment, wherein the first position information is position information of a stopped mobile take-off and landing platform obtained after the unmanned aerial vehicle take-off and landing equipment receives the landing request information; controlling the mobile take-off and landing platform to fly above the mobile take-off and landing platform according to the first position information; shooting the mobile lifting platform, and finishing the landing according to the shot image information.

Optionally, a landing positioning identifier for shooting by the unmanned aerial vehicle is arranged on the mobile take-off and landing platform; correspondingly, shoot the removal platform of taking off and landing to accomplish the landing according to the image information who shoots, include: shooting a landing positioning identifier on the mobile take-off and landing platform to obtain a first image; according to the first image, flying to the position right above the landing positioning mark and shooting the landing positioning mark on the mobile take-off and landing platform to obtain a second image; determining height information according to the second image; and finishing landing according to the height information.

Optionally, flying to a position right above the landing positioning identifier according to the first image, including: searching a first simulation image matched with the first image from a simulation image library; determining a flight direction and a horizontal flight distance according to the simulated azimuth information and the simulated horizontal distance information corresponding to the first simulated image; and flying to the position right above the landing positioning mark according to the flying direction and the horizontal flying distance.

Optionally, the unmanned aerial vehicle landing method further includes: and after a take-off instruction sent by the take-off and landing equipment of the unmanned aerial vehicle is received, flying to a corresponding position according to third position information carried by the take-off instruction.

Optionally, the sending of the landing request information to the unmanned aerial vehicle take-off and landing device includes: when the fact that the residual electric quantity is smaller than the threshold value is monitored, sending landing request information to the unmanned aerial vehicle take-off and landing equipment; or when the acquired environmental parameters do not meet the flight environment requirements, sending landing request information to the unmanned aerial vehicle take-off and landing equipment.

In another embodiment of the invention, an unmanned aerial vehicle take-off and landing device is provided. This unmanned aerial vehicle take off and land equipment includes: the system comprises a mobile lifting platform, a controller, a communication device and a positioning device arranged on the mobile lifting platform; the communication device is in wireless communication connection with an external unmanned aerial vehicle; the controller is respectively connected with the communication device and the positioning device, so that after the communication device receives landing request information sent by the external unmanned aerial vehicle, the positioning device is instructed to acquire first position information of the stopped mobile take-off and landing platform; and instructing the communication device to send the first location information to the external drone; the mobile take-off and landing platform comprises: the device comprises a movable carrier and at least one lifting position arranged on the movable carrier.

Optionally, a landing positioning identifier for shooting by the external unmanned aerial vehicle is arranged on the landing position; and a wireless charger is arranged on the lifting position.

In another embodiment of the present invention, a drone is provided. This unmanned aerial vehicle includes: the system comprises a flight control unit, a take-off and landing unit, a shooting unit, a wireless charging receiving coil and a battery connected with the wireless charging receiving coil; the take-off and landing unit is used for being connected with external unmanned aerial vehicle take-off and landing equipment, sending landing request information to the external unmanned aerial vehicle take-off and landing equipment, and receiving first position information sent by the external unmanned aerial vehicle take-off and landing equipment, wherein the first position information is position information of a stopped mobile take-off and landing platform obtained after the unmanned aerial vehicle take-off and landing equipment receives the landing request information; the flight control unit is connected with the take-off and landing unit so as to control the mobile take-off and landing platform to fly above according to the first position information; the take-off and landing unit is connected with the shooting unit and used for guiding the flight control unit according to the image information obtained by shooting the mobile take-off and landing platform by the shooting unit so as to enable the flight control unit to control the unmanned aerial vehicle to finish landing.

In another embodiment of the invention, an unmanned aerial vehicle take-off and landing system is provided. This unmanned aerial vehicle system of taking off and land includes: foretell unmanned aerial vehicle take off and land equipment and foretell unmanned aerial vehicle.

According to the technical scheme provided by the embodiment of the invention, the take-off and landing platform providing the take-off and landing functions for the unmanned aerial vehicle is a movable take-off and landing platform, and when the unmanned aerial vehicle needs to land, the position information of the current take-off and landing platform can be acquired, and the landing is completed according to the position information of the current take-off and landing platform. Therefore, the working mode that the unmanned aerial vehicle takes off from one place and lands at another place is realized. Therefore, when the unmanned aerial vehicle takes off to a certain working area to work, the movable take-off and landing platform can move to the position near the working area to wait for the return voyage of the unmanned aerial vehicle, so that the return voyage distance of the unmanned aerial vehicle is greatly reduced, and the working area range which can be covered by the unmanned aerial vehicle and the working efficiency of the unmanned aerial vehicle is increased.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a method for taking off and landing an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a landing positioning mark according to an embodiment of the present invention;

fig. 3 is a schematic flowchart of a method for taking off and landing an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 4a is a schematic structural diagram of an unmanned aerial vehicle take-off and landing device according to an embodiment of the present invention;

fig. 4b is a block diagram of a structure of a takeoff and landing device of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a first direction view of a mobile carrier according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a second direction view of a mobile carrier according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a third directional view of a mobile carrier according to an embodiment of the present invention;

fig. 8 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a first direction view of an unmanned aerial vehicle take-off and landing system according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a second direction view of the unmanned aerial vehicle take-off and landing system according to an embodiment of the present invention;

fig. 11 is a block diagram of a takeoff and landing system of an unmanned aerial vehicle according to an embodiment of the present invention;

fig. 12 is a flowchart of a take-off and landing system of an unmanned aerial vehicle according to an embodiment of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. 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 invention.

Fig. 1 is a schematic flow chart of a method for taking off and landing an unmanned aerial vehicle according to an embodiment of the present invention. The unmanned aerial vehicle taking-off and landing method is applied to an unmanned aerial vehicle taking-off and landing equipment side. As shown in fig. 1, the method includes:

s1001, after receiving landing request information sent by a first unmanned machine, obtaining first position information of the stopped mobile take-off and landing platform.

S1002, sending the first position information to the first unmanned machine so that the first unmanned machine flies above the mobile take-off and landing platform according to the first position information; the first unmanned machine shoots the mobile lifting platform and completes the landing according to the shot image information.

In practical application, when the unmanned aerial vehicle receives the execution task, the unmanned aerial vehicle needs to be separated from the mobile take-off and landing platform and take off to a designated working area to execute the task. In the process of executing the task, once the electric quantity of the unmanned aerial vehicle is too low, the unmanned aerial vehicle breaks down or encounters severe environments such as rainstorm, the unmanned aerial vehicle needs to return to the mobile take-off and landing platform for charging, maintenance or refuge. When the unmanned aerial vehicle is going to return to the navigation, the landing request information can be sent to the unmanned aerial vehicle taking-off and landing equipment. Wherein, unmanned aerial vehicle take off and land equipment is including removing take off and land platform and controller.

In step S1001, if the mobile landing platform is in a stopped state when the unmanned aerial vehicle landing and taking-off device receives the landing request information sent by the first unmanned aerial vehicle, the current location information of the mobile landing and taking-off platform, that is, the first location information, may be directly obtained. If the unmanned aerial vehicle take-off and landing equipment receives landing request information sent by the first unmanned aerial vehicle, the mobile take-off and landing platform is in a mobile state, and the mobile take-off and landing platform can be controlled to stop. The mobile take-off and landing platform can be a vehicle-mounted mobile take-off and landing platform (namely, the take-off and landing platform is arranged on a vehicle) or a ship-mounted mobile take-off and landing platform (namely, the take-off and landing platform is arranged on a ship). The crew can manually control the docking operation of the vehicle or ship within the cockpit of the vehicle or ship. For example: when the unmanned aerial vehicle take-off and landing equipment receives landing request information sent by the first unmanned aerial vehicle, the unmanned aerial vehicle take-off and landing equipment sends out an alarm sound to inform workers in a cockpit to execute parking operation, and the workers move the mobile take-off and landing platform to a proper position to execute parking.

It should be noted that, if the mobile landing platform is also unmanned, the parking may be performed as follows: after receiving the landing request information sent by the first unmanned machine, sending a stopping instruction to the mobile lifting platform so that the mobile lifting platform executes a stopping action after receiving the stopping instruction or driving to a specified stopping position; and after the first unmanned machine finishes the landing, sending a driving instruction to the mobile lifting platform so that the mobile lifting platform drives to the position indicated by the driving instruction.

For example: and when the mobile lifting platform is a shipborne mobile lifting platform, the mobile lifting platform directly executes the stopping action after receiving the stopping command. When the mobile lifting platform is a vehicle-mounted mobile lifting platform and runs on an expressway, the mobile lifting platform needs to run nearby to a position where vehicles can be parked. Therefore, the stop command may include position information that enables a nearby vehicle to stop, that is, the specified stop position. The specified stop position can be obtained according to the GPS navigation information, so that the mobile take-off and landing platform can drive to the specified stop position according to the stop instruction.

And after the mobile lifting platform stops running, acquiring the position information of the stopped mobile lifting platform, namely the first position information.

In the step S1002, the acquired first position information is sent to the first unmanned machine. After receiving the first position information, the first unmanned machine flies above the mobile take-off and landing platform according to the first position information so as to enable the mobile take-off and landing platform to be within a first unmanned machine shooting range. After the first unmanned aerial vehicle flies to the position right above the mobile take-off and landing platform, the mobile take-off and landing platform can be continuously shot through shooting. And finishing landing according to the shot image information.

Generally, the mobile platform has a specific shape and structure, and the shape of the mobile platform is different from that of an image captured obliquely upward in an image captured directly above the mobile platform. Based on the above, whether the unmanned aerial vehicle is positioned right above the moving take-off and landing platform can be judged according to the shape of the moving take-off and landing platform in the shot image information, if not, the unmanned aerial vehicle moves once towards the position right above the moving take-off and landing platform, and the shooting, the judging, the moving and the like are repeated until the shot image shows that the unmanned aerial vehicle is positioned right above the moving take-off and landing platform. After unmanned aerial vehicle is located directly over the removal platform, according to the size information that is located the removal platform of taking off and landing in the image of shooting directly over, remove the actual dimension information and the camera focus of taking off and landing platform and can confirm out the vertical distance that unmanned aerial vehicle apart from removing the platform of taking off and landing, can accomplish the descending according to this vertical distance. For example: the shape of the moving lifting platform is circular, the shape obtained by shooting above the moving lifting platform in an oblique direction is oval, the shape obtained by shooting above the moving lifting platform in an oblique direction is circular, if the image obtained by shooting is oval, the unmanned aerial vehicle can be judged to be located above the moving lifting platform in the oblique direction, if the image obtained by shooting is circular, the unmanned aerial vehicle can be judged to be located above the moving lifting platform in the oblique direction, and then the vertical distance H can be determined according to the diameter X of the circle in the image, the actual diameter X of the moving lifting platform and the camera focal length f (a calculation formula: H is Xf/X).

Because in practical application, the shape structure of the mobile take-off and landing platform is complicated and different, the shape of the mobile take-off and landing platform in the image information is analyzed to reversely push the azimuth relationship between the first unmanned aerial vehicle and the mobile take-off and landing platform, the difficulty of an image recognition algorithm is undoubtedly increased, the accuracy of an image recognition result is reduced, and the accurate landing of the unmanned aerial vehicle is difficult to realize. In order to solve the problem, another embodiment of the present invention provides that a landing positioning mark for the first unmanned shooting is provided on the mobile landing platform. Specifically, the mobile lifting platform is provided with a landing positioning identifier for shooting by the first unmanned machine, so that the first unmanned machine can complete landing according to a landing positioning identifier image shot over the mobile lifting platform.

The landing positioning mark is simpler in shape and structure than the movable take-off and landing platform, and can be preset according to actual needs. The difficulty of an image recognition algorithm is reduced, and the landing accuracy of the unmanned aerial vehicle is improved.

Further, the landing positioning mark 2 mentioned in the above embodiment is formed by arranging a plurality of warning lamps according to a set pattern; or the landing positioning mark is formed by laying fluorescent strips according to a set pattern. In one implementation, as shown in fig. 2, the setting the pattern includes: a circular pattern 21 and a pattern of two intersecting straight lines 22 in the circular pattern 21 and passing through the center of the circular pattern 21. Further, the two intersecting straight lines 22 in the above-described setting pattern may be arranged vertically for the convenience of calculation of image recognition.

The pattern of circular and cross straight line is so adopted to this embodiment because unmanned aerial vehicle when shooting in different positions, the image that the circular pattern was clapped is different ellipses, can push back the specific position directly over the landing location sign based on the ellipse, and the ellipse of other shapes process of pushing back is comparatively simple. After the unmanned aerial vehicle arrives directly over the landing positioning identification, the height of the unmanned aerial vehicle from the landing position is calculated by comparing the difference between the shot circular size and the actual circular size and the difference between the shot cross straight line size and the actual straight line size.

It should be noted that the size information and the shape information of the preset landing positioning identifier may be pre-stored in the storage device of the first unmanned aerial vehicle, or the size information and the shape information of the preset landing positioning identifier are carried in the first position information sent by the take-off and landing device of the unmanned aerial vehicle.

If the first unmanned machine finishing the landing is for charging and landing, outputting a wireless charging signal to the first unmanned machine to charge the first unmanned machine after the first unmanned machine finishes the landing. If the first unmanned machine which finishes descending falls due to failure, alarm information can be sent to the working personnel so that the working personnel can timely overhaul the first unmanned machine.

It should be added that: one of the following methods may be used to determine whether the first drone completed a landing:

the method comprises the steps of firstly, emitting laser; and judging whether the first unmanned machine finishes landing according to the time difference between the laser emission time point and the laser corresponding reflection laser receiving time point.

Specifically, a laser emitting device and a laser receiving device are arranged on the mobile lifting platform, the laser emitting device emits laser, the laser receiving device receives reflected laser, the reflected laser is the laser emitted by the laser emitting device and reflected by the first unmanned machine, and whether the first unmanned machine finishes lifting or not is judged according to the time difference between the emitting time point of the laser and the receiving time point of the reflected laser. Generally, the time difference is a certain value if the unmanned aerial vehicle completes landing. In specific implementation, after first position information is sent to a first unmanned machine, laser is emitted into the air at intervals of a first preset time interval, if the time difference between the emission time point and the receiving time point is equal to or smaller than the preset time difference, it is judged that the first unmanned machine has finished landing, and meanwhile, laser emission is stopped.

Acquiring pressure sensing data; and judging whether the first unmanned machine finishes landing according to the pressure sensing data.

Specifically, a pressure sensor is arranged on the mobile take-off and landing platform, and pressure sensing data are acquired at intervals of a second preset time after first position information is sent to a first unmanned machine; and judging whether the unmanned aerial vehicle finishes landing according to the pressure sensing data. After the first unmanned machine finishes landing, the pressure sensor on the movable lifting platform is pressed by the first unmanned machine, so that the pressure sensor collects data, and whether the first unmanned machine finishes landing or not can be judged according to the size of the data. During specific implementation, a plurality of pressure sensors can be uniformly distributed on the movable lifting platform so as to measure pressure data, and preferably, the pressure sensors can be arranged at the contact positions of the movable lifting platform and the first unmanned foot rest.

In order to avoid suspension of the task of the first unmanned aerial vehicle due to return voyage, in this embodiment, the second unmanned aerial vehicle is used to take over for the first unmanned aerial vehicle, so as to realize the working docking of the first unmanned aerial vehicle and the second unmanned aerial vehicle. The method can be realized in the following specific way: after receiving landing request information sent by the first unmanned aerial vehicle, sending a takeoff instruction to a second unmanned aerial vehicle according to the current position of the first unmanned aerial vehicle carried in the landing request information so that the second unmanned aerial vehicle flies to the current position; and sending the first location information to the first drone, including: and after receiving a follow-up signal fed back after the second unmanned aerial vehicle takes off or reaches the current position, sending the first position information to the first unmanned aerial vehicle.

In this implementation, the second unmanned aerial vehicle takes off the back or takes off and land the equipment feedback and take over the signal to unmanned aerial vehicle after arriving first unmanned aerial vehicle position, and unmanned aerial vehicle takes off and land the equipment and receives after taking over the signal, again to first unmanned aerial vehicle sends first position information so that first unmanned aerial vehicle is rewound. It can be seen that the second unmanned aerial vehicle takes off first, and after taking off, the first unmanned aerial vehicle can return to the journey. Preferably, can feed back when second unmanned aerial vehicle reachs first unmanned aerial vehicle position and take over the signal, like this, can ensure the seamless butt joint of first unmanned aerial vehicle and second unmanned aerial vehicle's work, effectively improved unmanned aerial vehicle work efficiency.

In practical application, whether the running state of the unmanned aerial vehicle is abnormal or not can be judged according to the landing posture of the unmanned aerial vehicle in the landing process. In one implementation, the first unmanned attitude information is obtained during the landing process; judging the first unmanned machine running state according to the attitude information; and if the running state is an abnormal state, outputting warning information. For example: according to the attitude information, whether the swing and fluctuation amplitude of the first unmanned aerial vehicle exceeds a preset threshold value or not in the landing process can be judged, if the swing and fluctuation amplitude exceeds the preset threshold value, the operation state of the unmanned aerial vehicle is an abnormal state, and warning information can be output so that relevant maintenance personnel can perform detection and maintenance in time.

Furthermore, each lifting position is correspondingly provided with a lifting cabin, each lifting cabin is correspondingly provided with a cabin door, and when the unmanned plane takes off, the cabin doors are opened; when the unmanned aerial vehicle flies away from the mobile take-off and landing platform, the cabin door is closed; when the unmanned plane needs to return to a voyage, opening the cabin door; after the unmanned aerial vehicle descends, the cabin door is closed. Specifically, a door opening instruction is sent to a cabin door on the mobile lifting platform while first position information is sent to the first unmanned machine, so that the cabin door is opened. After the first unmanned machine finishes landing, a door closing command is sent to a cabin door so that the cabin door is closed. When meetting abominable environmental climate, unmanned aerial vehicle gets into the cabin of taking off and landing to close the hatch door, can effectively avoid abominable climate to unmanned aerial vehicle's destruction.

Fig. 3 is another schematic flow chart of a method for taking off and landing an unmanned aerial vehicle according to an embodiment of the present invention. The unmanned aerial vehicle taking-off and landing method is applied to the unmanned aerial vehicle side. As shown in fig. 3, the method includes:

and S2001, sending landing request information to the unmanned aerial vehicle take-off and landing equipment.

And S2002, receiving first position information sent by the unmanned aerial vehicle taking-off and landing equipment, wherein the first position information is the position information of the stopped mobile taking-off and landing platform, which is obtained after the unmanned aerial vehicle taking-off and landing equipment receives the landing request information.

And S2003, controlling the unmanned aerial vehicle to fly above the mobile take-off and landing platform according to the first position information returned by the unmanned aerial vehicle take-off and landing equipment.

And S2004, shooting the mobile lifting platform, and finishing the landing according to the shot image information.

When unmanned aerial vehicle is at the in-process of carrying out the task, machine trouble appears, need charge or when meetting adverse circumstances, can send descending request information to unmanned aerial vehicle take off and land equipment, unmanned aerial vehicle descending equipment acquires the positional information of the removal platform that takes off and land after stopping.

After the unmanned aerial vehicle take-off and landing equipment receives the landing request information sent by the unmanned aerial vehicle, the step of obtaining the position information (i.e., the first position information) of the stopped mobile take-off and landing platform can refer to the corresponding content in the above embodiments, and is not described here again.

In the above steps S2002 and S2003, after receiving the first position information returned by the takeoff and landing equipment of the unmanned aerial vehicle, the unmanned aerial vehicle flies above the mobile takeoff and landing platform according to the first position information, so that the mobile takeoff and landing platform is within the shooting range of the mobile takeoff and landing platform.

In step S2004, the mobile lifting platform generally has a specific shape and structure. The step of completing the landing according to the image obtained by shooting the mobile lifting platform can be referred to the above corresponding contents, and is not described herein again.

Further, can set up the confession on removing the platform of taking off and land the descending location sign of first unmanned aerial vehicle shooting usefulness reduces the image recognition algorithm degree of difficulty, improves the degree of accuracy of image recognition result to realize unmanned aerial vehicle's accurate descending. Specifically, be provided with the confession on the platform of removing take-off and landing the descending location sign that the unmanned aerial vehicle was shot and was used. The setting of the landing positioning identification pattern can refer to the corresponding content in the above embodiments, and is not described herein again.

In one implementation, the method for shooting the mobile lifting platform and completing the landing according to the shot image information includes: shooting a landing positioning identifier on the mobile take-off and landing platform to obtain a first image; according to the first image, flying to the position right above the landing positioning mark and shooting the landing positioning mark on the mobile take-off and landing platform to obtain a second image; determining height information according to the second image; and finishing landing according to the height information.

Adopt the image recognition algorithm to carry out image recognition to the landing location sign in the first image, can confirm out the horizontal distance of unmanned aerial vehicle distance landing location sign according to the picture recognition result, according to horizontal distance flies to the landing location sign directly over, works as when unmanned aerial vehicle flies to the landing location sign directly over, can shoot landing location sign on the removal take off and land platform is in order to obtain the second image, can determine the difference in height of current unmanned aerial vehicle and removal take off and land platform according to the size of landing location sign in the second image like this, height information promptly.

It should be explained that, at unmanned aerial vehicle flight extremely the in-process directly over the landing location sign, the landing location sign need be shot in succession to the camera on the unmanned aerial vehicle, just carry out image recognition once more based on the first image of the landing location sign of shooting after the adjustment after every adjustment primary position of unmanned aerial vehicle to constantly adjust unmanned aerial vehicle's position, make unmanned aerial vehicle finally arrive directly over the landing location sign. In addition, if descending location sign is arranged according to setting for the pattern by a plurality of warning lights and forms, then fly extremely at unmanned aerial vehicle remove the top of taking off and landing platform after, unmanned aerial vehicle carries out the data interaction with the unmanned aerial vehicle equipment that takes off and land on ground to make the controller in the unmanned aerial vehicle equipment that takes off and land will remove the warning light on the platform that takes off and land and light.

After the height information is determined, the unmanned aerial vehicle can land in a mode of firstly accelerating and then decelerating and descending. For example: when the distance removes the platform of taking off and land near, can slow down to lower speed descends extremely remove the platform of taking off and land, not only can reduce the descending time like this, also can effectively reduce unmanned aerial vehicle and remove the impact force when descending the platform contact.

Further, according to the first image, flying to a position right above the landing positioning mark comprises: searching a first simulation image matched with the first image from a simulation image library; determining a flight direction and a horizontal flight distance according to the simulated azimuth information and the simulated horizontal distance information corresponding to the first simulated image; and flying to the position right above the landing positioning mark according to the flying direction and the horizontal flying distance.

The simulation image library stores a large number of simulation images, each simulation image is an image obtained by shooting the mobile take-off and landing platform at different horizontal positions, different height positions and different directions through an algorithm simulation unmanned aerial vehicle, and simulation horizontal position information, simulation height information and simulation direction information corresponding to each simulation image are stored in a related mode when each simulation image is stored in the simulation image library. Because the images shot at different horizontal positions, different height positions and different orientations are different, the matching of the first image and the first analog image indicates that the shooting position of the first image is the same as the analog shooting position of the first analog image, so the analog horizontal position information and the analog orientation information associated with the first analog image are the horizontal position information and the orientation information of the unmanned aerial vehicle when shooting the first image. The horizontal position information is the horizontal distance between the unmanned aerial vehicle and the landing positioning identification, and the azimuth information is the direction position of the unmanned aerial vehicle located on the landing positioning identification. For example: the azimuth information is the southeast direction, indicates that unmanned aerial vehicle is located the southeast of descending location sign upwards promptly. After the horizontal position information and the azimuth information of the unmanned aerial vehicle when the unmanned aerial vehicle shoots the first image are obtained, the flight direction and the horizontal flight distance can be determined. For example: the azimuth information is 30 degrees to the north of the east, and the flight direction is 30 degrees to the south of the west; the horizontal position information is 1km, and the horizontal flight distance is 1 km.

For example: when the image of the landing positioning mark comprises two crossed straight line patterns which are in the circular pattern and pass through the circle center of the circular pattern, the first simulated image matched with the first image can be found out by comparing the shape corresponding to the circular pattern in the first image and the simulated image in the simulated image library, the direction of each straight line in the two crossed straight lines and the included angle between the two straight lines, and the process of matching the first simulated image is also the process of image recognition.

In an implementation method, determining the height information according to the second image may specifically be implemented as follows: obtaining an image size x of a first line in a second image₁And the actual size X₁(ii) a Obtaining a camera focal length f₁(ii) a According to the image size x₁Actual size X₁And camera focal length f₁Ensure thatHeight-fixed information h₁. Wherein h is₁The calculation formula of (2) is as follows: h is₁＝X₁f₁/x₁. It should be noted that the image size is the size of the first line in the second image, and the actual size is the size of the first line on the actual object. For example: when the pattern of the landing positioning mark comprises a circular pattern and two crossed straight line patterns which are positioned in the circular pattern and pass through the center of the circular pattern, the first line can be selected as one of the two crossed straight lines.

It should be noted that, in order to avoid the influence on the image recognition result due to the change of the attitude of the unmanned aerial vehicle, the attitude of the unmanned aerial vehicle can be ensured to be consistent when shooting each time through a gyroscope installed inside the unmanned aerial vehicle in the continuous shooting process. Specifically, at each time of preparation for shooting, gyroscope data is acquired; calculating the attitude angle of the unmanned aerial vehicle according to the gyroscope data; and adjusting the posture to a preset posture according to the posture angle. The preset posture comprises a preset posture angle, and the preset posture angle can be preset. Through carrying out image recognition to the image of the landing positioning identification obtained by shooting, accurate landing can be realized, and the degree of automation is improved.

In practical application, when the unmanned aerial vehicle take-off and landing equipment receives work instruction information or receives landing request information of an external unmanned aerial vehicle, the unmanned aerial vehicle on the mobile take-off and landing platform of the unmanned aerial vehicle take-off and landing equipment needs to be assigned to work in a designated work area or take over other unmanned aerial vehicles. The method can be realized in the following way: and after a take-off instruction sent by the take-off and landing equipment of the unmanned aerial vehicle is received, flying to a corresponding position according to third position information carried by the take-off instruction. The takeoff instruction can be generated according to the work instruction information, the work instruction information carries the position information of the designated work area, namely, the third position information, or the takeoff instruction is generated according to the landing request information sent by other unmanned aerial vehicles, and the landing request information carries the position information of the other unmanned aerial vehicles, namely, the third position information.

Generally, unmanned aerial vehicles need to return to the home when the electric quantity is not sufficient or meets adverse circumstances. The aforesaid sends descending request information to unmanned aerial vehicle take off and land equipment, includes: when the fact that the residual electric quantity is smaller than the threshold value is monitored, sending landing request information to the unmanned aerial vehicle take-off and landing equipment; or when the acquired environmental parameters do not meet the flight environment requirements, sending landing request information to the unmanned aerial vehicle take-off and landing equipment. The threshold and the environmental parameter may be set according to actual needs, and the present invention is not limited thereto. Through detecting the residual electric quantity or detecting the surrounding environment parameters of the unmanned aerial vehicle, the unmanned aerial vehicle can be effectively guaranteed to smoothly return to the home or avoid the damage of the unmanned aerial vehicle to the severe environment.

Fig. 4a is a schematic structural diagram of an unmanned aerial vehicle take-off and landing device according to an embodiment of the present invention; fig. 4b is a block diagram of an unmanned aerial vehicle take-off and landing device according to an embodiment of the present invention. This unmanned aerial vehicle take off and land equipment includes: the system comprises a mobile lifting platform 5, a controller 3, a communication device 7 and a positioning device 8 arranged on the mobile lifting platform; the communication device 7 is in wireless communication connection with an external unmanned aerial vehicle; the controller 3 is respectively connected with the communication device 7 and the positioning device 8, so that after the communication device 7 receives landing request information sent by the external unmanned aerial vehicle, the positioning device 8 is instructed to acquire first position information of the mobile take-off and landing platform 5 after the unmanned aerial vehicle stops running; and instruct the communication device 7 to send the first location information to the external drone; as shown in fig. 5, the mobile landing platform 5 includes: a movable carrier 55 and at least one lifting position arranged on the movable carrier 55. The mobile carrier 55 may be a vehicle (shown in fig. 5 as a vehicle) or a ship, and the present invention is not limited thereto.

It should be added here that, in this embodiment, the unmanned aerial vehicle taking-off and landing device may be implemented by using the technical solution provided in the above embodiment, and specific implementation methods and working principles may refer to relevant contents in the above embodiment, which are not described herein again.

Further, as shown in fig. 4a, a landing positioning mark 2 for shooting by the unmanned aerial vehicle is arranged on the landing position. The specific setting of the landing positioning identifier 2 can refer to the corresponding content in the above embodiments, and is not described herein again. The embodiment of the invention can realize accurate landing by means of the landing positioning identifier. The existing landing mode often depends on optical flow and GPS navigation, and the landing is not very accurate due to large error, so that the unmanned aerial vehicle is damaged to a certain extent.

In a realisable solution, a wireless charger 1 is provided on the lifting position. After the first unmanned machine lands on the mobile take-off and landing platform 5, the wireless charger detects a wireless charging coil on the first unmanned machine and starts to charge the first unmanned machine. The wireless charger 1 and the controller 3 in the above embodiments may be connected through a connection line to implement wired connection, and may also implement wireless connection through a wireless communication module, which is not specifically limited in this embodiment. Ordinary platform that rises and falls only supports unmanned aerial vehicle and rises and falls, and the function is too single, can not play more help to unmanned aerial vehicle, can't satisfy the big batch of unmanned aerial vehicle trade in future, the use of high strength. And the current technique is through quick replacement battery solution aircraft time problem and distance problem, but frequently change the battery and can bring the interrupt of work to ordinary take off and land platform mobility is not enough, still needs the manual work to intervene when descending unmanned aerial vehicle and just can ensure that unmanned aerial vehicle descends accurately, and degree of automation is low.

In addition, the unmanned aerial vehicle take-off and landing equipment provided by the embodiment of the invention can support the simultaneous take-off and landing and/or charging of multiple unmanned aerial vehicles by arranging the plurality of take-off and landing positions, and can meet the requirement of the alternate work of the multiple unmanned aerial vehicles, so that the problems of short time and limited flight range of the unmanned aerial vehicle plane are solved, and the simultaneous work of the multiple unmanned aerial vehicles can be realized.

As shown in fig. 4a, the unmanned aerial vehicle take-off and landing device provided in the above embodiment may further include: a charging management device 4; the charging management device 4 is connected to the wireless charger 1 and is configured to provide a required operating voltage to the wireless charger 1. The controller 3 and the charging management device 4 are both arranged on the mobile lifting platform 5. In specific implementation, the charging management device 4 is connected with the wireless charger 1 in a wired manner, and is used for supplying the required working voltage to the wireless charger after the voltage reduction, rectification, filtering and other processing of the mains supply. The controller 3 and the charging management device 4 may be connected by wire or wirelessly. The controller 3 sends the start instruction to the charging management device 4 after the unmanned aerial vehicle lands at the take-off and landing position, so that the charging management device 4 supplies power to the wireless charger 1.

As shown in fig. 4a, two lifting positions are arranged on the mobile lifting platform 5 side by side, and the controller 3 and the charging management device 4 are both arranged between the two lifting positions. Further, the controller 3 and the charging management device 4 are respectively located at the edges of two opposite sides of the moving platform 5. In this embodiment, only two lifting positions are listed, and in practical applications, the lifting positions on the lifting platform may be one, three, four or more.

Further, as shown in fig. 6 and 7, each landing position is correspondingly provided with a landing cabin, each landing cabin is correspondingly provided with a cabin door 31, and the controller 3 is connected with each cabin door in a wired or wireless manner to control the opening and closing of each cabin door 31. When the unmanned plane takes off, the cabin door is opened; when the unmanned aerial vehicle flies away from the mobile take-off and landing platform, the cabin door is closed; when the unmanned plane needs to return to a voyage, opening the cabin door; after the unmanned aerial vehicle descends, the cabin door is closed. Specifically, when sending first position information to unmanned aerial vehicle, send the instruction of opening the door to the hatch door that removes on the platform of taking off and landing to make the hatch door open. After the unmanned aerial vehicle finishes landing, a door closing instruction is sent to a cabin door, so that the cabin door is closed. When meetting abominable environmental climate, unmanned aerial vehicle gets into the cabin of taking off and landing to close the hatch door, can effectively avoid abominable climate to unmanned aerial vehicle's destruction.

Further, the unmanned aerial vehicle take-off and landing equipment can further comprise: the detection device for detecting whether the lifting position is idle is respectively connected with the wireless charger 1 at least one lifting position; the controller 3 is connected with the detection device. After the detection device detects that there is a position to rise and fall, the controller 3 instructs the communication device 7 to send the first position information to the external unmanned aerial vehicle. Like this, remove take-off and landing platform and can provide charging for many unmanned aerial vehicles.

In an implementation scheme, the detection device is connected with the wireless charger 1, and whether the lifting position of the wireless charger is in an idle state is judged by detecting whether the wireless charger is in an operating state.

The wireless charger is characterized in that whether the lifting position of the wireless charger is in an idle state or not is judged by detecting whether the wireless charger is in a working state or not, a laser emitting device and a laser receiving device can be further arranged on the lifting position, the laser emitting device emits laser, the laser receiving device receives reflected laser, the reflected laser is laser emitted by the laser emitting device and reflected by an obstacle, the detecting device is respectively connected with the laser emitting device and the laser receiving device, and whether the lifting position is in the idle state or not is judged according to the time difference between the laser emitting time and the receiving time of the reflected laser. For example: setting a time threshold, and judging that the lifting position is in a vacant state if the time difference is greater than the time threshold; and if the time difference is less than or equal to the time threshold, judging that the start-falling position is not in the idle state. The working principle is as follows: when the unmanned aerial vehicle lands on the landing position, laser emitted by the laser emitting device can strike the unmanned aerial vehicle, and therefore the laser can be reflected back quickly, and the time difference is very short; when not having unmanned aerial vehicle on the rising and falling position, the laser that laser emission device sent can be launched to aloft to just can be reflected back or even can not receive the reflection laser for a long time, so above-mentioned time difference can be very long.

Fig. 8 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention. This unmanned aerial vehicle includes: flight control means 101, take-off and landing means 102, and imaging means 103; the take-off and landing unit 102 is used for being connected with external unmanned aerial vehicle take-off and landing equipment and sending landing request information to the external unmanned aerial vehicle take-off and landing equipment so that the external unmanned aerial vehicle take-off and landing equipment can acquire and feed back first position information of the stopped mobile take-off and landing platform; the flight control unit 101 is connected with the take-off and landing unit 102, so as to fly above the mobile take-off and landing platform according to the first position information received by the take-off and landing unit 102; the take-off and landing unit 102 is connected to the shooting unit 103, and is configured to guide the flight control unit 101 according to image information obtained by shooting the mobile take-off and landing platform by the shooting unit 103, so that the flight control unit 101 controls the unmanned aerial vehicle to complete landing.

It should be added here that, in this embodiment, the unmanned aerial vehicle may be implemented by using the technical solution provided in the above embodiment, and specific implementation methods and working principles may refer to relevant contents in the above embodiment, which are not described herein again.

The flight control unit and the take-off and landing unit can be hardware entities installed on the unmanned aerial vehicle, such as a flight control chip, a take-off and landing chip and the like; or the flight control unit and the take-off and landing unit are virtual modules, namely functional software installed on the unmanned aerial vehicle; the shooting unit is a hardware entity installed on the unmanned aerial vehicle. The present invention is not particularly limited in this regard. For example: the shooting unit can be a pan-tilt camera installed below the unmanned aerial vehicle.

Further, the unmanned aerial vehicle further includes: the wireless charging receiver coil and with the battery that wireless charging receiver coil is connected. Unmanned aerial vehicle descends behind the position of taking off and land, and wireless charger 1 and the wireless receiving coil that charges of the position of taking off and land are corresponding.

Fig. 9 and fig. 10 are schematic structural diagrams of a take-off and landing system of an unmanned aerial vehicle according to an embodiment of the present invention. This unmanned aerial vehicle system of taking off and land includes foretell unmanned aerial vehicle take off and land equipment and foretell unmanned aerial vehicle.

Wherein, as shown in fig. 4, unmanned aerial vehicle take off and land equipment includes: the system comprises a mobile lifting platform 5, a controller 3, a communication device 7 and a positioning device 8 arranged on the mobile lifting platform; the communication device 7 is in wireless communication connection with an external unmanned aerial vehicle; the controller 3 is respectively connected with the communication device 7 and the positioning device 8, so that after the communication device 7 receives landing request information sent by the unmanned aerial vehicle, the positioning device 8 is instructed to acquire first position information of the stopped mobile take-off and landing platform 5; and instruct the communication device 7 to send the first location information to the external drone; as shown in fig. 5, the mobile landing platform 5 includes: a movable carrier 55 and at least one lifting position arranged on the movable carrier 55.

As shown in fig. 8, the drone 10 includes: the system comprises a flight control unit 101, a take-off and landing unit 102, an imaging unit 103, a wireless charging receiving coil and a battery connected with the wireless charging receiving coil; the take-off and landing unit 102 is configured to be connected to an external unmanned aerial vehicle take-off and landing device, send landing request information to the unmanned aerial vehicle take-off and landing device, and receive first position information sent by the external unmanned aerial vehicle take-off and landing device, where the first position information is position information of a stopped mobile take-off and landing platform obtained by the unmanned aerial vehicle take-off and landing device after receiving the landing request information; the flight control unit 101 is connected with the take-off and landing unit 102 so as to control the mobile take-off and landing platform to fly above according to the first position information; the take-off and landing unit 102 is connected to the shooting unit 103, and is configured to guide the flight control unit 101 according to image information obtained by shooting the mobile take-off and landing platform by the shooting unit 103, so that the flight control unit 101 controls the unmanned aerial vehicle to complete landing.

Further, when there is wireless charger on the rising and falling position, unmanned aerial vehicle descends behind the rising and falling position, and wireless charger 1 and the wireless receiving coil that charges of rising and falling position are corresponding.

It should be added here that, in this embodiment, the unmanned aerial vehicle take-off and landing device and the unmanned aerial vehicle may be implemented by using the technical solutions provided in the above embodiments, and specific implementation structures and working principles may refer to relevant contents in the above embodiments, which are not described herein again.

In one implementation, as shown in fig. 11, the drone take-off and landing system includes a drone take-off and landing device, drone a and drone B; wherein, be provided with wireless charger A and the wireless charger B who is connected with the management device that charges respectively on the unmanned aerial vehicle take off and land equipment. Unmanned aerial vehicle take-off and landing equipment, unmanned aerial vehicle A and unmanned aerial vehicle B all can adopt the technical scheme that provides in the above-mentioned embodiment to realize, and corresponding content in the above-mentioned embodiment can be referred to specific implementation structure and theory of operation, and it is no longer repeated here. Fig. 12 shows a work flow chart of the unmanned aerial vehicle take-off and landing system. The specific process is as follows:

s1: the unmanned aerial vehicle take-off and landing equipment receives a task instruction given by an external worker or a master controller.

S2: the unmanned aerial vehicle take-off and landing equipment sends a first flying instruction to the unmanned aerial vehicle A so that the unmanned aerial vehicle A flies to a designated area to work.

S3: and the unmanned aerial vehicle A monitors the residual capacity or acquires environmental parameters during the flight work.

S4: and if the unmanned aerial vehicle A monitors that the residual electric quantity is smaller than a preset threshold value or the environmental parameters do not meet the requirement of the flight environment, sending a landing request to the unmanned aerial vehicle take-off and landing equipment.

S5: after receiving the landing request information sent by the unmanned aerial vehicle A, the unmanned aerial vehicle taking-off and landing equipment stops running and acquires the position information of the mobile taking-off and landing platform after the mobile taking-off and landing platform stops running, namely the first position information.

S6: and the unmanned aerial vehicle take-off and landing equipment sends a second take-off instruction to the unmanned aerial vehicle B.

S7: and the unmanned aerial vehicle B sends a take-over signal to the unmanned aerial vehicle take-off and landing equipment.

S8: the unmanned aerial vehicle take-off and landing equipment sends first position information to the unmanned aerial vehicle A.

S9: unmanned aerial vehicle A flies to the top of removing the platform of taking off and landing to shoot, accomplish the descending according to the image information who shoots.

S10: unmanned aerial vehicle take off and land equipment exports wireless charging signal to unmanned aerial vehicle A.

Here, it should be noted that: the above step S9 is a process repeated a plurality of times. The landing location sign is shot in succession at the in-process that unmanned aerial vehicle A removed promptly to camera unit A, and take off and land unit A just carries out image recognition once based on the image of the landing location sign of shooting after the adjustment after unmanned aerial vehicle A adjusts the position once to in flight control unit A constantly adjusts unmanned aerial vehicle A's position, make unmanned aerial vehicle A arrive directly over the landing location sign.

What need supplement here is, among the technical scheme that this embodiment provided, adopt the principle that the landing location sign guides unmanned aerial vehicle take off and land as follows:

the drone take-off and landing unit is capable of obtaining the size and shape of the landing locator (e.g., from the memory of the drone or from a controller on the take-off and landing platform, etc.). It is assumed that the landing orientation is identified as the shape shown in FIG. 2, byExcircle of type, pictures shot by unmanned aerial vehicles of different heightsAre different ellipses and can reversely deduce the specific displacement right above the falling positioning mark. When unmanned aerial vehicle reachd directly over the LED warning light, the unit of taking off and land can reachd the altitude data of unmanned aerial vehicle for the idle parking stall according to excircle size and the straight line length in the shooting picture to realize accurate descending.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. An unmanned aerial vehicle take-off and landing method is characterized by comprising the following steps:

after receiving landing request information sent by a first unmanned machine, acquiring first position information of a stopped mobile take-off and landing platform;

sending the first position information to the first unmanned machine so that the first unmanned machine flies above the mobile take-off and landing platform according to the first position information; the first unmanned machine shoots the mobile lifting platform and completes the landing according to the shot image information.

2. The method according to claim 1, wherein a landing location identifier for the first unmanned aerial vehicle is provided on the mobile landing platform, so that the first unmanned aerial vehicle can complete a landing according to the image of the landing location identifier captured over the mobile landing platform.

3. The method of claim 1, further comprising:

and after the first unmanned machine finishes falling, outputting a wireless charging signal to the first unmanned machine so as to charge the first unmanned machine.

4. The method of claim 1, further comprising: after receiving landing request information sent by the first unmanned aerial vehicle, sending a takeoff instruction to a second unmanned aerial vehicle according to the current position of the first unmanned aerial vehicle carried in the landing request information so that the second unmanned aerial vehicle flies to the current position; and the number of the first and second groups,

sending the first location information to the first drone, including:

and after receiving a follow-up signal fed back after the second unmanned aerial vehicle takes off or reaches the current position, sending the first position information to the first unmanned aerial vehicle.

5. The method according to any one of claims 1-4, further comprising:

acquiring the posture information of the first unmanned aerial vehicle in the landing process;

judging the first unmanned machine running state according to the attitude information;

and if the running state is an abnormal state, outputting warning information.

6. The method according to any one of claims 1-4, further comprising:

after receiving the landing request information sent by the first unmanned machine, sending a stopping instruction to the mobile lifting platform so that the mobile lifting platform executes a stopping action after receiving the stopping instruction or driving to a specified stopping position;

and after the first unmanned machine finishes the landing, sending a driving instruction to the mobile lifting platform so that the mobile lifting platform drives to the position indicated by the driving instruction.

7. An unmanned aerial vehicle take-off and landing method is characterized by comprising the following steps:

sending landing request information to the unmanned aerial vehicle take-off and landing equipment;

receiving first position information sent by unmanned aerial vehicle take-off and landing equipment, wherein the first position information is position information of a stopped mobile take-off and landing platform obtained after the unmanned aerial vehicle take-off and landing equipment receives the landing request information;

controlling the mobile take-off and landing platform to fly above the mobile take-off and landing platform according to the first position information;

shooting the mobile lifting platform, and finishing the landing according to the shot image information.

8. The method according to claim 7, wherein the mobile take-off and landing platform is provided with a landing positioning mark for shooting by the unmanned aerial vehicle;

correspondingly, shoot the removal platform of taking off and landing to accomplish the landing according to the image information who shoots, include:

shooting a landing positioning identifier on the mobile take-off and landing platform to obtain a first image;

according to the first image, flying to the position right above the landing positioning mark and shooting the landing positioning mark on the mobile take-off and landing platform to obtain a second image;

determining height information according to the second image;

and finishing landing according to the height information.

9. The method of claim 8, wherein flying directly above the landing position marker from the first image comprises:

searching a first simulation image matched with the first image from a simulation image library;

determining a flight direction and a horizontal flight distance according to the simulated azimuth information and the simulated horizontal distance information corresponding to the first simulated image;

and flying to the position right above the landing positioning mark according to the flying direction and the horizontal flying distance.

10. The method of any one of claims 7-9, further comprising,

and after a take-off instruction sent by the take-off and landing equipment of the unmanned aerial vehicle is received, flying to a corresponding position according to third position information carried by the take-off instruction.

11. The method according to any one of claims 7-9, wherein sending landing request information to the drone take-off and landing device comprises:

when the fact that the residual electric quantity is smaller than the threshold value is monitored, sending landing request information to the unmanned aerial vehicle take-off and landing equipment; or

And when the acquired environmental parameters do not meet the flight environment requirements, sending landing request information to the unmanned aerial vehicle take-off and landing equipment.

12. An unmanned aerial vehicle take-off and landing device, comprising: the system comprises a mobile lifting platform, a controller, a communication device and a positioning device arranged on the mobile lifting platform; wherein,

the communication device is in wireless communication connection with an external unmanned aerial vehicle;

the controller is respectively connected with the communication device and the positioning device, so that after the communication device receives landing request information sent by the external unmanned aerial vehicle, the positioning device is instructed to acquire first position information of the stopped mobile take-off and landing platform; and instructing the communication device to send the first location information to the external drone;

the mobile take-off and landing platform comprises: the device comprises a movable carrier and at least one lifting position arranged on the movable carrier.

13. The unmanned aerial vehicle take-off and landing equipment according to claim 12, wherein landing positioning marks for shooting by the external unmanned aerial vehicle are arranged on the take-off and landing positions;

and a wireless charger is arranged on the lifting position.

14. An unmanned aerial vehicle, comprising: the system comprises a flight control unit, a take-off and landing unit, a shooting unit, a wireless charging receiving coil and a battery connected with the wireless charging receiving coil;

the take-off and landing unit is used for being connected with external unmanned aerial vehicle take-off and landing equipment, sending landing request information to the external unmanned aerial vehicle take-off and landing equipment, and receiving first position information sent by the external unmanned aerial vehicle take-off and landing equipment, wherein the first position information is position information of a stopped mobile take-off and landing platform obtained after the unmanned aerial vehicle take-off and landing equipment receives the landing request information;

the flight control unit is connected with the take-off and landing unit so as to control the mobile take-off and landing platform to fly above according to the first position information;

the take-off and landing unit is connected with the shooting unit and used for guiding the flight control unit according to the image information obtained by shooting the mobile take-off and landing platform by the shooting unit so as to enable the flight control unit to control the unmanned aerial vehicle to finish landing.

15. An unmanned aerial vehicle take-off and landing system, comprising: the drone take-off and landing device of claim 12 or 13 above and the drone of claim 14 above.