CN107943073A - Unmanned plane landing method, equipment, system and unmanned plane - Google Patents
Unmanned plane landing method, equipment, system and unmanned plane Download PDFInfo
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- CN107943073A CN107943073A CN201711122565.7A CN201711122565A CN107943073A CN 107943073 A CN107943073 A CN 107943073A CN 201711122565 A CN201711122565 A CN 201711122565A CN 107943073 A CN107943073 A CN 107943073A
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- unmanned plane
- landing
- mobile
- platform
- landing platform
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of unmanned plane landing method, equipment, system and nobody
Machine.
Background technology
UAV abbreviation unmanned plane, is manipulated using radio robot and the presetting apparatus provided for oneself
Not manned vehicle.With the development of unmanned air vehicle technique, unmanned plane is conveniently carried out greatly in plant protection, logistics, power-line patrolling etc.
The operation of amount.
In the prior art, most of unmanned plane landing platforms are fixed on some position.Unmanned plane is from unmanned plane landing platform
After position is taken off, if wanting to make a return voyage, also needing to be back to departure location could complete to land.And in practical applications, unmanned plane
Would generally fly to far from a departure location working region job, if wanting to make a return voyage, must just fly very long one section away from
From can just be back to unmanned plane landing platform, it is seen then that in the prior art, unmanned plane need to keep a certain amount of electricity when preparing and making a return voyage
Amount can just guarantee successfully to drop to landing platform.
It is well known that the battery capacity charge of major part unmanned plane is limited at present, big volume and electricity is occupied if making a return voyage, will necessarily
Cause unmanned plane work efficiency low, the working region range shorter that can be covered.
The content of the invention
An embodiment of the present invention provides a kind of unmanned plane landing method, equipment, system and unmanned plane, with realize unmanned plane from
One place is taken off, and in the operating mode of another place landing, and then increases what unmanned plane work efficiency and unmanned plane can cover
Working region scope.
Then, in one embodiment of the invention, there is provided a kind of unmanned plane landing method.The unmanned plane landing side
Method, including：After the landing solicited message for receiving the transmission of the first unmanned plane, first of the mobile landing platform after stagnation of movement is obtained
Confidence ceases；The first position information is sent to first unmanned plane, so that first unmanned plane is according to described first
Positional information is flown to the mobile landing platform overhead；First unmanned plane shoots simultaneously the mobile landing platform
Landing is completed according to the image information photographed.
Alternatively, it is provided with the mobile landing platform for first unmanned plane landing positioning mark for shooting,
So that first unmanned plane completes landing according to the landing positioning identification image photographed in the mobile landing platform overhead.
Alternatively, above-mentioned unmanned plane landing method, further includes:After first unmanned plane completes landing, to described first
Unmanned plane exports wireless charging signal to charge to first unmanned plane.
Alternatively, above-mentioned unmanned plane landing method, further includes：Receive the landing request letter that first unmanned plane is sent
After breath, according to the current location of first unmanned plane carried in the landing solicited message, sent to the second unmanned plane
Fly instruction, so that second unmanned plane during flying is to the current location；And the first position information is sent to described
First unmanned plane, including：Receive after second unmanned plane takes off or that is fed back behind the arrival current location takes over signal
Afterwards, the first position information is sent to first unmanned plane.
Alternatively, above-mentioned unmanned plane landing method, further includes：Obtain the posture letter of the first unmanned plane described in descent
Breath；According to the attitude information, the first unmanned plane operating status is judged；If the operating status is abnormality,
Export information warning.
Alternatively, above-mentioned unmanned plane landing method, further includes：Receive the landing request letter that first unmanned plane is sent
After breath, stagnation of movement instruction is sent to the mobile landing platform, so that the mobile landing platform is receiving stagnation of movement instruction or row
Stagnation of movement action is performed after sailing to specified stagnation of movement position；After first unmanned plane is completed to land, sent out to the mobile landing platform
Driving instruction is sent, so that the mobile landing platform is travelled to the position of driving instruction instruction.
In another embodiment of the present invention, there is provided a kind of unmanned plane landing method.The unmanned plane landing method, bag
Include：Landing solicited message is sent to unmanned plane launching and recovering equipment；The first position information that unmanned plane launching and recovering equipment is sent is received, its
In, the first position information for the unmanned plane launching and recovering equipment receive it is described landing solicited message after, the stagnation of movement of acquisition
The positional information of mobile landing platform afterwards；According to the first position information, control flight to the mobile landing platform
Overhead；The mobile landing platform is shot, and landing is completed according to the image information photographed.
Alternatively, it is provided with the mobile landing platform and positions mark for unmanned plane landing for shooting；Correspondingly, clap
The mobile landing platform is taken the photograph, and landing is completed according to the image information photographed, including：Shoot on the mobile landing platform
Landing positioning mark, obtain the first image；According to described first image, the surface for positioning and identifying of flying to the landing is same
When shoot the landing positioning mark on the mobile landing platform to obtain the second image；According to second image, height is determined
Spend information；Complete to land according to the elevation information.
Alternatively, according to described first image, fly to the surface of the landing positioning mark, including：From simulation drawing
As being searched and matched first analog image of described first image in storehouse；According to the corresponding simulated-azimuth of first analog image
Information and dummy level range information, determine heading and horizontal flight distance；According to the heading and the level
Flying distance, flies to the landing positioning mark.
Alternatively, above-mentioned unmanned plane landing method, further includes：Receive the finger that takes off that the unmanned plane launching and recovering equipment is sent
After order, the third place information carried according to the instruction of taking off is flown to corresponding position.
Alternatively, it is described to send landing solicited message to unmanned plane launching and recovering equipment, including：When monitoring that remaining capacity is less than
During threshold value, landing solicited message is sent to the unmanned plane launching and recovering equipment；Or when the environmental parameter got does not meet flight
During environmental requirement, landing solicited message is sent to the unmanned plane launching and recovering equipment.
In another embodiment of the present invention, there is provided a kind of unmanned plane launching and recovering equipment.The unmanned plane launching and recovering equipment bag
Include：Mobile landing platform, controller, communication device and the positioner being arranged on the mobile landing platform；Wherein, institute
Communication device is stated to be connected with exterior unmanned plane wireless telecommunications；The controller respectively with the communication device and the positioner
Connection, after the landing solicited message that the communication device receives that the exterior unmanned plane is sent, to indicate the positioning dress
Put the first position information of the mobile landing platform after obtaining stagnation of movement；And indicate the communication device by the first position
Information is sent to the exterior unmanned plane；The mobile landing platform includes：Mobile vehicle and it is arranged on the mobile vehicle
At least one decrease.
Alternatively, described decrease is equipped with for exterior unmanned plane landing positioning mark for shooting；The landing
Wireless charger is provided with position.
In another embodiment of the present invention, there is provided a kind of unmanned plane.The unmanned plane includes：Fly control unit, landing
Unit, shooting unit, wireless charging receiving coil and the battery being connected with the wireless charging receiving coil；The landing unit
For being connected with exterior unmanned plane launching and recovering equipment, landing solicited message is sent to the exterior unmanned plane launching and recovering equipment, and receive
The first position information that the exterior unmanned plane launching and recovering equipment is sent, wherein, the first position information rises for the unmanned plane
Drop equipment is after the landing solicited message is received, the positional information of the mobile landing platform after the stagnation of movement of acquisition；It is described to fly
Control unit is connected with the landing unit, to be flown according to first position information control to extremely on the mobile landing platform
It is empty；The landing unit is connected with the shooting unit, is obtained for shooting the mobile landing platform according to the shooting unit
The image information arrived guides the winged control unit, so that the winged control unit controls the unmanned plane to complete landing.
In another embodiment of the present invention, there is provided a kind of unmanned plane landing system.The unmanned plane landing system bag
Include：Above-mentioned unmanned plane launching and recovering equipment and above-mentioned unmanned plane.
In technical solution provided in an embodiment of the present invention, the landing platform that landing function is provided for unmanned plane is to move
Platform is dropped, also, when unmanned plane needs landing, the positional information of current landing platform can be got, and according to current landing
The positional information of platform completes landing.Take off from a place as it can be seen that the embodiment of the present invention realizes unmanned plane, dropped in another place
The operating mode fallen.So, when unmanned plane acts a certain working region of flying to and works, mobile landing platform moveable extremely should
Working region nearby waits unmanned plane to make a return voyage, and so drastically reduce the area unmanned plane and makes a return voyage distance, so as to add unmanned plane
The working region scope that work efficiency and unmanned plane can cover.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow diagram for the unmanned plane landing method that one embodiment of the invention provides；
Fig. 2 is the structure diagram for the landing positioning mark that one embodiment of the invention provides；
Fig. 3 is the another flow diagram for the unmanned plane landing method that one embodiment of the invention provides；
Fig. 4 a are the structure diagram for the unmanned plane launching and recovering equipment that one embodiment of the invention provides；
Fig. 4 b are the structure diagram for the unmanned plane launching and recovering equipment that one embodiment of the invention provides；
Fig. 5 is the structure diagram at the first direction visual angle for the mobile vehicle that one embodiment of the invention provides；
Fig. 6 is the structure diagram at the second direction visual angle for the mobile vehicle that one embodiment of the invention provides；
Fig. 7 is the structure diagram at the third direction visual angle for the mobile vehicle that one embodiment of the invention provides；
Fig. 8 is the structure diagram for the unmanned plane that one embodiment of the invention provides；
Fig. 9 is the structure diagram at the first direction visual angle for the unmanned plane landing system that one embodiment of the invention provides；
Figure 10 is the structure diagram at the second direction visual angle for the unmanned plane landing system that one embodiment of the invention provides；
Figure 11 is the structure diagram for the unmanned plane landing system that one embodiment of the invention provides；
Figure 12 is the work flow diagram for the unmanned plane landing system that one embodiment of the invention provides.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes.Obviously, described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, the every other implementation that those skilled in the art are obtained without making creative work
Example, belongs to the scope of protection of the invention.
Fig. 1 is the flow diagram for the unmanned plane landing method that one embodiment of the invention provides.The unmanned plane landing method
Applied to unmanned plane launching and recovering equipment side.As shown in Figure 1, this method includes：
S1001, after receiving the landing solicited message that the first unmanned plane is sent, obtain the mobile landing platform after stagnation of movement
First position information.
S1002, send the first position information to first unmanned plane, so that first unmanned plane is according to institute
First position information is stated to fly to the mobile landing platform overhead；First unmanned plane carries out the mobile landing platform
Shoot and landing is completed according to the image information photographed.
In practical applications, when unmanned plane receives execution task, it is necessary to depart from mobile landing platform, and take off to finger
Determine working region and perform task.Unmanned plane is during execution task, once its low battery, machine break down or meet with
Heavy rain is met when adverse circumstances, then needs to make a return voyage to mobile landing platform and is charged, repaired or taken refuge.It is intended to return in unmanned plane
Endurance, can send a landing solicited message to unmanned plane launching and recovering equipment.Wherein, unmanned plane launching and recovering equipment includes mobile landing platform
And controller.
In above-mentioned steps S1001, if unmanned plane launching and recovering equipment is receiving the landing request that the first unmanned plane sends
During information, mobile landing platform is in suspended state, then can directly acquire the current location information of the mobile landing platform, i.e.,
First position information.If unmanned plane launching and recovering equipment is moved when receiving the landing solicited message that the first unmanned plane is sent
Drop platform is in mobile status, then can control the movement landing platform to be stopped.The movement landing platform can be vehicular
Mobile landing platform (setting landing platform onboard) or ship borne type movement landing platform (are set landing platform
Aboard ship).Staff can control the docking operation of car or ship manually in the cockpit of car or ship.Such as：Unmanned plane landing
Equipment sounds the alarm, to inform the work people in cockpit when receiving the landing solicited message of the first unmanned plane transmission
Member performs docking operation, and staff performs stop after mobile landing platform is driven to suitable position.
It should be noted that if the mobile landing platform is also unpiloted, then it can in the following way perform and stop
Lean on：After receiving the landing solicited message that first unmanned plane is sent, stagnation of movement instruction is sent to the mobile landing platform, with
The mobile landing platform is set to perform stagnation of movement action after receiving stagnation of movement instruction or driving to specified stagnation of movement position；When described first
After unmanned plane completes landing, driving instruction is sent to the mobile landing platform, so that the mobile landing platform is travelled to institute
At the position for stating driving instruction instruction.
Such as：When the mobile landing platform moves landing platform for ship borne type, then the mobile landing platform is receiving
After being instructed to stagnation of movement, stagnation of movement action is directly performed.When the mobile landing platform is vehicle moving landing platform, and the movement
Landing platform travels on a highway, at this moment, the movement landing platform just need to drive to nearby can parked vehicles position.
Therefore, dockable positional information nearby, i.e., described specified stagnation of movement position can be carried in stagnation of movement instruction.Described specify is stopped
Sailing position can obtain according to GPS navigation information, and so mobile landing platform can instruct traveling to specified stagnation of movement position according to stagnation of movement.
After mobile landing platform stagnation of movement, then the positional information of the mobile landing platform after stagnation of movement is obtained, i.e. first position is believed
Breath.
In above-mentioned steps S1002, the first position information got is sent to the first unmanned plane.First unmanned plane exists
After receiving the first position information, flown according to the first position information to the top of the mobile landing platform so that
The mobile landing platform is in the first unmanned plane coverage.First unmanned plane during flying to the mobile landing platform just on
Fang Hou, can be by continuously shooting the mobile landing platform.Landing is completed according to the image information photographed.
Usually, mobile landing platform has specific shape design, and is shot directly over mobile landing platform
To image in mobile landing platform shape and the image that shoots of oblique upper in be different.Based on this, according to bat
The shape of mobile landing platform can determine whether out whether unmanned plane is in the surface of mobile landing platform in the image information taken the photograph,
If not existing, the surface of unmanned plane towards mobile landing platform is moved once, and repeats above-mentioned shooting, judgement and movement
And etc., until the image photographed shows that unmanned plane is located at the surface of mobile landing platform.Moved when unmanned plane is located at
After dropping directly over platform, put down according to the dimension information of mobile landing platform, mobile landing in the directly on top image photographed
The actual size information and camera focus of platform can determine that the vertical range of the mobile landing platform of unmanned plane distance, be hung down according to this
Straight distance can be completed to land.Such as：The shape of the mobile landing platform is circle, is clapped in the oblique upper of mobile landing platform
For the shape taken the photograph for ellipse, the shape shot in surface is circle, if in the image that shooting obtains being ellipse,
It then can determine whether that unmanned plane is located at oblique upper, if circle, then can determine whether that unmanned plane is directly on top, further according to Circle in Digital Images shape
Diameter x, the actual diameter size X and camera focus f of mobile landing platform can determine that vertical range H (is calculated public
Formula：H=Xf/x).
In technical solution provided in an embodiment of the present invention, the landing platform that landing function is provided for unmanned plane is to move
Platform is dropped, also, when unmanned plane needs landing, the positional information of current landing platform can be got, and according to current landing
The positional information of platform completes landing.Take off from a place as it can be seen that the embodiment of the present invention realizes unmanned plane, dropped in another place
The operating mode fallen.So, when unmanned plane acts a certain working region of flying to and works, mobile landing platform moveable extremely should
Working region nearby waits unmanned plane to make a return voyage, and so drastically reduce the area unmanned plane and makes a return voyage distance, so as to add unmanned plane
The working region scope that work efficiency and unmanned plane can cover.
Since in practical applications, the shape design complexity of mobile landing platform is different, by analyzing in image information
Position relation of the shape of mobile landing platform between the first unmanned plane of backstepping and mobile landing platform, can undoubtedly increase image
Recognizer difficulty, and can also reduce the accuracy of image recognition result, it is difficult to realize the accurate landing of unmanned plane.To understand
Certainly this problem, further embodiment of this invention propose to set on mobile landing platform for first unmanned plane drop for shooting
Make a decision bit identification.Specifically, it is provided with the mobile landing platform for first unmanned plane landing positioning mark for shooting
Know, so that first unmanned plane completes drop according to the landing positioning identification image photographed in the mobile landing platform overhead
Fall.
Landing positioning mark is simple compared with the shape design for moving landing platform, and can be set in advance according to being actually needed
It is fixed.Image recognition algorithm difficulty is reduced, improves unmanned plane landing precision.
Further, the landing positioning mark 2 referred in above-described embodiment is by multiple warning lamps according to setting pattern arrangement
Formed；Formed alternatively, landing positioning mark is laid with by fluorescent belt according to setting pattern.In a kind of achievable technical solution,
As shown in Fig. 2, setting pattern includes：Circular pattern 21 and in the circular pattern 21 and cross the two of circular pattern 21 center of circle
22 pattern of bar cross linear.Further, for the ease of the calculating of image recognition, two intersect directly described in above-mentioned setting pattern
Line 22 can be vertically arranged.
The present embodiment is because unmanned plane is shot in diverse location why using circular and cross linear pattern
When, the image that circular pattern is clapped is different ellipses, can be gone out based on ellipse with backstepping directly over landing positioning mark
Specific location, it is relatively simple compared with other shapes ellipse backstepping process.Unmanned plane lands in arrival behind the surface for positioning mark,
The difference of the circular size that can be photographed by comparing and actual circular dimension, and the size of the cross linear photographed and
The difference of actual straight-line dimension, is calculated the height that unmanned plane distance plays decrease.
It should be noted that the dimension information and shape information of above-mentioned default landing positioning mark can be stored in advance in the
In the storage device of one unmanned plane, or the unmanned plane launching and recovering equipment send first position information in carry on it is default
The dimension information and shape information of landing positioning mark.
If the first unmanned plane for completing landing is for landing of charging, after first unmanned plane completes landing, to
First unmanned plane exports wireless charging signal to charge to first unmanned plane.If complete landing first nobody
Machine lands because of breaking down, then warning message can be sent to staff, so that staff is in time to the first nothing
It is man-machine to be overhauled.
It should be added that：It can judge whether the first unmanned plane is completed to drop using a kind of method in following methods
Fall：
Method one, transmitting laser；According to the launch time of laser point and the corresponding reflection laser of the laser
The time difference of receiving time point, judge whether first unmanned plane is completed to land.
Specifically, laser beam emitting device and laser receiver, laser beam emitting device are set on mobile landing platform
Launch laser, laser receiver receives reflection laser, and wherein reflection laser is the laser quilt that laser beam emitting device is launched
The laser that first unmanned plane reflects, according to the time between the launch time of laser point and the receiving time point of reflection laser
Difference judges whether the first unmanned plane is completed to land.In general, after if unmanned plane completes landing, the time difference determines for one
Value.In the specific implementation, after first position information is sent to the first unmanned plane, sent out every the first prefixed time interval to aerial
Laser is penetrated, if the time difference between launch time point and receiving time point, to be equal to or less than preset time poor, judges described the
One unmanned plane has been completed to land, meanwhile, stop transmitting laser.
Method two, obtain pressure sensing data；Judge whether first unmanned plane is complete according to the pressure sensing data
Into landing.
Specifically, pressure sensor is set on the mobile landing platform, first position is being sent to the first unmanned plane
After information, pressure sensing data are obtained every the second prefixed time interval；According to the pressure sensing data judge it is described nobody
Whether machine, which is completed, lands.After the first unmanned plane is completed to land, it can press the pressure sensor on mobile landing platform, into
And make it that pressure sensor collects data, can judge whether the first unmanned plane is completed to land according to the size of the data.
When it is implemented, multiple pressure sensors can be uniformly distributed on mobile landing platform, to measure pressure data, it is preferred that
Pressure sensor can be set at foot stool contact position on mobile landing platform with the first unmanned plane.
In order to avoid the first unmanned plane causes the pause of task because making a return voyage, in the present embodiment, gone using the second unmanned plane
First unmanned plane is taken over, to realize that the work of the first unmanned plane and the second unmanned plane is docked.Specifically can be in the following way
To realize：After receiving the landing solicited message that first unmanned plane is sent, according to what is carried in the landing solicited message
The current location of first unmanned plane, sends to the second unmanned plane and takes off instruction, so that second unmanned plane during flying is to institute
State current location；And send the first position information to first unmanned plane, including：Receive described second nobody
After that is fed back after machine takes off or behind the arrival current location takes over signal, the first position is sent to first unmanned plane
Information.
In this embodiment, the second unmanned plane rises to unmanned plane after take off or after the first unmanned plane position is reached
Drop equipment feedback takes over signal, unmanned plane launching and recovering equipment receives take over signal after, then to first unmanned plane send first
Positional information is so that the first unmanned plane makes a return voyage.As it can be seen that the second unmanned plane first takes off, after taking off, the first unmanned plane can just make a return voyage.
Preferably, can the second unmanned plane reach the first unmanned plane position when feedback take over signal, in this way it can be ensured that first nobody
The work slitless connection of machine and the second unmanned plane, effectively increases unmanned plane work efficiency.
In practical applications, can also be to judge unmanned plane operating status according to the touch down attitude of unmanned plane in descent
It is no exception occur.In a kind of achievable scheme, the attitude information of the first unmanned plane described in descent is obtained；According to institute
Attitude information is stated, judges the first unmanned plane operating status；If the operating status is abnormality, output warning letter
Breath.Such as：According to the attitude information, first unmanned plane is can determine whether in descent, it is waved is with relief intensity
No to exceed predetermined threshold value, the operating status that the unmanned plane is illustrated if more than predetermined threshold value is abnormality, exportable police
Show information, so that related service personnel detect and repair in time.
Further, landing cabin is correspondingly arranged in each decrease, hatch door is correspondingly arranged on each landing cabin, when nobody
It is confidential when taking off, open hatch door；After unmanned plane flies away from mobile landing platform, hatch door is closed；When unmanned plane will make a return voyage, beat
Open the cabin door；After unmanned plane lands, hatch door is closed.Specifically, first position information is being sent to first unmanned plane
Meanwhile door open command is sent to the hatch door on mobile landing platform, so that the hatch door is opened.Completed in first unmanned plane
After landing, instruction of closing the door is sent to hatch door, so that the hatch door is closed.When running into rugged environment weather, unmanned plane into
Enter landing cabin, and close hatch door, can effectively avoid destruction of the harsh weather to unmanned plane.
Fig. 3 is the another flow diagram for the unmanned plane landing method that one embodiment of the invention provides.The unmanned plane landing
Method is applied to unmanned pusher side.As shown in figure 3, this method includes：
S2001, send landing solicited message to unmanned plane launching and recovering equipment.
S2002, receive the first position information that unmanned plane launching and recovering equipment is sent, wherein, the first position information is institute
Unmanned plane launching and recovering equipment is stated after the landing solicited message is received, the position letter of the mobile landing platform after the stagnation of movement of acquisition
Breath.
S2003, the first position information returned according to the unmanned plane launching and recovering equipment, control flight to the movement
The overhead of landing platform.
S2004, the shooting mobile landing platform, and landing is completed according to the image information photographed.
When unmanned plane is during execution task, there is mechanical disorder, need to be charged or run into adverse circumstances
When, landing solicited message can be sent to unmanned plane launching and recovering equipment, unmanned plane landing equipment obtains the mobile landing platform after stagnation of movement
Positional information.
After the landing solicited message that unmanned plane launching and recovering equipment receives unmanned plane transmission, the mobile landing after stagnation of movement is obtained
The step of positional information (i.e. first position information) of platform, can be found in corresponding contents in above-described embodiment, and details are not described herein again.
In above-mentioned steps S2002 and S2003, unmanned plane is receiving the first position letter of unmanned plane launching and recovering equipment return
After breath, flown according to first position information to the top of the mobile landing platform, so that the mobile landing platform is in it
In coverage.
In above-mentioned steps S2004, usually, mobile landing platform has specific shape design.According to shooting institute
State the step of image that mobile landing platform obtains completes landing and can be found in above-mentioned corresponding contents, details are not described herein again.
In technical solution provided in an embodiment of the present invention, the landing platform that landing function is provided for unmanned plane is to move
Platform is dropped, also, when unmanned plane needs landing, the positional information of current landing platform can be got, and according to current landing
The positional information of platform completes landing.Take off from a place as it can be seen that the embodiment of the present invention realizes unmanned plane, dropped in another place
The operating mode fallen.So, when unmanned plane acts a certain working region of flying to and works, mobile landing platform moveable extremely should
Working region nearby waits unmanned plane to make a return voyage, and so drastically reduce the area unmanned plane and makes a return voyage distance, so as to add unmanned plane
The working region scope that work efficiency and unmanned plane can cover.
Further, it can be set on mobile landing platform and position mark for first unmanned plane landing for shooting,
Image recognition algorithm difficulty is reduced, improves the accuracy of image recognition result, to realize the accurate landing of unmanned plane.Specifically,
It is provided with the mobile landing platform for unmanned plane landing positioning mark for shooting.The landing positioning identification pattern
Setting can refer to corresponding contents in above-described embodiment, details are not described herein.
In a kind of achievable scheme, the mobile landing platform is shot, and complete according to the image information photographed
Landing, including：The landing positioning mark on the mobile landing platform is shot, obtains the first image；According to described first image,
Fly to the surface of the landing positioning mark and shoot the landing positioning mark on the mobile landing platform at the same time to obtain
Second image；According to second image, elevation information is determined；Complete to land according to the elevation information.
Image recognition is carried out to the landing positioning mark in the first image using image recognition algorithm, according to picture recognition knot
Fruit can determine that the horizontal distance of unmanned plane distance landing positioning mark, be flown according to the horizontal distance to landing positioning mark
Surface, when the unmanned plane during flying to land positioning mark surface when, can shoot on the mobile landing platform
Landing positioning mark so can determine that with obtaining the second image according to the size of landing positioning mark in the second image
The difference in height of current unmanned plane and mobile landing platform, i.e. elevation information.
It should be noted that during unmanned plane during flying to the surface of the landing positioning mark, on unmanned plane
Camera need to be continuously shot landing positioning mark, the landing shot after after unmanned plane often adjusts a position just based on adjustment
First image of positioning mark carries out an image recognition again, in order to constantly adjust the position of unmanned plane so that unmanned plane is most
The surface that Zhongdao identifies up to landing positioning.In addition, if landing positioning mark arranges shape by multiple warning lamps according to setting pattern
Into then after unmanned plane during flying to the top of the mobile landing platform, the unmanned plane launching and recovering equipment on unmanned plane and ground carries out
Data interaction, so that the controller in unmanned plane launching and recovering equipment lights the warning lamp on mobile landing platform.
After elevation information is determined, unmanned plane, which can be taken, first accelerates the mode slowed down after declining to land.Such as：
When the mobile landing platform of distance is nearer, it can slow down, the mobile landing platform be drop to relatively low speed, so not only
The landing time can be reduced, also can effectively reduce impact force when unmanned plane is contacted with mobile landing platform.
Further, according to described first image, fly to the surface of the landing positioning mark, including：From simulation
Searched and matched first analog image of described first image in image library；According to the corresponding simulation side of first analog image
Position information and dummy level range information, determine heading and horizontal flight distance；According to the heading and the water
Flat flying distance, flies to the landing positioning mark.
Wherein, store substantial amounts of analog image in the analog image storehouse, each analog image be by algorithm simulation without
The man-machine image that mobile landing platform is shot in varying level position, different height position and different azimuth and is obtained, is being simulated
The corresponding dummy level positional information of meeting each analog image of associated storage, simulated altitude information when each analog image is stored in picture library
And simulated-azimuth information.Due to being not positioned at the image taken by varying level position, different height position and different azimuth
With, therefore, the first image matches with the first analog image, then shows camera site and the first analog image of the first image
Simulation camera site it is identical, therefore the associated dummy level positional information of the first analog image and simulated-azimuth information that is to say nothing
Man-machine horizontal position information and azimuth information when shooting the first image.Wherein, the horizontal position information for unmanned plane away from
The horizontal distance of landing positioning mark, the azimuth information are unmanned plane positioned at the direction position of landing positioning mark.Such as：Side
Position information is southeastern direction, that is, shows unmanned plane in the southeastern direction of landing positioning mark.Unmanned plane is obtained in shooting the
After horizontal position information and azimuth information during one image, you can determine heading and horizontal flight distance.Such as：Side
Position information is 30 ° of east by north, and heading is then west by south 30 ° of direction；Horizontal position information is 1km, then horizontal flight away from
From for 1km.
Such as：When the image of landing positioning mark is included in circular pattern and crosses two cross linears in the circular pattern center of circle
Pattern is straight by comparing the corresponding shape of circular pattern in the analog image in the first image and analog image storehouse, two intersections
Angle in line between the direction of each straight line and two straight lines, you can find out the first simulation drawing to match with the first image
Picture, the process for matching the first analog image is also the process of image recognition.
In a kind of achievable method, elevation information is determined according to second image, specifically can be in the following way
Realize：Obtain the picture size x of the first lines in the second image1And actual size X1；Obtain camera focus f1；According to the picture
Size x1, actual size X1And camera focus f1, determine elevation information h1.Wherein, h1Calculation formula be：h1=X1f1/x1。
It should be noted that as size is size of first lines in the second image, actual size is the first lines in actual object
On size.Such as：When landing positioning mark pattern include circular pattern and in the circular pattern and cross circular diagram
Two cross linear patterns in the case center of circle, at this moment, the first lines are chosen as one in this two cross linears.
It should be noted that in order to avoid the attitudes vibration because of unmanned plane has an impact image recognition result, can be in nothing
It is man-machine be continuously shot during, posture is consistent during by gyroscope of its internal installation to ensure to shoot every time.Specifically, exist
When preparing shooting every time, gyro data is obtained；The attitude angle of unmanned plane is calculated according to gyro data；Adjusted according to attitude angle
Whole posture is to preset posture.Wherein, preset posture includes preset posture angle, and preset posture angle can be preset.By to shooting
The image of obtained landing positioning mark carries out image recognition, it can be achieved that precisely landing, improves the degree of automation.
In practical applications, unmanned plane launching and recovering equipment is receiving work configured information or is receiving exterior unmanned plane
, it is necessary to assign unmanned plane on the mobile landing platform of unmanned plane launching and recovering equipment to assigned work region work during solicited message of landing
Make or take over the work of other unmanned planes.It can specifically realize in the following way：Receive what the unmanned plane launching and recovering equipment was sent
Take off after instruction, the third place information carried according to the instruction of taking off is flown to corresponding position.Wherein, the finger that takes off
Order can be generated according to work configured information, and the positional information in assigned work region can be carried in the configured information that works, i.e., and the
Three positional informations, alternatively, the landing solicited message that instruction is sent according to other unmanned planes of taking off generates, landing request letter
The positional information of other unmanned planes, i.e. the third place information are carried in breath.
In general, unmanned plane is in not enough power supply or needs when running into adverse circumstances to make a return voyage.It is above-mentioned to be sent out to unmanned plane launching and recovering equipment
Landing solicited message is sent, including：When monitoring that remaining capacity is less than threshold value, sending landing to the unmanned plane launching and recovering equipment please
Seek information；Or when the environmental parameter got does not meet flight environment of vehicle requirement, send and drop to the unmanned plane launching and recovering equipment
Fall solicited message.Wherein, threshold value and environmental parameter can be configured according to actual needs, and the present invention does not limit this specifically
System.By detecting remaining capacity or detection unmanned plane ambient parameters, it can effectively ensure that unmanned plane smoothly makes a return voyage or avoids
Unmanned plane is destroyed by adverse circumstances.
Fig. 4 a are the structure diagram for the unmanned plane launching and recovering equipment that one embodiment of the invention provides；Fig. 4 b are real for the present invention one
The structure diagram of the unmanned plane launching and recovering equipment of example offer is provided.The unmanned plane launching and recovering equipment includes：Mobile landing platform 5, controller
3rd, communication device 7 and the positioner 8 being arranged on the mobile landing platform；Wherein, the communication device 7 and exterior nothing
Man-machine wireless telecommunications connection；The controller 3 is connected with the communication device 7 and the positioner 8 respectively, with described logical
After news device 7 receives the landing solicited message that the exterior unmanned plane is sent, after indicating that the positioner 8 obtains stagnation of movement
The first position information of the mobile landing platform 5；And indicate that the communication device 7 sends the first position information to institute
State exterior unmanned plane；As shown in figure 5, the mobile landing platform 5 includes：Mobile vehicle 55 and it is arranged on the mobile vehicle 55
On at least one decrease.Wherein, the mobile vehicle 55 can be vehicle (vehicle is illustrated that in Fig. 5) or ship, this
Invention is not especially limited this.
Supplement is needed exist for, unmanned plane launching and recovering equipment can use the technology provided in above-described embodiment in the present embodiment
Scheme realization, concrete implementation method and operation principle can be found in the related content in above-described embodiment, and details are not described herein.
In technical solution provided in an embodiment of the present invention, the landing platform that landing function is provided for unmanned plane is to move
Platform is dropped, also, when unmanned plane needs landing, the positional information of current landing platform can be got, and according to current landing
The positional information of platform completes landing.Take off from a place as it can be seen that the embodiment of the present invention realizes unmanned plane, dropped in another place
The operating mode fallen.So, when unmanned plane acts a certain working region of flying to and works, mobile landing platform moveable extremely should
Working region nearby waits unmanned plane to make a return voyage, and so drastically reduce the area unmanned plane and makes a return voyage distance, so as to add unmanned plane
The working region scope that work efficiency and unmanned plane can cover.
Further, as shown in fig. 4 a, described decrease is equipped with for unmanned plane landing positioning mark for shooting
2.Specific set of landing positioning mark 2 can be found in corresponding contents in above-described embodiment, and details are not described herein.The embodiment of the present invention
Precisely landing can be achieved by landing positioning mark.Existing landing modes, tend to rely on light stream and GPS navigation, because of error
Larger, drop gets blamed very accurately, and certain damage can be caused to unmanned plane.
In a kind of achievable scheme, wireless charger 1 is provided with described decrease.When the first unmanned plane is drop to
After on the mobile landing platform 5, wireless charger detects the Wireless charging coil on the first unmanned plane, starts to first
Unmanned plane charges.Wherein, the wireless charger 1 in above-described embodiment can be connected realization by connecting line with controller 3 and have
Line connects, and also can realize wireless connection by wireless communication module, this present embodiment is not especially limited.Common rising and falling is flat
Platform only supports unmanned plane to rise and fall, and function is too single, it is impossible to more helps are played to unmanned plane, can not meet following unmanned plane
The big batch of industry, the use of high intensity.And existing technology be by quick-replaceable battery come solve aircraft matter of time and
Distance problem, but the interruption of work, and common landing platform mobility deficiency can be brought by frequently replacing battery, by nobody
Machine also needs to manually carry out intervening just to can ensure that unmanned plane landing is accurate when landing, and the degree of automation is low.
Also, unmanned plane launching and recovering equipment provided in an embodiment of the present invention can support multi rack by setting multiple decreases
Secondary unmanned plane rises and falls and/or charges at the same time, disclosure satisfy that more sortie unmanned planes take turns to operate, so that when solving unmanned plane aircraft
Between short, the problem of air mileage is limited, it is possible to achieve multiple UAVs are carried out at the same time work.
As shown in fig. 4 a, the unmanned plane launching and recovering equipment that above-described embodiment provides may also include：Charging controller 4；Charging
Managing device 4 is connected with wireless charger 1, for providing required operating voltage for wireless charger 1.Controller 3 and charging
Managing device 4 is arranged on mobile landing platform 5.When it is implemented, charging controller 4 and 1 wired company of wireless charger
Connect, for providing the operating voltage needed for it after alternating current is handled by decompression, rectifying and wave-filtering etc. for wireless charger.Controller
3 wired or wireless can connect with charging controller 4.Controller 3 unmanned plane land in after decrease to charging controller 4
Enabled instruction is sent, so that charging controller 4 is powered for wireless charger 1.
As shown in fig. 4 a, two being equipped with side by side on mobile landing platform 5 and playing decrease, controller 3 and charging controller 4 are equal
It is arranged between two decreases.Further, controller 3 is located at the two of mobile landing platform 5 with charging controller 4 respectively
The edge of relative side.Two situations for playing decrease, the in practical applications landing on landing platform are only enumerated herein
Position can be one, three, four or more, and the present invention is symmetrically not especially limited.
Further, as shown in Figure 6 and Figure 7, each decrease is correspondingly arranged on landing cabin, is correspondingly arranged on each landing cabin
There are hatch door 31, controller 3 and the wired or wireless connection of each hatch door, to control the opening and closing of each hatch door 31.When unmanned plane will
When taking off, hatch door is opened；After unmanned plane flies away from mobile landing platform, hatch door is closed；When unmanned plane will make a return voyage, cabin is opened
Door；After unmanned plane lands, hatch door is closed.Specifically, while first position information is sent to the unmanned plane, Xiang Yi
Hatch door on dynamic landing platform sends door open command, so that the hatch door is opened.After the unmanned plane completes landing, to cabin
Door sends instruction of closing the door, so that the hatch door is closed.When running into rugged environment weather, unmanned plane enters landing cabin, and closes
Hatch door is closed, can effectively avoid destruction of the harsh weather to unmanned plane.
Further, the unmanned plane launching and recovering equipment may also include：The detection device whether idle for having detected decrease
It is connected respectively with the wireless charger 1 at least one decrease；Controller 3 is connected with the detection device.Controller 3 is being examined
After survey device has detected vacant landing position, indicate that the communication device 7 sends the first position information to the outside
Unmanned plane.In this way, mobile landing platform can provide charging for more unmanned planes.
In a kind of achievable scheme, detection device is connected with wireless charger 1, by whether detecting wireless charger
It is in running order to judge to play whether a decrease is blank state where wireless charger.
Judge whether to play decrease where wireless charger except through whether detection wireless charger is in running order
For blank state, laser beam emitting device and laser receiver can be also set on decrease is played, laser beam emitting device transmitting swashs
Light, laser receiver receive reflection laser, and the laser that wherein reflection laser is launched for laser beam emitting device is by barrier
The laser reflected, detection device are connected with laser beam emitting device and laser receiver respectively, according to laser emission time
Time difference between the receiving time of reflection laser has judged whether decrease is blank state.Such as：One time is set
Threshold value, time difference are more than time threshold, then have judged decrease as blank state；Time difference is less than or equal to time threshold, then sentences
Decrease of having broken is not blank state.Operation principle is：When landing has unmanned plane in a decrease, what laser beam emitting device was sent swashs
Light can be got on unmanned plane, therefore can be reflected back quickly, therefore the above-mentioned time difference can be very short；There is no unmanned plane when rising in decrease
When, laser that laser beam emitting device is sent can be launched to aerial, and by can just be reflected back or even be received not for a long time
To reflection laser, therefore the above-mentioned time difference can be very long.
Fig. 8 is the structure diagram for the unmanned plane that one embodiment of the invention provides.The unmanned plane includes：Fly control unit 101, rise
Unit 102, shooting unit 103 drop；The landing unit 102 be used for be connected with exterior unmanned plane launching and recovering equipment, to outside nobody
Machine launching and recovering equipment sends landing solicited message, so that the exterior unmanned plane launching and recovering equipment obtains the mobile landing platform after stagnation of movement
First position information and feed back；The winged control unit 101 and the landing unit 102 connect, with according to the landing unit
The 102 first position information received are flown to the mobile landing platform overhead；The landing unit 102 and the shooting are single
Member 103 connects, and for being shot according to the shooting unit 103, image information guiding that the mobile landing platform obtains is described to fly
Unit 101 is controlled, so that the winged control unit 101 controls the unmanned plane to complete landing.
Supplement is needed exist for, unmanned plane can use the technical solution provided in above-described embodiment real in the present embodiment
Now, concrete implementation method and operation principle can be found in the related content in above-described embodiment, and details are not described herein.
Above-mentioned winged control unit and landing unit can be mounted in the hardware entities on unmanned plane, like flying to control chip, landing
Chip etc.；Or it is virtual module to fly control unit and landing unit, i.e., the functional software on unmanned plane；Shooting unit is
Hardware entities on unmanned plane.The present invention is not especially limited this.Such as：Shooting unit can be installed in nobody
Holder camera below machine.
In technical solution provided in an embodiment of the present invention, the landing platform that landing function is provided for unmanned plane is to move
Platform is dropped, also, when unmanned plane needs landing, the positional information of current landing platform can be got, and according to current landing
The positional information of platform completes landing.Take off from a place as it can be seen that the embodiment of the present invention realizes unmanned plane, dropped in another place
The operating mode fallen.So, when unmanned plane acts a certain working region of flying to and works, mobile landing platform moveable extremely should
Working region nearby waits unmanned plane to make a return voyage, and so drastically reduce the area unmanned plane and makes a return voyage distance, so as to add unmanned plane
The working region scope that work efficiency and unmanned plane can cover.
Further, the unmanned plane further includes：Wireless charging receiving coil and with the wireless charging receiving coil connect
The battery connect.In after decrease, the wireless charger 1 for playing decrease is corresponding with wireless charging receiving coil for unmanned plane landing.
Fig. 9 and Figure 10 is the structure diagram for the unmanned plane landing system that one embodiment of the invention provides.The unmanned plane rises
Drop system includes above-mentioned unmanned plane launching and recovering equipment and above-mentioned unmanned plane.
Wherein, as shown in figure 4, unmanned plane launching and recovering equipment includes：Mobile landing platform 5, controller 3, communication device 7 and
The positioner 8 being arranged on the mobile landing platform；Wherein, the communication device 7 connects with exterior unmanned plane wireless telecommunications
Connect；The controller 3 is connected with the communication device 7 and the positioner 8 respectively, to be received in the communication device 7
After the landing solicited message that the unmanned plane is sent, indicate that the positioner 8 obtains the mobile landing platform 5 after stagnation of movement
First position information；And indicate that the communication device 7 sends the first position information to the exterior unmanned plane；Such as figure
Shown in 5, the mobile landing platform 5 includes：Mobile vehicle 55 and at least one landing being arranged on the mobile vehicle 55
Position.
As shown in figure 8, unmanned plane 10 includes：Fly control unit 101, landing unit 102, shooting unit 103, wireless charging to connect
Take-up circle and the battery being connected with the wireless charging receiving coil；The landing unit 102 is used for and exterior unmanned plane landing
Equipment connects, and landing solicited message is sent to unmanned plane launching and recovering equipment, and receives what the exterior unmanned plane launching and recovering equipment was sent
First position information, wherein, the first position information is receiving the landing request letter for the unmanned plane launching and recovering equipment
After breath, the positional information of the mobile landing platform after the stagnation of movement of acquisition；The winged control unit 101 and the landing unit 102 connect
Connect, with according to first position information control flight to the extremely mobile landing platform overhead；The landing unit 102 and institute
State shooting unit 103 to connect, draw for shooting the image information that the mobile landing platform obtains according to the shooting unit 103
The winged control unit 101 is led, so that the winged control unit 101 controls the unmanned plane to complete landing.
Further, when there are wireless charger in a decrease, unmanned plane landing after decrease, plays the nothing of decrease in
Micro USB electric appliance 1 is corresponding with wireless charging receiving coil.
Need exist for supplementing, unmanned plane launching and recovering equipment and unmanned plane can use in the present embodiment carries in above-described embodiment
The technical solution of confession realizes that concrete implementation structure and working principle can be found in the related content in above-described embodiment, herein not
Repeat again.
In a kind of achievable scheme, as shown in figure 11, which includes unmanned plane launching and recovering equipment, nothing
Man-machine A and unmanned plane B；Wherein, the wireless charger A being connected respectively with charging controller is provided with unmanned plane launching and recovering equipment
With wireless charger B.Unmanned plane launching and recovering equipment, unmanned plane A and unmanned plane B can use the technical side provided in above-described embodiment
Case realizes that concrete implementation structure and working principle can be found in the corresponding contents in above-described embodiment, and details are not described herein again.Figure 12
Show the work flow diagram of the unmanned plane landing system.Idiographic flow is as follows：
S1：The assignment instructions that unmanned plane launching and recovering equipment receives outworker or master controller is assigned.
S2：Unmanned plane launching and recovering equipment sends first to unmanned plane A and takes off instruction, so that unmanned plane A flies to specified region
Work.
S3：Unmanned plane A monitors remaining capacity or obtains environmental parameter during working flight.
S4：If unmanned plane A monitors that remaining capacity does not meet flight environment of vehicle requirement less than predetermined threshold value or environmental parameter,
Landing request is sent to unmanned plane launching and recovering equipment.
S5：Unmanned plane launching and recovering equipment is after the landing solicited message of unmanned plane A transmissions is received, stagnation of movement, and obtains movement
Positional information after landing platform stagnation of movement, i.e. first position information.
S6：Unmanned plane launching and recovering equipment sends second to unmanned plane B and takes off instruction.
S7：Unmanned plane B sends to unmanned plane launching and recovering equipment and takes over signal.
S8：Unmanned plane launching and recovering equipment sends first position information to unmanned plane A.
S9：Unmanned plane A flies to the top of mobile landing platform, and shoots, and drop is completed according to the image information photographed
Fall.
S10：Unmanned plane launching and recovering equipment exports wireless charging signal to unmanned plane A.
Need exist for explanation be：Above-mentioned steps S9 is a process repeatedly.I.e. camera unit A is in unmanned plane A
Landing positioning mark is continuously shot in mobile process, landing unit A is after unmanned plane A often adjusts a position just based on adjustment
The image of the landing positioning mark shot afterwards carries out an image recognition, in order to fly the position that control unit A constantly adjusts unmanned plane A
Put so that unmanned plane A reaches the surface of landing positioning mark.
You need to add is that, in technical solution provided in this embodiment, mark guiding unmanned plane is positioned using landing herein
The principle of landing is as follows：
Unmanned plane landing unit be can get landing positioning mark size and dimension (such as from the memory of unmanned plane
Middle acquisition or acquisition etc. from the controller on landing platform).It is assumed that landing positioning is identified as the shape shown in Fig. 2, its
In pass throughType it is cylindrical, the picture of the unmanned plane of different height shooting is different ellipses, and landing positioning mark can be gone out with backstepping
Specific displacement directly over knowing.When unmanned plane is reached directly over LED warning lamps, cylindrical ruler of the landing unit in shooting picture
Very little and straight length, it can be deduced that unmanned plane relative to vacant aircraft gate altitude information, so as to fulfill precision approach.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
To modify to the technical solution described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical solution spirit and
Scope.
Claims (15)
- A kind of 1. unmanned plane landing method, it is characterised in that including：After the landing solicited message for receiving the transmission of the first unmanned plane, the first position letter of the mobile landing platform after stagnation of movement is obtained Breath；The first position information is sent to first unmanned plane, so that first unmanned plane is according to the first position Information is flown to the mobile landing platform overhead；The mobile landing platform shoot first unmanned plane and basis The image information photographed completes landing.
- 2. according to the method described in claim 1, it is characterized in that, it is provided with the mobile landing platform for first nothing Man-machine landing positioning mark for shooting, so that first unmanned plane in the mobile landing platform overhead according to photographing Landing positioning identification image completes landing.
- 3. according to the method described in claim 1, it is characterized in that, further include:After first unmanned plane completes landing, to first unmanned plane export wireless charging signal with to described first nobody Machine charges.
- 4. according to the method described in claim 1, it is characterized in that, further include：Receive the drop that first unmanned plane is sent After falling solicited message, according to the current location of first unmanned plane carried in the landing solicited message, to second nobody Machine sends and takes off instruction, so that second unmanned plane during flying is to the current location；AndThe first position information is sent to first unmanned plane, including：Receive after second unmanned plane takes off or reach feed back behind the current location take over signal after, to described first Unmanned plane sends the first position information.
- 5. according to the described method of any one of claim 1-4, it is characterised in that further include：Obtain the attitude information of the first unmanned plane described in descent；According to the attitude information, the first unmanned plane operating status is judged；If the operating status is abnormality, information warning is exported.
- 6. according to the described method of any one of claim 1-4, it is characterised in that further include：After receiving the landing solicited message that first unmanned plane is sent, stagnation of movement instruction is sent to the mobile landing platform, So that the mobile landing platform performs stagnation of movement action after receiving stagnation of movement instruction or driving to specified stagnation of movement position；After first unmanned plane is completed to land, driving instruction is sent to the mobile landing platform, so that the movement rises Drop platform is travelled to the position of driving instruction instruction.
- A kind of 7. unmanned plane landing method, it is characterised in that including：Landing solicited message is sent to unmanned plane launching and recovering equipment；The first position information that unmanned plane launching and recovering equipment is sent is received, wherein, the first position information rises for the unmanned plane Drop equipment is after the landing solicited message is received, the positional information of the mobile landing platform after the stagnation of movement of acquisition；According to the first position information, control flight to the overhead of the mobile landing platform；The mobile landing platform is shot, and landing is completed according to the image information photographed.
- 8. shot the method according to the description of claim 7 is characterized in that being provided with the mobile landing platform for unmanned plane Landing positioning mark；Correspondingly, the shooting mobile landing platform, and landing is completed according to the image information photographed, including：The landing positioning mark on the mobile landing platform is shot, obtains the first image；According to described first image, fly to the surface of the landing positioning mark and shoot at the same time on the mobile landing platform Landing positioning mark to obtain the second image；According to second image, elevation information is determined；Complete to land according to the elevation information.
- 9. according to the method described in claim 8, it is characterized in that, according to described first image, fly to the landing positioning The surface of mark, including：Searched and matched first analog image of described first image from analog image storehouse；According to the corresponding simulated-azimuth information of first analog image and dummy level range information, heading and water are determined Flat flying distance；According to the heading and the horizontal flight distance, fly to the landing positioning mark.
- 10. according to the method any one of claim 7-9, it is characterised in that further include,After receiving the instruction of taking off that the unmanned plane launching and recovering equipment is sent, the third place carried according to the instruction of taking off is believed Breath flies to corresponding position.
- 11. according to the method any one of claim 7-9, it is characterised in that described to be sent to unmanned plane launching and recovering equipment Landing solicited message, including：When monitoring that remaining capacity is less than threshold value, landing solicited message is sent to the unmanned plane launching and recovering equipment；OrWhen the environmental parameter got does not meet flight environment of vehicle requirement, landing request letter is sent to the unmanned plane launching and recovering equipment Breath.
- A kind of 12. unmanned plane launching and recovering equipment, it is characterised in that including：Move landing platform, controller, communication device and set Put the positioner on the mobile landing platform；Wherein,The communication device is connected with exterior unmanned plane wireless telecommunications；The controller is connected with the communication device and the positioner respectively, described to be received in the communication device After the landing solicited message that exterior unmanned plane is sent, the mobile landing platform after the positioner acquisition stagnation of movement is indicated First position information；And indicate that the communication device sends the first position information to the exterior unmanned plane；The mobile landing platform includes：Mobile vehicle and at least one decrease being arranged on the mobile vehicle.
- 13. unmanned plane launching and recovering equipment according to claim 12, it is characterised in that described decrease is equipped with for described outer Portion's unmanned plane landing positioning mark for shooting；Wireless charger is provided with described decrease.
- A kind of 14. unmanned plane, it is characterised in that including：Fly control unit, landing unit, shooting unit, wireless charging receiving coil And the battery being connected with the wireless charging receiving coil；The landing unit is used to be connected with exterior unmanned plane launching and recovering equipment, and landing is sent to the exterior unmanned plane launching and recovering equipment Solicited message, and the first position information that the exterior unmanned plane launching and recovering equipment is sent is received, wherein, the first position information Be the unmanned plane launching and recovering equipment receive it is described landing solicited message after, the position of the mobile landing platform after the stagnation of movement of acquisition Confidence ceases；The winged control unit is connected with the landing unit, to be risen according to first position information control flight to the movement Platform overhead drops；The landing unit is connected with the shooting unit, is obtained for shooting the mobile landing platform according to the shooting unit The image information arrived guides the winged control unit, so that the winged control unit controls the unmanned plane to complete landing.
- A kind of 15. unmanned plane landing system, it is characterised in that including：Unmanned plane landing described in the claims 12 or 13 Unmanned plane described in equipment and the claims 14.
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