CN108447309A - Unmanned plane landing method, apparatus and computer storage media - Google Patents

Abstract

The invention discloses a UAV take-off and landing method, device and computer storage medium. The UAV take-off and landing method is used for UAV take-off and landing arranged in a queue. The UAV take-off and landing method includes: When a plurality of UAV take-off and landing instructions are received, the location information of each UAV is obtained; the UAVs are grouped and formed according to the location information to obtain UAV groups; the UAVs are grouped Perform sorting, control the UAV group to take off and land according to the sort order, control the UAVs in the same UAV group to take off and land at the same time, and take off and land at the position corresponding to each UAV. The invention has the effect of avoiding the collision of the unmanned aerial vehicles arranged in a queue during the take-off and landing phase.

Description

Unmanned aerial vehicle take-off and landing method, device and computer storage medium

technical field

The invention relates to the field of UAV management, in particular to a method, device and computer storage medium for taking off and landing of UAVs.

Background technique

With more and more applications of drones and more and more integration into society, the functions of drones are also expanding. The application methods of drones usually include delivery, carrying camera equipment for high-altitude shooting. However, these application solutions cannot meet the user's requirements for using drones for light shows.

When performing a UAV light show, dozens or even hundreds of UAVs are usually arranged to fly at the same time, so that a light formation can be formed in the air.

However, when a large number of unmanned aerial vehicles are performing flight performances, the space for take-off and landing is usually not large. Therefore, how to control the flight of unmanned aerial vehicles and avoid collisions during the take-off and landing phase has become an urgent problem to be solved.

Contents of the invention

The main purpose of the present invention is to provide a UAV take-off and landing method, device and computer storage medium, aiming at avoiding the collision of UAVs arranged in a queue during the take-off and landing phase.

In order to achieve the above object, a method for taking off and landing of unmanned aerial vehicles proposed by the present invention is used for taking off and landing of unmanned aerial vehicles arranged in a queue. The method for taking off and landing of unmanned aerial vehicles includes:

Obtain the position information of each UAV when multiple UAV takeoff and landing instructions are received;

forming groups of the drones according to the location information to obtain groups of drones;

Sorting the drone groups, controlling the drones in the drone group to take off and land at the same time according to the sequence of the sorting results, and take off and land at the position corresponding to each drone.

Optionally, said grouping and forming the drones according to the location information, so as to obtain the grouping of drones includes:

The maximum number of drones in the preset drone group;

Formation of groups of drones whose distance between two pairs is greater than the first threshold is a group of drones.

Optionally, before forming groups of UAVs with a distance greater than the first threshold into a group of UAVs, the method includes:

Obtain the positioning accuracy of the drone according to the position information;

A corresponding first threshold is matched according to the positioning accuracy.

Optionally, the grouping of drones with a distance greater than the first threshold into one drone group includes:

Formation of groups of drones whose distance between two pairs is greater than the first threshold and smaller than the second threshold is formed into a group of drones.

Optionally, the first threshold range is 0.4 meters to 0.6 meters; the second threshold range is 40 meters to 60 meters.

Optionally, the maximum number of drones in the preset drone grouping includes:

Obtain the total number of drones controlled by the plurality of drone takeoff and landing commands;

Set the maximum number of drones in the drone group according to the total number of drones.

Optionally, setting the maximum number of drones in the drone group according to the total number of drones includes:

grouping the drones into a preset group;

When the number of drones in each preset group is greater than the maximum preset value, the maximum number of drones is based on the maximum preset value;

When the number of drones in each preset group is less than a minimum preset value, the minimum preset value is the maximum amount of drones;

When the number of drones in each preset group is between the minimum preset value and the maximum preset value, the number of drones in the preset group is the maximum number of drones.

The present invention provides a UAV take-off and landing method, device and computer storage medium. The UAV take-off and landing device includes: a memory, a processor, and a program stored on the memory and operable on the processor. UAV take-off and landing program, when the UAV take-off and landing program is executed by the processor, the steps of the above-mentioned method are realized.

The present invention provides a computer storage medium, which is characterized in that a UAV take-off and landing program is stored on the computer storage medium, and when the UAV take-off and landing program is executed by a processor, the steps of the above method are realized.

The UAV take-off and landing method provided by the present invention reduces the number of UAVs that take off and land at one time by grouping the UAVs and then taking off and landing in groups of UAVs. It can reduce the probability of UAVs colliding during takeoff and landing, so that UAVs arranged in a queue can take off and land safely and stably.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative effort.

Fig. 1 is the flow chart of the first embodiment of the unmanned aerial vehicle take-off and landing method of the present invention;

Fig. 2 is a schematic diagram of an application scenario of the unmanned aerial vehicle take-off and landing method shown in Fig. 1;

FIG. 3 is a schematic flow chart of step S102 in FIG. 1;

FIG. 4 is a schematic flow chart of a modified embodiment of step S102 in FIG. 1;

FIG. 5 is a schematic flow chart of step S2024 in FIG. 4;

Fig. 6 is a flowchart of an embodiment of the unmanned aerial vehicle take-off and landing device of the present invention;

FIG. 7 is a flowchart of an embodiment of a computer-readable medium of the present invention;

FIG. 8 is a schematic diagram of an optional part of the hardware structure of a drone implementing various embodiments of the present invention.

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

In the following description, use of suffixes such as 'module', 'part' or 'unit' for denoting elements is only for facilitating description of the present invention, and has no specific meaning by itself. Therefore, 'module', 'part' or 'unit' may be used in combination.

In this embodiment, the unmanned aerial vehicle and related technologies implementing the present invention are briefly introduced.

1. Regarding the structure of the connection between the drone and the server:

Please refer to FIG. 8 , which shows a schematic diagram of the modules of the internal IoT part of the drone. Among them, the drone includes a board, and a panel light Lamp Panel connected to the board. The board is provided with a 4G module, a control chip MCU, and a UAV flight control UVA; wherein the 4G module is connected with the UAV flight control UVA through serial communication, and the UAV flight control UVA communicates with the control unit through the bus CAN. Chip MCU connection. The control chip MCU is connected with the panel light Lamp Panel.

Communication method: Since the number of light panels controlled by the formation is as many as thousands, the light panels of each aircraft are a control node. In order to avoid interference and coupling between aircraft, the Internet of Things 4G networking method is used to control Each flight control and light board control; the 4G module and the flight control exchange data through the serial port; the control command received by the flight control is sent to the MCU of the board through the custom CAN protocol package, and the MCU receives the CAN Protocol package and analysis, output industry standard RGB24, so as to realize the combination control of various colors.

Control method: After the MCU of the board receives the custom protocol package, it obtains a standard RGB24 color control by analyzing the protocol package. RGB24 uses 24 bits to represent a pixel, and the RGB components are represented by 8 bits. The value range 0-255. Therefore, when the drone formation reaches thousands, the light board of each drone will form a pixel point, and then through the movement of the drone and the color control of the light board, a picture of different colors will be formed.

2. About the solution of UAV positioning via satellite:

A geodesic receiver is set up in the air show site in advance; the geodesic receiver obtains differential positioning data. The geodesic receiver sends the differential positioning data to the designated port of the server through the mobile network through the 4G module.

The server installed on the ground is preset to match and connect to the specified port of the geodesic receiver; and receive the differential positioning data through the specified port.

When the server checks that the mean 3D StdDev geometric mean 3D standard deviation of the three-dimensional coordinates obtained from the differential positioning data is less than 1, it is determined that the differential reference platform information of the precise three-dimensional coordinates has been obtained.

The server sends the differential reference station information and differential positioning data to the UAV through the mobile network; the UAV airborne differential positioning module receives the satellite positioning signal to obtain its own position, and then according to the received differential reference station information, differential positioning Data, to correct its own position, so as to obtain more accurate positioning information.

3. Regarding the waypoints and timing during the flight of the UAV:

3.1. Waypoint information not only includes spatial position information and light change information, each waypoint also includes corresponding time nodes. When the UAV obtains the waypoint mission, the flight control in the UAV controls the flight by itself, so as to reach the designated position of the waypoint within each corresponding time node, and display the designated lights.

The flight controller performs accurate light changes at each time point, and the flight between different position waypoints is configured by the drone itself according to the different time points. Reasonable flight speed to ensure timing and fixed point.

Specifically, the UAV will calculate two differences between waypoints at different locations: one is the distance difference and the other is the time difference. The UAV adjusts the flight speed according to the distance/time difference to ensure that it arrives at the corresponding spatial position at the next time node.

The change of light is also more precise because of the precise time parameters, which can complete complex change tasks such as gradual change and timing marquee.

3.2. The four-dimensional waypoint combined with the 4G Internet access function of the drone, the drone obtains the precise time information stored on the server through the mobile network, and realizes the precise unity of the timing of all drones.

4. About UAV formation path matching:

The server obtains a set of current location points of multiple drones and a set of mission points to be reached.

A position point in the position point set is traversed to each point in the task point set, sorted according to the distance, and the task point and the position point are sequentially connected according to the obtained sort order.

When the areas on both sides of the line include an equal number of position points and task points, the position points and task points on the same side of the line are divided into a position point subset and a corresponding task point subset. When the connection line and its extension line include other position points and task points, the position points and task points on the connection line and its extension line are used as a special position point subset and a corresponding special task point subset.

When the areas on both sides of the line do not include the same number of location points and task points, use other location points in the location set to traverse each point in the task point set.

Judging whether the number of location points in the location point subset is less than a quantity threshold; if not, dividing the location point subset and the corresponding task point subset into two location point subsets and the corresponding task point subset.

Traversing all the connection combinations of the location point subset and the corresponding task point subset, obtains the connection combination with the shortest total length. According to the obtained line combination, the matching relationship between the location point subset and the corresponding task point subset is obtained.

Obtain the special distance between each task point in the special task point subset and the special position point subset, and perform special sorting on the task points according to the special distance; The closest position points are matched one by one; according to the matching, the special matching relationship between the special position point subset and the special task point subset is obtained;

The formation path is obtained according to the matching relationship.

5. Regarding the protection and control of UAVs during take-off and landing phases:

The server obtains the location information of each drone when receiving multiple take-off and landing instructions of the drone.

The total number of drones controlled by the plurality of drone takeoff and landing commands is obtained.

The drones are grouped into preset groups; when the number of drones in each preset group is greater than a maximum preset value, the maximum preset value is the maximum number of drones. When the number of drones in each preset group is less than a minimum preset value, the minimum preset value is the maximum number of drones. When the number of drones in each preset group is between the minimum preset value and the maximum preset value, the number of drones in the preset group is the maximum number of drones.

Formation of groups of drones whose distance between two pairs is greater than the first threshold and smaller than the second threshold is formed into a group of drones.

Sorting the UAV groups, controlling the UAV groups to take off and land according to the sort order, controlling the UAVs in the same UAV group to take off and land at the same time, and take off and land to each UAV corresponding to s position.

6. Regarding the handling process when the UAV encounters an accident during the flight show:

The server controls the standby UAV to lift into the hover area and hover on standby in advance.

When receiving the automatic return information of the UAV performing the flight show, the corresponding waypoint task is obtained.

Controlling the backup UAV to load the obtained waypoint tasks, and continue to execute the corresponding waypoint tasks.

Based on the hardware structure, control system and control flow of the above-mentioned unmanned aerial vehicle, various embodiments of the method of the present invention are proposed. Hereinafter, specific implementations regarding the key technical features of the present invention will be described in detail.

The invention provides a method for taking off and landing of unmanned aerial vehicles, which is used for taking off and landing of unmanned aerial vehicles arranged in a queue.

Please refer to FIG. 1 , the first embodiment of the UAV take-off and landing method of the present invention. The method of taking off and landing of the unmanned aerial vehicle includes:

Step S101 , when a plurality of drone takeoff and landing commands are received, the location information of each drone is obtained.

Please refer to Figure 2, which shows 100 UAVs arranged in 10 rows and 10 columns; the server will communicate with 100 UAVs by radio, so as to send instructions to each UAV, and receive each Feedback information from a drone.

Wherein, the plurality of UAV take-off and landing instructions may be a single instruction sent by the user, or may be an instruction generated by a take-off action or a landing action in the flight show process. And the UAVs controlled by the multiple UAV take-off and landing commands can be all 100 UAVs, or some UAVs. When the server receives the take-off instruction, it will decompose the instruction, and then generate a separate control instruction corresponding to each drone.

The feedback information of the drone includes the location information of the drone. The location information can be positioned through the GPS service of the Global Positioning System, or the Beidou navigation service, the Galileo navigation service, the base station service, and so on. Furthermore, in order to obtain more accurate positioning, a geodesic differential positioning module can be added to obtain the positioning correction parameters; after the service obtains the positioning correction parameters, it is forwarded to the UAV, so that the UAV can correct its own positioning information, thereby The more accurate positioning information can be used to control the waypoint flight itself, and on the other hand, more accurate positioning information can be fed back to the server, so that the server can perform subsequent steps based on more accurate positioning information, making the subsequent steps more accurate. high.

Step S102, grouping and forming the drones according to the location information to obtain drone groups.

Among them, the server can be pre-set with a three-dimensional model of the local terrain, and when obtaining the position information of each drone, map each drone to the three-dimensional model of the terrain, so as to combine the three-dimensional model to group the drones formation. Of course, a simpler algorithm can also be used, for example, calculate the adjacent drones of each drone through the position information, and then group any N non-adjacent drones into a drone grouping scheme ; Or group any N adjacent UAVs into a group of UAVs and so on.

As shown in FIG. 2 , two drone groups are shown in the figure, a first drone group 100 and a second drone group 200 . It should be understood that, for the 100 UAVs shown in Figure 2, all the 100 UAVs should be grouped into UAV groups in formation, but in order to make the view more concise and clear, only Two of these drones are grouped together. In this embodiment, the number of drones in the first drone group 100 and the second drone group 200 is 10. This is just an example, and does not limit that the number of drones in each drone group must be equal. When taking off, the drones in the first drone group 100 first take off to their corresponding airspace; then the second drone group 200 take off to the corresponding airspace...until the last drone group takes off to the corresponding airspace.

In this embodiment, group formation is carried out according to the position information, then two adjacent drones can be realized to take off at different times, thereby achieving the effect of avoiding collisions; and each drone can be grouped to display specific images, such as triangular , rectangle or pentagram, etc.; it can also achieve the effect of drones taking off in a group in an area.

Step S103, sort the UAV groups, control the UAV groups to take off and land according to the sorting order, control the UAVs in the same UAV group to take off and land at the same time, and take off and land in each UAV group. The corresponding position of man-machine.

Among them, the sorting of the drone groups can be sorted according to a preset flight script, so that the effect of displaying a specific graphic can be achieved while achieving safe takeoff and landing. Of course, the sorting of drone groups can also be done randomly, so as to only achieve the effect of safe takeoff and landing. Of course, it should be noted that adjacent UAVs take off in groups sequentially, and can take off continuously within a relatively short interval, thereby reducing the number of unmanned takeoffs under the control of the same multiple UAV takeoff and landing commands. aircraft take-off intervals, such as:

The first UAV group 100 took off at 0:01 second; and reached the position of 0.5 meters at 0:02 second;

At the same time, at 0:02 seconds, the second UAV group 200 took off; and at 0:03 seconds, the first UAV group 100 arrived at the position of 1.5 meters, and the second UAV group 200 arrived 0.5 meter position;

At the same time, at 0:03 seconds, the third UAV group took off...

In this embodiment, the unmanned aerial vehicles are grouped and formed, and then take off and land in groups of unmanned aerial vehicles, thereby reducing the number of unmanned aerial vehicles that take off and land at one time, thereby reducing the number of unmanned aerial vehicles during takeoff and landing. The probability of collision during the landing phase enables the UAVs arranged in a queue to take off and land safely and stably.

Please refer to FIG. 3. Optionally, the step S102, grouping and forming the drones according to the location information, so as to obtain the drone grouping includes:

Step S1023, preset the maximum number of drones in the drone group.

In Figure 2, for example, if the maximum number of drones in the drone group is set to 9, the first drone group 100 and the second drone group 200 in the figure both exceed the maximum number of drones, It can be reduced to 9 by rearranging the groups again. In the end, the 1st to 11th drone groups all included 9 drones, and the last drone took off as the 12th drone group alone. Or, in order to be more tidy, the system redistributes the drone groups, for example: the number of drones in the first drone group to the fourth drone group is 9; the fifth drone group The number of drones in the 12th drone group is 8. In this way, the allocation of 100 drones is completed.

Step S1024, forming a group of drones whose distance between two pairs is greater than the first threshold.

For example, in FIG. 2 , in the first UAV group 100, the distance between UAV 11 and any other UAV in the group is greater than the first threshold, and the distance between UAV 12 and any other UAV in the group is greater than the first threshold. The distances between the UAV 10 and any other UAV in the group are all greater than the first threshold.

In this embodiment, by limiting the distance between two drones in each drone group to be greater than the first threshold, it is possible to avoid the situation that the distance between drones that take off and land at the same time is too small. And then achieve the effect of improving the safe and stable take-off and landing of the UAV. Further, by setting the maximum number of drones in the drone group, avoid too many drones in the drone group, thereby avoiding too many drones taking off and landing at the same time, thereby avoiding too many drones The sudden change of airflow generated by the machine at the same time is too large and accidents occur.

Optionally, in the step S1024, before forming groups of UAVs with a distance greater than the first threshold into a group of UAVs:

Step S1021, obtaining the positioning accuracy of the drone according to the position information.

Usually, the positioning accuracy of the UAV can be determined by obtaining the horizontal positioning range of the UAV.

Step S1022, matching the corresponding first threshold according to the positioning accuracy.

In the server, the positioning accuracy level of the drone and the first threshold matching it can be preset. For example, when the positioning accuracy level of the drone is level 1, set the first threshold to 0.4 meters; when the positioning accuracy level of the drone is level 2, set the first threshold to 0.6 meters; When the positioning accuracy level of the drone is level 3, set the first threshold to 1 meter; when the positioning accuracy level of the drone is level 4, set the first threshold to 1.5 meters. Alternatively, the value of the first threshold may be obtained by calculating the positioning accuracy and using a preset formula.

In this embodiment, by matching the corresponding first threshold according to the positioning accuracy, it is possible to avoid using an inappropriate first threshold. On the one hand, it can avoid that the first threshold is too small, resulting in insufficient safety distance of adjacent UAVs and collisions. On the other hand, it is also possible to avoid setting too many safety margins, which causes the first threshold to be too large, and thus makes grouping difficult.

Optionally, in the step S1024, forming groups of UAVs with a distance greater than the first threshold into one UAV group includes:

Formation of groups of drones whose distance between two pairs is greater than the first threshold and smaller than the second threshold is formed into a group of drones.

By setting the second threshold, the drones in the same drone group formation can be avoided from being too widely distributed, which makes it difficult to observe, count and manage drones that take off and land at the same time.

In this embodiment, the optional UAV is equipped with a difference, the first threshold range is 0.4 meters to 0.6 meters; the second threshold range is 40 meters to 60 meters.

Please refer to FIG. 4 , in a modified embodiment, step S102 is adjusted on the basis of the first embodiment. The details are as follows: the step S102, grouping and forming the drones according to the position information, so as to obtain the drone grouping includes:

Step S2021, obtaining the positioning accuracy of the drone according to the position information.

Step S2022, matching the corresponding first threshold according to the positioning accuracy.

Step S2023, obtaining the total number of drones controlled by the multiple drone takeoff and landing commands.

The total number of drones is the total number of drones that need to take off or land in a queue. For example, there are currently 100 drones in the field. Among them, in the current performance process, 50 drones currently need to take off to their respective waypoints; 50 drones are the total number of drones.

Step S2024, setting the maximum number of drones in the drone group according to the total number of drones.

For example, when the total number of drones is 100, the maximum amount of drones can be set to one-tenth of 100; when the total number of drones is 50, the maximum amount of drones can be set to 50 one-tenth of

Step S2025, forming a group of drones whose distance between two pairs is greater than the first threshold.

In this embodiment, by setting the maximum number of drones in the drone group according to the total number of drones, it can be more flexible when dividing the maximum amount of drones, so that the maximum amount of drones set It can match the total number of UAVs that need to take off or land at present, so as to obtain efficient takeoff and landing efficiency, and a safer single takeoff and landing UAV sortie.

Please refer to Figure 5. Optionally, the step S2024, setting the maximum number of drones in the drone group according to the total number of drones includes:

Step S20241, grouping the drones into a preset group.

The setting of the preset group can determine a more efficient grouping situation in advance. For example, the preset group is 10 groups, and the take-off interval between adjacent UAV groups is determined in advance to be 0.5 seconds. Therefore, it can be calculated that the time required for all 10 groups of UAV groups to take off is 5 seconds. Of course, in actual settings, a more efficient preset group value can be determined according to the take-off interval between adjacent groups.

For example, when the preset group is 10 groups: if the current total number of drones is 100, the drones are grouped into 10 groups, so that each group includes 10 drones. If the current total number of drones is 200, the drones are grouped into 10 groups, so that each group includes 20 drones.

Step S20242, when the number of drones in each preset group is greater than a maximum preset value, use the maximum preset value as the maximum number of drones.

For example, if the maximum preset value is 10, if the current total number of drones is 200, and the drones are grouped into 10 groups, each group includes 20 drones, which exceeds the maximum preset value. Therefore, using a scheme of 10 UAVs as a group, the UAVs need to be grouped into 20 groups.

Step S20243, when the number of drones in each preset group is less than a minimum preset value, use the minimum preset value as the maximum number of drones.

For example, if the minimum preset value is 5, if the current total number of drones is 30, and the drones are grouped into 10 groups, each group includes 3 drones, which does not reach the minimum preset value. Therefore, using the scheme of 5 UAVs as a group, the UAVs need to be grouped into 6 groups.

Step S20244, when the number of drones in each preset group is between the minimum preset value and the maximum preset value, use the number of drones in the preset group as the maximum number of drones.

For example, the maximum preset value is 10, and the minimum preset value is 5; if the current total number of drones is 90, the drones are grouped into 10 groups, so that each group includes 9 drones, It is within the range of the maximum preset value and the minimum preset value, so 9 drones are used as a group, and a total of 10 groups of drones are grouped.

When the number of unmanned aerial vehicles cannot be divided by the preset group, a further method can be used. For example, if the number of drones is 55 and the preset group is 10, then the drones are grouped into 10 groups, so that each group includes 5.5 drones, and each group includes 6 drones. drone. In the backward calculation through 6 drones, the drones are divided into 10 groups for this take-off and landing, with 6 drones in the first 9 groups and 1 drone in the 10th group. Of course, the above-mentioned method can also be used to redistribute the quantity of each group, so that the quantity of each group can be more even, so as to achieve a neater effect when taking off.

In this embodiment, by grouping UAVs into preset groups and obtaining the number of UAVs in each preset group, the basic value of the number of UAVs in the initial division of UAV groups can be obtained. Achieve more efficient completion of all take-off procedures.

Further, by judging whether the basic value is within the safe range, that is, within the range of the maximum preset value and the minimum preset value, if it is within the safe range, the basic value is used as the maximum amount of the drone.

However, if the base value exceeds the upper limit of the safe range, it is considered that there are too many drones that are about to take off at the same time. Therefore, the maximum preset value that is smaller than the basic value is used as the maximum amount of drones, so that the number of drones in the group is reduced, but the number of groups is increased; and then by increasing the number of take-off batches, it is ensured that every The number of unmanned aerial vehicles for group takeoff is within the safety line.

If the basic value does not reach the lower limit of the safe range, it is considered that the number of drones that are about to take off at the same time is too small. Therefore, the minimum preset value that is larger than the basic value is used as the maximum amount of drones, so that the number of drones in the group increases, but the number of groups decreases; and by reducing the number of take-off batches, it is possible to improve The effect of take-off efficiency.

Optionally, the number of preset groups ranges from 8 to 12 groups; the maximum preset value ranges from 8 to 12 frames; and the minimum preset value ranges from 4 to 6 frames.

According to the example of this embodiment, the labels of the above steps are not used to limit the sequence of the steps in this embodiment, and the numbers of each step are only for convenient reference when describing each step. The execution order of each step does not affect the logical relationship of this embodiment, which means it is within the scope of protection claimed in this application.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods in the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course can also be implemented by hardware, but in many cases the former is Better implementation. Based on such an understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to make a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in various embodiments of the present invention.

Please refer to FIG. 6 , an embodiment of the unmanned aerial vehicle take-off and landing device of the present invention.

The drone landing device 2000 includes: a memory 2100, a processor 2200, and a drone take-off and landing program 2300 stored on the memory 2100 and operable on the processor 2200, the drone landing When the program 2300 is executed by the processor 2200, the steps of the methods described in the foregoing embodiments are implemented.

For specific steps, reference may be made to the foregoing embodiments, and details are not repeated here.

In this embodiment, the unmanned aerial vehicles are grouped and formed, and then take off and land in groups of unmanned aerial vehicles, thereby reducing the number of unmanned aerial vehicles that take off and land at one time, thereby reducing the number of unmanned aerial vehicles during takeoff and landing. The probability of collision during the landing phase enables the UAVs arranged in a queue to take off and land safely and stably.

Please refer to FIG. 7 , an embodiment of the computer readable medium of the present invention.

The computer storage medium 3000 stores a UAV take-off and landing program 3100, and when the UAV take-off and landing program 3100 is executed by a processor, the steps of the methods described in the above-mentioned embodiments are implemented.

For specific steps, reference may be made to the foregoing embodiments, and details are not repeated here.

In this embodiment, the unmanned aerial vehicles are grouped and formed, and then take off and land in groups of unmanned aerial vehicles, thereby reducing the number of unmanned aerial vehicles that take off and land at one time, thereby reducing the number of unmanned aerial vehicles during takeoff and landing. The probability of collision during the landing phase enables the UAVs arranged in a queue to take off and land safely and stably.

It should be noted that, in this document, the term "comprising", "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.

The serial numbers of the above embodiments of the present invention are for description only, and do not represent the advantages and disadvantages of the embodiments.

Through the description of the above embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to make a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in various embodiments of the present invention.

Embodiments of the present invention have been described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementations, and the above-mentioned specific implementations are only illustrative, rather than restrictive. Those of ordinary skill in the art will Under the enlightenment of the present invention, many forms can also be made without departing from the gist of the present invention and the protection scope of the claims, and these all belong to the protection of the present invention.

Claims (10)

1. A method for unmanned aerial vehicle take-off and landing, for the unmanned aerial vehicle take-off and landing arranged in formation, it is characterized in that, described unmanned aerial vehicle take-off and landing method comprises: Obtain the position information of each UAV when multiple UAV takeoff and landing instructions are received; forming groups of the drones according to the location information to obtain groups of drones; Sorting the UAV groups, controlling the UAV groups to take off and land according to the sort order, controlling the UAVs in the same UAV group to take off and land at the same time, and take off and land to each UAV corresponding to s position. 2. The unmanned aerial vehicle take-off and landing method as claimed in claim 1, is characterized in that, described according to described location information group formation described unmanned aerial vehicle, to obtain unmanned aerial vehicle grouping comprises: The maximum number of drones in the preset drone group; Formation of groups of drones whose distance between two pairs is greater than the first threshold is a group of drones. 3. The unmanned aerial vehicle take-off and landing method as claimed in claim 2, is characterized in that, before described pairwise distance is greater than the unmanned aerial vehicle group formation of first threshold value to comprise: Obtain the positioning accuracy of the drone according to the position information; A corresponding first threshold is matched according to the positioning accuracy. 4. The unmanned aerial vehicle take-off and landing method as claimed in claim 3, is characterized in that, described two-by-two distance greater than the unmanned aerial vehicle group formation of first threshold value is a unmanned aerial vehicle grouping and comprises: Formation of groups of drones whose distance between two pairs is greater than the first threshold and smaller than the second threshold is formed into a group of drones. 5. The UAV take-off and landing method according to claim 4, characterized in that, the first threshold range is 0.4 meters to 0.6 meters; the second threshold range is 40 meters to 60 meters. 6. The drone take-off and landing method according to claim 2, wherein the maximum amount of drones in the preset drone grouping includes: Obtain the total number of drones controlled by the plurality of drone takeoff and landing commands; Set the maximum number of drones in the drone group according to the total number of drones. 7. The unmanned aerial vehicle take-off and landing method as claimed in claim 6, wherein said setting the maximum number of unmanned aerial vehicles in the unmanned aerial vehicle grouping according to the total number of said unmanned aerial vehicles comprises: grouping the drones into a preset group; When the number of drones in each preset group is greater than the maximum preset value, the maximum number of drones is based on the maximum preset value; When the number of drones in each preset group is less than a minimum preset value, the minimum preset value is the maximum amount of drones; When the number of drones in each preset group is between the minimum preset value and the maximum preset value, the number of drones in the preset group is the maximum number of drones. 8. The unmanned aerial vehicle take-off and landing method according to claim 7, wherein the number of preset groups ranges from 8 to 12 groups; the maximum preset value ranges from 8 to 12; The minimum preset value ranges from 4 to 6 frames. 9. An unmanned aerial vehicle take-off and landing device, characterized in that, the unmanned aerial vehicle take-off and landing device includes: a memory, a processor, and an unmanned aerial vehicle that is stored on the memory and can run on the processor. Landing program, when the UAV take-off and landing program is executed by the processor, the steps of the method according to any one of claims 1 to 8 are realized. 10. A computer storage medium, characterized in that, the computer storage medium is stored with a UAV take-off and landing program, and when the UAV take-off and landing program is executed by a processor, it realizes any one of claims 1 to 8. The steps of the method described in the item.