CN112416013A

CN112416013A - Unmanned aerial vehicle take-off and landing control method and device and unmanned aerial vehicle take-off and landing equipment

Info

Publication number: CN112416013A
Application number: CN201910768380.6A
Authority: CN
Inventors: 吕永鑫; 柴峻; 褚世伟
Original assignee: SF Technology Co Ltd
Current assignee: Fengyi Technology (Shenzhen) Co.,Ltd.
Priority date: 2019-08-20
Filing date: 2019-08-20
Publication date: 2021-02-26

Abstract

The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle take-off and landing control method, a control device and unmanned aerial vehicle take-off and landing equipment, wherein the method comprises the following steps: receiving landing consultation information sent by the unmanned aerial vehicle, and acquiring state information of the main platform according to the information; if the state information of the main platform is a to-be-lifted state, sending a main platform lifting instruction to the unmanned aerial vehicle; if the state information of the main platform is in a non-take-off and landing state, acquiring the state information of the standby platform; if the state information of the standby platform is in a to-be-lifted state, a standby platform lifting instruction is sent to the unmanned aerial vehicle; and if the state information of the standby platform is in a non-take-off and landing state, sending a hovering instruction to the unmanned aerial vehicle or searching for other take-off and landing platform instructions. According to the method, whether the take-off and landing platform has the take-off and landing conditions is judged, and the unmanned aerial vehicle carries out the next operation after receiving the corresponding instruction, so that the safety of the unmanned aerial vehicle and operators in the take-off and landing process is ensured, the automation degree is high, the primary and the standby setting of the take-off and landing platform are matched, and the operation efficiency is greatly improved.

Description

Unmanned aerial vehicle take-off and landing control method and device and unmanned aerial vehicle take-off and landing equipment

Technical Field

The application belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle take-off and landing control method, a control device and unmanned aerial vehicle take-off and landing equipment.

Background

Unmanned aerial vehicle piloted plane is called "unmanned aerial vehicle" for short, along with the development of science and technology, unmanned aerial vehicle has wide application in agriculture, industry and civilian field etc, for example, the delivery that is often used for express delivery or goods in the commodity circulation trade, generally all can set up the platform of taking off and land that supplies unmanned aerial vehicle to take off and land when establishing the delivery network, it carries out relevant operation to be equipped with operating personnel again, current platform security of taking off and land is relatively poor, operating personnel can be injured to the in-process when unmanned aerial vehicle takes off and land, unmanned aerial vehicle itself also can receive certain damage, furthermore, operating personnel need pay close attention to platform and unmanned aerial vehicle of taking off and land.

Disclosure of Invention

The application aims to provide an unmanned aerial vehicle take-off and landing control method, a control device and unmanned aerial vehicle take-off and landing equipment, and aims to solve the technical problems that the safety of an unmanned aerial vehicle take-off and landing platform in the prior art is poor, and the workload of operators is large.

In order to achieve the above object, a first aspect of the present application provides an unmanned aerial vehicle take-off and landing control method for controlling a take-off and landing action of an unmanned aerial vehicle based on a take-off and landing platform, wherein the take-off and landing platform includes a main platform and a standby platform, and the unmanned aerial vehicle take-off and landing control method includes:

receiving landing consultation information sent by an unmanned aerial vehicle, and acquiring state information of the main platform according to the landing consultation information;

if the state information of the main platform is a to-be-lifted state, a main platform lifting instruction is sent to the unmanned aerial vehicle;

if the state information of the main platform is in a non-take-off and landing state, acquiring the state information of the standby platform;

if the state information of the standby platform is in a to-be-lifted state, a standby platform lifting instruction is sent to the unmanned aerial vehicle;

and if the state information of the standby platform is in a non-take-off and landing state, sending a hovering instruction to the unmanned aerial vehicle or searching for other take-off and landing platform instructions.

Further, the non-take-off and landing state comprises: a platform damaged state and a platform occupied state.

Further, the sending the hovering instruction or the finding of other take-off and landing platform instruction to the drone includes:

if the non-take-off and landing state of the main platform and the non-take-off and landing state of the standby platform are both the platform damage states, sending an instruction for searching for other take-off and landing platforms to the unmanned aerial vehicle;

and if the non-take-off and landing state of the main platform and/or the non-take-off and landing state of the standby platform is a platform occupation state, sending a hovering instruction to the unmanned aerial vehicle.

Further, the unmanned aerial vehicle take-off and landing control method further comprises the following steps:

controlling a camera device to take pictures of the lifting platform every first preset time to obtain platform pictures;

and carrying out image recognition processing on the platform photo, and judging whether to update the state information of the main platform and/or the state information of the standby platform into a platform damage state according to a processing result.

Further, after the image recognition processing is performed on the platform picture, and whether the state information of the main platform and/or the state information of the standby platform is updated to the platform damage state is judged according to the processing result, the unmanned aerial vehicle take-off and landing control method further includes:

and if the state information of the main platform or the state information of the standby platform is updated to be the platform damage state, sending maintenance reminding information to a remote background.

Further, after the sending of the main platform take-off and landing instruction to the unmanned aerial vehicle or the sending of the standby platform take-off and landing instruction to the unmanned aerial vehicle, the unmanned aerial vehicle take-off and landing control method further includes:

executing a first prompt operation, and changing the first prompt operation into a second prompt operation after receiving the information of the taking-off and landing process sent by the unmanned aerial vehicle;

and when the take-off and landing end information sent by the unmanned aerial vehicle is received, changing the second prompt operation into a third prompt operation.

The second aspect of this application provides an unmanned aerial vehicle controlling means that takes off and land, includes:

the main platform state module is used for receiving landing consultation information sent by the unmanned aerial vehicle and acquiring state information of the main platform according to the landing consultation information;

the main platform taking-off and landing module is used for sending a main platform taking-off and landing instruction to the unmanned aerial vehicle if the state information of the main platform is a state to be taken off and landed;

the standby platform state module is used for acquiring the state information of the standby platform if the state information of the main platform is in a non-take-off and landing state;

the standby platform taking-off and landing module is used for sending a standby platform taking-off and landing instruction to the unmanned aerial vehicle if the state information of the standby platform is in a state to be taken off and landed;

and the non-take-off and landing module is used for sending a hovering instruction or searching for other take-off and landing platform instructions to the unmanned aerial vehicle if the state information of the standby platform is in a non-take-off and landing state.

A third aspect of the application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method as described above.

The fourth aspect of the present application provides an unmanned aerial vehicle take-off and landing device, which works based on the above unmanned aerial vehicle take-off and landing control method, and includes:

the lifting platform comprises a main platform and a standby platform, wherein the main platform and the standby platform are respectively provided with a communication device;

and the control system is at least in signal connection with the communication device and is in communication with the unmanned aerial vehicle so as to judge the states of the main platform and the standby platform and control the take-off and landing operations of the unmanned aerial vehicle according to the states.

Further, unmanned aerial vehicle take-off and landing equipment still includes positioner, positioner including laying in first visual positioning cloth on the main platform and laying in second visual positioning cloth on the reserve platform, first visual positioning cloth with second visual positioning cloth is equipped with different sign images respectively to can descend after making unmanned aerial vehicle visual identification and be in the point of rising and falling that main platform or reserve platform correspond.

Further, unmanned aerial vehicle take-off and landing equipment still includes the auxiliary positioning device who is used for supplying unmanned aerial vehicle location, auxiliary positioning device is including locating a plurality of markers of take-off and landing platform circumference side to obtain unmanned aerial vehicle's real-time positional information after making unmanned aerial vehicle discernment.

Further, unmanned aerial vehicle take-off and landing equipment still includes and is used for the lighting device of take-off and landing platform provides the illumination, lighting device's illumination angle is adjustable.

Further, the main platform with reserve platform is a plurality of concatenation units concatenation and forms, every the concatenation unit all include a supporting bench and with a plurality of supporting legss that the brace table is connected, the brace table includes the frame and arranges side by side a plurality of backup pads in the frame, the backup pad is provided with drainage structures.

Further, the supporting legs includes hollow tube, bracing piece and retaining member, the one end of bracing piece peg graft in the hollow tube, the other end of support frame with the brace table is connected, the retaining member sets up on the hollow tube, when retaining member locking the bracing piece for the hollow tube is fixed, when the retaining member loosens the bracing piece can for the hollow tube reciprocates.

Furthermore, a plurality of gaps are formed in the peripheral wall of the top end of the hollow pipe, and the locking piece is a hoop arranged outside the hollow pipe in a sleeved mode.

The beneficial effect of this application: according to the unmanned aerial vehicle take-off and landing control method, after landing consultation information is received, the state of the main platform is obtained, when the main platform is in a non-take-off and landing state and cannot land the unmanned aerial vehicle, the standby platform is started, and when the main platform and the standby platform are both in a non-take-off and landing state, the unmanned aerial vehicle is controlled to hover for waiting or search for other platforms. Correspondingly, unmanned aerial vehicle take-off and landing equipment is equipped with main platform and reserve platform, is equipped with communication device on main platform and reserve platform, carries out information interaction such as platform state with unmanned aerial vehicle's control system to supply control system to judge and send corresponding instruction. Thereby guarantee take off and land operating efficiency and take off and land in-process unmanned aerial vehicle and operating personnel's safety, take off and land equipment degree of automation improves greatly, has also reduced ground operating personnel's work load simultaneously.

Drawings

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

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle take-off and landing device provided in an embodiment of the present application;

fig. 2 is a schematic top view of a communication device in the unmanned aerial vehicle taking-off and landing equipment shown in fig. 1;

fig. 3 is a diagram illustrating interaction between the takeoff and landing equipment and other parts of the unmanned aerial vehicle according to an embodiment;

fig. 4 is a top view of a first visual positioning cloth in the unmanned aerial vehicle take-off and landing apparatus shown in fig. 1;

fig. 5 is a top view of a second visual positioning cloth in the unmanned aerial vehicle take-off and landing apparatus shown in fig. 1;

fig. 6 is a schematic perspective view of a splicing unit in the unmanned aerial vehicle take-off and landing device shown in fig. 1;

FIG. 7 is an exploded view of the support legs of the splice unit of FIG. 6;

FIG. 8 is an enlarged view of portion A of FIG. 6;

FIG. 9 is a first schematic diagram illustrating a partial explosion in the splice unit of FIG. 6;

FIG. 10 is a second schematic diagram of a partial explosion in the splice unit of FIG. 6;

fig. 11 is a schematic flow chart of a method for controlling take-off and landing of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 12 is a schematic structural diagram of an unmanned aerial vehicle take-off and landing control device provided in an embodiment of the present application;

fig. 13 is a schematic diagram of a terminal device according to an embodiment of the present application.

Wherein, in the figures, the respective reference numerals:

10-unmanned aerial vehicle take-off and landing equipment 11-main platform 12-standby platform

13-splicing unit 100-supporting platform 200-supporting foot

300-connecting piece 400-communication device 510-first visual positioning cloth

520-second visual positioning cloth 530-auxiliary positioning device 531-marker

600-lighting device 101-frame 110-edging

111-first tenon 112-joining table 120-supporting plate

210-hollow tube 211-gap 220-support rod

221-second tenon 230-clip 310-first mortise

320-second mortise 411-green light 412-red light

413 yellow indicator 421 green button 422 red button

610-lamp holder 620-lighting lamp.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is for convenience and simplicity of description, and does not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, is not to be considered as limiting.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

Please refer to fig. 1 to 11, an embodiment of the present application provides an unmanned aerial vehicle take-off and landing apparatus, as shown in fig. 1 to 3, an embodiment of the present application provides an unmanned aerial vehicle take-off and landing apparatus 10, which includes a take-off and landing platform and a control system. The platform that takes off and land includes main platform 11 and reserve platform 12, the top surface of two platforms is used for supporting unmanned aerial vehicle, two platforms can form one whole, also separately set up, the area of the top surface of two platforms equals or roughly equals, the top surface of two platforms is the rectangle or roughly is the rectangle, two platforms all can be used to unmanned aerial vehicle's taking off and land, when transporting the operation denser, unmanned aerial vehicle selects idle platform to take off and land, when transporting the operation not dense, can only use one of them platform to carry out unmanned aerial vehicle's taking off and land. The main platform 11 and the standby platform 12 are respectively provided with a communication device 400; the control system is at least in signal connection with the communication device 400 and is in communication with the unmanned aerial vehicle, and is used for judging the states of the main platform 11 and the standby platform 12 and controlling the taking-off and landing operations of the unmanned aerial vehicle according to the states.

Specifically, when the unmanned aerial vehicle needs to land, the unmanned aerial vehicle sends corresponding landing consultation information to the control system, and the control system acquires state information of the main platform according to the landing consultation information;

when the state information of the main platform is in a state to be lifted and landed, a main platform lifting instruction is sent to the unmanned aerial vehicle;

Generally, the control system includes a drone take-off and landing control device and a communication network through which the drone take-off and landing control device enables wireless communication with the communication device 400 and the drone. The unmanned aerial vehicle and the unmanned aerial vehicle take-off and landing control device interact in real time, and the unmanned aerial vehicle take-off and landing control device controls the take-off and landing of the unmanned aerial vehicle according to the method according to the current position of the unmanned aerial vehicle and the states of the main platform 11 and the standby platform 12.

Wherein, communicator 400 is the information interaction intermediary of unmanned aerial vehicle controlling means and staff that takes off and land, and unmanned aerial vehicle controlling means takes off and land can send the information of the current operating condition of platform that takes off and land to communicator 400, and control communicator 400 with visual or audible signal's form suggestion staff, guarantee staff's safety. Ground staff can also send the state information of the take-off and landing platform to background equipment through the communication device 400, for example, the platform needs to be maintained at present, then the maintenance signal is sent to the unmanned aerial vehicle take-off and landing control device through the manual operation communication device, so that the unmanned aerial vehicle take-off and landing control device updates the state of the take-off and landing platform to the current unavailable state, namely, the non-take-off and landing state. After the maintenance, rethread manual operation communication device sends the maintenance end signal to unmanned aerial vehicle take off and land controlling means, makes unmanned aerial vehicle take off and land controlling means with the state update of platform of taking off and land for current user state, treats the state of taking off and land promptly.

The unmanned aerial vehicle take-off and landing equipment 10 that this embodiment provided, its take-off and landing platform includes main platform 11 and reserve platform 12, be in non-take-off and landing state when main platform 11, for example break down, there is unmanned aerial vehicle when taking off and landing, can launch reserve platform 12, when main platform and reserve platform all can't take off and land, unmanned aerial vehicle take-off and landing controlling means control unmanned aerial vehicle hovers and waits or seeks other platforms, control system can be according to main platform 11 and reserve platform 12's state control unmanned aerial vehicle's take-off and landing operation, unmanned aerial vehicle take-off and landing controlling means is that unmanned aerial vehicle carries out corresponding next operation after receiving the instruction that control system unmanned aerial vehicle take-off and landing. On the first hand, the main and standby platforms, the communication device and the control system are matched to carry out intelligent control, and the landing can be efficiently finished; in the second aspect, the unmanned aerial vehicle can be prevented from being damaged due to failure in taking off and landing or landing under poor landing conditions when manual operation is improper or untimely; the third aspect can prevent that operating personnel from when taking off and land near the platform operation, and unmanned aerial vehicle descends and causes the incident.

In one embodiment, the main platform 11 and the standby platform 12 are respectively provided with a communication device 400 at the position close to the edge, and each communication device 400 is provided with an indicator light. The indicating lamp is used for showing the state of the lifting platform and playing a role in warning by emitting different colors and combinations of luminous states, the indicating lamp of the main platform 11 is used for indicating the working state information of the main platform 11, and the indicating lamp of the standby platform 12 is used for indicating the working state information of the standby platform 12. In an embodiment, the pilot lamp sends green glow and scintillation when the platform that takes off and land possesses the condition of taking off and land, and the in-process pilot lamp that unmanned aerial vehicle descends sends yellow light and scintillation, and the pilot lamp sends ruddiness scintillation when the platform that takes off and land does not possess the condition of taking off and land, so ground operating personnel can prepare operation on next step according to the luminous information of observing.

In an embodiment, the communication device 400 is provided with a trigger switch, and the trigger switch can send the state information of the take-off and landing platform and the unmanned aerial vehicle to the unmanned aerial vehicle take-off and landing control device after being triggered, and the triggering mode may be manual pressing, or other modes, such as gesture action triggering, voice triggering, and the like. In an embodiment, communication device 400 is equipped with communication button, and this communication button corresponds trigger switch's position setting, and communication button is used for sending the current user state information of take-off and landing platform to unmanned aerial vehicle take-off and landing controlling means after pressing to inform whether unmanned aerial vehicle take-off and landing controlling means has the staff to operate at present, unmanned aerial vehicle take-off and landing controlling means controls unmanned aerial vehicle again and carries out corresponding operation on next step. When the staff check that the take-off and landing platform does not have the take-off and landing conditions, the corresponding communication button is pressed down, and the unmanned aerial vehicle take-off and landing control device is informed that the current unmanned aerial vehicle can not take off and land. Specifically, the communication device 400 may be embedded near the edge of the landing platform, and the entire communication device 400 may have a box shape, and the top surface thereof may be flush with the top surface of the landing platform.

In a specific embodiment, as shown in fig. 2, communication device 400 is equipped with three pilot lamps and two communication buttons, three pilot lamps are green pilot lamp 411 respectively, red pilot lamp 412 and yellow pilot lamp 413, can send the green glow respectively, ruddiness, yellow light, two communication buttons are red button 422 and green button 421, when pressing red button 422, communication device 400 sends the information of the operation of can not taking off and land to unmanned aerial vehicle take-off and landing controlling means, inform unmanned aerial vehicle take-off and landing controlling means current take-off and landing platform have the staff to be operating, the unmanned aerial vehicle must not take off and land, when pressing green button 421, communication device 400 sends the information of the operation of can taking off and land to unmanned aerial vehicle take-off and landing controlling means, inform unmanned aerial vehicle take-off and landing controlling means current take-off and landing platform can carry out the take off and land of.

The unmanned aerial vehicle reaches the vicinity of a take-off and landing field, and sends landing consultation information to the unmanned aerial vehicle take-off and landing control device, when the take-off and landing platform is in a perfect state, namely the take-off and landing platform is not damaged, and no unmanned aerial vehicle is taking off and landing, the unmanned aerial vehicle take-off and landing control device sends a take-off and landing instruction corresponding to the platform to the unmanned aerial vehicle, so that landing can be performed, meanwhile, a green indicator lamp 411 on the corresponding take-off and landing platform flickers to remind a worker that the unmanned aerial vehicle is; in the landing process of the unmanned aerial vehicle, the unmanned aerial vehicle take-off and landing control device controls the yellow indicator lamp 413 to flash, so that nearby personnel are reminded that the unmanned aerial vehicle is in landing and does not need to approach the take-off and landing platform, and operation preparation after the unmanned aerial vehicle lands is well made; after the unmanned aerial vehicle lands, the unmanned aerial vehicle take-off and landing control device controls the yellow indicator lamp 413 to stop flashing, which indicates that a worker can perform related operations on the unmanned aerial vehicle on the take-off and landing platform; when the platform of taking off and landing can't take off and land, unmanned aerial vehicle take off and land controlling means control red pilot lamp 412 scintillation reminds the staff to overhaul the platform of taking off and land. After the unmanned aerial vehicle lands, before a worker goes to the take-off and landing platform to perform related operations, the worker firstly presses the red button 422 to inform the unmanned aerial vehicle take-off and landing control device that the worker is on the take-off and landing platform, and the unmanned aerial vehicle cannot take off and land, so that the safety of the worker is ensured; after personnel's operation is accomplished, press green button 421, give unmanned aerial vehicle take off and land controlling means with the information transfer that the platform can launch.

In one embodiment, as shown in fig. 1, the unmanned aerial vehicle take-off and landing apparatus 10 further comprises a positioning device, which comprises a first visual positioning cloth 510 and a second visual positioning cloth 520. First visual positioning cloth 510 is laid on the holding surface of main platform 11, and second visual positioning cloth 520 is laid on the holding surface of reserve platform 12, and two visual positioning cloths are equipped with different identification images to cooperation unmanned aerial vehicle can descend the point of rising and falling that corresponds at main platform 11 or reserve platform 12 after visual identification, guarantee that unmanned aerial vehicle descends in suitable position. Two vision positioning cloth can all suitably remove according to site environment to lay vision positioning cloth in suitable position, make things convenient for unmanned aerial vehicle's take off and land. In one embodiment, as shown in fig. 4, the identification image of the first visual positioning cloth 510 includes a plurality of concentric circles with different radii, and the innermost concentric circle is the landing point of the main platform 11; as shown in fig. 5, the identification image of the second visual positioning cloth 520 includes a plurality of regular triangles with different side lengths, and the innermost regular triangle is the landing point of the standby platform 12.

When the main platform 11 is idle, the unmanned aerial vehicle is positioned and landed at a landing point of the main platform 11 through the vision of the first vision positioning cloth 510; when the primary platform 11 is occupied, the drone lands on the landing point of the backup platform 12 through the visual positioning of the secondary visual positioning cloth 520.

Two visual positioning cloth all adopt the waterproof cloth of difficult reflection of light, can not cause obvious reflection of light under the illumination environment to can guarantee the safe take off and land of unmanned aerial vehicle at night. A plurality of wash ports (not shown) have been seted up to two visual positioning cloth to conveniently discharge the rainwater, prevent that ponding reflection of light from causing the unable discernment sign image of unmanned aerial vehicle and lead to descending the failure.

In an embodiment, as shown in fig. 1, the drone takeoff and landing device 10 further includes an auxiliary positioning device 530 for positioning the drone. The auxiliary positioning device 530 comprises a plurality of markers 531 arranged on the circumferential side of the take-off and landing platform, the markers 531 arranged on the periphery form a visual matrix, the unmanned aerial vehicle can obtain real-time position information of the unmanned aerial vehicle after being identified, and the unmanned aerial vehicle can realize accurate position positioning by combining visual positioning of visual positioning cloth on the take-off and landing platform. That is to say, when unmanned aerial vehicle flies near the platform of taking off and land, unmanned aerial vehicle discerned earlier the nearest marker of distance, then discerned the discernment image on the vision positioning cloth that corresponds, and marker 531 can be used to assist the unmanned aerial vehicle location, prevents that unmanned aerial vehicle from leading to unmanned aerial vehicle descending error too big because of the GPS deviation, and unmanned aerial vehicle descending is outside at the platform of taking off and land, causes the condition of unmanned aerial vehicle damage, can effectively protect unmanned aerial vehicle and operation personnel's safety. In the relatively poor environment of positioning signal, like mountain area etc. mountain area, mountain area GPS signal is poor, and the location is inaccurate, and unmanned aerial vehicle descends the failure easily, and for preventing to descend the failure, traditional method is increase take off and land platform area, sets up a plurality of markers 531 in take off and land platform week side, need not to increase the accurate location that take off and land platform area just can realize unmanned aerial vehicle descends, practices thrift the cost. For example, a plurality of block-shaped markers 531 are arranged on the circumferential side of the take-off and landing platform in a matrix manner, and the markers 531 may be objects with a color that is obviously different from the surrounding color of the take-off and landing platform, so as to facilitate rapid identification and positioning of the unmanned aerial vehicle.

Specifically, as shown in fig. 1, the marker can adopt a T-shaped block, the marker can also adopt any other shape with a calibration identification degree, the T-shaped block is placed horizontally, each T-shaped block is arranged on the circumferential side of the take-off and landing platform in a matrix manner, when the unmanned aerial vehicle flies near the take-off and landing platform, after one marker 531 near the take-off and landing platform is detected, the position relationship between the unmanned aerial vehicle and the visual positioning cloth is obtained through the position relationship between the marker 531 and one visual positioning cloth, and then the unmanned aerial vehicle is positioned by flying above the corresponding positioning visual cloth. When the position data of each marker 531 and the position data of the take-off and landing point of the visual positioning cloth are installed, the position data are measured by using GPS measuring equipment, when the unmanned aerial vehicle flies to the vicinity of the take-off and landing platform, the identification image of one marker 531 and one visual positioning cloth is identified by the visual module, and the included angle data among the unmanned aerial vehicle, the markers and the identification image are obtained at the same time, so that the unmanned aerial vehicle can calculate the current position information of the unmanned aerial vehicle according to the data and then accurately fly to the position right above the corresponding take-off and landing point.

In one embodiment, as shown in fig. 1, the unmanned aerial vehicle taking-off and landing apparatus 10 further includes an illumination device 600 for providing illumination for the taking-off and landing platform, for example, one illumination device 600 is disposed on each of two opposite sides of the main platform 11, and one illumination device 600 is disposed on each of two opposite sides of the standby platform 12; the illumination angle of the illumination device 600 is adjustable, so that the lifting platform can be used all the day. In one embodiment, the lighting device 600 includes a lamp holder 610 and a lighting lamp 620 movably disposed on the lamp holder 610, wherein the lighting lamp 620 can rotate up and down and/or left and right around the lamp holder 610. The lighting device 600 can also be provided with a light sensor connected with the lighting lamp 620, when light is dim or falls in night, the lighting lamp 620 is triggered and started due to light sensing of the light sensor, and the lighting lamp 620 can illuminate the visual positioning cloth on the lifting platform after being started, so that an unmanned aerial vehicle can recognize the identification image on the visual positioning cloth.

When light sensor sensing was less than preset threshold value to current ambient light illuminance, lighting device 600 was opened automatically, through the regulation to light angle and luminance, ensured that the identification image of the visual positioning cloth on the platform of taking off and land can be discerned by unmanned aerial vehicle's visual module, realized taking off and land at night or the taking off and land when ambient light illuminance is not enough. In a normal state, the lighting device 600 of the main platform 11 is automatically turned on at night; when it is desired to activate the standby platform 12, the lighting device 600 of the standby platform 12 is turned on.

In an embodiment, as shown in fig. 1 and 6, the main platform 11 and the standby platform 12 are formed by splicing a plurality of splicing units 13, the main platform 11 and the standby platform 12 can be spliced together, that is, the main platform 11 and the standby platform 12 are spliced into a whole, and the main platform 11 and the standby platform 12 can also be arranged separately and have a certain distance therebetween. The platform that takes off and land adopts the concatenation mode equipment, and the transportation in the mountain region is convenient, and the size of taking off and land platform can be adjusted along with application environment, when the platform that takes off and land appears damaging, can change local unit, can reduce maintenance duration.

As shown in fig. 6, each splicing unit 13 includes a supporting platform 100 and a plurality of supporting feet 200, and the top surfaces of the supporting platforms 100 together form a supporting surface for supporting the drone. The support table 100 includes a frame 101 and a plurality of support plates 120 arranged side by side in the frame 101, and the support plates 120 are provided with a drainage structure. For example, there may be a gap between two adjacent support plates 120, and rainwater may be drained from each gap, a drainage groove may be further provided on the top surface of the support plate 120, so that the support plate 120 may drain rainwater from the gap through the drainage groove, or a plurality of drainage holes may be provided on the support plate 120, and the drainage structure may be one or a combination of a plurality of drainage holes.

The supporting plate 120 may be a wooden plate, and the surface of the supporting plate 120 may be provided with an anti-corrosion coating (not shown), so that the lifting platform can be used outdoors for a long time, for example, the surface of the supporting plate 120 is painted to form the anti-corrosion coating.

As shown in fig. 6 and 7, each support foot 200 may be detachably connected to the support table 100 by a connection member 300. In one embodiment, the supporting foot 200 comprises a hollow tube 210, a supporting rod 220 and a locking member, wherein one end of the supporting rod 220 is movably inserted into the hollow tube 210, the supporting rod 220 is movable up and down relative to the hollow tube 210, and one end of the supporting rod 220 away from the hollow tube 210 is connected to the supporting platform 100, for example, fixed to the supporting platform 100 by the connecting member 300. The retaining member sets up on hollow tube 210 for locking and unclamp supporting legs 200, and bracing piece 220 is fixed for hollow tube 210 during retaining member locking, and bracing piece 220 can reciprocate for hollow tube 210 when the retaining member is unclamped, and supporting legs 200 realizes height-adjustable like this, and through the regulation to corresponding supporting legs, the holding surface that makes the platform of taking off and land is parallel with the horizontal plane or is close to parallelly. The hollow tube 210 may be a metal tube made of a relatively light material, such as an aluminum tube or an aluminum alloy tube, and the support rod 220 may be a solid rod made of a relatively light material, such as a solid wood rod. The cross sections of the hollow pipes 210 and the supporting rods 220 are matched in shape, for example, the hollow pipes 210 are cylindrical hollow aluminum pipes, and the wooden rods are cylindrical solid wooden rods, so that the weight of the lifting platform can be reduced, and the transportation on mountainous regions is facilitated.

In one embodiment, the circumferential wall of the top end of the hollow tube 210 is provided with a plurality of notches 211, the locking member is a hoop 230 sleeved outside the hollow tube 210, the hoop 230 can move up and down along the hollow tube 210 when being loosened, the supporting rod 220 can move up and down relative to the hollow tube 210 when the hoop 230 is loosened, the supporting rod 220 is fixed relative to the hollow tube 210 when the hoop 230 is locked, and one end of the supporting rod 220, which is far away from the hollow tube 210, is clamped with the connecting. The plurality of gaps 211 are arranged, so that the top end of the hollow pipe 210 can form a structure which is easy to shrink and gather together, the hoop 230 is convenient to lock and loosen the supporting rod 220 in a locking state and a sliding state respectively, the supporting leg 200 adopts a height-adjustable structure, and the lifting platform can be applied to complex terrains with poor flatness. Specifically, two notches 211 may be vertically formed in the symmetrical positions of the peripheral wall of the top end of the hollow tube 210, and both the two notches 211 are substantially rectangular.

In an embodiment, as shown in fig. 6 and 8, the frame 101 includes four edge bars 110 surrounding four sides of the plurality of support plates 120, the four edge bars 110 are sequentially mortise and tenon connected by connectors 300, a top surface of each support plate 120 and a top surface of each edge bar 110 are located on the same plane, and two adjacent support tables 100 share one edge bar 110.

As shown in fig. 8 to 10, the top end of each support rod 220 is mortise-tenon connected with the corresponding connecting member 300, four first mortises 310 arranged in a cross shape are formed on the top surface of the connecting member 300, and first tenons 111 engaged with the first mortises 310 are respectively arranged at two ends of the edge strip 110 in the length direction. As shown in fig. 6 to 10, the top end of the supporting rod 220 is provided with a second tenon 221, the connecting member 300 is vertically provided with a second mortise 320 matched with the second tenon 221, the second mortise 320 is communicated with the four first mortises 310, that is, the connecting member 300 has five mortises, the first tenons 111 of the corresponding edge bars 110 in the four splicing units 13 are joggled in the four first mortises 310 on the top surface, and the second tenon 221 on the top end of the supporting rod 220 is joggled in the second mortise 320. The top surface of the second tenon 221 can be flush with the top surface of the edge strip 110, and at this time, the top surface of the second tenon 221, the top surface of the edge strip 110 and the top surface of the support plate 120 are coplanar; the top surface of the second tenon 221 may be set lower than the top surface of the edge bar 110.

As shown in fig. 8 and 10, the edge strips 110 are provided with overlapping tables 112 extending along both sides in the width direction, both ends of the supporting plate 120 are overlapped on the overlapping tables 112 corresponding to the edge strips 110, and the supporting plate 120 is locked with the edge strips 110 by screws. After the frame 101 of the support table 100 is assembled, the support plates 120 are placed on the lapping table 112 of the edge strip 110 in a lapping way, and then the support plates 120 are locked and fixed on the edge strip 110 by screws, so that the lifting platform is simple in overall structure and simple in splicing and assembling operation.

The edge strips 110 and the supporting plate 120 can be made of wood plates or other plates with lighter materials, and the supporting legs 200 are made of hollow aluminum tubes and solid wood rods, so that the whole weight of the lifting platform is greatly reduced, and the lifting platform can be conveniently transported under the condition of complex terrain.

Referring to fig. 11, an embodiment of the present application further provides an unmanned aerial vehicle take-off and landing control method, which may be applied to the unmanned aerial vehicle take-off and landing equipment described in any of the above embodiments, and as shown in fig. 11, the unmanned aerial vehicle take-off and landing control method includes:

s1101, receiving landing consultation information sent by the unmanned aerial vehicle, and acquiring state information of the main platform according to the landing consultation information;

specifically, when unmanned aerial vehicle need descend, unmanned aerial vehicle can send descending consultation information to unmanned aerial vehicle controlling means that takes off and land.

After the unmanned aerial vehicle take-off and landing control device receives the landing consultation information sent by the unmanned aerial vehicle, the state information of the main platform 11 is obtained according to the landing consultation information.

The state information is used for identifying the current state of the take-off and landing platform. In some possible implementations, the state information may include a pending takeoff and landing state and a non-takeoff and landing state.

The waiting take-off and landing state indicates that the current take-off and landing platform is idle, no other unmanned aerial vehicle is taking off or landing, and the take-off and landing platform is not damaged and can be used for taking off or landing of the unmanned aerial vehicle.

The non-take-off and landing state indicates that the current take-off and landing platform is occupied or damaged and cannot be used for the takeoff or landing of the unmanned aerial vehicle. Thus, in some possible implementations, the non-take-off and landing state may include a platform damaged state and a platform occupied state.

S1102, if the state information of the main platform is in a to-be-lifted state, sending a main platform lifting instruction to the unmanned aerial vehicle;

specifically, after the unmanned aerial vehicle take-off and landing device acquires the state information of the main platform 11, if the state information of the main platform 11 is a state to be taken off and landed, it indicates that the main platform 11 is currently idle, and can be used for landing of the unmanned aerial vehicle, and then sends a main platform take-off and landing instruction to the unmanned aerial vehicle to instruct the unmanned aerial vehicle to land at the main platform 11.

S1103, if the state information of the main platform is in a non-take-off and landing state, acquiring the state information of the standby platform, and then executing step S1104 or step S1105;

specifically, if the state information of the host platform 11 is in the non-take-off and landing state, it indicates that the host platform 11 is currently occupied or damaged, and is in an unavailable state. At this moment, the unmanned aerial vehicle take-off and landing control device acquires the state information of the standby platform 12 and judges whether the standby platform 12 is available.

S1104, if the state information of the standby platform is in a to-be-lifted state, sending a standby platform lifting instruction to the unmanned aerial vehicle;

specifically, if the state information of standby platform 12 is the state of waiting to take off and land, then it is idle at present that standby platform 12 represents, can be used for unmanned aerial vehicle to descend, then unmanned aerial vehicle take off and land controlling means sends standby platform take off and land instruction to unmanned aerial vehicle to instruct unmanned aerial vehicle to descend at standby platform 12.

S1105, if the state information of the standby platform is in a non-take-off and landing state, sending a hovering instruction to the unmanned aerial vehicle or searching for other take-off and landing platform instructions.

Specifically, if the state information of the standby platform 12 is in the non-take-off and landing state, it indicates that the standby platform 12 is currently occupied or damaged, and is in an unavailable state.

At this time, the main platform 11 and the standby platform 12 in the unmanned aerial vehicle take-off and landing equipment are not available, so that the unmanned aerial vehicle take-off and landing control device can send a hovering instruction to the unmanned aerial vehicle according to the content preset by a worker to instruct the unmanned aerial vehicle to hover, and wait for the platform to be idle or repaired; or the unmanned aerial vehicle take-off and landing control device sends an instruction for searching other take-off and landing platforms to the unmanned aerial vehicle so as to instruct the unmanned aerial vehicle to search other available take-off and landing platforms.

a1, if the non-take-off and landing state of the main platform 11 and the non-take-off and landing state of the standby platform 12 are both platform damage states, sending an instruction for searching for other take-off and landing platforms to the unmanned aerial vehicle;

specifically, when the non-take-off and landing state of the main platform 11 and the non-take-off and landing state of the standby platform 12 are both the platform damage states, the time required for repairing the take-off and landing platform cannot be determined, and it may take a long time to complete the repair. Because unmanned aerial vehicle's the energy is limited, in order to avoid hovering for a long time and lead to the emergence of crash accident, unmanned aerial vehicle take off and land controlling means can send to unmanned aerial vehicle and look for other take off and land platform instructions, instructs unmanned aerial vehicle to look for other idle take off and land platforms and descend.

A2, if the non-take-off and landing state of the main platform and/or the non-take-off and landing state of the standby platform is a platform occupation state, sending a hovering instruction to the unmanned aerial vehicle.

Specifically, if the non-take-off and landing state of main platform 11 is the platform occupation state, the non-take-off and landing state of standby platform 12 is the platform damage state, or, the non-take-off and landing state of main platform 11 is the platform damage state, the non-take-off and landing state of standby platform 12 is the platform occupation state, or, the non-take-off and landing state of main platform 11 and the non-take-off and landing state of standby platform 12 are the platform occupation state, unmanned aerial vehicle take-off and landing control device can send the instruction of hovering to unmanned aerial vehicle, instruct unmanned aerial vehicle to hover and wait. When the state information of the main platform 11 or the standby platform 12 is changed into the state to be lifted and landed, the unmanned aerial vehicle lifting and landing control device instructs the unmanned aerial vehicle to land on the idle lifting and landing platform.

b1, controlling a camera device to take pictures of the take-off and landing platform every a first preset time to obtain a platform picture;

specifically, the unmanned aerial vehicle take-off and landing equipment 10 can be provided with a camera, such as a CCD camera, and the camera takes a picture of the take-off and landing platform every first preset time to obtain a platform picture.

B2, performing image recognition processing on the platform photo, and judging whether to update the state information of the main platform and/or the state information of the standby platform into a platform damage state according to a processing result.

Specifically, after the unmanned aerial vehicle take-off and landing control device obtains the platform photo, the image recognition processing is carried out on the platform photo, and a processing result is obtained.

And if the processing result is that the main platform and/or the standby platform are damaged, the unmanned aerial vehicle take-off and landing control device updates the state information of the damaged take-off and landing platform into a platform damaged state.

And if the processing result is that the main platform 11 and the standby platform 12 are not damaged, the unmanned aerial vehicle take-off and landing control device keeps the state information of the main platform 11 and the state information of the standby platform 12 unchanged.

The algorithm of the image recognition processing can be selected according to actual needs. In some possible implementations, the image recognition process may be performed using a neural network-based image recognition algorithm.

In some embodiments, the unmanned aerial vehicle take-off and landing equipment 10 can be regularly patrolled by staff, whether the main platform 11 and the standby platform 12 are damaged or not is checked, and the check result is stored in the unmanned aerial vehicle take-off and landing control device.

In other embodiments, the unmanned aerial vehicle take-off and landing device 10 may also perform self-inspection to check whether the main platform 11 and the standby platform 12 are damaged, and store the check result in the unmanned aerial vehicle take-off and landing control device.

and C1, if the state information of the main platform or the state information of the standby platform is updated to be a platform damage state, sending maintenance reminding information to a remote background.

If the state information of the main platform 11 or the state information of the standby platform 12 is updated to a platform damage state, it indicates that at least one of the main platform 11 and the standby platform 12 is damaged, and at this time, the unmanned aerial vehicle take-off and landing control device may send maintenance reminding information to the communication device 400, and may, but is not limited to, notify a worker to timely repair the damaged take-off and landing platform in a form that the red indicator light 412 of the communication device 400 flashes red light.

After the repair of the working personnel is finished, the state information of the repaired lifting platform can be manually changed into a state to be lifted; or, the staff can also press the green button 421 on the communication device 400 to send a repair completion instruction to the unmanned aerial vehicle take-off and landing control device, and the unmanned aerial vehicle take-off and landing control device changes the state information of the repaired take-off and landing platform into the state to be taken off and landed.

In addition, when the platform that takes off and land is not damaged, but when the staff need routinely overhaul, the staff can send and overhaul start instruction to unmanned aerial vehicle take off and land controlling means, for example press red button 422, and unmanned aerial vehicle take off and land controlling means receives and overhauls after the start instruction, with the state information change of the platform that takes off and land to non-take off and land state, avoids unmanned aerial vehicle to select this platform that takes off and land to descend, the interference maintenance process. After the staff overhauls and accomplishes, send and overhaul completion instruction to unmanned aerial vehicle controlling means that takes off and land, unmanned aerial vehicle controlling means that takes off and land changes the state information of platform of taking off and land into the state of waiting to take off and land to make the platform of taking off and land put into use.

Further, after sending a main platform take-off and landing instruction to the unmanned aerial vehicle or sending a standby platform take-off and landing instruction to the unmanned aerial vehicle, the unmanned aerial vehicle take-off and landing control method further includes:

d1, executing a first prompting operation, and changing the first prompting operation into a second prompting operation after receiving the information of the taking-off and landing process sent by the unmanned aerial vehicle;

after sending main platform take-off and landing instruction or reserve platform take-off and landing instruction to unmanned aerial vehicle, unmanned aerial vehicle take-off and landing controlling means can carry out first suggestion operation, shows that target platform is about to have unmanned aerial vehicle to descend, reminds the staff on target platform every side in time to withdraw, wherein, target platform prepares the platform that descends for unmanned aerial vehicle.

For example, the unmanned aerial vehicle take-off and landing equipment 10 may be provided with an indicator light, and may specifically include a green indicator light 411, a red indicator light 412, and a yellow indicator light 413, and after the unmanned aerial vehicle take-off and landing control device sends a main platform take-off and landing instruction or a standby platform take-off and landing instruction to the unmanned aerial vehicle, the green indicator light 411 that may control the target platform sends a green light and flashes, which indicates that the target platform is about to have the unmanned aerial vehicle to land, and reminds the staff around the target platform to evacuate in time.

When unmanned aerial vehicle reachd the target platform top and prepare to descend, unmanned aerial vehicle can send the process information of taking off and land to unmanned aerial vehicle take off and land controlling means.

After the unmanned aerial vehicle take-off and landing control device receives the take-off and landing process information, the first prompt operation is changed into the second prompt operation, the unmanned aerial vehicle is shown to be in the landing process, and the unmanned aerial vehicle reminds workers around the target platform not to be close to the target platform.

For example, after the unmanned aerial vehicle take-off and landing control device receives the take-off and landing process information, the yellow indicator light 413 can be controlled to emit a green light and change the green light and the yellow light into yellow light and flash, so that the unmanned aerial vehicle is in the landing process, and staff around the target platform is reminded not to approach the target platform.

And D2, when the take-off and landing end information sent by the unmanned aerial vehicle is received, changing the second prompt operation into a third prompt operation.

After unmanned aerial vehicle accomplishes the landing, unmanned aerial vehicle can send the end information of taking off and land to unmanned aerial vehicle take off and land controlling means.

After the unmanned aerial vehicle take-off and landing control device receives the take-off and landing end information sent by the unmanned aerial vehicle, the second prompt operation is changed into the third prompt operation, the fact that the unmanned aerial vehicle finishes landing is indicated, and the staff is reminded of being capable of carrying out related operations on the unmanned aerial vehicle on the take-off and landing platform.

For example, after the unmanned aerial vehicle take-off and landing control device receives the take-off and landing end information sent by the unmanned aerial vehicle, the yellow indicator lamp 413 is controlled to emit yellow light and flicker to change the yellow light to be emitted continuously or to extinguish the yellow light, so as to remind the worker to perform relevant operations on the unmanned aerial vehicle on the take-off and landing platform, for example, the worker can recover the unmanned aerial vehicle and change the state information of the target platform into the state to be taken off and landed.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

Referring to fig. 12, an embodiment of the present application further provides an unmanned aerial vehicle take-off and landing control device, which, for convenience of description, only shows a part related to the present application, and as shown in fig. 12, the unmanned aerial vehicle take-off and landing control device includes:

a main platform state module 1201, configured to receive landing consultation information sent by an unmanned aerial vehicle, and obtain state information of the main platform according to the landing consultation information;

a main platform take-off and landing module 1202, configured to send a main platform take-off and landing instruction to the unmanned aerial vehicle if the state information of the main platform is a to-be-taken-off and landing state;

a standby platform state module 1203, configured to obtain state information of the standby platform if the state information of the main platform is in a non-take-off and landing state;

a standby platform take-off and landing module 1204, configured to send a standby platform take-off and landing instruction to the unmanned aerial vehicle if the state information of the standby platform is a to-be-taken-off and landing state;

a non-take-off and landing module 1205, configured to send a hover instruction to the unmanned aerial vehicle or search for another take-off and landing platform instruction if the state information of the standby platform is in a non-take-off and landing state.

Further, the non-take-off and landing module 1205 includes:

the damage submodule is used for sending an instruction for searching for other take-off and landing platforms to the unmanned aerial vehicle if the non-take-off and landing state of the main platform and the non-take-off and landing state of the standby platform are both the platform damage states;

and the occupancy submodule is used for sending a hovering instruction to the unmanned aerial vehicle if the non-take-off and landing state of the main platform and/or the non-take-off and landing state of the standby platform is a platform occupancy state.

Further, unmanned aerial vehicle take-off and landing control device still includes:

the timing shooting module is used for controlling the camera device to shoot the lifting platform every other first preset time length to obtain a platform picture;

and the state identification module is used for carrying out image identification processing on the platform photo and judging whether the state information of the main platform and/or the state information of the standby platform is updated to be a platform damage state or not according to a processing result.

and the maintenance reminding module is used for sending maintenance reminding information to a remote background if the state information of the main platform or the state information of the standby platform is updated to be a platform damage state.

the process prompting module is used for executing a first prompting operation and changing the first prompting operation into a second prompting operation after receiving the taking-off and landing process information sent by the unmanned aerial vehicle;

and the completion prompting module is used for changing the second prompting operation into a third prompting operation when the take-off and landing finishing information sent by the unmanned aerial vehicle is received.

It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.

Referring to fig. 13, an embodiment of the present application further provides a terminal device. As shown in fig. 13, the terminal device 13 of this embodiment includes: a processor 130, a memory 131 and a computer program 132 stored in the memory 131 and executable on the processor 130. The processor 130, when executing the computer program 132, implements the steps in the above-described embodiment of the laser-based dynamic object detection method, such as the steps S1101 to S1105 shown in fig. 11. Alternatively, the processor 130 implements the functions of the modules/units in the above-mentioned device embodiments, for example, the functions of the modules 1201 to 1205 shown in fig. 12, when executing the computer program 132.

Illustratively, the computer program 132 may be partitioned into one or more modules/units that are stored in the memory 131 and executed by the processor 130 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 132 in the terminal device 13. For example, the computer program 132 may be partitioned into a primary platform state module, a primary platform take-off and landing module, a standby platform state module, a standby platform take-off and landing module, and a non-take-off and landing module, each of which functions as follows:

The terminal device 13 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 130, a memory 131. Those skilled in the art will appreciate that fig. 13 is merely an example of a terminal device 13 and does not constitute a limitation of terminal device 13 and may include more or fewer components than shown, or some components may be combined, or different components, for example, the terminal device may also include input output devices, network access devices, buses, etc.

The Processor 130 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 131 may be an internal storage unit of the terminal device 13, such as a hard disk or a memory of the terminal device 13. The memory 131 may also be an external storage device of the terminal device 13, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 13. Further, the memory 131 may also include both an internal storage unit and an external storage device of the terminal device 13. The memory 131 is used for storing the computer program and other programs and data required by the terminal device. The memory 131 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. The unmanned aerial vehicle take-off and landing control method is used for controlling take-off and landing actions of an unmanned aerial vehicle based on a take-off and landing platform, and is characterized in that the take-off and landing platform comprises a main platform and a standby platform, and the unmanned aerial vehicle take-off and landing control method comprises the following steps:

2. The unmanned aerial vehicle take-off and landing control method according to claim 1, wherein the non-take-off and landing state comprises: a platform damaged state and a platform occupied state.

3. The method of claim 2, wherein sending the hover command or finding other takeoff and landing platform command to the drone includes:

4. The unmanned aerial vehicle take-off and landing control method of claim 2, further comprising:

5. The unmanned aerial vehicle take-off and landing control method according to claim 4, wherein after the image recognition processing is performed on the platform picture, and whether the state information of the primary platform and/or the state information of the standby platform is updated to a platform damaged state is determined according to a processing result, the unmanned aerial vehicle take-off and landing control method further comprises:

6. The method of claim 1, wherein after the sending a primary platform takeoff and landing instruction to the drone or the sending a backup platform takeoff and landing instruction to the drone, the method further comprises:

7. The utility model provides an unmanned aerial vehicle controlling means that takes off and land, its characterized in that includes:

8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.

9. An unmanned aerial vehicle take-off and landing device, operating on the basis of the unmanned aerial vehicle take-off and landing control method of any one of claims 1 to 6, characterized in that: the method comprises the following steps:

10. Unmanned aerial vehicle take-off and landing equipment according to claim 9, wherein: unmanned aerial vehicle take-off and landing equipment still includes positioner, positioner including laying in first visual positioning cloth on the main platform and laying in second visual positioning cloth on the reserve platform, first visual positioning cloth with second visual positioning cloth is equipped with different sign images respectively to can descend after making unmanned aerial vehicle visual identification and be in the point of rising and falling that main platform or reserve platform correspond.

11. Unmanned aerial vehicle take-off and landing equipment according to claim 10, wherein: the unmanned aerial vehicle take-off and landing equipment further comprises an auxiliary positioning device for positioning the unmanned aerial vehicle, wherein the auxiliary positioning device comprises a plurality of markers arranged on the circumferential side of the take-off and landing platform, so that the unmanned aerial vehicle can obtain real-time position information of the unmanned aerial vehicle after being identified.

12. Unmanned aerial vehicle take-off and landing equipment according to claim 9, wherein: the unmanned aerial vehicle take-off and landing equipment further comprises a lighting device for providing lighting for the take-off and landing platform, and the lighting angle of the lighting device is adjustable.

13. Unmanned aerial vehicle take-off and landing equipment according to claim 9, wherein: the main platform with reserve platform is a plurality of concatenation units concatenation and forms, every the concatenation unit all include a supporting bench and with a plurality of supporting legss that prop up the bench connection, prop up the bench and include the frame and lay side by side a plurality of backup pads in the frame, the backup pad is provided with drainage structures.

14. Unmanned aerial vehicle take-off and landing equipment according to claim 13, wherein: the supporting legs includes hollow tube, bracing piece and retaining member, the one end of bracing piece peg graft in the hollow tube, the other end of support frame with it connects to prop up supporting bench, the retaining member sets up on the hollow tube, when retaining member locking the bracing piece for the hollow tube is fixed, when the retaining member loosens the bracing piece can for the hollow tube reciprocates.

15. Unmanned aerial vehicle take-off and landing equipment according to claim 14, wherein: a plurality of gaps are formed in the peripheral wall of the top end of the hollow pipe, and the locking piece is a hoop sleeved outside the hollow pipe.