CN115230974A - Unmanned aerial vehicle landing control method, system and readable storage medium - Google Patents
Unmanned aerial vehicle landing control method, system and readable storage medium Download PDFInfo
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- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
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Abstract
The invention discloses a landing control method, a landing control system and a readable storage medium for an unmanned aerial vehicle, which belong to the technical field of unmanned aerial vehicle operation, wherein the method comprises the following steps: establishing communication connection with a preset landing device, and acquiring position data of the landing device; controlling the unmanned aerial vehicle to go to a corresponding position for landing based on the position data, wherein after a preset protective cover is opened by the landing device, the unmanned aerial vehicle is controlled to land on the landing device; the sensor group on the unmanned aerial vehicle identifies that a preset standard point on the landing device lands, wherein the unmanned aerial vehicle is powered off after landing. The invention can control the unmanned aerial vehicle to automatically land on the landing device, protect the safety of the body of the unmanned aerial vehicle after landing, provide complete unmanned aerial vehicle landing control equipment, solve the problem of disordered landing of the unmanned aerial vehicle, and effectively relieve the problems of dispersed landing sites and difficult landing of large-scale unmanned aerial vehicles.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle operation, in particular to a landing control method and system for an unmanned aerial vehicle and a readable storage medium.
Background
With the continuous development of scientific technology, the application of the unmanned aerial vehicle is developed unprecedentedly, and compared with a piloted aircraft, the unmanned aerial vehicle is more suitable for relatively dangerous tasks, and in the civil aspect, the unmanned aerial vehicle + industrial application is really just needed by the unmanned aerial vehicle; the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-photographing, express transportation, disaster rescue, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, and the application of the unmanned aerial vehicle is greatly expanded.
Simultaneously, along with the continuous development of unmanned aerial vehicle industry, no matter be private use or enterprise's use, still there are many problems at present to the control that unmanned aerial vehicle landed and retrieved, for example the artificial operation unmanned aerial vehicle lands and leads to the air crash, or there are unordered recovery, retrieve the problem such as the area of site causes the wasting of resources greatly when the unmanned aerial vehicle is retrieved in batches to the enterprise, so the relevant problem to unmanned aerial vehicle landing control is waited to solve urgently.
Disclosure of Invention
The invention aims to provide a landing control method and system for an unmanned aerial vehicle and a readable storage medium, which can control the unmanned aerial vehicle to automatically land on a set landing device, thereby protecting the safety of the unmanned aerial vehicle after landing and effectively relieving the problems of dispersed landing sites and difficult landing of a large number of unmanned aerial vehicles.
The invention provides an unmanned aerial vehicle landing control method in a first aspect, which comprises the following steps:
establishing communication connection with a preset landing device, and acquiring position data of the landing device;
controlling the unmanned aerial vehicle to go to a corresponding position for landing based on the position data, wherein after a preset protective cover is opened by the landing device, the unmanned aerial vehicle is controlled to land on the landing device;
the sensor group on the unmanned aerial vehicle identifies that a preset standard point on the landing device lands, wherein the unmanned aerial vehicle is powered off after landing.
In this scheme, the establishing of the communication connection with the preset landing device to obtain the position data of the landing device specifically includes:
establishing communication connection with a wireless transceiver preset on the landing device;
and after establishing communication connection with the wireless transceiver, acquiring the position data corresponding to the landing device, wherein the position data at least comprises longitude and latitude coordinate values and a ground distance height value of the landing device.
In this scheme, based on position data control unmanned aerial vehicle goes to corresponding position and lands, specifically include:
acquiring the longitude and latitude coordinate values and the ground-distance height value based on the position data;
generating a landing track of the unmanned aerial vehicle based on the longitude and latitude coordinate values and the ground distance height value;
controlling the drone to go to the landing gear for landing based on the landing trajectory, wherein,
and when the distance between the unmanned aerial vehicle and the landing device is equal to a preset safe distance, controlling the landing device to open the protective cover.
In this scheme, through setting up sensor group discernment on the unmanned aerial vehicle the last predetermined standard point of landing device lands, specifically includes:
identifying the standard point on the landing device through a sensor group arranged on the unmanned aerial vehicle, wherein the sensor group at least comprises an optical flow sensor group, and the standard point is a central point of the landing device;
and after the sensor group identifies the standard point, controlling the unmanned aerial vehicle to land based on a set speed, and after the unmanned aerial vehicle successfully lands, controlling the unmanned aerial vehicle to perform power-off processing.
In this scheme, the method further includes adjusting the position of the unmanned aerial vehicle before performing power-off processing after the unmanned aerial vehicle successfully lands, and specifically includes:
identifying whether a current center point position of the unmanned aerial vehicle coincides with the standard point in a vertical direction based on the sensor group, wherein,
if the positions of the unmanned aerial vehicles coincide with each other, the positions of the unmanned aerial vehicles are not adjusted;
and if the central point position and the standard point do not coincide with each other, acquiring a deviation value of the central point position and the standard point, and adjusting the position of the unmanned aerial vehicle based on the deviation value.
In this scheme, treat unmanned aerial vehicle is in after the outage is handled on the landing gear, discernment unmanned aerial vehicle's flabellum rotational speed, wherein, work as behind the flabellum rotational speed is less than preset threshold value, control the landing gear closes the protection casing.
The second aspect of the present invention further provides an unmanned aerial vehicle landing control system, which includes a memory and a processor, where the memory includes an unmanned aerial vehicle landing control method program, and when executed by the processor, the unmanned aerial vehicle landing control method program implements the following steps:
establishing communication connection with a preset landing device, and acquiring position data of the landing device;
controlling the unmanned aerial vehicle to go to a corresponding position for landing based on the position data, wherein after a preset protective cover is opened by the landing device, the unmanned aerial vehicle is controlled to land on the landing device;
the sensor group on the unmanned aerial vehicle identifies that a preset standard point on the landing device lands, wherein the unmanned aerial vehicle is powered off after landing.
In this scheme, the establishing of the communication connection with the preset landing device to obtain the position data of the landing device specifically includes:
establishing communication connection with a wireless transceiver preset on the landing device;
and after establishing communication connection with the wireless transceiver, acquiring the position data corresponding to the landing device, wherein the position data at least comprises longitude and latitude coordinate values and a ground distance height value of the landing device.
In this scheme, based on position data control unmanned aerial vehicle goes to corresponding position and lands, specifically include:
acquiring the longitude and latitude coordinate values and the ground-distance height value based on the position data;
generating a landing track of the unmanned aerial vehicle based on the longitude and latitude coordinate values and the ground distance height value;
controlling the drone to go to the landing gear for landing based on the landing trajectory, wherein,
and when the distance between the unmanned aerial vehicle and the landing device is equal to a preset safe distance, controlling the landing device to open the protective cover.
In this scheme, through setting up sensor group discernment on the unmanned aerial vehicle the last predetermined standard point of landing device lands, specifically includes:
identifying the standard point on the landing device through a sensor group arranged on the unmanned aerial vehicle, wherein the sensor group at least comprises an optical flow sensor group, and the standard point is a central point of the landing device;
and after the sensor group identifies the standard point, controlling the unmanned aerial vehicle to land based on a set speed, and after the unmanned aerial vehicle successfully lands, controlling the unmanned aerial vehicle to perform power-off processing.
In this scheme, the method further includes, after the unmanned aerial vehicle successfully lands, adjusting a position of the unmanned aerial vehicle before performing power-off processing, and specifically includes:
identifying whether a current center point position of the unmanned aerial vehicle coincides with the standard point in a vertical direction based on the sensor group, wherein,
if the positions of the unmanned aerial vehicles are overlapped, the positions of the unmanned aerial vehicles are not adjusted;
and if the central point position and the standard point do not coincide with each other, acquiring a deviation value of the central point position and the standard point, and adjusting the position of the unmanned aerial vehicle based on the deviation value.
In this scheme, treat unmanned aerial vehicle is in after the outage is handled on the landing gear, discernment unmanned aerial vehicle's flabellum rotational speed, wherein, work as behind the flabellum rotational speed is less than preset threshold value, control the landing gear closes the protection casing.
A third aspect of the present invention provides a computer-readable storage medium, which includes a program of a method for controlling landing of an unmanned aerial vehicle, and when the program is executed by a processor, the method for controlling landing of an unmanned aerial vehicle realizes the steps of the method for controlling landing of an unmanned aerial vehicle as described in any one of the above.
The landing control method, the landing control system and the readable storage medium for the unmanned aerial vehicle disclosed by the invention can control the unmanned aerial vehicle to automatically land on the set landing device, so that the body safety of the unmanned aerial vehicle after landing is protected, a set of complete landing control equipment for the unmanned aerial vehicle is provided, the problem of disordered landing of the unmanned aerial vehicle is solved, and the problems of scattered landing sites and difficult landing of a large batch of unmanned aerial vehicles can be effectively relieved.
Drawings
Fig. 1 shows a flowchart of a method for controlling landing of an unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic diagram illustrating a point-circle deviation of a landing control method for an unmanned aerial vehicle according to the present invention;
FIG. 3 is a block diagram of a landing control system for an UAV of the present invention;
wherein,
the radius of a point circle corresponding to the standard point;
the radius of a point circle corresponding to the central point of the unmanned aerial vehicle;
point circles corresponding to the standard points;
and a point circle corresponding to the central point of the unmanned aerial vehicle.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein and, therefore, the scope of the present invention is not limited by the specific embodiments disclosed below.
Fig. 1 shows a flowchart of an unmanned aerial vehicle landing control method according to the present application.
As shown in fig. 1, the application discloses an unmanned aerial vehicle landing control method, which includes the following steps:
s102, establishing communication connection with a preset landing device, and acquiring position data of the landing device;
s104, controlling the unmanned aerial vehicle to go to a corresponding position to land based on the position data;
and S106, identifying a preset standard point on the landing device for landing through a sensor group arranged on the unmanned aerial vehicle.
It should be noted that, in this embodiment, when the unmanned aerial vehicle lands, a communication connection with the landing device may be established first to obtain the position data corresponding to the landing device, where the position data at least includes longitude and latitude coordinate values and a ground distance height value of the landing device, after obtaining the corresponding position data, the unmanned aerial vehicle may be controlled to go to a corresponding position to land based on the position data, specifically, the unmanned aerial vehicle may be controlled to fly to a corresponding point location based on the longitude and latitude coordinate values, and then the flying height of the unmanned aerial vehicle is adjusted according to the ground distance height value, so as to ensure that the unmanned aerial vehicle lands on the landing device, and during the landing process, the corresponding standard point is identified by the sensor group disposed on the unmanned aerial vehicle to accurately land, so as to ensure that the unmanned aerial vehicle can be controlled to land on a predetermined position successfully, and only needs to mount or place the corresponding landing device on the corresponding predetermined position.
According to an embodiment of the present invention, the establishing of the communication connection with the preset landing device to obtain the position data of the landing device specifically includes:
establishing communication connection with a wireless transceiver preset on the landing device;
and after establishing communication connection with the wireless transceiver, acquiring the position data corresponding to the landing device, wherein the position data at least comprises longitude and latitude coordinate values and a ground distance height value of the landing device.
It should be noted that, in this embodiment, specifically, the step of controlling the unmanned aerial vehicle to establish the communication connection with the landing device is to establish the communication connection with the wireless transceiver, and further, the communication connection may be performed with the landing device to obtain the position data corresponding to the landing device, where the communication mode may be 5G mobile communication or radio frequency communication, and the position data obtained correspondingly includes a longitude and latitude coordinate value and a ground distance height value of the landing device, and may further include an installation angle of the landing device.
According to the embodiment of the present invention, the controlling the unmanned aerial vehicle to go to a corresponding location for landing based on the location data specifically includes:
acquiring the longitude and latitude coordinate values and the ground distance height value based on the position data;
generating a landing track of the unmanned aerial vehicle based on the longitude and latitude coordinate values and the ground distance height value;
controlling the drone to go to the landing gear for landing based on the landing trajectory, wherein,
and when the distance between the unmanned aerial vehicle and the landing device is equal to a preset safe distance, controlling the landing device to open the protective cover.
It should be noted that, in this embodiment, after the position data is obtained, a landing trajectory of the unmanned aerial vehicle is generated based on the longitude and latitude coordinate values and the ground distance height value, so as to control the unmanned aerial vehicle to fly close to the landing device according to the landing trajectory, when the distance between the unmanned aerial vehicle and the landing device is equal to the safety distance, the landing device is controlled to open the protective cover, because a communication connection is established with the wireless transceiver in advance, the landing device can be controlled to open the corresponding protective cover, and when the protective cover is opened, it indicates that the unmanned aerial vehicle can land on the corresponding landing device.
According to the embodiment of the invention, the identifying of the preset standard point on the landing device for landing through the sensor group arranged on the unmanned aerial vehicle specifically comprises the following steps:
identifying the standard point on the landing device through a sensor group arranged on the unmanned aerial vehicle, wherein the sensor group at least comprises an optical flow sensor group, and the standard point is a central point of the landing device;
and after the sensor group identifies the standard point, controlling the unmanned aerial vehicle to land based on a set speed, and after the unmanned aerial vehicle successfully lands, controlling the unmanned aerial vehicle to perform power-off processing.
It should be noted that, in this embodiment, the standard point is set at a central point of the landing device, generally, the standard point is coated in red, and the optical flow sensor can detect the corresponding standard point, so as to control the unmanned aerial vehicle to land based on the set speed, where the set speed is "4m/s", and after the unmanned aerial vehicle lands successfully, the unmanned aerial vehicle is controlled to perform power-off processing, so as to stop on the landing device successfully.
According to the embodiment of the invention, the method further comprises adjusting the position of the unmanned aerial vehicle before power-off processing after the unmanned aerial vehicle successfully lands, and the method specifically comprises the following steps:
identifying whether the current central point position of the unmanned aerial vehicle is coincident with the standard point in the vertical direction or not based on the sensor group, wherein,
if the positions of the unmanned aerial vehicles are overlapped, the positions of the unmanned aerial vehicles are not adjusted;
and if the central point position and the standard point do not coincide with each other, acquiring a deviation value of the central point position and the standard point, and adjusting the position of the unmanned aerial vehicle based on the deviation value.
It should be noted that, in this embodiment, in the above embodiment, after the unmanned aerial vehicle successfully lands, the unmanned aerial vehicle is controlled to perform power-off processing, but before power-off processing, it needs to be determined whether to adjust a position of the unmanned aerial vehicle, and whether a center point of the unmanned aerial vehicle coincides with the standard point in the vertical direction is identified based on the position sensor in the sensor group, where if the center point coincides with the standard point, the unmanned aerial vehicle successfully lands, and if the center point does not coincide with the standard point, the offset value is obtained, and the position of the unmanned aerial vehicle is adjusted based on the offset value, and the specific adjustment may control the unmanned aerial vehicle to fly according to the offset value so that the center point of the unmanned aerial vehicle coincides with the standard point in the vertical direction.
According to the embodiment of the invention, after the unmanned aerial vehicle is subjected to power-off treatment on the landing device, the rotating speed of the fan blade of the unmanned aerial vehicle is identified, wherein when the rotating speed of the fan blade is lower than a preset threshold value, the landing device is controlled to close the protective cover.
It should be noted that, in this embodiment, after the unmanned aerial vehicle lands on the landing device, because the protective cover is still in the opening stage, after the unmanned aerial vehicle is powered off, the corresponding rotating speed of the fan blade is identified to control the landing device to close the protective cover, wherein when the rotating speed of the fan blade is lower than a preset threshold, the protective cover is closed, and the preset threshold may be set to be "2m/s".
It is worth mentioning that the method further includes controlling the unmanned aerial vehicle to land based on the installation angle, specifically including:
acquiring the installation angle based on the position data;
and acquiring a landing angle threshold range based on the installation angle, and taking an angle median as a landing angle of the unmanned aerial vehicle based on the landing angle threshold range.
It should be noted that, in this embodiment, the landing device may be installed on a horizontal plane or an irregular plane, where a landing angle on the horizontal plane is 90 °, and landing vertically, and for the landing device on the irregular plane, even if a landing platform is horizontal, due to the problem of an inclination angle, when the unmanned aerial vehicle lands on the landing device, a corresponding threshold range of the landing angle exists, and the protective cover is also limited by an installation angle, so that the landing angle of the unmanned aerial vehicle needs to be identified in a targeted manner, specifically, an angle median of the threshold range of the landing angle is taken as the landing angle.
It is worth mentioning that this application still provides a landing gear, for unmanned aerial vehicle lands, landing gear includes:
the landing platform is used for landing the unmanned aerial vehicle, wherein a standard point is arranged on the landing platform and used for positioning the unmanned aerial vehicle;
a wireless transceiver for communicative connection with the drone;
a protective cover, the protective cover receives wireless transceiver's electric control, the protective cover is used for protecting landing pad and/or unmanned aerial vehicle.
It should be noted that, in this embodiment, the landing control of the unmanned aerial vehicle disclosed in the above embodiments is specifically applied to a landing device, so that in this embodiment, the landing device is necessarily described, and specifically includes the landing pad, the wireless transceiver and the protective cover, and the landing pad is further provided with the standard point for positioning the unmanned aerial vehicle.
It is worth mentioning that the method further comprises powering on the unmanned aerial vehicle again to enable the unmanned aerial vehicle to enter a standby state after the protective cover is closed.
It should be noted that, in this embodiment, in the above embodiment, it is described that after the unmanned aerial vehicle lands on the landing device, the unmanned aerial vehicle is powered off, and therefore, after the unmanned aerial vehicle is powered off, the unmanned aerial vehicle needs to be powered on again, specifically, after the protective cover is closed, the protective cover is powered on again, and the protective cover is made to enter a standby state, so as to respond to the control signal of the unmanned aerial vehicle at any time.
It is worth mentioning that adjusting the position of the drone based on the deviation value specifically includes:
obtaining correspondence of said standard pointsRadius of point circle
And the radius of the point circle corresponding to the central point position of the unmanned aerial vehicle
；
Acquiring point circle corresponding to the standard point
And the point circle corresponding to the central point position of the unmanned aerial vehicle
Length of the overlapping portion of (2)
Based on the radius of the point circle
And radius of point circle
And the diameter length
Obtaining the deviation value, and calculating the formula as follows:
wherein,
the deviation value is represented.
In this embodiment, the values of the radius of the point circle and the radius of the point circle are not affected by each other, and the radius of the point circle are generally consistent with each other, as shown in fig. 2, by summing the radii of the point circle
And radius of point circle
Is further equal to the diameter length
Making a difference to obtain the deviation value
And adjusting the direction of the unmanned aerial vehicle is the point circle
The center of the circle and the point circle
The connection direction of the circle centers.
Fig. 3 shows a block diagram of a landing control system of an unmanned aerial vehicle according to the present invention.
As shown in fig. 3, the present invention discloses an unmanned aerial vehicle landing control system, which includes a memory and a processor, wherein the memory includes an unmanned aerial vehicle landing control method program, and when executed by the processor, the unmanned aerial vehicle landing control method program implements the following steps:
establishing communication connection with a preset landing device, and acquiring position data of the landing device;
controlling the unmanned aerial vehicle to go to a corresponding position for landing based on the position data, wherein after a preset protective cover is opened by the landing device, the unmanned aerial vehicle is controlled to land on the landing device;
the sensor group on the unmanned aerial vehicle identifies that a preset standard point on the landing device lands, wherein the unmanned aerial vehicle is powered off after landing.
It should be noted that, in this embodiment, when the unmanned aerial vehicle lands, a communication connection with the landing device may be established first to obtain the position data corresponding to the landing device, where the position data at least includes longitude and latitude coordinate values and a ground distance height value of the landing device, after obtaining the corresponding position data, the unmanned aerial vehicle may be controlled to go to a corresponding position to land based on the position data, specifically, the unmanned aerial vehicle may be controlled to fly to a corresponding point location based on the longitude and latitude coordinate values, and then the flying height of the unmanned aerial vehicle is adjusted according to the ground distance height value, so as to ensure that the unmanned aerial vehicle lands on the landing device, and during the landing process, the corresponding standard point is identified by the sensor group disposed on the unmanned aerial vehicle to accurately land, so as to ensure that the unmanned aerial vehicle can be controlled to land on a predetermined position successfully, and only needs to mount or place the corresponding landing device on the corresponding predetermined position.
According to an embodiment of the present invention, the establishing of the communication connection with the preset landing device to obtain the position data of the landing device specifically includes:
establishing communication connection with a wireless transceiver preset on the landing device;
and after establishing communication connection with the wireless transceiver, acquiring the position data corresponding to the landing device, wherein the position data at least comprises longitude and latitude coordinate values and a ground distance height value of the landing device.
It should be noted that, in this embodiment, specifically, the step of controlling the unmanned aerial vehicle to establish the communication connection with the landing device is to establish the communication connection with the wireless transceiver, and further, the communication connection may be performed with the landing device to obtain the position data corresponding to the landing device, where the communication mode may be 5G mobile communication or radio frequency communication, and the position data obtained correspondingly includes a longitude and latitude coordinate value and a ground distance height value of the landing device, and may further include an installation angle of the landing device.
According to the embodiment of the present invention, the controlling the unmanned aerial vehicle to go to a corresponding location for landing based on the location data specifically includes:
acquiring the longitude and latitude coordinate values and the ground distance height value based on the position data;
generating a landing track of the unmanned aerial vehicle based on the longitude and latitude coordinate values and the ground distance height value;
controlling the drone to go to the landing gear for landing based on the landing trajectory, wherein,
and when the distance between the unmanned aerial vehicle and the landing device is equal to a preset safe distance, controlling the landing device to open the protective cover.
It should be noted that, in this embodiment, after the position data is obtained, a landing trajectory of the unmanned aerial vehicle is generated based on the longitude and latitude coordinate values and the ground distance height value, so as to control the unmanned aerial vehicle to fly to approach the landing device according to the landing trajectory, when a distance between the unmanned aerial vehicle and the landing device is equal to the safety distance, the landing device is controlled to open the protective cover, because a communication connection is established with the wireless transceiver in advance, the protective cover can be controlled to open the corresponding protective cover, and when the protective cover is opened, it is indicated that the unmanned aerial vehicle can land on the corresponding landing device.
According to the embodiment of the invention, the identifying of the preset standard point on the landing device for landing through the sensor group arranged on the unmanned aerial vehicle specifically comprises the following steps:
identifying the standard point on the landing device through a sensor group arranged on the unmanned aerial vehicle, wherein the sensor group at least comprises an optical flow sensor group, and the standard point is a central point of the landing device;
and after the sensor group identifies the standard point, controlling the unmanned aerial vehicle to land based on a set speed, and after the unmanned aerial vehicle successfully lands, controlling the unmanned aerial vehicle to perform power-off processing.
It should be noted that, in this embodiment, the standard point is set at a central point of the landing device, generally, the standard point is coated in red, and the optical flow sensor can detect the corresponding standard point, so as to control the unmanned aerial vehicle to land based on the set speed, where the set speed is "4m/s", and after the unmanned aerial vehicle lands successfully, the unmanned aerial vehicle is controlled to perform power-off processing, so as to stop on the landing device successfully.
According to the embodiment of the invention, the method further comprises adjusting the position of the unmanned aerial vehicle before power-off processing after the unmanned aerial vehicle successfully lands, and the method specifically comprises the following steps:
identifying whether the current central point position of the unmanned aerial vehicle is coincident with the standard point in the vertical direction or not based on the sensor group, wherein,
if the positions of the unmanned aerial vehicles are overlapped, the positions of the unmanned aerial vehicles are not adjusted;
and if the central point position and the standard point do not coincide with each other, acquiring a deviation value of the central point position and the standard point, and adjusting the position of the unmanned aerial vehicle based on the deviation value.
It should be noted that, in this embodiment, in the above embodiment, after the unmanned aerial vehicle successfully lands, the unmanned aerial vehicle is controlled to perform power-off processing, but before power-off processing, it needs to be determined whether to adjust a position of the unmanned aerial vehicle, and whether a center point of the unmanned aerial vehicle coincides with the standard point in the vertical direction is identified based on the position sensor in the sensor group, where if the center point coincides with the standard point, the unmanned aerial vehicle successfully lands, and if the center point does not coincide with the standard point, the offset value is obtained, and the position of the unmanned aerial vehicle is adjusted based on the offset value, and the specific adjustment may control the unmanned aerial vehicle to fly according to the offset value so that the center point of the unmanned aerial vehicle coincides with the standard point in the vertical direction.
According to the embodiment of the invention, after the unmanned aerial vehicle is subjected to power-off treatment on the landing device, the rotating speed of the fan blade of the unmanned aerial vehicle is identified, wherein when the rotating speed of the fan blade is lower than a preset threshold value, the landing device is controlled to close the protective cover.
It should be noted that, in this embodiment, after the unmanned aerial vehicle lands on the landing device, because the protective cover is still in the opening stage, after the unmanned aerial vehicle is powered off, the corresponding rotating speed of the fan blade is identified to control the landing device to close the protective cover, wherein when the rotating speed of the fan blade is lower than a preset threshold, the protective cover is closed, and the preset threshold may be set to be "2m/s".
It is worth mentioning that the method further includes controlling the unmanned aerial vehicle to land based on the installation angle, specifically including:
acquiring the installation angle based on the position data;
and acquiring a landing angle threshold range based on the installation angle, and taking an angle median as a landing angle of the unmanned aerial vehicle based on the landing angle threshold range.
It should be noted that, in this embodiment, the landing apparatus may be installed on a horizontal plane or an irregular plane, where a landing angle on the horizontal plane is 90 ° and lands vertically, and for the landing apparatus on the irregular plane, even if a landing platform is horizontal, due to an inclined angle, when the unmanned aerial vehicle lands on the landing apparatus, a corresponding threshold range of the landing angle exists, and the protective cover is limited by an installation angle, so that the landing angle of the unmanned aerial vehicle needs to be identified specifically, and specifically, an angle median of the threshold range of the landing angle is taken as the landing angle.
It is worth mentioning that this application still provides a landing device for unmanned aerial vehicle lands, landing device includes:
the landing platform is used for landing the unmanned aerial vehicle, wherein a standard point is arranged on the landing platform and used for positioning the unmanned aerial vehicle;
a wireless transceiver for communicative connection with the drone;
a protective cover, the protective cover receives wireless transceiver's electric control, the protective cover is used for protecting landing pad and/or unmanned aerial vehicle.
It should be noted that, in this embodiment, the landing control of the unmanned aerial vehicle disclosed in the above embodiments is specifically applied to a landing device, so that in this embodiment, the landing device is necessarily described, and specifically includes the landing pad, the wireless transceiver and the protective cover, and the landing pad is further provided with the standard point for positioning the unmanned aerial vehicle.
It is worth mentioning that the method further comprises powering up the drone again to enter a standby state after the protective cover is closed.
It should be noted that, in this embodiment, in the above embodiment, it is described that after the unmanned aerial vehicle lands on the landing device, the unmanned aerial vehicle is powered off, and therefore, after the unmanned aerial vehicle is powered off, the unmanned aerial vehicle needs to be powered on again, specifically, after the protective cover is closed, the protective cover is powered on again, and the protective cover is made to enter a standby state, so as to respond to the control signal of the unmanned aerial vehicle at any time.
It is worth mentioning that adjusting the position of the drone based on the deviation value specifically includes:
acquiring the radius of the point circle corresponding to the standard point
And the point circle radius corresponding to the central point position of the unmanned aerial vehicle
；
Acquiring a point circle corresponding to the standard point
And the point circle corresponding to the central point position of the unmanned aerial vehicle
Length of the overlapping portion of (2)
Based on the radius of the point circle
And radius of point circle
And the diameter length
Obtaining the deviation value, and calculating the formula as follows:
wherein,
the deviation value is represented.
In this embodiment, the values of the radius of the point circle and the radius of the point circle are not affected by each other, and the radius of the point circle are generally consistent with each other, as shown in fig. 2, by summing the radii of the point circle
And radius of point circle
Is further equal to the diameter length
Making a difference to obtain the deviation value
And adjusting the direction of the unmanned aerial vehicle is the point circle
The center of the circle and the point circle
The connection direction of the circle centers.
A third aspect of the present invention provides a computer-readable storage medium, where the computer-readable storage medium includes a program of a method for controlling landing of an unmanned aerial vehicle, and when the program of the method is executed by a processor, the method realizes the steps of the method for controlling landing of an unmanned aerial vehicle as described in any one of the above.
The landing control method, the landing control system and the readable storage medium for the unmanned aerial vehicle disclosed by the invention can control the unmanned aerial vehicle to automatically land on the set landing device, so that the body safety of the unmanned aerial vehicle after landing is protected, a set of complete landing control equipment for the unmanned aerial vehicle is provided, the problem of disordered landing of the unmanned aerial vehicle is solved, and the problems of scattered landing sites and difficult landing of a large batch of unmanned aerial vehicles can be effectively relieved.
Claims (10)
1. An unmanned aerial vehicle landing control method is characterized by comprising the following steps:
establishing communication connection with a preset landing device, and acquiring position data of the landing device;
controlling the unmanned aerial vehicle to go to a corresponding position for landing based on the position data, wherein after a preset protective cover is opened by the landing device, the unmanned aerial vehicle is controlled to land on the landing device;
the sensor group on the unmanned aerial vehicle identifies that a preset standard point on the landing device lands, wherein the unmanned aerial vehicle is powered off after landing.
2. The landing control method for the unmanned aerial vehicle according to claim 1, wherein the establishing of the communication connection with a preset landing device and the obtaining of the position data of the landing device specifically include:
establishing communication connection with a wireless transceiver preset on the landing device;
and after establishing communication connection with the wireless transceiver, acquiring the position data corresponding to the landing device, wherein the position data at least comprises longitude and latitude coordinate values and a ground distance height value of the landing device.
3. The method according to claim 2, wherein the controlling the drone to go to a corresponding location for landing based on the location data specifically includes:
acquiring the longitude and latitude coordinate values and the ground-distance height value based on the position data;
generating a landing track of the unmanned aerial vehicle based on the longitude and latitude coordinate values and the ground distance height value;
controlling the drone to go to the landing gear for landing based on the landing trajectory, wherein,
and when the distance between the unmanned aerial vehicle and the landing device is equal to a preset safe distance, controlling the landing device to open the protective cover.
4. The landing control method for the unmanned aerial vehicle according to claim 3, wherein the landing by identifying a standard point preset on the landing device through a sensor group provided on the unmanned aerial vehicle specifically includes:
identifying the standard point on the landing device through a sensor group arranged on the unmanned aerial vehicle, wherein the sensor group at least comprises an optical flow sensor group, and the standard point is a central point of the landing device;
and after the sensor group identifies the standard point, controlling the unmanned aerial vehicle to land based on a set speed, and after the unmanned aerial vehicle successfully lands, controlling the unmanned aerial vehicle to perform power-off processing.
5. The landing control method for the drone of claim 4, further comprising adjusting the position of the drone after the drone successfully lands and before the drone is powered off, specifically comprising:
identifying whether a current center point position of the unmanned aerial vehicle coincides with the standard point in a vertical direction based on the sensor group, wherein,
if the positions of the unmanned aerial vehicles are overlapped, the positions of the unmanned aerial vehicles are not adjusted;
and if the central point position and the standard point do not coincide with each other, acquiring a deviation value of the central point position and the standard point, and adjusting the position of the unmanned aerial vehicle based on the deviation value.
6. The landing control method for the unmanned aerial vehicle according to claim 5, wherein after the unmanned aerial vehicle is powered off on the landing device, a rotating speed of a fan blade of the unmanned aerial vehicle is identified, and when the rotating speed of the fan blade is lower than a preset threshold, the landing device is controlled to close the protective cover.
7. An unmanned aerial vehicle landing control system is characterized by comprising a memory and a processor, wherein the memory comprises an unmanned aerial vehicle landing control method program, and the unmanned aerial vehicle landing control method program realizes the following steps when being executed by the processor:
establishing communication connection with a preset landing device, and acquiring position data of the landing device;
controlling the unmanned aerial vehicle to go to a corresponding position for landing based on the position data, wherein after a preset protective cover is opened by the landing device, the unmanned aerial vehicle is controlled to land on the landing device;
the sensor group on the unmanned aerial vehicle identifies that a preset standard point on the landing device lands, wherein the unmanned aerial vehicle is powered off after landing.
8. The landing control system for the unmanned aerial vehicle according to claim 7, wherein the establishing of the communication connection with a preset landing device to obtain the position data of the landing device specifically includes:
establishing communication connection with a wireless transceiver preset on the landing device;
and after establishing communication connection with the wireless transceiver, acquiring the position data corresponding to the landing device, wherein the position data at least comprises longitude and latitude coordinate values and a ground distance height value of the landing device.
9. The landing control system for unmanned aerial vehicles according to claim 8, wherein the controlling the unmanned aerial vehicle to go to a corresponding location for landing based on the location data specifically includes:
acquiring the longitude and latitude coordinate values and the ground distance height value based on the position data;
generating a landing track of the unmanned aerial vehicle based on the longitude and latitude coordinate values and the ground distance height value;
controlling the drone to go to the landing gear for landing based on the landing trajectory, wherein,
and when the distance between the unmanned aerial vehicle and the landing device is equal to a preset safe distance, controlling the landing device to open the protective cover.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium includes therein a drone landing control method program, which when executed by a processor, implements the steps of a drone landing control method according to any one of claims 1 to 6.
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