CN116184466A

CN116184466A - Method and device for determining landing point of unmanned aerial vehicle

Info

Publication number: CN116184466A
Application number: CN202111429981.8A
Authority: CN
Inventors: 张倩; 柳青松; 黄国权; 陈刚; 杨威; 李智超; 姚贺; 龚赵慧; 毛一年
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2021-11-29
Filing date: 2021-11-29
Publication date: 2023-05-30

Abstract

The specification discloses a method and device for determining a landing point of an unmanned aerial vehicle. Firstly, acquiring positioning related parameters generated when the specified equipment positions at each drop point to be evaluated in a set area. And secondly, determining the landing environment scores corresponding to all the landing points to be evaluated according to the positioning related parameters. And finally, determining a target landing point aiming at the set area from the landing points to be evaluated according to the landing environment scores corresponding to the landing points to be evaluated, so that the unmanned aerial vehicle lands at the target landing point in the process of executing the task in the set area. According to the method, the influence of each drop point to be evaluated on the unmanned aerial vehicle drop can be determined in advance, and a proper target drop point is selected from the drop points to be evaluated, so that the unmanned aerial vehicle can drop accurately.

Description

Method and device for determining landing point of unmanned aerial vehicle

Technical Field

The present disclosure relates to the field of computer technologies, and in particular, to a method and an apparatus for determining a landing point of an unmanned aerial vehicle.

Background

Currently, unmanned aerial vehicles typically use RTK (Real-time kinematic) carrier phase differential techniques for unmanned aerial vehicle positioning. The reference station and the mobile station installed on the unmanned aerial vehicle simultaneously receive signals transmitted by the same satellite at the same time, the reference station transmits measured data such as carrier phase observation values, pseudo-range observation values, reference station coordinates and the like to the mobile station in motion through a 4G network, the mobile station receives information transmitted by the reference station through the 4G network, and the carrier phase observation values are subjected to differential processing in real time to obtain the coordinates of the unmanned aerial vehicle.

In practical application, unmanned aerial vehicle descending scene mainly is in the city, and more high-rise building can cause the signal to shelter from to and multipath effect, thereby cause unmanned aerial vehicle at the descending in-process, can't acquire comparatively high-precision positioning coordinate, and then, make unmanned aerial vehicle unable to carry out accurate landing.

Therefore, how to improve the accuracy of the positioning coordinates acquired by the unmanned aerial vehicle in the landing process is a problem to be solved.

Disclosure of Invention

The present disclosure provides a method and apparatus for determining a landing point of an unmanned aerial vehicle, so as to partially solve the above-mentioned problems in the prior art.

The technical scheme adopted in the specification is as follows:

the specification provides a method for determining a landing point of an unmanned aerial vehicle, comprising the following steps:

acquiring positioning related parameters acquired when the specified equipment positions at each drop point to be evaluated in a set area, wherein the positioning related parameters comprise: at least one of a high accuracy positioning duration, a low accuracy duration, a number of available satellites;

determining landing environment scores corresponding to the landing points to be evaluated according to the positioning related parameters;

and determining a target landing point aiming at the set area from the landing points to be evaluated according to the landing environment scores corresponding to the landing points to be evaluated, so that the unmanned aerial vehicle lands at the target landing point in the process of executing tasks in the set area.

Optionally, collecting the positioning related parameters specifically includes:

for each drop point to be evaluated in the setting area, responding to the position of the specified equipment at the drop point to be evaluated, and acquiring positioning related parameters acquired by executing a plurality of times of acquisition when the specified equipment is positioned on the drop point to be evaluated, wherein the positioning related parameters are acquired by the specified equipment;

and starting the designated equipment for each acquisition to acquire positioning related parameters acquired when the designated equipment is positioned on the drop point to be evaluated in a static state within a set duration in the acquisition.

Optionally, determining the landing environment score corresponding to each landing point to be evaluated according to the positioning related parameter specifically includes:

according to the positioning related parameters, determining the calculation time length involved in the process of determining high-precision positioning of the designated equipment, and taking the calculation time length as high-precision positioning time length;

and determining the landing environment scores corresponding to the landing points to be evaluated according to the high-precision positioning time length, wherein if the high-precision positioning time length is shorter, the landing environment score of the landing point to be evaluated is higher.

Determining a signal-to-noise ratio and an altitude angle corresponding to each satellite received by the specified equipment at each drop point to be evaluated according to the positioning related parameters;

determining a satellite meeting preset conditions as an available satellite according to the signal-to-noise ratio and the altitude angle corresponding to each satellite;

and determining the landing environment scores corresponding to the landing points to be evaluated according to the number of the available satellites, wherein the landing environment scores of the landing points to be evaluated are higher as the number of the available satellites is larger.

determining the duration of reduced positioning precision of the designated equipment after high-precision positioning is determined according to the positioning related parameters, and taking the duration as low-precision duration;

and determining the landing environment scores corresponding to the landing points to be evaluated according to the low-precision duration time, wherein if the low-precision duration time is shorter, the landing environment score of the landing point to be evaluated is higher.

And determining the landing environment scores corresponding to the landing points to be evaluated according to the high-precision positioning duration, the low-precision duration, the number of available satellites and the reference weights corresponding to the indexes in the positioning related parameters.

Optionally, acquiring positioning related parameters generated when the specified device positions each drop point to be evaluated in the setting area specifically includes:

and acquiring a sequence of each drop point to be evaluated of the designated equipment in the set area, and acquiring a positioning related parameter generated when the drop point to be evaluated positioned at the first position in the sequence is positioned by the designated equipment, wherein the positioning related parameter is used as a positioning related parameter corresponding to the drop point to be evaluated at the first position.

determining a landing environment score corresponding to the first landing point to be evaluated according to the positioning related parameters corresponding to the first landing point to be evaluated;

determining a target landing point for the set area from the landing points to be evaluated according to the landing environment scores corresponding to the landing points to be evaluated, wherein the method specifically comprises the following steps:

And if the landing environment score corresponding to the first landing point to be evaluated is larger than the set score, taking the first landing point to be evaluated as a target landing point in the set area, otherwise, removing the first landing point to be evaluated from the sequence to obtain an updated sequence, and judging whether the landing environment score corresponding to the first landing point to be evaluated in the updated sequence is larger than the set score or not until the target landing point in the set area is determined.

The present specification provides a device for determining a landing point of an unmanned aerial vehicle, comprising:

the system comprises an acquisition module, a calculation module and a calculation module, wherein the acquisition module is used for acquiring positioning related parameters acquired when a specified device is positioned at each drop point to be evaluated in a set area, and the positioning related parameters comprise: at least one of a high accuracy positioning duration, a low accuracy duration, a number of available satellites;

the determining module is used for determining the landing environment scores corresponding to the landing points to be evaluated according to the positioning related parameters;

and the landing module is used for determining a target landing point aiming at the set area from the landing points to be evaluated according to the landing environment scores corresponding to the landing points to be evaluated, so that the unmanned aerial vehicle can land at the target landing point in the process of executing the tasks in the set area.

The present specification provides a computer readable storage medium storing a computer program which when executed by a processor implements the above method of determining a landing point of a drone.

The present specification provides a drone comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above method of determining a drop point of a drone when executing the program.

The above-mentioned at least one technical scheme that this specification adopted can reach following beneficial effect:

in the method for determining the landing point of the unmanned aerial vehicle provided in the specification. Firstly, acquiring positioning related parameters generated when the specified equipment positions at each drop point to be evaluated in a set area. And secondly, determining the landing environment scores corresponding to all the landing points to be evaluated according to the positioning related parameters. And finally, determining a target landing point aiming at the set area from the landing points to be evaluated according to the landing environment scores corresponding to the landing points to be evaluated, so that the unmanned aerial vehicle lands at the target landing point in the process of executing the task in the set area.

According to the method, the influence of each drop point to be evaluated on the unmanned aerial vehicle landing can be determined through the positioning related parameters generated when the equipment is specified to position each drop point to be evaluated in the setting area. Compared with the prior art, the method can be used for determining the influence of each drop point to be evaluated on the unmanned aerial vehicle drop in advance, and selecting a proper target drop point from each drop point to be evaluated, so that the unmanned aerial vehicle can drop accurately.

Drawings

The accompanying drawings, which are included to provide a further understanding of the specification, illustrate and explain the exemplary embodiments of the present specification and their description, are not intended to limit the specification unduly. In the drawings:

fig. 1 is a schematic flow chart of a method for determining a landing point of an unmanned aerial vehicle in the present specification;

FIG. 2 is a schematic diagram of a process for determining a drop point of a drone according to an embodiment of the present disclosure;

fig. 3 is a schematic view of an apparatus for determining a landing point of a drone provided in the present specification;

fig. 4 is a schematic view corresponding to the unmanned aerial vehicle of fig. 1 provided in the present specification.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the present specification more apparent, the technical solutions of the present specification will be clearly and completely described below with reference to specific embodiments of the present specification and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present specification. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.

The following describes in detail the technical solutions provided by the embodiments of the present specification with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a method for determining a landing point of an unmanned aerial vehicle in the present specification, including the following steps:

s100: acquiring positioning related parameters acquired when the specified equipment positions at each drop point to be evaluated in a set area, wherein the positioning related parameters comprise: at least one of a high accuracy positioning duration, a low accuracy duration, and a number of available satellites.

In the embodiment of the present specification, the execution subject of the method for determining the landing point of the unmanned aerial vehicle in the present specification may be a designated device, or may be an unmanned aerial vehicle, or may be a terminal device such as a server or a desktop computer. For convenience of description, a method for determining a landing point of a drone provided in the present specification will be described below with only a designated device as an execution subject.

In the embodiment of the present disclosure, the designated device may acquire a positioning-related parameter generated when the designated device locates at each drop point to be evaluated in the set area. The specified device mentioned here may refer to a device for acquiring positioning related parameters generated when positioning the drop point to be evaluated, and may also be an unmanned aerial vehicle. The positioning related parameters mentioned here may include: at least one of a high accuracy positioning duration, a low accuracy duration, and a number of available satellites.

In this embodiment of the present disclosure, the designated device may obtain, for each drop point to be evaluated in the setting area, a positioning-related parameter obtained by performing a plurality of acquisitions when the designated device performs positioning on the drop point to be evaluated in response to the designated device being placed on the drop point to be evaluated.

Specifically, for each acquisition, the designated device is started to acquire the positioning related parameters acquired when the designated device is positioned at the drop point to be evaluated in a static state within a set duration. The activation of a designated device as referred to herein may refer to powering up the designated device. That is, after the designated device is powered on, static positioning is performed for a set period of time, and then disconnection is performed on the designated device. The method is used for collecting the positioning related parameters for a plurality of times according to actual requirements.

In practical application, after receiving signals with different quality, the designated equipment determines positioning results with different precision. The precision of the positioning result comprises a fixed solution (millimeter level to centimeter level), a wide lane fixed solution (centimeter level to decimeter level), a directional floating solution (decimeter level to meter level) and a positioning floating solution (decimeter level to meter level). The designated device can determine to which accuracy the positioning result determined by itself belongs. For example, the designated device may determine a fixed solution (a result of the solution after the narrow lane integer ambiguity is fixed), that is, a high-precision positioning. For another example, the designated device may determine a wide lane fix solution, a directional floating solution, a positioning floating solution, i.e., a low precision positioning.

In the embodiment of the present specification, the high-precision positioning time period may refer to a time period from when the designated device receives a signal to when the high-precision positioning is determined after power is applied. The low accuracy duration may refer to a duration of time for which the accuracy decreases to low accuracy after the designated device determines the high accuracy positioning. The number of available satellites may refer to the number of satellite signals that a given device receives that may be used to determine a high accuracy position fix.

It should be noted that a given device may be located using RTK techniques. The reference station and the mobile station on the appointed equipment simultaneously receive signals transmitted by the same satellite at the same time, the reference station transmits measured carrier phase observed values, pseudo-range observed values, reference station coordinates and other data to the mobile station on the appointed equipment by using a 4G network, the mobile station on the appointed equipment receives information transmitted by the reference station by using the 4G network, and the carrier phase observed values are subjected to differential processing in real time to obtain the position of the appointed equipment.

In the present specification, the unmanned aerial vehicle applying the method for determining the landing point of the unmanned aerial vehicle provided in the present specification may be used to perform a delivery task in the delivery field, for example, a service scenario in which delivery such as express delivery, logistics, take-away and the like is performed by using the unmanned aerial vehicle.

S102: and determining the landing environment scores corresponding to the landing points to be evaluated according to the positioning related parameters.

In this embodiment of the present disclosure, the designated device may determine, according to the positioning related parameter, a landing environment score corresponding to each landing point to be evaluated.

In practical applications, the better the quality of the signal received by the pointing device, the shorter the time it takes for the pointing device to determine a high accuracy position fix. Based on the above, the designated device can determine the calculation time length involved in the process of determining the high-precision positioning of the designated device according to the positioning related parameters, and the calculation time length is used as the high-precision positioning time length. And determining the landing environment scores corresponding to the landing points to be evaluated according to the high-precision positioning time length, wherein if the high-precision positioning time length is shorter, the landing environment score of the landing point to be evaluated is higher.

Specifically, for each drop point to be evaluated, if the high-precision positioning time length is smaller than the set time length threshold value, determining that the drop environment score of the drop point to be evaluated on the high-precision positioning time length is full. If the high-precision positioning time length is not less than the set time length threshold value, determining the landing environment score of the landing point to be evaluated on the high-precision positioning time length, and reducing along with the increase of the high-precision positioning time length according to a preset linear function.

In practical application, the more satellite signals the designated equipment receives, the more clear the environment where the designated equipment is located is considered, and the less signal shielding is caused by high-rise buildings. Based on the above, the designated device can determine the signal-to-noise ratio and the altitude angle corresponding to each satellite received by the designated device at each landing point to be evaluated according to the positioning related parameters. Reference herein to a signal-to-noise ratio may refer to a ratio of signal to noise in a signal received by a given device. The altitude referred to herein may refer to the angle between the line of direction from the satellite to the designated device and the horizontal.

And secondly, determining the satellite meeting the preset condition as an available satellite according to the signal-to-noise ratio and the altitude angle corresponding to each satellite. Wherein, the higher the signal-to-noise ratio of the signal received by the designated device, the better the signal quality. The designated device may determine the appropriate satellite altitude to ameliorate the effects on signal quality caused by multipath effects and the like.

And finally, determining the landing environment scores corresponding to the landing points to be evaluated according to the number of the available satellites, wherein the landing environment scores of the landing points to be evaluated are higher as the number of the available satellites is larger.

Specifically, for each drop point to be evaluated, if the number of available satellites is greater than a set number threshold, determining that the drop environment score of the drop point to be evaluated on the number of available satellites is full. If the number of available satellites is not greater than the set number threshold, determining the landing environment score of the landing point to be evaluated on the number of available satellites, wherein the landing environment score is reduced along with the reduction of the number of available satellites according to a preset linear function.

In practical application, because the designated device calculates the positioning result of the position in real time, if the surrounding environment of the position changes, the positioning result of the position calculated by the designated device in real time also changes. For example, before the signal received by the designated device is interfered, the positioning result calculated by the designated device is high-precision positioning, and after the signal received by the designated device is interfered, the positioning result calculated by the designated device becomes low-precision positioning. That is, the stronger the signal interference of the position where the specified device is located, the longer the duration of the decrease in positioning accuracy after the high-accuracy positioning is determined.

Based on this, the specifying device can determine, as the low-precision duration, the duration in which the positioning precision is reduced after the specifying device determines the high-precision positioning, based on the positioning-related parameter. And determining the landing environment scores corresponding to the landing points to be evaluated according to the low-precision duration time, wherein if the low-precision duration time is shorter, the landing environment score of the landing point to be evaluated is higher.

Specifically, for each drop point to be evaluated, if the low-precision duration time is greater than the set time threshold value, determining that the drop environment score of the drop point to be evaluated on the low-precision duration time is full. And if the low-precision duration time is not greater than the set time threshold value, determining that the drop environment score of the drop point to be evaluated on the low-precision duration time is zero.

In practical application, in positioning related parameters generated when the specified equipment positions the drop point to be evaluated, different indexes have different influences on the drop environment score corresponding to the drop point to be evaluated.

In the embodiment of the present disclosure, the designated device may determine the landing environment score corresponding to each landing point to be evaluated according to the high-precision positioning duration, the low-precision duration, the number of available satellites, and the reference weights corresponding to the indexes in the positioning related parameters. The reference weights for the indices mentioned herein may be determined manually. As particularly shown in fig. 2.

In fig. 2, the designated equipment may be referred to as an unmanned aerial vehicle placed on the drop point to be evaluated, the unmanned aerial vehicle is started, the unmanned aerial vehicle is powered on, the static RTK positioning is started, and the unmanned aerial vehicle is disconnected for 1-2 minutes. After disconnection, the unmanned aerial vehicle is still placed at the drop point to be evaluated, and is powered on again to perform static RTK positioning, and the duration is 1-2 minutes. By the method, RTK data are acquired for a plurality of times and used as positioning related parameters. And secondly, determining a landing environment score corresponding to the landing point to be evaluated according to the positioning related parameters and the reference weights corresponding to the indexes in the positioning related parameters so as to judge whether the landing point to be evaluated is a target landing point.

It should be noted that, because the specified device may obtain the positioning related parameters for several times at one drop point to be evaluated, the specified device may obtain the drop environment scores corresponding to the positioning related parameters. The appointed equipment can take the average score of the landing environment scores corresponding to the positioning related parameters as the landing environment score corresponding to the landing point to be evaluated.

S104: and determining a target landing point aiming at the set area from the landing points to be evaluated according to the landing environment scores corresponding to the landing points to be evaluated, so that the unmanned aerial vehicle lands at the target landing point in the process of executing tasks in the set area.

In this embodiment of the present disclosure, the designated device may determine, from the drop points to be evaluated, a target drop point for the setting area according to the drop environment score corresponding to the drop point to be evaluated, so that the unmanned aerial vehicle drops at the target drop point in the process of executing the task in the setting area.

In practical application, the appointed equipment sorts a plurality of drop points to be evaluated in the area to obtain a sequence of each drop point to be evaluated in the area, and sequentially determines drop environment scores corresponding to the drop points to be evaluated until determining the drop points to be evaluated, of which the drop environment scores meet requirements, as target drop points.

In the embodiment of the present specification, the specifying device may acquire a sequence of each drop point to be evaluated of the specifying device in the setting area. Specifically, the designated device can determine the score of each to-be-evaluated drop point of the designated device in the setting area according to the data quality of the sensing data generated in the running process of each sensor set by the designated device, and then determine the sequence of each to-be-evaluated drop point of the designated device in the setting area according to the score of each to-be-evaluated drop point of the designated device in the setting area. The sensor mentioned here may be used to sense the environment around itself, for example, a camera, a laser radar, a millimeter wave radar, etc. The data quality of the sensing data mentioned here may refer to the image quality of the image captured by the camera, and may also refer to the quality of the point cloud data acquired by the lidar.

Firstly, acquiring a positioning related parameter generated when a specified device is positioned at a first drop point to be evaluated in a sequence, wherein the positioning related parameter is used as a positioning related parameter corresponding to the first drop point to be evaluated.

And secondly, determining the landing environment score corresponding to the first landing point to be evaluated according to the positioning related parameters corresponding to the first landing point to be evaluated. And finally, if the landing environment score corresponding to the first landing point to be evaluated is larger than the set score, taking the first landing point to be evaluated as a target landing point in the set area, otherwise, removing the first landing point to be evaluated from the sequence to obtain an updated sequence, and judging whether the landing environment score corresponding to the first landing point to be evaluated in the updated sequence is larger than the set score or not until the target landing point in the set area is determined.

That is, the designated device starts to evaluate from the first position in the sequence of each drop point to be evaluated in the set area, and if it is determined that the drop environment score corresponding to the drop point to be evaluated is greater than the set score, the drop point to be evaluated is taken as the target drop point, and the subsequent drop points to be evaluated are not evaluated.

In this embodiment of the present disclosure, if the unmanned aerial vehicle determines that the unmanned aerial vehicle satisfies the satellite guiding landing condition, the unmanned aerial vehicle may be controlled to land to the target landing point only according to the coordinates of the position where the unmanned aerial vehicle is located and the coordinates of the target landing point through satellite guiding landing.

Specifically, in the unmanned aerial vehicle descending process, the unmanned aerial vehicle can acquire the coordinates of the position of the unmanned aerial vehicle in the descending process according to a preset time interval. And controlling the unmanned aerial vehicle to move along the direction close to the target landing point according to the coordinate of the position of the unmanned aerial vehicle and the actual coordinate of the target landing point until the unmanned aerial vehicle drops to the target landing point. The preset time interval may be 1/24 second or 1/60 second, and specific values of the time interval may be set according to needs, which is not limited in this specification.

According to the method, the influence of each drop point to be evaluated on the unmanned aerial vehicle landing can be determined through the positioning related parameters generated when the equipment is specified to position each drop point to be evaluated in the set area. Compared with the prior art, the method can be used for determining the influence of each drop point to be evaluated on the unmanned aerial vehicle drop in advance, and selecting a proper target drop point from each drop point to be evaluated, so that the unmanned aerial vehicle can drop accurately.

The method for determining the landing point of the unmanned aerial vehicle provided by one or more embodiments of the present disclosure is based on the same concept, and the present disclosure further provides a corresponding device for determining the landing point of the unmanned aerial vehicle, as shown in fig. 3.

Fig. 3 is a schematic diagram of a device for determining a landing point of an unmanned aerial vehicle provided in the present specification, including:

the obtaining module 300 is configured to obtain positioning related parameters collected when the specified device locates at each drop point to be evaluated in the setting area, where the positioning related parameters include: at least one of a high accuracy positioning duration, a low accuracy duration, a number of available satellites;

a determining module 302, configured to determine a landing environment score corresponding to each landing point to be evaluated according to the positioning related parameter;

and the landing module 304 is configured to determine a target landing point for the set area from the landing points to be evaluated according to the landing environment scores corresponding to the landing points to be evaluated, so that the unmanned aerial vehicle lands at the target landing point in the process of executing the task in the set area.

Optionally, for each drop point to be evaluated in the setting area, in response to the designated device being placed at the drop point to be evaluated, acquiring a positioning-related parameter obtained by performing a plurality of acquisitions when the designated device is positioned on the drop point to be evaluated, wherein for each acquisition, the designated device is started to acquire the positioning-related parameter acquired when the designated device is positioned on the drop point to be evaluated in a stationary state in a set duration in the acquisition.

Optionally, the determining module 302 is specifically configured to determine, according to the positioning related parameter, a calculation duration involved in the determining process of the high-precision positioning of the specified device, as a high-precision positioning duration, and determine, according to the high-precision positioning duration, a landing environment score corresponding to each landing point to be evaluated, where if the high-precision positioning duration is shorter, the landing environment score of the landing point to be evaluated is higher.

Optionally, the determining module 302 is specifically configured to determine, according to the positioning related parameter, a signal-to-noise ratio and an altitude angle corresponding to each satellite received by the specified device at each drop point to be evaluated, determine, for each satellite, a satellite that meets a preset condition according to the signal-to-noise ratio and the altitude angle corresponding to the satellite, as an available satellite, and determine, according to the number of available satellites, a drop environment score corresponding to each drop point to be evaluated, where the greater the number of available satellites, the higher the drop environment score of the drop point to be evaluated.

Optionally, the determining module 302 is specifically configured to determine, according to the positioning related parameter, a duration of reduced positioning accuracy of the specified device after determining high-accuracy positioning, and determine, as a low-accuracy duration, a landing environment score corresponding to each landing point to be evaluated according to the low-accuracy duration, where if the low-accuracy duration is shorter, the landing environment score of the landing point to be evaluated is higher.

Optionally, the determining module 302 is specifically configured to determine the landing environment score corresponding to each landing point to be evaluated according to the high-precision positioning duration, the low-precision duration, the number of available satellites, and the reference weights corresponding to the indexes in the positioning related parameters.

Optionally, the landing module 304 is specifically configured to obtain a sequence of each drop point to be evaluated of the specified device in the set area, and obtain a positioning related parameter generated when the first drop point to be evaluated of the specified device in the sequence is positioned, as the positioning related parameter corresponding to the first drop point to be evaluated.

Optionally, the landing module 304 is specifically configured to determine, according to the positioning related parameter corresponding to the first drop point to be evaluated, a drop environment score corresponding to the first drop point to be evaluated, if the drop environment score corresponding to the first drop point to be evaluated is greater than a set score, take the first drop point to be evaluated as a target drop point in the set area, otherwise, remove the first drop point to be evaluated from the sequence, obtain an updated sequence, and determine whether the drop environment score corresponding to the first drop point to be evaluated in the updated sequence is greater than the set score until it is determined that the target drop point in the set area is targeted.

The present specification also provides a computer readable storage medium storing a computer program operable to perform a method of determining a landing point of a drone as provided in figure 1 above.

The present specification also provides a schematic structural diagram of the unmanned aerial vehicle shown in fig. 4, which corresponds to fig. 1. As shown in fig. 4, at the hardware level, the drone includes a processor, an internal bus, a network interface, a memory, and a nonvolatile memory, and may include hardware required by other services. The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to realize the method for determining the landing point of the unmanned aerial vehicle, which is described in the above-mentioned figure 1. Of course, other implementations, such as logic devices or combinations of hardware and software, are not excluded from the present description, that is, the execution subject of the following processing flows is not limited to each logic unit, but may be hardware or logic devices.

In the 90 s of the 20 th century, improvements to one technology could clearly be distinguished as improvements in hardware (e.g., improvements to circuit structures such as diodes, transistors, switches, etc.) or software (improvements to the process flow). However, with the development of technology, many improvements of the current method flows can be regarded as direct improvements of hardware circuit structures. Designers almost always obtain corresponding hardware circuit structures by programming improved method flows into hardware circuits. Therefore, an improvement of a method flow cannot be said to be realized by a hardware entity module. For example, a programmable logic device (Programmable Logic Device, PLD) (e.g., field programmable gate array (Field Programmable Gate Array, FPGA)) is an integrated circuit whose logic function is determined by the programming of the device by a user. A designer programs to "integrate" a digital system onto a PLD without requiring the chip manufacturer to design and fabricate application-specific integrated circuit chips. Moreover, nowadays, instead of manually manufacturing integrated circuit chips, such programming is mostly implemented by using "logic compiler" software, which is similar to the software compiler used in program development and writing, and the original code before the compiling is also written in a specific programming language, which is called hardware description language (Hardware Description Language, HDL), but not just one of the hdds, but a plurality of kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), lava, lola, myHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog are currently most commonly used. It will also be apparent to those skilled in the art that a hardware circuit implementing the logic method flow can be readily obtained by merely slightly programming the method flow into an integrated circuit using several of the hardware description languages described above.

The controller may be implemented in any suitable manner, for example, the controller may take the form of, for example, a microprocessor or processor and a computer readable medium storing computer readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), programmable logic controllers, and embedded microcontrollers, examples of which include, but are not limited to, the following microcontrollers: ARC 625D, atmel AT91SAM, microchip PIC18F26K20, and Silicone Labs C8051F320, the memory controller may also be implemented as part of the control logic of the memory. Those skilled in the art will also appreciate that, in addition to implementing the controller in a pure computer readable program code, it is well possible to implement the same functionality by logically programming the method steps such that the controller is in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. Such a controller may thus be regarded as a kind of hardware component, and means for performing various functions included therein may also be regarded as structures within the hardware component. Or even means for achieving the various functions may be regarded as either software modules implementing the methods or structures within hardware components.

The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. One typical implementation is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present specification.

It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present description is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

It will be appreciated by those skilled in the art that embodiments of the present description may be provided as a method, system, or computer program product. Accordingly, the present specification may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present description can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.

The foregoing is merely exemplary of the present disclosure and is not intended to limit the disclosure. Various modifications and alterations to this specification will become apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, or the like, which are within the spirit and principles of the present description, are intended to be included within the scope of the claims of the present description.

Claims

1. A method of determining a landing point for an unmanned aerial vehicle, comprising:

2. The method according to claim 1, wherein the acquiring of the positioning related parameter comprises:

3. The method of claim 1, wherein determining the landing environment score corresponding to each landing point to be evaluated according to the positioning related parameter, specifically comprises:

4. The method of claim 1, wherein determining the landing environment score corresponding to each landing point to be evaluated according to the positioning related parameter, specifically comprises:

5. The method of claim 1, wherein determining the landing environment score corresponding to each landing point to be evaluated according to the positioning related parameter, specifically comprises:

6. The method of claim 1, wherein determining the landing environment score corresponding to each landing point to be evaluated according to the positioning related parameter, specifically comprises:

7. The method of claim 1, wherein obtaining positioning-related parameters generated when the specified device positions at each drop point to be evaluated in the set area, specifically comprises:

8. The method of claim 7, wherein determining the landing environment score corresponding to each landing point to be evaluated according to the positioning related parameter, specifically comprises:

9. An apparatus for determining a landing point of an unmanned aerial vehicle, comprising:

10. A computer-readable storage medium, characterized in that the storage medium stores a computer program which, when executed by a processor, implements the method of any of the preceding claims 1-7.

11. A drone comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any of the preceding claims 1 to 7 when the program is executed.