CN116339352A

CN116339352A - Floor control method, device, system, equipment, server and aircraft

Info

Publication number: CN116339352A
Application number: CN202111589888.3A
Authority: CN
Inventors: 王进进; 吕建锋
Original assignee: Beijing Sankuai Online Technology Co Ltd
Current assignee: Beijing Sankuai Online Technology Co Ltd
Priority date: 2021-12-23
Filing date: 2021-12-23
Publication date: 2023-06-27

Abstract

The embodiment of the invention provides a landing control method, a landing control device, a landing control system, landing control equipment, a landing control server and an aircraft, and relates to the technical field of unmanned aerial vehicles; the aircraft landing control device can control the aircraft to land stably in the landing process of the aircraft. The method comprises the following steps: acquiring landing state information of the aircraft positioned in the target landing area; and periodically sending the landing state information to the aircraft positioned in the target landing area, so that the aircraft positioned in the target landing area controls the aircraft body to land in the target landing area according to the landing state information.

Description

Floor control method, device, system, equipment, server and aircraft

[ field of technology ]

The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a landing control method, a landing control device, landing control system, landing control equipment, landing control server and an aircraft.

[ background Art ]

In the process of implementing landing, it is an important link to control the aircraft to land smoothly. Current techniques for controlling the landing of an aircraft are highly dependent on Time of flight (TOF) and fail to detect landing in the process of controlling the landing of an aircraft once a TOF failure condition (e.g., a signal jump from the TOF or a signal generator of the TOF is damaged) occurs.

Failure of the landing detection may cause the aircraft to turn over, with a certain safety risk.

[ invention ]

The embodiment of the invention provides a landing control method, a landing control device, a landing control system, landing control equipment, a landing control server and an aircraft, which can control the aircraft to land stably in the landing process of the aircraft.

In a first aspect, an embodiment of the present invention provides a landing control method, which is applied to an intelligent sensing device disposed in a target landing area in a landing control system, where the landing control system further includes a plurality of aircrafts, and the method includes: acquiring landing state information of the aircraft positioned in the target landing area; and periodically sending the landing state information to the aircraft positioned in the target landing area, so that the aircraft positioned in the target landing area controls the aircraft body to land in the target landing area according to the landing state information.

According to the landing control method, the intelligent sensing equipment is arranged in the target landing area of the aircraft, the landing position of the aircraft is monitored by the intelligent sensing equipment, the landing state information of whether the aircraft contacts the ground is obtained, the monitoring result is sent to the aircraft, the aircraft obtains objective information of whether the body of the aircraft contacts the ground under the third-party view angle, the aircraft is guaranteed to have richer and more accurate landing detection information in the process of controlling the body of the aircraft to land in the target landing area, and further the aircraft is guaranteed to be controlled to land stably.

In one possible implementation manner, the landing control system further includes a server, and obtains landing status information of the aircraft located in the target landing area, including:

when receiving a starting instruction for image acquisition of the aircraft positioned in the target landing area sent by the server, periodically acquiring a position image of the aircraft positioned in the target landing area;

and obtaining landing state information of the aircraft positioned in the target landing area according to the position image.

In one possible implementation manner, the landing control system further includes a server, periodically sends the landing status information to the aircraft located in the target landing area, including:

and uploading the landing status information to the server through the public land mobile network, so that the server can send the landing status information to the aircraft located in the target landing area through the public land mobile network.

In one possible implementation manner, the landing control system further includes a server, and the method further includes:

responding to the communication connection information sent by the aircraft positioned in the target landing area, and establishing communication connection between a local near-end communication module and the aircraft positioned in the target landing area; wherein the communication connection information is sent by the server to the aircraft located in the target landing zone;

Periodically sending the landing status information to the aircraft located in the target landing zone, comprising:

and periodically sending the landing state information to the aircraft positioned in the target landing area through the local near-end communication module.

In a second aspect, an embodiment of the present invention provides a landing control method, applied to an aircraft in a landing control system, where the landing control system further includes an intelligent sensing device disposed in a target landing area, and the method includes: in response to the aircraft body being located in the target landing area, periodically acquiring first landing state information of the aircraft body sent by the intelligent sensing equipment; and controlling the aircraft body to land in the target landing area according to the first landing state information.

According to the landing control method, the aircraft periodically acquires first landing state information of whether the aircraft contacts the ground or not, which is monitored by the intelligent sensing equipment arranged in the target landing area, from flying to the upper air of the target landing area, and the aircraft body is controlled to land stably according to objective information of whether the aircraft body contacts the ground or not, which is monitored by the intelligent sensing equipment based on a third-party visual angle.

In one possible implementation manner, the first landing status information includes a landing progress status and a landing completion status; according to the first landing state information, controlling the aircraft body to land in the target landing area, including:

when the received first landing state information is the landing progress state, determining that the aircraft body is not in contact with the ground of the target landing area;

and when the received first landing state information is the landing completion state, determining that the aircraft body contacts the ground of the target landing area.

In one possible implementation, the aircraft is provided with a time of flight sensor TOF; the method further comprises the steps of:

acquiring second landing state information of the aircraft body according to the distance between the aircraft body acquired by the TOF and the ground of the target landing area;

according to the first landing state information, controlling the aircraft body to land in the target landing area, including:

and controlling the aircraft body to land in the target landing area according to the first landing state information and the second landing state information.

In one possible implementation, the aircraft is provided with a force sensor; when the received first landing status information is the landing completion status, determining that the aircraft body contacts the ground of the target landing area includes:

and when the received first landing state information is the landing completion state, detecting that the ground contact force is acquired by the stress sensor, and determining that the aircraft body contacts the ground of the target landing area.

In one possible implementation manner, the landing control system further includes a server, periodically acquires first landing state information of the aircraft body sent by the intelligent sensing device, including:

periodically receiving the first landing state information sent by the server through the public land mobile network; wherein the first landing status information sent by the server is uploaded by the intelligent sensing device through the public land mobile network.

receiving communication connection information of a near-end communication module of intelligent sensing equipment, which is sent by the server;

Responding to the aircraft body positioned in the target landing area, and connecting the near-end communication module of the intelligent sensing equipment according to the communication connection information;

periodically obtaining first landing state information of the aircraft body sent by the intelligent sensing device, including:

and periodically receiving first landing state information sent by the intelligent sensing equipment through the intelligent sensing equipment near-end communication module.

In one possible implementation manner, receiving the communication connection information of the near-end communication module of the intelligent sensing device sent by the server includes:

and responding to the aircraft body being positioned in the target landing area, receiving communication connection information sent by a server and arranged in the near-end communication module of the intelligent sensing equipment.

periodically uploading local position information to the server, so that the server sends a starting instruction for image acquisition of the aircraft to the intelligent sensing equipment when detecting that the aircraft is located in the target landing area according to the local position information;

periodically acquiring first landing state information sent by the intelligent sensing equipment aiming at the aircraft; the intelligent sensing equipment responds to the starting instruction of image acquisition, and periodically acquires the position image of the aircraft so as to obtain first landing state information aiming at the aircraft according to the position image.

receiving the target landing area sent by the server;

and in response to the aircraft body being located in the target landing area, periodically acquiring first landing state information of the aircraft body, which is sent by the intelligent sensing equipment, including:

and responding to the locally detected aircraft body being positioned in the target landing area, periodically acquiring first landing state information of the aircraft body sent by the intelligent sensing equipment.

In a third aspect, an embodiment of the present invention provides a landing control method, which is applied to a server in a landing control system, where the landing control system further includes a plurality of aircrafts and an intelligent sensing device disposed in a target landing area, and the method includes:

Receiving periodically uploaded position information of a target aircraft; wherein the target aircraft is any one of the plurality of aircraft;

receiving landing state information of the aircraft in the flying-to-target landing area, which is periodically transmitted by the intelligent sensing equipment;

and when the target aircraft is detected to fly to the target landing area according to the position information, sending the landing state information of the target aircraft flying to the target landing area to the target aircraft.

In a fourth aspect, an embodiment of the present invention provides a landing control system, where the landing control system includes a plurality of aircrafts, a server, and an intelligent sensing device disposed in a target landing area; wherein, the liquid crystal display device comprises a liquid crystal display device,

the intelligent sensing equipment is used for acquiring landing state information of the aircraft positioned in the target landing area;

the server is used for sending the target landing area to the plurality of aircrafts;

the target aircraft is used for periodically obtaining landing state information sent by the intelligent sensing equipment when the target aircraft body is detected to be positioned in the target landing area; the target aircraft is any one of the plurality of aircraft;

The target aircraft is used for controlling the aircraft body to land in the target landing area according to the landing state information.

In a fifth aspect, an embodiment of the present invention provides a landing control apparatus, disposed in a landing control system, of an intelligent sensing device disposed in a target landing area, where the landing control system further includes a plurality of aircrafts, and the apparatus includes:

the information acquisition module is used for acquiring landing state information of the aircraft positioned in the target landing area;

and the information sending module is used for periodically sending the landing state information to the aircraft positioned in the target landing area so that the aircraft positioned in the target landing area can control the aircraft body to land in the target landing area according to the landing state information.

In one possible implementation manner, the landing control system further includes a server, and the information acquisition module includes:

the image acquisition sub-module is used for periodically acquiring the position image of the aircraft positioned in the target landing area when receiving a starting instruction for image acquisition of the aircraft positioned in the target landing area sent by the server;

And the information obtaining sub-module is used for obtaining landing state information of the aircraft positioned in the target landing area according to the position image.

In one possible implementation manner, the landing control system further includes a server, and the information sending module is specifically configured to upload the landing status information to the server through a public land mobile network, so that the server sends the landing status information to the aircraft located in the target landing area through the public land mobile network.

In one possible implementation manner, the floor control system further includes a server, and the apparatus further includes:

the connection establishment module is used for responding to the communication connection information sent by the aircraft positioned in the target landing area and establishing communication connection between the local near-end communication module and the aircraft positioned in the target landing area; wherein the communication connection information is sent by the server to the aircraft located in the target landing zone;

the information sending module is specifically configured to periodically send the landing status information to the aircraft located in the target landing area through the local near-end communication module.

In a sixth aspect, an embodiment of the present invention provides a landing control apparatus, an aircraft disposed in a landing control system, the landing control system further including an intelligent sensing device disposed in a target landing area, the apparatus including:

the information acquisition module is used for periodically acquiring first landing state information of the aircraft body, which is sent by the intelligent sensing equipment, in response to the aircraft body being positioned in the target landing area;

and the control module is used for controlling the aircraft body to land in the target landing area according to the first landing state information.

In one possible implementation manner, the first landing status information includes a landing progress status and a landing completion status; the control module includes:

a first determining sub-module for determining that the aircraft body is not in contact with the ground of the target landing area when the received first landing status information is the landing progress status;

and the second determining submodule is used for determining that the aircraft body contacts the ground of the target landing area when the received first landing state information is the landing completion state.

In one possible implementation, the aircraft is provided with a time of flight sensor TOF; the apparatus further comprises:

The distance acquisition module is used for acquiring second landing state information of the aircraft body according to the distance between the aircraft body acquired by the TOF and the ground of the target landing area;

the control module is specifically configured to control the aircraft body to land in the target landing area according to the first landing state information and the second landing state information.

In one possible implementation, the aircraft is provided with a force sensor; the second determining submodule is specifically configured to determine that the aircraft body contacts the ground of the target landing area when the received first landing state information is the landing completion state and the ground contact force acquired by the stress sensor is detected.

In one possible implementation manner, the floor control system further includes a server, and the information acquisition module includes:

the first information receiving sub-module is used for periodically receiving the first landing state information sent by the server through the public land mobile network; wherein the first landing status information sent by the server is uploaded by the intelligent sensing device through the public land mobile network.

the near-end communication receiving module is used for receiving communication connection information of the near-end communication module of the intelligent sensing equipment, which is sent by the server;

the connection module is used for responding to the fact that the aircraft body is located in the target landing area and connecting the near-end communication module of the intelligent sensing equipment according to the communication connection information;

the information acquisition module includes:

and the second information receiving sub-module is used for periodically receiving the first landing state information sent by the intelligent sensing equipment through the intelligent sensing equipment near-end communication module.

In one possible implementation manner, the near-end communication receiving module is specifically configured to, in response to the aircraft body being located in the target landing area, receive communication connection information sent by a server and set in the near-end communication module of the intelligent sensing device.

the position uploading module is used for periodically uploading local position information to the server, so that the server sends a starting instruction for image acquisition of the aircraft to the intelligent sensing equipment when detecting that the aircraft is located in the target landing area according to the local position information;

The information acquisition module is specifically used for periodically acquiring first landing state information sent by the intelligent sensing equipment aiming at the aircraft; the intelligent sensing equipment responds to the starting instruction of image acquisition, and periodically acquires the position image of the aircraft so as to obtain first landing state information aiming at the aircraft according to the position image.

the area receiving module is used for receiving the target landing area sent by the server;

the information acquisition module is specifically configured to periodically acquire first landing state information of the aircraft body sent by the intelligent sensing device in response to the locally detected aircraft body being located in the target landing area.

In a seventh aspect, an embodiment of the present invention provides a landing control apparatus, a server disposed in a landing control system, the landing control system further including a plurality of aircrafts and an intelligent sensing device disposed in a target landing area, the apparatus including:

the position receiving module is used for receiving the position information periodically uploaded by the target aircraft; wherein the target aircraft is any one of the plurality of aircraft;

The information receiving module is used for receiving the landing state information of the aircraft which is positioned in the flying-to-target landing area and is periodically transmitted by the intelligent sensing equipment;

and the information forwarding module is used for sending the landing state information of the target aircraft flying to the target landing area to the target aircraft when the target aircraft flying to the target landing area is detected according to the position information.

In an eighth aspect, an embodiment of the present invention provides an intelligent sensing apparatus, including: the device comprises a signal acquisition device and at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor, the processor invoking the program instructions capable of performing the method provided in the first aspect.

In a ninth aspect, an embodiment of the present invention provides an aircraft, including: at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method provided in the second aspect.

In a tenth aspect, an embodiment of the present invention provides a server, including: at least one processor; and at least one memory communicatively coupled to the processor, wherein: the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method provided in the third aspect.

In an eleventh aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause the computer to perform the method provided in the first aspect.

It should be understood that the second to eleventh aspects of the embodiment of the present invention are consistent with the technical solutions of the first aspect of the embodiment of the present invention, and the beneficial effects obtained by each aspect and the corresponding possible implementation manner are similar, and are not repeated.

[ description of the drawings ]

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of steps of a floor control method according to an embodiment of the present invention;

FIG. 2 is a topology diagram of an application environment of a floor control method in an embodiment of the present invention;

FIG. 3 is a topology diagram of an application environment of another floor control method in an embodiment of the invention;

FIG. 4 is a flowchart illustrating steps of another floor control method according to an embodiment of the present invention;

FIG. 5 is a flowchart illustrating steps of a floor control method according to another embodiment of the present invention;

FIG. 6 is a functional block diagram of a floor control device according to an embodiment of the present invention;

FIG. 7 is a functional block diagram of another floor control device according to an embodiment of the present invention;

FIG. 8 is a functional block diagram of a floor control device according to another embodiment of the present invention;

fig. 9 is a schematic structural diagram of an intelligent sensing device according to an embodiment of the present invention.

[ detailed description ] of the invention

For a better understanding of the technical solutions of the present specification, the following detailed description of the embodiments of the present invention refers to the accompanying drawings.

It should be understood that the described embodiments are only some, but not all, of the embodiments of the present description. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present disclosure.

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

In the landing process, the aircraft calculates the relative distance between the real-time position of the aircraft and the ground through the time spent by returning the aircraft to the aircraft after the aircraft contacts the ground through the signal sources such as radar waves, laser and the like sent by the TOF arranged on the local aircraft, judges whether the aircraft contacts the ground, and provides a basis for further executing the landing program to control the aircraft to land stably. For example, landing procedures that are further performed include series of actions that shut off aircraft power, control extension or retraction of the aircraft landing gear extension rod, control the aircraft propeller to stop rotating, and the like. It can be understood that the timing of the landing procedure performed by the aircraft is the key point of whether the aircraft can land smoothly, and the landing procedure starts to be performed when the aircraft does not contact the ground, or the landing procedure is performed after the aircraft contacts the ground, which can cause accidents such as rollover of the aircraft. Therefore, whether the aircraft touches the ground or not can be accurately judged, and the method is a key point for controlling the aircraft to land stably in the landing process.

In the prior art, an aircraft highly depends on the relative distance between the aircraft and the ground, which is provided by TOF, so that whether the aircraft contacts the ground is judged, and the risk of inaccuracy exists, for example, the TOF failure can cause the aircraft to fail to judge whether the body of the aircraft contacts the ground, so that the safety risk of rollover of the aircraft exists. In addition, the aircraft only depends on the relative distance between the aircraft and the ground provided by TOF to judge whether the aircraft contacts the ground, and the risk of unreliable judgment results exists.

In view of the above problems, an embodiment of the present invention provides a landing control method, which obtains a relative position between an aircraft and the ground based on a third-party viewing angle, provides information about whether the aircraft contacts the ground, ensures that the aircraft can determine a time for executing a landing program based on rich and reliable information, and controls the aircraft body to land steadily.

Fig. 1 is a flow chart of steps of a landing control method according to an embodiment of the present invention, which is applied to an aircraft in a landing control system, and fig. 2 is a topological structure diagram of an application environment of the landing control method according to an embodiment of the present invention, where, as shown in fig. 2, the landing control system includes an intelligent sensing device 21 and an aircraft 22 disposed in a target landing area.

The target landing zone may be an address range where the destination of the aircraft flight line is located; for example, the task performed by aircraft a is to transport cargo to landing airport B, the target landing area being the address range involved by landing airport B, including landing airport B and the sky above landing airport B; the task performed by the aircraft a is to transport cargo to the mobile landing platform C, the target landing area being the address range of the current occupation of the mobile landing platform C, including landing platform C and the upper air of landing platform C.

The intelligent sensing device is arranged in the target landing area, for example, the intelligent sensing device can be arranged on the ground of the target landing area. The intelligent sensing device can be a radar sensor, a picture acquisition device and the like which are provided with a computing device or connected with a computer, and the intelligent sensing device calculates whether the aircraft is in contact with the ground or not according to the acquired data to serve as first landing state information.

The floor control method comprises the following steps:

step S11: and the aircraft responds to the fact that the aircraft body is located in the target landing area, and periodically acquires first landing state information of the aircraft body, which is sent by the intelligent sensing equipment.

The first landing status information of the aircraft body indicates a completion progress of landing of the aircraft body from a position where landing was started to the ground of the target landing zone based on the angle of view of the intelligent sensing device.

The aircraft responding to the aircraft body being located in the target landing zone may refer to information that the aircraft is responding to the acquired information that the aircraft is flying to the target landing zone. It can be understood that when the aircraft flies to the target landing area, the first landing state information sent by the intelligent sensing device is acquired every preset time in the landing process.

The first landing state information acquired by the aircraft is the completion progress of landing of the aircraft flying to the target landing area and acquired by the intelligent sensing equipment arranged in the target landing area to the ground. When a specific aircraft flies to a target landing area, the intelligent sensing equipment can acquire first landing state information of the specific aircraft and send the first landing state information to the specific aircraft, so that the specific aircraft can obtain a basis for judging whether the specific aircraft lands on the ground of the target landing area.

The first landing status information acquired by the aircraft may represent information whether the landing control system monitors the aircraft contacting the ground based on the viewing angle of the target landing zone.

The intelligent sensing equipment periodically acquires the completion progress of the aircraft flying to the target landing area to land on the ground, and periodically transmits the completion progress of the aircraft landing to the ground to the aircraft flying to the target landing area, so that the aircraft flying to the target landing area can acquire information whether the current time of the body of the aircraft contacts the ground or not every preset time, and the aircraft can acquire information capable of determining that the aircraft contacts the ground.

Periodically performing the specific operation may mean performing the specific operation every a preset time length, wherein the preset time length may be set according to the target landing area and the actual situation of the aircraft; for example, the preset time length is T seconds, and the intelligent sensing device periodically obtains the completion progress of the landing of the aircraft a on the ground, which may be represented by: the intelligent sensing device obtains the completion progress of the landing of the aircraft A to the ground in the 0 th second, obtains the completion progress of the landing of the aircraft A to the ground in the 0+T second, obtains the completion progress of the landing of the aircraft A to the ground in the 0+2T second, and the like. Step S12: and controlling the aircraft body to land in the target landing area according to the first landing state information.

The implementation of controlling the aircraft body to land on the target landing area according to the first landing state information of the aircraft can be as follows: the aircraft acquires the first landing state information as a basis for judging whether the aircraft contacts the ground at the current time so as to control the starting time of the landing program executed by the aircraft body, thereby controlling the aircraft body to stably land on the ground of the target landing area.

According to the embodiment of the invention, the intelligent sensing equipment arranged in the target landing area is used for acquiring the first landing state information indicating the completion progress of the aircraft landing on the ground from the upper air of the target landing area, the first landing state information is not influenced by the working state of the aircraft, a reliable basis based on a third-party visual angle is provided for accurately judging whether the aircraft contacts the ground, and the aircraft can still be ensured to land stably under the condition that the working state of the aircraft has a problem, such as TOF failure.

The embodiment of the present invention proposes an implementation manner of controlling the aircraft body to land on the target landing area according to the first landing status information, and step S12 includes substeps S121 or S122.

The first landing status information includes a landing progress status and a landing completion status. The landing control system indicates in a landing progress state information that the aircraft is not in contact with the ground, based on the view angle of the target landing zone. The landing control system is represented in a landing completion status by information of the aircraft touching the ground as monitored based on the view angle of the target landing zone.

Step S121: and when the received first landing state information is the landing progress state, the aircraft determines that the aircraft body is not contacted with the ground of the target landing area.

Step S122: when the received first landing status information is the landing completion status, the aircraft determines that the aircraft body contacts the ground of the target landing zone.

According to the embodiment of the invention, the intelligent sensing equipment arranged in the target landing area provides real-time first landing state information for the aircraft which performs landing in the target landing area, and the aircraft receives the landing progress state, so that the condition that the aircraft does not contact the ground at the current time can be determined, and the aircraft is prevented from executing the start of a landing program prematurely; the aircraft receives the landing completion state, determines that the current time is in contact with the ground, and timely executes the start of the landing program to ensure that the aircraft lands stably.

The embodiment of the invention also provides other implementation modes for controlling the aircraft body to land on the target landing area according to the first landing state information: combining the first landing state information with data acquired by a flight time sensor TOF locally arranged on the aircraft, or combining the first landing state information with data acquired by a force sensor locally arranged on the aircraft, so as to combine the basis provided based on a third-party visual angle for judging whether the aircraft contacts the ground with the basis provided based on the local visual angle of the aircraft for judging whether the aircraft contacts the ground, so that more reliable information is obtained to determine the accurate time of the aircraft contacting the ground, thereby ensuring the accuracy of the opportunity for executing a landing program and controlling the aircraft to land steadily.

The method for controlling the aircraft body to land in the target landing area by combining the first landing state information and the data acquired by the TOF of the flight time sensor locally arranged on the aircraft comprises the following steps of:

step S211: and the aircraft responds to the fact that the aircraft body is located in the target landing area, and periodically acquires first landing state information of the aircraft body, which is sent by the intelligent sensing equipment.

Step S212: and the aircraft obtains second landing state information of the aircraft body according to the distance between the aircraft body acquired by the TOF and the ground of the target landing area.

The embodiment provides that the aircraft is provided with a time of flight sensor TOF, and besides periodically acquiring the first landing state information, the aircraft can also measure the distance between the aircraft and the ground through the signal wave transmitted by the TOF in the landing process, and calculate the second landing state information. The second landing status information may represent information of whether the aircraft is in contact with the ground, which the landing control system monitors based on the viewing angle of the aircraft.

Step S213: and controlling the aircraft body to land in the target landing area according to the first landing state information and the second landing state information.

In one example of the invention, when the aircraft receives that the first landing state information and the second landing state information are both landing completion states, it is determined that the aircraft body contacts the ground of the target landing area, and the start of the landing program is executed.

The embodiment of the invention combines the first landing state information and the data acquired by the local setting stress sensor of the aircraft to control the implementation mode of landing of the aircraft body in the target landing area:

and when the first landing state information is acquired, detecting that the first landing state information is a landing completion state, detecting that the ground contact force is acquired by the stress sensor, and determining that the aircraft body contacts the ground of the target landing area.

In one example of the invention, the aircraft may also be provided with a force sensor. The aircraft collects stress by using the stress sensor, and judges whether the aircraft interacts with the ground according to the magnitude and the direction of the stress. The aircraft determines that the aircraft interacts with the ground, receives ground contact force, and the first landing state information is a landing completion state, determines that the aircraft contacts the ground of the target landing area, and executes the start of a landing program.

In another embodiment of the present invention, the floor control system further includes a server, which may be a cloud computing platform, a computer cluster, or the like. Fig. 3 is a topological structure diagram of an application environment of another landing control method in an embodiment of the present invention, and as shown in fig. 3, the landing control system includes a plurality of aircrafts 31, a server 32, and an intelligent sensing device 33 disposed in a target landing area.

The intelligent sensing equipment is used for acquiring landing state information of the aircraft in the target landing area; the server is used for sending the target landing area to the plurality of aircrafts;

Based on the landing control system shown in fig. 3, and the server and the intelligent sensing device included in the landing control system, an embodiment of periodically acquiring, by the aircraft in the landing control system, the first landing state information of the aircraft body sent by the intelligent sensing device may include:

According to the intelligent sensing equipment, the collected first landing state information is periodically uploaded to the server through the existing public land mobile network (Public Land Mobile Network, PLMN), the server which receives the first landing state information forwards the first landing state information to the aircraft, and the purpose that the aircraft acquires the first landing state information calculated by the intelligent sensing equipment is achieved briefly.

In one example of the invention, the aircraft may also periodically upload local location information to a server. It can be understood that the server receives the local position information uploaded by a plurality of aircrafts, and determines that the aircrafts fly to the target landing areas when the real-time positions of the aircrafts are positioned in the address ranges corresponding to the target landing areas according to any detected local position information uploaded by any aircrafts. And the server forwards the first landing state information uploaded by the intelligent sensing equipment to the aircraft flying to the target landing area, and the server orderly sends the first landing state information to the aircraft flying to the target landing area in the plurality of aircrafts.

The manner in which the aircraft responds to the aircraft body being located in the target landing zone in this embodiment includes: the aircraft responds to the information of the local detected flight of the aircraft body to the target landing area; and the aircraft responds to the message sent by the server and prompting the aircraft to fly to the target landing area, and receives the first landing state information forwarded by the server. Wherein, the step of the aircraft responding to the information of the local detected body flight to the target landing area and obtaining the first landing state information comprises the following steps:

Step S311: and the aircraft receives the target landing area sent by the server.

Step S312: and the aircraft responds to the locally detected condition that the aircraft body is positioned in the target landing area, and periodically acquires first landing state information of the aircraft body, which is sent by the intelligent sensing equipment.

The server sends the target landing area to the aircraft, and the aircraft can locally monitor that the aircraft body flies to the target landing area, so that the aircraft body is positioned in the target landing area, and periodically acquires first landing state information; based on the above process, the aircraft can also actively select the time for acquiring the first landing state information at the beginning of the landing process based on the information of the locally detected flight to the target landing area, and flexibly select the basis for controlling the aircraft body to stably land in the target landing area.

In still another embodiment of the present invention, the intelligent sensing device is preset with an intelligent sensing device near-end communication module, and the server uniformly manages the intelligent sensing device near-end communication module. The floor control method in this embodiment includes:

step S41: and the aircraft receives the communication connection information of the near-end communication module of the intelligent sensing equipment, which is sent by the server.

Step S42: and the aircraft responds to the fact that the aircraft body is positioned in the target landing area, and the near-end communication module of the intelligent sensing equipment is connected according to the communication connection information.

The server can transmit the first landing state information to the aircraft, transmit the target landing area to the aircraft, and further transmit the communication connection information of the near-end communication module of the intelligent sensing device to the aircraft, and the aircraft receives the communication connection information of the near-end communication module of the intelligent sensing device and can connect the near-end communication module of the intelligent sensing device to communicate with the intelligent sensing device directly.

The communication connection information of the near-end communication module of the intelligent sensing device can be the password of the near-end communication module and the name of the near-end communication module. And the aircraft receives the communication connection information, searches the name of the near-end communication module, and sends a connection request containing verification information such as passwords and the like to the intelligent sensing equipment.

And the intelligent sensing equipment responds to a connection request sent by the aircraft, and after the verification information such as the name, the password and the like of the near-end communication module passes the verification, the local near-end communication module is connected with the aircraft sending the communication connection information in a communication way.

Step S43: and the aircraft periodically receives first landing state information sent by the intelligent sensing equipment through the near-end communication module of the intelligent sensing equipment.

After the intelligent sensing equipment is connected with the aircraft, the landing state information is periodically sent to the aircraft located in the target landing area through the local near-end communication module, so that the aircraft flying to the target landing area can directly acquire the first landing state information from the intelligent sensing equipment.

In an example of the present invention, the real-time manner in which the aircraft receives the communication connection information of the near-end communication module of the intelligent sensing device sent by the server may be: and responding to the aircraft body being positioned in the target landing area, receiving communication connection information sent by a server and arranged in the near-end communication module of the intelligent sensing equipment.

When the aircraft detects that the aircraft body flies to the target landing area, the aircraft receives the communication connection information of the near-end communication module of the intelligent sensing equipment, and the communication connection information of the near-end communication module of the intelligent sensing equipment is stored locally, so that local storage resources of the flying ground are saved.

In the embodiment of the invention, a floor control system is provided with a server, and the server is utilized to uniformly manage the aircraft and the intelligent sensing equipment; the server sends the target landing area to the aircraft, the aircraft can detect that the aircraft flies to a landing place, communication connection information of the near-end communication module of the intelligent sensing equipment is obtained, connection is established with the near-end communication module of the intelligent sensing equipment, a near-end communication link is established, and therefore first landing state information sent by the intelligent sensing equipment is directly received, and compared with a public land mobile network, the intelligent sensing equipment is more reliable and safer.

The server sends the communication connection information of the target landing area and the near-end communication module of the intelligent sensing equipment to the aircraft, and other modes for receiving the first landing state information are provided for the aircraft besides the first landing state information forwarded by the receiving server through the public land mobile network, so that the aircraft can still receive the first landing state information under the condition that the public land mobile network signal is weak.

In one example of the invention, the aircraft may periodically upload local position information to the server, and when the server locates, according to the local position information uploaded by the aircraft B, that the real-time position of the aircraft B is located in the address range corresponding to the target landing area, the server may send a start instruction for image acquisition of the aircraft B to the intelligent sensing device, where the intelligent sensing device starts to start to acquire the first landing state information for the aircraft above the local area. In this example, the smart sensor device may be provided with a computing device or connected with a computer picture taking device.

Embodiments of the floor control may include the steps of:

step S51: and periodically uploading local position information to the server by the aircraft, so that the server sends a starting instruction for image acquisition of the aircraft to the intelligent sensing equipment when detecting that the aircraft is positioned in the target landing area according to the local position information.

And when the intelligent sensing equipment receives a starting instruction for image acquisition of the aircraft positioned in the target landing area sent by the server, periodically acquiring a position image of the aircraft positioned in the target landing area. And obtaining first landing state information for the aircraft positioned in the target landing area according to the position image.

The intelligent sensing equipment collects an image of the upper air of a local area, the image is used as a position image of an aircraft of a target landing area, the image of the upper air of the local area comprises the aircraft, the aircraft can be identified in the image through a target identification technology, the relative distance between the aircraft and the ground is calculated, and first landing state information is obtained.

Step S52: the method comprises the steps that an aircraft periodically obtains first landing state information sent by intelligent sensing equipment aiming at the aircraft; the intelligent sensing equipment responds to the starting instruction of image acquisition, and periodically acquires the position image of the aircraft so as to obtain first landing state information aiming at the aircraft according to the position image.

Step S53: and controlling the aircraft body to land in the target landing area according to the first landing state information.

When an example server detects that an aircraft flies to a target landing area, sending a starting instruction for image acquisition of the aircraft positioned in the target landing area to intelligent sensing equipment, and starting the intelligent sensing equipment to acquire a position image of the aircraft positioned in the target landing area, and carrying out target identification on the position image to obtain first landing state information. When no aircraft flies to the target landing area, the intelligent sensing equipment is not started, so that energy consumption and calculation resources are saved.

Fig. 4 is a flowchart of steps of another landing control method according to an embodiment of the present invention, where the landing control system is applied to an intelligent sensing device disposed in a target landing area in a landing control system, and the landing control system further includes a plurality of aircrafts, as shown in fig. 4, where the landing control steps include:

step S411: and acquiring landing state information of the aircraft positioned in the target landing area.

The landing status information indicates the completion progress of landing of the aircraft flying to the target landing zone to the ground under the local view angle of the intelligent sensing device.

Step S412: and periodically sending the landing state information to the aircraft positioned in the target landing area, so that the aircraft positioned in the target landing area controls the aircraft body to land in the target landing area according to the landing state information.

The floor control system further comprises a server, and the step S61 comprises the following sub-steps:

step S413: and periodically acquiring the position image of the aircraft in the target landing area when receiving an image acquisition starting instruction sent by the server for the aircraft in the target landing area.

Step S412 includes the sub-steps of:

step S4121: and uploading the landing status information to the server through the public land mobile network, so that the server can send the landing status information to the aircraft located in the target landing area through the public land mobile network.

Step S412 includes the sub-steps of:

step S412-1: responding to the communication connection information sent by the aircraft positioned in the target landing area, and establishing communication connection between a local near-end communication module and the aircraft positioned in the target landing area; wherein the communication connection information is sent by the server to the aircraft located in the target landing zone.

Step S412-2: and periodically sending the landing state information to the aircraft positioned in the target landing area through the local near-end communication module.

The optional example of implementing the landing control method of the present invention has been described in the embodiment applied to the aircraft side, and the embodiment of the intelligent sensing device side will not be repeated.

Fig. 5 is a flowchart of steps of another landing control method according to an embodiment of the present invention, which is applied to a server in a landing control system, where the landing control system further includes a plurality of aircrafts and intelligent sensing devices disposed in a target landing area, and as shown in fig. 5, the landing control steps include:

step S511: receiving periodically uploaded position information of a target aircraft; wherein the target aircraft is any one of the plurality of aircraft.

Step S512: and receiving the landing state information of the aircraft in the landing area from the flying object to the target landing area, which is periodically transmitted by the intelligent sensing equipment.

Step S513: when the target aircraft is detected to fly to the target landing area according to the position information, the landing state information of the target aircraft flying to the target landing area is sent to the target aircraft, so that the aircraft controls the target aircraft body to land in the target landing area according to the landing state information.

The optional examples of implementing the floor control method of the present invention have been described in the embodiments applied to the aircraft side, and the embodiments on the server side will not be repeated.

Fig. 6 is a functional block diagram of a landing control device according to an embodiment of the present invention, where the landing control device is disposed in an aircraft in a landing control system, and the landing control system further includes an intelligent sensing device disposed in a target landing area, as shown in fig. 6, and the device includes:

an information obtaining module 61, configured to periodically obtain first landing status information of the aircraft body sent by the intelligent sensing device, in response to the aircraft body being located in the target landing area;

and the control module 62 is used for controlling the aircraft body to land in the target landing area according to the first landing state information.

The floor control device provided in the embodiment shown in fig. 6 may be used to implement the technical solutions of the method embodiments shown in fig. 1 to 3 in the present specification, and the implementation principle and technical effects may be further described with reference to the related descriptions in the method embodiments.

Optionally, the first landing status information includes a landing progress status and a landing completion status; the control module includes:

Optionally, the aircraft is provided with a time of flight sensor TOF; the apparatus further comprises:

Optionally, the aircraft is provided with a force sensor; the second determining submodule is specifically configured to determine that the aircraft body contacts the ground of the target landing area when the received first landing state information is the landing completion state and the ground contact force acquired by the stress sensor is detected.

Optionally, the floor control system further includes a server, and the information acquisition module includes:

Optionally, the floor control system further includes a server, and the apparatus further includes:

the information acquisition module includes:

Optionally, the near-end communication receiving module is specifically configured to receive, in response to the aircraft body being located in the target landing area, communication connection information sent by the server and set in the near-end communication module of the intelligent sensing device.

The device provided by the above-described embodiment is used for executing the technical scheme of the above-described method embodiment, and its implementation principle and technical effects may further refer to the related description in the method embodiment, which is not repeated herein.

Fig. 7 is a functional block diagram of another floor control device according to an embodiment of the present invention, where the other floor control device is disposed in an intelligent sensing device disposed in a target landing area in a floor control system, and the floor control system further includes a plurality of aircrafts, as shown in fig. 7, and the device includes:

An information acquisition module 71, configured to acquire landing status information of an aircraft located in the target landing area;

and the information sending module 72 is configured to periodically send the landing status information to the aircraft located in the target landing area, so that the aircraft located in the target landing area controls the aircraft body to land in the target landing area according to the landing status information.

The floor control device provided in the embodiment shown in fig. 7 may be used to implement the technical solution of the method embodiment shown in fig. 4 in the present specification, and the implementation principle and technical effects may be further described with reference to the related descriptions in the method embodiment.

Optionally, the landing control system further includes a server, and the information sending module is specifically configured to upload the landing status information to the server through a public land mobile network, so that the server sends the landing status information to the aircraft located in the target landing area through the public land mobile network.

Fig. 8 is a functional block diagram of still another floor control device according to an embodiment of the present invention, where the floor control device is disposed on a server in a floor control system, and the floor control system further includes a plurality of aircrafts and intelligent sensing devices disposed in a target landing area, as shown in fig. 8, and the device includes:

a position receiving module 81, configured to receive position information periodically uploaded by a target aircraft; wherein the target aircraft is any one of the plurality of aircraft;

the information receiving module 82 is configured to receive landing status information of the aircraft located in the flight-to-target landing area and periodically sent by the intelligent sensing device;

and the information forwarding module 83 is configured to send, when the target aircraft is detected to fly to the target landing area according to the position information, landing state information of the target aircraft flying to the target landing area to the target aircraft.

The floor control device provided in the embodiment shown in fig. 8 may be used to implement the technical solution of the method embodiment shown in fig. 5 in the present specification, and the implementation principle and technical effects may be further described with reference to the related descriptions in the method embodiment.

The device provided by the above-described embodiment may be, for example: a chip or a chip module. The device provided by the above-described embodiment is used for executing the technical scheme of the above-described method embodiment, and its implementation principle and technical effects may further refer to the related description in the method embodiment, which is not repeated herein.

With respect to each module/unit included in each apparatus described in the above embodiments, it may be a software module/unit, or may be a hardware module/unit, or may be a software module/unit partially, or a hardware module/unit partially. For example, for each device applied to or integrated in a chip, each module/unit included in the device may be implemented in hardware such as a circuit, or at least part of the modules/units may be implemented in software program, where the software program runs on a processor integrated in the chip, and the rest of the modules/units may be implemented in hardware such as a circuit; for each device applied to or integrated in the chip module, each module/unit contained in the device may be implemented in a hardware manner such as a circuit, and different modules/units may be located in the same component (e.g. a chip, a circuit module, etc.) of the chip module or different components, or at least part of the modules/units may be implemented in a software program, where the software program runs on a processor integrated in the chip module, and the rest of the modules/units may be implemented in a hardware manner such as a circuit; for each device applied to or integrated in the electronic terminal device, each module/unit included in the device may be implemented in hardware such as a circuit, and different modules/units may be located in the same component (for example, a chip, a circuit module, etc.) or different components in the electronic terminal device, or at least part of the modules/units may be implemented in a software program, where the software program runs on a processor integrated in the electronic terminal device, and the remaining (if any) part of the modules/units may be implemented in hardware such as a circuit.

Fig. 9 is a schematic structural diagram of an intelligent sensing apparatus provided in an embodiment of the present invention, where the intelligent sensing apparatus 900 includes a processor 910, a memory 911, and a signal acquisition device 912, where the signal acquisition device may be a camera, a radar sensor, or a computer program stored on the memory 911 and capable of running on the processor 910, and when the processor 910 executes the program, the steps in the foregoing method embodiment are implemented, and the intelligent sensing apparatus provided in the embodiment may be used to execute the technical scheme of the foregoing method embodiment, and the principle and the technical effect thereof may be further referred to the related description in the method embodiment and are not repeated herein.

Embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause a computer to execute the floor control method provided in the embodiments shown in fig. 1 to 3 of the present specification. The non-transitory computer readable storage medium may refer to a non-volatile computer storage medium.

The non-transitory computer readable storage media described above may employ any combination of one or more computer readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (erasable programmable read only memory, EPROM) or flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, radio Frequency (RF), etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for the present specification may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (local area network, LAN) or a wide area network (wide area network, WAN), or may be connected to an external computer (e.g., connected via the internet using an internet service provider).

The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

In the description of embodiments of the present invention, a description of reference to the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present specification. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present specification, the meaning of "plurality" means at least two, for example, two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and additional implementations are included within the scope of the preferred embodiment of the present specification in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present specification.

Depending on the context, the word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to detection". Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.

It should be noted that, the terminal according to the embodiment of the present invention may include, but is not limited to, a personal computer (personal computer, PC), a personal digital assistant (personal digital assistant, PDA), a wireless handheld device, a tablet computer (tablet computer), a mobile phone, an MP3 player, an MP4 player, and the like.

In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the elements is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

In addition, each functional unit in each embodiment of the present specification may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.

The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform part of the steps of the methods described in the embodiments of the present specification. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a read-only memory (ROM), a random-access memory (RAM), a magnetic disk, or an optical disk, etc.

The foregoing description of the preferred embodiments is provided for the purpose of illustration only, and is not intended to limit the scope of the disclosure, since any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the disclosure are intended to be included within the scope of the disclosure.

Claims

1. A landing control method, applied to an intelligent sensing device disposed in a landing area of a target in a landing control system, the landing control system further comprising a plurality of aircrafts, the method comprising:

acquiring landing state information of the aircraft positioned in the target landing area;

And periodically sending the landing state information to the aircraft positioned in the target landing area, so that the aircraft positioned in the target landing area controls the aircraft body to land in the target landing area according to the landing state information.

2. The method of claim 1, wherein the landing control system further comprises a server that obtains landing status information for an aircraft located in the target landing zone, comprising:

3. The method of claim 1, wherein the landing control system further comprises a server that periodically transmits the landing status information to the aircraft located in the target landing zone, comprising:

4. The method of claim 1, wherein the floor control system further comprises a server, the method further comprising:

5. A landing control method, characterized by being applied to an aircraft in a landing control system, the landing control system further comprising an intelligent sensing device disposed in a target landing zone, the method comprising:

in response to the aircraft body being located in the target landing area, periodically acquiring first landing state information of the aircraft body sent by the intelligent sensing equipment;

and controlling the aircraft body to land in the target landing area according to the first landing state information.

6. The method of claim 5, wherein the first landing status information includes a landing progress status and a landing completion status; according to the first landing state information, controlling the aircraft body to land in the target landing area, including:

7. The method according to claim 5, characterized in that the aircraft is provided with a time of flight sensor TOF; the method further comprises the steps of:

8. The method according to claim 6, characterized in that the aircraft is provided with a force sensor; when the received first landing status information is the landing completion status, determining that the aircraft body contacts the ground of the target landing area includes:

9. The method of claim 5, wherein the landing control system further comprises a server that periodically obtains first landing status information of the aircraft body sent by the intelligent sensing device, comprising:

10. The method of claim 5, wherein the floor control system further comprises a server, the method further comprising:

11. The method of claim 10, wherein receiving the communication connection information of the smart sensor device near-end communication module sent by the server comprises:

12. The method of claim 5, wherein the floor control system further comprises a server, the method further comprising:

13. The method of claim 5, wherein the floor control system further comprises a server, the method further comprising:

receiving the target landing area sent by the server;

14. A landing control method, characterized by being applied to a server in a landing control system, the landing control system further comprising a plurality of aircrafts and intelligent sensing devices arranged in a target landing area, the method comprising:

15. The landing control system is characterized by comprising a plurality of aircrafts, a server and intelligent sensing equipment arranged in a target landing area; wherein, the liquid crystal display device comprises a liquid crystal display device,

16. A floor control device, characterized by an intelligent sensing device disposed in a floor control system disposed in a target landing zone, the floor control system further comprising a plurality of aircraft, the device comprising:

17. A landing control apparatus, wherein an aircraft is disposed in a landing control system, the landing control system further comprising an intelligent sensing device disposed in a target landing zone, the apparatus comprising:

18. A floor control device characterized by a server disposed in a floor control system, the floor control system further comprising a plurality of aircraft and intelligent sensing equipment disposed in a target landing area, the device comprising:

19. A smart sensor device, comprising:

the device comprises a signal acquisition device and at least one processor; and

at least one memory communicatively coupled to the processor, wherein,

The memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1-4.

20. An aircraft, comprising:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein,

the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 5-13.

21. A server, comprising:

at least one processor; and

at least one memory communicatively coupled to the processor, wherein,

the memory stores program instructions executable by the processor, the processor invoking the program instructions capable of performing the method of claim 14.