WO2017206384A1 - 飞行设备降落方法及装置 - Google Patents

飞行设备降落方法及装置 Download PDF

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Publication number
WO2017206384A1
WO2017206384A1 PCT/CN2016/097587 CN2016097587W WO2017206384A1 WO 2017206384 A1 WO2017206384 A1 WO 2017206384A1 CN 2016097587 W CN2016097587 W CN 2016097587W WO 2017206384 A1 WO2017206384 A1 WO 2017206384A1
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WIPO (PCT)
Prior art keywords
area
landing
landing area
positioning
safe
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Ceased
Application number
PCT/CN2016/097587
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English (en)
French (fr)
Inventor
刘华一君
陈涛
吴珂
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Beijing Xiaomi Mobile Software Co Ltd
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Beijing Xiaomi Mobile Software Co Ltd
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Publication date
Application filed by Beijing Xiaomi Mobile Software Co Ltd filed Critical Beijing Xiaomi Mobile Software Co Ltd
Publication of WO2017206384A1 publication Critical patent/WO2017206384A1/zh
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04—Control of altitude or depth
    • G05D1/06—Rate of change of altitude or depth
    • G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
    • G05D1/0653—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing
    • G05D1/0676—Rate of change of altitude or depth specially adapted for aircraft during a phase of take-off or landing specially adapted for landing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
    • B64D45/08—Landing aids; Safety measures to prevent collision with earth's surface optical
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/176—Urban or other man-made structures
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G08G5/21—Arrangements for acquiring, generating, sharing or displaying traffic information located onboard the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/54—Navigation or guidance aids for approach or landing
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

Definitions

  • the present disclosure relates to the field of smart device technologies, and in particular, to a flying device landing method and device.
  • the flight function with flight function can be landed according to the landing command sent by the terminal.
  • the landing area of the flying equipment is a roof, a lake surface, etc.
  • the operator is inconvenient to recycle, and the landing area is formed according to various positions where the flying equipment may land. .
  • the present disclosure provides a flight device control method and apparatus.
  • a flight device control method comprising:
  • the flight equipment meets the landing condition, it is detected whether the current landing area is a safe landing area, and the safe landing area safety landing area is a ground area capable of safely landing the flying equipment;
  • the landing area of the flying equipment is adjusted to a safe landing area.
  • detecting whether the current landing area is a safe landing area including:
  • the difference between the maximum value of the altitude at each position in the landing area minus the minimum value of the altitude is less than a preset threshold, and when the second positioning area is the ground area, it is determined that the landing area is a safe landing area.
  • detecting whether the current landing area is a safe landing area including:
  • the map data of the third positioning area is matched with the real scene data
  • the landing area is a safe landing area.
  • detecting whether the current landing area is a safe landing area including:
  • a fourth positioning area including a landing area in the map, and determining a altitude of each position in the fourth positioning area by using a positioning system
  • the difference between the maximum value of the altitude of each position in the fourth positioning area minus the minimum value of the altitude is less than a preset threshold, and when the fourth positioning area is the ground area, it is determined that the landing area is a safe landing area.
  • adjust the landing area of the flight equipment to a safe landing area including:
  • Adjusting the landing area triggering a step of detecting whether the current landing area is a safe landing area
  • the step of adjusting the landing area is continued until the current landing area is a safe landing area.
  • adjust the landing area of the flight equipment to a safe landing area including:
  • a flying device control apparatus comprising:
  • a first detecting module configured to detect whether the flying device meets a landing condition
  • the second detecting module is configured to detect whether the current landing area is a safe landing area when the first detecting module detects that the flying equipment meets the landing condition, and the safe landing area is a ground area capable of safely landing the flying equipment;
  • the adjustment module is configured to adjust the landing area of the flying device to the safe landing area when the second detecting module detects that the landing area is not a safe landing area.
  • the second detecting module includes:
  • a first determining submodule configured to determine a first positioning area including a landing area in a map by using a positioning system, and determine an altitude of each position in the first positioning area by using a positioning system
  • a first collection sub-module configured to collect real-time data of a landing area by using a camera
  • a second determining sub-module configured to determine a second positioning area in the first positioning area determined by the first determining sub-module, where the map data of the second positioning area matches the real-world data collected by the first acquiring module;
  • a first detecting submodule configured to detect whether a difference between a maximum value of altitudes of each position in the landing area minus a minimum value of the altitude is less than a preset threshold, and detecting the map data according to the second positioning area Whether the second positioning area is a ground area;
  • the third determining submodule is configured to: when the first detecting submodule detects the maximum value of the altitude of each position in the landing area minus the minimum value of the altitude, the difference is less than a preset threshold, and the second positioning area is In the ground area, it is determined that the landing area is a safe landing area.
  • the second detecting module includes:
  • a second collection submodule configured to collect real-time data of the landing area by using a camera
  • a fourth determining submodule configured to determine a third positioning area, where the map data of the third positioning area matches the real scene data collected by the second collection submodule;
  • a second detecting submodule configured to detect, according to the map data of the third positioning area determined by the fourth determining submodule, whether the third positioning area is a ground area;
  • the fifth determining submodule is configured to determine that the landing area is a safe landing area when the second detecting submodule detects that the third positioning area is a ground area.
  • the second detecting module includes:
  • a sixth determining submodule configured to determine a fourth positioning area including a landing area in the map by using the positioning system, and determine an altitude of each position in the fourth positioning area by using the positioning system;
  • a third detecting submodule configured to detect whether a difference between a maximum value of altitudes of each position in the fourth positioning area determined by the sixth determining sub-module minus a minimum value of the altitude is less than a preset threshold, and The map data of the fourth positioning area detects whether the fourth positioning area is a ground area;
  • a seventh determining submodule configured to detect, by the third detecting module, a maximum value of the altitude of each position in the fourth positioning area minus a minimum value of the altitude, wherein the difference is less than a preset threshold, and the fourth positioning area When it is a ground area, it is determined that the landing area is a safe landing area.
  • the adjusting module is further configured to adjust the landing area, triggering the second detecting module to perform a step of detecting whether the current landing area is a safe landing area; and detecting, in the second detecting module, that the current landing area is not a safe landing area At the same time, the step of adjusting the landing area is continued until the current landing area is a safe landing area.
  • the adjustment module includes:
  • the eighth determining submodule is configured to determine each of the safe landing areas from the preset safe landing area database, or analyze the map data in the map, and determine each of the safe landing areas according to the analysis result;
  • a location acquisition submodule configured to acquire a current location of the flying device by using a positioning system
  • a ninth determining submodule configured to determine, from each of the security landing areas determined by the eighth determining submodule, a safe landing area that is closest to a distance between the current location acquired by the location acquiring submodule;
  • the adjustment sub-module is configured to adjust a landing area of the flight device to a safe landing area determined by the ninth determination sub-module.
  • a flight device control apparatus comprising:
  • a memory for storing processor executable instructions
  • processor is configured to:
  • the flying equipment meets the landing condition, it is detected whether the current landing area is a safe landing area, and the safe landing area is a ground area capable of safely landing the flying equipment;
  • the landing area of the flying equipment is adjusted to a safe landing area.
  • the flight equipment meets the landing condition, it is detected whether the current landing area is a safe landing area; when the landing area is not a safe landing area, the landing area of the flying equipment is adjusted to the safe landing area, so that the flying equipment can be controlled without terminal Landing in the safe landing area and solving the problem that the flying equipment falls according to the landing area determined by the terminal, if the determined landing area is inaccurate, the flying equipment will fall to the non-safe landing area, and the operator is inconvenient to recover the flying equipment.
  • the effect of improving the recovery efficiency of flying equipment is improved.
  • the positioning system determines the first positioning area including the landing area in the map, using the real-world data collected by the camera, determining a second positioning area that matches the real-world data in the first positioning area, so that the flying device is determined.
  • the second positioning area is matched with the real-life data, it is not necessary to determine according to all the map data, and the resources consumed by the flight device in determining the second positioning area matching the real-life data among all the map data are reduced.
  • the map data of the second positioning area is matched with the real-world data collected by the camera, so that the second positioning area determined by the flying device is closer to the actual landing area, which is improved. Determine if the landing area is the accuracy of the safe landing area.
  • the camera is used to identify whether the current landing area of the flying device is a safe landing area, so that the flying device can identify whether the landing area is a safe landing area without configuring the positioning system, simplifying the structure of the flying equipment.
  • the positioning system is used to identify whether the current landing area of the flying equipment is a safe landing area, so that the flying equipment can identify whether the landing area is a safe landing area without configuring the camera, simplifying the structure of the flying equipment.
  • FIG. 1 is a flow chart showing a flight device control method according to an exemplary embodiment.
  • FIG. 2 is a flow chart of a first flight device control method, according to an exemplary embodiment.
  • FIG. 3 is a schematic diagram of a landing area, according to an exemplary embodiment.
  • FIG. 4 is a flow chart of a second method of flight device control, according to an exemplary embodiment.
  • FIG. 5 is a flowchart of a third flight device control method, according to an exemplary embodiment.
  • FIG. 6 is a block diagram of a flight device control apparatus, according to an exemplary embodiment.
  • FIG. 7 is a block diagram of a flight device control apparatus, according to an exemplary embodiment.
  • FIG. 8 is a block diagram of an apparatus for flight device control, according to an exemplary embodiment.
  • FIG. 1 is a flow chart showing a flight device control method applied to a flight device, as shown in FIG. 1, the flight device control method includes the following steps, according to an exemplary embodiment.
  • step 101 it is detected whether the flight device satisfies the landing condition.
  • step 102 when the flight device satisfies the landing condition, it is detected whether the current landing area is a safe landing area.
  • the safe landing area is a ground area that enables the flight equipment to land safely.
  • step 103 when the landing area is not a safe landing area, the landing area of the flying device is adjusted to the safe landing area.
  • the flying device control method detects whether the current landing area is a safe landing area when the flying equipment meets the landing condition, and adjusts the landing area of the flying equipment when the landing area is not a safe landing area.
  • the flying equipment can land in the safe landing area without the control of the terminal, and solve the problem that if the flying area falls according to the landing area determined by the terminal, if the determined landing area is inaccurate, the flying equipment will fall to the unsafe landing. Area It is inconvenient for the personnel to recover the problem of the flying equipment, and the effect of improving the recycling efficiency of the flying equipment is achieved.
  • the flight device control method includes the following steps.
  • step 201 it is detected whether the flying device satisfies the landing condition.
  • the landing condition may be a landing command sent by the terminal that controls the flight device, or may be that the power of the flight device is lower than a preset threshold, which is not limited in this embodiment. Wherein, the landing command is used to indicate that the flying device is landing.
  • the flight device When the flight device detects that it meets the landing condition, it performs step 202; when the flight device does not satisfy the landing condition, it continues to maintain the flight state.
  • step 202 when the flight device satisfies the landing condition, the first positioning area including the landing area is determined in the map by the positioning system, and the altitude of each position in the first positioning area is determined by the positioning system.
  • the landing area is composed of various positions where the flying equipment may land, and each position where the flying equipment may land refers to a position that is vertically projected to the ground when the flying equipment meets the landing condition, and the distance from the position is less than Set each location of the distance.
  • the landing zone 34 is comprised of a position 36 that is vertically projected from the location 32 to the ground and a location that is less than 10 m from the location 36.
  • the safe landing area is a ground area capable of safely landing the flying equipment, and in this embodiment, the difference between the maximum value of the altitude of the position in the ground area minus the minimum value of the altitude is less than a preset threshold. This is because the safe landing area needs to be an area where the user can easily recover the flying equipment.
  • the safe landing area is not the ground area, it may be a river, a lake, etc., and the user is not easy to recycle the flying equipment; if the altitude of the location in the ground area is If the difference between the maximum value and the minimum value of the altitude is greater than the preset threshold, the terrain of the ground area is not smooth, and may be a roof, a mountain, a tree, etc., and the user is not conducive to recycling the flight equipment.
  • the map is pre-stored in the flight device, and the map may be downloaded from the cloud in advance by the flight device, or may be sent to the flight device after the terminal that controls the flight device is downloaded from the cloud, which is not limited in this embodiment.
  • the map includes location data and map data.
  • the location data is the fine latitude information of each location in the map. For example, the location data of China is 73 degrees east longitude to 135 degrees east longitude, and 4 degrees north latitude to 53 degrees north latitude.
  • the map data is image data of each location in the map, and the image data is three-dimensional (3D) image data of each location, such as: three-dimensional image data of a xx cell.
  • the positioning system has the function of locating and measuring altitude. Since the positioning system can only roughly locate the landing area, the resulting first area will be larger than the landing area.
  • the locating function of the positioning system can obtain the latitude and longitude information including the landing area, and the area corresponding to the latitude and longitude information is determined in the position data of the map. This embodiment is referred to as the first positioning area.
  • the flight device uses the positioning function of the positioning system to obtain the latitude and longitude information including the landing area as north latitude xx° xx' x.xx′′, east longitude xx° xx′ xx.xx′′, and determine the same area in the map as the latitude and longitude information. For the xx cell, it is determined that the xx cell is the first location area.
  • the flying device can use the function of measuring the altitude of the positioning system to obtain the altitude of each position in the first positioning area, thereby obtaining the altitude of each position in the landing area.
  • step 203 the real-time data of the landing area is collected by the camera.
  • the camera can capture real-time data of the landing area in real time, and the real-life data refers to actual image data of the landing area, such as image data in the landing area 34 in FIG.
  • the step 203 may be performed after the step 202, or may be performed before the step 202, and may be performed simultaneously with the step 202, which is not limited in this embodiment.
  • a second positioning area is determined within the first positioning area, and the map data of the second positioning area matches the real-world data.
  • the flight device searches the map data in the first location area for the second location area that matches the real-world data, and the obtained location data of the second location area is substantially the same as the actual scene data of the actual landing area. For example, after the flight device uses the positioning function of the positioning system to determine that the first positioning area is the xx cell, the real-world data of the landing area is matched with the image data of the xx cell, and the second positioning area is the xx residential building in the xx community. .
  • the positioning system can only roughly locate the first positioning area corresponding to the landing area in the map, in this embodiment, by matching the real scene data with the map data in the first positioning area, the map data and the real scene data are obtained.
  • the matching second positioning area improves the accuracy of the flight device determining the area of the map corresponding to the landing area.
  • step 205 it is detected whether the difference between the maximum value of the altitude of each position in the landing area minus the minimum value of the altitude is less than a preset threshold, and whether the second positioning area is detected according to the map data of the second positioning area. For the ground area.
  • the difference between the maximum value of the altitude of each position in the landing area minus the minimum value of the altitude is greater than or equal to a preset threshold, or when the second positioning area is not the ground area according to the map data of the second positioning area, The landing area is not a safe landing area.
  • the landing area of the flying equipment needs to be adjusted, that is, step 206 is performed; the difference between the maximum altitude of each position in the landing area minus the minimum of the altitude is less than The preset threshold value, and when the second positioning area is the ground area according to the map data of the second positioning area, the landing area is a safe landing area, and the flying equipment can directly land.
  • the flight device When the flight device detects the difference between the maximum value of the altitude of each position in the landing area minus the minimum value of the altitude, whether the difference is less than a preset threshold, it may be from the altitude of each position in the first positioning area obtained in advance.
  • the altitude of each position in the second positioning area is screened; the maximum value of the altitude in the second positioning area is subtracted from the minimum value of the altitude in the second positioning area, and whether the detected result is less than the pre-predetermined Setting a threshold value, and using the detection result as a detection result of whether the difference obtained by subtracting the minimum value of the altitude from the maximum value of the altitude in each position in the landing area is smaller than a preset threshold; or, the first positioning area may be The maximum value of the altitude is subtracted from the minimum value of the altitude in the first positioning area, whether the detected result is less than a preset threshold, and the detection result is subtracted as the maximum value of the altitude of each position in the detection landing area Whether the difference obtained by the minimum value of the altitude is less than the detection result of the preset threshold is not limited in this embodiment.
  • the flying device detects whether the landing area is a ground area
  • the real-world data collected by the camera can be directly image-recognized, and whether the real-time data includes objects such as a water surface and a large tree is detected, but the camera collects
  • the real-life data is a top view of the landing area.
  • the flight equipment only uses the top view to detect whether the landing area is the ground area, and the obtained test results may be inaccurate.
  • the flight device may perform image recognition on the map data of the second positioning area to detect whether the second positioning area is a ground area. Since the map data is three-dimensional image information, the three-dimensional image information may be comprehensively reflected. The object included in the second positioning area is out, and therefore, the flying device can improve the accuracy of detecting whether the landing area is the ground area by detecting the map data in the second positioning area.
  • step 206 the landing area of the flying device is adjusted to the safe landing area when the landing area is not a safe landing area.
  • the terrain of the landing area is not smooth, and may be a roof, a mountain, a large tree, etc.; or, the landing area is not a ground area, and may be In areas such as rivers and lakes, flying equipment may land on roofs, mountains, trees, and water. Therefore, flying equipment needs to adjust its landing area.
  • adjusting the landing area of the flying device to the safe landing area includes: adjusting the landing area, detecting whether the current landing area is a safe landing area according to steps 203 to 205; not safe landing in the current landing area In the area, the step of adjusting the landing area is continued until the current landing area is a safe landing area.
  • the flight device detects in real time whether the lower landing area is a safe landing area until it falls when the safe landing area is detected. At this time, the flying equipment adjusts the landing area irregularly, and the landing area may be adjusted each time. It is not a safe landing area, wasting the resources used by the flight equipment to detect whether the landing area is a safe landing area.
  • adjusting the landing area of the flying device to the safe landing area comprises: determining each safety landing area from a preset safety landing area database, or analyzing the map data in the map, according to the analysis result Determining each of the safe landing areas; using the positioning system to acquire the current position of the flying equipment; determining the safe landing area closest to the distance between the current positions from each of the safe landing areas; and adjusting the landing area of the flying equipment to the safe landing area.
  • the flight device finds the safe landing area closest to the current position on the premise of knowing the position information of each safety landing area, and adjusts the landing area to the safe landing area, thereby saving the flying equipment detecting the landing area. Whether it is a resource used when landing a safe area.
  • the flying device control method detects whether the current landing area is a safe landing area when the flying equipment meets the landing condition, and adjusts the landing area of the flying equipment when the landing area is not a safe landing area.
  • the flying equipment can land in the safe landing area without the control of the terminal, and solve the problem that if the flying area falls according to the landing area determined by the terminal, if the determined landing area is inaccurate, the flying equipment will fall to the unsafe landing.
  • the operator is not convenient to recover the problem of the flying equipment, and the effect of improving the recovery efficiency of the flying equipment is achieved.
  • the positioning system determines the first positioning area including the landing area in the map, using the real-world data collected by the camera, determining a second positioning area that matches the real-world data in the first positioning area, so that the flying device is determined.
  • the second positioning area is matched with the real-life data, it is not necessary to determine according to all the map data, and the resources consumed by the flight device in determining the second positioning area matching the real-life data among all the map data are reduced.
  • the map of the second positioning area is matched with the real-world data collected by the camera, so that the second positioning area determined by the flying device is closer to the actual landing area, which improves the accuracy of determining whether the landing area is a safe landing area.
  • FIG. 4 shows a flowchart of a second flight device control method, which is applied to a flight device, and the flight device is only configured with a camera, as shown in FIG. After step 201, as an alternative step from step 202 to step 205,
  • step 401 the real-time data of the landing area is collected by the camera.
  • This step is the same as step 203 and will not be described here.
  • step 402 a third positioning area is determined, and the map data of the third positioning area matches the real-world data.
  • the flight device searches for the third location area that matches the real-world data from the pre-stored map data.
  • step 403 it is detected whether the third positioning area is a ground area according to the map data of the third positioning area.
  • the flying device performs image recognition on the captured real-world data, and detects whether the real-world data includes objects such as a water surface, a large tree, a roof, and the like, but the real-time data collected by the camera is a top view of the landing area, and the flying equipment only The top view is used to detect whether the landing area is a ground area, and the obtained detection result may be inaccurate.
  • the flight device may perform image recognition on the map data of the third positioning area to detect whether the third positioning area is a ground area, and whether the third positioning area includes an object such as a water surface, a large tree, a roof, or the like. Since the map data is three-dimensional image information, the three-dimensional image information can comprehensively reflect the object included in the third positioning area. Therefore, the flying device can improve whether the detecting landing area is the ground area by detecting the map data in the third positioning area. The accuracy.
  • the flight device When the flight device recognizes that the third positioning area is not the ground area, it is determined that the landing area is not a safe landing area. At this time, the landing area needs to be adjusted, that is, step 206 is performed; when the ground area is in the third positioning area, it is determined that the landing area is safe. Landing area, at this time, the flight equipment can land directly.
  • adjusting the landing area of the flying device to the safe landing area in step 206 includes:
  • Adjusting the landing area according to step 401 to step 403, detecting whether the current landing area is a safe landing area; when the current landing area is not a safe landing area, continuing to perform the step of adjusting the landing area until the current landing area is a safe landing area Stop when.
  • the flying device control method uses the camera to identify whether the current landing area of the flying device is a safe landing area, so that the flying device can identify whether the landing area is a safe landing area without arranging the positioning system, simplifying The structure of the flying equipment.
  • a flowchart of a third flight device control method is applied, where the flight device control method is applied to a flight device, and the flight device is only configured with a positioning system, as shown in FIG. After step 201, as an alternative step from step 202 to step 205,
  • a fourth positioning area including a landing area is determined in the map by the positioning system, and the altitude of each position in the fourth positioning area is determined by the positioning system.
  • This step is the same as step 202 and will not be described here.
  • step 502 it is detected whether the difference between the maximum value of the altitude of each position in the fourth positioning area minus the minimum value of the altitude is less than a preset threshold, and detecting the fourth positioning according to the map data of the fourth positioning area. Whether the area is a ground area.
  • Step 206 is performed.
  • the difference between the maximum value of the altitude of each position in the fourth positioning area minus the minimum value of the altitude is less than a preset threshold, and when the fourth positioning area is the ground area, it is determined that the landing area is a safe landing. Area, at this time, the flight equipment can land directly.
  • the flying device is only configured with the positioning system. Therefore, in one implementation in step 206, the landing area of the flying device is adjusted to the safe landing area, including:
  • Adjusting the landing area according to step 501 to step 502, detecting whether the current landing area is a safe landing area; when the current landing area is not a safe landing area, continuing to perform the step of adjusting the landing area until the current landing area is a safe landing area Stop when.
  • adjusting the landing area of the flying device to the safe landing area comprises: determining each safe landing area from a predetermined safe landing area database, or analyzing the map data in the map Determining each safe landing area according to the analysis result; obtaining the current position of the flying equipment by using the positioning system; determining the safe landing area closest to the distance between the current position from each safety landing area; adjusting the landing area of the flying equipment to safe landing region.
  • the flying device control method identifies a flight device through a positioning system. Whether the current landing area is a safe landing area, so that the flying equipment can identify whether the landing area is a safe landing area without arranging the camera, simplifying the structure of the flying equipment.
  • FIG. 6 is a block diagram of a flight device control device, which is applied to a flight device, as shown in FIG. 6, the flight device control device includes: a first detection module 610, according to an exemplary embodiment, The second detecting module 620 and the adjusting module 630.
  • the first detecting module 610 is configured to detect whether the flying device meets a landing condition
  • the second detecting module 620 is configured to detect whether the current landing area is a safe landing area when the first detecting module 610 detects that the flying equipment meets the landing condition, and the safe landing area is a ground area capable of safely landing the flying equipment;
  • the adjustment module 630 is configured to adjust the landing area of the flying device to the safe landing area when the second detecting module 620 detects that the landing area is not a safe landing area.
  • the flying device control device detects whether the current landing area is a safe landing area when the flying equipment meets the landing condition; and adjusts the landing area of the flying equipment when the landing area is not a safe landing area.
  • the flying equipment can land in the safe landing area without the control of the terminal, and solve the problem that if the flying area falls according to the landing area determined by the terminal, if the determined landing area is inaccurate, the flying equipment will fall to the unsafe landing.
  • the operator is not convenient to recover the problem of the flying equipment, and the effect of improving the recovery efficiency of the flying equipment is achieved.
  • FIG. 7 is a block diagram of a flight device control device, which is applied to a flight device according to an exemplary embodiment.
  • the flight device control device includes: a first detection module 710, The second detecting module 720 and the adjusting module 730.
  • the first detecting module 710 is configured to detect whether the flying device meets a landing condition
  • the second detecting module 720 is configured to detect whether the current landing area is a safe landing area when the first detecting module 710 detects that the flying equipment meets the landing condition, and the safe landing area is a ground area capable of safely landing the flying equipment;
  • the adjustment module 730 is configured to adjust the landing area of the flying device to the safe landing area when the second detecting module 720 detects that the landing area is not a safe landing area.
  • the second detecting module 720 includes: a first determining submodule 721, a first collecting submodule 722, a second determining submodule 723, a first detecting submodule 724, and a third determining submodule 725.
  • the first determining sub-module 721 is configured to determine, by using a positioning system, a first positioning area including a landing area in a map, and determine, by using a positioning system, an altitude of each position in the first positioning area;
  • the first collection sub-module 722 is configured to collect real-time data of the landing area by using a camera
  • the second determining sub-module 723 is configured to determine a second positioning area in the first positioning area determined by the first determining sub-module 721, where the map data of the second positioning area matches the real-world data collected by the first collecting module 722 ;
  • the first detecting sub-module 724 is configured to detect whether a difference between a maximum value of altitudes of each position in the landing area minus a minimum value of the altitude is less than a preset threshold, and map data according to the second positioning area Detecting whether the second positioning area is a ground area;
  • the third determining sub-module 725 is configured to detect, when the first detecting sub-module 724 detects the maximum value of the altitude of each position in the landing area minus the minimum value of the altitude, the difference is less than a preset threshold, and the second When the positioning area is the ground area, it is determined that the landing area is a safe landing area.
  • the second detecting module 720 includes: a second collecting submodule 726, a fourth determining submodule 727, a second detecting submodule 728, and a fifth determining submodule 729.
  • the second collection sub-module 726 is configured to collect real-time data of the landing area by using a camera
  • the fourth determining sub-module 727 is configured to determine a third positioning area, where the map data of the third positioning area matches the real-world data collected by the second collection sub-module 726;
  • the second detecting sub-module 728 is configured to detect, according to the map data of the third positioning area determined by the fourth determining sub-module 727, whether the third positioning area is a ground area;
  • the fifth determining sub-module 729 is configured to determine that the landing area is a safe landing area when the second detecting sub-module 728 detects that the third positioning area is a ground area.
  • the second detecting module 720 includes: a sixth determining submodule 7211, a third detecting submodule 7212, and a seventh determining submodule 7213.
  • the sixth determining sub-module 7211 is configured to determine, by using a positioning system, a fourth positioning area including a landing area in a map, and determine, by using a positioning system, an altitude of each position in the fourth positioning area;
  • the third detecting sub-module 7212 is configured to detect whether the difference between the maximum value of the altitude of each position in the fourth positioning area determined by the sixth determining sub-module 7211 minus the minimum value of the altitude is less than a preset threshold. And detecting, according to the map data of the fourth positioning area, whether the fourth positioning area is a ground area;
  • the seventh determining sub-module 7213 is configured to detect, by the third detecting module 7212, the maximum value of the altitude of each position in the fourth positioning area minus the minimum value of the altitude, and the difference is less than a preset threshold, and the When the four positioning areas are ground areas, it is determined that the landing area is a safe landing area.
  • the adjusting module 730 is further configured to adjust the landing area, triggering the second detecting module 720 to perform a step of detecting whether the current landing area is a safe landing area; and detecting, by the second detecting module 720, that the current landing area is not When the safe landing area is continued, the step of adjusting the landing area is continued until the current landing area is a safe landing area.
  • the adjusting module 730 includes: an eighth determining submodule 731, a location obtaining submodule 732, a ninth determining submodule 733, and an adjusting submodule 734.
  • the eighth determining sub-module 731 is configured to determine each of the safe landing areas from the preset security landing area database, or analyze the map data in the map, and determine each of the safe landing areas according to the analysis result;
  • the location acquisition sub-module 732 is configured to acquire a current location of the flight device by using the positioning system
  • the ninth determining sub-module 733 is configured to determine a safe landing area closest to the distance between the current position acquired by the location acquiring sub-module 732 from among the respective safe landing areas determined by the eighth determining sub-module 731;
  • the adjustment sub-module 734 is configured to adjust the landing area of the flight device to the safe landing area determined by the ninth determination sub-module 733.
  • the flying device control device detects whether the current landing area is a safe landing area when the flying equipment meets the landing condition; and adjusts the landing area of the flying equipment when the landing area is not a safe landing area.
  • the flying equipment can land in the safe landing area without the control of the terminal, and solve the problem that if the flying area falls according to the landing area determined by the terminal, if the determined landing area is inaccurate, the flying equipment will fall to the unsafe landing.
  • the operator is not convenient to recover the problem of the flying equipment, and the effect of improving the recovery efficiency of the flying equipment is achieved.
  • the positioning system determines the first positioning area including the landing area in the map, using the real-world data collected by the camera, determining a second positioning area that matches the real-world data in the first positioning area, so that the flying device is determined.
  • the second positioning area is matched with the real-life data, it is not necessary to determine according to all the map data, and the resources consumed by the flight device in determining the second positioning area matching the real-life data among all the map data are reduced.
  • the map of the second positioning area is matched with the real-world data collected by the camera, so that the second positioning area determined by the flying device is closer to the actual landing area, which improves the accuracy of determining whether the landing area is a safe landing area.
  • the camera is used to identify whether the current landing area of the flying device is a safe landing area, so that the flying device can identify whether the landing area is a safe landing area without configuring the positioning system, simplifying the structure of the flying equipment.
  • the positioning system is used to identify whether the current landing area of the flying equipment is a safe landing area, so that the flying equipment can identify whether the landing area is a safe landing area without configuring the camera, simplifying the structure of the flying equipment.
  • An exemplary embodiment of the present disclosure provides a flight device control device capable of implementing the flight device control method provided by the present disclosure, the flight device control device comprising: a processor, a memory for storing processor executable instructions;
  • processor is configured to:
  • the flying equipment meets the landing condition, it is detected whether the current landing area is a safe landing area, and the safe landing area is a ground area capable of safely landing the flying equipment;
  • the landing area of the flying equipment is adjusted to a safe landing area.
  • FIG. 8 is a block diagram of an apparatus 800 for flight device control, according to an exemplary embodiment.
  • device 800 can include one or more of the following components: processing component 802, memory 804, power component 806, positioning system 808, camera 810, sensor component 814, and communication component 816.
  • Processing component 802 typically controls the overall operation of device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations.
  • Processing component 802 can include one or more processors 818 to execute instructions to perform all or part of the steps described above.
  • processing component 802 can include one or more modules to facilitate interaction between component 802 and other components.
  • processing component 802 can include a multimedia module to facilitate multimedia component 808 and processing components Interaction between 802.
  • Memory 804 is configured to store various types of data to support operation at device 800. Examples of such data include instructions for any application or method operating on device 800, contact data, phone book data, messages, pictures, videos, and the like.
  • the memory 804 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable.
  • SRAM static random access memory
  • EEPROM electrically erasable programmable read only memory
  • EPROM Electrically erasable programmable read only memory
  • PROM Programmable Read Only Memory
  • ROM Read Only Memory
  • Magnetic Memory Flash Memory
  • Disk Disk or Optical Disk.
  • Power component 806 provides power to various components of device 800.
  • Power component 806 can include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for device 800.
  • Positioning system 808 determines the location for device 800 and detects the altitude of the landing zone for device 800.
  • Camera 810 is used to capture real-world data of the landing area of device 800.
  • Sensor assembly 814 includes one or more sensors for providing device 800 with a status assessment of various aspects.
  • sensor component 814 can detect an open/closed state of device 800, a device 800 orientation or acceleration/deceleration, and a temperature change of device 800.
  • Sensor assembly 814 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact.
  • the sensor assembly 814 can also include an acceleration sensor, a gyro sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
  • Communication component 816 is configured to facilitate wired or wireless communication between device 800 and other devices.
  • the device 800 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof.
  • communication component 816 receives broadcast signals or broadcast associated information from an external broadcast management system via a broadcast channel.
  • the communication component 816 also includes a near field communication (NFC) module to facilitate short range communication.
  • NFC near field communication
  • the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
  • RFID radio frequency identification
  • IrDA infrared data association
  • UWB ultra-wideband
  • Bluetooth Bluetooth
  • device 800 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable Gate array (FPGA), controller, microcontroller, microprocessor or other electronic components Now, it is used to perform the above method.
  • ASICs application specific integrated circuits
  • DSPs digital signal processors
  • DSPDs digital signal processing devices
  • PLDs programmable logic devices
  • FPGA field programmable Gate array
  • controller microcontroller, microprocessor or other electronic components
  • non-transitory computer readable storage medium comprising instructions, such as a memory 804 comprising instructions executable by processor 818 of apparatus 800 to perform the above method.
  • the non-transitory computer readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device.

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Abstract

一种飞行设备降落方法及装置，属于智能设备技术领域。该方法包括：检测飞行设备是否满足降落条件（101）；在飞行设备满足所述降落条件时，检测当前的降落区域是否为安全降落区域（102），该安全降落区域是能够使飞行设备安全降落的地面区域；在降落区域不是安全降落区域时，将飞行设备的降落区域调整至安全降落区域（103），使得飞行设备无需终端的控制就可以降落在安全降落区域，解决了飞行设备根据终端确定的降落区域降落时，若确定的降落区域不准确，会导致飞行设备降落到非安全降落区域，操作人员不方便回收该飞行设备的问题，达到了提高飞行设备的回收效率的效果。

Description

飞行设备降落方法及装置
本申请基于申请号为CN 201610378220.7、申请日为2016年5月31日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及智能设备技术领域，特别涉及一种飞行设备降落方法及装置。
背景技术
随着飞行设备的发展，无人机等带有飞行功能的飞行设备应用的领域越来越广。带有飞行功能的飞行设备可以根据终端发送的降落指令进行降落。在接收到降落指令时，若该飞行设备的降落区域为屋顶、湖面等区域，则在该飞行设备降落后，操作人员不方便回收，降落区域是根据该飞行设备可能会降落的各个位置构成的。
发明内容
为解决相关技术中的问题，本公开提供了一种飞行设备控制方法及装置。
根据本公开实施例的第一方面，提供一种飞行设备控制方法，该方法包括：
检测飞行设备是否满足降落条件；
在飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域，安全降落区域安全降落区域是能够使飞行设备安全降落的地面区域；
在降落区域不是安全降落区域时，将飞行设备的降落区域调整至安全降落区域。
可选的，检测当前的降落区域是否为安全降落区域，包括：
利用定位系统在地图中确定包括降落区域的第一定位区域，并利用定位系统确定第一定位区域内的各个位置的海拔高度；
利用摄像头采集降落区域的实景数据；
在第一定位区域内确定第二定位区域，第二定位区域的地图数据与实景数 据相匹配；
检测降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于预设阈值，以及，根据第二定位区域的地图数据检测第二定位区域是否为地面区域；
在降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于预设阈值，且第二定位区域为地面区域时，确定降落区域是安全降落区域。
可选的，检测当前的降落区域是否为安全降落区域，包括：
利用摄像头采集降落区域的实景数据；
确定第三定位区域，第三定位区域的地图数据与实景数据相匹配；
根据第三定位区域的地图数据检测第三定位区域是否为地面区域；
在第三定位区域为地面区域时，确定降落区域是安全降落区域。
可选的，检测当前的降落区域是否为安全降落区域，包括：
利用定位系统在地图中确定包括降落区域的第四定位区域，并利用定位系统确定第四定位区域内的各个位置的海拔高度；
检测第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于预设阈值，以及，根据第四定位区域的地图数据检测第四定位区域是否为地面区域；
在第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于预设阈值，且第四定位区域为地面区域时，确定降落区域是安全降落区域。
可选的，将飞行设备的降落区域调整至安全降落区域，包括：
调整降落区域，触发执行检测当前的降落区域是否为安全降落区域的步骤；
在当前的降落区域不是安全降落区域时，继续执行调整降落区域的步骤，直至当前的降落区域是安全降落区域时停止。
可选的，将飞行设备的降落区域调整至安全降落区域，包括：
从预设的安全降落区域数据库中确定各个安全降落区域，或者，对地图中的地图数据进行分析，根据分析结果确定各个安全降落区域；
利用定位系统获取飞行设备的当前位置；
从各个安全降落区域中确定与当前位置之间的距离最近的安全降落区域；
将飞行设备的降落区域调整至安全降落区域。
根据本公开实施例的第二方面，提供一种飞行设备控制装置，该装置包括：
第一检测模块，被配置为检测飞行设备是否满足降落条件；
第二检测模块，被配置为在第一检测模块检测出飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域，安全降落区域是能够使飞行设备安全降落的地面区域；
调整模块，被配置为在第二检测模块检测出降落区域不是安全降落区域时，将飞行设备的降落区域调整至安全降落区域。
可选的，第二检测模块，包括：
第一确定子模块，被配置为利用定位系统在地图中确定包括降落区域的第一定位区域，并利用定位系统确定第一定位区域内的各个位置的海拔高度；
第一采集子模块，被配置为利用摄像头采集降落区域的实景数据；
第二确定子模块，被配置为在第一确定子模块确定的第一定位区域内确定第二定位区域，第二定位区域的地图数据与第一采集模块采集的实景数据相匹配；
第一检测子模块，被配置为检测降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于预设阈值，以及，根据第二定位区域的地图数据检测第二定位区域是否为地面区域；
第三确定子模块，被配置为在第一检测子模块检测出降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于预设阈值，且第二定位区域为地面区域时，确定降落区域是安全降落区域。
可选的，第二检测模块，包括：
第二采集子模块，被配置为利用摄像头采集降落区域的实景数据；
第四确定子模块，被配置为确定第三定位区域，第三定位区域的地图数据与第二采集子模块采集的实景数据相匹配；
第二检测子模块，被配置为根据第四确定子模块确定的第三定位区域的地图数据检测第三定位区域是否为地面区域；
第五确定子模块，被配置为在第二检测子模块检测出第三定位区域为地面区域时，确定降落区域是安全降落区域。
可选的，第二检测模块，包括：
第六确定子模块，被配置为利用定位系统在地图中确定包括降落区域的第四定位区域，并利用定位系统确定第四定位区域内的各个位置的海拔高度；
第三检测子模块，被配置为检测第六确定子模块确定的第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于预设阈值，以及，根据第四定位区域的地图数据检测第四定位区域是否为地面区域；
第七确定子模块，被配置为在第三检测模块检测出第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于预设阈值，且第四定位区域为地面区域时，确定降落区域是安全降落区域。
可选的，调整模块，还被配置为调整降落区域，触发第二检测模块执行检测当前的降落区域是否为安全降落区域的步骤；并在第二检测模块检测出当前的降落区域不是安全降落区域时，继续执行调整降落区域的步骤，直至当前的降落区域是安全降落区域时停止。
可选的，调整模块，包括：
第八确定子模块，被配置为从预设的安全降落区域数据库中确定各个安全降落区域，或者，对地图中的地图数据进行分析，根据分析结果确定各个安全降落区域；
位置获取子模块，被配置为利用定位系统获取飞行设备的当前位置；
第九确定子模块，被配置为从第八确定子模块确定的各个安全降落区域中确定与位置获取子模块获取的当前位置之间的距离最近的安全降落区域；
调整子模块，被配置为将飞行设备的降落区域调整至第九确定子模块确定的安全降落区域。
根据本公开实施例的第三方面，提供一种飞行设备控制装置，装置包括：
处理器；
用于存储处理器可执行指令的存储器；
其中，处理器被配置为：
检测飞行设备是否满足降落条件；
在飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域，安全降落区域是能够使飞行设备安全降落的地面区域；
在降落区域不是安全降落区域时，将飞行设备的降落区域调整至安全降落区域。
本公开的实施例提供的技术方案可以包括以下有益效果：
通过在飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域；在降落区域不是安全降落区域时，将飞行设备的降落区域调整到安全降落区域，使得飞行设备无需终端的控制就可以降落在安全降落区域，解决了飞行设备根据终端确定的降落区域降落时，若确定的降落区域不准确，会导致飞行设备降落到非安全降落区域，操作人员不方便回收该飞行设备的问题，达到了提高飞行设备的回收效率的效果。
另外，通过利用定位系统在地图中确定包括降落区域的第一定位区域，利用摄像头采集的实景数据，在第一定位区域中确定与该实景数据相匹配的第二定位区域，使得飞行设备在确定与实景数据相匹配的第二定位区域时，不必根据所有的地图数据来确定，减少了飞行设备在所有的地图数据中确定与实景数据相匹配的第二定位区域时所消耗的资源。
另外，通过在第一定位区域中确定第二定位区域，该第二定位区域的地图数据与摄像头采集的实景数据相匹配，使得飞行设备确定的第二定位区域更接近实际的降落区域，提高了确定降落区域是否为安全降落区域的准确度。
另外，通过摄像头来识别飞行设备当前的降落区域是否为安全降落区域，使得飞行设备无需配置定位系统即可识别出降落区域是否为安全降落区域，简化了飞行设备的结构。
另外，通过定位系统来识别飞行设备当前的降落区域是否为安全降落区域，使得飞行设备无需配置摄像头即可识别出降落区域是否为安全降落区域，简化了飞行设备的结构。
应当理解的是，以上的一般描述和后文的细节描述仅是示例性的，并不能限制本公开。
附图说明
此处的附图被并入说明书中并构成本公开说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
图1是根据一示例性实施例示出的一种飞行设备控制方法的流程图。
图2是根据一示例性实施例示出的第一种飞行设备控制方法的流程图。
图3是根据一示例性实施例示出的降落区域的示意图。
图4是根据一示例性实施例示出的第二种飞行设备控制方法的流程图。
图5是根据一示例性实施例示出的第三种飞行设备控制方法的流程图。
图6是根据一示例性实施例示出的一种飞行设备控制装置的框图。
图7是根据一示例性实施例示出的一种飞行设备控制装置的框图。
图8是根据一示例性实施例示出的一种用于飞行设备控制的装置的框图。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施方式并不代表与本公开相一致的所有实施方式。相反，它们仅是与如所附权利要求书中所详述的、本公开的一些方面相一致的装置和方法的例子。
图1是根据一示例性实施例示出的一种飞行设备控制方法的流程图，该飞行设备控制方法应用于飞行设备中，如图1所示，该飞行设备控制方法包括以下步骤。
在步骤101中，检测飞行设备是否满足降落条件。
在步骤102中，在飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域。
其中，安全降落区域是能够使飞行设备安全降落的地面区域。
在步骤103中，在降落区域不是安全降落区域时，将飞行设备的降落区域调整至安全降落区域。
综上所述，本公开提供的飞行设备控制方法，通过在飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域；在降落区域不是安全降落区域时，将飞行设备的降落区域调整到安全降落区域，使得飞行设备无需终端的控制就可以降落在安全降落区域，解决了飞行设备根据终端确定的降落区域降落时，若确定的降落区域不准确，会导致飞行设备降落到非安全降落区域，操 作人员不方便回收该飞行设备的问题，达到了提高飞行设备的回收效率的效果。
图2是根据另一示例性实施例示出的第一种飞行设备控制方法的流程图，该飞行设备控制方法应用于飞行设备中，该飞行设备配置有定位系统和摄像头，如图2所示，该飞行设备控制方法包括如下步骤。
在步骤201中，检测飞行设备是否满足降落条件。
其中，降落条件可以为接收到控制该飞行设备的终端发送的降落指令，也可以为飞行设备的电量低于预设阈值，本实施例不作限定。其中，降落指令用于指示飞行设备降落。
飞行设备在检测出自身满足降落条件时，执行步骤202；在飞行设备不满足降落条件时，继续保持飞行状态。
在步骤202中，在飞行设备满足降落条件时，利用定位系统在地图中确定包括降落区域的第一定位区域，并利用定位系统确定第一定位区域内的各个位置的海拔高度。
其中，降落区域是由飞行设备可能会降落的各个位置构成的，飞行设备可能会降落的各个位置是指在飞行设备满足降落条件时，垂直投影到地面的位置，以及与该位置的距离小于预设距离的各个位置。比如，如图3所示，飞行设备满足降落条件时在位置32，则降落区域34由该位置32垂直投影到地面的位置36，以及与位置36的距离小于10m的各个位置构成。
安全降落区域是能够使飞行设备安全降落的地面区域，且本实施例中，该地面区域内位置的海拔高度的最大值减去海拔高度的最小值得到的差小于预设阈值。这是因为，安全降落区域需要是用户容易回收飞行设备的区域，如果安全降落区域不是地面区域，那么可能是河流、湖面等区域，用户不容易回收飞行设备；如果地面区域内位置的海拔高度的最大值减去海拔高度的最小值得到的差大于预设阈值，则该地面区域的地势不平缓，可能会是屋顶、高山、大树等区域，用户也不利于回收飞行设备。
飞行设备中预存有地图，该地图可以是飞行设备预先从云端下载的，也可以是控制该飞行设备的终端从云端下载后发送给该飞行设备的，本实施例不作限定。地图包括位置数据和地图数据，位置数据是地图中每个地点的精纬度信息，如：中国的位置数据是东经73度至东经135度，北纬4度至北纬53度； 地图数据是地图中每个地点的图像数据，且该图像数据是每个地点的三维(3dimensional，3D)图像数据，如：xx小区的三维图像数据。
定位系统具有定位和测量海拔高度的功能。由于定位系统只能粗略地对降落区域进行定位，因此，得到的第一区域会比降落区域大。飞行设备利用定位系统的定位功能可以得到包括降落区域的经纬度信息，在地图的位置数据中确定该经纬度信息对应的区域，本实施例将该区域称为第一定位区域。如：飞行设备利用定位系统的定位功能得到包括降落区域的经纬度信息为北纬xx° xx′ x.xx″，东经xx° xx′ xx.xx″，并在地图中确定与该经纬度信息相同的区域为xx小区，则确定xx小区是第一定位区域。
飞行设备利用定位系统的测量海拔高度的功能可以得到第一定位区域中各个位置的海拔高度，从而得到降落区域中各个位置的海拔高度。
在步骤203中，利用摄像头采集降落区域的实景数据。
摄像头可以实时地拍摄降落区域的实景数据，实景数据是指降落区域实际的图像数据，比如，图3中降落区域34内的图像数据。
其中，步骤203可以在步骤202之后执行，也可以在步骤202之前执行，还可以和步骤202同时执行，本实施例不作限定。
在步骤204中，在第一定位区域内确定第二定位区域，第二定位区域的地图数据与实景数据相匹配。
飞行设备在第一定位区域内的地图数据中查找与实景数据相匹配的第二定位区域，得到的第二定位区域的位置数据与实际的降落区域的实景数据基本相同。如：飞行设备利用定位系统的定位功能确定出第一定位区域为xx小区后，将降落区域的实景数据与xx小区的图像数据进行匹配，得到第二定位区域为xx小区中的xx栋居民楼。
由于定位系统只能粗略地定位出降落区域对应在地图中的第一定位区域，因此，本实施例中通过将实景数据与第一定位区域中的地图数据进行匹配，得到地图数据与实景数据相匹配的第二定位区域，提高了飞行设备确定地图中与降落区域对应的区域的精确度。
在步骤205中，检测降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于预设阈值，以及，根据第二定位区域的地图数据检测第二定位区域是否为地面区域。
在降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差大于等于预设阈值，或者，根据第二定位区域的地图数据检测第二定位区域不是地面区域时，说明降落区域不是安全降落区域，此时，需要对飞行设备的降落区域进行调整，即，执行步骤206；在降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于预设阈值，以及，根据第二定位区域的地图数据检测第二定位区域是地面区域时，说明降落区域为安全降落区域，飞行设备可以直接降落。
飞行设备在检测降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于预设阈值时，可以从预先得到的第一定位区域内的各个位置的海拔高度中筛选出第二定位区域内的各个位置的海拔高度；将筛选出的第二定位区域内的海拔高度的最大值减去第二定位区域内的海拔高度的最小值，检测得到的结果是否小于预设阈值，并将检测结果作为检测降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于预设阈值的检测结果；或者，也可以将第一定位区域内的海拔高度的最大值减去第一定位区域内的海拔高度的最小值，检测得到的结果是否小于预设阈值，并将检测结果作为检测降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于预设阈值的检测结果，本实施例不作限定。
飞行设备在检测降落区域是否为地面区域时，在一种实现中，可以直接对摄像头采集到的实景数据进行图像识别，检测该实景数据中是否包括水面、大树等物体，但是，摄像头采集得到的实景数据是降落区域的俯视图，飞行设备只通过俯视图来检测降落区域是否为地面区域，得到的检测结果可能不准确。在另一种实现中，飞行设备可以对第二定位区域的地图数据进行图像识别，检测第二定位区域是否为地面区域，由于地图数据是三维的图像信息，该三维的图像信息可以全面地反映出第二定位区域包括的物体，因此，飞行设备通过检测第二定位区域中的地图数据可以提高检测降落区域是否为地面区域的准确性。
在步骤206中，在降落区域不是安全降落区域时，将飞行设备的降落区域调整至安全降落区域。
在降落区域不是安全降落区域时，说明该降落区域的地势不平缓，有可能是屋顶、高山、大树等区域；或者，说明该降落区域不是地面区域，有可能是 河流、湖面等区域，此时，飞行设备可能会降落在屋顶、山上、树上、水里，因此，飞行设备需要调整自身的降落区域。
在一种实现中，将飞行设备的降落区域调整至安全降落区域，包括：调整降落区域，根据步骤203至步骤205来检测当前的降落区域是否为安全降落区域；在当前的降落区域不是安全降落区域时，继续执行调整降落区域的步骤，直至当前的降落区域是安全降落区域时停止。
在这种实现中，飞行设备实时检测下方的降落区域是否是安全降落区域，直到检测到安全降落区域时降落，此时，该飞行设备无规则地调整降落区域，可能每次调整的降落区域都不是安全降落区域，浪费了飞行设备检测降落区域是否为安全降落区域时所使用的资源。
在另一种实现中，将飞行设备的降落区域调整至安全降落区域，包括：从预设的安全降落区域数据库中确定各个安全降落区域，或者，对地图中的地图数据进行分析，根据分析结果确定各个安全降落区域；利用定位系统获取飞行设备的当前位置；从各个安全降落区域中确定与当前位置之间的距离最近的安全降落区域；将飞行设备的降落区域调整至安全降落区域。
在这种实现方式中，飞行设备在获知了各个安全降落区域的位置信息的前提下，寻找距离当前位置最近的安全降落区域，将降落区域调整至该安全降落区域，节省了飞行设备检测降落区域是否为安全降落区域时所使用的资源。
综上所述，本公开提供的飞行设备控制方法，通过在飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域；在降落区域不是安全降落区域时，将飞行设备的降落区域调整到安全降落区域，使得飞行设备无需终端的控制就可以降落在安全降落区域，解决了飞行设备根据终端确定的降落区域降落时，若确定的降落区域不准确，会导致飞行设备降落到非安全降落区域，操作人员不方便回收该飞行设备的问题，达到了提高飞行设备的回收效率的效果。
另外，通过利用定位系统在地图中确定包括降落区域的第一定位区域，利用摄像头采集的实景数据，在第一定位区域中确定与该实景数据相匹配的第二定位区域，使得飞行设备在确定与实景数据相匹配的第二定位区域时，不必根据所有的地图数据来确定，减少了飞行设备在所有的地图数据中确定与实景数据相匹配的第二定位区域时所消耗的资源。
另外，通过在第一定位区域中确定第二定位区域，该第二定位区域的地图 数据与摄像头采集的实景数据相匹配，使得飞行设备确定的第二定位区域更接近实际的降落区域，提高了确定降落区域是否为安全降落区域的准确度。
可选的，请参考图4，其示出了第二种飞行设备控制方法的流程图，该飞行设备控制方法应用于飞行设备中，且该飞行设备仅配置有摄像头，如图4所示，在步骤201之后，作为步骤202至步骤205的可替换步骤，
在步骤401中，利用摄像头采集降落区域的实景数据。
本步骤与步骤203相同，在此不作赘述。
在步骤402中，确定第三定位区域，第三定位区域的地图数据与实景数据相匹配。
飞行设备从预存的地图数据中搜索与实景数据相匹配的第三定位区域。
在步骤403中，根据第三定位区域的地图数据检测第三定位区域是否为地面区域。
在一种实现中，飞行设备对拍摄的实景数据进行图像识别，检测该实景数据中是否包括水面、大树、屋顶等物体，但是，摄像头采集得到的实景数据是降落区域的俯视图，飞行设备只通过俯视图来检测降落区域是否为地面区域，得到的检测结果可能不准确。
在另一种实现中，飞行设备可以对第三定位区域的地图数据进行图像识别，检测第三定位区域是否为地面区域，且该第三定位区域中是否包括水面、大树、屋顶等物体。由于地图数据是三维的图像信息，该三维的图像信息可以全面地反映出第三定位区域包括的物体，因此，飞行设备通过检测第三定位区域中的地图数据可以提高检测降落区域是否为地面区域的准确性。
在飞行设备识别出第三定位区域不是地面区域时，确定降落区域不是安全降落区域，此时，需要调整降落区域，即执行步骤206；在第三定位区域时地面区域时，确定降落区域是安全降落区域，此时，飞行设备可以直接降落。
需要说明的是，由于在本实施例中，飞行设备仅配置有摄像头，因此，在步骤206中将飞行设备的降落区域调整至安全降落区域，包括：
调整降落区域，根据步骤401至步骤403来检测当前的降落区域是否为安全降落区域；在当前的降落区域不是安全降落区域时，继续执行调整降落区域的步骤，直至当前的降落区域是安全降落区域时停止。
综上所述，本公开提供的飞行设备控制方法，通过摄像头来识别飞行设备当前的降落区域是否为安全降落区域，使得飞行设备无需配置定位系统即可识别出降落区域是否为安全降落区域，简化了飞行设备的结构。
可选的，参考图5，其示出了第三种飞行设备控制方法的流程图，该飞行设备控制方法应用于飞行设备中，且该飞行设备仅配置有定位系统，如图5所示，在步骤201之后，作为步骤202至步骤205的可替换步骤，
在步骤501中，利用定位系统在地图中确定包括降落区域的第四定位区域，并利用定位系统确定第四定位区域内的各个位置的海拔高度。
本步骤与步骤202相同，在此不作赘述。
在步骤502中，检测第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于预设阈值，以及，根据第四定位区域的地图数据检测第四定位区域是否为地面区域。
在第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差大于等于预设阈值，或者，第四定位区域不是地面区域时，说明降落区域不是安全降落区域，执行步骤206；在第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于预设阈值，且第四定位区域为地面区域时，确定降落区域是安全降落区域，此时，飞行设备可直接降落。
需要说明的是，由于在本实施例中，飞行设备仅配置有定位系统，因此，在步骤206中的一种实现中，将飞行设备的降落区域调整至安全降落区域，包括：
调整降落区域，根据步骤501至步骤502来检测当前的降落区域是否为安全降落区域；在当前的降落区域不是安全降落区域时，继续执行调整降落区域的步骤，直至当前的降落区域是安全降落区域时停止。
在步骤206中的另一种实现中，将飞行设备的降落区域调整至安全降落区域，包括：从预设的安全降落区域数据库中确定各个安全降落区域，或者，对地图中的地图数据进行分析，根据分析结果确定各个安全降落区域；利用定位系统获取飞行设备的当前位置；从各个安全降落区域中确定与当前位置之间的距离最近的安全降落区域；将飞行设备的降落区域调整至安全降落区域。
综上所述，本公开提供的飞行设备控制方法，通过定位系统来识别飞行设 备当前的降落区域是否为安全降落区域，使得飞行设备无需配置摄像头即可识别出降落区域是否为安全降落区域，简化了飞行设备的结构。
图6是根据一示例性实施例示出的一种飞行设备控制装置的框图，该飞行设备控制装置应用于飞行设备中，如图6所示，该飞行设备控制装置包括：第一检测模块610、第二检测模块620、调整模块630。
该第一检测模块610，被配置为检测飞行设备是否满足降落条件；
该第二检测模块620，被配置为在第一检测模块610检测出飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域，安全降落区域是能够使飞行设备安全降落的地面区域；
该调整模块630，被配置为在第二检测模块620检测出降落区域不是安全降落区域时，将飞行设备的降落区域调整至安全降落区域。
综上所述，本公开提供的飞行设备控制装置，通过在飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域；在降落区域不是安全降落区域时，将飞行设备的降落区域调整到安全降落区域，使得飞行设备无需终端的控制就可以降落在安全降落区域，解决了飞行设备根据终端确定的降落区域降落时，若确定的降落区域不准确，会导致飞行设备降落到非安全降落区域，操作人员不方便回收该飞行设备的问题，达到了提高飞行设备的回收效率的效果。
图7是根据一示例性实施例示出的一种飞行设备控制装置的框图，该飞行设备控制装置应用于飞行设备中，如图7所示，该飞行设备控制装置包括：第一检测模块710、第二检测模块720、调整模块730。
该第一检测模块710，被配置为检测飞行设备是否满足降落条件；
该第二检测模块720，被配置为在第一检测模块710检测出飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域，安全降落区域是能够使飞行设备安全降落的地面区域；
该调整模块730，被配置为在第二检测模块720检测出降落区域不是安全降落区域时，将飞行设备的降落区域调整至安全降落区域。
可选的，第二检测模块720，包括：第一确定子模块721、第一采集子模块722、第二确定子模块723、第一检测子模块724、第三确定子模块725。
该第一确定子模块721，被配置为利用定位系统在地图中确定包括降落区域的第一定位区域，并利用定位系统确定第一定位区域内的各个位置的海拔高度；
该第一采集子模块722，被配置为利用摄像头采集降落区域的实景数据；
该第二确定子模块723，被配置为在第一确定子模块721确定的第一定位区域内确定第二定位区域，第二定位区域的地图数据与第一采集模块722采集的实景数据相匹配；
该第一检测子模块724，被配置为检测降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于预设阈值，以及，根据第二定位区域的地图数据检测第二定位区域是否为地面区域；
该第三确定子模块725，被配置为在第一检测子模块724检测出降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于预设阈值，且第二定位区域为地面区域时，确定降落区域是安全降落区域。
可选的，第二检测模块720，包括：第二采集子模块726、第四确定子模块727、第二检测子模块728、第五确定子模块729。
该第二采集子模块726，被配置为利用摄像头采集降落区域的实景数据；
该第四确定子模块727，被配置为确定第三定位区域，第三定位区域的地图数据与第二采集子模块726采集的实景数据相匹配；
该第二检测子模块728，被配置为根据第四确定子模块727确定的第三定位区域的地图数据检测第三定位区域是否为地面区域；
该第五确定子模块729，被配置为在第二检测子模块728检测出第三定位区域为地面区域时，确定降落区域是安全降落区域。
可选的，第二检测模块720，包括：第六确定子模块7211、第三检测子模块7212、第七确定子模块7213。
该第六确定子模块7211，被配置为利用定位系统在地图中确定包括降落区域的第四定位区域，并利用定位系统确定第四定位区域内的各个位置的海拔高度；
该第三检测子模块7212，被配置为检测第六确定子模块7211确定的第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于预设阈值，以及，根据第四定位区域的地图数据检测第四定位区域是否为地面区域；
该第七确定子模块7213，被配置为在第三检测模块7212检测出第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于预设阈值，且第四定位区域为地面区域时，确定降落区域是安全降落区域。
可选的，调整模块730，还被配置为调整降落区域，触发第二检测模块720执行检测当前的降落区域是否为安全降落区域的步骤；并在第二检测模块720检测出当前的降落区域不是安全降落区域时，继续执行调整降落区域的步骤，直至当前的降落区域是安全降落区域时停止。
可选的，调整模块730，包括：第八确定子模块731、位置获取子模块732、第九确定子模块733、调整子模块734。
该第八确定子模块731，被配置为从预设的安全降落区域数据库中确定各个安全降落区域，或者，对地图中的地图数据进行分析，根据分析结果确定各个安全降落区域；
该位置获取子模块732，被配置为利用定位系统获取飞行设备的当前位置；
该第九确定子模块733，被配置为从第八确定子模块731确定的各个安全降落区域中确定与位置获取子模块732获取的当前位置之间的距离最近的安全降落区域；
该调整子模块734，被配置为将飞行设备的降落区域调整至第九确定子模块733确定的安全降落区域。
综上所述，本公开提供的飞行设备控制装置，通过在飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域；在降落区域不是安全降落区域时，将飞行设备的降落区域调整到安全降落区域，使得飞行设备无需终端的控制就可以降落在安全降落区域，解决了飞行设备根据终端确定的降落区域降落时，若确定的降落区域不准确，会导致飞行设备降落到非安全降落区域，操作人员不方便回收该飞行设备的问题，达到了提高飞行设备的回收效率的效果。
另外，通过利用定位系统在地图中确定包括降落区域的第一定位区域，利用摄像头采集的实景数据，在第一定位区域中确定与该实景数据相匹配的第二定位区域，使得飞行设备在确定与实景数据相匹配的第二定位区域时，不必根据所有的地图数据来确定，减少了飞行设备在所有的地图数据中确定与实景数据相匹配的第二定位区域时所消耗的资源。
另外，通过在第一定位区域中确定第二定位区域，该第二定位区域的地图 数据与摄像头采集的实景数据相匹配，使得飞行设备确定的第二定位区域更接近实际的降落区域，提高了确定降落区域是否为安全降落区域的准确度。
另外，通过摄像头来识别飞行设备当前的降落区域是否为安全降落区域，使得飞行设备无需配置定位系统即可识别出降落区域是否为安全降落区域，简化了飞行设备的结构。
另外，通过定位系统来识别飞行设备当前的降落区域是否为安全降落区域，使得飞行设备无需配置摄像头即可识别出降落区域是否为安全降落区域，简化了飞行设备的结构。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
本公开一示例性实施例提供了一种飞行设备控制装置，能够实现本公开提供的飞行设备控制方法，该飞行设备控制装置包括：处理器、用于存储处理器可执行指令的存储器；
其中，处理器被配置为：
检测飞行设备是否满足降落条件；
在飞行设备满足降落条件时，检测当前的降落区域是否为安全降落区域，安全降落区域是能够使飞行设备安全降落的地面区域；
在降落区域不是安全降落区域时，将飞行设备的降落区域调整至安全降落区域。
图8是根据一示例性实施例示出的一种用于飞行设备控制的装置800的框图。参照图8，装置800可以包括以下一个或多个组件：处理组件802，存储器804，电源组件806，定位系统808，摄像头810，传感器组件814，以及通信组件816。
处理组件802通常控制装置800的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。处理组件802可以包括一个或多个处理器818来执行指令，以完成上述的方法的全部或部分步骤。此外，处理组件802可以包括一个或多个模块，便于处理组件802和其他组件之间的交互。例如，处理组件802可以包括多媒体模块，以方便多媒体组件808和处理组件 802之间的交互。
存储器804被配置为存储各种类型的数据以支持在装置800的操作。这些数据的示例包括用于在装置800上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。存储器804可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(SRAM)，电可擦除可编程只读存储器(EEPROM)，可擦除可编程只读存储器(EPROM)，可编程只读存储器(PROM)，只读存储器(ROM)，磁存储器，快闪存储器，磁盘或光盘。
电源组件806为装置800的各种组件提供电力。电源组件806可以包括电源管理系统，一个或多个电源，及其他与为装置800生成、管理和分配电力相关联的组件。
定位系统808为装置800确定位置，并为装置800检测降落区域的海拔高度。
摄像头810用于采集装置800的降落区域的实景数据。
传感器组件814包括一个或多个传感器，用于为装置800提供各个方面的状态评估。例如，传感器组件814可以检测到装置800的打开/关闭状态、装置800方位或加速/减速和装置800的温度变化。传感器组件814可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。在一些实施例中，该传感器组件814还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。
通信组件816被配置为便于装置800和其他设备之间有线或无线方式的通信。装置800可以接入基于通信标准的无线网络，如WiFi，2G或3G，或它们的组合。在一个示例性实施例中，通信组件816经由广播信道接收来自外部广播管理系统的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件816还包括近场通信(NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(RFID)技术，红外数据协会(IrDA)技术，超宽带(UWB)技术，蓝牙(BT)技术和其他技术来实现。
在示例性实施例中，装置800可以被一个或多个应用专用集成电路(ASIC)、数字信号处理器(DSP)、数字信号处理设备(DSPD)、可编程逻辑器件(PLD)、现场可编程门阵列(FPGA)、控制器、微控制器、微处理器或其他电子元件实 现，用于执行上述方法。
在示例性实施例中，还提供了一种包括指令的非临时性计算机可读存储介质，例如包括指令的存储器804，上述指令可由装置800的处理器818执行以完成上述方法。例如，所述非临时性计算机可读存储介质可以是ROM、随机存取存储器(RAM)、CD-ROM、磁带、软盘和光数据存储设备等。
本领域技术人员在考虑说明书及实践这里的公开后，将容易想到本公开的其它实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求来限制。

Claims (13)

  1. 一种飞行设备降落方法，其特征在于，所述方法包括：
    检测飞行设备是否满足降落条件；
    在所述飞行设备满足所述降落条件时，检测当前的降落区域是否为安全降落区域，所述安全降落区域是能够使所述飞行设备安全降落的地面区域；
    在所述降落区域不是所述安全降落区域时，将所述飞行设备的降落区域调整至所述安全降落区域。
  2. 根据权利要求1所述的方法，其特征在于，所述检测当前的降落区域是否为安全降落区域，包括：
    利用定位系统在地图中确定包括所述降落区域的第一定位区域，并利用所述定位系统确定所述第一定位区域内的各个位置的海拔高度；
    利用摄像头采集所述降落区域的实景数据；
    在所述第一定位区域内确定第二定位区域，所述第二定位区域的地图数据与所述实景数据相匹配；
    检测所述降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于所述预设阈值，以及，根据所述第二定位区域的地图数据检测所述第二定位区域是否为地面区域；
    在所述降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于所述预设阈值，且所述第二定位区域为所述地面区域时，确定所述降落区域是所述安全降落区域。
  3. 根据权利要求1所述的方法，其特征在于，所述检测当前的降落区域是否为安全降落区域，包括：
    利用摄像头采集所述降落区域的实景数据；
    确定第三定位区域，所述第三定位区域的地图数据与所述实景数据相匹配；
    根据所述第三定位区域的地图数据检测所述第三定位区域是否为地面区域；
    在所述第三定位区域为所述地面区域时，确定所述降落区域是所述安全降 落区域。
  4. 根据权利要求1所述的方法，其特征在于，所述检测当前的降落区域是否为安全降落区域，包括：
    利用定位系统在地图中确定包括所述降落区域的第四定位区域，并利用所述定位系统确定所述第四定位区域内的各个位置的海拔高度；
    检测所述第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于所述预设阈值，以及，根据所述第四定位区域的地图数据检测所述第四定位区域是否为地面区域；
    在所述第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于所述预设阈值，且所述第四定位区域为所述地面区域时，确定所述降落区域是所述安全降落区域。
  5. 根据权利要求1至4任一所述的方法，其特征在于，所述将所述飞行设备的降落区域调整至所述安全降落区域，包括：
    调整所述降落区域，触发执行所述检测当前的降落区域是否为安全降落区域的步骤；
    在当前的降落区域不是所述安全降落区域时，继续执行所述调整所述降落区域的步骤，直至当前的降落区域是所述安全降落区域时停止。
  6. 根据权利要求1至4任一所述的方法，其特征在于，所述将所述飞行设备的降落区域调整至所述安全降落区域，包括：
    从预设的安全降落区域数据库中确定各个安全降落区域，或者，对所述地图中的地图数据进行分析，根据分析结果确定各个安全降落区域；
    利用定位系统获取所述飞行设备的当前位置；
    从各个安全降落区域中确定与所述当前位置之间的距离最近的安全降落区域；
    将所述飞行设备的降落区域调整至所述安全降落区域。
  7. 一种飞行设备降落装置，其特征在于，所述装置包括：
    第一检测模块，被配置为检测飞行设备是否满足降落条件；
    第二检测模块，被配置为在所述第一检测模块检测出所述飞行设备满足所述降落条件时，检测当前的降落区域是否为安全降落区域，所述安全降落区域是能够使所述飞行设备安全降落的地面区域；
    调整模块，被配置为在所述第二检测模块检测出所述降落区域不是所述安全降落区域时，将所述飞行设备的降落区域调整至所述安全降落区域。
  8. 根据权利要求7所述的装置，其特征在于，所述第二检测模块，包括：
    第一确定子模块，被配置为利用定位系统在地图中确定包括所述降落区域的第一定位区域，并利用所述定位系统确定所述第一定位区域内的各个位置的海拔高度；
    第一采集子模块，被配置为利用摄像头采集所述降落区域的实景数据；
    第二确定子模块，被配置为在所述第一确定子模块确定的所述第一定位区域内确定第二定位区域，所述第二定位区域的地图数据与所述第一采集模块采集的所述实景数据相匹配；
    第一检测子模块，被配置为检测所述降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于所述预设阈值，以及，根据所述第二确定子模块确定的所述第二定位区域的地图数据检测所述第二定位区域是否为地面区域；
    第三确定子模块，被配置为在所述第一检测子模块检测出所述降落区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于所述预设阈值，且所述第二定位区域为所述地面区域时，确定所述降落区域是所述安全降落区域。
  9. 根据权利要求7所述的装置，其特征在于，所述第二检测模块，包括：
    第二采集子模块，被配置为利用摄像头采集所述降落区域的实景数据；
    第四确定子模块，被配置为确定第三定位区域，所述第三定位区域的地图数据与所述第二采集子模块采集的所述实景数据相匹配；
    第二检测子模块，被配置为根据所述第四确定子模块确定的所述第三定位区域的地图数据检测所述第三定位区域是否为地面区域；
    第五确定子模块，被配置为在所述第二检测子模块检测出所述第三定位区域为所述地面区域时，确定所述降落区域是所述安全降落区域。
  10. 根据权利要求7所述的装置，其特征在于，所述第二检测模块，包括：
    第六确定子模块，被配置为利用定位系统在地图中确定包括所述降落区域的第四定位区域，并利用所述定位系统确定所述第四定位区域内的各个位置的海拔高度；
    第三检测子模块，被配置为检测所述第六确定子模块确定的所述第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差是否小于所述预设阈值，以及，根据所述第四定位区域的地图数据检测所述第四定位区域是否为地面区域；
    第七确定子模块，被配置为在所述第三检测模块检测出所述第四定位区域内的各个位置的海拔高度的最大值减去海拔高度的最小值得到的差小于所述预设阈值，且所述第四定位区域为所述地面区域时，确定所述降落区域是所述安全降落区域。
  11. 根据权利要求7至10任一所述的装置，其特征在于，所述调整模块，还被配置为调整所述降落区域，触发所述第二检测模块执行所述检测当前的降落区域是否为安全降落区域的步骤；并在所述第二检测模块检测出所述当前的降落区域不是所述安全降落区域时，继续执行所述调整所述降落区域的步骤，直至当前的降落区域是所述安全降落区域时停止。
  12. 根据权利要求7至10任一所述的装置，其特征在于，所述调整模块，包括：
    第八确定子模块，被配置为从预设的安全降落区域数据库中确定各个安全降落区域，或者，对所述地图中的地图数据进行分析，根据分析结果确定各个安全降落区域；
    位置获取子模块，被配置为利用定位系统获取所述飞行设备的当前位置；
    第九确定子模块，被配置为从所述第八确定子模块确定的各个安全降落区域中确定与所述位置获取子模块获取的所述当前位置之间的距离最近的安全降 落区域；
    调整子模块，被配置为将所述飞行设备的降落区域调整至所述第九确定子模块确定的所述安全降落区域。
  13. 一种飞行设备控制装置，其特征在于，所述装置包括：
    处理器；
    用于存储处理器可执行指令的存储器；
    其中，所述处理器被配置为：
    检测飞行设备是否满足降落条件；
    在所述飞行设备满足所述降落条件时，检测当前的降落区域是否为安全降落区域，所述安全降落区域是能够使所述飞行设备安全降落的地面区域；
    在所述降落区域不是所述安全降落区域时，将所述飞行设备的降落区域调整至所述安全降落区域。
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