WO2018024069A1 - 用于引导无人机降落的方法、装置和系统 - Google Patents

用于引导无人机降落的方法、装置和系统 Download PDF

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Publication number
WO2018024069A1
WO2018024069A1 PCT/CN2017/091781 CN2017091781W WO2018024069A1 WO 2018024069 A1 WO2018024069 A1 WO 2018024069A1 CN 2017091781 W CN2017091781 W CN 2017091781W WO 2018024069 A1 WO2018024069 A1 WO 2018024069A1
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WIPO (PCT)
Prior art keywords
landing
pattern
drone
platform
indication
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Ceased
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PCT/CN2017/091781
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English (en)
French (fr)
Inventor
韩松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
Original Assignee
Beijing Jingdong Century Trading Co Ltd
Beijing Jingdong Shangke Information Technology Co Ltd
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Application filed by Beijing Jingdong Century Trading Co Ltd, Beijing Jingdong Shangke Information Technology Co Ltd filed Critical Beijing Jingdong Century Trading Co Ltd
Priority to AU2017306320A priority Critical patent/AU2017306320B2/en
Priority to US16/323,137 priority patent/US11383857B2/en
Priority to CA3032874A priority patent/CA3032874C/en
Publication of WO2018024069A1 publication Critical patent/WO2018024069A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/13—Satellite images
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/18—Visual or acoustic landing aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/90—Launching from or landing on platforms
    • B64U70/95—Means for guiding the landing UAV towards the platform, e.g. lighting means
    • 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
    • G05D1/042—Control of altitude or depth specially adapted for aircraft
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/761—Proximity, similarity or dissimilarity measures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G06V20/17—Terrestrial scenes taken from planes or by drones
    • 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 invention relates to the field of flight navigation, and more particularly to a method, apparatus and system for guiding a drone to land.
  • the current method is to identify the specific target on the ground by the drone, and combine the geometric positioning algorithm to calculate the position coordinates of the specific target, and then guide the drone to land according to the position coordinate.
  • a method for guiding a drone to land comprising:
  • the drone is guided to land on the landing target with a landing pattern and eventually land on the landing platform.
  • landing success information is sent to the landing platform to cause the landing platform to cancel the landing pattern display.
  • the landing indication includes a pattern identification such that the landing pattern displayed by the landing platform corresponds to the pattern identification.
  • image scanning of the ground to identify the landing pattern includes:
  • the matching pattern is used as a landing pattern.
  • the step of transmitting a landing indication to the ground is re-executed, wherein the landing indication includes a reselected pattern identification so that the landing platform displays a corresponding to the reselected pattern identification. Landing pattern.
  • a landing indication is sent to the ground.
  • a landing indication is sent to the ground.
  • a method for guiding a drone to land comprising:
  • a landing pattern is displayed on the landing platform upon receipt of the landing indication so that the drone can land as a landing target with a landing pattern.
  • the landing pattern display is cancelled upon receipt of landing success information transmitted by the navigation device in the drone.
  • the step of displaying the landing pattern upon receipt of the landing indication comprises:
  • a landing pattern corresponding to the pattern identification is displayed.
  • the landing platform is a mobile platform.
  • a navigation apparatus for guiding a drone to land including a transmitting unit, an image scanning unit, and a landing control unit, wherein:
  • a sending unit configured to send a landing indication to the ground, so that the landing platform receiving the landing indication displays a landing pattern
  • An image scanning unit for performing image scanning on the ground to identify a landing pattern
  • a landing control unit that directs the drone to land as a landing target with a landing pattern and eventually land on the landing platform.
  • the landing control unit is further configured to instruct the transmitting unit to transmit landing success information to the landing platform after the drone landed on the landing platform, so that the landing platform cancels the landing pattern display.
  • the landing indication includes a pattern identification such that the landing pattern displayed by the landing platform corresponds to the pattern identification.
  • the image scanning unit specifically recognizes the matching pattern corresponding to the pattern identification by performing image scanning on the ground, and in the case where there is only one matching pattern, the matching pattern is used as a landing pattern.
  • the image scanning unit is further configured to: in the case that there are multiple matching patterns, instruct the sending unit to resend the landing indication to the ground, wherein the landing indication includes the reselected pattern identifier for landing platform display and reselection The pattern identifies the corresponding landing pattern.
  • the navigation device further includes an area identifying unit, wherein:
  • An area identification unit for identifying an area where the drone is currently located
  • the landing control unit specifically transmits a landing indication to the ground after the area identification unit determines that the drone arrives at the designated area.
  • the navigation device further includes a receiving unit, wherein:
  • a receiving unit configured to receive broadcast information sent by the landing platform
  • the landing control unit sends a landing indication to the ground after the receiving unit receives the broadcast information sent by the landing platform.
  • a navigation device for guiding a drone to land including a memory and a processor, wherein:
  • a memory for storing instructions
  • a processor coupled to the memory, the processor being configured to perform the method performed by the navigation device involved in any of the above embodiments, based on the instructions stored in the memory.
  • a drone including the navigation device of any of the above embodiments.
  • a landing platform for guiding a drone to land including a receiving module, a display control module, and a display module, wherein:
  • a receiving module configured to receive a landing instruction sent by a navigation device in the drone
  • the display control module is configured to display a landing pattern on the display module after the receiving module receives the landing instruction, so that the drone descends for the landing target with the landing pattern.
  • the display control module is further configured to cancel the landing pattern display after the receiving module receives the landing success information sent by the navigation device in the drone.
  • the display control module extracts the pattern identifier from the landing indication after the receiving module receives the landing instruction, and displays a landing pattern corresponding to the pattern identifier on the display module.
  • the landing platform is a mobile platform.
  • a landing platform for guiding a drone to land comprising a memory and a processor, wherein:
  • a memory for storing instructions
  • a processor coupled to the memory, the processor being configured to perform the method performed by the landing platform involved in any of the above embodiments, based on the instructions stored by the memory.
  • a UAV navigation system comprising the UAV according to any of the above embodiments, and the landing platform according to any of the above embodiments.
  • Figure 1 is a schematic illustration of one embodiment of a method for directing a drone to land in accordance with the present invention.
  • FIG. 2 is a schematic view of another embodiment of a method for guiding a drone to land in accordance with the present invention.
  • FIG. 3 is a schematic diagram of still another embodiment of a method for guiding a drone to land in accordance with the present invention.
  • FIG. 4 is a schematic diagram of an embodiment of a navigation device for guiding a drone to land in accordance with the present invention.
  • FIG. 5 is a schematic diagram of another embodiment of a navigation device for guiding a drone to land in accordance with the present invention.
  • FIG. 6 is a schematic diagram of still another embodiment of a navigation device for guiding a drone to land.
  • FIG. 7 is a schematic diagram of still another embodiment of a navigation device for guiding a drone to land.
  • Figure 8 is a schematic illustration of one embodiment of a drone of the present invention.
  • Figure 9 is a schematic illustration of one embodiment of a landing platform for directing a drone to land.
  • Figure 10 is a schematic illustration of another embodiment of a landing platform for directing a drone to land.
  • FIG. 11 is a schematic diagram of an embodiment of a UAV navigation system of the present invention.
  • FIG. 12 is a schematic diagram of an embodiment of a navigation control of a drone according to the present invention.
  • FIG. 13 is a schematic diagram of another embodiment of the navigation control of the drone of the present invention.
  • Figure 1 is a schematic illustration of one embodiment of a method for directing a drone to land in accordance with the present invention.
  • the embodiment Method steps can be performed by a navigation device disposed on the drone. among them:
  • step 101 a landing indication is sent to the ground so that the landing platform receiving the landing indication displays the landing pattern.
  • the navigation device can send a landing indication directly to the ground.
  • the landing platform continuously transmits broadcast information, and when the navigation device of the drone receives the broadcast information, it can be determined that the landing platform is at a certain position in the nearby area. A landing indication can be sent to the ground at this time.
  • step 102 an image scan is performed on the ground to identify a landing pattern.
  • the landing indication includes a pattern identification such that the landing pattern displayed by the landing platform corresponds to the pattern identification. Therefore, the pattern corresponding to the pattern identification can be used as a landing pattern by image scanning and image recognition.
  • step 103 the drone is guided to land the landing target with a landing pattern and finally land on the landing platform.
  • landing success information is sent to the landing platform to cancel the landing pattern display on the landing platform.
  • a method for guiding a drone to land based on the above-described embodiments of the present invention by transmitting a landing indication to a landing platform, so that the landing platform displays a corresponding landing pattern according to the indication, so that the drone descends with the landing pattern as a landing target This allows the drone to land quickly and easily without extensive calculations.
  • FIG. 2 is a schematic view of another embodiment of a method for guiding a drone to land in accordance with the present invention.
  • the method steps of the embodiment may be performed by a navigation device disposed on the drone. among them:
  • step 201 a landing indication is sent to the ground so that the landing platform receiving the landing indication displays the landing pattern.
  • the landing indication includes a pattern identifier, so that the landing pattern displayed by the landing platform corresponds to the pattern identifier.
  • Step 202 by performing image scanning on the ground to identify a matching pattern corresponding to the pattern identification.
  • step 203 it is determined whether there is only one matching pattern. If there is only one matching pattern, step 204 is performed; if there are multiple matching patterns, step 201 is repeatedly performed, wherein the landing indication includes a reselected pattern identifier, so that the landing platform displays and reselects the pattern identifier. Corresponding landing pattern.
  • step 204 the matching pattern is used as a landing pattern.
  • step 205 the drone is guided to land with the landing pattern as a landing target, and finally landed on the landing platform.
  • Step 206 After the drone landed on the landing platform, send landing success information to the landing platform, so that the landing platform cancels the landing pattern display.
  • the landing instruction sent by the navigation device to the ground carries the No. 1 pattern identifier, and after receiving the landing instruction, the landing platform displays a set of concentric circles according to the No. 1 pattern identifier. Take as a landing pattern. If the landscape lighting on the nearby building is turned on, a set of concentric circles similar to the landing pattern is formed from a top view. At this time, the navigation device performs image scanning and image recognition on the ground, and it is found that there are two matching images corresponding to the No. 1 pattern identifier, so the navigation device can only distinguish which landing image is displayed on the landing platform only through the image. Which is the image formed by the landscape lighting on the building.
  • the present invention proposes that after the above situation occurs, the landing indication can be sent again to the ground, wherein the landing indication is carried with the No. 2 pattern identification.
  • the landing platform After receiving the landing indication, the landing platform displays a set of diamonds as a landing pattern according to the pattern designation No. 2, whereby the navigation device can land the diamond pattern as a landing target.
  • the navigation device on the drone may transmit a landing indication to the landing platform using infrared or other wireless means.
  • FIG. 3 is a schematic diagram of still another embodiment of a method for guiding a drone to land in accordance with the present invention.
  • the method steps of this embodiment may be performed by a landing platform. among them:
  • Step 301 Receive a landing instruction sent by a navigation device in the drone.
  • Step 302 Display a landing pattern on the landing platform after receiving the landing indication so that the drone can land for the landing target with the landing pattern.
  • the pattern identifier may be extracted from the landing indication to display a landing pattern corresponding to the pattern identifier.
  • the landing pattern display can be cancelled.
  • the landing platform can be fixed to the ground or a movable platform.
  • the landing platform can be an unmanned vehicle, a towed vehicle, or the like. Therefore, the drone descends on the landing platform, and the landing platform can directly send the articles directly to the target warehouse, the recipient, and the like, thereby saving the staff to carry out related operations such as loading the articles transported by the drone.
  • the navigation device may include a transmitting unit 401, an image scanning unit 402, and a landing control unit 403. among them:
  • the transmitting unit 401 transmits a landing indication to the ground so that the landing platform receiving the landing indication displays the landing pattern.
  • the landing indication includes a pattern identification such that the landing pattern displayed by the landing platform corresponds to the pattern identification.
  • the image scanning unit 402 performs image scanning on the ground to recognize the landing pattern.
  • the landing control unit 403 directs the drone to land for the landing target in the landing pattern and eventually land on the landing platform.
  • the landing control unit 403 is further configured to: after the drone landed on the landing platform, instruct the sending unit 401 to send landing success information to the landing platform, so that the landing platform cancels the landing pattern display.
  • the navigation device for guiding the drone landing by transmitting a landing instruction to the landing platform, so that the landing platform displays the corresponding landing pattern according to the indication, so that the drone performs the landing pattern as the landing target. Landing allows the drone to land quickly and easily without extensive calculations.
  • the image scanning unit 402 performs image scanning on the ground to identify a matching pattern corresponding to the pattern identifier.
  • the matching pattern is used as a landing pattern;
  • the indication transmitting unit 401 resends the landing indication to the ground, wherein the landing indication includes a reselected pattern identification so that the landing platform displays a landing pattern corresponding to the reselected pattern identification.
  • the navigation device resends the landing indication to the landing platform to instruct the landing platform to display the corresponding pattern in accordance with the re-selected pattern.
  • the landing pattern can effectively avoid the influence of the outside world on determining the landing pattern.
  • the navigation device may send a landing indication to the ground in a different manner.
  • a landing indication for example, in the schematic diagram of the navigation device for guiding the drone landing shown in FIG. 5, in addition to the transmitting unit 501, the image scanning unit 502, and the landing control unit 503, an area identifying unit 504 is further included. among them:
  • the area identification unit 504 is for identifying the area in which the drone is currently located.
  • the landing control unit 503 transmits a landing instruction to the ground after the area identifying unit 504 determines that the drone has reached the designated area.
  • a receiving unit 604 is further included. among them:
  • the receiving unit 604 is configured to receive the broadcast information sent by the landing platform, and the landing control unit 603 specifically sends the landing instruction to the ground after the receiving unit 604 receives the broadcast information sent by the landing platform.
  • FIG. 7 is a schematic diagram of still another embodiment of a navigation device for guiding a drone to land.
  • the navigation device can include a memory 701 and a processor 702. among them:
  • Memory 701 is for storing instructions
  • processor 702 is coupled to memory 701
  • processor 702 is configured to perform the methods involved in any of the embodiments of FIGS. 1 and 2 based on instructions stored by memory 701.
  • the navigation device further includes a communication interface 703 for performing information interaction with other devices.
  • the apparatus further includes a bus 704, and the processor 702, the communication interface 703, and the memory 701 complete communication with each other via the bus 704.
  • the present invention also relates to a drone 801 in which a navigation device 802 is provided. Its The navigation device 802 can be the navigation device shown in any of the embodiments of FIG. 4 to FIG.
  • FIG. 9 is a schematic illustration of one embodiment of a landing platform for directing a drone to land.
  • the landing platform includes a receiving module 901, a display control module 902, and a display module 903, wherein:
  • the receiving module 901 is configured to receive a landing indication sent by the navigation device in the drone. After the receiving module 901 receives the landing instruction, the display control module 902 displays the landing pattern through the display module 903 so that the drone can land for the landing target with the landing pattern.
  • the display control module 902 extracts the pattern identifier from the landing instruction, and displays a landing pattern corresponding to the pattern identifier on the display module 903.
  • the display control module 902 is further configured to cancel the landing pattern display after the receiving module 901 receives the landing success information sent by the navigation device in the drone.
  • the landing platform can be fixed to the ground or a movable platform.
  • the landing platform can be an unmanned vehicle, a towed vehicle, or the like. Therefore, the drone descends on the landing platform, and the landing platform can directly send the articles directly to the target warehouse, the recipient, and the like, thereby saving the staff to carry out related operations such as loading the articles transported by the drone.
  • Figure 10 is a schematic illustration of yet another embodiment of a landing platform for directing a drone to land.
  • the navigation device can include a memory 1001 and a processor 1002. among them:
  • the memory 1001 is for storing instructions
  • the processor 1002 is coupled to the memory 1001, and the processor 1002 is configured to perform the method of any of the embodiments of FIG. 3 based on instructions stored by the memory 1001.
  • the navigation device further includes a communication interface 1003 for performing information interaction with other devices.
  • the apparatus further includes a bus 1004, and the processor 1002, the communication interface 1003, and the memory 1001 complete communication with each other via the bus 1004.
  • the memory 701 in FIG. 7 and the memory 1001 in FIG. 10 may include a high speed RAM memory, and may further include a non-volatile memory, such as at least one disk memory.
  • Memory 701 and memory 1001 may also be memory arrays.
  • the memory 701 and the memory 1001 may also be partitioned, and the blocks may be combined into a virtual volume according to certain rules.
  • processor 702 in FIG. 7 and the processor 1002 in FIG. 10 may be a central processing unit CPU, or may be an application specific integrated circuit (ASIC), or configured to implement the embodiment of the present invention.
  • ASIC application specific integrated circuit
  • FIG. 11 is a schematic diagram of an embodiment of a UAV navigation system of the present invention. As shown in Figure 11, the system includes no one The machine 1101 and the landing platform 1102, wherein the drone 1101 is a drone according to any of the embodiments of FIG. 8, the landing platform 1102 is a landing platform according to any of the embodiments of FIGS. 9 and 10.
  • the drone transmits a landing indication to the landing platform, so that the landing platform displays a corresponding landing pattern according to the indication, so that the drone descends with the landing pattern as a landing target, so that The drone can be quickly and easily landed without extensive calculations.
  • FIG. 12 is a schematic diagram of an embodiment of a navigation control of a drone according to the present invention.
  • the navigation device on the drone sends a landing indication to the ground. among them:
  • step 1201 during the flight of the drone, the navigation device on the drone determines the area where the drone is currently located.
  • Step 1202 After the drone arrives at the designated area, the navigation device sends a landing indication to the ground.
  • Step 1203 After receiving the landing instruction, the movable landing platform extracts the pattern identifier from the landing instruction.
  • step 1204 the landing platform displays a landing pattern corresponding to the pattern identification.
  • step 1205 the navigation device performs an image scan on the ground to identify the landing pattern.
  • step 1206 the navigation device directs the drone to land for the landing target with the landing pattern.
  • step 1207 after the drone successfully landed on the landing platform, the navigation device sends a landing success message to the landing platform.
  • step 1208 the landing platform cancels the landing pattern display after receiving the landing success information.
  • step 1209 the landing platform is brought to the designated location by means of self-movement or traction.
  • FIG. 13 is a schematic diagram of another embodiment of the navigation control of the drone of the present invention.
  • the landing platform continuously sends broadcast information outwards so that the drone receiving the broadcast information sends a landing indication to the ground.
  • Step 1301a during the flight of the drone, the navigation device on the drone determines whether the broadcast information transmitted by the mobile landing platform can be received.
  • step 1301b the landing platform continuously sends broadcast information outward.
  • Step 1302 If the navigation device on the drone receives the broadcast information, indicating that the drone is close to the area where the landing platform is located, the navigation device sends a landing indication to the ground.
  • Step 1303 after receiving the landing instruction, the landing platform extracts the pattern identifier from the landing instruction.
  • Step 1304 the landing platform displays a landing pattern corresponding to the pattern identification.
  • the navigation device scans the ground for an image to identify the landing pattern.
  • step 1306 the navigation device directs the drone to land the landing target with the landing pattern.
  • Step 1307 after the drone successfully landed on the landing platform, the navigation device sends a landing success message to the landing platform.
  • Step 1308 the landing platform cancels the landing pattern display after receiving the landing success information.
  • step 1309 the landing platform is brought to the designated location by means of self-movement or traction.
  • the drone sends a landing indication to the landing platform, so that the landing platform displays the corresponding landing pattern according to the indication, so that the drone descends with the landing pattern as the landing target, so that the drone is convenient without a large amount of calculation. Landing quickly and quickly. Thereby greatly reducing the computational processing pressure of the drone and reducing the hardware configuration requirements of the drone.
  • the landing platform is a mobile platform, so the items placed on it can be directly sent to the target warehouse and other places, thereby saving the staff to carry the related items such as handling and loading of the items transported by the drone, thereby effectively reducing Manual intervention has significantly reduced the cost of item delivery.
  • the landing platform displays the corresponding landing pattern according to the landing instruction sent by the drone, so the landing pattern can be dynamically changed according to the indication, thereby effectively preventing the displayed landing pattern from being confused with other illuminants or images in the same area.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention may take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code. .
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that the computer Or performing a series of operational steps on other programmable devices to produce computer-implemented processing such that instructions executed on a computer or other programmable device are provided for implementing a block in a flow or a flow and/or block diagram of the flowchart Or the steps of the function specified in multiple boxes.

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Abstract

一种用于引导无人机降落的方法、装置和系统，其中无人机上的导航设备向地面发送着陆指示，以便接收到着陆指示的着陆平台显示着陆图案，导航设备对地面进行图像扫描以识别出着陆图案，并引导无人机以着陆图案为着陆目标进行降落，并最终降落在着陆平台上。通过使着陆平台根据接收到的指示显示相应的着陆图案，从而无人机以该着陆图案为着陆目标进行降落，使得无人机在无需经过大量计算的情况下方便快捷地实现着陆。

Description

用于引导无人机降落的方法、装置和系统 技术领域
本发明涉及飞行导航领域，特别是涉及一种用于引导无人机降落的方法、装置和系统。
背景技术
随着网络的蓬勃发展，通过网络购物已得到消费者的青睐，特别是在一线、二线城市已经非常普遍，同时网络购物也正在向三线、四线城市和乡镇农村地区扩展。但在广大乡镇农村地区，由于电子商务刚刚起步，人们通过网络购物的习惯还未养成，因此订单量还比较少，从而提高了包裹的配送成本。
为了克服这一缺陷，目前出现了通过无人机配送包裹的方式。为了能够使无人机准确降落，目前通常的方法是通过无人机识别出地面特定目标，同时结合几何定位算法以计算出该特定目标的位置坐标，进而根据该位置坐标引导无人机着陆。
显然，现有技术中在引导无人机降落时，需要进行大量的计算，在增加无人机处理负担和成本的同时，还降低了无人机着陆控制的效率。
发明内容
本发明的目的是：提供一种用于引导无人机降落的方法、装置和系统，其中着陆平台根据无人机的指示显示相应的着陆图案，无人机通过扫描，以该着陆图案为着陆目标进行降落，从而无人机在无需经过大量计算的情况下方便快捷地实现着陆。
根据本发明的一个方面，提供一种用于引导无人机降落的方法，包括：
向地面发送着陆指示，以便接收到着陆指示的着陆平台显示着陆图案；
对地面进行图像扫描以识别出着陆图案；
引导无人机以着陆图案为着陆目标进行降落，并最终降落在着陆平台上。
在一个实施例中，在无人机降落在着陆平台后，向着陆平台发送着陆成功信息，以便着陆平台取消着陆图案显示。
在一个实施例中，着陆指示中包括图案标识，以便着陆平台显示的着陆图案与图案标识相对应。
在一个实施例中，对地面进行图像扫描以识别出着陆图案包括：
通过对地面进行图像扫描以识别出与图案标识相对应的匹配图案；
在匹配图案仅有一个的情况下，将匹配图案作为着陆图案。
在一个实施例中，在匹配图案有多个的情况下，重新执行向地面发送着陆指示的步骤，其中着陆指示中包括重新选择的图案标识，以便着陆平台显示与重新选择的图案标识相对应的着陆图案。
在一个实施例中，在无人机到达指定的区域后，向地面发送着陆指示；或者，
在接收到着陆平台发送的广播信息后，向地面发送着陆指示。
根据本发明的另一方面，提供一种用于引导无人机降落的方法，包括：
接收无人机中的导航设备发送的着陆指示；
在接收到着陆指示后在着陆平台上显示着陆图案，以便无人机以着陆图案为着陆目标进行降落。
在一个实施例中，在接收到无人机中的导航设备发送的着陆成功信息后，取消着陆图案显示。
在一个实施例中，在接收到着陆指示后显示着陆图案的步骤包括：
在接收到着陆指示后，从着陆指示中提取出图案标识；
显示与图案标识相对应的着陆图案。
在一个实施例中，着陆平台为可移动平台。
根据本发明的又一方面，提供一种用于引导无人机降落的导航设备，包括发送单元、图像扫描单元和着陆控制单元，其中：
发送单元，用于向地面发送着陆指示，以便接收到着陆指示的着陆平台显示着陆图案；
图像扫描单元，用于对地面进行图像扫描以识别出着陆图案；
着陆控制单元，用于引导无人机以着陆图案为着陆目标进行降落，并最终降落在着陆平台上。
在一个实施例中，着陆控制单元还用于在无人机降落在着陆平台后，指示发送单元向着陆平台发送着陆成功信息，以便着陆平台取消着陆图案显示。
在一个实施例中，着陆指示中包括图案标识，以便着陆平台显示的着陆图案与图案标识相对应。
在一个实施例中，图像扫描单元具体通过对地面进行图像扫描以识别出与图案标识相对应的匹配图案，在匹配图案仅有一个的情况下，将匹配图案作为着陆图案。
在一个实施例中，图像扫描单元还用于在匹配图案有多个的情况下，指示发送单元重新向地面发送着陆指示，其中着陆指示中包括重新选择的图案标识，以便着陆平台显示与重新选择的图案标识相对应的着陆图案。
在一个实施例中，上述导航设备还包括区域识别单元，其中：
区域识别单元，用于识别无人机当前所处的区域；
着陆控制单元具体在区域识别单元确定无人机到达指定的区域后，向地面发送着陆指示。
在一个实施例中，上述导航设备还包括接收单元，其中：
接收单元，用于接收着陆平台发送的广播信息；
着陆控制单元具体在接收单元接收到着陆平台发送的广播信息后，向地面发送着陆指示。
根据本发明的又一方面，提供一种用于引导无人机降落的导航设备，包括存储器和处理器，其中：
存储器，用于存储指令；
处理器，耦合到存储器，处理器被配置为基于存储器存储的指令执行实现上述任一实施例涉及的由导航设备执行的方法。
根据本发明的又一方面，提供一种无人机，包括上述任一实施例涉及的导航设备。
根据本发明的又一方面，提供一种用于引导无人机降落的着陆平台，包括接收模块、显示控制模块和显示模块，其中：
接收模块，用于接收无人机中的导航设备发送的着陆指示；
显示控制模块，用于在接收模块接收到着陆指示后在显示模块上显示着陆图案，以便无人机以着陆图案为着陆目标进行降落。
在一个实施例中，显示控制模块还用于在接收模块接收到无人机中的导航设备发送的着陆成功信息后，取消着陆图案显示。
在一个实施例中，显示控制模块具体在接收模块接收到着陆指示后，从着陆指示中提取出图案标识，在显示模块上显示与图案标识相对应的着陆图案。
在一个实施例中，着陆平台为可移动平台。
根据本发明的又一方面，提供一种用于引导无人机降落的着陆平台，包括存储器和处理器，其中：
存储器，用于存储指令；
处理器，耦合到存储器，处理器被配置为基于存储器存储的指令执行实现上述任一实施例涉及的由着陆平台执行的方法。
根据本发明的又一方面，提供一种无人机导航系统，包括上述任一实施例涉及的无人机，以及上述任一实施例涉及的着陆平台。
通过以下参照附图对本发明的示例性实施例的详细描述，本发明的其它特征及其优点将会变得清楚。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1为本发明用于引导无人机降落的方法一个实施例的示意图。
图2为本发明用于引导无人机降落的方法另一实施例的示意图。
图3为本发明用于引导无人机降落的方法又一实施例的示意图。
图4为本发明用于引导无人机降落的导航设备一个实施例的示意图。
图5为本发明用于引导无人机降落的导航设备另一实施例的示意图。
图6为本发明用于引导无人机降落的导航设备又一实施例的示意图。
图7为本发明用于引导无人机降落的导航设备又一实施例的示意图。
图8为本发明无人机一个实施例的示意图。
图9为本发明用于引导无人机降落的着陆平台一个实施例的示意图。
图10为本发明用于引导无人机降落的着陆平台另一实施例的示意图。
图11为本发明无人机导航系统一个实施例的示意图。
图12为本发明无人机导航控制一个实施例的示意图。
图13为本发明无人机导航控制另一实施例的示意图。
具体实施方式
以下结合附图和实施例对本发明做进一步的详细说明。
图1为本发明用于引导无人机降落的方法一个实施例的示意图。可选地，本实施例的 方法步骤可由设置在无人机上的导航设备执行。其中：
步骤101，向地面发送着陆指示，以便接收到着陆指示的着陆平台显示着陆图案。
可选地，在无人机到达指定的区域后，导航设备可直接向地面发送着陆指示。或者，为了便于着陆平台与无人机建立联系，着陆平台向外不断发送广播信息，当无人机的导航设备接收到该广播信息后，可判断着陆平台就在附近区域的某个位置上，这时可向地面发送着陆指示。
步骤102，对地面进行图像扫描以识别出着陆图案。
可选地，着陆指示中包括图案标识，以便着陆平台显示的着陆图案与图案标识相对应。因此，可通过图像扫描和图像识别，将与图案标识相对应的图案作为着陆图案。
步骤103，引导无人机以着陆图案为着陆目标进行降落，并最终降落在着陆平台上。
可选地，在无人机降落在着陆平台后，向着陆平台发送着陆成功信息，以便着陆平台取消着陆图案显示。
基于本发明上述实施例提供的用于引导无人机降落的方法，通过向着陆平台发送着陆指示，以便着陆平台根据指示显示相应的着陆图案，从而无人机以该着陆图案为着陆目标进行降落，使得无人机在无需经过大量计算的情况下方便快捷地实现着陆。
图2为本发明用于引导无人机降落的方法另一实施例的示意图。可选地，本实施例的方法步骤可由设置在无人机上的导航设备执行。其中：
步骤201，向地面发送着陆指示，以便接收到着陆指示的着陆平台显示着陆图案。
其中，着陆指示中包括图案标识，以便着陆平台显示的着陆图案与图案标识相对应。
步骤202，通过对地面进行图像扫描以识别出与图案标识相对应的匹配图案。
步骤203，判断匹配图案是否仅有一个。若匹配图案仅有一个，则执行步骤204；若匹配图案有多个的情况下，则重复执行步骤201，其中着陆指示中包括重新选择的图案标识，以便着陆平台显示与重新选择的图案标识相对应的着陆图案。
步骤204，将匹配图案作为着陆图案。
步骤205，引导无人机以着陆图案为着陆目标进行降落，并最终降落在着陆平台上。
步骤206，在无人机降落在着陆平台后，向着陆平台发送着陆成功信息，以便着陆平台取消着陆图案显示。
在无人机着陆过程中，可能会遇到这样的情况。在导航设备向地面发送的着陆指示中携带有1号图案标识，着陆平台在接收到着陆指示后，根据1号图案标识显示一组同心圆 以作为着陆图案。若此时附近建筑物上的景观照明灯开启，从俯视角度看正好也形成与着陆图案相似的一组同心圆。此时导航设备对地面进行图像扫描和图像识别，就会发现有两个与1号图案标识相对应的匹配图像，因此导航设备仅通过图像，无法区分出哪个是在着陆平台上显示的着陆图像，哪个是建筑物上的景观照明所形成的图像。
为了避免这一问题，本发明提出在出现上述情况后，可再次向地面发送着陆指示，其中在该着陆指示中携带有2号图案标识。着陆平台在接收到着陆指示后，根据2号图案标识显示一组菱形以作为着陆图案，由此导航设备可将该菱形图案作为着陆目标进行着陆。通过上述处理，可有效避开外界对导航设备识别着陆图案的干扰。
在上述实施例中，无人机上的导航设备可采用红外或其它无线方式向着陆平台发送着陆指示。
图3为本发明用于引导无人机降落的方法又一实施例的示意图。可选地，本实施例的方法步骤可由着陆平台执行。其中：
步骤301，接收无人机中的导航设备发送的着陆指示。
步骤302，在接收到着陆指示后在着陆平台上显示着陆图案，以便无人机以着陆图案为着陆目标进行降落。
可选地，在接收到着陆指示后，可从着陆指示中提取出图案标识，进而显示与图案标识相对应的着陆图案。
此外，在接收到无人机中的导航设备发送的着陆成功信息后，可取消着陆图案显示。
可选地，着陆平台可固定在地面上，也可以是可移动平台。例如，着陆平台可以是无人驾驶车辆、被牵引车辆等。从而无人机在着陆平台上降落后，着陆平台可直接将物品直接送到目标仓库、收件人处等地点，从而节省了工作人员将无人机运送的物品进行装车等相关操作。
图4为本发明用于引导无人机降落的导航设备一个实施例的示意图。如图4所示，导航设备可包括发送单元401、图像扫描单元402和着陆控制单元403。其中：
发送单元401向地面发送着陆指示，以便接收到着陆指示的着陆平台显示着陆图案。
可选地，着陆指示中包括图案标识，以便着陆平台显示的着陆图案与图案标识相对应。
图像扫描单元402对地面进行图像扫描以识别出着陆图案。
着陆控制单元403引导无人机以着陆图案为着陆目标进行降落，并最终降落在着陆平台上。
可选地，着陆控制单元403还用于在无人机降落在着陆平台后，指示发送单元401向着陆平台发送着陆成功信息，以便着陆平台取消着陆图案显示。
基于本发明上述实施例提供的用于引导无人机降落的导航设备，通过向着陆平台发送着陆指示，以便着陆平台根据指示显示相应的着陆图案，从而无人机以该着陆图案为着陆目标进行降落，使得无人机在无需经过大量计算的情况下方便快捷地实现着陆。
可选地，图像扫描单元402通过对地面进行图像扫描以识别出与图案标识相对应的匹配图案，在匹配图案仅有一个的情况下，将匹配图案作为着陆图案；在匹配图案有多个的情况下，指示发送单元401重新向地面发送着陆指示，其中着陆指示中包括重新选择的图案标识，以便着陆平台显示与重新选择的图案标识相对应的着陆图案。
也就是说，若在进行图像扫描和图像识别中发现多个与图案标识相对应的匹配图案时，则导航设备会向着陆平台重新发送着陆指示，以便指示着陆平台按照重新选择的图案标识显示相应的着陆图案，从而可有效避免外界对确定着陆图案造成的影响。
可选地，导航设备可采用不同的方式向地面发送着陆指示。例如，在图5给出的用于引导无人机降落的导航设备的示意图中，除发送单元501、图像扫描单元502和着陆控制单元503外，还包括区域识别单元504。其中：
区域识别单元504用于识别无人机当前所处的区域。着陆控制单元503在区域识别单元504确定无人机到达指定的区域后，向地面发送着陆指示。
此外，在图6给出的用于引导无人机降落的导航设备的示意图中，除发送单元601、图像扫描单元602和着陆控制单元603外，还包括接收单元604。其中：
接收单元604用于接收着陆平台发送的广播信息，着陆控制单元603具体在接收单元604接收到着陆平台发送的广播信息后，向地面发送着陆指示。
图7为本发明用于引导无人机降落的导航设备又一实施例的示意图。如图7所示，导航设备可包括存储器701和处理器702。其中：
存储器701用于存储指令，处理器702耦合到存储器701，处理器702被配置为基于存储器701存储的指令执行实现如图1和图2中任一实施例涉及的方法。
此外，该导航设备还包括通信接口703，用于与其它设备进行信息交互。同时，该装置还包括总线704，处理器702、通信接口703、以及存储器701通过总线704完成相互间的通信。
如图8所示，本发明还涉及一种无人机801，在该无人机801中设有导航设备802。其 中，导航设备802可为图4至图7中任一实施例所示的导航设备。
图9为本发明用于引导无人机降落的着陆平台一个实施例的示意图。如图9所示，该着陆平台包括接收模块901、显示控制模块902和显示模块903，其中：
接收模块901用于接收无人机中的导航设备发送的着陆指示。显示控制模块902在接收模块901接收到着陆指示后，通过显示模块903显示着陆图案，以便无人机以着陆图案为着陆目标进行降落。
可选地，显示控制模块902具体在接收模块901接收到着陆指示后，从着陆指示中提取出图案标识，在显示模块903上显示与图案标识相对应的着陆图案。
可选地，显示控制模块902还用于在接收模块901接收到无人机中的导航设备发送的着陆成功信息后，取消着陆图案显示。
此外，着陆平台可固定在地面上，也可以是可移动平台。例如，着陆平台可以是无人驾驶车辆、被牵引车辆等。从而无人机在着陆平台上降落后，着陆平台可直接将物品直接送到目标仓库、收件人处等地点，从而节省了工作人员将无人机运送的物品进行装车等相关操作。
图10为本发明用于引导无人机降落的着陆平台又一实施例的示意图。如图10所示，导航设备可包括存储器1001和处理器1002。其中：
存储器1001用于存储指令，处理器1002耦合到存储器1001，处理器1002被配置为基于存储器1001存储的指令执行实现如图3中任一实施例涉及的方法。
此外，该导航设备还包括通信接口1003，用于与其它设备进行信息交互。同时，该装置还包括总线1004，处理器1002、通信接口1003、以及存储器1001通过总线1004完成相互间的通信。
其中，上述图7中的存储器701和图10中的存储器1001可以包含高速RAM存储器，也可还包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。存储器701和存储器1001也可以是存储器阵列。存储器701和存储器1001还可能被分块，并且块可按一定的规则组合成虚拟卷。
此外，上述图7中的处理器702和图10中的处理器1002可以是一个中央处理器CPU，或者可以是专用集成电路ASIC(Application Specific Integrated Circuit)，或者是被配置成实施本发明实施例的一个或多个集成电路。
图11为本发明无人机导航系统一个实施例的示意图。如图11所示，该系统包括无人 机1101和着陆平台1102，其中，无人机1101为图8中任一实施例涉及的无人机，着陆平台1102为图9和图10中任一实施例涉及的着陆平台。
基于本发明上述实施例提供的无人机导航系统，无人机向着陆平台发送着陆指示，以便着陆平台根据指示显示相应的着陆图案，从而无人机以该着陆图案为着陆目标进行降落，使得无人机在无需经过大量计算的情况下方便快捷地实现着陆。
下面通过具体示例对本发明进行说明。
图12为本发明无人机导航控制一个实施例的示意图。在该实施例中，在无人机到达指定的区域后，无人机上的导航设备向地面发送着陆指示。其中：
步骤1201，在无人机飞行过程中，无人机上的导航设备判断无人机当前所处的区域。
步骤1202，在无人机到达指定的区域后，导航设备向地面发送着陆指示。
步骤1203，可移动的着陆平台在接收到着陆指示后，从着陆指示中提取出图案标识。
步骤1204，着陆平台显示与图案标识相对应的着陆图案。
步骤1205，导航设备对地面进行图像扫描以识别出着陆图案。
步骤1206，导航设备引导无人机以着陆图案为着陆目标进行降落。
步骤1207，在无人机在着陆平台成功降落后，导航设备向着陆平台发送着陆成功信息。
步骤1208，着陆平台在接收到着陆成功信息后，取消着陆图案显示。
步骤1209，通过自行移动或牵引等方式使着陆平台到达指定地点。
图13为本发明无人机导航控制另一实施例的示意图。着陆平台向外不断发送广播信息，以便接收到该广播信息的无人机向地面发送着陆指示。
步骤1301a，无人机在飞行过程中，无人机上的导航设备判断是否能够接收到可移动的着陆平台发送的广播信息。相应的，在步骤1301b中，着陆平台向外不断发送广播信息。
步骤1302，若无人机上的导航设备接收到该广播信息，表明无人机已接近着陆平台所在区域，则导航设备向地面发送着陆指示。
步骤1303，着陆平台在接收到着陆指示后，从着陆指示中提取出图案标识。
步骤1304，着陆平台显示与图案标识相对应的着陆图案。
步骤1305，导航设备对地面进行图像扫描以识别出着陆图案。
步骤1306，导航设备引导无人机以着陆图案为着陆目标进行降落。
步骤1307，在无人机在着陆平台成功降落后，导航设备向着陆平台发送着陆成功信息。
步骤1308，着陆平台在接收到着陆成功信息后，取消着陆图案显示。
步骤1309，通过自行移动或牵引等方式使着陆平台到达指定地点。
通过实施本发明，可以得到以下有益效果：
1)无人机向着陆平台发送着陆指示，以便着陆平台根据指示显示相应的着陆图案，从而无人机以该着陆图案为着陆目标进行降落，使得无人机在无需经过大量计算的情况下方便快捷地实现着陆。从而极大减轻了无人机的计算处理压力，降低了无人机的硬件配置要求。
2)着陆平台为可移动平台，因此可将投放在其上的物品直接送到目标仓库等地点，从而节省了工作人员将无人机运送的物品进行搬运、装车等相关操作，因此有效减少了人工干预，显著降低了物品投递成本。
3)着陆平台根据无人机发送的着陆指示显示相应的着陆图案，因此着陆图案可根据指示进行动态变化，从而可有效防止所显示的着陆图案与同一区域的其它发光体或图像相互混淆。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用非瞬时性存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机 或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
本发明的描述是为了示例和描述起见而给出的，而并不是无遗漏的或者将本发明限于所公开的形式。很多修改和变化对于本领域的普通技术人员而言是显然的。选择和描述实施例是为了更好说明本发明的原理和实际应用，并且使本领域的普通技术人员能够理解本发明从而设计适于特定用途的带有各种修改的各种实施例。

Claims (25)

  1. 一种用于引导无人机降落的方法，其特征在于，包括：
    向地面发送着陆指示，以便接收到所述着陆指示的着陆平台显示着陆图案；
    对地面进行图像扫描以识别出所述着陆图案；
    引导无人机以所述着陆图案为着陆目标进行降落，并最终降落在所述着陆平台上。
  2. 根据权利要求1所述的方法，其特征在于，
    在无人机降落在所述着陆平台后，向所述着陆平台发送着陆成功信息，以便所述着陆平台取消着陆图案显示。
  3. 根据权利要求1或2所述的方法，其特征在于，
    所述着陆指示中包括图案标识，以便着陆平台显示的所述着陆图案与所述图案标识相对应。
  4. 根据权利要求3所述的方法，其特征在于，
    对地面进行图像扫描以识别出所述着陆图案包括：
    通过对地面进行图像扫描以识别出与所述图案标识相对应的匹配图案；
    在所述匹配图案仅有一个的情况下，将所述匹配图案作为着陆图案。
  5. 根据权利要求4所述的方法，其特征在于，
    在所述匹配图案有多个的情况下，重新执行向地面发送着陆指示的步骤，其中着陆指示中包括重新选择的图案标识，以便着陆平台显示与所述重新选择的图案标识相对应的着陆图案。
  6. 根据权利要求1或2所述的方法，其特征在于，还包括：
    在无人机到达指定的区域后，向地面发送着陆指示；或者，
    在接收到所述着陆平台发送的广播信息后，向地面发送着陆指示。
  7. 一种用于引导无人机降落的方法，其特征在于，包括：
    接收无人机中的导航设备发送的着陆指示；
    在接收到所述着陆指示后在着陆平台上显示着陆图案，以便无人机以所述着陆图案为着陆目标进行降落。
  8. 根据权利要求7所述的方法，其特征在于，还包括：
    在接收到所述无人机中的导航设备发送的着陆成功信息后，取消着陆图案显示。
  9. 根据权利要求7或8所述的方法，其特征在于，
    在接收到所述着陆指示后显示着陆图案的步骤包括：
    在接收到所述着陆指示后，从所述着陆指示中提取出图案标识；
    显示与所述图案标识相对应的着陆图案。
  10. 根据权利要求7或8所述的方法，其特征在于，
    所述着陆平台为可移动平台。
  11. 一种用于引导无人机降落的导航设备，其特征在于，包括发送单元、图像扫描单元和着陆控制单元，其中：
    发送单元，用于向地面发送着陆指示，以便接收到所述着陆指示的着陆平台显示着陆图案；
    图像扫描单元，用于对地面进行图像扫描以识别出所述着陆图案；
    着陆控制单元，用于引导无人机以所述着陆图案为着陆目标进行降落，并最终降落在所述着陆平台上。
  12. 根据权利要求11所述的导航设备，其特征在于，
    着陆控制单元还用于在无人机降落在所述着陆平台后，指示发送单元向所述着陆平台发送着陆成功信息，以便所述着陆平台取消着陆图案显示。
  13. 根据权利要求11或12所述的导航设备，其特征在于，
    所述着陆指示中包括图案标识，以便着陆平台显示的所述着陆图案与所述图案标识相对应。
  14. 根据权利要求13所述的导航设备，其特征在于，
    图像扫描单元具体通过对地面进行图像扫描以识别出与所述图案标识相对应的匹配图案，在所述匹配图案仅有一个的情况下，将所述匹配图案作为着陆图案。
  15. 根据权利要求14所述的导航设备，其特征在于，
    图像扫描单元还用于在所述匹配图案有多个的情况下，指示发送单元重新向地面发送着陆指示，其中着陆指示中包括重新选择的图案标识，以便着陆平台显示与所述重新选择的图案标识相对应的着陆图案。
  16. 根据权利要求11或12所述的导航设备，其特征在于，还包括区域识别单元，其中：
    区域识别单元，用于识别无人机当前所处的区域；
    着陆控制单元具体在区域识别单元确定无人机到达指定的区域后，向地面发送着陆指示。
  17. 根据权利要求11或12所述的导航设备，其特征在于，还包括接收单元，其中：
    接收单元，用于接收所述着陆平台发送的广播信息；
    着陆控制单元具体在接收单元接收到所述着陆平台发送的广播信息后，向地面发送着陆指示。
  18. 一种用于引导无人机降落的导航设备，其特征在于，包括存储器和处理器，其中：
    存储器，用于存储指令；
    处理器，耦合到所述存储器，所述处理器被配置为基于所述存储器存储的指令执行实现如权利要求1-6中任一项所述的方法。
  19. 一种无人机，其特征在于，包括如权利要求11-18中任一项所述的导航设备。
  20. 一种用于引导无人机降落的着陆平台，其特征在于，包括接收模块、显示控制模块和显示模块，其中：
    接收模块，用于接收无人机中的导航设备发送的着陆指示；
    显示控制模块，用于在接收模块接收到所述着陆指示后在显示模块上显示着陆图案，以便无人机以所述着陆图案为着陆目标进行降落。
  21. 根据权利要求20所述的着陆平台，其特征在于，
    显示控制模块还用于在接收模块接收到所述无人机中的导航设备发送的着陆成功信息后，取消着陆图案显示。
  22. 根据权利要求20或21所述的着陆平台，其特征在于，
    显示控制模块具体在接收模块接收到所述着陆指示后，从所述着陆指示中提取出图案标识，在显示模块上显示与所述图案标识相对应的着陆图案。
  23. 根据权利要求20或21所述的着陆平台，其特征在于，
    所述着陆平台为可移动平台。
  24. 一种用于引导无人机降落的着陆平台，其特征在于，包括存储器和处理器，其中：
    存储器，用于存储指令；
    处理器，耦合到所述存储器，所述处理器被配置为基于所述存储器存储的指令执行实现如权利要求7-10中任一项所述的方法。
  25. 一种无人机导航系统，其特征在于，包括如权利要求19所述的无人机，以及如权利要求20-24中任一项所述的着陆平台。
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