WO2022141251A1

WO2022141251A1 - Unmanned aerial vehicle landing method, vehicle compartment, unmanned aerial vehicle, system, device, and storage medium

Info

Publication number: WO2022141251A1
Application number: PCT/CN2020/141621
Authority: WO
Inventors: 黄宾; 王俊喜
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2022-07-07
Also published as: CN114616529A

Abstract

An unmanned aerial vehicle landing method, a vehicle compartment, an unmanned aerial vehicle, an unmanned aerial vehicle landing system, a device, and a storage medium. The method comprises: a probe signal transmitted by an unmanned aerial vehicle is received by at least two communication interfaces in a vehicle compartment, the relative position of the unmanned aerial vehicle relative to a vehicle compartment is detected, the unmanned aerial vehicle is controlled, on the basis of the relative position, to land in the vehicle compartment, thus allowing the vehicle compartment and the unmanned aerial vehicle to utilize the separated communication interfaces to implement the accurate measurement of the relative position between the unmanned aerial vehicle and the vehicle compartment, facilitating the unmanned aerial vehicle to land smoothly into the vehicle compartment, and increasing the precision of the landing.

Description

UAV landing method, cabin, UAV, system, equipment and storage medium

technical field

This application relates to the technical field of unmanned aerial vehicles, in particular to a method for landing an unmanned aerial vehicle, a cabin, an unmanned aerial vehicle, a landing system for an unmanned aerial vehicle, a computing processing device, a computer program product, a A computer-readable storage medium.

Background technique

With the continuous development of UAV technology, there are more and more demands for autonomous take-off, operation and return. In the future, drones can be equipped with cabins with functions such as charging and base stations. For example, the drone can take off automatically from the equipped cabin and automatically return to the cabin after the job is completed.

Some of the current technical means can mainly use RTK (Real-time kinematic, real-time dynamic) carrier phase difference technology, vision and other solutions to realize the automatic return of the UAV to the cabin. RTK is a new and commonly used satellite positioning measurement method. Therefore, it is easy to encounter interference and failure to search for satellites, and it cannot ensure that the UAV can successfully return to the cabin. In the vision solution, the farther the measured object is, the worse its absolute position accuracy will be. As the drone falls too close, the lens will not be able to focus, so that precise positioning cannot be achieved, and the drone cannot be made safe. Return to the cabin.

SUMMARY OF THE INVENTION

The present application provides a UAV landing method, a nacelle, an UAV, a UAV landing system, a computing processing device, a computer program product, and a computer-readable storage medium, which can achieve accurate relative positions between the UAV and the nacelle. Measure so that the drone can land smoothly into the cabin and improve the accuracy of the landing.

In a first aspect, an embodiment of the present application provides a method for landing an unmanned aerial vehicle, which is applied to a cabin, and the method includes:

At least two communication interfaces on the nacelle receive detection signals transmitted by the drone;

determining the relative position of the drone with respect to the cabin according to the detection signals received by the at least two communication interfaces;

According to the relative position, the drone is controlled to land in the cabin.

In a second aspect, an embodiment of the present application provides a method for landing an unmanned aerial vehicle, which is applied to an unmanned aerial vehicle, and the method includes:

The communication interface on the UAV transmits a detection signal to the cabin;

receiving the relative position of the drone relative to the nacelle sent by the nacelle, wherein the relative position is determined by the nacelle according to the detection signals received by at least two communication interfaces on the nacelle;

In a third aspect, an embodiment of the present application provides a cabin, including:

At least two communication interfaces for receiving the detection signal emitted by the UAV;

a processor, configured to determine the relative position of the drone relative to the cabin according to the detection signals received by the at least two communication interfaces;

The processor is further configured to control the drone to land in the cabin according to the relative position.

In a fourth aspect, an unmanned aerial vehicle is provided, comprising:

A communication interface for transmitting detection signals to the cabin;

a processor, configured to receive the relative position of the drone relative to the nacelle sent by the nacelle, wherein the relative position is received by the nacelle according to the detection signal of at least two communication interfaces on the nacelle Sure;

In a fifth aspect, a UAV landing system is provided, the UAV landing system includes a UAV and a cabin, and the system includes:

the unmanned aerial vehicle, which is used to transmit a detection signal using a communication interface on the unmanned aerial vehicle;

The nacelle is configured to receive the detection signal by using at least two communication interfaces on the nacelle, and according to the detection signal received by the at least two communication interfaces, determine the position of the drone relative to the nacelle. relative position, and control the drone to land in the cabin according to the relative position.

In a sixth aspect, a computing processing device is provided, including:

a memory in which computer readable code is stored;

One or more processors, when the computer readable code is executed by the one or more processors, the computing processing device executes the above-described drone landing method.

In a seventh aspect, there is provided a computer program product comprising instructions, which, when the instructions are executed on a computer, cause the computer to execute the above-mentioned UAV landing method.

In an eighth aspect, a computer-readable medium is provided, comprising instructions that, when executed on a computer, cause the computer to execute the above-described method for landing a drone.

According to the embodiment of the present application, the detection signals transmitted by the drone are received through at least two communication interfaces on the nacelle, and the relative position of the drone relative to the nacelle is detected according to the detection signals received by the at least two communication interfaces, According to the relative position, the UAV is controlled to land in the cabin, so that the cabin and the UAV utilize separate communication interfaces to achieve accurate measurement of the relative position between the UAV and the cabin, so that the UAV can Landed smoothly into the cabin to improve the accuracy of the landing.

The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the description, and in order to make the above-mentioned and other purposes, features and advantages of the present application more obvious and easy to understand , and the specific embodiments of the present application are listed below.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are For some embodiments of the present application, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 shows a flowchart of a method for landing a drone according to an embodiment of the present application;

Figure 2 shows a schematic diagram of the principle of two-dimensional angle measurement;

Figure 3 shows a schematic diagram of a two-dimensional angle measurement process;

Figure 4 shows a schematic diagram of the angle measurement error;

Figure 5 shows a schematic diagram of the distance error caused by the angle measurement error;

FIG. 6 shows a flowchart of a method for landing a drone according to another embodiment of the present application;

Figure 7 shows a schematic diagram of space during the landing of the drone;

Figure 8 shows a schematic diagram of the drone landing system;

Figure 9 shows a schematic diagram of the UAV landing process;

FIG. 10 shows a flowchart of a method for landing a drone according to another embodiment of the present application;

FIG. 11 shows a schematic diagram of a nacelle according to still another embodiment of the present application;

Fig. 12 shows a schematic diagram of an unmanned aerial vehicle according to still another embodiment of the present application;

FIG. 13 shows a schematic diagram of a drone landing system according to still another embodiment of the present application;

Figure 14 schematically shows a block diagram of a computing processing device for performing methods according to the present application; and

Figure 15 schematically shows a memory unit for holding or carrying program code implementing the method according to the application.

specific embodiment

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

In order for those skilled in the art to better understand the present application, the concepts involved in the present application are described below:

Unmanned aerial vehicles, or unmanned aircraft, are unmanned aircraft that are operated by radio remote control equipment and self-contained program control devices, or are operated fully or intermittently autonomously by an on-board computer. The UAV landing method provided in the embodiment of the present application is applied to the UAV landing process, and the cabin is equipped for the UAV and can be used for stopping the UAV. The drone and the cabin can be connected by wireless communication to transmit data or instructions to each other, for example, through Bluetooth communication.

The embodiment of the present application proposes to use a separate wireless signal transceiver device to locate the UAV, to install a communication interface on the UAV, and to install at least two communication interfaces on the cabin. The communication interface includes, but is not limited to, a wireless signal transmitting device, a wireless signal receiving device, etc. For example, a transmitting end of a millimeter-wave radar is installed on the drone, and at least two receiving ends of the millimeter-wave radar are installed on the cabin. Radar uses electromagnetic waves to detect targets and determine their spatial position. The electromagnetic wave emitted by the drone is recorded as the detection signal.

According to an embodiment of the present application, in order to avoid the problem that the drone cannot safely return to the cabin during the landing of the drone. The present application provides a landing mechanism for an unmanned aerial vehicle, which receives detection signals transmitted by the unmanned aerial vehicle through at least two communication interfaces on the nacelle, and determines, according to the detection signals received by the at least two communication interfaces, that the unmanned aerial vehicle is relative to the drone. The relative position of the cabin, according to the relative position, control the UAV to land in the cabin, so that the cabin and the UAV use a separate communication interface to achieve accurate measurement of the relative position between the UAV and the cabin , so that the drone can smoothly land in the cabin and improve the landing accuracy.

Referring to FIG. 1, FIG. 1 shows a flowchart of a method for landing a drone according to an embodiment of the present application, which is applied to a cabin and may include the following operations:

101. At least two communication interfaces on the nacelle receive detection signals sent by the drone.

In this embodiment of the present application, at least two communication interfaces on the nacelle may receive detection signals transmitted by the drone. For example, the drone may transmit detection signals through the communication interfaces. The above-mentioned communication interface may be a radar, and the radar may include a transmitter and a receiver. For example, two millimeter-wave radars are installed on the top of the cabin to receive detection signals emitted by fixed-frequency radars.

102. Determine a relative position of the drone with respect to the cabin according to the detection signals received by the at least two communication interfaces.

In the embodiment of the present application, after the at least two communication interfaces on the nacelle receive the detection signal, the relative position of the drone relative to the nacelle is determined by using the principle of radar angle measurement according to the detection signal. Exemplarily, when the target meets the far-field conditions, and the target distance d satisfies d>10×λ, λ is the wavelength. Taking a 24G radar as an example, the wavelength is 0.0125m. As can be seen from Figure 2, since the distance between each receiving channel is d and the angle of arrival is θ, the phase difference between the receiving

channel

1, 2, ..., N-1, the receiving signal and the receiving channel 0 is 2π× dsin(θ)/λ, 2π×2dsin(θ)/λ, …, 2π×(N-2)×d×sin(θ)/λ. The phase changes linearly, so after FFT (Fast Fourier Transform, Fast Fourier Transform), the corresponding frequency can be found out, so as to calculate the angle of arrival θ, that is, the two-dimensional angle of the drone relative to a communication interface.

For example, as shown in the schematic diagram of the two-dimensional angle measurement process shown in Figure 3, the radar receiving end receives the radar fixed frequency signal, and after mixing, the x-direction receives the antenna ADC (Analog-to-Digital Converter) signal , the y direction receives the antenna ADC signal. Then, perform FFT on the ADC signals of each receiving channel in different directions, search for peak points, fill in the peak points of each channel, and then perform FFT, respectively, to obtain the x-dimensional angle and the y-dimensional angle, that is, the UAV relative to the radar. The two-dimensional angle of the receiving end.

As shown in Figure 4, the angle measurement error is less than 0.5 degrees when the UAV is located within the range of plus or minus 20 degrees above the cabin. The schematic diagram of the distance error caused by the angle measurement error as shown in Figure 5, at different altitudes, due to the distance deviation caused by the angle measurement error, it can be seen from the figure that during the aircraft landing process, when the aircraft height is less than 5 meters, the accuracy Can be controlled within plus or minus 5 cm.

In the embodiment of the present application, according to the detection signal received by a communication interface, the two-dimensional angle of the drone relative to the communication interface can be determined by using the principle of radar angle measurement, and the distance of the drone relative to the communication interface cannot be known, Therefore, it is still impossible to know the exact location of the drone. To this end, at least another communication interface is required to receive the detection signal, and then the principle of radar angle measurement is used to determine the two-dimensional angle of the UAV relative to the other communication interface. Since the distance between the two communication interfaces can be measured in advance, in the triangle formed by the drone and the two communication interfaces, according to the distance between the two communication interfaces, the distance between the drone and the two communication interfaces From the two-dimensional angle, it is obvious that the length of the other two sides of the triangle can be calculated, that is, the relative position of the drone relative to the two communication interfaces can be detected, and then the relative position of the drone relative to the cabin can be calculated.

103. Control the drone to land in the cabin according to the relative position.

In this embodiment of the present application, according to the relative position of the UAV relative to the cabin, the implementation of controlling the UAV to land in the cabin may include various implementations. For example, according to the relative position, it is determined that the UAV deviates from the center of the bottom of the cabin. Whether the deviation distance directly above the position is greater than the preset threshold; if the deviation distance is greater than the preset threshold, according to the relative position, it is determined that the drone flies to just above the center position of the bottom of the cabin; if the deviation distance is not greater than the preset threshold In the case of setting the threshold, the drone is controlled to continue to descend, or according to the relative position, the drone is controlled to fly directly above the center position of the bottom of the nacelle while descending, or any other applicable implementation method, the embodiment of the present application. There is no restriction on this.

For example, the cabin detects that the drone is 30 degrees east relative to the center position of the bottom of the cabin, and the height from the bottom of the cabin is 3 meters, and the relative position of 30 degrees east and 3 meters high is sent to the drone After the aircraft, the drone generates a control command accordingly: fly westward

Meter, after the UAV executes the control command, the UAV flies directly above the center of the bottom of the cabin, and continues to descend. During the whole process, the radar transmitter of the UAV continues to transmit detection signals, and the radar of the cabin The receiving end receives the detection signal, and according to the received detection signal, detects the relative position of the UAV relative to the cabin, and generates a new control command accordingly, until the UAV completes the task of landing in the cabin.

Optionally, an implementation manner of controlling the drone to land in the cabin according to the relative position may include: the cabin sends the relative position to the drone; the The relative position is used to instruct the drone to generate a control command to land the drone into the cabin. The control commands are generated by the drone, and the cabin only provides relative positions, which reduces the computational tasks burdened by the cabin and reduces the cost of the cabin.

Optionally, in another implementation manner of controlling the UAV to land in the nacelle according to the relative position, the nacelle may generate a control of the UAV according to the relative position. instruction; the nacelle sends the control instruction to the drone; the control instruction is used to instruct the drone to land in the nacelle. The unmanned aerial vehicle executes the control instruction and descends into the cabin. The control commands are generated by the cabin, which reduces the computational tasks burdened by the UAV and reduces the power consumption of the UAV.

According to the embodiment of the present application, the detection signal is received through at least two communication interfaces on the cabin, and the cabin receives the detection signal transmitted by the drone according to the at least two communication interfaces, and determines the relative position of the drone relative to the cabin. position, according to the relative position, control the UAV to land in the cabin, so that the UAV uses the separated communication interface to realize the accurate measurement of the relative position between the UAV and the cabin, so that the UAV can Landed smoothly into the cabin to improve the accuracy of the landing.

Referring to FIG. 6, FIG. 6 shows a flowchart of a method for landing a drone according to another embodiment of the present application, which is applied to a cabin and may include the following operations:

201. At least two communication interfaces on the nacelle receive a detection signal sent by an unmanned aerial vehicle.

202. Determine the first angle information according to the detection signal received by the first communication interface, and determine the second angle information according to the detection signal received by the second communication interface.

In the embodiment of the present application, the first communication interface and the second communication interface are disposed on the top of the nacelle, and the connection between the first communication interface and the second communication interface passes through the center of the top of the nacelle. The cabin can generally be designed like a cylindrical box, a cubic box, etc. The greater the distance between the two communication interfaces, the more accurately the relative position of the drone and the cabin can be determined.

The first communication interface and the second communication interface respectively determine the angle information of the drone relative to their respective two dimensions through two-dimensional angle measurement, wherein the angle information of the drone relative to the first communication interface is recorded as the first angle information, the angle information of the drone relative to the second communication interface is recorded as the second angle information. Using the principle of two-dimensional angle measurement, the first angle information can be determined according to the detection signal received by the first communication interface, and the second angle information can be determined according to the detection signal received by the second communication interface.

203. Calculate the height information according to the first angle information, the second angle information, and the distance between the first communication interface and the second communication interface.

In the embodiment of the present application, the positions of the first communication interface and the second communication interface on the cabin are fixed, so the distance between the first communication interface and the second communication interface can be obtained in advance. According to the first angle information, the second angle information and the distance between the first communication interface and the second communication interface, the height information of the drone from the top of the nacelle can be calculated.

As shown in Figure 7, the space diagram of the UAV during the landing process, the distance between the first communication interface and the second communication interface is d. Using the principle of two-dimensional angle measurement, the measured angles are θ1, θ3, and θ2 respectively. , θ4, derive the height h of the UAV from the top of the cabin:

204. Determine the third angle information according to the detection signal received by the third communication interface.

In the embodiment of the present application, a third communication interface is deployed at the center of the bottom of the nacelle. According to the detection signal received by the third communication interface, the angle information of the drone relative to the third communication interface can be determined, which is recorded as the third angle information, that is, the third angle information of the central position of the drone relative to the bottom of the nacelle. The main function of the third communication interface is to calculate the angle of the UAV relative to the center position of the bottom of the nacelle, according to which the UAV can be controlled to be directly above the center of the bottom of the nacelle, so as to achieve accurate landing. Moreover, when the drone descends below the top of the cabin, the first communication interface and the second communication interface deployed on the top cannot continue to detect the relative position of the drone. At this time, it is necessary to rely on the third communication interface to detect the relative position of the drone. , since the third communication interface is deployed at the bottom of the nacelle, when the drone deviates from a large angle directly above the nacelle, due to the occlusion of the third communication interface by the bulkhead of the nacelle, only the first communication interface and the second communication interface can The relative position of the UAV is detected. Therefore, the cooperation of the three communication interfaces can ensure that the position of the UAV is detected in the whole process, thereby helping the UAV to land safely in the cabin.

For example, as shown in the schematic diagram of the UAV landing system shown in Figure 8, the UAV cabin is in the shape of a cube box, and a radar receiving end is respectively deployed at two diagonal positions at the top of the cabin, at the center of the bottom of the cabin , deploy a radar receiver.

205. Determine, according to the first angle information, the second angle information, the third angle information and the height information, whether the deviation distance of the drone from directly above the center position of the bottom of the nacelle is greater than a preset threshold.

In the embodiment of the present application, according to the first angle information, the second angle information, the third angle information and the height information, the deviation distance of the UAV from right above the center position of the bottom of the nacelle can be calculated, and then the deviation distance is determined Whether it is greater than the preset threshold, if it is greater than the preset threshold, it indicates that the UAV is not directly above the center of the bottom of the cabin, and the flight of the UAV needs to be adjusted to make the UAV fly to the bottom of the cabin If it is less than the preset threshold, it indicates that it is directly above the center of the bottom of the nacelle, and there is no need to adjust the flight of the UAV. Specifically, any applicable preset threshold may be set according to actual needs, which is not limited in this embodiment of the present application.

206, when the deviation distance is greater than a preset threshold, control the drone to fly to the bottom of the cabin according to the first angle information, the second angle information, the third angle information and the altitude information. directly above the center.

In the embodiment of the present application, when the deviation distance is greater than the preset threshold, it indicates that the drone is not directly above the center position of the bottom of the nacelle, and the flight of the drone needs to be adjusted. According to the first angle information, the second angle information, the third angle information and the height information, the displacement direction and distance that the UAV needs to adjust can be calculated, so as to generate corresponding control commands to control the flight of the UAV to the cabin. Just above the center of the bottom.

207. In the case that the deviation distance is not greater than a preset threshold, control the drone to continue to descend.

In the embodiment of the present application, when the deviation distance is not greater than the preset threshold, it indicates that it is in the vicinity of the center position of the bottom of the nacelle, and it is not necessary to adjust the flight of the UAV, and continue to control the UAV to carry out Descend until the drone lands on the bottom of the cabin.

For example, as shown in Figure 9, the schematic diagram of the UAV landing process, the No. 1 radar is deployed in the center of the bottom of the UAV. During the UAV's descent, the No. 1 radar continuously transmits a fixed-frequency detection signal, and the UAV The flight control module of the UAV adjusts the position of the UAV when it needs to adjust the position of the UAV. The No. 2 radar and the No. 3 radar are deployed at two diagonal positions on the top of the cabin. The No. 2 radar and the No. 3 radar receive the detection signal, calculate the two-dimensional angle, and calculate the height information according to the angle information. The No. 4 radar is deployed in the center of the bottom of the nacelle, and the No. 4 radar receives the detection signal and calculates the two-dimensional angle. Then the cabin sends information such as angle and altitude to the UAV through the wireless communication module. The UAV determines whether it needs to adjust the position according to the received information such as angle and height. If it is determined that the position needs to be adjusted, the flight control module adjusts the position of the UAV. If it is determined that the position does not need to be adjusted, it continues to land. It is judged whether the landing of the drone is completed here. If the judgment is completed, it will be received. If the judgment is not completed, the No. 1 radar will continue to transmit detection signals.

According to the embodiment of the present application, the detection signal transmitted by the drone is received through at least two communication interfaces on the nacelle, the first angle information is determined according to the detection signal received by the first communication interface, and the second angle information is determined according to the detection signal received by the first communication interface. the detection signal received by the communication interface, determine the second angle information, and calculate the height information according to the first angle information, the second angle information, and the distance between the first communication interface and the second communication interface , determine the third angle information according to the detection signal received by the third communication interface, and determine the deviation of the UAV according to the first angle information, the second angle information, the third angle information and the altitude information. Whether the deviation distance directly above the center position of the bottom of the nacelle is greater than a preset threshold, if the deviation distance is greater than the preset threshold, according to the first angle information, second angle information, third angle information and height information, control the drone to fly to just above the center position of the bottom of the cabin, and control the drone to continue to descend when the deviation distance is not greater than the preset threshold, so that the drone Using the separate communication interface, the precise measurement of the relative position between the UAV and the cabin can be achieved, so that the UAV can smoothly land in the cabin and improve the landing accuracy.

Referring to FIG. 10, FIG. 10 shows a flowchart of a method for landing a drone according to another embodiment of the present application, which is applied to a drone and may include the following operations:

301. The communication interface on the UAV transmits a detection signal to the cabin.

In the embodiment of the present application, during the landing of the drone, the communication interface on the drone transmits a detection signal. For example, the bottom of the drone is equipped with a transmitter of a millimeter-wave radar, which is used to transmit fixed-frequency radar signals.

Optionally, the communication interface is deployed at the central position of the bottom of the drone, so that the position of the communication interface can be directly equal to the position of the drone to obtain a more accurate relative position of the drone relative to the cabin.

302. Receive a relative position of the drone relative to the nacelle sent by the nacelle, where the relative position is determined by the nacelle according to the detection signals received by at least two communication interfaces on the nacelle.

303. Control the drone to land in the cabin according to the relative position.

In the embodiment of the present application, according to the relative position, the UAV can generate control instructions, and the UAV executes the control instructions, thereby landing in the cabin, which reduces the computational tasks burdened by the cabin and reduces the cost of the cabin.

Optionally, in another implementation manner of controlling the drone to land in the cabin according to the relative position, the method may include: according to the first angle information, the second angle information, and the third angle information and height information, to determine whether the deviation distance of the UAV from the center position of the bottom of the nacelle is greater than a preset threshold; if the deviation distance is greater than the preset threshold, according to the first angle information, second angle information, third angle information and altitude information, control the drone to fly to just above the center position of the bottom of the nacelle; when the deviation distance is not greater than the preset threshold, control The drone continues to descend.

Optionally, an implementation manner of controlling the UAV to land in the cabin according to the relative position may include: generating a control instruction of the UAV according to the relative position; executing the The control command causes the drone to land in the cabin.

According to the embodiment of the present application, a detection signal is sent to the cabin through a communication interface on the unmanned aerial vehicle, and a relative position of the unmanned aerial vehicle relative to the cabin sent by the engine cabin is received, wherein the relative position is determined by the The cabin is determined according to the detection signals received by at least two communication interfaces on the cabin, and according to the relative position, the UAV is controlled to land in the cabin, so that the UAV uses the separated communication interface to realize the unmanned aerial vehicle. Accurate measurement of the relative position between the aircraft and the cabin, so that the drone can smoothly land in the cabin and improve the landing accuracy.

Referring to FIG. 11, FIG. 11 shows a schematic diagram of a nacelle according to still another embodiment of the present application, where the nacelle includes at least two communication interfaces 401 and a processor 402;

Optionally, a first communication interface and a second communication interface are deployed on the top of the nacelle, and the connection between the first communication interface and the second communication interface passes through the center of the top of the nacelle, the The relative position includes first angle information of the drone relative to the first communication interface, second angle information of the drone relative to the second communication interface, and the distance of the drone from the The height information of the top of the nacelle, when the processor determines the relative position of the drone relative to the nacelle according to the detection signals received by the at least two communication interfaces, for:

Determine the first angle information according to the detection signal received by the first communication interface, and determine the second angle information according to the detection signal received by the second communication interface;

The height information is calculated according to the first angle information, the second angle information, and the distance between the first communication interface and the second communication interface.

Optionally, a third communication interface is deployed at the center position of the bottom of the nacelle, and the relative position further includes third angle information of the drone relative to the third communication interface, and the processor is The detection signals received by the at least two communication interfaces, when determining the relative position of the UAV with respect to the cabin, are further used for:

The third angle information is determined according to the detection signal received by the third communication interface.

Optionally, when controlling the UAV to land in the cabin according to the relative position, the processor is further configured to:

According to the first angle information, the second angle information, the third angle information and the height information, determine whether the deviation distance of the UAV from directly above the center position of the bottom of the nacelle is greater than a preset threshold;

When the deviation distance is greater than a preset threshold, control the drone to fly to the center position of the bottom of the cabin according to the first angle information, the second angle information, the third angle information and the altitude information directly above;

Under the condition that the deviation distance is not greater than a preset threshold, the UAV is controlled to continue to descend.

Optionally, when the processor controls the drone to land in the cabin according to the relative position, the processor is configured to:

The relative position is sent to the UAV, and the relative position is used to instruct the UAV to generate a control command to make the UAV land in the cabin.

According to the relative position, the control instruction of the UAV is generated;

Send the control instruction to the drone, where the control instruction is used to instruct the drone to land in the cabin.

According to the embodiment of the present application, the detection signal transmitted by the drone is received through at least two communication interfaces on the engine room, and the engine room determines the detection signal of the drone relative to the engine room according to the detection signals received by the at least two communication interfaces. Relative position, according to the relative position, control the UAV to land in the cabin, so that the UAV uses the separated communication interface to realize the accurate measurement of the relative position between the UAV and the cabin, so that the UAV can use the separated communication interface It can smoothly land into the cabin and improve the accuracy of the landing.

Referring to FIG. 12, FIG. 12 shows a schematic diagram of an unmanned aerial vehicle according to still another embodiment of the present application, and the unmanned aerial vehicle includes a communication interface 501 and a processor 502;

A communication interface for transmitting detection signals to the cabin;

Optionally, the communication interface is deployed in a central position of the bottom of the drone.

Optionally, a first communication interface and a second communication interface are deployed on the top of the cabin, and the relative position includes first angle information of the drone relative to the first communication interface, the drone Relative to the second angle information of the second communication interface and the height information of the drone from the top of the nacelle, the processor controls the drone to move toward the nacelle according to the relative position. When landing in the cabin, it is used to:

Execute the control instruction to make the drone land in the cabin.

According to the embodiment of the present application, a detection signal is transmitted through the engine room, and the relative position of the UAV relative to the engine room sent by the engine room is received, wherein the relative position is determined by the engine room according to at least two communications on the engine room. The detection signal received by the interface is determined, and according to the relative position, the UAV is controlled to land in the cabin, so that the UAV utilizes the separated communication interface to realize the precise relative position between the UAV and the cabin. Measure so that the drone can land smoothly into the cabin and improve the accuracy of the landing.

Referring to FIG. 13, FIG. 13 shows a schematic diagram of a drone landing system according to still another embodiment of the present application. The drone landing system includes a drone 601 and a cabin 602. Specifically, the system may include:

Optionally, a first communication interface and a second communication interface are deployed on the top of the nacelle, and the connection between the first communication interface and the second communication interface passes through a central area of the top of the nacelle, the The relative position includes first angle information of the drone relative to the first communication interface, second angle information of the drone relative to the second communication interface, and the distance of the drone from the The height information of the top of the nacelle, when the nacelle detects the relative position of the drone relative to the nacelle according to the detection signals received by the at least two communication interfaces, for:

Optionally, a third communication interface is deployed at the center position of the bottom of the nacelle, and the relative position further includes third angle information of the drone relative to the third communication interface, and the nacelle is located according to the The detection signal received by the at least two communication interfaces, when detecting the relative position of the drone relative to the cabin, is also used for:

Optionally, when the nacelle controls the drone to land in the nacelle according to the relative position, the nacelle is used to:

According to the first angle information, the second angle information, the third angle information and the height information, it is determined whether the deviation distance of the UAV from directly above the center position of the bottom of the nacelle is greater than a preset threshold;

Optionally, the communication interface on the UAV is deployed in a central position of the bottom of the UAV.

The cabin sends the relative position to the UAV, where the relative position is used to instruct the UAV to generate a control command to make the UAV land in the cabin.

The cabin generates a control command of the UAV according to the relative position;

The nacelle sends the control instruction to the UAV, where the control instruction is used to instruct the UAV to land in the nacelle.

According to the embodiment of the present application, a detection signal is transmitted through the communication interface on the drone, at least two communication interfaces on the cabin receive the detection signal, and the cabin detects the relative position of the drone according to the detection signals received by the at least two communication interfaces. Based on the relative position of the cabin, control the drone to land in the cabin according to the relative position, so that the drone can use the separate communication interface to achieve accurate measurement of the relative position between the drone and the cabin , so that the drone can smoothly land in the cabin and improve the landing accuracy.

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

Various component embodiments of the present application may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components in the computing processing device according to the embodiments of the present application. The present application can also be implemented as an apparatus or apparatus program (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present application may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

For example, Figure 14 shows a computing processing device that can implement methods according to the present application. The computing processing device traditionally includes a processor 1010 and a computer program product or computer readable medium in the form of a memory 1020 . The memory 1020 may be electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), EPROM, hard disk, or ROM. The memory 1020 has storage space 1030 for program code 1031 for performing any of the method steps in the above-described methods. For example, storage space 1030 for program code may include various program codes 1031 for implementing various steps in the above methods, respectively. These program codes can be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, compact disks (CDs), memory cards or floppy disks. Such computer program products are typically portable or fixed storage units as described with reference to FIG. 15 . The storage unit may have storage segments, storage spaces, etc. arranged similarly to the memory 1020 in the computing processing device of FIG. 13 . The program code may, for example, be compressed in a suitable form. Typically, the storage unit includes computer readable code 1031', ie code readable by a processor such as 1010 for example, which when executed by a computing processing device, causes the computing processing device to perform any of the methods described above. of the various steps.

Reference herein to "one embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with an embodiment is included in at least one embodiment of the present application. Also, please note that instances of the phrase "in one embodiment" herein are not necessarily all referring to the same embodiment.

In the description provided herein, numerous specific details are set forth. It will be understood, however, that the embodiments of the present application may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

A method for landing an unmanned aerial vehicle, characterized in that it is applied to a cabin, the method comprising:

At least two communication interfaces on the nacelle receive detection signals transmitted by the drone;

determining the relative position of the drone with respect to the cabin according to the detection signals received by the at least two communication interfaces;

According to the relative position, the drone is controlled to land in the cabin.
The method according to claim 1, wherein a first communication interface and a second communication interface are deployed on the top of the nacelle, and a connection between the first communication interface and the second communication interface passes through the nacelle The center position of the top of the drone, the relative position information includes first angle information of the drone relative to the first communication interface, second angle information of the drone relative to the second communication interface, and all The height information of the drone from the top of the cabin, and determining the relative position of the drone relative to the cabin according to the detection signals received by the at least two communication interfaces includes:

Determine the first angle information according to the detection signal received by the first communication interface, and determine the second angle information according to the detection signal received by the second communication interface;

The height information is calculated according to the first angle information, the second angle information, and the distance between the first communication interface and the second communication interface.
The method according to claim 2, wherein a third communication interface is deployed at a center position of the bottom of the nacelle, and the relative position information further includes the first position of the drone relative to the third communication interface. Three-angle information, the determining the relative position of the drone relative to the cabin according to the detection signals received by the at least two communication interfaces further includes:

The third angle information is determined according to the detection signal received by the third communication interface.
The method according to claim 3, wherein the controlling the drone to land in the cabin according to the relative position comprises:

According to the first angle information, the second angle information, the third angle information and the height information, determine whether the deviation distance of the UAV from directly above the center position of the bottom of the nacelle is greater than a preset threshold;

When the deviation distance is greater than a preset threshold, control the drone to fly to the center position of the bottom of the cabin according to the first angle information, the second angle information, the third angle information and the altitude information directly above;

Under the condition that the deviation distance is not greater than a preset threshold, the UAV is controlled to continue to descend.
The method according to claim 1, wherein the controlling the drone to land in the cabin according to the relative position comprises:

The relative position is sent to the UAV, and the relative position is used to instruct the UAV to generate a control command to make the UAV land in the cabin.
The method according to claim 1, wherein the controlling the drone to land in the cabin according to the relative position comprises:

According to the relative position, the control instruction of the UAV is generated;

Send the control instruction to the drone, where the control instruction is used to instruct the drone to land in the cabin.
A method for landing an unmanned aerial vehicle, characterized in that it is applied to an unmanned aerial vehicle, the method comprising:

The UAV transmits a detection signal to the cabin;

receiving the relative position of the drone relative to the nacelle sent by the nacelle, wherein the relative position is determined by the nacelle according to the detection signals received by at least two communication interfaces on the nacelle;

According to the relative position, the drone is controlled to land in the cabin.
The method according to claim 7, wherein the drone transmits a detection signal to the nacelle through a communication interface, and the communication interface is deployed at a central position of the bottom of the drone.
The method according to claim 7, wherein a first communication interface and a second communication interface are deployed on the top of the nacelle, and the relative position information includes a first communication interface of the drone relative to the first communication interface. Angle information, second angle information of the drone relative to the second communication interface, and height information of the drone from the top of the nacelle, the drone is controlled according to the relative position. Landing of the man-machine into the cabin includes:

According to the first angle information, the second angle information, the third angle information and the height information, determine whether the deviation distance of the UAV from directly above the center position of the bottom of the nacelle is greater than a preset threshold;

When the deviation distance is greater than a preset threshold, control the drone to fly to the center position of the bottom of the cabin according to the first angle information, the second angle information, the third angle information and the altitude information directly above;

Under the condition that the deviation distance is not greater than a preset threshold, the UAV is controlled to continue to descend.
The method according to claim 7, wherein the controlling the drone to land in the cabin according to the relative position comprises:

According to the relative position, the control instruction of the UAV is generated;

Execute the control instruction to make the drone land in the cabin.
A cabin, characterized in that, comprising:

At least two communication interfaces for receiving the detection signal emitted by the UAV;

a processor, configured to determine the relative position of the drone relative to the cabin according to the detection signals received by the at least two communication interfaces;

The processor is further configured to control the drone to land in the cabin according to the relative position.
The nacelle according to claim 11, wherein a first communication interface and a second communication interface are disposed on the top of the nacelle, and the connection between the first communication interface and the second communication interface passes through the the center position of the top of the nacelle, the relative position information includes first angle information of the drone relative to the first communication interface, second angle information of the drone relative to the second communication interface, and height information of the drone from the top of the nacelle, when the processor determines the relative position of the drone relative to the nacelle according to the detection signals received by the at least two communication interfaces , for:

Determine the first angle information according to the detection signal received by the first communication interface, and determine the second angle information according to the detection signal received by the second communication interface;

The height information is calculated according to the first angle information, the second angle information, and the distance between the first communication interface and the second communication interface.
The nacelle according to claim 12, wherein a third communication interface is deployed at a center position of the bottom of the nacelle, and the relative position information further includes the first position of the drone relative to the third communication interface. Three-angle information, when the processor determines the relative position of the UAV relative to the cabin according to the detection signals received by the at least two communication interfaces, the processor is further configured to:

The third angle information is determined according to the detection signal received by the third communication interface.
The nacelle according to claim 13, wherein when the processor controls the drone to land in the nacelle according to the relative position, the processor is further configured to:

According to the first angle information, the second angle information, the third angle information and the height information, determine whether the deviation distance of the UAV from directly above the center position of the bottom of the nacelle is greater than a preset threshold;

When the deviation distance is greater than a preset threshold, control the drone to fly to the center position of the bottom of the cabin according to the first angle information, the second angle information, the third angle information and the altitude information directly above;

Under the condition that the deviation distance is not greater than a preset threshold, the UAV is controlled to continue to descend.
The nacelle according to claim 11, wherein when the processor controls the drone to land in the nacelle according to the relative position, the processor is configured to:

The relative position is sent to the UAV, and the relative position is used to instruct the UAV to generate a control command to make the UAV land in the cabin.
The nacelle according to claim 11, wherein when the processor controls the drone to land in the nacelle according to the relative position, the processor is configured to:

According to the relative position, the control instruction of the UAV is generated;

Send the control instruction to the drone, where the control instruction is used to instruct the drone to land in the cabin.
An unmanned aerial vehicle, characterized in that it includes:

A communication interface for transmitting detection signals to the cabin;

a processor, configured to receive the relative position of the drone relative to the nacelle sent by the nacelle, wherein the relative position is received by the nacelle according to the detection signal of at least two communication interfaces on the nacelle Sure;

The processor is further configured to control the drone to land in the cabin according to the relative position.
The unmanned aerial vehicle of claim 17, wherein the communication interface is deployed at a central position of the bottom of the unmanned aerial vehicle.
The drone according to claim 17, wherein a first communication interface and a second communication interface are deployed on the top of the nacelle, and the relative position information includes the position of the drone relative to the first communication interface. First angle information, second angle information of the drone relative to the second communication interface, and height information of the drone from the top of the nacelle, the processor is based on the relative position , when the drone is controlled to land in the cabin, it is used to:

According to the first angle information, the second angle information, the third angle information and the height information, determine whether the deviation distance of the UAV from directly above the center position of the bottom of the nacelle is greater than a preset threshold;

When the deviation distance is greater than a preset threshold, control the drone to fly to the center position of the bottom of the cabin according to the first angle information, the second angle information, the third angle information and the altitude information directly above;

Under the condition that the deviation distance is not greater than a preset threshold, the UAV is controlled to continue to descend.
The drone according to claim 17, wherein when the processor controls the drone to land in the cabin according to the relative position, the processor is configured to:

generating a control command of the drone according to the relative position;

Execute the control instruction to make the drone land in the cabin.
A drone landing system, characterized in that the drone landing system includes a drone and a cabin, and the system includes:

the unmanned aerial vehicle, which is used to transmit a detection signal by using a communication interface on the unmanned aerial vehicle;

The nacelle is configured to receive the detection signal by using at least two communication interfaces on the nacelle, and according to the detection signal received by the at least two communication interfaces, determine the position of the drone relative to the nacelle. relative position, and control the drone to land in the cabin according to the relative position.
A computing and processing device, comprising:

a memory in which computer readable code is stored;

One or more processors, when the computer readable code is executed by the one or more processors, the computing processing device performs the drone landing method of any one of claims 1-10 .
A computer program product comprising instructions, wherein the instructions, when executed on a computer, cause the computer to perform the method of any one of claims 1-10.
A computer-readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of any one of claims 1-10.