WO2022233179A1

WO2022233179A1 - Landing control of unmanned aerial vehicle

Info

Publication number: WO2022233179A1
Application number: PCT/CN2022/078376
Authority: WO
Inventors: 毛一年; 夏华夏; 胡凌云; 陈刚; 刘宝旭; 李颖杰
Original assignee: 北京三快在线科技有限公司
Priority date: 2021-05-07
Filing date: 2022-02-28
Publication date: 2022-11-10
Also published as: CN112987766B; CN112987766A

Abstract

A landing control method for an unmanned aerial vehicle. The steps of the method comprise: in response to receiving a landing request of a target unmanned aerial vehicle, acquiring flight information of a preceding unmanned aerial vehicle (S21), wherein the preceding unmanned aerial vehicle is an unmanned aerial vehicle sharing the same parking platform with the target unmanned aerial vehicle, and the flight information comprises the moment when the preceding unmanned aerial vehicle leaves the parking platform after completing landing; determining a target spatial sub-region, in which the target unmanned aerial vehicle is located, in a landing airspace corresponding to the parking platform (S22), wherein the landing airspace comprises a plurality of spatial sub-regions which do not overlap each other; and when the preceding unmanned aerial vehicle has not left the parking platform, controlling, according to the flight information, the target unmanned aerial vehicle to pass through the target spatial sub-region to land on the parking platform, so that the moment when the target unmanned aerial vehicle lands on the parking platform is later than the moment when the preceding unmanned aerial vehicle leaves the parking platform (S23).

Description

drone landing control

This application claims the priority of the Chinese patent application with the application number 202110497048.8 and the application name "UAV landing control method, device, storage medium and electronic equipment" filed on May 7, 2021, the entire contents of which are incorporated by reference in this application.

technical field

The present disclosure relates to the technical field of unmanned aerial vehicles, and in particular, to a landing control of an unmanned aerial vehicle.

Background technique

UAV is an unmanned aerial vehicle controlled by radio remote control equipment or its own program control device. With the breakthrough of drone technology, the global drone industry has developed rapidly. At present, UAVs have been widely used in aerial photography, agriculture, power system maintenance and other fields.

In the process of the UAV completing the specified task, there may be a phenomenon that multiple UAVs take off and land at the designated location.

SUMMARY OF THE INVENTION

The purpose of the present disclosure is to provide a drone landing control, and the technical solution is as follows.

In order to achieve the above object, according to a first aspect of the embodiments of the present disclosure, a method for controlling the landing of an unmanned aerial vehicle is provided, including:

In response to receiving the landing request of the target UAV, the flight information of the pre-sequence UAV is acquired, wherein the pre-sequence UAV is a UAV that shares the same parking platform with the target UAV, and the The flight information includes the moment when the pre-sequence drone leaves the parking platform after completing the landing;

determining the target space sub-region where the target UAV is located in the landing airspace corresponding to the parking platform, wherein the landing airspace includes multiple non-overlapping space sub-regions;

In the case that the pre-sequence drone does not leave the parking platform, control the target drone to land on the parking platform through the target space sub-region according to the flight information, so that the target has no The time when the man-machine landed on the parking platform is later than the time when the pre-sequence drone leaves the parking platform.

According to a second aspect of the embodiments of the present disclosure, there is provided a drone landing control device, including:

The first acquisition module is used for acquiring the flight information of the pre-sequence UAV in response to receiving the landing request of the target UAV, wherein the pre-sequence UAV shares the same parking platform with the target UAV The drone, the flight information includes the moment when the pre-sequence drone leaves the parking platform after landing;

a first determination module, configured to determine a target space sub-region where the target UAV is located in the landing airspace corresponding to the parking platform, wherein the landing airspace includes a plurality of non-overlapping space sub-regions;

A landing control module, configured to control the target drone to land on the parking platform through the target space sub-region according to the flight information when the pre-sequence drone does not leave the parking platform , so that the time when the target UAV lands on the parking platform is later than the time when the preceding UAV leaves the parking platform.

According to a third aspect of the embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the method in any one of the above-mentioned first aspects .

According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic device, comprising:

a memory on which a computer program is stored;

A processor, configured to execute the computer program in the memory, to implement the steps of the method in any one of the above-mentioned first aspects.

According to a fifth aspect of embodiments of the present disclosure, there is provided a computer program product, the computer program product comprising computer instructions stored in a non-transitory computer-readable storage medium, from which a processor of a computer device retrieves The computer-readable storage medium reads the computer instructions, and the processor executes the computer instructions, so that the computer device implements the steps of the method in any one of the above-mentioned first aspects.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and together with the following detailed description, are used to explain the present disclosure, but not to limit the present disclosure. In the attached image:

FIG. 1 is a schematic diagram of a drone landing scene shown in an exemplary embodiment of the present disclosure;

FIG. 2 is a flowchart of a method for controlling the landing of an unmanned aerial vehicle according to an exemplary embodiment of the present disclosure;

3 is a top view of a parking platform and its landing airspace according to an exemplary embodiment of the present disclosure;

4 is a top view of a parking platform and its landing airspace according to an exemplary embodiment of the present disclosure;

FIG. 5 is a front view of the parking platform and its landing airspace shown in FIG. 3 according to an exemplary embodiment of the present disclosure;

FIG. 6 is a flowchart of a method for controlling the landing of an unmanned aerial vehicle according to an exemplary embodiment of the present disclosure;

7 is a schematic diagram of a drone landing scene shown in an exemplary embodiment of the present disclosure;

FIG. 8 is a block diagram of a drone landing control device according to an exemplary embodiment of the present disclosure;

FIG. 9 is a block diagram of an electronic device according to an exemplary embodiment of the present disclosure.

Detailed ways

The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, but not to limit the present disclosure.

Before introducing the UAV landing control method of the present disclosure, the application scenarios of the present disclosure are first introduced. In one or more embodiments, the embodiments provided by the present disclosure are applied to a drone landing control scenario. Exemplarily, the drone is a drone that performs tasks such as logistics distribution, food delivery and the like.

In related scenarios, multiple drones may need to take off and land from the same parking platform when the drone is performing a flight mission. For example, referring to the schematic diagram of a UAV landing scenario shown in FIG. 1 , UAV A and UAV B may need to take off and land from the same parking platform when performing a flight mission. Exemplarily, in this case, control the drone A to fly to the position point P1 just above the parking platform, and then vertically land to the position point P2 in the parking platform (this process is the landing of the drone A). process). After the UAV A completes relevant operations (such as loading and unloading goods) on the parking platform, the UAV A is controlled to take off vertically to the position point P1 directly above the parking platform, and then leave the corresponding position of the parking platform. Airspace (this process is the take-off process of UAV A). In one or more embodiments, the drone B is controlled to perform the same landing process and take-off process as the above-mentioned drone A, so as to realize the take-off and landing control of multiple drones.

However, in the related art, UAV A and UAV B share the landing airspace between location point P1 and location point P2. Therefore, in order to avoid collision, UAV B needs to wait for UAV A to complete the landing process , the ground operation process and the take-off process before the flight to the position point P1 can be started. That is to say, using such a UAV landing method, there is a problem that the UAV landing efficiency is low.

To this end, the present disclosure provides a UAV landing control method. Referring to the flowchart of a UAV landing control method shown in FIG. 2 , the method includes:

In step 21, in response to receiving the landing request of the target UAV, the flight information of the preceding UAV is acquired.

In one or more embodiments, the precursor UAV is a UAV that shares the same parking platform with the target UAV. Exemplarily, the preceding UAV is in a state of waiting to land, a state of landing (ie, in the process of landing), or a state of being parked on the parking platform. Exemplarily, the parking platform is an area or a piece of equipment, such as a distribution cabinet for the drone to load and unload cargo, maintenance equipment for the drone to perform battery replacement, and the like. Exemplarily, the flight information includes the time when the pre-sequence UAV leaves the parking platform after completing the landing.

Take the method applied to the drone landing control server as an example. In one or more embodiments, the drone landing control server acquires the flight status of each drone, such as landing time, takeoff time, and the like, by communicating with each drone in the landing airspace. In this way, in one or more embodiments, when receiving the landing request of the target drone, the drone landing control server acquires the need to land on the parking platform before the target drone The UAV is used as the pre-sequence UAV, and the flight information of each pre-sequence UAV is determined.

Furthermore, in some possible implementation scenarios, the method is applied to the target drone. Exemplarily, in this case, the landing request is generated by the control component of the target UAV based on a corresponding trigger condition (eg, a condition for reaching a specified location area). Correspondingly, in one or more embodiments, the target UAV obtains the flight information of the preceding UAV in the airspace corresponding to the parking platform by sending a request to the UAV landing control server. .

In step 22, the target space sub-region where the target UAV is located in the landing airspace corresponding to the parking platform is determined.

Wherein, the landing airspace includes multiple spatial sub-regions that do not overlap with each other. Referring to the top view of a parking platform and its landing airspace shown in FIG. 3 , in the example of FIG. 3 , the landing airspace is a cylindrical area, and the landing airspace includes a space sub-region 1 and a space sub-region 2 . The vertical projection of the intersecting plane of the space sub-region 1 and the space sub-region 2 on the parking platform is the center line of the parking platform.

In addition, in some implementation scenarios, the landing airspace may also include more than two spatial sub-regions, and the vertical projection of the common intersection of the two or more spatial sub-regions on the parking platform is the parking platform the midpoint of . For example, referring to the top view of a parking platform and its landing airspace shown in FIG. 4 , the landing airspace is a cylindrical area, and the landing airspace includes a space sub-region 3, a space sub-region 4, a space sub-region 5 and a space Sub-area 6. Wherein, the vertical projection of the common intersection of the space sub-region 3, the space sub-region 4, the space sub-region 5 and the space sub-region 6 on the parking platform is the midpoint of the parking platform.

It is worth noting that in FIGS. 3 and 4 , the landing airspace and the spatial sub-regions included in the landing airspace are described by taking the landing airspace as a cylindrical region as an example. However, those skilled in the art should know that in specific implementation, the shape of the landing airspace can also be other types (such as a cube), and the vertical projection of the common intersection of the space subregions on the parking platform can also be located at For other points of the shutdown platform, the present disclosure does not limit this.

In this way, in step 22, the target space sub-region where the target UAV is located in the landing airspace corresponding to the parking platform can be determined based on the position information of the target UAV and the position range of each space sub-region .

In step 23, under the condition that the pre-sequence UAV has not left the parking platform, the target UAV is controlled to land on the parking platform through the target space sub-region according to the flight information, The time when the target UAV lands on the parking platform is later than the time when the preceding UAV leaves the parking platform.

In one or more embodiments, the fact that the pre-sequence UAV has not left the parking platform means that the pre-sequence UAV is waiting to land on the parking platform, and the pre-sequence UAV is landing to The landing platform or the pre-sequence UAV has landed on the landing platform but has not left the landing platform. Exemplarily, in this case, the target UAV is controlled to land according to the flight information of the preceding UAV.

For example, in a possible implementation, based on the location information of the target UAV in the target space sub-area, the location information of the parking platform and the departure of the pre-sequence UAV from the When the platform is stopped, the horizontal velocity component and the vertical velocity component of the target UAV in the target space sub-region are calculated.

In this way, when the pre-sequence UAV has not completed landing or has not left the parking platform, the target UAV can be controlled to pass through the target space according to the horizontal velocity component and the vertical velocity component The sub-area is lowered onto the parking platform.

FIG. 5 is a front view of the parking platform and its landing airspace shown in FIG. 3 , and the following examples will be described with reference to FIGS. 1 , 3 and 5 . For example, the current time is 7:00, the pre-sequence UAV A descends to the position point P2 on the parking platform through the path S1, and the pre-sequence UAV A leaves at 7:05 after unloading the cargo on the parking platform the stop platform. In this case, the time 7:06 after 7:05 is taken as the target time when the target UAV B arrives at the position point P2 (for example, the time when the UAV A leaves the parking platform in the preceding sequence is increased by one The time threshold is used as the target time), and the time difference of 6 minutes between the target time and the current time is the landing time of the target UAV B.

In this way, in one or more embodiments, the target UAV B in the target space can be calculated according to the landing duration, the position information and speed information of the target UAV B, and the position information of the parking platform. The horizontal velocity component and the vertical velocity component within the subregion. Further, in one or more embodiments, the target drone B is controlled according to the horizontal velocity component and the vertical velocity component without waiting for the preceding drone A to complete the entire landing process and take-off process. The path S2 in the target space sub-area landed on the position point P2 on the parking platform, so that the time when the target UAV landed on the parking platform was later than the time when the pre-sequence UAV left the parking platform. Describe the moment when the platform was shut down.

Compared with the related art, the drones share the same landing airspace (as shown in FIG. 1 , the landing airspace is the landing area of the position point P1 and the position point P2), the technical solution provided by the embodiment of the present disclosure The landing airspace corresponding to the platform (for example, the landing airspace between the position point P1 and the position point P2) is segmented, and multiple non-overlapping space sub-regions can be obtained, wherein the space sub-region is used to limit the descent of the UAV route, so that the descent routes of UAVs located in different spatial sub-areas do not interfere with each other. In this way, when the target UAV needs to land, it is possible to obtain the moment when the preceding UAV sharing the same parking platform with the target UAV leaves the parking platform, and to obtain the target space sub-region where the target UAV is located. Further, in one or more embodiments, the target drone is controlled to land through the target space sub-area according to the flight information when the pre-sequence drone does not leave the parking platform. onto the parking platform, so that the time when the target UAV landed on the parking platform is later than the time when the pre-sequence UAV leaves the parking platform. That is to say, with the above technical solution, the target UAV does not need to wait for the preceding UAV to complete takeoff when landing, so the above technical solution can improve the landing efficiency of the UAV.

FIG. 6 is a flowchart of a method for controlling the landing of an unmanned aerial vehicle according to an exemplary embodiment of the present disclosure, and the method includes:

In step 51, in response to receiving the landing request of the target UAV, obtain the number of the preceding UAVs in each spatial sub-area of the landing airspace, and the flight information of the preceding UAVs.

For example, when the method is applied to a drone landing control server, the drone landing control server obtains the flight status of each drone by communicating with each drone, such as landing time, take-off time, The sub-region of space where the drone is located, etc. In this way, in one or more embodiments, when receiving the landing request of the target drone, the drone landing control server obtains the unmanned aerial vehicle before the target drone that needs to land on the parking platform. The human-machine, as the pre-sequence UAV, determines the flight information of each of the pre-sequence UAVs and the spatial sub-region where each of the pre-sequence UAVs is located. In this way, in one or more embodiments, the drone landing control server further calculates the number of the preceding drones in each spatial sub-region according to the spatial sub-region where each of the preceding drones is located.

In step 52, the target UAV is controlled to fly to the space sub-region containing the least number of preceding UAVs.

For example, in some implementation scenarios, at most one pre-sequence drone can be accommodated in each spatial sub-region. 4, in one or more embodiments, if the number of pre-sequence drones in the spatial sub-region 3 is 1, the number of pre-order drones in the spatial sub-region 4 is 1, and the spatial sub-region 4 is 1. The number of pre-sequence UAVs in area 5 is 1, and the number of pre-sequence UAVs in space sub-area 6 is 0, and the target UAV is controlled to fly to the space sub-area 6 for landing.

In this way, different from the fact that each UAV shares the same landing airspace in the related art, in the embodiment of the present disclosure, each UAV can belong to different space sub-regions, so that each UAV can pass through different The space sub-area is used for landing, thereby avoiding the conflict of the flight route, which helps to improve the safety of the drone during the landing process. In addition, since each UAV can land through different space sub-regions, the target UAV can also land in the process of the previous UAV landing on the premise that the time to reach the parking platform does not conflict. Parallel landing, which can improve the efficiency of UAV landing.

In step 53, the target space sub-region where the target UAV is located in the landing airspace corresponding to the parking platform is determined.

In step 54, when the pre-sequence drone does not leave the parking platform, control the target drone to land on the parking platform through the target space sub-region according to the flight information, The time when the target UAV lands on the parking platform is later than the time when the preceding UAV leaves the parking platform.

For the above-mentioned steps 53 and 54, please refer to the above-mentioned description of the embodiments about the steps 22 and 23. For the brevity of the description, the present disclosure will not repeat them here.

In this embodiment, when the landing request of the target UAV is received, the number of the preceding UAVs in each spatial sub-region of the landing airspace and the flight information of the preceding UAVs can be obtained, thereby The target UAV is controlled to fly to the space sub-area that contains the least number of preceding UAVs for landing. In this way, the number of UAVs in each target sub-area can be balanced, and the safety of UAVs during landing can be improved.

Following the example of FIG. 6 , in some implementation scenarios, each spatial sub-region can also include multiple pre-order UAVs. In this case, controlling the target UAV to pass through the target space sub-region to land to the parking space according to the flight information when the preceding UAV does not leave the parking platform on the platform, so that the time when the target drone lands on the parking platform is later than the time when the pre-sequence drone leaves the parking platform (step 54), including:

determining whether the target space sub-region where the target drone is located includes a pre-sequence drone;

If the target space sub-area includes a pre-sequence UAV, in the case that the pre-sequence UAV has completed the landing and has not left the parking platform, the target UAV is controlled according to the flight information to pass through all the The target space sub-region landed on the parking platform, so that the time when the target UAV landed on the parking platform was later than the time when the preceding UAV left the parking platform.

4, in one or more embodiments, if the number of pre-sequence drones in the spatial sub-region 3 is 3, the number of pre-order drones in the spatial sub-region 4 is 2, and the spatial sub-region 4 is 2. The number of pre-sequence UAVs in area 5 is 2, and the number of pre-sequence UAVs in space sub-area 6 is 1, and the target UAV is controlled to fly to the space sub-area 6 for landing.

Further, in one or more embodiments, since the space sub-area 6 already includes a preceding UAV, the landing state of the preceding UAV is also determined. It is worth noting that, since the target UAV and the preceding UAV are in the same space sub-region 6, there may be a higher risk of collision during the landing process. Therefore, in this embodiment, the target UAV can be controlled to land under the condition that the pre-sequence UAV has completed the landing and has not left the parking platform, thereby improving the safety of the landing process while ensuring the safety of the landing process. The efficiency of drone landings.

In addition, in some implementation scenarios, the multiple space sub-areas of the landing airspace can further include a take-off space sub-area, and the take-off space sub-area is used for the take-off of the UAV on the parking platform. In this case, the method further includes:

In response to receiving the take-off request of the target UAV, the target UAV is controlled to take off through the take-off space sub-area.

Taking FIG. 4 as an example for illustration, in some implementation scenarios, the space sub-region 6 is used as the take-off space sub-region. In this way, in one or more embodiments, the target UAV and the preceding UAV land on the parking platform through any one of the space sub-area 3, the space sub-area 4 and the space sub-area 5, and pass through all the The spatial sub-region 6 leaves the parking platform.

In this way, by dividing the take-off space sub-regions, the landing process of the UAV and the take-off process of the UAV can be carried out in different space sub-regions, which helps to improve the safety during the take-off and landing process of the UAV. And, in this way, when the same space sub-area includes both the target UAV and the pre-sequence UAV of the target UAV, the target UAV can also stop when the pre-sequence UAV does not leave. Landing under the condition of the platform can improve the landing efficiency of the drone.

It is also worth noting that, in some possible implementation scenarios, multiple space sub-regions included in the landing airspace may also be used as the take-off space sub-regions to meet different application requirements.

In some possible implementations, the paths of the drones in the same space sub-area to land on the landing platform and the paths to take off from the landing platform may also be the same. In one or more embodiments, in this case, when the target UAV is in the same space sub-region as the predecessor UAV, the target UAV waits for the predecessor UAV to leave the space sub-region Land after the area.

In addition, referring to the schematic diagram of a drone landing scenario shown in FIG. 7 , in some implementation scenarios, the landing airspace has a vertical distance space 600 from the parking platform. Exemplarily, the vertical distance space 600 is used for vertical landing and vertical take-off of the drone. Exemplarily, in this case, the moment when the pre-sequence UAV leaves the parking platform is the moment when the pre-sequence UAV completes landing and leaves the vertical distance space. In this way, it can be compatible with the UAV take-off and landing process in related technologies.

Based on the same inventive concept, the present disclosure also provides a UAV landing control device. Referring to the block diagram of a UAV landing control device shown in FIG. 8 , the device 700 includes:

The first acquisition module 701 is used to acquire the flight information of the pre-sequence UAV in response to receiving the landing request of the target UAV, wherein the pre-sequence UAV shares the same stop with the target UAV The drone of the platform, the flight information includes the moment when the pre-sequence drone leaves the parking platform after completing the landing;

A first determination module 702, configured to determine the target space sub-region where the target UAV is located in the landing airspace corresponding to the parking platform, wherein the landing airspace includes multiple non-overlapping space sub-regions;

A landing control module 703, configured to control the target drone to land on the parking platform through the target space sub-region according to the flight information when the pre-sequence drone does not leave the parking platform so that the time when the target UAV lands on the parking platform is later than the time when the pre-sequence UAV leaves the parking platform.

The above technical scheme can achieve the following beneficial effects:

By segmenting the landing airspace corresponding to the landing platform, multiple non-overlapping space sub-regions can be obtained. In this way, when the target UAV needs to land, it is possible to obtain the moment when the preceding UAV sharing the same parking platform with the target UAV leaves the parking platform, and to obtain the target space sub-region where the target UAV is located. Further, when the pre-sequence drone does not leave the parking platform, the target drone can be controlled to land on the parking platform through the target space sub-region according to the flight information, so that The time when the target UAV landed on the parking platform is later than the time when the preceding UAV leaves the parking platform. That is to say, with the above technical solution, the target UAV does not need to wait for the preceding UAV to complete takeoff when landing, so the above technical solution can improve the landing efficiency of the UAV.

In one or more embodiments, the landing control module 703 includes:

A calculation submodule, configured to be based on the position information of the target drone in the target space sub-area, the position information of the parking platform and the moment when the pre-sequence drone leaves the parking platform, Calculate the horizontal velocity component and the vertical velocity component of the target UAV in the target space sub-region;

a first control sub-module, configured to control the target UAV according to the horizontal velocity component and the vertical velocity component when the preceding UAV has not completed landing or has not left the parking platform Landing on the parking platform through the target space sub-region.

In one or more embodiments, the apparatus 700 further includes:

a second acquiring module, configured to acquire the number of pre-order UAVs in each of the space sub-regions of the landing airspace in response to receiving the landing request of the target UAV;

The first control module is used to control the target UAV to fly to the space sub-area that contains the least number of preceding UAVs.

In one or more embodiments, the landing control module 703 includes:

A determination submodule for determining whether the target space sub-region where the target UAV is located includes a pre-sequence UAV;

The second control sub-module is configured to control the drone according to the flight information when the target space sub-region includes a pre-sequence UAV, and the pre-sequence UAV has completed the landing and has not left the parking platform. The target drone lands on the parking platform through the target space sub-area, so that the time when the target drone lands on the parking platform is later than the time when the pre-sequence drone leaves the parking platform moment.

In one or more embodiments, the multiple space sub-areas of the landing airspace further include a take-off space sub-area, and the take-off space sub-area is used for taking off the UAV on the parking platform. The apparatus 700 Also includes:

A take-off control module, configured to control the target UAV to take off through the take-off space sub-area in response to receiving a take-off request of the target UAV.

In one or more embodiments, the landing airspace has a vertical distance space from the parking platform, and the vertical distance space is used for the vertical landing and vertical take-off of the UAV, and the pre-sequence UAV leaves the The moment of stopping the platform is the moment when the pre-sequence UAV flies away from the vertical distance space after completing the landing.

In one or more embodiments, the landing airspace includes two spatial sub-regions, and the vertical projection of the intersecting plane of the two spatial sub-regions on the parking platform is the centerline of the parking platform;

Alternatively, the landing airspace includes two or more spatial sub-regions, and the vertical projection of the common intersection of the two or more spatial sub-regions on the parking platform is the midpoint of the parking platform.

Regarding the apparatus in the above-mentioned embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be described in detail here.

The present disclosure also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the UAV landing control method provided by the present disclosure.

The present disclosure also provides an electronic device, comprising:

a memory on which a computer program is stored;

The processor is configured to execute the computer program in the memory to implement the steps of the UAV landing control method provided by the present disclosure.

FIG. 9 is a block diagram of an electronic device 800 according to an exemplary embodiment. For example, the electronic device 800 may be provided as a drone landing control server. 8 , the electronic device 800 includes a processor 822 , which may be one or more in number, and a memory 832 for storing a computer program executable by the processor 822 . The computer program stored in memory 832 may include one or more modules, each corresponding to a set of instructions. Furthermore, in one or more embodiments, the processor 822 can be configured to execute the computer program to perform the above-described drone landing control method.

In addition, the electronic device 800 may also include a power supply component 826, which may be configured to perform power management of the electronic device 800, and a communication component 850, which may be configured to enable communication of the electronic device 800, eg, wired or wireless communication. Additionally, the electronic device 800 may also include an input/output (I/O) interface 858 . Electronic device 800 may operate based on an operating system stored in memory 832, such as Windows Server™, Mac OS X™, Unix™, Linux™, and the like.

In another exemplary embodiment, a non-transitory computer-readable storage medium including program instructions is also provided, the program instructions implement the steps of the above-mentioned UAV landing control method when executed by a processor. For example, the non-transitory computer-readable storage medium is the above-mentioned memory 832 including program instructions, and the above-mentioned program instructions can be executed by the processor 822 of the electronic device 800 to complete the above-mentioned UAV landing control method.

In another exemplary embodiment, there is also provided a computer program product comprising a computer program executable by a programmable apparatus, the computer program having, when executed by the programmable apparatus, for performing the above The code part of the drone landing control method.

The preferred embodiments of the present disclosure have been described above in detail with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above-mentioned embodiments. Various simple modifications can be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure. These simple modifications all fall within the protection scope of the present disclosure.

In addition, it should be noted that the various specific technical features described in the above-mentioned specific embodiments can be combined in any suitable manner unless they are inconsistent. In order to avoid unnecessary repetition, the present disclosure provides The combination method will not be specified otherwise.

In addition, the various embodiments of the present disclosure can also be arbitrarily combined, as long as they do not violate the spirit of the present disclosure, they should also be regarded as the contents disclosed in the present disclosure.

Claims

A UAV landing control method, comprising:

In response to receiving the landing request of the target UAV, the flight information of the pre-sequence UAV is acquired, wherein the pre-sequence UAV is a UAV that shares the same parking platform with the target UAV, and the The flight information includes the moment when the pre-sequence drone leaves the parking platform after completing the landing;

determining the target space sub-region where the target UAV is located in the landing airspace corresponding to the parking platform, wherein the landing airspace includes multiple non-overlapping space sub-regions;

In the case that the pre-sequence drone does not leave the parking platform, control the target drone to land on the parking platform through the target space sub-region according to the flight information, so that the target has no The time when the man-machine landed on the parking platform is later than the time when the pre-sequence drone leaves the parking platform.
The method according to claim 1, wherein the target drone is controlled to pass through the target space sub-area according to the flight information when the pre-sequence drone does not leave the parking platform Landing on the parking platform, so that the time when the target drone landed on the parking platform is later than the time when the pre-sequence drone leaves the parking platform, including:

Calculate the target unmanned aerial vehicle based on the location information of the target UAV in the target space sub-area, the location information of the parking platform, and the time when the preceding UAV left the parking platform the horizontal velocity component and the vertical velocity component of the aircraft in the target space sub-region;

In the case that the preceding UAV has not completed landing or has not left the parking platform, control the target UAV to land through the target space sub-region according to the horizontal velocity component and the vertical velocity component onto the stop platform.
The method of claim 1, wherein the method further comprises:

In response to receiving the landing request of the target UAV, obtaining the number of pre-order UAVs in each of the spatial sub-regions of the landing airspace;

The target UAV is controlled to fly to the space sub-area that contains the least number of preceding UAVs.
The method according to claim 3, wherein the target drone is controlled to pass through the target space sub-area according to the flight information when the pre-sequence drone does not leave the parking platform Landing on the parking platform, so that the time when the target drone landed on the parking platform is later than the time when the pre-sequence drone leaves the parking platform, including:

determining whether the target space sub-region where the target drone is located includes a pre-sequence drone;

If the target space sub-area includes a pre-sequence UAV, in the case that the pre-sequence UAV has completed the landing and has not left the parking platform, the target UAV is controlled according to the flight information to pass through all the The target space sub-region landed on the parking platform, so that the time when the target UAV landed on the parking platform was later than the time when the preceding UAV left the parking platform.
The method according to claim 1, wherein the multiple space sub-areas of the landing airspace further include a take-off space sub-area, the take-off space sub-area is used for taking off the drone on the parking platform, the Methods also include:

In response to receiving the take-off request of the target UAV, the target UAV is controlled to take off through the take-off space sub-area.
The method according to claim 1, wherein the landing airspace has a vertical distance space from the parking platform, and the vertical distance space is used for the vertical landing and vertical take-off of the drone, and the pre-sequence drone leaves The moment of the stop platform is the moment when the pre-sequence UAV flies away from the vertical distance space after completing the landing.
The method according to claim 1, wherein the landing airspace comprises two spatial sub-regions, and the vertical projection of the intersecting plane of the two spatial sub-regions on the parking platform is the centerline of the parking platform;

Alternatively, the landing airspace includes two or more spatial sub-regions, and the vertical projection of the common intersection of the two or more spatial sub-regions on the parking platform is the midpoint of the parking platform.
A drone landing control device, comprising:

The first acquisition module is used for acquiring the flight information of the pre-sequence UAV in response to receiving the landing request of the target UAV, wherein the pre-sequence UAV shares the same parking platform with the target UAV The drone, the flight information includes the moment when the pre-sequence drone leaves the parking platform after landing;

a first determination module, configured to determine a target space sub-region where the target UAV is located in the landing airspace corresponding to the parking platform, wherein the landing airspace includes a plurality of non-overlapping space sub-regions;

A landing control module, configured to control the target drone to land on the parking platform through the target space sub-region according to the flight information when the pre-sequence drone does not leave the parking platform , so that the time when the target UAV lands on the parking platform is later than the time when the preceding UAV leaves the parking platform.
A non-transitory computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the method of any one of claims 1-7.
An electronic device comprising:

a memory on which a computer program is stored;

A processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-7.
A computer program product comprising computer instructions, wherein the computer instructions are stored in a non-transitory computer-readable storage medium from which a processor of a computer device reads The computer instructions are fetched, and the processor executes the computer instructions, so that the computer device implements the method of any one of claims 1-7.