Landing method and device of unmanned aerial vehicle, unmanned aerial vehicle and medium

A technology of unmanned aerial vehicles and landing points, which is applied in the field of unmanned aerial vehicles, can solve problems such as easy collision with obstacles, secondary accidents, uncertain factors, etc., and achieve the effect of improving landing safety

Pending Publication Date: 2021-06-25
GUANGZHOU XAIRCRAFT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, whether the drone's endurance can return safely, there are uncertain factors and huge risks
For example, the existing fixed-wing and UAV long-distance loss of communication, automatic hovering without electricity or emergency landing, without any function of autonomous obstacle recognition and obstacle avoidance, usually easy to hit obstacles on the way back and cause the aircraft to explode
At the same time, it is impossible to identify a suitable emergency landing site nearby, resulting in a landing impact or a secondary accident

Method used

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  • Landing method and device of unmanned aerial vehicle, unmanned aerial vehicle and medium
  • Landing method and device of unmanned aerial vehicle, unmanned aerial vehicle and medium
  • Landing method and device of unmanned aerial vehicle, unmanned aerial vehicle and medium

Examples

Experimental program
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Effect test

Embodiment 1

[0033] figure 1 It is a flow chart of a landing method for a drone provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation where the drone is forced to land while avoiding obstacles to land. This method can be implemented by the landing device of the drone. For execution, the device may be implemented in software and / or hardware. The device can be configured in a drone. Such as figure 1 As shown, the method includes:

[0034] Step S110, when it is detected that the UAV enters the forced landing mode, determine the target obstacle avoidance landing point in the passing area of ​​the UAV during normal or forced landing flight.

[0035] Among them, the forced landing mode can be used to instruct the UAV to make a forced landing. For example, in scenarios where the UAV loses contact or malfunctions, the UAV can enter the emergency landing mode to make an emergency landing. In a specific embodiment, during the flight of the UAV, the co...

Embodiment 2

[0042] figure 2 It is a flow chart of another drone landing method provided by Embodiment 2 of the present invention. This embodiment is optimized on the basis of the above embodiments, as figure 2 As shown, the method includes:

[0043] Step S210, real-time detection of the operating mode of the drone.

[0044] Wherein, the drone may at least include a camera terminal, a visual CPU (Central Processing Unit, central processing unit) processing center and a flight control terminal. The camera end can be used to collect terrain images in real time. Vision CPU processing center can be used to process data. The flight control terminal can be used to control the flight of the drone.

[0045]The operating modes may include but not limited to normal flight mode, forced landing mode, route task execution mode and take-off mode, etc. Normal flight mode is used to instruct the drone to fly normally. The forced landing mode is used to instruct the UAV to make an emergency landing...

Embodiment 3

[0100] Figure 8 It is a flow chart of another drone landing method provided by Embodiment 3 of the present invention. This embodiment is optimized on the basis of the above embodiments, such as Figure 8 As shown, the method includes:

[0101] Step S3010, during the flight of the drone, detect the operating mode of the drone in real time.

[0102] Step S3020 , during the normal flight of the UAV, control the UAV to collect terrain images during the normal flight in real time.

[0103] Step S3030: Determine at least one obstacle avoidance landing point according to the terrain image, and store the determined obstacle avoidance landing points.

[0104] Among them, the type of the obstacle avoidance landing point is determined based on the preset landing site conditions, the landing site conditions include optimal landing conditions and suboptimal landing conditions, and the types of obstacle avoidance landing points include optimal obstacle avoidance landing points and subopt...

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Abstract

The embodiment of the invention discloses a landing method and device of an unmanned aerial vehicle, the unmanned aerial vehicle and a medium, and the method comprises the steps: determining a target obstacle avoidance landing point in a passing region in a normal or forced landing flight process of the unmanned aerial vehicle when it is detected that the unmanned aerial vehicle enters a forced landing mode; and controlling the unmanned aerial vehicle to land to the target obstacle avoidance landing point; The target obstacle avoidance landing point is determined according to a terrain image collected in the flight process of the unmanned aerial vehicle. According to the embodiment of the invention, when it is detected that the unmanned aerial vehicle enters the forced landing mode, emergency forced landing is carried out according to the determined target obstacle avoidance landing point, autonomous obstacle avoidance landing of the unmanned aerial vehicle is realized, and the landing safety during forced landing of the unmanned aerial vehicle is improved.

Description

technical field [0001] Embodiments of the present invention relate to unmanned aerial vehicle technology, and in particular to a method and device for landing an unmanned aerial vehicle, an unmanned aerial vehicle and a medium. Background technique [0002] The existing UAV products on the market can only start the emergency return command if they lose contact or the communication link is broken during the mission operation. [0003] However, there are uncertain factors and huge risks in whether the drone's endurance can return safely. For example, the existing fixed-wing and unmanned aerial vehicles lose contact in a long distance, automatically hover without power or emergency landing, without any function of autonomous obstacle recognition and obstacle avoidance, and are usually easy to hit obstacles on the way back and cause the aircraft to explode. At the same time, it is impossible to identify a suitable emergency landing site nearby, resulting in a landing impact or ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/06
CPCG05D1/0676
Inventor 罗新勇刘鹏池鹏可钟欣辰翁立宇
Owner GUANGZHOU XAIRCRAFT TECH CO LTD
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