Multi-layer hangar unmanned aerial vehicle landing method, device, equipment, medium and product

Abstract

The invention relates to the technical field of unmanned aerial vehicle libraries, and discloses a multi-layer hangar unmanned aerial vehicle landing method and device, equipment, a medium and a product, and the method comprises the steps: obtaining a first position of a target unmanned aerial vehicle on a first tray before the target unmanned aerial vehicle takes off; the first tray corresponds to a first hangar of the target multi-layer unmanned aerial vehicle hangar; when the target unmanned aerial vehicle takes off and reaches a second position, acquiring a first height between the second position and the first tray; when the target unmanned aerial vehicle returns and returns to a second position, if the first hangar cannot be opened, calculating a second height between the target unmanned aerial vehicle and the second tray; the second tray corresponds to a second hangar of the target multi-layer unmanned aerial vehicle hangar; and determining landing coordinates of the target unmanned aerial vehicle based on the first position, the first height and the second height, so that the target unmanned aerial vehicle lands in the second hangar. The landing accuracy of the unmanned aerial vehicle in the multi-layer hangar can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drone hangars, and in particular to a method, device, equipment, medium and product for landing drones in a multi-layer hangar. Background Art

[0002] The common drones on the market are paired with hangars in a one-to-one manner. When a hangar has a problem, the drone will land in a nearby safe location. However, for multi-story drone hangars, there is no clear solution for drone safety landing, which makes it difficult for drones to land and locate when returning to the hangar. Summary of the invention

[0003] In view of this, the present invention provides a multi-story hangar UAV landing method, device, equipment, medium and product to improve the landing accuracy of the UAV in the multi-story hangar.

[0004] In a first aspect, the present invention provides a method for landing a drone in a multi-story hangar, the method comprising: obtaining a first position of a target drone on a first pallet before takeoff; the first pallet corresponds to a first hangar of a target multi-story drone hangar; when the target drone takes off and reaches a second position, obtaining a first height between the second position and the first pallet; when the target drone returns and returns to the second position, if the first hangar cannot be opened, calculating a second height between the target drone and the second pallet; the second pallet corresponds to a second hangar of the target multi-story drone hangar; the second hangar is any idle hangar in the target multi-story drone hangar except the first hangar; based on the first position, the first height and the second height, determining the landing coordinates of the target drone so that the target drone lands in the second hangar.

[0005] In an optional embodiment, the method also includes: when the target UAV returns and returns to the second position, sending an opening command to the first hangar; if the first hangar is opened, determining the first position as the landing coordinates of the target UAV so that the target UAV lands in the first hangar.

[0006] In an optional embodiment, when the target UAV returns and returns to the second position, if the first hangar cannot be opened, the second height between the target UAV and the second pallet is calculated, including: when the target UAV returns and returns to the second position, sending an opening command to the first hangar; if the first hangar cannot be opened, sending an opening command to the second hangar; if the second hangar is opened, calculating the second height between the target UAV and the second pallet of the second hangar.

[0007] In an optional embodiment, the target multi-story drone hangar includes a preset safe alternate landing point, and the method further includes: if there is no idle hangar, controlling the target drone to land at the preset safe alternate landing point.

[0008] In an optional embodiment, the target drone has a binocular vision camera; when the target drone takes off and arrives at the second position, a first height between the second position and the first pallet is obtained, including: when the target drone takes off and arrives at the second position, a binocular vision image of the first pallet is obtained; based on the binocular vision image, the first height between the second position and the first pallet is obtained.

[0009] In a second aspect, the present invention provides a multi-story hangar drone landing device, the device comprising: a first position module, used to obtain a first position of a target drone on a first pallet before take-off; the first pallet corresponds to the first hangar of the target multi-story drone hangar; a first height module, used to obtain a first height between the second position and the first pallet when the target drone takes off and reaches the second position; a second height module, used to calculate a second height between the target drone and the second pallet when the target drone returns and returns to the second position if the first hangar cannot be opened; the second pallet corresponds to the second hangar of the target multi-story drone hangar; a landing coordinate module, used to determine the landing coordinates of the target drone based on the first position, the first height and the second height, so that the target drone lands in the second hangar.

[0010] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the computer instructions to execute a multi-layer hangar drone landing method according to the first aspect or any corresponding embodiment thereof.

[0011] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute a multi-layer hangar drone landing method according to the first aspect or any corresponding embodiment thereof.

[0012] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions, which are used to enable a computer to execute a multi-story hangar drone landing method according to the first aspect or any corresponding embodiment thereof.

[0013] The technical solution provided by this application may have the following beneficial effects:

[0014] The present invention provides a method for landing a drone in a multi-story hangar. The first position of a target drone on a first tray before takeoff is obtained, and the position of the drone before takeoff is recorded, which is the basis for subsequent return and landing positioning. The first tray corresponds to the first hangar of the target multi-story drone hangar, and the corresponding relationship between the first tray and the first hangar is clarified. When the target drone takes off and arrives at the second position, the first height between the second position and the first tray is obtained, and data support is provided for the height judgment and landing positioning of the drone when returning. When the target drone returns and returns to the second position, it is determined whether the landing position needs to be adjusted by judging whether the first hangar can be opened. If the first hangar cannot be opened, it is decided to adjust the landing position and calculate the second height between the target drone and the second tray. The second tray corresponds to the second hangar of the target multi-story drone hangar, and the corresponding relationship between the second tray and the second hangar and the landing target of the drone are clarified. Based on the first position, the first height and the second height, the landing coordinates of the target drone are determined, so that the drone can accurately land in the second hangar when the first hangar cannot be opened. The above scheme determines the landing coordinates of the drone by positioning the target drone and measuring the flight altitude, thereby improving the landing accuracy of the drone in the multi-story hangar. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic flow chart of a multi-layer hangar drone landing method according to an embodiment of the present invention;

[0017] Figure 2 is a schematic diagram of a multi-layer UAV hangar structure according to an embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of a UAV executing a task according to an embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of a multi-layer drone hangar structure according to another embodiment of the present invention;

[0020] Figure 5 is a structural block diagram of a multi-layer hangar UAV landing device according to an embodiment of the present invention;

[0021] Figure 6 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0023] According to an embodiment of the present invention, an embodiment of a multi-story hangar drone landing method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown here.

[0024] In this embodiment, a multi-layer hangar drone landing method is provided. Figure 1 is a flow chart of a multi-layer hangar drone landing method according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0025] Step S101, obtaining the first position of the target UAV on the first pallet before taking off; the first pallet corresponds to the first hangar of the target multi-story UAV hangar.

[0026] Before the drone takes off, the position of the drone on the first pallet (i.e., the take-off pallet) is recorded, i.e., the starting position of the drone, which is recorded as the "first position". The first position is obtained by GPS or other positioning technology. Optionally, the first position includes information on the three coordinate axes X, Y, and Z in a rectangular coordinate system (such as X0, Y0, and Z0). The first pallet is the pallet of the first hangar of the target multi-story drone hangar. This step provides a reference for the starting position for the subsequent return and landing of the drone.

[0027] Step S102: When the target UAV takes off and arrives at the second position, a first height between the second position and the first tray is obtained.

[0028] After the target drone takes off, the position of the target drone is tracked in real time, and when the drone reaches a specific position (recorded as the "second position"), the height difference between the position and the first pallet is recorded. The height difference is the current flight altitude, recorded as the first altitude. Altitude information is usually obtained through the TOF method or other altitude measurement technology. This step provides data support for altitude judgment and landing positioning when the drone returns.

[0029] Step S103, when the target UAV returns to the second position, if the first hangar cannot be opened, calculate the second height between the target UAV and the second pallet; the second pallet corresponds to the second hangar of the target multi-story UAV hangar; the second hangar is any idle hangar in the target multi-story UAV hangar except the first hangar.

[0030] When the drone returns to the second position, check whether the first hangar can be opened normally. If the first hangar cannot be opened for some reason (such as failure, maintenance, etc.), the drone will be guided to land on the second pallet corresponding to the second hangar. The second pallet is the backup landing position. In this process, the height difference between the drone and the second pallet needs to be measured, and this height difference is recorded as the second height.

[0031] The multi-layer drone hangar in this embodiment is a drone hangar structure with multiple levels (such as a four-layer structure), each level can park drones, and is equipped with facilities such as charging circuits. The first hangar is the hangar where the drone is located before taking off, and it is also the preferred landing point for the drone when returning. When the first hangar is not available, the drone needs to find an alternative landing point, namely the second hangar. The second hangar does not refer to a specific hangar, but is dynamically selected according to actual conditions. In a multi-layer drone hangar, except for the first hangar, other hangars can be used as the second hangar when they are not occupied by other drones.

[0032] Step S104: determining the landing coordinates of the target UAV based on the first position, the first height, and the second height, so that the target UAV lands in the second hangar.

[0033] After obtaining the first position, the first height, and the second height, the landing coordinates of the drone are calculated based on this information. The landing coordinates take into account the take-off position, flight altitude, and alternate landing position of the drone, ensuring that the drone can accurately land on the second hangar.

[0034] In summary, the method for landing a drone in a multi-story hangar provided in this embodiment determines the landing coordinates of the drone by positioning the target drone and measuring the flight altitude, thereby improving the landing accuracy of the drone in a multi-story hangar.

[0035] In an optional embodiment, the method further comprises the following steps:

[0036] Step S201, when the target UAV returns to the second position, an opening instruction is sent to the first hangar.

[0037] When the target drone returns to the previously recorded second position, it first attempts to send an opening command to the original landing hangar (i.e., the first hangar), which is used to instruct the door of the first hangar to open and the first tray to extend so that the target drone can land safely.

[0038] Step S202: If the first hangar is open, the first position is determined as the landing coordinates of the target UAV, so that the target UAV lands in the first hangar.

[0039] If the first hangar successfully responds to the opening command and opens smoothly, the first position recorded previously is determined as the landing coordinate of the target UAV. The target UAV lands at the coordinate, that is, it lands in the first hangar.

[0040] In this implementation, when the first hangar is still available, the UAV will land as originally planned, thereby improving the efficiency of the operation.

[0041] In an optional implementation, the process of step S103 includes the following steps:

[0042] Step S1031, when the target UAV returns to the second position, an opening instruction is sent to the first hangar.

[0043] Step S1032: If the first hangar cannot be opened, an opening instruction is sent to the second hangar.

[0044] If the first hangar fails to open after receiving the opening command, it will turn to an alternative plan, that is, send an opening command to the second hangar. As a backup landing point, the second hangar needs to be able to respond quickly and be ready to receive the drone when the first hangar is unavailable, ensuring that the drone has an alternative landing point when the first hangar is unavailable, thereby avoiding landing failures caused by the drone being unable to land.

[0045] Step S1033: If the second hangar is open, calculate a second height between the target UAV and the second pallet of the second hangar.

[0046] After the second hangar successfully responds and opens, the second height between the drone and the second pallet of the second hangar is measured. By measuring the second height, the drone can adjust its flight altitude to ensure that it can accurately land on the second pallet.

[0047] This implementation is a complete alternative landing process. When the first hangar is unavailable, the UAV can achieve safe landing in the backup hangar by sending an opening command to the second hangar and measuring the second height, thereby improving the reliability of the UAV landing in a multi-story hangar environment.

[0048] In an optional embodiment, the target multi-story drone hangar includes a preset safe alternate landing point, and the method further includes:

[0049] If there is no idle hangar, the target drone will be controlled to land at the preset safe alternate landing point.

[0050] In the application scenario of the multi-layer drone hangar, in order to further improve the reliability of drone landing, an optional implementation method of the present invention introduces the concept of a preset safe alternate landing point. The preset safe alternate landing point is one or more safe landing locations pre-set near the multi-layer drone hangar or in a designated area. When the target drone returns and finds that the first hangar cannot be opened and there are no other idle hangars in the multi-layer drone hangar, the system will control the drone to land at this preset safe alternate landing point.

[0051] This implementation improves the landing reliability of drones in a multi-layer drone hangar environment by introducing preset safe alternate landing points.

[0052] In an optional embodiment, the target drone has a binocular vision camera; the process of step S102 includes the following steps:

[0053] Step S1021, when the target drone takes off and arrives at the second position, a binocular visual image of the first pallet is acquired.

[0054] In this optional embodiment, the target UAV is equipped with a binocular vision camera to enhance its perception ability and positioning accuracy when performing flight missions. After the target UAV takes off and arrives at the second position, the binocular vision camera is used to obtain a binocular vision image of the first pallet. When the target UAV takes off and arrives at the predetermined second position, the binocular vision camera is started to collect images. In this process, the binocular vision camera will simultaneously capture the first pallet image from two perspectives to form a pair of parallax images, which will serve as the basic data for subsequent height calculation.

[0055] Step S1022: acquiring a first height between the second position and the first tray based on the binocular vision image.

[0056] After acquiring the binocular vision images, the target drone will process these images using the built-in image processing algorithm. By comparing the image differences (i.e., parallax) under the two perspectives, the algorithm can calculate the relative height between the drone's current position (i.e., the second position) and the first pallet, i.e., the first height.

[0057] This embodiment introduces a binocular vision camera to calculate the relative height between the target UAV and the first pallet, thereby improving the positioning accuracy and perception ability of the UAV, and helping to improve the landing accuracy of the UAV in a multi-story hangar.

[0058] In one embodiment of the present invention, Figure 2 The multi-layer drone hangar structure shown takes a drone hangar with a four-layer structure as an example. There are drones in the four-layer hangar, and there is a charging circuit in the hangar to charge each drone. When the drone enters the hangar, charging begins to maintain sufficient power for flight.

[0059] like Figure 3 As shown, it is assumed that drones 1-4 perform tasks in an unordered or orderly manner. After drone 1 takes off to perform a task, drone 2 takes off to perform a task.

[0060] like Figure 4 As shown, when the drone 1 is on the pallet and has not taken off, the current position is recorded as X0, Y0, Z 0， When the drone takes off and the height from the take-off tray is measured by TOF as H0, the current position X0, Y0, and Z1 are recorded by GPS.

[0061] Assume that when UAV 1 flies back, the door of hangar 1 fails and cannot be opened, while UAV 2 in hangar 2 is performing a flight mission. After UAV 1 flies to the previously recorded position X0, Y0, Z1, the pallet of hangar 2 extends. The height of the UAV from the pallet measured by TOF is H1, that is, the current landing position is detected to have changed. The positioning coordinates are readjusted to X0, Y0, (Z0-|H1-H0|) through the height difference |H1-H0| measured by TOF, and the coordinates are repositioned to land in hangar 2.

[0062] By analogy, when drone hangars 1 to 4 are vacant, an empty hangar judgment can be made, and then the coordinates can be relocated, and the three hangars can be reused to charge the four aircraft. When all three hangars have drones, the extra drone can be deployed to a safe alternate landing point.

[0063] This solution is applicable when the number of drone hangars is less than or equal to the number of drones.

[0064] In another embodiment of the present invention, one of the hangars can also be used as a standby hangar, for example Figure 5 As shown in the figure, the bottom hangar is used as the alternate hangar. When the drone completes its flight mission and is ready to land, it will first try to land in its original hangar. If the original hangar cannot receive the drone due to a malfunction or other reasons, the drone will automatically switch to alternate mode. In alternate mode, the drone will use GPS positioning and TOF measurement methods to determine the location and height of the alternate hangar. The drone will adjust its flight trajectory to ensure accurate landing in the alternate hangar.

[0065] In this embodiment, a multi-layer hangar drone landing device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0066] This embodiment provides a multi-layer hangar drone landing device, such as Figure 5 As shown, including:

[0067] The first position module 501 is used to obtain the first position of the target UAV on the first pallet before taking off; the first pallet corresponds to the first hangar of the target multi-storey UAV hangar;

[0068] A first height module 502, for obtaining a first height between the second position and the first pallet when the target UAV takes off and arrives at the second position;

[0069] The second height module 503 is used to calculate the second height between the target drone and the second pallet when the target drone returns to the second position if the first hangar cannot be opened; the second pallet corresponds to the second hangar of the target multi-storey drone hangar; the second hangar is any idle hangar in the target multi-storey drone hangar except the first hangar;

[0070] The landing coordinate module 504 is used to determine the landing coordinates of the target UAV based on the first position, the first height and the second height, so that the target UAV lands in the second hangar.

[0071] In an optional embodiment, the device further comprises:

[0072] A command sending unit, used for sending an opening command to the first hangar when the target UAV returns to the second position;

[0073] The first hangar unit is used to determine the first position as the landing coordinates of the target UAV if the first hangar is opened, so that the target UAV lands in the first hangar.

[0074] In an optional implementation, the second height module 503 includes:

[0075] A first altitude calculation unit is used to send an opening instruction to the first hangar when the target UAV returns to the second position;

[0076] a second height calculation unit, configured to send an opening instruction to a second hangar if the first hangar cannot be opened;

[0077] The third height calculation unit is used to calculate a second height between the target UAV and the second pallet of the second hangar if the second hangar is opened.

[0078] In an optional embodiment, the target multi-story drone hangar includes a preset safe alternate landing point, and the device further includes:

[0079] The safe alternate landing unit is used to control the target UAV to land at a preset safe alternate landing point if there is no idle hangar.

[0080] In an optional embodiment, the target drone has a binocular vision camera; the first height module 502 includes:

[0081] an image acquisition unit, configured to acquire a binocular visual image of the first pallet when the target drone takes off and arrives at the second position;

[0082] The height acquisition unit is used to acquire a first height between the second position and the first tray based on the binocular vision image.

[0083] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0084] In this embodiment, a multi-story hangar drone landing device is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above-mentioned functions.

[0085] The embodiment of the present invention also provides a computer device having the above Figure 5 A multi-story hangar drone landing device is shown.

[0086] See also Figure 6 , Figure 6 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Figure 6 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 6 A processor 10 is taken as an example.

[0087] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0088] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0089] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0090] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0091] The computer device also includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 6 The example of connecting through bus is taken in the following.

[0092] The input device 30 can receive input digital or character information, and generate key signal input related to the user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, an indicator bar, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 may include a display device, an auxiliary lighting device (e.g., an LED) and a tactile feedback device (e.g., a vibration motor), etc. The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0093] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0094] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0095] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A multi-storey hangar drone landing method, characterized in that: The method comprises: Acquire a first position of the target UAV on a first pallet before takeoff; the first pallet corresponds to a first hangar of a target multi-story UAV hangar; When the target drone takes off and arrives at a second position, obtaining a first height between the second position and the first pallet; When the target drone returns to the second position, if the first hangar cannot be opened, a second height between the target drone and the second pallet is calculated; the second pallet corresponds to the second hangar of the target multi-story drone hangar; the second hangar is any idle hangar in the target multi-story drone hangar except the first hangar; Based on the first position, the first height, and the second height, the landing coordinates of the target UAV are determined so that the target UAV lands in a second hangar.

2. The method according to claim 1, characterized in that: The method further comprises: When the target UAV returns to the second position, an opening instruction is sent to the first hangar; If the first hangar is open, the first position is determined as the landing coordinates of the target UAV, so that the target UAV lands in the first hangar.

3. The method according to claim 1, characterized in that When the target drone returns to the second position, if the first hangar cannot be opened, calculating the second height between the target drone and the second pallet includes: When the target UAV returns to the second position, an opening instruction is sent to the first hangar; If the first hangar cannot be opened, sending an opening instruction to the second hangar; If the second hangar is open, a second height between the target drone and a second pallet of the second hangar is calculated.

4. The method according to claim 1, characterized in that: The target multi-story drone hangar includes a preset safe alternate landing point, and the method further includes: If there is no idle hangar, the target UAV is controlled to land at the preset safe alternate landing point.

5. The method according to any one of claims 1 to 4, characterized in that: The target drone has a binocular vision camera; When the target drone takes off and arrives at the second position, obtaining a first height between the second position and the first tray includes: When the target drone takes off and arrives at the second position, acquiring a binocular visual image of the first pallet; Based on the binocular vision image, a first height between a second position and the first tray is acquired.

6. A multi-storey hangar drone landing device, characterized in that: The device comprises: A first position module is used to obtain a first position of the target UAV on a first pallet before takeoff; the first pallet corresponds to a first hangar of a target multi-storey UAV hangar; A first height module, configured to obtain a first height between the second position and the first tray when the target UAV takes off and arrives at the second position; A second height module is used to calculate a second height between the target drone and the second pallet when the target drone returns to the second position if the first hangar cannot be opened; the second pallet corresponds to the second hangar of the target multi-story drone hangar; the second hangar is any idle hangar in the target multi-story drone hangar except the first hangar; The landing coordinate module is used to determine the landing coordinates of the target UAV based on the first position, the first height and the second height, so that the target UAV lands in the second hangar.

7. The device according to claim 6, characterized in that The device also includes: a command sending unit, configured to send an opening command to the first hangar when the target UAV returns to the second position; The first hangar unit is used to determine the first position as the landing coordinates of the target UAV if the first hangar is opened, so that the target UAV lands in the first hangar.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 5 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 5.

10. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the method according to any one of claims 1 to 5.

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