UAV take-off and landing control method, control device and UAV take-off and landing equipment

Abstract

The present application belongs to the technical field of unmanned aerial vehicles, and in particular, relates to a method for controlling the take-off and landing of unmanned aerial vehicles, a control device, and equipment for the take-off and landing of unmanned aerial vehicles. The method comprises: receiving landing consultation information sent by the unmanned aerial vehicle, and obtaining the status information of the main platform according to the information; if the status information of the main platform is in a waiting state for take-off and landing, sending the take-off and landing instructions of the main platform to the unmanned aerial vehicle; if the status information of the main platform is in a non-take-off and landing state, obtaining the status information of the backup platform; if the status information of the backup platform is in a waiting state for take-off and landing, sending the take-off and landing instructions of the backup platform to the unmanned aerial vehicle; if the status information of the backup platform is in a non-take-off and landing state, sending the hovering instructions to the unmanned aerial vehicle or searching for other take-off and landing platform instructions. The method determines whether the take-off and landing platform has the conditions for take-off and landing, and the unmanned aerial vehicle performs the next operation after receiving the corresponding instructions, thereby ensuring the safety of the unmanned aerial vehicle and the operator during the take-off and landing process, with a high degree of automation, and with the setting of one main and one backup take-off and landing platform, the operation efficiency is greatly improved.

Description

Technical Field

[0001] The present application belongs to the technical field of unmanned aerial vehicles, and in particular, relates to a method and device for controlling the take-off and landing of an unmanned aerial vehicle, and a control device and equipment for taking off and landing an unmanned aerial vehicle. Background Art

[0002] Unmanned aerial vehicle (UAV) is referred to as "drone". With the development of science and technology, UAVs have been widely used in agriculture, industry, civil and other fields. For example, they are often used for express delivery or cargo delivery in the logistics industry. When establishing a distribution network, a take-off and landing platform is generally set up for UAVs to take off and land, and operators are then assigned to perform related operations. The existing take-off and landing platforms have poor safety. The operators may be injured during the take-off and landing of the UAV, and the UAV itself may also suffer certain damage. Furthermore, the operators need to pay real-time attention to the take-off and landing platform and the UAV, which is a heavy workload. Summary of the invention

[0003] The purpose of this application is to provide a UAV take-off and landing control method, a control device and a UAV take-off and landing equipment, aiming to solve the technical problems in the prior art that the UAV take-off and landing platform has poor safety and the workload of operators is large.

[0004] To achieve the above-mentioned purpose, the first aspect of the present application provides a method for controlling the take-off and landing of a UAV, which is used to control the take-off and landing action of a UAV based on a take-off and landing platform, wherein the take-off and landing platform includes a main platform and a backup platform, and the method for controlling the take-off and landing of a UAV includes:

[0005] Receiving landing advisory information sent by the drone, and acquiring status information of the main platform according to the landing advisory information;

[0006] If the status information of the main platform is in a waiting state for take-off and landing, a main platform take-off and landing instruction is sent to the UAV;

[0007] If the status information of the main platform is a non-take-off and landing state, obtaining the status information of the backup platform;

[0008] If the status information of the standby platform is in a waiting state for take-off and landing, a standby platform take-off and landing instruction is sent to the UAV;

[0009] If the status information of the backup platform is a non-take-off and landing state, a hovering instruction or an instruction to find other take-off and landing platforms is sent to the drone.

[0010] Furthermore, the non-take-off and landing state includes: a platform damaged state and a platform occupied state.

[0011] Furthermore, sending a hovering instruction or searching for other take-off and landing platform instructions to the drone includes:

[0012] If the non-take-off and landing state of the main platform and the non-take-off and landing state of the backup platform are both platform damage states, sending a command to the UAV to find another take-off and landing platform;

[0013] If the non-take-off and landing state of the main platform and / or the non-take-off and landing state of the backup platform is a platform occupied state, a hovering instruction is sent to the UAV.

[0014] Furthermore, the UAV take-off and landing control method further includes:

[0015] Controlling the camera device to take photos of the take-off and landing platform at first preset time intervals to obtain photos of the platform;

[0016] Perform image recognition processing on the platform photo, and determine whether to update the status information of the main platform and / or the status information of the backup platform to a platform damage status according to the processing result.

[0017] Furthermore, after performing image recognition processing on the platform photo and determining whether to update the status information of the main platform and / or the status information of the standby platform to a platform damage state according to the processing result, the drone take-off and landing control method further includes:

[0018] If the status information of the main platform or the status information of the standby platform is updated to a platform damage status, maintenance reminder information is sent to the remote background.

[0019] Further, after sending the main platform take-off and landing instruction to the drone or sending the backup platform take-off and landing instruction to the drone, the drone take-off and landing control method further includes:

[0020] Execute a first prompt operation, and after receiving the take-off and landing process information sent by the drone, change the first prompt operation to a second prompt operation;

[0021] When the take-off and landing completion information sent by the drone is received, the second prompt operation is changed to a third prompt operation.

[0022] The second aspect of the present application provides a drone take-off and landing control device, comprising:

[0023] The main platform status module is used to receive the landing advisory information sent by the UAV, and obtain the status information of the main platform according to the landing advisory information;

[0024] A main platform take-off and landing module, used to send a main platform take-off and landing instruction to the UAV if the status information of the main platform is in a waiting take-off and landing state;

[0025] A standby platform status module, used for obtaining the status information of the standby platform if the status information of the main platform is a non-take-off and landing state;

[0026] A standby platform take-off and landing module, used to send a standby platform take-off and landing instruction to the UAV if the state information of the standby platform is a waiting take-off and landing state;

[0027] The non-take-off and landing module is used to send a hovering instruction to the UAV or search for other take-off and landing platform instructions if the status information of the backup platform is a non-take-off and landing state.

[0028] A third aspect of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0029] The fourth aspect of the present application provides a UAV take-off and landing device, which works based on the above-mentioned UAV take-off and landing control method, including:

[0030] The take-off and landing platform includes a main platform and a spare platform, wherein the main platform and the spare platform are respectively provided with a communication device;

[0031] The control system is at least connected to the communication device signal and communicates with the UAV to determine the status of the main platform and the backup platform, and controls the take-off and landing operations of the UAV according to the status.

[0032] Furthermore, the UAV take-off and landing equipment also includes a positioning device, which includes a first visual positioning cloth laid on the main platform and a second visual positioning cloth laid on the spare platform, and the first visual positioning cloth and the second visual positioning cloth are respectively provided with different identification images, so that the UAV can land on the take-off and landing point corresponding to the main platform or the spare platform after visual recognition.

[0033] Furthermore, the UAV take-off and landing equipment also includes an auxiliary positioning device for positioning the UAV, and the auxiliary positioning device includes a plurality of markers arranged on the circumferential side of the take-off and landing platform, so that the UAV can obtain the real-time position information of the UAV after identification.

[0034] Furthermore, the UAV take-off and landing equipment also includes a lighting device for providing lighting for the take-off and landing platform, and the illumination angle of the lighting device is adjustable.

[0035] Furthermore, the main platform and the backup platform are both formed by splicing multiple splicing units, each of the splicing units includes a support platform and multiple supporting legs connected to the support platform, the support platform includes a frame and multiple support plates arranged side by side in the frame, and the support plates are provided with a drainage structure.

[0036] Furthermore, the supporting foot includes a hollow tube, a supporting rod and a locking piece, one end of the supporting rod is inserted into the hollow tube, the other end of the supporting rod is connected to the supporting platform, and the locking piece is arranged on the hollow tube. When the locking piece is locked, the supporting rod is fixed relative to the hollow tube, and when the locking piece is released, the supporting rod can move up and down relative to the hollow tube.

[0037] Furthermore, a plurality of notches are provided on the peripheral wall at the top end of the hollow tube, and the locking member is a clamp sleeved outside the hollow tube.

[0038] Beneficial effects of the present application: The drone take-off and landing control method obtains the status of the main platform after receiving the landing consultation information. When the main platform is in a non-take-off and landing state and cannot land the drone, the backup platform is activated. When both the main platform and the backup platform are in a non-take-off and landing state, the drone is controlled to hover and wait or find other platforms. Correspondingly, the drone take-off and landing equipment is provided with a main platform and a backup platform. Communication devices are provided on the main platform and the backup platform to interact with the control system of the drone on information such as the platform status, so that the control system can make judgments and issue corresponding instructions. Thereby ensuring the efficiency of take-off and landing operations and the safety of drones and operators during take-off and landing, greatly improving the degree of automation of the take-off and landing equipment, and also reducing the workload of ground operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A schematic diagram of the structure of the drone take-off and landing equipment provided in the embodiment of the present application;

[0041] Figure 2 for Figure 1 A schematic diagram of the top view of the communication device in the UAV take-off and landing equipment shown;

[0042] Figure 3 A diagram of the interaction between the drone take-off and landing equipment and other parts provided in an embodiment;

[0043] Figure 4 for Figure 1 A top view of the first visual positioning cloth in the UAV take-off and landing equipment shown;

[0044] Figure 5 for Figure 1 A top view of the second visual positioning cloth in the UAV take-off and landing equipment shown;

[0045] Figure 6 for Figure 1 The three-dimensional structural diagram of the splicing unit in the UAV take-off and landing equipment shown;

[0046] Figure 7 for Figure 6 An exploded schematic diagram of the support legs in the splicing unit shown;

[0047] Figure 8 for Figure 6 The enlarged schematic diagram of the middle A part;

[0048] Fig. 9 for Figure 6 Schematic diagram of a partial explosion in the splicing unit shown Figure 1 ;

[0049] Fig.10 for Figure 6 Schematic diagram of a partial explosion in the splicing unit shown Figure 2 ;

[0050] Fig.11 A schematic diagram of a flow chart of a method for controlling the take-off and landing of a drone provided in an embodiment of the present application;

[0051] Fig.12 A schematic diagram of the structure of a drone take-off and landing control device provided in an embodiment of the present application;

[0052] Fig.13 A schematic diagram of a terminal device provided in an embodiment of the present application.

[0053] Among them, the reference numerals in the figure are:

[0054] 10—UAV take-off and landing equipment 11—Main platform 12—Backup platform

[0055] 13—joining unit 100—support table 200—support foot

[0056] 300—connecting piece 400—communication device 510—first visual positioning cloth

[0057] 520—Second visual positioning cloth 530—Auxiliary positioning device 531—Marker

[0058] 600 - lighting device 101 - frame 110 - edge strip

[0059] 111 - first tenon 112 - overlapping platform 120 - supporting plate

[0060] 210—Hollow tube 211—Notch 220—Support rod

[0061] 221 - second tenon 230 - clamp 310 - first tenon groove

[0062] 320—second groove 411—green indicator light 412—red indicator light

[0063] 413—yellow indicator light 421—green button 422—red button

[0064] 610—Light stand 620—Lighting lamp. DETAILED DESCRIPTION

[0065] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0066] In the description of the present application, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0067] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0068] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0069] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0070] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0071] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0072] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0073] See also Figures 1 to 11 , the present application embodiment provides a drone take-off and landing device, such as Figures 1 to 3 As shown, the drone take-off and landing equipment 10 provided in the embodiment of the present application includes a take-off and landing platform and a control system. The take-off and landing platform includes a main platform 11 and a spare platform 12. The top surfaces of the two platforms are used to support the drone. The two platforms can form a whole or be set separately. The areas of the top surfaces of the two platforms are equal or approximately equal. The top surfaces of the two platforms are rectangular or approximately rectangular. Both platforms can be used for the take-off and landing of the drone. When the transportation operation is more intensive, the drone selects an idle platform for take-off and landing. When the transportation operation is not intensive, only one of the platforms can be used for the take-off and landing of the drone. The main platform 11 and the spare platform 12 are respectively provided with a communication device 400; the control system is at least connected to the communication device 400 signal, and communicates with the drone, which is used to judge the status of the main platform 11 and the spare platform 12, and control the take-off and landing operation of the drone according to the status.

[0074] Specifically, when the UAV needs to land, the UAV sends corresponding landing advisory information to the control system, and the control system obtains the status information of the main platform according to the landing advisory information;

[0075] When the status information of the main platform is ready for take-off and landing, the main platform take-off and landing instructions are sent to the drone;

[0076] If the status information of the main platform is a non-take-off and landing state, obtaining the status information of the backup platform;

[0077] If the status information of the standby platform is in a waiting state for take-off and landing, a standby platform take-off and landing instruction is sent to the UAV;

[0078] If the status information of the standby platform is a non-take-off and landing state, a hovering instruction or an instruction to find other take-off and landing platforms is sent to the UAV.

[0079] Generally, the control system includes a drone take-off and landing control device and a communication network, and the drone take-off and landing control device realizes wireless communication with the communication device 400 and the drone through the communication network. The drone interacts with the drone take-off and landing control device in real time, and the drone take-off and landing control device controls the take-off and landing of the drone according to the above method based on the current position of the drone and the status of the main platform 11 and the backup platform 12.

[0080] Among them, the communication device 400 is the information exchange medium between the drone take-off and landing control device and the staff. The drone take-off and landing control device can send the information of the current working status of the take-off and landing platform to the communication device 400, and control the communication device 400 to prompt the staff in the form of visual or audible signals to ensure the safety of the staff. The ground staff can also send the status information of the take-off and landing platform to the background equipment through the communication device 400. For example, if the platform needs to be repaired at present, the maintenance signal is sent to the drone take-off and landing control device by manually operating the communication device, so that the drone take-off and landing control device updates the status of the take-off and landing platform to the current unusable state, that is, the non-take-off and landing state. After the maintenance is completed, the maintenance end signal is sent to the drone take-off and landing control device by manually operating the communication device, so that the drone take-off and landing control device updates the status of the take-off and landing platform to the current usable state, that is, the waiting take-off and landing state.

[0081] The drone take-off and landing equipment 10 provided in this embodiment includes a main platform 11 and a backup platform 12. When the main platform 11 is in a non-take-off and landing state, such as a failure or a drone is taking off and landing, the backup platform 12 can be activated. When both the main platform and the backup platform are unable to take off and land, the drone take-off and landing control device controls the drone to hover and wait or find other platforms. The control system can control the take-off and landing operation of the drone according to the status of the main platform 11 and the backup platform 12. The drone take-off and landing control device, that is, the drone, performs the corresponding next step after receiving the instruction sent by the drone take-off and landing control device of the control system. On the one hand, the main and backup platforms, the communication device and the control system cooperate to perform intelligent control, which can efficiently complete the landing; on the other hand, it can prevent the drone from being damaged due to improper or untimely manual control, resulting in take-off and landing failure or landing under poor landing conditions; on the third hand, it can prevent the drone from landing and causing safety accidents when the operator operates near the take-off and landing platform.

[0082] In one embodiment, communication devices 400 are respectively arranged near the edge of the main platform 11 and the standby platform 12, and each communication device 400 is provided with an indicator light. The indicator light is used to display the state of the landing platform and to serve as a warning by emitting a combination of different colors and light states. The indicator light of the main platform 11 is used to indicate the working state information of the main platform 11, and the indicator light of the standby platform 12 is used to indicate the working state information of the standby platform 12. In one embodiment, when the landing platform has the landing conditions, the indicator light emits green light and flashes, when the drone is landing, the indicator light emits yellow light and flashes, and when the landing platform does not have the landing conditions, the indicator light emits red light and flashes, so that the ground operator can prepare for the next operation according to the observed light information.

[0083] In one embodiment, the communication device 400 is provided with a trigger switch, which can send the status information of the take-off and landing platform and the drone to the drone take-off and landing control device after being triggered. The triggering method can be manual pressing or other methods, such as gesture triggering, voice triggering, etc. In one embodiment, the communication device 400 is provided with a communication button, which corresponds to the position of the trigger switch. The communication button is used to send the current use status information of the take-off and landing platform to the drone take-off and landing control device after being pressed, so as to notify the drone take-off and landing control device whether there is a staff member operating the current take-off and landing platform, and the drone take-off and landing control device then controls the drone to perform the next corresponding operation. When the staff member checks that the take-off and landing platform does not have the take-off and landing conditions, press the corresponding communication button to notify the drone take-off and landing control device that the current drone cannot take off and land. Specifically, the communication device 400 can be embedded in a position close to the edge of the take-off and landing platform, and the communication device 400 can be box-shaped as a whole, and its top surface can be set to be flush with the top surface of the take-off and landing platform.

[0084] In a specific embodiment, if Figure 2As shown, the communication device 400 is provided with three indicator lights and two communication buttons. The three indicator lights are a green indicator light 411, a red indicator light 412 and a yellow indicator light 413, which can emit green light, red light and yellow light respectively. The two communication buttons are a red button 422 and a green button 421. When the red button 422 is pressed, the communication device 400 sends information that take-off and landing operations are not allowed to the UAV take-off and landing control device, notifying the UAV take-off and landing control device that the current take-off and landing platform is being operated by staff and the UAV cannot be taken off and landed. When the green button 421 is pressed, the communication device 400 sends information that take-off and landing operations are allowed to the UAV take-off and landing control device, notifying the UAV take-off and landing control device that the current take-off and landing platform can be used for the take-off and landing of the UAV.

[0085] When the drone reaches the vicinity of the take-off and landing field, it sends landing consultation information to the drone take-off and landing control device. When the take-off and landing platform is in good condition, that is, the take-off and landing platform is not damaged and no drone is taking off or landing, the drone take-off and landing control device sends the take-off and landing instructions of the corresponding platform to the drone, indicating that it can land. At the same time, the green indicator light 411 on the corresponding take-off and landing platform flashes to remind the staff that the drone is about to land and please stay away from the take-off and landing field; during the landing of the drone, the drone take-off and landing control device controls the yellow indicator light 413 to flash, reminding nearby personnel that the drone is landing, not to approach the take-off and landing platform, and to make preparations for operations after the drone lands; after the drone lands, the drone take-off and landing control device controls the yellow indicator light 413 to stop flashing, indicating that the staff can perform relevant operations on the drone on the take-off and landing platform; when the take-off and landing platform cannot take off and land, the drone take-off and landing control device controls the red indicator light 412 to flash, reminding the staff to inspect the take-off and landing platform. After the drone has landed, before the staff goes to the take-off and landing platform to perform related operations, they first press the red button 422 to notify the drone take-off and landing control device that there are staff on the take-off and landing platform and the drone cannot take off and land to ensure the safety of the personnel; after the personnel complete the operation, they press the green button 421 to pass the information that the take-off and landing platform can be enabled to the drone take-off and landing control device.

[0086] In one embodiment, if Figure 1 As shown, the UAV take-off and landing equipment 10 also includes a positioning device, and the positioning device includes a first visual positioning cloth 510 and a second visual positioning cloth 520. The first visual positioning cloth 510 is laid on the support surface of the main platform 11, and the second visual positioning cloth 520 is laid on the support surface of the spare platform 12. The two visual positioning cloths are provided with different identification images to cooperate with the UAV to land at the corresponding take-off and landing points of the main platform 11 or the spare platform 12 after visual recognition, so as to ensure that the UAV lands at the appropriate position. Both visual positioning cloths can be moved appropriately according to the on-site environment to lay the visual positioning cloths in appropriate positions to facilitate the take-off and landing of the UAV. In one embodiment, as Figure 4As shown, the identification image of the first visual positioning cloth 510 includes a plurality of concentric circles with different radii, and the innermost concentric circle is the take-off and landing point of the main platform 11; Figure 5 As shown, the identification image of the second visual positioning cloth 520 includes a plurality of equilateral triangles with different side lengths, and the innermost equilateral triangle is the take-off and landing point of the spare platform 12 .

[0087] When the main platform 11 is idle, the UAV lands at the take-off and landing point of the main platform 11 through the visual positioning of the first visual positioning cloth 510; when the main platform 11 is occupied, the UAV lands at the take-off and landing point of the spare platform 12 through the visual positioning of the second visual positioning cloth 520.

[0088] Both visual positioning cloths are made of waterproof cloth that is not easy to reflect light. They will not cause obvious reflections in the light environment, thus ensuring the safe takeoff and landing of the drone at night. The two visual positioning cloths are equipped with multiple drainage holes (not shown) to facilitate the drainage of rainwater and prevent the reflection of accumulated water from causing the drone to be unable to recognize the logo image and cause landing failure.

[0089] In one embodiment, if Figure 1 As shown, the UAV take-off and landing equipment 10 also includes an auxiliary positioning device 530 for positioning the UAV. The auxiliary positioning device 530 includes a plurality of markers 531 arranged on the circumference of the take-off and landing platform. The markers 531 arranged around form a visual matrix, which can enable the UAV to obtain the real-time position information of the UAV after identification. Combined with the visual positioning of the visual positioning cloth on the take-off and landing platform, the UAV can achieve accurate position positioning. In other words, when the UAV flies to the vicinity of the take-off and landing platform, the UAV first identifies the nearest marker, and then identifies the corresponding recognition image on the visual positioning cloth. The marker 531 can be used to assist the UAV in positioning, preventing the UAV from landing due to GPS deviation, resulting in excessive error in the UAV landing, causing the UAV to land outside the take-off and landing platform, causing damage to the UAV, and effectively protecting the safety of the UAV and the operator. In an environment with poor positioning signals, such as mountainous areas, the GPS signal in the mountainous area is poor, the positioning is inaccurate, and the UAV is prone to landing failure. To prevent landing failure, the traditional method is to increase the area of ​​the take-off and landing platform, and set a plurality of markers 531 around the take-off and landing platform. Accurate positioning of the landing of the UAV can be achieved without increasing the area of ​​the take-off and landing platform, saving costs. For example, a plurality of block-shaped markers 531 are arranged in a matrix on the circumferential side of the take-off and landing platform. The markers 531 can be objects with a color that is significantly different from the surrounding environment of the take-off and landing platform to facilitate rapid identification and positioning of the drone.

[0090] Specifically, Figure 1As shown, the marker can be a T-shaped block, or any other shape with a certain degree of identification. The T-shaped block is placed horizontally, and each T-shaped block is arranged in a matrix on the circumferential side of the take-off and landing platform. When the drone flies near the take-off and landing platform, after detecting one of the markers 531 near the take-off and landing platform, the position relationship between the drone and the visual positioning cloth is obtained through the position relationship between the marker 531 and one of the visual positioning cloths, and then the drone flies to the top of the corresponding positioning visual cloth to achieve drone positioning. The position data of each marker 531 and the position data of the take-off and landing point of the visual positioning cloth have been measured by GPS measurement equipment during installation. When the drone flies near the take-off and landing platform, the visual module recognizes the identification image of one of the markers 531 and one of the visual positioning cloths, and at the same time obtains the angle data between the drone, the marker and the identification image, so that the drone can calculate its current position information based on the above data, and then accurately fly to the top of the corresponding take-off and landing point.

[0091] In one embodiment, if Figure 1 As shown, the UAV take-off and landing equipment 10 also includes a lighting device 600 for providing lighting for the take-off and landing platform. For example, a lighting device 600 is respectively arranged on the two opposite sides of the main platform 11, and a lighting device 600 is also respectively arranged on the two opposite sides of the spare platform 12; the illumination angle of the lighting device 600 is adjustable, so that the take-off and landing platform can be used all day long. In one embodiment, the lighting device 600 includes a light frame 610 and a lighting lamp 620 movably arranged on the light frame 610, and the lighting lamp 620 can rotate up and down and / or left and right around the light frame 610. The lighting device 600 can also be provided with a light sensor connected to the lighting lamp 620. When the light is dim or night falls, the light sensing of the light sensor triggers the lighting lamp 620 to turn on. After the lighting lamp 620 is turned on, it can illuminate the visual positioning cloth on the take-off and landing platform, so that the UAV can recognize the identification image on the visual positioning cloth.

[0092] When the light sensor senses that the current ambient light illumination is lower than the preset threshold, the lighting device 600 automatically turns on. By adjusting the light angle and brightness, it ensures that the recognition image of the visual positioning cloth on the take-off and landing platform can be recognized by the visual module of the drone, so that the drone can take off and land at night or when the ambient light illumination is insufficient. Under normal conditions, the lighting device 600 of the main platform 11 is automatically turned on at night; when the backup platform 12 needs to be activated, the lighting device 600 of the backup platform 12 is turned on.

[0093] In one embodiment, if Figure 1 , Figure 6As shown, the main platform 11 and the spare platform 12 are both made of a plurality of splicing units 13. The main platform 11 and the spare platform 12 can be spliced ​​together, that is, the main platform 11 and the spare platform 12 are spliced ​​into a whole. The main platform 11 and the spare platform 12 can also be set separately, and there is a certain distance between the two. The take-off and landing platform is assembled by splicing, which is convenient for transportation in mountainous areas. The size of the take-off and landing platform can be adjusted according to the application environment. When the take-off and landing platform is damaged, the local unit can be replaced, which can reduce the maintenance time.

[0094] like Figure 6 As shown, each splicing unit 13 includes a support platform 100 and a plurality of support legs 200, and the top surfaces of the support platforms 100 together form a support surface for supporting the drone. The support platform 100 includes a frame 101 and a plurality of support plates 120 arranged side by side in the frame 101, and the support plates 120 are provided with a drainage structure. For example, there is a gap between two adjacent support plates 120, and rainwater can be discharged from each gap. The top surface of the support plate 120 can also be provided with a drainage groove, so that the support plate 120 can discharge rainwater from the gap through the drainage groove, or a plurality of drainage holes are provided on the support plate 120, and the drainage structure can be a combination of one or more of them.

[0095] The support plate 120 may be a wooden board, and the surface of the support plate 120 may be provided with an anti-corrosion coating (not shown) so that the take-off and landing platform can be used outdoors for a long time. For example, paint may be applied on the surface of the support plate 120 to form an anti-corrosion coating.

[0096] like Figure 6 , Figure 7 As shown, each support leg 200 can be detachably connected to the support platform 100 through a connecting piece 300. In one embodiment, the support leg 200 includes a hollow tube 210, a support rod 220 and a locking piece. One end of the support rod 220 is movably inserted into the hollow tube 210, and the support rod 220 can move up and down relative to the hollow tube 210. The end of the support rod 220 away from the hollow tube 210 is connected to the support platform 100, for example, fixed to the support platform 100 through the connecting piece 300. The locking piece is arranged on the hollow tube 210, and is used to lock and release the support leg 200. When the locking piece is locked, the support rod 220 is fixed relative to the hollow tube 210, and when the locking piece is released, the support rod 220 can move up and down relative to the hollow tube 210. In this way, the height of the support leg 200 is adjustable, and the support surface of the landing platform is made parallel or nearly parallel to the horizontal plane by adjusting the corresponding support leg. The hollow tube 210 can be a metal tube with a relatively light material, such as an aluminum tube, an aluminum alloy tube, etc., and the support rod 220 can be a non-metal solid rod with a relatively light material, such as a solid wooden rod. The cross-sectional shapes of the hollow tube 210 and the support rod 220 are adapted, for example, the hollow tube 210 is a cylindrical hollow aluminum tube, and the wooden rod is a cylindrical solid wooden rod, so that the weight of the landing platform can be reduced and the transportation in the mountainous area is convenient.

[0097] In one embodiment, a plurality of notches 211 are provided on the peripheral wall of the top of the hollow tube 210. The locking member is a clamp 230 sleeved on the outside of the hollow tube 210. When the clamp 230 is loosened, it can move up and down along the hollow tube 210. When the clamp 230 is loosened, the support rod 220 can move up and down relative to the hollow tube 210. When the clamp 230 is locked, the support rod 220 is fixed relative to the hollow tube 210. One end of the support rod 220 away from the hollow tube 210 is clamped with the connector 300. The plurality of notches 211 can form a structure that is easy to shrink and gather at the top of the hollow tube 210, so that the clamp 230 can make the support rod 220 in a locked state and a slidable state respectively when locked and loosened. The support foot 200 adopts a height-adjustable structure, so that the landing platform can be applied to complex terrain with poor flatness. Specifically, two notches 211 may be vertically opened at symmetrical positions on the peripheral wall at the top of the hollow tube 210 , and the two notches 211 are both roughly rectangular.

[0098] In one embodiment, if Figure 6 , Figure 8 As shown, the frame 101 includes four side strips 110 arranged around multiple support plates 120. The four side strips 110 are connected in sequence by mortise and tenon joints through connecting members 300. The top surface of each support plate 120 and the top surface of each side strip 110 are located in the same plane, and two adjacent support platforms 100 share one side strip 110.

[0099] like Figures 8 to 10 As shown, the top end of each support rod 220 is connected to the corresponding connecting member 300 by mortise and tenon joints, and the top surface of the connecting member 300 is formed with four first mortises 310 arranged in a cross pattern, and the two ends of the side strip 110 in the length direction are respectively provided with first tenons 111 that match the first mortise and tenon grooves 310. Figures 6 to 10 As shown, the top of the support rod 220 is provided with a second tenon 221, and the connecting member 300 is vertically provided with a second tenon groove 320 used in conjunction with the second tenon 221, and the second tenon groove 320 is connected with the four first tenon grooves 310, that is, the connecting member 300 has five tenons in total, and the first tenons 111 corresponding to the side strips 110 in the four splicing units 13 are tenoned in the four first tenon grooves 310 on the top surface, and the second tenon 221 at the top of the support rod 220 is tenoned in the second tenon groove 320. The top surface of the second tenon 221 can be set to be flush with the top surface of the side strip 110, in which case the top surface of the second tenon 221, the top surface of the side strip 110 and the top surface of the support plate 120 are coplanar; the top surface of the second tenon 221 can also be set to be lower than the top surface of the side strip 110.

[0100] like Figure 8 , Fig.10As shown, the side strips 110 are provided with overlapping platforms 112 extending along the width direction on both sides, and the two ends of the support plate 120 are overlapped on the overlapping platforms 112 of the side strips 110 on both sides, and the support plate 120 is locked with the side strips 110 by screws. After assembling the frame 101 of the support platform 100, each support plate 120 is overlapped and placed on the overlapping platforms 112 of the side strips 110, and then each support plate 120 is locked and fixed on the side strips 110 by screws. The overall structure of the lifting and landing platform is simple, and the splicing and assembly operation is simple.

[0101] The side strips 110 and the support plates 120 can be made of wood or other lighter materials, and the support legs 200 can be made of hollow aluminum tubes and solid wooden poles. In this way, the overall weight of the landing platform is greatly reduced, making it easier to transport in complex terrains.

[0102] See also Fig.11 The present application also provides a method for controlling the take-off and landing of a UAV, which can be applied to the UAV take-off and landing equipment described in any of the above embodiments, such as Fig.11 As shown, the UAV take-off and landing control method includes:

[0103] S1101, receiving landing advisory information sent by a drone, and acquiring status information of the main platform according to the landing advisory information;

[0104] Specifically, when the drone needs to land, the drone can send landing consultation information to the drone take-off and landing control device.

[0105] After receiving the landing consultation information sent by the drone, the drone take-off and landing control device obtains the status information of the main platform 11 according to the landing consultation information.

[0106] The state information is used to identify the current state of the landing platform. In some possible implementations, the state information may include a waiting state for landing and a non-landing state.

[0107] The waiting state means that the current landing platform is idle, no other drone is taking off or landing, and the landing platform is not damaged and can be used for drone takeoff or landing.

[0108] The non-take-off and landing state indicates that the current take-off and landing platform is occupied or damaged and cannot be used for the drone to take off or land. Therefore, in some possible implementations, the non-take-off and landing state may include a platform damage state and a platform occupied state.

[0109] S1102: If the status information of the main platform is in a waiting state for take-off and landing, a main platform take-off and landing instruction is sent to the UAV;

[0110] Specifically, after the UAV take-off and landing device obtains the status information of the main platform 11, if the status information of the main platform 11 is in the waiting for take-off and landing state, it means that the main platform 11 is currently idle and can be used for the UAV to land. Then, the main platform take-off and landing command is sent to the UAV to instruct the UAV to land on the main platform 11.

[0111] S1103, if the status information of the main platform is a non-take-off and landing state, obtain the status information of the standby platform, and then execute step S1104 or execute step S1105;

[0112] Specifically, if the status information of the main platform 11 is a non-take-off and landing state, it means that the main platform 11 is currently occupied or damaged and is in an unavailable state. At this time, the drone take-off and landing control device obtains the status information of the backup platform 12 to determine whether the backup platform 12 is available.

[0113] S1104: If the status information of the standby platform is a waiting state for take-off and landing, a standby platform take-off and landing instruction is sent to the UAV;

[0114] Specifically, if the status information of the spare platform 12 is the waiting take-off and landing status, it means that the spare platform 12 is currently idle and can be used for the landing of the drone. The drone take-off and landing control device sends a spare platform take-off and landing instruction to the drone to instruct the drone to land on the spare platform 12.

[0115] S1105: If the status information of the standby platform is a non-take-off and landing state, a hovering instruction or an instruction to find other take-off and landing platforms is sent to the UAV.

[0116] Specifically, if the status information of the standby platform 12 is a non-take-off and landing state, it means that the standby platform 12 is currently occupied or damaged and is in an unavailable state.

[0117] At this time, if the main platform 11 and the backup platform 12 in the UAV take-off and landing equipment are both unavailable, the UAV take-off and landing control device can send a hovering command to the UAV according to the content pre-set by the staff to instruct the UAV to hover and wait for the platform to be idle or repaired; or, the UAV take-off and landing control device sends a command to the UAV to find other take-off and landing platforms to instruct the UAV to find other available take-off and landing platforms.

[0118] Furthermore, sending a hovering instruction or searching for other take-off and landing platform instructions to the drone includes:

[0119] A1. If the non-take-off and landing state of the main platform 11 and the non-take-off and landing state of the backup platform 12 are both platform damage states, a command to find other take-off and landing platforms is sent to the UAV;

[0120] Specifically, when the non-take-off and landing state of the main platform 11 and the non-take-off and landing state of the backup platform 12 are both platform damage states, it is impossible to determine the time required to repair the take-off and landing platforms, and it may take a long time to complete the repair. Since the energy of the drone is limited, in order to avoid the occurrence of a crash caused by long-term hovering, the drone take-off and landing control device can send a command to the drone to find other take-off and landing platforms, instructing the drone to find other idle take-off and landing platforms for landing.

[0121] A2. If the non-take-off and landing state of the main platform and / or the non-take-off and landing state of the backup platform is a platform occupied state, a hovering instruction is sent to the UAV.

[0122] Specifically, if the non-take-off and landing state of the main platform 11 is the platform occupied state, and the non-take-off and landing state of the backup platform 12 is the platform damaged state, or the non-take-off and landing state of the main platform 11 is the platform damaged state, and the non-take-off and landing state of the backup platform 12 is the platform occupied state, or the non-take-off and landing state of the main platform 11 and the non-take-off and landing state of the backup platform 12 are both the platform occupied state, the drone take-off and landing control device can send a hovering instruction to the drone, instructing the drone to hover and wait. When the status information of the main platform 11 or the backup platform 12 changes to the waiting take-off and landing state, the drone take-off and landing control device instructs the drone to land on the idle take-off and landing platform.

[0123] Furthermore, the UAV take-off and landing control method further includes:

[0124] B1. Controlling the camera device to take photos of the take-off and landing platform at first preset time intervals to obtain photos of the platform;

[0125] Specifically, the drone take-off and landing device 10 may be provided with a camera, such as a CCD camera, and the camera takes a photo of the take-off and landing platform at a first preset time interval to obtain a photo of the platform.

[0126] B2. Perform image recognition processing on the platform photo, and determine whether to update the status information of the main platform and / or the status information of the standby platform to a platform damage status according to the processing result.

[0127] Specifically, after the UAV take-off and landing control device obtains the platform photo, it performs image recognition processing on the platform photo to obtain a processing result.

[0128] If the processing result is that the main platform and / or the backup platform is damaged, the UAV take-off and landing control device will update the status information of the damaged take-off and landing platform to the platform damage status.

[0129] If the processing result shows that both the main platform 11 and the backup platform 12 are not damaged, the UAV take-off and landing control device keeps the status information of the main platform 11 and the status information of the backup platform 12 unchanged.

[0130] The algorithm for image recognition processing can be selected according to actual needs. In some possible implementations, an image recognition algorithm based on a neural network can be used for image recognition processing.

[0131] In some embodiments, the staff can regularly inspect the UAV take-off and landing equipment 10 to check whether the main platform 11 and the backup platform 12 are damaged, and store the inspection results in the UAV take-off and landing control device.

[0132] In other embodiments, the UAV take-off and landing equipment 10 may also perform self-inspection to check whether the main platform 11 and the backup platform 12 are damaged, and store the inspection results in the UAV take-off and landing control device.

[0133] Furthermore, after performing image recognition processing on the platform photo and determining whether to update the status information of the main platform and / or the status information of the standby platform to a platform damage state according to the processing result, the drone take-off and landing control method further includes:

[0134] C1. If the status information of the main platform or the status information of the backup platform is updated to a platform damage status, a maintenance reminder message is sent to a remote backend.

[0135] If the status information of the main platform 11 or the status information of the backup platform 12 is updated to a platform damage status, it means that at least one of the main platform 11 and the backup platform 12 is damaged. At this time, the drone take-off and landing control device can send a maintenance reminder message to the communication device 400, which can be but not limited to notifying the staff to repair the damaged take-off and landing platform in time in the form of flashing red indicator light 412 of the communication device 400.

[0136] After the staff completes the repair, they can manually change the status information of the repaired take-off and landing platform to the waiting state; or, the staff can also press the green button 421 on the communication device 400 to send a repair completion instruction to the UAV take-off and landing control device, and the UAV take-off and landing control device will change the status information of the repaired take-off and landing platform to the waiting state.

[0137] In addition, when the take-off and landing platform is not damaged, but the staff needs routine maintenance, the staff can send a maintenance start command to the drone take-off and landing control device, such as pressing the red button 422. After receiving the maintenance start command, the drone take-off and landing control device changes the state information of the take-off and landing platform to a non-take-off and landing state to prevent the drone from selecting the take-off and landing platform for landing and interfering with the maintenance process. After the staff completes the maintenance, they send a maintenance completion command to the drone take-off and landing control device, which changes the state information of the take-off and landing platform to a waiting state to put the take-off and landing platform into use.

[0138] Further, after sending the main platform take-off and landing instruction to the drone or sending the backup platform take-off and landing instruction to the drone, the drone take-off and landing control method further includes:

[0139] D1. Execute the first prompt operation, and change the first prompt operation to the second prompt operation after receiving the take-off and landing process information sent by the drone;

[0140] After sending the main platform take-off and landing command or the backup platform take-off and landing command to the drone, the drone take-off and landing control device can perform a first prompt operation, indicating that a drone is about to land on the target platform, and reminding the staff around the target platform to evacuate in time, where the target platform is the platform where the drone is preparing to land.

[0141] For example, indicator lights may be provided in the UAV take-off and landing equipment 10, which may specifically include a green indicator light 411, a red indicator light 412, and a yellow indicator light 413. When the UAV take-off and landing control device sends a main platform take-off and landing command or a backup platform take-off and landing command to the UAV, the green indicator light 411 of the target platform may be controlled to emit green light and flash, indicating that a UAV is about to land on the target platform, reminding the staff around the target platform to evacuate in time.

[0142] When the UAV reaches above the target platform and is ready to land, the UAV can send take-off and landing process information to the UAV take-off and landing control device.

[0143] After receiving the take-off and landing process information, the UAV take-off and landing control device changes the first prompt operation to the second prompt operation, indicating that the UAV is in the landing process, and reminds the staff around the target platform not to approach the target platform.

[0144] For example, when the drone take-off and landing control device receives the take-off and landing process information, it can control the yellow indicator light 413 to change from emitting green light and flashing to emitting yellow light and flashing, indicating that the drone is in the landing process, reminding the staff around the target platform not to approach the target platform.

[0145] D2. When receiving the take-off and landing completion information sent by the drone, the second prompt operation is changed to a third prompt operation.

[0146] When the drone completes landing, the drone can send a take-off and landing completion message to the drone take-off and landing control device.

[0147] After receiving the take-off and landing completion information sent by the drone, the drone take-off and landing control device changes the second prompt operation to the third prompt operation, indicating that the drone has completed landing, and reminding the staff that they can perform relevant operations on the drone on the take-off and landing platform.

[0148] For example, when the UAV take-off and landing control device receives the take-off and landing completion information sent by the UAV, the yellow indicator light 413 will be controlled to emit yellow light and flash, then change to continuously emit yellow light or go out, to remind the staff that they can perform relevant operations on the UAV on the take-off and landing platform, such as the staff can recover the UAV and change the status information of the target platform to the waiting for take-off and landing status.

[0149] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0150] See also Fig.12 , the embodiment of the present application also provides a drone take-off and landing control device. For ease of description, only the parts related to the present application are shown, such as Fig.12 As shown, the UAV take-off and landing control device includes:

[0151] The main platform status module 1201 is used to receive the landing advisory information sent by the UAV, and obtain the status information of the main platform according to the landing advisory information;

[0152] The main platform take-off and landing module 1202 is used to send a main platform take-off and landing instruction to the UAV if the status information of the main platform is in a waiting take-off and landing state;

[0153] The standby platform status module 1203 is used to obtain the status information of the standby platform if the status information of the main platform is a non-take-off and landing state;

[0154] The standby platform take-off and landing module 1204 is used to send a standby platform take-off and landing instruction to the UAV if the state information of the standby platform is a waiting take-off and landing state;

[0155] The non-take-off and landing module 1205 is used to send a hovering instruction to the UAV or search for other take-off and landing platform instructions if the status information of the backup platform is a non-take-off and landing state.

[0156] Furthermore, the non-take-off and landing state includes: a platform damaged state and a platform occupied state.

[0157] Furthermore, the non-take-off and landing module 1205 includes:

[0158] A damage submodule, configured to send a command to the UAV to find another take-off and landing platform if the non-take-off and landing state of the main platform and the non-take-off and landing state of the backup platform are both platform damage states;

[0159] The occupation submodule is used to send a hovering instruction to the UAV if the non-take-off and landing state of the main platform and / or the non-take-off and landing state of the backup platform is a platform occupied state.

[0160] Furthermore, the UAV take-off and landing control device also includes:

[0161] A timed shooting module, used to control the camera device to take pictures of the take-off and landing platform at a first preset time interval to obtain platform pictures;

[0162] The status recognition module is used to perform image recognition processing on the platform photo and determine whether to update the status information of the main platform and / or the status information of the backup platform to the platform damage status according to the processing result.

[0163] Furthermore, the UAV take-off and landing control device also includes:

[0164] The maintenance reminder module is used to send maintenance reminder information to the remote background if the status information of the main platform or the status information of the backup platform is updated to a platform damage status.

[0165] Furthermore, the UAV take-off and landing control device also includes:

[0166] A process prompt module, used to execute a first prompt operation, and change the first prompt operation to a second prompt operation after receiving the take-off and landing process information sent by the drone;

[0167] The completion prompt module is used to change the second prompt operation to a third prompt operation when receiving the take-off and landing completion information sent by the drone.

[0168] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0169] See also Fig.13 The present application embodiment also provides a terminal device. Fig.13 As shown, the terminal device 13 of this embodiment includes: a processor 130, a memory 131, and a computer program 132 stored in the memory 131 and executable on the processor 130. When the processor 130 executes the computer program 132, the steps in the above-mentioned laser-based dynamic object detection method embodiment are implemented, for example Fig.11 Alternatively, when the processor 130 executes the computer program 132, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Fig.12 Functions of modules 1201 to 1205 are shown.

[0170] Exemplarily, the computer program 132 may be divided into one or more modules / units, which are stored in the memory 131 and executed by the processor 130 to complete the present application. The one or more modules / units may be a series of computer program instruction segments that can complete specific functions, and the instruction segments are used to describe the execution process of the computer program 132 in the terminal device 13. For example, the computer program 132 may be divided into a main platform status module, a main platform take-off and landing module, a standby platform status module, a standby platform take-off and landing module, and a non-take-off and landing module, and the specific functions of each module are as follows:

[0171] The main platform status module is used to receive the landing advisory information sent by the UAV, and obtain the status information of the main platform according to the landing advisory information;

[0172] A main platform take-off and landing module, used to send a main platform take-off and landing instruction to the UAV if the status information of the main platform is in a waiting take-off and landing state;

[0173] A standby platform status module, used for obtaining the status information of the standby platform if the status information of the main platform is a non-take-off and landing state;

[0174] A standby platform take-off and landing module, used to send a standby platform take-off and landing instruction to the UAV if the state information of the standby platform is a waiting take-off and landing state;

[0175] The non-take-off and landing module is used to send a hovering instruction to the UAV or search for other take-off and landing platform instructions if the status information of the backup platform is a non-take-off and landing state.

[0176] The terminal device 13 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server. The terminal device may include, but is not limited to, a processor 130 and a memory 131. Those skilled in the art will appreciate that Fig.13 It is only an example of the terminal device 13 and does not constitute a limitation on the terminal device 13. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0177] The processor 130 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0178] The memory 131 may be an internal storage unit of the terminal device 13, such as a hard disk or memory of the terminal device 13. The memory 131 may also be an external storage device of the terminal device 13, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 13. Further, the memory 131 may also include both an internal storage unit of the terminal device 13 and an external storage device. The memory 131 is used to store the computer program and other programs and data required by the terminal device. The memory 131 may also be used to temporarily store data that has been output or is to be output.

[0179] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0180] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0181] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0182] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0183] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0184] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0185] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0186] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for controlling the take-off and landing of a UAV, which is used to control the take-off and landing of a UAV based on a take-off and landing platform, characterized in that: The take-off and landing platform includes a main platform and a backup platform, and the UAV take-off and landing control method includes: Receiving landing advisory information sent by the UAV, the control system obtains the status information of the main platform according to the landing advisory information; If the status information of the main platform is in a waiting state for take-off and landing, a main platform take-off and landing instruction is sent to the UAV; If the status information of the main platform is a non-take-off and landing state, obtaining the status information of the backup platform; If the status information of the standby platform is in a waiting state for take-off and landing, a standby platform take-off and landing instruction is sent to the UAV; If the status information of the backup platform is a non-take-off and landing state, a hovering instruction or a command to find other take-off and landing platforms is sent to the UAV; The control system includes a UAV take-off and landing control device and a communication network. The UAV take-off and landing control device realizes wireless communication with the communication device and the UAV through the communication network. The communication device is an information exchange medium between the UAV take-off and landing control device and the staff. The UAV take-off and landing control device sends information about the current working status of the take-off and landing platform to the communication device, and controls the communication device to prompt the staff in the form of visual or audible signals. The communication device is provided with a trigger switch, and when the trigger switch is triggered, the status information of the take-off and landing platform and the drone can be sent to the drone take-off and landing control device. The communication device is provided with a communication button, and the communication button is arranged corresponding to the position of the trigger switch. The communication button is used to send the current usage status information of the take-off and landing platform to the drone take-off and landing control device after being pressed, so as to notify the drone take-off and landing control device whether there is a staff member operating the current take-off and landing platform. The drone take-off and landing control device then controls the drone to perform the next corresponding operation.

2. The method for controlling the take-off and landing of a UAV according to claim 1, characterized in that: The non-take-off and landing state includes: a platform damaged state and a platform occupied state.

3. The method for controlling the take-off and landing of a UAV according to claim 2, characterized in that: The sending of a hovering instruction or an instruction to find other take-off and landing platforms to the drone includes: If the non-take-off and landing state of the main platform and the non-take-off and landing state of the backup platform are both platform damage states, sending a command to the UAV to find another take-off and landing platform; If the non-take-off and landing state of the main platform and / or the non-take-off and landing state of the backup platform is a platform occupied state, a hovering instruction is sent to the UAV.

4. The method for controlling the take-off and landing of a UAV according to claim 2, characterized in that: The UAV take-off and landing control method also includes: Controlling the camera device to take photos of the take-off and landing platform at first preset time intervals to obtain photos of the platform; Perform image recognition processing on the platform photo, and determine whether to update the status information of the main platform and / or the status information of the backup platform to a platform damage status according to the processing result.

5. The method for controlling the take-off and landing of a UAV according to claim 4, characterized in that: After performing image recognition processing on the platform photo and determining whether to update the status information of the main platform and / or the status information of the standby platform to a platform damage state according to the processing result, the drone take-off and landing control method further includes: If the status information of the main platform or the status information of the standby platform is updated to a platform damage status, maintenance reminder information is sent to the remote background.

6. The method for controlling the take-off and landing of a UAV according to claim 1, characterized in that: After sending the main platform take-off and landing instruction to the drone or sending the backup platform take-off and landing instruction to the drone, the drone take-off and landing control method further includes: Execute a first prompt operation, and after receiving the take-off and landing process information sent by the drone, change the first prompt operation to a second prompt operation; When the take-off and landing completion information sent by the drone is received, the second prompt operation is changed to a third prompt operation.

7. A drone take-off and landing control device, characterized in that: include: The main platform status module is used to receive the landing advisory information sent by the UAV, and the control system obtains the status information of the main platform according to the landing advisory information; A main platform take-off and landing module, used to send a main platform take-off and landing instruction to the UAV if the status information of the main platform is in a waiting take-off and landing state; A standby platform status module, used for obtaining the status information of the standby platform if the status information of the main platform is a non-take-off and landing state; A standby platform take-off and landing module, used to send a standby platform take-off and landing instruction to the UAV if the state information of the standby platform is a waiting take-off and landing state; A non-take-off and landing module, used for sending a hovering instruction to the UAV or searching for other take-off and landing platform instructions if the status information of the standby platform is a non-take-off and landing state; The control system includes a UAV take-off and landing control device and a communication network. The UAV take-off and landing control device realizes wireless communication with the communication device and the UAV through the communication network. The communication device is an information exchange medium between the UAV take-off and landing control device and the staff. The UAV take-off and landing control device sends information about the current working status of the take-off and landing platform to the communication device, and controls the communication device to prompt the staff in the form of visual or audible signals. The communication device is provided with a trigger switch, and when the trigger switch is triggered, the status information of the take-off and landing platform and the drone can be sent to the drone take-off and landing control device. The communication device is provided with a communication button, and the communication button is arranged corresponding to the position of the trigger switch. The communication button is used to send the current usage status information of the take-off and landing platform to the drone take-off and landing control device after being pressed, so as to notify the drone take-off and landing control device whether there is a staff member operating the current take-off and landing platform. The drone take-off and landing control device then controls the drone to perform the next corresponding operation.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A drone take-off and landing device, operating based on the drone take-off and landing control method according to any one of claims 1 to 6, characterized in that: include: The take-off and landing platform includes a main platform and a spare platform, wherein the main platform and the spare platform are respectively provided with a communication device; a control system, which is at least connected to the communication device signal and communicates with the UAV to determine the status of the main platform and the backup platform and control the take-off and landing operation of the UAV according to the status; The control system includes a UAV take-off and landing control device and a communication network. The UAV take-off and landing control device realizes wireless communication with the communication device and the UAV through the communication network. The communication device is an information exchange medium between the UAV take-off and landing control device and the staff. The UAV take-off and landing control device sends information about the current working status of the take-off and landing platform to the communication device, and controls the communication device to prompt the staff in the form of visual or audible signals. The communication device is provided with a trigger switch, and when the trigger switch is triggered, the status information of the take-off and landing platform and the drone can be sent to the drone take-off and landing control device. The communication device is provided with a communication button, and the communication button is arranged corresponding to the position of the trigger switch. The communication button is used to send the current usage status information of the take-off and landing platform to the drone take-off and landing control device after being pressed, so as to notify the drone take-off and landing control device whether there is a staff member operating the current take-off and landing platform. The drone take-off and landing control device then controls the drone to perform the next corresponding operation.

10. The UAV take-off and landing equipment according to claim 9, characterized in that: The UAV take-off and landing equipment also includes a positioning device, which includes a first visual positioning cloth laid on the main platform and a second visual positioning cloth laid on the spare platform. The first visual positioning cloth and the second visual positioning cloth are respectively provided with different identification images so that the UAV can land at the corresponding take-off and landing point of the main platform or the spare platform after visual recognition.

11. The UAV take-off and landing equipment according to claim 10, characterized in that: The UAV take-off and landing equipment also includes an auxiliary positioning device for positioning the UAV, and the auxiliary positioning device includes a plurality of markers arranged on the circumferential side of the take-off and landing platform, so that the UAV can obtain the real-time position information of the UAV after identification.

12. The UAV take-off and landing equipment according to claim 9, characterized in that: The UAV take-off and landing equipment also includes a lighting device for providing lighting for the take-off and landing platform, and the illumination angle of the lighting device is adjustable.

13. The UAV take-off and landing equipment according to claim 9, characterized in that: The main platform and the backup platform are both formed by splicing multiple splicing units, each of the splicing units includes a support platform and multiple supporting legs connected to the support platform, the support platform includes a frame and multiple supporting plates arranged side by side in the frame, and the support plates are provided with a drainage structure.

14. The UAV take-off and landing equipment according to claim 13, characterized in that: The supporting foot includes a hollow tube, a supporting rod and a locking piece. One end of the supporting rod is inserted into the hollow tube, and the other end of the supporting rod is connected to the supporting platform. The locking piece is arranged on the hollow tube. When the locking piece is locked, the supporting rod is fixed relative to the hollow tube. When the locking piece is released, the supporting rod can move up and down relative to the hollow tube.

15. The UAV take-off and landing equipment according to claim 14, characterized in that: A plurality of notches are formed on the peripheral wall at the top end of the hollow tube, and the locking member is a clamp sleeved outside the hollow tube.

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