A UAV recovery guidance control method

Abstract

The present application relates to a method for guiding and controlling the recovery of a drone, and belongs to the technical field of drone recovery. The method includes: obtaining environmental data; simulating the visibility of a first mark, a second mark, and a third mark according to the environmental data based on a preset simulation model; obtaining the first time consumed by the drone to identify the first mark, the second time consumed by the drone to identify the second mark, and the third time consumed by the drone to identify the third mark; based on a preset matching model, calculating the first speed of the drone moving from the visibility of the first mark to the visibility of the second mark according to the first time, calculating the second speed of the drone moving from the visibility of the second mark to the visibility of the third mark according to the second time, and calculating the third speed of the drone moving from the visibility of the third mark to the stop state according to the third time; obtaining and outputting target recovery data according to the first speed, the second speed, and the third speed. The present application can ensure the safe recovery of the drone into the nest system.

Description

Technical Field

[0001] The present application relates to the technical field of drone recovery, and in particular to a drone recovery guidance and control method. Background Art

[0002] UAVs are aircraft that are controlled by radio remote control equipment or onboard computer equipment. UAVs are widely used in maritime, forestry, surveying and mapping, transportation and other industries due to their small size, low cost and low requirements for the operating environment.

[0003] After the drone is finished working outside, it needs to be recovered by certain recovery technology. In the existing recovery technology, the main recovery process is: if the drone recognizes the logo set in the nest system when returning, it proves that the drone and the nest system have completed the rendezvous, and then the next recovery operation can be carried out. However, if the drone is operating in extreme weather (smog, blowing sand, fog), the visibility of the environment is reduced, resulting in the distance for the drone to recognize the logo set on the nest being shortened, and the time for the hatch of the nest to open is shortened. How to ensure the drone's correct and safe landing when the hatch opening time is shortened has become a current research problem. Summary of the invention

[0004] In order to ensure that the UAV can safely return to the nest system in extreme weather conditions, the present application provides a UAV recovery guidance control method.

[0005] The first purpose of this application is to provide a UAV recovery guidance control method.

[0006] The above-mentioned application objective 1 of the present application is achieved through the following technical solutions:

[0007] A method for guiding and controlling recovery of a UAV includes: acquiring environmental data;

[0008] Based on a preset simulation model, simulating the visibility of the first sign, the visibility of the second sign, and the visibility of the third sign according to the environmental data;

[0009] Acquire a historical identification record of the drone, where the historical identification record includes a first time consumed by the drone to identify a first identifier, a second time consumed to identify a second identifier, and a third time consumed to identify a third identifier;

[0010] Based on the preset matching model, a first speed of the drone moving from the first mark visibility to the second mark visibility is calculated according to the first time, a second speed of the drone moving from the second mark visibility to the third mark visibility is calculated according to the second time, and a third speed of the drone moving from the third mark visibility to a stopped state is calculated according to the third time;

[0011] Combining the first speed, the second speed, and the third speed according to a preset combination rule to obtain target recovery data;

[0012] Output target recovery data.

[0013] By adopting the above technical solution, the present application can simulate the visibility of the first mark, the visibility of the second mark and the visibility of the third mark according to the actual environment, and calculate the first time consumed by the drone to identify the first mark within the distance from the visibility of the first mark to the visibility of the second mark, and calculate whether the actual time consumed by the drone when landing at the initial speed is greater than the first time. If it is greater, the initial speed is used as the first speed; if it is not greater, the initial speed will be increased to meet the requirement that the actual time consumed by the drone when moving from the visibility of the first mark to the visibility of the second mark is greater than the first time. Similarly, the second speed of the drone moving from the visibility of the second mark to the visibility of the third mark and the third speed of the drone moving to the stop state in the visibility of the third mark are calculated respectively. Then the first speed, the second speed and the third speed are output. In the actual landing process, the drone adjusts its landing speed in accordance with the first speed, the second speed and the third speed in sequence, so that it can ensure its correct and safe landing in the machine nest when the hatch opening time is shortened.

[0014] Optionally, the step of calculating the first speed of the drone moving from the first marked visibility to the second marked visibility at the first time based on the preset matching model includes:

[0015] Get the initial speed of the drone;

[0016] Calculating a first ideal time for the drone to move from the first marked visibility to the second marked visibility based on the initial speed of the drone;

[0017] If the first ideal time is greater than the first time, marking the initial speed as the first speed;

[0018] If the first ideal time is not greater than the first time, a preset unit speed is reduced on the basis of the initial speed to obtain a reference speed;

[0019] Calculate a second ideal time for the UAV to move from the first marked visibility to the second marked visibility according to the reference speed;

[0020] If the second ideal time is not greater than the first time, the preset unit speed is continuously reduced based on the reference speed until the time for the UAV to move from the first marked visibility to the second marked visibility is greater than the first time.

[0021] Optionally: the step of calculating the first ideal time includes:

[0022] Acquire the initial position and landing alignment position of the UAV, where the landing alignment position is located directly above the nest system and coincides with the second marker visibility;

[0023] Obtaining a first position of the drone when the drone moves from an initial position to a first marked visibility based on the flight mode of the drone;

[0024] Obtaining a moving distance of the drone from a first position to a landing alignment position based on a flight mode of the drone;

[0025] A first ideal time is calculated according to the moving distance and the initial speed.

[0026] Optional: The flight modes of the drone include horizontal flight and vertical flight.

[0027] Optionally: the step of combining the first speed, the second speed, and the third speed according to a preset combination rule to obtain target recovery data includes: sequentially concatenating the first speed, the second speed, and the third speed and outputting them as target recovery data.

[0028] Optional: Also include:

[0029] Get the initial posture of the drone and the posture of the drone in the stopped state;

[0030] Calculate the difference between the initial posture and the stop state posture according to a preset calculation rule;

[0031] If the difference is greater than a preset difference threshold, outputting a posture adjustment instruction;

[0032] The note adjustment instruction and the target recycling data are output.

[0033] By adopting the above technical solution, the UAV automatically adjusts its posture when it moves from the initial position to the first position, thereby shortening the time it takes to adjust the posture when the UAV moves from the third visibility to the stop state, further shortening the hatch opening time, and thereby reducing the number of foreign objects entering the nest, thereby improving the practicality of the present application.

[0034] Optionally, the attitude adjustment instruction is a wireless remote control instruction used to control the drone to adjust its own attitude.

[0035] Optionally, the process of the drone performing a landing mission according to target recovery data includes:

[0036] Obtaining a landing request command output by the drone when it recognizes the first identifier;

[0037] Output the door opening command according to the landing request command.

[0038] By adopting the above technical solution, when the drone recognizes the first identifier, it outputs a door opening instruction, so that the drone lands and the door opens simultaneously, thereby shortening the door opening time.

[0039] In summary, the present application includes at least one of the following beneficial technical effects:

[0040] 1. The present application can simulate the visibility of the first mark, the visibility of the second mark and the visibility of the third mark respectively according to the actual environment, and calculate the distance from the visibility of the first mark to the visibility of the second mark, excluding the first time consumed to identify the first mark, and calculate whether the actual time consumed by the drone when landing at the initial speed is greater than the first time. If greater, the initial speed is used as the first speed; if not, the speed is reduced on the basis of the initial speed to satisfy the requirement that the actual time consumed by the drone when moving from the visibility of the first mark to the visibility of the second mark is greater than the first time; similarly, the second speed and the third speed are calculated respectively. During the actual landing process, the drone adjusts its landing speed in accordance with the first speed, the second speed and the third speed in sequence, so that it can ensure its correct and safe landing in the machine nest while shortening the hatch opening time;

[0041] 2. The present application also outputs an attitude adjustment instruction when the UAV moves from the initial position to the first position, so as to control the UAV to automatically adjust its attitude when it enters the range between the first visibility and the second visibility, thereby shortening the time for adjusting the attitude of the UAV when it moves from the third visibility to the stop state, further shortening the hatch opening time, and thereby reducing the number of foreign objects entering the machine nest, thereby improving the practicality of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of an application scenario provided by this application.

[0043] Figure 2 It is a schematic diagram of the honeycomb structure provided in the embodiment of the present application.

[0044] Figure 3 This is a flow chart of a UAV recovery guidance control method provided in an embodiment of the present application.

[0045] Figure 4 This is an example diagram of a technical solution of a UAV recovery guidance control method provided in an embodiment of the present application.

[0046] Explanation of reference numerals: 100, UAV; 200, control station; 210, UAV remote controller; 220, meteorological detection module; 230, video monitoring module; 240, main control module; 300, honeycomb; 310, recovery cabin; 311, recovery box; 312, cabin door; 313, chute; 320, nest controller; 330, nest power module; 340, power module; 400, base station. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0048] Figure 1 A schematic diagram of an application scenario provided by this application. Figure 1 The scene is extreme weather, such as haze, blowing sand or fog, which reduces visibility. In this scene, a drone 100 and a nest system are set up. The drone 100 and the nest system exchange information in this scene, and then the nest system guides and controls the drone 100 to land at the corresponding position of the nest system according to the information interaction result.

[0049] The machine nest system includes a control station 200, a honeycomb 300, a base station 400 and a power supply device. The control station 200 is respectively connected to the honeycomb 300 and the base station 400 for communication. The power supply device is equipped with a cable, and the power supply device supplies power to the control station 200, the base station 400 and the honeycomb 300 through the cable.

[0050] Specifically, the control station 200 includes a remote controller of the drone 100, a weather detection module 220, a video monitoring module 230, and a main control module 240. The remote controller of the drone 100, the weather detection module 220, and the video monitoring module 230 are respectively connected to the main control module 240 for communication. Among them, the remote controller of the drone 100 is used to communicate with the drone 100; the weather detection module 220 is an electronic device with the function of monitoring environmental data, such as a micro-meteorological sensor or a weather observation instrument, and the environmental data is the air index of the environment where the machine nest system is located; the video monitoring module 230 is used to shoot the drone 100 and upload the shot image to the main control module 240, and the video monitoring module 230 is a camera, a surveillance camera, or other electronic devices with shooting functions.

[0051] The main control module 240 includes a processor, a memory, an interface device, and a communication device. The processor is used to execute program instructions, and the program instructions can adopt an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, etc. The memory includes, for example, ROM (read-only memory), RAM (random access memory), a non-volatile memory such as a hard disk, etc. The memory is used to store instructions, and the instructions are used to control the processor to operate to implement or support the implementation of the drone recovery guidance control method according to at least some embodiments of this specification. Technicians can design instructions according to the scheme disclosed in this specification. How instructions control the processor to operate is common knowledge in the field and will not be described in detail here. The interface device includes, for example, a USB interface, a serial interface, etc. The communication device is capable of, for example, wired or wireless communication.

[0052] The honeycomb 300 includes a recovery cabin 310, and a nest controller 320, a nest power module 330, and a power module 340 disposed in the recovery cabin 310. Figure 2 The recovery cabin 310 includes a recovery box 311 and a door 312 for sealing the recovery box 311. The nest controller 320 is used to control the nest power module 330 to open or close the door 312. The nest power module 330 can be an electronic device with telescopic function such as a cylinder or an electric push rod. The power module 340 is connected to the nest controller 320 and is used to conduct the power supply circuit between the power module 340 and the drone 100 when the drone 100 is correctly placed in the recovery box 311, so that the power module 340 can charge the drone 100. The power module 340 can be a storage battery, a lithium battery or a solar cell. The specific battery used is not limited here, and it is based on the ability to provide a stable voltage for the drone 100.

[0053] In a specific example, the recycling box 311 is in the shape of a rectangular column, and a chute 313 is provided at each corner of the recycling box 311 at one end facing the bottom of the box. The space formed by the chute 313 is in the shape of an "inverted pyramid", and each chute 313 is used to place a tripod of the drone 100. In other examples, in order to adapt to more types of drones 100, multiple chute 313 may be provided inside the recycling box 311, and each chute 313 is still used to place a tripod of the drone 100. In this embodiment, the specific type of recycling box 311 used is not limited here, and is subject to the drone 100 used in the actual application.

[0054] In order to facilitate the drone 100 to land stably in the recovery box 311, a first mark is set on the side wall of the door 312 facing away from the recovery box 311 when the door 312 is closed with the recovery box 311. After the drone 100 returns after the operation, it will first identify the first mark. When the drone 100 identifies the first mark and uploads the identification result to the main control module 240, it proves that the drone 100 has completed the intersection with the machine nest system, and can continue to the next recovery operation. In order to facilitate the drone 100 to know the position of the recovery box 311, the plane where the recovery box 311 contacts the door 312 is set with a second mark. At the same time, in order to guide the drone 100 to adjust its posture to meet the distribution of the chute 313 in the recovery box 311 to achieve safe landing, a third mark is set between a pair of adjacent chute 313, and the third mark is used to locate the head of the drone 100. It should be noted that the first logo, the second logo, and the third logo can be the same logo, such as all QR codes, or they can be different logos, such as the first logo is a QR code, the second logo is an image, and the third logo is a special color covered on the corresponding position of the recycling box 311, and the corresponding position corresponds to the head of the drone 100.

[0055] The base station 400 is provided with a positioning module, such as a GPS receiver or a Beidou receiver, and the positioning module is used to obtain the position of the base station 400 and upload the position data to the control station 200 .

[0056] The spatial position of the honeycomb 300 is entered in advance in the control station 200. Based on the position data of the drone 100 and the position data of the base station 400, the control station 200 calculates the spatial position of the drone 100 using differential positioning technology, and then plans a recovery path for the drone 100 according to the spatial position of the drone 100 and the spatial position of the honeycomb 300, so as to facilitate the drone 100 to land safely in the recovery box 311 according to the recovery path. However, in extreme weather conditions, due to the reduced environmental visibility, the distances at which the drone 100 recognizes the first identifier, the second identifier, and the third identifier are shortened, so the time for the door 312 of the recovery cabin 310 to open is also shortened. How to ensure that the drone 100 enters the recovery cabin 310 safely and in the correct posture when the door 312 of the recovery cabin 310 opens is a research problem. To this end, the present application provides a drone recovery guidance control method.

[0057] The present application provides a method for guiding and controlling the recovery of a drone. Figure 3 ,The main process of the recovery guidance control method of the UAV 100 is described as follows:

[0058] Step S100: Acquire environmental data.

[0059] As described in the application scenario embodiment, the environmental data is an air index, which is an air index obtained by the weather detection module 220 according to the environment in which the machine nest system is located.

[0060] Step S200: Based on the preset simulation model, the visibility of the first mark, the visibility of the second mark, and the visibility of the third mark are simulated according to the environmental data. In this embodiment, the visibility of the first mark refers to the distance at which the drone 100 recognizes the first mark; similarly, the visibility of the second mark refers to the distance at which the drone 100 recognizes the second mark; and the visibility of the third mark refers to the distance at which the drone 100 recognizes the third mark.

[0061] Before executing step S200, a simulation model needs to be established first. The process of establishing the simulation model is as follows: first, the historical identification record of the drone 100 is obtained, and the historical identification record of the drone 100 is used as a training sample to calculate the first identification visibility, the second identification visibility, and the third identification visibility corresponding to the drone 100 under different air indexes. After a large number of training samples are calculated to obtain that each air index has a unique corresponding first identification visibility, second identification visibility, and third identification visibility, the establishment of the simulation model is completed, and the simulation model is stored in the memory.

[0062] Meanwhile, during the service period of the drone 100, each time the drone 100 is recovered, it will be recorded in the simulation model to dynamically update the simulation model, so that the simulation results of the simulation model are more accurate.

[0063] Therefore, when the environmental data is obtained, the simulation model is synchronously called and the environmental data is input into the simulation model to obtain the first identification visibility, the second identification visibility and the third identification visibility corresponding to the environmental data. Figure 4 As shown, for example, when the air index is 240, with the honeycomb 300 as the center, the first mark visibility is 6 meters, the second mark visibility is 3 meters, and the third mark visibility is 1.5 meters.

[0064] Step S300: Obtain the historical identification record of the drone 100, where the historical identification record includes a first time consumed by the drone 100 to identify the first identifier, a second time consumed to identify the second identifier, and a third time consumed to identify the third identifier.

[0065] Take the time consumed by the drone 100 to identify the first identifier as an example: Since the performance of each drone 100 is different, the time consumed by different drones 100 to identify the first identifier may be different. In practical applications, generally, the better the performance of the drone 100, that is, the stronger the computing power, the shorter the time consumed to identify the first identifier. Therefore, in this embodiment, only the historical identification records of the drone 100 being recovered are retrieved. If there are multiple values ​​for the time consumed by the first identifier in the historical identification records of the drone 100, the mean method is used to select the average value of the time consumed by the drone 100 to identify the first identifier. If there is a single abnormal value, such as the time consumed by one of the first identifiers in the historical identification record is greater than several times the time consumed by the other, such as more than 3 times, then the abnormal value is eliminated, and the mean method is used to calculate the average value of the remaining time.

[0066] The principle of calculating the second time consumed by the drone 100 to identify the second identifier and the third time consumed to identify the third identifier is consistent with the first time consumed to identify the first identifier, so it will not be repeated here.

[0067] Step S400: Based on the preset matching model, a first speed of the drone 100 moving from the first identification visibility to the second identification visibility is calculated according to the first time, a second speed of the drone 100 moving from the second identification visibility to the third identification visibility is calculated according to the second time, and a third speed of the drone 100 moving from the third identification visibility to a stopped state is calculated according to the third time.

[0068] First, taking the calculation of the first speed as an example, the process of obtaining the first speed is as follows:

[0069] Step S411: obtaining the initial speed of the drone 100;

[0070] Step S412: Calculating a first ideal time for the drone 100 to move from the first marked visibility to the second marked visibility according to the initial speed of the drone 100;

[0071] Step S413: if the first ideal time is greater than the first time, the initial speed is marked as the first speed;

[0072] Step S414: if the first ideal time is not greater than the first time, a preset unit speed is reduced on the basis of the initial speed to obtain a reference speed;

[0073] Step S415: Calculating a second ideal time for the drone 100 to move from the first marked visibility to the second marked visibility according to the reference speed;

[0074] Step S416: If the second ideal time is not greater than the first time, continue to reduce a preset unit speed based on the reference speed until the time it takes for the drone 100 to move from the first mark visibility to the second mark visibility is greater than the first time.

[0075] Simply put, it is to set a unit speed in advance, for example, a unit speed can be set to 0.5m / s or 1m / s. Then, according to the initial speed of the drone 100, the first ideal time for the drone 100 to move from the first identification visibility to the second identification visibility is calculated. If the first ideal time is greater than the first time, it proves that the drone 100 has sufficient time to identify the first identification in the process of moving from the first identification visibility to the second identification visibility, that is, it can complete the rendezvous with the machine nest system. Therefore, when the first ideal time is not greater than the first time, the unit speed is reduced on the basis of the initial speed. It should be noted that the drone 100 has a flight speed threshold, so in actual applications, the speed obtained by adding a unit speed on the basis of the initial speed needs to be less than the flight speed threshold of the drone 100.

[0076] Reference Figure 4 In this solution, the entire process of the drone 100 moving from the second mark visibility to the stop state belongs to the vertical landing flight mode, and the position where the drone 100 vertically lands from the second mark visibility is set as the landing alignment position. However, the initial position to which the drone 100 returns after the operation is completed is not necessarily the first position of the first mark visibility. In this embodiment, the first position refers to the position located directly above the recovery cabin 310, and the position located on the first mark visibility inside the recovery cabin 310 that can be entered by vertical landing. Figure 4 In FIG. 1 , A represents the initial position, B represents the first position, and C represents the landing alignment position. Therefore, when the initial position of the drone 100 does not coincide with the first position, the drone 100 has two routes for moving from the initial position to the landing alignment position, such as Figure 4 As described above, the two routes are set as E and F respectively, and the distances of E and F are the same. Therefore, the first ideal time can be calculated by subtracting the initial speed of the drone 100 from the distance of the route.

[0077] Therefore, when designing a plan, it is necessary to meet the following requirements: the initial speed + n unit speeds are less than the flight speed threshold of the drone 100, and the ideal speed obtained after the initial speed + n unit speeds, and the time consumed by the drone 100 to move from the first visibility to the second visibility at the ideal speed is greater than the first time.

[0078] After obtaining the first speed, the second speed and the third speed are calculated in the same way. The difference is that when calculating the second speed, the first speed is used as the initial speed, and n unit speeds are increased or decreased on the basis of the first speed. The second speed needs to satisfy: the first speed ±n unit speeds are less than the flight speed threshold of the drone 100, and the ideal time obtained after the first speed ±n unit speeds, the time consumed by the drone 100 moving from the second visibility to the third visibility using the ideal speed is greater than the second time. When calculating the third speed, the second speed is used as the initial speed, and n unit speeds are increased or decreased on the basis of the second speed. The third speed also needs to satisfy: the second speed ±n unit speeds are less than the flight speed threshold of the drone 100, and the ideal time obtained after the second speed ±n unit speeds, the time consumed by the drone 100 moving from the third visibility to the stop state using the ideal speed is greater than the third time. The above-mentioned stop state means that the drone 100 has safely landed in the honeycomb 300 and is in a stationary state.

[0079] Step S500: combining the first speed, the second speed, and the third speed according to a preset combination rule to obtain target recovery data.

[0080] Specifically, the preset combination rule is to sequentially connect the first speed, the second speed, and the third speed and output them as target recovery data. During the actual landing process, the drone 100 flies at the first speed when passing through the first marked visibility and the second marked visibility, flies at the second speed when passing through the second marked visibility and the third marked visibility, and flies at the third speed when passing through the third marked visibility and the stopped state. That is, the drone 100 adjusts its own speed in sequence, which can ensure its correct and safe landing in the recovery cabin 310 while shortening the opening time of the cabin door 312.

[0081] In a specific example, the above-mentioned working process of driving the drone 100 to switch in sequence according to the first speed, the second speed, and the third speed is as follows: the drone 100 outputs a request to land command when identifying the first mark, and the main control module 240 wakes up the video monitoring module 230 when receiving the request to land command. The video monitoring module 230 takes a real-time picture of the position of the drone 100 and uploads the image to the main control module 240. The main control module 240 identifies the position of the drone 100 in the image, and outputs a first adjustment command when the drone 100 lands to the visibility of the first mark. The drone 100 switches the speed to the first speed upon receiving the first adjustment command; the main control module 240 outputs a second adjustment command when identifying that the drone 100 lands to the visibility of the second mark, and the drone 100 switches the speed to the second speed upon receiving the second adjustment command; and the main control module 240 outputs a third adjustment command when identifying that the drone 100 lands to the visibility of the third mark, and the drone 100 switches the speed to the third speed upon receiving the third adjustment command.

[0082] In another specific example, the working process of driving the drone 100 to switch in sequence according to the first speed, the second speed, and the third speed is as follows: the main control module 240 takes the spatial position of the recovery cabin 310 as the center of the circle. When the distance between the spatial position of the drone 100 and the center of the circle is a first identification visibility, the main control module 240 outputs a first control instruction, and the drone 100 switches the speed to the first speed upon receiving the first control instruction; when the distance between the spatial position of the drone 100 and the center of the circle is a second identification visibility, the main control module 240 outputs a second control instruction, and the drone 100 switches the speed to the second speed upon receiving the second control instruction; when the distance between the spatial position of the drone 100 and the center of the circle is a third identification visibility, the main control module 240 outputs a third control instruction, and the drone 100 switches the speed to the third speed upon receiving the third control instruction.

[0083] The above provides two methods for the drone 100 to switch between the first speed, the second speed, and the third speed. In practical applications, any one of the two methods can be used, or both methods can be used at the same time to improve the accuracy of the drone 100 switching between the first speed, the second speed, and the third speed.

[0084] In order to further reduce the opening time of the door 312 of the recovery cabin 310 in worse weather conditions, during the recovery of the drone 100 according to the target recovery data: the initial posture of the drone 100 and the posture of the stopped state of the drone 100 are obtained, and then the difference between the initial posture and the stopped state posture is calculated according to a preset calculation rule. If the difference is greater than a preset difference threshold, an attitude adjustment instruction is output. The drone 100 receives the attitude adjustment instruction, so that when the drone 100 is in the first position, it automatically adjusts its attitude, so that when the drone 100 moves from the third visibility to the stopped state, it only needs to fine-tune its attitude. Therefore, the time for the drone 100 to adjust its attitude is shortened, and the time for opening the door 312 can also be shortened as the recovery time of the drone 100 is shortened.

[0085] In a specific example, the above-mentioned initial posture of the drone 100 can be obtained through the image of the drone 100 taken by the video monitoring module 230. When the video monitoring module 230 is used, the stop state posture of the drone 100 is recorded in advance in the main control module 240, and a difference threshold is set. Then, the initial posture of the drone 100 in the image and the stop state posture recorded in advance are compared. When the difference between the two is within the difference threshold, the drone 100 maintains the current posture and lands; and when the difference between the two postures exceeds the difference threshold, a posture adjustment instruction is output to control the drone 100 to adjust the posture.

[0086] In another specific example, the initial posture of the drone 100 can also be obtained by setting a cross laser on the head of the drone 100, and setting a cross laser sensor at a position corresponding to the head of the drone 100 when the drone 100 is in a stopped state in the recovery cabin 310. The cross laser sensor is an electronic device that can sense the laser output by the cross laser, such as a surveillance camera or a light sensor. When the laser output by the cross laser on the drone 100 is irradiated on the cross laser sensor, and the cross laser sensor senses that the intersection center of the cross laser output by the cross laser is within the difference threshold, the drone 100 maintains the current posture and lands; otherwise, the drone 100 needs to adjust its posture and continue to land when the cross laser sensor senses that the intersection center of the cross laser output by the cross laser is within the difference threshold.

[0087] Two methods for obtaining the initial posture of the drone 100 are provided above. In practical applications, any one of the two methods may be used, or both methods may be used simultaneously to improve the accuracy of obtaining the initial posture of the drone 100 .

[0088] In order to ensure that the opening time of the hatch 312 of the recovery cabin 310 is shortened as the recovery time of the drone 100 is shortened, during the process of the drone 100 performing the landing task according to the target recovery data: the drone 100 outputs a landing request command when it recognizes the first identifier, and the control station 200 outputs a hatch 312 opening command when it receives the landing request command, and the honeycomb 300 receives the hatch 312 opening command to open the hatch 312, that is, the hatch 312 is opened and the drone 100 descends simultaneously. And in order to ensure that the opening of the hatch 312 and the descent of the drone 100 do not conflict, that is, the hatch 312 and the drone 100 do not collide. Therefore, the machine nest controller 320 will also obtain the first time, the second time and the third time from the control station 200, and control the machine nest power module 330 to open the cabin door 312 to the first opening within the first time. The first opening is when the drone 100 moves to the landing alignment position, and the drone 100 can recognize the second mark through the first opening, that is, when the cabin door 312 is in the first opening state, the cabin door 312 will not block the drone 100 from recognizing the second mark when the drone 100 is in the landing alignment position.

[0089] Similarly, within the second time, the nest controller 320 controls the nest power module 330 to open the hatch 312 to the second opening, and the second opening is when the drone 100 enters the recovery cabin 310, and the drone 100 can enter the recovery cabin 310 through the second opening. In the second opening state, the hatch 312 and the drone 100 are staggered, and the drone 100 can safely enter the recovery cabin 310. Within the third time, the nest controller 320 controls the nest power module 330 to open the hatch 312 to the third opening, at which time the third opening is still greater than the second opening. However, within the third time, if it is detected that the drone 100 is already in a stopped state, that is, the drone 100 has a shorter time to adjust its attitude and enters the stopped state in advance, the nest controller 320 controls the nest power module 330 to close the hatch, thereby achieving that the opening time of the hatch 312 of the recovery cabin 310 is shortened as the recovery time of the drone 100 is shortened.

[0090] The principle of monitoring the drone 100 in a stopped state can be obtained by: obtaining through images uploaded by a video monitoring module, or by acquiring the spatial position of the drone 100 and the spatial position of the recovery cabin 310. In practical applications, other monitoring methods that can monitor the correct landing of the drone 100 into the recovery cabin 310 can also be used. The specific implementation method is not limited here.

[0091] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) by each other to form a technical solution.

Claims

1. A method for guiding and controlling the recovery of an unmanned aerial vehicle, characterized in that: include: Obtain environmental data; Based on a preset simulation model, simulating the visibility of the first sign, the visibility of the second sign, and the visibility of the third sign according to the environmental data; Acquiring a historical identification record of the drone (100), the historical identification record comprising a first time consumed by the drone (100) for identifying a first identifier, a second time consumed for identifying a second identifier, and a third time consumed for identifying a third identifier; Based on a preset matching model, a first speed of the drone (100) moving from a first identification visibility to a second identification visibility is calculated according to a first time, a second speed of the drone (100) moving from the second identification visibility to a third identification visibility is calculated according to a second time, and a third speed of the drone (100) moving from the third identification visibility to a stopped state is calculated according to a third time; Combining the first speed, the second speed, and the third speed according to a preset combination rule to obtain target recovery data; Output target recovery data.

2. The UAV recovery guidance control method according to claim 1, characterized in that: The step of calculating the first speed of the drone (100) moving from the first identification visibility to the second identification visibility at the first time based on the preset matching model comprises: Get the initial speed of the drone (100); Calculating a first ideal time for the drone (100) to move from a first marked visibility to a second marked visibility based on an initial speed of the drone (100); If the first ideal time is greater than the first time, marking the initial speed as the first speed; If the first ideal time is not greater than the first time, a preset unit speed is reduced on the basis of the initial speed to obtain a reference speed; Calculating a second ideal time for the drone (100) to move from a first marked visibility to a second marked visibility based on the reference speed; If the second ideal time is not greater than the first time, the preset unit speed is continuously reduced based on the reference speed until the time for the drone (100) to move from the first mark visibility to the second mark visibility is greater than the first time.

3. The UAV recovery guidance control method according to claim 2 is characterized in that: The step of calculating the first ideal time comprises: Acquiring an initial position and a landing alignment position of the drone (100), wherein the landing alignment position is located directly above the nest system and coincides with the second marker visibility; Based on the flight mode of the drone (100), obtaining a first position when the drone (100) moves from an initial position to a first identification visibility; Obtaining a moving distance of the drone (100) from a first position to a landing alignment position based on a flight mode of the drone (100); A first ideal time is calculated according to the moving distance and the initial speed.

4. The UAV recovery guidance control method according to claim 3 is characterized in that: The flight modes of the drone (100) include horizontal flight and vertical flight.

5. The UAV recovery guidance control method according to claim 1, characterized in that: The step of combining the first speed, the second speed, and the third speed according to a preset combination rule to obtain target recovery data includes: sequentially connecting the first speed, the second speed, and the third speed and outputting them as target recovery data.

6. The UAV recovery guidance control method according to claim 1, characterized in that: Also includes: Obtaining the initial posture of the drone (100) and the posture of the drone (100) in a stopped state; Calculate the difference between the initial posture and the stop state posture according to a preset calculation rule; If the difference is greater than a preset difference threshold, outputting a posture adjustment instruction; The posture adjustment instruction and the target recovery data are output.

7. The UAV recovery guidance control method according to claim 6, characterized in that: The attitude adjustment instruction is a wireless remote control instruction used to control the drone (100) to adjust its own attitude.

8. The method for guiding and controlling the recovery of an unmanned aerial vehicle according to claim 1, characterized in that: The process in which the drone (100) performs a landing mission according to target recovery data includes: obtaining a landing request instruction output by the drone (100) when the drone (100) recognizes the first identifier; Output a cabin door (312) opening command according to the landing request command.

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