Remote take-off and landing method, system and terminal for unmanned aerial vehicle

Abstract

This application relates to the field of unmanned aerial vehicle (UAV) technology, and more particularly to a method, system, and terminal for remote take-off and landing of UAVs. By sending a first route mission command to a first UAV nest, the first UAV nest forwards the command to the corresponding first UAV. The first route mission command controls the first UAV to execute the first route mission in the direction of a second UAV nest. The distance information between the first UAV and the second UAV nest is acquired in real time. If the distance is less than a preset distance, a relocation command is sent to the second UAV nest, which controls the corresponding second UAV to leave the second UAV nest. Finally, a landing command is sent to the first UAV to control its landing on the second UAV nest. By setting up a first UAV nest and a second UAV nest, and having the terminal send commands to the nests to control the remote take-off and landing of the UAV, the stability of remote take-off and landing of UAVs can be improved.

Description

[Technical Field]

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method, system and terminal for remote take-off and landing of UAVs. [Background Technology]

[0002] With the continuous development of unmanned aerial vehicle (UAV) aerial photography technology, UAVs are becoming increasingly popular and widely used in fields such as aerial photography, urban management, surveying and mapping, power line inspection, agriculture, and meteorology. This has led to the development of product forms such as consumer drones and industrial drones, as well as large and medium-sized cargo drones. Large and medium-sized cargo drones have a longer endurance and can perform inspection tasks.

[0003] When planning drone inspection missions, in order to make full use of the drone's long range, it is necessary to schedule the drone to inspect along the high-voltage lines from its current location and finally fly to a different location to land.

[0004] Currently, the remote take-off and landing of drones usually involves setting up multiple ground stations. The drone enables interaction between the take-off ground station and the landing ground station. For example, the landing ground station sends a takeover request to the drone, which then forwards the request to the take-off ground station. The take-off ground station determines whether to agree to the takeover, thus enabling the landing ground station to take over the drone.

[0005] However, this method requires the use of drones as a communication intermediary. Since drones are in motion, they are susceptible to various signal interferences, which may result in poor communication quality and thus affect the normal operation of take-off and landing in different locations. [Summary of the Invention]

[0006] This application provides a method, system, and terminal for remote take-off and landing of unmanned aerial vehicles (UAVs) to solve the problem of communication quality affecting remote take-off and landing of UAVs and improve the stability of remote take-off and landing of UAVs.

[0007] To address the aforementioned technical problems, this application provides the following technical solutions:

[0008] In a first aspect, embodiments of this application provide a method for remote take-off and landing of an unmanned aerial vehicle (UAV), applied to a terminal, wherein the terminal has a communication connection to at least two UAV nests, each UAV nest corresponding to one UAV, and the method includes:

[0009] Send a first route mission instruction to the first nest, so that the first nest forwards the first route mission instruction to the first unmanned aerial vehicle corresponding to the first nest. The first route mission instruction is used to control the first unmanned aerial vehicle to execute the first route mission in the direction of the second nest.

[0010] The distance information between the first UAV and the second nest is obtained in real time. If the distance information is less than the preset distance, a relocation command is sent to the second nest. The relocation command is used to control the second UAV corresponding to the second nest to leave the second nest.

[0011] Send a landing command to the first unmanned aerial vehicle (UAV) to control it to land in the second nest.

[0012] In some embodiments, the method further includes:

[0013] Before sending the first route mission instruction to the first nest, it is determined whether the second nest meets the landing conditions. The landing conditions include the second nest being in normal operation, the second nest having the ability to swap batteries, and the weather at the landing point of the second nest meeting the mission execution conditions.

[0014] If the second hangar meets the landing conditions, the first route mission instruction is sent to the first hangar.

[0015] If the second hangar does not meet the landing conditions, the first route mission instruction will not be sent to the first hangar, thus canceling the first route mission.

[0016] In some embodiments, the method further includes:

[0017] After determining whether the second nest meets the landing conditions, it is further determined whether the relay base station of the first route corresponding to the first route mission meets the communication conditions. The communication conditions include: the relay base station is working normally, and the relay base station's endurance time exceeds the preset endurance time threshold.

[0018] If the relay base station of the first route corresponding to the first route mission meets the communication conditions, then the first route mission instruction is sent to the first nest.

[0019] If the relay base station corresponding to the first route mission does not meet the communication conditions, the first route mission instruction will not be sent to the first nest, so as to cancel the first route mission.

[0020] In some embodiments, the first route corresponding to the first route mission is provided with multiple nests, each nest corresponds to at least one alternate landing point, and each alternate landing point corresponds to a nest number. The method further includes:

[0021] After the first nest forwards the first route mission instructions to the first unmanned aerial vehicle corresponding to the first nest, the location information of each alternate landing point is sent to the first unmanned aerial vehicle. The alternate landing points are set within a preset range of each nest.

[0022] In some embodiments, the method further includes:

[0023] If the first unmanned aerial vehicle is in mission execution state and detects that the second nest does not meet the landing conditions, determine whether a control command has been received within a preset time.

[0024] If a control command is received within a preset time, the first unmanned aerial vehicle is controlled to execute the control command, wherein the control command is used to control the first unmanned aerial vehicle to perform an emergency landing.

[0025] If no control command is received within a preset time, the first unmanned aerial vehicle will be controlled to land at the nearest emergency landing point of its current location.

[0026] In some embodiments, the method further includes:

[0027] After sending a relocation command to the second drone nest, the second unmanned aerial vehicle is controlled to fly to the alternate landing point corresponding to the second drone nest. The alternate landing point is set within a preset range of the second drone nest.

[0028] If the second UAV lands at the alternate landing point corresponding to the second nest, and the first UAV lands at the landing point corresponding to the second nest, then the relocation is considered successful. The landing point corresponding to the second nest includes the parking apron of the second nest.

[0029] If the second UAV fails to land at the alternate landing point corresponding to the second UAV nest, and / or the first UAV fails to land at the landing point corresponding to the second UAV nest, then the relocation is deemed a failure.

[0030] In some embodiments, the first host corresponds to a first network segment, the first network segment corresponds to a first key, the second host corresponds to a second network segment, and the second network segment corresponds to a second key. The method further includes:

[0031] After the first UAV lands on the second UAV nest, the network segment corresponding to the second UAV nest is changed to the first network segment, and the key corresponding to the second UAV nest is changed to the key of the first UAV nest, so that the second UAV nest and the first UAV nest can establish a video transmission connection.

[0032] In some embodiments, the method further includes:

[0033] After the second nest establishes a video transmission connection with the first unmanned aerial vehicle, a second route mission command is sent to the second nest. The second route mission command is used to control the first unmanned aerial vehicle to execute the second route mission in the direction of the first nest.

[0034] After receiving the second route mission instruction from the second nest, the battery power information of the first unmanned aerial vehicle is obtained;

[0035] If the battery level of the unmanned aerial vehicle (UAV) is less than a preset battery threshold, the second UAV will be controlled to replace the battery of the first UAV.

[0036] In some embodiments, the method further includes:

[0037] After the battery of the first UAV is replaced in the second nest, a first return-to-home command is sent to the second nest so that the second nest can forward the first return-to-home command to the first UAV. The first return-to-home command is used to control the first UAV to return from the second nest to the first nest.

[0038] In some embodiments, the method further includes:

[0039] Before sending the first return command to the second nest, it is determined whether the first nest meets the landing conditions. The landing conditions include the first nest being normal and the weather at the landing point of the second nest being suitable for mission execution.

[0040] If the first drone nest meets the landing conditions, the image transmission connection between the second drone nest and the first unmanned aerial vehicle is disconnected, and the image transmission connection between the first drone nest and the first unmanned aerial vehicle is established.

[0041] In some embodiments, the method further includes:

[0042] If the first data center successfully establishes a video transmission connection with the first UAV, then the second data center is controlled to establish a video transmission connection with the second UAV, and a first return-to-home command is sent to the second data center so that the second data center forwards the first return-to-home command to the first UAV.

[0043] Secondly, embodiments of this application provide a method for remote take-off and landing of an unmanned aerial vehicle, the method comprising:

[0044] The terminal sends the first route mission instruction to the first nest;

[0045] After receiving the first route mission instruction, the first nest forwards the first route mission instruction to the first unmanned aerial vehicle corresponding to the first nest. The first route mission instruction is used to control the first unmanned aerial vehicle to execute the first route mission in the direction of the second nest.

[0046] The terminal obtains the distance information between the first UAV and the second nest in real time. If the distance information is less than the preset distance, it sends a relocation command to the second nest.

[0047] After receiving the relocation command, the second drone nest controls the second drone nest to leave the second drone nest;

[0048] The terminal sends a landing command to the first unmanned aerial vehicle (UAV) to control the first UAV to land in the second nest.

[0049] Thirdly, embodiments of this application provide a terminal, including:

[0050] At least one processor; and

[0051] A memory communicatively connected to at least one processor; wherein the memory stores instructions executable by at least one processor, the instructions being executed by at least one processor to enable at least one processor to perform the remote take-off and landing method of the unmanned aerial vehicle of the first aspect.

[0052] Fourthly, embodiments of this application provide a remote take-off and landing system for unmanned aerial vehicles (UAVs), applying the remote take-off and landing method for UAVs of the second aspect. The system includes:

[0053] At least two unmanned aerial vehicles;

[0054] At least two nests;

[0055] The terminal has a communication connection to at least two nests.

[0056] Fifthly, embodiments of this application provide a computer-readable storage medium for storing a computer program that causes a computer to perform instructions as described in some or all of the steps in the first or second aspect.

[0057] Sixthly, embodiments of this application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first or second aspect. The computer program product may be a software installation package.

[0058] The beneficial effects of this application embodiment are as follows: Unlike existing technologies, this application embodiment provides a method for remote take-off and landing of unmanned aerial vehicles (UAVs), applied to a terminal. The terminal communicates with at least two UAV nests, each nest corresponding to one UAV. The method includes: sending a first route mission instruction to a first UAV nest, causing the first UAV nest to forward the first route mission instruction to the first UAV nest corresponding to the first UAV nest, wherein the first route mission instruction is used to control the first UAV nest to execute the first route mission in the direction of a second UAV nest; acquiring distance information between the first UAV nest and the second UAV nest in real time; if the distance information is less than a preset distance, sending a relocation instruction to the second UAV nest, wherein the relocation instruction is used to control the second UAV nest corresponding to the second UAV nest to leave the second UAV nest; and sending a landing instruction to the first UAV nest to control the first UAV nest to land on the second UAV nest.

[0059] By setting up a first and a second drone nest, and sending commands from the terminal to the nest to control the remote take-off and landing of the unmanned aerial vehicle (UAV), it is possible to better realize remote take-off and landing of UAVs and improve the stability of remote take-off and landing of UAVs. [Attached Image Description]

[0060] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0061] Figure 1 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0062] Figure 2 This is a schematic diagram of an application scenario provided in Embodiment 1 of this application;

[0063] Figure 3 This is a flowchart illustrating a method for remote take-off and landing of an unmanned aerial vehicle provided in an embodiment of this application;

[0064] Figure 4 This is a schematic diagram of the overall process of remote take-off and landing provided in an embodiment of this application;

[0065] Figure 5 yes Figure 4 Detailed flowchart of step S402 in the process;

[0066] Figure 6 yes Figure 4 Detailed flowchart of step S403 in the process;

[0067] Figure 7 This is a schematic diagram of the process of moving an unmanned aerial vehicle out of its cargo hold, provided in an embodiment of this application.

[0068] Figure 8 This is a schematic diagram of the process of moving an unmanned aerial vehicle into a warehouse according to an embodiment of this application;

[0069] Figure 9 This is a schematic diagram of a data transmission connection between a data center and an unmanned aerial vehicle provided in an embodiment of this application;

[0070] Figure 10 This is a schematic diagram of another image transmission connection between the housing and the unmanned aerial vehicle provided in an embodiment of this application;

[0071] Figure 11 This is a schematic diagram of another image transmission connection between a housing and an unmanned aerial vehicle provided in an embodiment of this application;

[0072] Figure 12 This is a schematic diagram of an abnormal situation handling process provided in an embodiment of this application;

[0073] Figure 13 This is a schematic diagram of an application scenario provided in Embodiment 2 of this application;

[0074] Figure 14 This is a schematic diagram of a process for battery replacement of an unmanned aerial vehicle provided in an embodiment of this application;

[0075] Figure 15 This is a schematic diagram of the image transmission connection between a housing and an unmanned aerial vehicle provided in Embodiment 2 of this application;

[0076] Figure 16 This is a schematic diagram of another image transmission connection between the housing and the unmanned aerial vehicle provided in an embodiment of this application;

[0077] Figure 17 This is a flowchart illustrating a method for remote take-off and landing of an unmanned aerial vehicle provided in an embodiment of this application;

[0078] Figure 18 This is an interactive timing diagram of a remote take-off and landing method for an unmanned aerial vehicle provided in an embodiment of this application;

[0079] Figure 19 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application;

[0080] Figure 20 This is a schematic diagram of the structure of a remote take-off and landing system for an unmanned aerial vehicle provided in an embodiment of this application. [Specific implementation method]

[0081] To facilitate understanding of this application, a more detailed description is provided below with reference to the accompanying drawings and specific embodiments. It should be noted that when an element is described as being "fixed to" another element, it can be directly on the other element, or one or more intermediate elements may exist between them. When an element is described as being "connected" to another element, it can be directly connected to the other element, or one or more intermediate elements may exist between them. The terms "upper," "lower," "inner," "outer," "bottom," etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0082] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0083] Furthermore, the technical features involved in the different embodiments of this application described below can be combined with each other as long as they do not conflict with each other.

[0084] The following describes in detail, with reference to the accompanying drawings, the method for remote take-off and landing of unmanned aerial vehicles in the embodiments of this application.

[0085] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating an application scenario provided in an embodiment of this application;

[0086] like Figure 1 As shown, this application scenario includes a terminal 101, an unmanned aerial vehicle (UAV) 102, and multiple drone nests 103. The terminal 101 is communicatively connected to each drone nest 103, for example, the terminal 101 is connected to each drone nest 103 via a wireless network. The drone nest 103 is an unmanned operating drone nest used to provide take-off and landing for the UAV 102.

[0087] It is understood that the unmanned aerial vehicle (UAV) in this embodiment corresponds to a controller, i.e., the flight controller of the UAV. The pilot or user can operate the UAV 102 via a wireless network using the controller. The controller has the ability to monitor and manipulate the flight and mission of the UAV, and includes a set of devices for controlling the launch and recovery of the UAV.

[0088] In some embodiments, terminal 101 refers to an operation center or command center. Terminal 101 is communicatively connected to each nest 103 and is used to control the relevant operations of each nest 103. For example, it can send control commands to nest 103 to control nest 103 to receive unmanned aerial vehicle 102, or control nest 103 to swap batteries for unmanned aerial vehicle 102, or control nest 103 to remove unmanned aerial vehicle 102.

[0089] It is understandable that the terminal 102 also includes modules such as a display screen, which will not be described in detail here.

[0090] In some embodiments, the unmanned aerial vehicle 102 includes unmanned aerial vehicles such as multi-rotor drones, fixed-wing drones, unmanned helicopters, and hybrid-wing drones. In some embodiments, the unmanned aerial vehicle 102 can also be an unmanned aerial vehicle driven by any type of power, including but not limited to rotary-wing drones, fixed-wing drones, paragliding drones, flapping-wing drones, and helicopter models. In this application embodiment, a fixed-wing drone is used as an example.

[0091] Furthermore, the unmanned aerial vehicle 102 can be configured with appropriate size or power according to actual needs, thereby providing sufficient payload capacity, flight speed, and flight range to meet usage requirements. One or more sensors can also be added to the unmanned aerial vehicle 102 to enable it to collect relevant data.

[0092] For example, in some embodiments, the unmanned aerial vehicle 102 is equipped with at least one of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a visual sensor.

[0093] The unmanned aerial vehicle 102 also includes a flight controller, which serves as the control core for the drone's flight and data transmission, integrating one or more modules to execute corresponding logic control programs.

[0094] In this embodiment of the application, the unmanned aerial vehicle includes an unmanned aerial vehicle control system, which includes a state machine, a flight controller, an unmanned aerial vehicle power system, and unmanned aerial vehicle sensors, etc.

[0095] Specifically, the UAV control system includes a state machine, a flight controller, and a UAV propulsion system. The state machine connects the flight controller and the UAV propulsion system. Its inputs are navigation data and user interaction commands, and its outputs are control commands and corresponding flags. The main function of the state machine is to process user interaction commands and use navigation data to implement various UAV functions, such as flight mode switching, status monitoring, waypoint flight, and return-to-home. The user interaction commands are those issued by ground users, such as joystick inputs and button control commands, which can be implemented in the state machine. Specifically, the control commands and corresponding flags output by the state machine include position commands, velocity commands, acceleration commands, altitude commands, rate of climb commands, climb acceleration commands, attitude angle commands, heading angular rate commands, attitude mode flags, and position mode flags.

[0096] Specifically, the flight controller connects the state machine and the flight controller itself. It receives control commands and corresponding flags from the state machine, as well as navigation data from the UAV's power system, and outputs motor speed control commands. The flight controller includes two flight modes: position mode and attitude mode. Its main function is to calculate motor speed commands using control commands and navigation data through a specific algorithm, enabling the UAV to achieve position and attitude control, thus ensuring the UAV reaches the desired position and attitude. Specifically, the battery speed control command, taking a common rotorcraft as an example, is the pulse width modulation (PWM) control of the motor.

[0097] Specifically, the UAV propulsion system, connected to the flight controller, includes the UAV's execution system and status monitoring system. It receives motor speed control commands from the flight controller to achieve the corresponding speed, thereby controlling the attitude angles and position. It also processes sensor data to indirectly or directly calculate navigation data. Specifically, the UAV propulsion system uses a fusion algorithm to process UAV sensor data to obtain navigation data. For example, the UAV propulsion system includes GPS, gyroscopes, accelerometers, and magnetometers. The UAV's position, velocity, and acceleration data can be calculated using GPS, gyroscopes, accelerometers, and magnetometers. The UAV's position, velocity, and acceleration data can also be calculated using binocular vision, gyroscopes, accelerometers, and magnetometers. The UAV's attitude angles and angular rates can be calculated using gyroscopes, accelerometers, and magnetometers.

[0098] In some embodiments, the controller of the unmanned aerial vehicle 102 includes a smart terminal, wherein the smart terminal can be any type of smart device used to establish a communication connection with the unmanned aerial vehicle 102, such as a mobile terminal like a mobile phone, tablet computer, or smart remote control. The controller can be equipped with one or more different user interaction devices for collecting user commands or displaying and providing feedback to the user. Alternatively, the controller includes a terminal device, wherein the terminal device includes a computer, PC, or other device that establishes a communication connection with the unmanned aerial vehicle, and the terminal device can be equipped with one or more different user interaction devices for collecting user commands or displaying and providing feedback to the user.

[0099] The aforementioned user interaction devices include, but are not limited to, buttons, mice, keyboards, displays, touchscreens, speakers, and remote control joysticks. For example, the controller may be equipped with a touchscreen display, through which it receives remote control commands from the user to the unmanned aerial vehicle (UAV) and displays map information (i.e., map images) and aerial images (i.e., image transmission images). The user can also switch the currently displayed image information on the screen using the remote control touchscreen. The user can also control the movement of the UAV, or control the gimbal direction and the focal length of the UAV's gimbal camera, etc., through mouse operation or keyboard key operation.

[0100] In some embodiments, existing image vision processing technologies can be integrated between the UAV and the controller to provide more intelligent services. For example, the UAV can acquire images using dual-light cameras, which are then analyzed by the controller to enable user gesture control of the UAV.

[0101] In some embodiments, the nest 103 includes multiple nests, each nest 103 being used to dock an unmanned aerial vehicle (UAV) 102, for example, landing an UAV inside the nest 103 to perform operations such as battery swapping on the UAV 102.

[0102] In some embodiments, the wireless network can be a wireless communication network based on any type of data transmission principle used to establish a data transmission channel between two nodes, such as a Bluetooth network, a WiFi network, a wireless cellular network, or a combination thereof located in different signal frequency bands.

[0103] The technical solution of this application will be described below with reference to the accompanying drawings:

[0104] Example 1

[0105] Please see Figure 2 , Figure 2 This is a schematic diagram of an application scenario provided in Embodiment 1 of this application;

[0106] This application scenario involves an unmanned aerial vehicle (UAV) taking off and landing in a different location, with the UAV landing at a designated "nest".

[0107] like Figure 2 As shown, the application scenario includes a terminal, a first nest, a second nest, a first unmanned aerial vehicle (UAV), and a second UAV. The first nest and the second nest are both communicatively connected to the terminal, the first UAV is communicatively connected to the first nest, and the second UAV is communicatively connected to the second nest.

[0108] Please see Figure 3 , Figure 3 This is a flowchart illustrating a method for remote take-off and landing of an unmanned aerial vehicle provided in an embodiment of this application;

[0109] The remote take-off and landing method of the unmanned aerial vehicle is applied to the terminal. Specifically, the execution subject of the remote take-off and landing method of the unmanned aerial vehicle is one or at least two processors of the terminal.

[0110] like Figure 3 As shown, the method for remote take-off and landing of the unmanned aerial vehicle includes:

[0111] Step S301: Send a first route mission instruction to the first nest, so that the first nest forwards the first route mission instruction to the first unmanned aerial vehicle corresponding to the first nest. The first route mission instruction is used to control the first unmanned aerial vehicle to execute the first route mission in the direction of the second nest.

[0112] Specifically, the terminal communicates with the first and second drone nests based on a preset communication protocol, such as TCP, UDP, or Netty. Each drone nest corresponds to a drone. The first drone nest corresponds to the first drone, and the second drone nest corresponds to the second drone. That is, the first drone is docked in the first drone nest, and the second drone is docked in the second drone nest.

[0113] When a user is ready to control the first unmanned aerial vehicle (UAV) to perform the first route mission, the user sends the first route mission instruction to the first UAV nest via the terminal. The terminal sends the first route mission instruction to the first UAV nest so that the first UAV nest can download the first route mission instruction. After receiving the first route mission instruction, the first UAV nest forwards the first route mission instruction to the first UAV docked in the first UAV nest. The first route mission instruction is used to control the first UAV to perform the first route mission in the direction of the second UAV nest.

[0114] Step S302: Obtain the distance information between the first UAV and the second nest in real time. If the distance information is less than the preset distance, send a relocation command to the second nest. The relocation command is used to control the second UAV corresponding to the second nest to leave the second nest.

[0115] Specifically, after receiving the first route mission instruction, the first unmanned aerial vehicle takes off from the first nest and flies towards the second nest to perform the first route mission.

[0116] During the flight of the first unmanned aerial vehicle (UAV), the terminal obtains the location of the first UAV in real time. For example, it can obtain the location information sent by the first UAV by establishing a communication connection with the first UAV, or it can obtain the location of the first UAV through the communication module on the first UAV, which includes a GPS module.

[0117] By acquiring the position of the first UAV in real time and calculating the distance between the position of the first UAV and the position of the second UAV nest in real time, when the distance between the first UAV and the second UAV nest is detected to be less than a preset distance, the terminal sends a relocation command to the second UAV nest so that the second UAV in the second UAV nest can leave the second UAV nest and the second UAV nest can wait for the arrival of the first UAV.

[0118] In this embodiment of the application, the preset distance can be set according to specific needs, such as setting the preset distance to 10 kilometers, 20 kilometers, etc., and is not limited here.

[0119] After the terminal sends a relocation command to the second nest, the second nest opens its hatch and launches the second UAV. It also releases the centering stick and sends a relocation command to the second UAV, so that the second UAV flies out of the second nest and stops at the backup landing point of the second nest to wait for the first UAV to arrive at the second nest.

[0120] Step S303: Send a landing command to the first unmanned aerial vehicle to control the first unmanned aerial vehicle to land in the second nest.

[0121] Specifically, when the first UAV flies to the vicinity of the second nest, the terminal sends a landing command to the first UAV, so that the first UAV lands in the second nest after receiving the landing command.

[0122] In this embodiment, by setting up a first nest and a second nest, the terminal sends a first route mission instruction to the first nest, and the first nest forwards the first route mission instruction to the first unmanned aerial vehicle (UAV) to control the remote take-off and landing of the first UAV. This application can better realize the remote take-off and landing of UAVs.

[0123] In this embodiment of the application, the method further includes:

[0124] Before sending the first route mission instruction to the first nest, it is determined whether the second nest meets the landing conditions. The landing conditions include the second nest being in normal operation, the second nest having the ability to swap batteries, and the weather at the landing point of the second nest meeting the mission execution conditions.

[0125] If the second hangar meets the landing conditions, the first route mission instruction is sent to the first hangar.

[0126] If the second hangar does not meet the landing conditions, the first route mission instruction will not be sent to the first hangar, thus canceling the first route mission.

[0127] For details, please refer to [link / reference]. Figure 4 , Figure 4 This is a schematic diagram of the overall process of remote take-off and landing provided in an embodiment of this application;

[0128] like Figure 4 As shown, the overall process for this remote take-off and landing includes:

[0129] Step S401: Prepare for takeoff;

[0130] Specifically, after receiving the first route mission instruction, the first unmanned aerial vehicle (UAV) prepares to take off from the first nest and fly to the second nest. The first route mission instruction corresponds to the first route mission, which includes waypoint missions, channel inspection missions, etc. It is understandable that waypoint missions and channel inspection missions correspond to different mission types, and therefore have different route templates.

[0131] Step S402: Are the landing conditions met?

[0132] Specifically, determine whether the second nest meets the landing conditions. If yes, proceed to step S403; otherwise, proceed to step S415.

[0133] Please refer to the following: Figure 5 , Figure 5 yes Figure 4 Detailed flowchart of step S402 in the process;

[0134] like Figure 5 As shown, step S402 includes:

[0135] Step S4021: Determine the landing point nest as the second nest;

[0136] Specifically, if the first unmanned aerial vehicle performs the first route mission, and the nest corresponding to the first route mission is the second nest, then the landing point nest is determined to be the second nest.

[0137] Step S4022: Is the second nest of equipment functioning properly?

[0138] Specifically, determine whether the equipment such as the hatch and centering rod of the second machine nest is normal. If yes, proceed to step S4023; otherwise, proceed to step S4026.

[0139] Step S4023: Does the second nest have a spare battery?

[0140] Specifically, determine whether there is a backup battery in the second cell. If yes, proceed to step S4024; otherwise, proceed to step S4026.

[0141] Step S4024: Does the weather meet the landing requirements?

[0142] Specifically, it determines whether the climate at the landing point meets the landing requirements, that is, whether the weather at the landing point of the second nest meets the conditions for mission execution. For example, it determines whether there is severe weather such as heavy rain or typhoon. If severe weather occurs, the landing requirements are not met, and the process proceeds to step S4026; if the landing requirements are met, the process proceeds to step S4025.

[0143] Step S4025: The second nest meets the landing conditions;

[0144] Step S4026: The second nest meets the non-landing condition.

[0145] Step S403: Are the communication conditions met?

[0146] Specifically, after determining whether the second nest meets the landing conditions, it is further determined whether the relay base station of the first route corresponding to the first route mission meets the communication conditions. The communication conditions include: the relay base station is working normally, and the relay base station's endurance time exceeds the preset endurance time threshold.

[0147] Understandably, multiple relay base stations and hubs are pre-configured during deployment, each base station has its own key, and communication is achieved by configuring the same frequency band.

[0148] Specifically, normal operation of a relay base station includes normal communication, normal signal strength, and normal equipment. The preset battery life threshold can be set according to specific needs, such as 8 hours or 12 hours.

[0149] If the relay base station of the first route corresponding to the first route mission meets the communication conditions, then the first route mission instruction is sent to the first nest.

[0150] If the relay base station corresponding to the first route mission does not meet the communication conditions, the first route mission instruction will not be sent to the first nest, so as to cancel the first route mission.

[0151] In this embodiment of the application, the first route corresponding to the first route mission is provided with multiple nests, each nest corresponds to at least one alternate landing point, and each alternate landing point corresponds to a nest number. The method further includes:

[0152] After the first nest forwards the first route mission instructions to the first unmanned aerial vehicle corresponding to the first nest, the location information of each alternate landing point is sent to the first unmanned aerial vehicle. The alternate landing points are set within a preset range of each nest.

[0153] Please refer to the following: Figure 6 , Figure 6 yes Figure 4 Detailed flowchart of step S403 in the process;

[0154] like Figure 6 As shown, step S403 includes:

[0155] Step S4031: Inspect relay base stations along the route;

[0156] Specifically, the first route corresponds to multiple relay base stations. Each relay base station is inspected.

[0157] Step S4032: Have the base stations along the route been started?

[0158] Specifically, determine whether the relay base station has been started. If the relay base station has been started, proceed to step S4035; if the relay base station has not been started, proceed to steps S4037 and S4033.

[0159] Step S4033: Startup failed three times;

[0160] Specifically, if the same relay base station fails to start three times in a row, it is determined that the communication conditions are not met.

[0161] Step S4034: Communication conditions not met;

[0162] Specifically, it was determined that the relay base station for the first route corresponding to the first route mission did not meet the communication requirements.

[0163] Step S4035: Whether the battery life of the relay base station is greater than the preset time threshold;

[0164] Specifically, the preset time threshold is set according to specific needs, for example, set to 8 hours. If the relay base station's battery life is greater than the preset time threshold, proceed to step S4036; if the relay base station's battery life is not greater than the preset time threshold, proceed to step S4034.

[0165] Step S4036: Communication conditions are met;

[0166] Specifically, the relay base station corresponding to the first route mission must meet the communication requirements.

[0167] Step S4037: Start the relay base station that has not been started;

[0168] Specifically, if a relay base station is found to be not started, then the not started relay base station will be started.

[0169] In this embodiment of the application, the relay base station is charged by solar energy, supports 4G cards, and is in standby hibernation state when not in use. The relay base station can be turned on or off by a terminal, and the relay base station will report the current status information of the base station to the terminal in real time.

[0170] Step S404: Take off and execute the mission;

[0171] Specifically, the first unmanned aerial vehicle took off to perform the first route mission.

[0172] Step S405: Inspect the second nest within a preset distance;

[0173] Specifically, if the distance between the first unmanned aerial vehicle and the second nest is less than a preset distance, the second nest will be inspected.

[0174] Step S406: Determine if the second nest is empty;

[0175] Specifically, it is determined whether the second UAV in the second nest has been moved out of the cabin. In this embodiment of the application, each nest can only hold one UAV. That is, it is determined whether the second nest is empty. If yes, proceed to step S412; if no, proceed to step S407.

[0176] Step S407: The second unmanned aerial vehicle moves out of the cargo hold;

[0177] Specifically, control the second drone nest to open the hatch so that the second drone can move out of the nest.

[0178] Step S408: Has the second unmanned aerial vehicle been successfully moved?

[0179] Specifically, determine whether the second unmanned aerial vehicle has been successfully moved. If yes, proceed to step S412; otherwise, proceed to step S409.

[0180] Please refer to the following: Figure 7 , Figure 7 This is a schematic diagram of the process of moving an unmanned aerial vehicle out of its cargo hold, provided in an embodiment of this application.

[0181] like Figure 7 As shown, the process of moving the unmanned aerial vehicle out of its cargo hold includes:

[0182] Step S701: Begin moving the aircraft out of the warehouse;

[0183] Step S702: Check the power-on status of the unmanned aerial vehicles inside the cabin;

[0184] Step S703: Is the unmanned aerial vehicle inside the cabin powered on?

[0185] Specifically, determine whether the unmanned aerial vehicle inside the nest has been turned on. If yes, proceed to step S704; otherwise, proceed to step S712.

[0186] Step S704: Nest preparation for flight;

[0187] Step S705: Was the standby flight preparation successful?

[0188] Specifically, determining whether the standby flight preparation was successful includes:

[0189] Determine whether the unmanned aerial vehicle has been successfully powered on, whether the nest door is open, whether the nest's parking apron has been pushed out, and whether the nest's centering stick has been released.

[0190] If the UAV has been successfully powered on, the pod door is open, the pod's parking apron has been pushed out, and the pod's centering lever has been released, then the backup preparation is confirmed to be successful, and proceed to step S706; otherwise, the backup preparation is confirmed to have failed, and proceed to step S711.

[0191] Step S706: Issue the mission to the unmanned aerial vehicle to land at the emergency landing point outside the nest;

[0192] Step S707: Has the unmanned aerial vehicle successfully taken off?

[0193] Specifically, determine whether the unmanned aerial vehicle has successfully taken off. If yes, proceed to step S708; otherwise, proceed to step S711.

[0194] Step S708: The unmanned aerial vehicle flies to the emergency landing point and lands;

[0195] Understandably, an emergency landing point is a landing point set up in advance or temporarily during the flight of an aircraft. The landing point refers to the takeoff position of the aircraft, that is, the position on the tarmac.

[0196] Step S709: Has the unmanned aerial vehicle successfully landed?

[0197] Specifically, determine whether the unmanned aerial vehicle has landed at the emergency landing point. If yes, proceed to step S710; otherwise, proceed to step S711.

[0198] Step S710: Aircraft successfully moved out of the warehouse;

[0199] Step S711: Failed to move aircraft out of the warehouse;

[0200] Step S712: Activate the unmanned aerial vehicle inside the cabin;

[0201] Specifically, if the drones inside the cabin are not powered on, then the drones inside the cabin will be activated.

[0202] Step S409: The first unmanned aerial vehicle lands at the alternate landing point;

[0203] Specifically, the first unmanned aerial vehicle landed at the second nest; please refer to [further details]. Figure 8 , Figure 8 This is a schematic diagram of the process of moving an unmanned aerial vehicle into a warehouse according to an embodiment of this application;

[0204] like Figure 8 As shown, the process of moving an unmanned aerial vehicle (UAV) into a warehouse includes:

[0205] Step S801: Begin moving the machine into the warehouse;

[0206] Step S802: Is the unmanned aerial vehicle outside the cabin connected?

[0207] Step S803: The aircraft carrier prepares for an alternate landing;

[0208] Step S804: Was the emergency landing preparation successful?

[0209] Specifically, the system determines whether the emergency landing preparation was successful. If successful, proceed to step S805; otherwise, proceed to step S809. During this process, the terminal sends instructions to the unmanned aerial vehicle (UAV), which executes the instructions. After execution, the UAV returns a message to the terminal. The UAV then flies off from the tarmac and lands at the emergency landing point. The UAV's status changes from propeller rotation to takeoff to landing, and finally, the landing is successful.

[0210] Step S805: Issue the task of landing the unmanned aerial vehicle on the helipad of the nest;

[0211] Step S806: Has the unmanned aerial vehicle successfully taken off?

[0212] Specifically, determine whether the unmanned aerial vehicle has successfully taken off. If yes, proceed to step S807; otherwise, proceed to step S809.

[0213] Step S807: The unmanned aerial vehicle flies to the nest and lands;

[0214] Step S808: Transfer and storage of the aircraft was successful;

[0215] Step S809: Failed to move the machine into the warehouse.

[0216] Step S410: The second drone nest establishes an image transmission connection with the first unmanned aerial vehicle;

[0217] In this embodiment of the application, the connection between each nest and the unmanned aerial vehicle is established through a key, which can be modified or switched through a terminal.

[0218] For details, please refer to Figure 9 , Figure 9 This is a schematic diagram of a data transmission connection between a data center and an unmanned aerial vehicle provided in an embodiment of this application;

[0219] like Figure 9 As shown, before the first UAV leaves the first nest, the first UAV establishes a video transmission connection with the first nest (nest A). The first nest uses the first network segment (network segment A), which corresponds to the first key (key A), i.e., the frequency pairing key is the first key. The second nest (nest B) uses the second network segment (network segment B), which corresponds to the second key (key B), i.e., the frequency pairing key is the second key.

[0220] Understandably, a network segment refers to the portion of a computer network that communicates directly using the same physical layer. The same network segment means that addresses share the same network address. A subnet mask is used to separate the network address and host address of an address. Conversely, addresses within the same network segment must have the same subnet mask, and each network segment is assigned an IP address.

[0221] When the distance between the first UAV and the second UAV nest is less than a preset distance, the terminal issues a relocation command to control the second UAV corresponding to the second UAV nest to leave the second UAV nest, that is, to control the second UAV to move out of the nest.

[0222] Please refer to the following: Figure 10 , Figure 10 This is a schematic diagram of another image transmission connection between the housing and the unmanned aerial vehicle provided in an embodiment of this application;

[0223] like Figure 10 As shown, after sending a relocation command to the second drone nest, the second unmanned aerial vehicle is controlled to fly to the alternate landing point corresponding to the second drone nest, wherein the alternate landing point is set within a preset range of the second drone nest;

[0224] If the second UAV lands at the alternate landing point corresponding to the second nest, and the first UAV lands at the landing point corresponding to the second nest, then the relocation is considered successful. The landing point corresponding to the second nest includes the parking apron of the second nest.

[0225] If the second UAV fails to land at the alternate landing point corresponding to the second UAV nest, and / or the first UAV fails to land at the landing point corresponding to the second UAV nest, then the relocation is deemed a failure.

[0226] Specifically, after the first UAV lands on the second UAV nest, the network segment corresponding to the second UAV nest is changed to the first network segment, and the key corresponding to the second UAV nest is changed to the key of the first UAV nest, so that the second UAV nest and the first UAV nest can establish a video transmission connection.

[0227] Please refer to the following: Figure 11 , Figure 11 This is a schematic diagram of another image transmission connection between a housing and an unmanned aerial vehicle provided in an embodiment of this application;

[0228] like Figure 11 As shown, after the first UAV lands on the second nest (nest B), the terminal sets the second nest (nest B) to switch to the first network segment (network segment A) and changes the frequency pairing key from the second key to the first key (Key A). At this time, the first UAV and the second nest (nest B) establish a video transmission connection.

[0229] It is understandable that when the second key of the second network segment corresponding to the second nest is modified to the first key of the first network segment, the second nest and the first unmanned aerial vehicle can establish a communication connection, enabling the second nest to obtain all the image transmission and communication data of the first unmanned aerial vehicle.

[0230] Step S411: The second machine nest is closed;

[0231] Specifically, after establishing a video transmission connection between the second drone nest and the first unmanned aerial vehicle, the second drone nest is controlled to retract into its storage compartment.

[0232] Step S412: Second nest preparation for emergency landing;

[0233] Specifically, if the second unmanned aerial vehicle (UAV) successfully moves to another location, the second landing site will prepare for an emergency landing, waiting for the first UAV to land in the second landing site.

[0234] Specifically, after sending a relocation command to the second drone nest, the second unmanned aerial vehicle is controlled to fly to the alternate landing point corresponding to the second drone nest, wherein the alternate landing point is set within a preset range of the second drone nest;

[0235] If the second UAV lands at the alternate landing point corresponding to the second nest, and the first UAV lands at the landing point corresponding to the second nest, then the relocation is considered successful. The landing point corresponding to the second nest includes the parking apron of the second nest.

[0236] If the second UAV fails to land at the alternate landing point corresponding to the second UAV nest, and / or the first UAV fails to land at the landing point corresponding to the second UAV nest, then the relocation is deemed a failure.

[0237] Step S413: Has the second aircraft nest successfully prepared for emergency landing?

[0238] Specifically, determine whether the second drone landing site is ready for a successful emergency landing. If yes, proceed to step S414; otherwise, proceed to step S409: the first unmanned aerial vehicle lands at the emergency landing site.

[0239] Step S414: The first unmanned aerial vehicle lands in the second nest;

[0240] Step S415: Task cancelled.

[0241] Specifically, if the second nest does not meet the landing conditions, or does not meet the communication conditions, the mission will be canceled.

[0242] Please refer to the following: Figure 12 , Figure 12 This is a schematic diagram of an abnormal situation handling process provided in an embodiment of this application;

[0243] like Figure 12 As shown, the abnormal situation handling process includes:

[0244] Step S1201: An abnormal situation has occurred;

[0245] Specifically, if an unmanned aerial vehicle encounters an abnormal situation during flight, it is necessary to take abnormal handling measures.

[0246] Step S1202: Remaining battery life is insufficient to reach the landing point;

[0247] Specifically, if the remaining flight time of the unmanned aerial vehicle is insufficient to support its flight to the landing point, then an anomaly needs to be handled.

[0248] Step S1203: The weather at the landing site does not meet the landing conditions;

[0249] Specifically, if the weather at the landing point does not meet the conditions for mission execution, such as in the event of severe weather like heavy rain or typhoons, then the climate at the landing point is determined to be unsuitable for landing.

[0250] Step S1204: The landing site hull is unusable;

[0251] Step S1205: Remind the customer to choose between returning to the origin or making an emergency landing.

[0252] Step S1206: Does the customer select a treatment plan?

[0253] Specifically, it is determined whether a control command has been received, wherein the control command is used to control the first unmanned aerial vehicle to make an emergency landing; if a control command is received, proceed to step S1207; if no control command is received, proceed to step S1208.

[0254] Step S1207: Select processing method;

[0255] Specifically, the handling methods include returning to base or landing at the nearest emergency landing point. If a control command is received and the corresponding handling method is returning to base, then proceed to step S1208; if the corresponding handling method is landing at the nearest emergency landing point, then proceed to step S1209.

[0256] Step S1208: Return to base;

[0257] Step S1209: Land to the nearest emergency landing point.

[0258] Specifically, if the first unmanned aerial vehicle is in mission execution state and detects that the second nest does not meet the landing conditions, it determines whether a control command has been received within a preset time.

[0259] If a control command is received within a preset time, the first unmanned aerial vehicle is controlled to execute the control command, wherein the control command is used to control the first unmanned aerial vehicle to perform an emergency landing.

[0260] If no control command is received within a preset time, the first unmanned aerial vehicle will be controlled to land at the nearest emergency landing point of its current location.

[0261] It is understandable that the forced landing point refers to the landing point set in advance or temporarily during the flight of the unmanned aerial vehicle. If the terminal does not receive the control command within the preset time, it is determined that the customer has not selected a handling plan. At this time, the first unmanned aerial vehicle is controlled to land at the nearest forced landing point of the first unmanned aerial vehicle's current position.

[0262] It should be noted that the embodiments of this application can also support application scenarios with three or more nests, such as three nests a, b, and c, and three unmanned aerial vehicles (UAVs) a1, b1, and c1. UAV a1 from nest a travels to nest b, UAV b1 from nest b makes an emergency landing, and if performing a mission, UAV b1 from nest b travels to nest c, UAV c1 from nest c makes an emergency landing, or performs a mission to other nests, and so on.

[0263] In this embodiment, by utilizing the long-range characteristics of unmanned aerial vehicles (UAVs), such as fixed-wing UAVs, and by scheduling one UAV to perform inspections along the first route from the current nest and finally fly to a different nest for landing, the UAV's route mission can be executed better. Furthermore, by setting up multiple nests, it is beneficial for the UAV to swap batteries, which can ensure the operational stability of the UAV.

[0264] In this embodiment, a method for remote take-off and landing of an unmanned aerial vehicle (UAV) is provided, applied to a terminal. The terminal communicates with at least two UAV nests, each UAV corresponding to one UAV. The method includes: sending a first route mission instruction to a first UAV nest, causing the first UAV nest to forward the first route mission instruction to the first UAV nest corresponding to the first UAV nest, wherein the first route mission instruction is used to control the first UAV nest to execute the first route mission in the direction of a second UAV nest; acquiring distance information between the first UAV nest and the second UAV nest in real time, and if the distance information is less than a preset distance, sending a relocation instruction to the second UAV nest, wherein the relocation instruction is used to control the second UAV nest corresponding to the second UAV nest to leave the second UAV nest; and sending a landing instruction to the first UAV nest to control the first UAV nest to land on the second UAV nest.

[0265] By setting up a first and a second drone nest, and sending commands from the terminal to the nest to control the remote take-off and landing of unmanned aerial vehicles (UAVs), remote take-off and landing of UAVs can be better realized.

[0266] Example 2

[0267] Please see Figure 13 , Figure 13This is a schematic diagram of an application scenario provided in Embodiment 2 of this application.

[0268] It should be noted that, Figure 13 Application scenarios and Figure 2 The application scenarios are similar, the difference is that... Figure 13 The first UAV has landed at the second nest, and at this point, the first UAV is preparing to return to the first nest. This application scenario is a case of UAVs returning from a different location.

[0269] It should be noted that the process of the first UAV returning from the second nest to the first nest is the same as the process of the first UAV flying from the first nest to the second nest. You can refer to the content mentioned in the above embodiment 1, and it will not be repeated here.

[0270] In this embodiment of the application, the method further includes:

[0271] After the second nest establishes a video transmission connection with the first unmanned aerial vehicle, a second route mission command is sent to the second nest. The second route mission command is used to control the first unmanned aerial vehicle to execute the second route mission in the direction of the first nest.

[0272] After receiving the second route mission instruction from the second nest, the battery power information of the first unmanned aerial vehicle is obtained;

[0273] If the battery level of the unmanned aerial vehicle (UAV) is less than a preset battery threshold, the second UAV will be controlled to replace the battery of the first UAV.

[0274] For details, please refer to Figure 14 , Figure 14 This is a schematic diagram of a process for battery replacement of an unmanned aerial vehicle provided in an embodiment of this application;

[0275] like Figure 14 As shown, the battery replacement process for an unmanned aerial vehicle includes:

[0276] Step S1401: Start the unmanned aerial vehicle;

[0277] Step S1402: Is the unmanned aerial vehicle powered on?

[0278] Specifically, determine whether the unmanned aerial vehicle is powered on. If yes, proceed to step S1403; otherwise, proceed to step S1412: power on the unmanned aerial vehicle.

[0279] Step S1403: Check the battery level of the unmanned aerial vehicle;

[0280] Step S1404: Is the battery level greater than the preset battery threshold?

[0281] Specifically, it determines whether the battery level of the unmanned aerial vehicle (UAV) is greater than a preset battery threshold. The preset battery threshold can be set according to specific needs, such as 80% or 85% of the UAV's maximum battery level.

[0282] Step S1405: Feedback indicates that the unmanned aerial vehicle has sufficient power;

[0283] Step S1406: Feedback indicates successful startup of the unmanned aerial vehicle;

[0284] Step S1407: Feedback indicates that the unmanned aerial vehicle (UAV) has insufficient battery power and needs to be replaced;

[0285] Step S1408: Battery swapping for the unmanned aerial vehicle;

[0286] Specifically, if an unmanned aerial vehicle (UAV) needs to swap batteries, it must meet the conditions for battery swapping. These conditions include: the UAV is located inside a nest; the UAV's battery level is below a preset battery threshold; and the battery compartment inside the nest must have at least two battery packs, with each battery pack containing at least one battery.

[0287] Step S1409: Was the battery swap successful?

[0288] Step S1410: Feedback indicates successful battery swap;

[0289] In this embodiment of the application, the unmanned aerial vehicle (UAV) can be swapped with a single click via a nest, which enables the UAV to perform inspection tasks more effectively.

[0290] Step S1411: Feedback on battery swapping failure and the reason for failure;

[0291] Specifically, reasons for battery swapping failures include malfunctions in the robotic arm of the battery cell and the absence of batteries inside the battery cell.

[0292] Step S1412: Activate the unmanned aerial vehicle;

[0293] Step S1413: Has the unmanned aerial vehicle started successfully?

[0294] Step S1414: Feedback on unmanned aerial vehicle startup failure and the reason for the failure.

[0295] It should be noted that when the first unmanned aerial vehicle (UAV) starts from the first nest, the power level of the first UAV can also be checked to determine whether a battery swap is needed. This will not be elaborated here, but can be referred to the content of Embodiment 2 above.

[0296] Please refer to the following: Figure 15 , Figure 15 This is a schematic diagram of the image transmission connection between a housing and an unmanned aerial vehicle provided in Embodiment 2 of this application;

[0297] like Figure 15 As shown, when the first UAV plans to return to the first nest (nest A), after the first UAV leaves the second nest (nest B), the terminal sets the second nest (nest B) to switch to the second network segment (network segment B), and modifies the frequency pairing key to the second key (Key B). At the same time, the second nest (nest B) and the second UAV establish a communication connection.

[0298] Please refer to the following: Figure 16 , Figure 16 This is a schematic diagram of another image transmission connection between the housing and the unmanned aerial vehicle provided in an embodiment of this application;

[0299] like Figure 16 As shown, the unmanned aerial vehicle (UAV) and the first nest (nest A) perform image transmission docking. After successful docking, the first UAV takes off and returns to base.

[0300] Furthermore, the terminal issued a relocation command, causing the second UAV to move from the emergency landing point into the second nest. After that, the first UAV landed in the first nest and entered the nest after landing in the first nest (nest A).

[0301] In this embodiment, by sending a second route mission instruction to the second nest, wherein the second route mission instruction is used to control the first unmanned aerial vehicle to perform the second route mission in the direction of the first nest, so that the first unmanned aerial vehicle returns to the first nest, this application can better realize remote return.

[0302] Example 3

[0303] Please refer to the following: Figure 17 , Figure 17 This is a flowchart illustrating a method for remote take-off and landing of an unmanned aerial vehicle provided in an embodiment of this application;

[0304] like Figure 17 As shown, the procedure for the remote take-off and landing of this unmanned aerial vehicle includes:

[0305] Step S1701: The terminal sends the first route mission instruction to the first nest;

[0306] Step S1702: After receiving the first route mission instruction, the first nest forwards the first route mission instruction to the first unmanned aerial vehicle corresponding to the first nest. The first route mission instruction is used to control the first unmanned aerial vehicle to execute the first route mission in the direction of the second nest.

[0307] Step S1703: The terminal obtains the distance information between the first UAV and the second nest in real time. If the distance information is less than the preset distance, a relocation command is sent to the second nest.

[0308] Step S1704: After receiving the relocation command, the second UAV corresponding to the second UAV nest is controlled to leave the second UAV nest;

[0309] Step S1705: The terminal sends a landing command to the first unmanned aerial vehicle to control the first unmanned aerial vehicle to land in the second nest.

[0310] Please refer to the following: Figure 18 , Figure 18 This is an interactive timing diagram of a remote take-off and landing method for an unmanned aerial vehicle provided in an embodiment of this application;

[0311] Specifically, the interaction sequence of the remote take-off and landing method for this unmanned aerial vehicle includes:

[0312] Step S1801: The terminal sends the first route mission instruction to the first nest;

[0313] Step S1802: Forward the first route mission command to the first unmanned aerial vehicle corresponding to the first nest;

[0314] Step S1803: Obtain the distance information between the first unmanned aerial vehicle and the second nest in real time;

[0315] Step S1804: Send relocation command;

[0316] Step S1805: Control the second unmanned aerial vehicle corresponding to the second nest to leave the second nest;

[0317] Step S1806: Send a landing command to the first unmanned aerial vehicle to control the first unmanned aerial vehicle to land in the second nest.

[0318] It should be noted that the relevant steps in the embodiments of this application can refer to the relevant content mentioned in Embodiment 1 and Embodiment 2 above, and will not be repeated here.

[0319] In this embodiment, a method for remote take-off and landing of unmanned aerial vehicles (UAVs) is provided. The method includes: a terminal sending a first route mission command to a first UAV nest; after receiving the first route mission command, the first UAV nest forwards the command to the corresponding first UAV nest, wherein the first route mission command controls the first UAV nest to execute the first route mission in the direction of a second UAV nest; the terminal acquiring distance information between the first UAV nest and the second UAV nest in real time, and if the distance information is less than a preset distance, sending a relocation command to the second UAV nest; after receiving the relocation command, the second UAV nest controls the corresponding second UAV nest to leave the second UAV nest; and the terminal sending a landing command to the first UAV nest to control the first UAV nest to land on the second UAV nest. By setting up a first UAV nest and a second UAV nest, and having the terminal send commands to the nests to control the remote take-off and landing of the UAV, remote take-off and landing of UAVs can be better realized.

[0320] Please see Figure 19 , Figure 19 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application;

[0321] like Figure 19 As shown, the terminal 190 includes a processor 191, a memory 192, and a communication module 193. The processor 191, memory 192, and communication module 193 can establish a communication connection between any two of them via a bus.

[0322] Processor 191 can be any type of processor with one or more processing cores. It can perform single-threaded or multi-threaded operations, used for parsing instructions to perform operations such as fetching data, performing logical operations, and sending out processing results.

[0323] The processor 191 is used to send a first route mission command to a first nest, so that the first nest forwards the first route mission command to the first unmanned aerial vehicle (UAV) corresponding to the first nest. The first route mission command controls the first UAV to execute the first route mission in the direction of the second nest. It also acquires real-time distance information between the first UAV and the second nest. If the distance is less than a preset distance, it sends a relocation command to the second nest, which controls the second UAV corresponding to the second nest to leave the second nest. Finally, it sends a landing command to the first UAV to control the first UAV to land on the second nest. By setting up a first nest and a second nest, and having the terminal send commands to the nests to control the remote take-off and landing of UAVs, remote take-off and landing of UAVs can be better realized.

[0324] The memory 192, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the remote take-off and landing method of the unmanned aerial vehicle in the embodiments of this application. The processor 191 implements the remote take-off and landing method of the unmanned aerial vehicle in the above method embodiments by running the non-transitory software programs, instructions, and modules stored in the memory 192.

[0325] The memory 192 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the remote control device, etc. Furthermore, the memory 192 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 192 may optionally include memory remotely located relative to the processor 191, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0326] The memory 192 stores instructions that can be executed by at least one processor 191; the at least one processor 191 is used to execute the instructions to implement the remote take-off and landing method of the unmanned aerial vehicle in any of the above method embodiments.

[0327] Communication module 193 is a functional module used to establish a communication connection and provide a physical channel. Communication module 193 can be any type of wireless or wired communication module, including but not limited to WiFi modules or Bluetooth modules.

[0328] Furthermore, this application embodiment also provides a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more processors 191, enabling the one or more processors 191 to execute the remote take-off and landing method of the unmanned aerial vehicle in any of the above method embodiments.

[0329] Please refer to the following: Figure 20 , Figure 20 This is a schematic diagram of the structure of a remote take-off and landing system for an unmanned aerial vehicle provided in an embodiment of this application;

[0330] like Figure 20 As shown, the remote take-off and landing system 200 for the unmanned aerial vehicle includes: a terminal 201, a first nest 202, a second nest 203, a first unmanned aerial vehicle 204, and a second unmanned aerial vehicle 205.

[0331] In this embodiment, the first nest 202 and the second nest 203 are both connected to the terminal 201 through a wireless communication network. The terminal 201 controls the first nest 202 and the second nest 203, so as to further control the first unmanned aerial vehicle 204 and the second unmanned aerial vehicle 205.

[0332] In this embodiment, the terminal 201 is connected to the first nest 202 and the second nest 203 via wireless communication. The terminal 201 may be, but is not limited to, a mobile phone, a tablet computer, a controller, or an image device for display.

[0333] The relevant content of the first unmanned aerial vehicle 204 and the second unmanned aerial vehicle 205 of the remote take-off and landing system 200 of the unmanned aerial vehicle in this application embodiment can be referred to the unmanned aerial vehicles mentioned in the above embodiments, and will not be repeated here.

[0334] The first nest 202 and the second nest 203 in this embodiment are unmanned aerial vehicle (UAV) nests that can be used for take-off and landing of UAVs. Both the first nest 202 and the second nest 203 include a centering rod, a battery pack, a hatch, and other related components.

[0335] Furthermore, embodiments of this application also provide a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more processors, enabling the one or more processors to execute the remote take-off and landing method of the unmanned aerial vehicle in any of the above method embodiments.

[0336] Furthermore, embodiments of this application also provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the remote take-off and landing method for an unmanned aerial vehicle in any of the above method embodiments. This computer program product can be a software installation package.

[0337] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0338] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program in a computer program product instructing related hardware. The computer program can be stored in a non-transitory computer-readable storage medium. The computer program includes program instructions, which, when executed by a related device, cause the related device to execute the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0339] The above-described product can execute the remote take-off and landing method for unmanned aerial vehicles provided in the above embodiments of this application, and possesses the corresponding functional modules and beneficial effects for executing the remote take-off and landing method for unmanned aerial vehicles. Technical details not described in detail in the embodiments of this application can be found in the remote take-off and landing method for unmanned aerial vehicles provided in the above embodiments of this application.

[0340] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them; under the concept of this application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of this application as described above. For the sake of brevity, they are not provided in detail; although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A method for remote take-off and landing of an unmanned aerial vehicle, characterized in that, Applied to a terminal, wherein the terminal communicates with at least two nests, each nest corresponding to one unmanned aerial vehicle, the method includes: Send a first route mission instruction to the first nest, so that the first nest forwards the first route mission instruction to the first unmanned aerial vehicle corresponding to the first nest, wherein the first route mission instruction is used to control the first unmanned aerial vehicle to execute the first route mission in the direction of the second nest; The distance information between the first UAV and the second nest is acquired in real time. If the distance information is less than a preset distance, a relocation command is sent to the second nest. The relocation command is used to control the second UAV corresponding to the second nest to leave the second nest. Send a landing command to the first unmanned aerial vehicle to control the first unmanned aerial vehicle to land in the second nest; After sending a relocation command to the second drone nest, the second unmanned aerial vehicle is controlled to fly to the alternate landing point corresponding to the second drone nest, wherein the alternate landing point is set within a preset range of the second drone nest; If the second unmanned aerial vehicle lands at the alternate landing point corresponding to the second aircraft nest, and the first unmanned aerial vehicle lands at the landing point corresponding to the second aircraft nest, then the relocation is confirmed to be successful. The landing point corresponding to the second aircraft nest includes the parking apron of the second aircraft nest. If the second UAV fails to land at the alternate landing point corresponding to the second nest, and / or the first UAV fails to land at the landing point corresponding to the second nest, then the relocation is determined to have failed. After the first UAV enters the second nest, it sends a second route mission command to the second nest. The second route mission command is used to control the first UAV to execute the second route mission in the direction of the first nest. After the first UAV flies out of the second nest, the second UAV returns to the second nest from the alternate landing point.

2. The method according to claim 1, characterized in that, The method further includes: Before sending the first route mission instruction to the first nest, it is determined whether the second nest meets the landing conditions, wherein the landing conditions include the second nest being normal, the second nest having the conditions for battery swapping, and the weather at the landing point of the second nest meeting the conditions for mission execution. If the second nest meets the landing conditions, then send the first route mission instruction to the first nest; If the second nest does not meet the landing conditions, the first route mission instruction will not be sent to the first nest, so as to cancel the first route mission.

3. The method according to claim 2, characterized in that, The method further includes: After determining whether the second nest meets the landing conditions, it is further determined whether the relay base station of the first route corresponding to the first route mission meets the communication conditions, wherein the communication conditions include: the relay base station is working normally, and the relay base station's endurance time exceeds a preset endurance time threshold. If the relay base station of the first route corresponding to the first route task meets the communication conditions, then send the first route task instruction to the first nest. If the relay base station corresponding to the first route mission does not meet the communication conditions, the first route mission instruction will not be sent to the first nest, so as to cancel the first route mission.

4. The method according to claim 3, characterized in that, The first route corresponding to the first route mission has multiple aircraft nests, each aircraft nest corresponds to at least one alternate landing point, and each alternate landing point corresponds to one aircraft nest number. The method further includes: After the first nest forwards the first route mission instruction to the first unmanned aerial vehicle corresponding to the first nest, the location information of each alternate landing point is sent to the first unmanned aerial vehicle, wherein the alternate landing point is set within a preset range of each nest.

5. The method according to claim 4, characterized in that, The method further includes: If the first unmanned aerial vehicle is in mission execution state and detects that the second nest does not meet the landing conditions, determine whether a control command has been received within a preset time. If a control command is received within a preset time, the first unmanned aerial vehicle is controlled to execute the control command, wherein the control command is used to control the first unmanned aerial vehicle to perform an emergency landing. If no control command is received within a preset time, the first unmanned aerial vehicle will be controlled to land at the nearest emergency landing point of its current location.

6. The method according to claim 1, characterized in that, The first host corresponds to a first network segment, the first network segment corresponds to a first key, the second host corresponds to a second network segment, the second network segment corresponds to a second key, and the method further includes: After the first UAV lands at the second nest, the network segment corresponding to the second nest is modified to the first network segment, and the key corresponding to the second nest is modified to the key of the first UAV, so that the second nest and the first UAV can establish an image transmission connection.

7. The method according to claim 6, characterized in that, The method further includes: After the second nest establishes an image transmission connection with the first unmanned aerial vehicle, a second route mission command is sent to the second nest. The second route mission command is used to control the first unmanned aerial vehicle to execute the second route mission in the direction of the first nest. After the second nest receives the second route mission instruction, it obtains the battery power information of the first unmanned aerial vehicle; If the battery level of the unmanned aerial vehicle is less than a preset battery threshold, the second nest is controlled to replace the battery of the first unmanned aerial vehicle.

8. The method according to claim 7, characterized in that, The method further includes: After the battery of the first UAV is replaced in the second nest, a first return-to-home command is sent to the second nest so that the second nest forwards the first return-to-home command to the first UAV. The first return-to-home command is used to control the first UAV to return from the second nest to the first nest.

9. The method according to claim 8, characterized in that, The method further includes: Before sending the first return command to the second nest, it is determined whether the first nest meets the landing conditions, wherein the landing conditions include the first nest being normal and the weather at the landing point of the second nest being suitable for mission execution. If the first drone nest meets the landing conditions, the image transmission connection between the second drone nest and the first drone is disconnected, and the image transmission connection between the first drone nest and the first drone is established.

10. The method according to claim 9, characterized in that, The method further includes: If the first data center successfully establishes a video transmission connection with the first UAV, then the second data center is controlled to establish a video transmission connection with the second UAV, and a first return-to-home command is sent to the second data center so that the second data center forwards the first return-to-home command to the first UAV.

11. A method for remote take-off and landing of an unmanned aerial vehicle, characterized in that, The method includes: The terminal sends the first route mission instruction to the first nest; After receiving the first route mission instruction, the first nest forwards the first route mission instruction to the first unmanned aerial vehicle corresponding to the first nest. The first route mission instruction is used to control the first unmanned aerial vehicle to execute the first route mission in the direction of the second nest. The terminal obtains the distance information between the first UAV and the second nest in real time. If the distance information is less than a preset distance, it sends a relocation command to the second nest. After receiving the relocation command, the second drone nest controls the second drone nest to leave the second drone nest; The terminal sends a landing command to the first unmanned aerial vehicle (UAV) to control the first UAV to land in the second nest; After the terminal sends a relocation command to the second drone nest, it controls the second unmanned aerial vehicle to fly to the alternate landing point corresponding to the second drone nest, wherein the alternate landing point is set within a preset range of the second drone nest; If the second unmanned aerial vehicle lands at the alternate landing point corresponding to the second aircraft nest, and the first unmanned aerial vehicle lands at the landing point corresponding to the second aircraft nest, then the relocation is confirmed to be successful. The landing point corresponding to the second aircraft nest includes the parking apron of the second aircraft nest. If the second UAV fails to land at the alternate landing point corresponding to the second nest, and / or the first UAV fails to land at the landing point corresponding to the second nest, then the relocation is determined to have failed. After the first UAV enters the second nest, it sends a second route mission command to the second nest. The second route mission command is used to control the first UAV to execute the second route mission in the direction of the first nest. After the first UAV flies out of the second nest, the second UAV returns to the second nest from the alternate landing point.

12. A terminal, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the remote take-off and landing method for the unmanned aerial vehicle as described in any one of claims 1-10.

13. A remote take-off and landing system for an unmanned aerial vehicle, characterized in that, The system, employing the remote take-off and landing method for an unmanned aerial vehicle as described in claim 11, comprises: At least two unmanned aerial vehicles; At least two nests; The terminal communicates with at least two of the aforementioned nests.

Images