Unmanned aerial vehicle landing control method, unmanned aerial vehicle, and unmanned aerial vehicle assembly

Abstract

The application provides a UAV landing control method, comprising: determining a target landing position; generating a landing operation space above the target landing position and dividing the landing operation space into a homeward operation area, a processing operation area, a pre-landing operation area and a landing operation area, wherein the center line of the homeward operation area coincides with the target landing position; controlling the UAV to enter the landing operation space and repeatedly execute segmented vertical landing in the homeward operation area, the processing operation area and the pre-landing operation area according to a set unit homeward landing height, a set unit processing landing height and a set unit pre-landing height, and vertically landing to the target landing position in the landing operation area. The application also provides a UAV and a UAV assembly. The application can reduce the dependence on positioning sensor detection data in each operation area, and effectively improve landing accuracy.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and particularly relates to a UAV landing control method, a UAV, and a UAV component. Background Technology

[0002] In recent years, the development and application of micro-drones and rotary-wing drones have become increasingly widespread, often used for tasks such as video recording, surveillance, and scheduled patrols. The movement and landing of drones typically rely on their own positioning systems, including satellite navigation (such as GPS and BeiDou), inertial navigation systems, and RTK navigation systems. The reliability and accuracy of satellite navigation vary with the environment; factors such as multipath propagation and obstruction can lead to a series of errors. Electromagnetic signals are also affected by environmental blockages, with weak signal reception in mountainous areas, impacting the drone's return and landing.

[0003] Existing technologies often involve secondary development based on drones to ensure precise landing. For example, the solution disclosed in Chinese patent application (CN105182994A) is: "A method for precise landing of a drone, comprising the following steps: Step 1, calculating the drone's return altitude; Step 2, uploading the coordinates of the return hovering point and the return command; Step 3, precisely adjusting the drone's horizontal orientation; Step 4, landing." However, the reliability and accuracy of satellite navigation are still affected during the descent, which can lead to problems such as oscillation, jerking, sudden stops and acceleration during the drone's descent, affecting the accuracy and visual experience of the landing. Summary of the Invention

[0004] This invention addresses the problem in the prior art where fluctuations in the accuracy of satellite navigation during the descent of unmanned aerial vehicles (UAVs) can cause oscillations, jerks, sudden stops, and accelerations, affecting the accuracy and visual experience of the landing. The first aspect of this invention designs and provides a UAV landing control method.

[0005] To achieve the above-mentioned objectives, the present invention employs the following technical solution: A method for controlling the landing of a drone, wherein the drone is equipped with a positioning sensor; the method includes: determining a target landing position of the drone based on the current detection signal of the positioning sensor and a landing command; generating a landing operation space above the target landing position using the target landing position as a base point; dividing the landing operation space vertically from top to bottom into a return-to-home operation area, a processing operation area, a pre-landing operation area, and a landing operation area; controlling the drone to enter the landing operation space; controlling the drone to repeatedly perform segmented vertical landings at a set unit return-to-home landing altitude multiple times within the return-to-home operation area; controlling the drone to repeatedly perform segmented vertical landings at a set unit processing landing altitude multiple times within the processing operation area; controlling the drone to repeatedly perform segmented vertical landings at a set unit pre-landing altitude multiple times within the pre-landing operation area; controlling the drone to vertically land at the target landing position within the landing operation area; wherein the center lines of the return-to-home operation area, the processing operation area, the pre-landing operation area, and the landing operation area coincide with the center lines of the target landing position, and the drone sequentially passes through the return-to-home operation area, the processing operation area, the pre-landing operation area, and the landing operation area to land at the target landing position.

[0006] A second aspect of this application provides a drone, including a processing chip configured to execute the following control method: the method includes: determining a target landing position of the drone based on a current detection signal from a positioning sensor and a landing command; generating a landing operation space above the target landing position using the target landing position as a base point; dividing the landing operation space vertically from top to bottom into a return-to-home operation area, a processing operation area, a pre-landing operation area, and a landing operation area; controlling the drone to enter the landing operation space; controlling the drone to repeatedly perform segmented vertical landings multiple times at a set unit return-to-home landing altitude within the return-to-home operation area; controlling the drone to repeatedly perform segmented vertical landings multiple times at a set unit processing landing altitude within the processing operation area; controlling the drone to repeatedly perform segmented vertical landings multiple times at a set unit pre-landing altitude within the pre-landing operation area; and controlling the drone to vertically land at the target landing position within the landing operation area; wherein the center lines of the return-to-home operation area, the processing operation area, the pre-landing operation area, and the landing operation area coincide with the center lines of the target landing position, and the drone sequentially passes through the return-to-home operation area, the processing operation area, the pre-landing operation area, and the landing operation area to land at the target landing position.

[0007] A third aspect of this application provides a drone component, including a drone and a controller, the controller being configured to perform the following control method: determining a target landing position of the drone based on a current detection signal from a positioning sensor and a landing command; generating a landing operation space above the target landing position using the target landing position as a base point; dividing the landing operation space vertically from top to bottom into a return-to-home operation area, a processing operation area, a pre-landing operation area, and a landing operation area; controlling the drone to enter the landing operation space; controlling the drone to repeatedly perform segmented vertical landings multiple times at a set unit return-to-home landing altitude within the return-to-home operation area; controlling the drone to repeatedly perform segmented vertical landings multiple times at a set unit processing landing altitude within the processing operation area; controlling the drone to repeatedly perform segmented vertical landings multiple times at a set unit pre-landing altitude within the pre-landing operation area; controlling the drone to vertically land to the target landing position within the landing operation area; wherein the centerlines of the return-to-home operation area, the processing operation area, the pre-landing operation area, and the landing operation area coincide with the centerline of the target landing position, and the drone sequentially passes through the return-to-home operation area, the processing operation area, the pre-landing operation area, and the landing operation area to land at the target landing position.

[0008] Compared with the prior art, the advantages and positive effects of the present invention are: The UAV landing control method provided by this invention constructs a landing operation space for UAV landing in three-dimensional space and divides the landing operation space into multiple operation areas using altitude detection information. Since the UAV is controlled to repeatedly perform segmented vertical landings at a set unit landing altitude in each operation area, the dependence on data detection from the positioning sensor (GPS module) is reduced in each operation area, avoiding significant interference from temporary data failures of the GPS module or external factors on the UAV landing, thereby effectively improving the accuracy of landing.

[0009] Other features and advantages of the present invention will become clearer after reading the detailed embodiments of the invention in conjunction with the accompanying drawings. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram of the landing operation space in the UAV landing control method provided by the present invention; Figure 2A flowchart of a drone landing control method provided in some embodiments of the present invention; Figure 3 This is a flowchart of the return-to-home operation area in the UAV landing control method provided in some embodiments of the present invention; Figure 4 This is a flowchart illustrating the processing of the operating area in some embodiments of the UAV landing control method provided by the present invention; Figure 5 This is a flowchart of the pre-landing operation area in the UAV landing control method provided in some embodiments of the present invention; Figure 6 This is a schematic diagram of a drone component provided in some embodiments of the present invention. Implementation

[0012] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0013] It should be noted that in the description of this invention, the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," which indicate directional or positional relationships, are based on the directional or positional relationships shown in the accompanying drawings. These are merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0014] In order to reduce the probability of problems such as oscillation, jerking, sudden stop and acceleration during the descent of drones, and to improve the accuracy and appearance of landing, the first aspect of the present invention designs and provides a drone landing control method.

[0015] The drone (as shown in Figure 10) comprises a main body and multiple cantilever arms. The cantilever arms are located on the sides of the main body and extend outwards. These cantilever arms are configured to generate thrust for the drone, and propellers are mounted on them. Protective shields may be installed on the outside of the propellers. Each propeller consists of multiple blades, and the rotating propellers provide lift for stable flight. The protective shields protect the propellers from malfunctions or accidents caused by blades contacting the main body during takeoff, flight, and landing. The number of propeller blades can be designed according to actual lift requirements. The propellers are driven by motors. A landing gear is located below the drone. The landing gear can be made of a flexible but rigid material, or it can be designed with soft protective pads, or a guide rail or slide rail that matches the predetermined landing location. A power source is located inside the main body of the drone, which powers the motors; the power source is preferably a battery.

[0016] The drone is equipped with a processing chip containing a flight program to automatically control its flight.

[0017] Processing chips are typically implemented by a central processing unit (CPU) or a dedicated processor.

[0018] The processing chip is connected to a memory, which may include volatile memory and / or non-volatile memory. The memory is configured to store the aforementioned flight procedures or instructions or data associated with the UAV. The processing chip can access the memory to execute the instructions stored in the memory to perform related functions.

[0019] The processing chip has a communication interface that can selectively support different wireless communication protocols.

[0020] The drone is equipped with a positioning sensor, and the processing chip communicates with the positioning sensor to read the detection information from it. In some optional embodiments of this application, the positioning sensor is a GPS module, which can measure the real-time coordinates and altitude of the drone in flight.

[0021] like Figure 1 and Figure 2 As shown, the UAV landing control method provided by the present invention includes the following steps.

[0022] Step S101: Determine the target landing position D of the UAV based on the current detection signal from the positioning sensor and the landing command. The target landing position D includes at least its real-time coordinates.

[0023] Step S102: Generate a landing operation space above the target landing position D, using the target landing position D as the base point. For example... Figure 1 As shown, the landing operation space is an unobstructed space that is roughly cylindrical or conical in shape, and the landing action of the UAV is completed in the landing operation space; in a preferred embodiment, when the UAV leaves the landing operation space, it is configured to determine that the landing operation is aborted to avoid the UAV from colliding with unexpected objects.

[0024] Step S103: Divide the landing operation space vertically from top to bottom into a return-to-home operation area A1, a processing operation area A2, a pre-landing operation area A3, and a landing operation area A4. The centerlines of the return-to-home operation area A1, processing operation area A2, pre-landing operation area A3, and landing operation area A4 coincide with the centerline of the target landing position D. The UAV is configured to pass through the return-to-home operation area A1, processing operation area A2, pre-landing operation area A3, and landing operation area A4 in sequence to land at the target landing position D. In one optional embodiment, the return-to-home operation area A1, processing operation area A2, and pre-landing operation area A3 are all circular areas with the same radius, and the landing operation area A4 is also a circular area, with its lower half having a smaller radius than the other three operation areas. In another optional embodiment, the return-to-home operation area A1, processing operation area A2, pre-landing operation area A3, and landing operation area A4 can be circular areas with progressively decreasing radii, that is, the entire landing operation space is an inverted cone-shaped structure in three-dimensional space.

[0025] The return-to-home operation area A1 can be the area between 200-300 meters above the target landing position D. The starting altitude of the return-to-home operation area A1 corresponds to the starting altitude at which the UAV enters the return-to-home state after completing automatic cruise. The processing operation area A2 can be the area above 100-150 meters above the target landing position D. The starting altitude of the processing operation area A2 corresponds to the altitude at which the precise landing processing procedure is triggered. The pre-landing operation area A3 can be the area above 50 meters above the target landing position D. The UAV can move back and forth horizontally at any altitude within this area to prepare for landing. The landing operation area A4 can be the area above 20 meters above the target landing position D, corresponding to the direct landing altitude of the UAV. That is, in some specific embodiments of the present invention, the return-to-home operation area altitude value h1 (i.e., the altitude of the return-to-home operation area A1 itself), the processing operation area altitude value h2 (i.e., the altitude of the processing operation area A2 itself), the pre-landing operation area altitude value h3 (i.e., the altitude of the pre-landing operation area A3 itself), and the landing operation area altitude value h4 (i.e., the altitude of the landing operation area A4 itself) decrease sequentially.

[0026] Step S104: Control the drone to enter the landing operation space and begin the landing operation.

[0027] Step S105: Control the UAV to return to home and land at the set unit landing altitude h1 within the return-to-home operation area A1. ' Repeatedly execute segmented vertical descent.

[0028] Step S106: Control the UAV to process the landing altitude h2 within the processing operation area A2 according to the set unit. ' Repeatedly execute segmented vertical descent.

[0029] Step S107: Control the UAV to land at the set pre-landing altitude h3 within the pre-landing operation area A3. ' Repeatedly execute segmented vertical descent.

[0030] Step S108: Control the UAV to land vertically at the target landing position D within the landing operation area A4.

[0031] The UAV landing control method provided by this invention constructs a landing operation space for UAV landing in three-dimensional space and divides the landing operation space into multiple operation areas using altitude detection information. Since the UAV is controlled to repeatedly perform segmented vertical landings at a set unit landing altitude in each operation area, the dependence on data detection from the positioning sensor (GPS module) is reduced in each operation area, avoiding significant interference from temporary data failures of the GPS module or external factors on the UAV landing, thereby effectively improving the accuracy of landing.

[0032] In some optional embodiments of this application, such as Figure 3 As shown, perform the following control steps.

[0033] Step S201: Read the first return landing altitude detection signal generated by the positioning sensor.

[0034] Step S202: Control the UAV to return to home and land at the set unit landing altitude h1 within the return-to-home operation area A1. ' The segmented vertical descent is repeated multiple times, while the return-to-home set period T1 is initiated simultaneously.

[0035] Step S203: Determine whether the return-to-home set period T1 has ended.

[0036] Step S204: Read the second return landing altitude detection signal generated by the positioning sensor again at the end of the return set period T1.

[0037] Step S205: Calculate the difference d1 between the first return landing altitude detection signal and the second return landing altitude detection signal, which is the vertical landing distance of the UAV within one return landing set period T1.

[0038] Step S206: Determine whether the difference in landing altitude d1 is greater than or equal to the altitude value h1 of the return operation area.

[0039] Step S207: If the difference in return landing altitude d1 is greater than or equal to the return operation area altitude h1, further determine whether the return altitude error e1 is less than or equal to the return error ratio r1. In some optional embodiments of this application, the return error ratio r1 is related to the set unit return landing altitude h1. 'It is directly proportional to and less than the set unit return landing altitude h1 ' Preferably, the return error ratio r1 is 0.5h1. ' The return altitude error e1 is the difference between the return landing altitude difference d1 and the return operation area altitude value h1.

[0040] Step S208: If the difference in landing altitude d1 is greater than or equal to the altitude value h1 of the return operation area, and the return altitude error e1 is less than or equal to the return error ratio r1, then it is determined that the return operation area A1 has landed in place, and the UAV is further controlled to enter the processing operation area A2.

[0041] Step S209: If the difference in return landing altitude d1 is less than the return operation area altitude h1, then control the UAV to return and land at the set unit return landing altitude h1 within the return operation area A1. ' Repeatedly execute segmented vertical landings, while simultaneously restarting the return-to-home set cycle T1.

[0042] Step S210: Determine whether the return-to-home setting period T1 for restarting has ended.

[0043] Step S211: If the restarted return-to-home setting cycle T1 ends, update the second return-to-home landing altitude detection signal generated by the positioning sensor. Execute steps S206 and S207 again until the return-to-home operation area A1 has landed in place.

[0044] The return-to-home setting period T1 is generated based on the drone's descent speed. For example, the theoretical landing time for the drone to land within the return-to-home operation area A1 can be calculated based on the altitude value h1 of the return-to-home operation area and the drone's theoretical descent speed. This theoretical landing time is then divided (equally or non-equally) into multiple time periods, with one time period designated as the return-to-home setting period T1. Within each set return-to-home setting period T1, the drone can return to the home at a set unit landing altitude h1. ' Repeat the vertical descent once or multiple times.

[0045] In some optional embodiments of this application, such as Figure 4 As shown, perform the following control steps.

[0046] Step S300: Landing in return operation area A1.

[0047] Step S301: Read the first processed landing altitude detection signal generated by the positioning sensor.

[0048] Step S302: Control the UAV to process the landing altitude h2 within the processing operation area A2 according to the set unit. ' The segmented landing process is repeated multiple times, while the processing is initiated within a set period T2.

[0049] Step S303: Determine whether the processing set period T2 has ended.

[0050] Step S304: Read the second processing landing altitude detection signal generated by the positioning sensor again at the end of the processing set period T2.

[0051] Step S305: Calculate the difference d2 between the processed landing altitude detection signal and the processed landing altitude detection signal, which is the vertical landing distance of the UAV within a processing set period T2.

[0052] Step S306: Determine whether the difference in landing altitude d2 is greater than or equal to the altitude value h2 of the processing operation area.

[0053] Step S307: If the processed landing altitude difference d2 is greater than or equal to the processing operation area altitude value h2, further determine whether the processed altitude error e2 is less than or equal to the processed error ratio r2. In some optional embodiments of this application, the processed error ratio r2 is related to the set unit processed landing altitude h2. ' It is directly proportional to and less than the set unit processing descent height h2 ' Preferably, the processing error ratio r2 is 0.5h2. ' The processing altitude error e2 is the difference between the processing landing altitude difference d2 and the processing operation area altitude value h2.

[0054] Step S308: If the processing landing altitude difference d2 is greater than or equal to the processing operation area altitude value h2, and the processing altitude error e2 is less than or equal to the processing error ratio r2, then it is determined that the processing operation area A2 has landed in place, and the UAV is further controlled to enter the pre-landing operation area A3.

[0055] Step S309: If the difference in landing altitude d2 is less than the altitude value of the processing operation area, control the UAV to process the landing altitude h2 within the processing operation area A2 according to the set unit. ' Repeat the segmented vertical descent process multiple times, while simultaneously restarting the processing cycle T2.

[0056] Step S310: Determine whether the restart processing cycle T2 has ended.

[0057] Step S311: If the restarted processing setting cycle T2 ends, update the second processing landing altitude detection signal generated by the positioning sensor. Execute steps S306 and S307 again until the processing operation area A2 lands in place.

[0058] The processing set period T2 is generated based on the drone's descent speed. For example, the theoretical descent time of the drone within the processing operation area A2 can be calculated based on the processing operation area altitude value h2 and the drone's theoretical descent speed. This theoretical descent time is then divided (equally or non-equally) into multiple time periods, with one time period serving as the processing set period T2. Within one set processing set period T2, the drone can process descent altitude h2 according to a set unit. ' Repeat the vertical descent once or multiple times.

[0059] In some optional embodiments of this application, such as Figure 5 As shown, perform the following control steps.

[0060] Step S400: The processing area A2 is lowered into place.

[0061] Step S401: Read the first pre-descent altitude detection signal generated by the positioning sensor.

[0062] Step S402: Control the UAV to land at the set pre-landing altitude h3 within the pre-landing operation area A3. ' The segmented landing is repeated multiple times, while the pre-landing setting period T3 is initiated.

[0063] Step S403: Determine whether the pre-landing setting period T3 has ended.

[0064] Step S404: Read the second pre-landing altitude detection signal generated by the positioning sensor again at the end of the pre-landing setting period T3.

[0065] Step S405: Calculate the pre-landing altitude difference d3 corresponding to the first pre-landing altitude detection signal and the second pre-landing altitude detection signal, which is the vertical landing distance of the UAV within one pre-landing setting period T3.

[0066] Step S406: Determine whether the pre-landing altitude difference d3 is greater than or equal to the altitude value of the pre-landing operation area A3.

[0067] Step S407: If the pre-landing altitude difference d3 is greater than or equal to the altitude value of the pre-landing operation area A3, further determine whether the pre-landing altitude error e3 is less than or equal to the pre-landing error ratio r3. In some optional embodiments of this application, the pre-landing error ratio r3 is related to the set unit pre-landing altitude h3. ' It is directly proportional to and less than the set unit pre-descent height h3 ' Preferably, the pre-landing error ratio r3 is 0.5h3. ' The pre-landing altitude error is the difference between the pre-landing altitude difference d3 and the altitude value of the pre-landing operation area A3.

[0068] Step S408: If the pre-landing altitude difference d3 is greater than or equal to the altitude value of the pre-landing operation area A3, and the pre-landing altitude error e3 is less than or equal to the pre-landing error ratio r3, then it is determined that the pre-landing operation area A3 has been successfully landed, and the UAV is further controlled to enter the landing operation area A4.

[0069] Step S409: If the pre-landing altitude difference d3 is less than the altitude value of the pre-landing operation area A3, then control the UAV to land within the pre-landing operation area A3 at the set unit pre-landing altitude h3. ' Repeat the segmented vertical descent process multiple times, while simultaneously restarting the set processing cycle.

[0070] Step S410: Determine whether the restart processing cycle has ended.

[0071] Step S411: If the restarted processing set cycle ends, update the second pre-landing altitude detection signal generated by the positioning sensor. Execute steps S406 and S407 again until the pre-landing operation area A3 is in place.

[0072] The pre-landing setting period T3 is generated based on the drone's landing speed. For example, the theoretical landing time of the drone within the pre-landing operation area A3 can be calculated based on the altitude value of the pre-landing operation area A3 and the drone's theoretical landing speed. This theoretical landing time is then divided (equally or non-equally) into multiple time periods, with one time period serving as the pre-landing setting period T3. Within each set pre-landing period, the drone can land at a set pre-landing altitude h3. ' Repeat the vertical descent once or multiple times.

[0073] In some optional embodiments of this application, the durations of the return-to-home setting period T1, the processing setting period T2, and the pre-landing setting period T3 decrease sequentially, thus corresponding to the sequentially decreasing altitude values ​​h1, h2, and h3 of the return-to-home operation area, respectively. The landing speed of the UAV in the return-to-home operation area A1, the landing speed of the UAV in the processing operation area A2, and the landing speed of the UAV in the pre-landing operation area A3 decrease sequentially.

[0074] In some optional embodiments of this application, the UAV is controlled to return to home and land at a set unit altitude h1 within the return-to-home operation area A1. ' Control the drone to handle the landing altitude h2 within the processing operation area A2 according to the set unit. ' Alternatively, control the drone to land at a pre-landing altitude h3 within the pre-landing operation area A3. ' When performing segmented vertical landings multiple times, ensure that the actual landing distance of a single attempt is greater than or equal to the set unit return landing altitude h1. '1. Set the unit to handle the descent altitude h2 ' and set the pre-descent altitude h3 ' When the drone is halfway down, perform the next vertical descent; this avoids a significant decrease in the drone's descent speed and improves the smoothness of the descent process.

[0075] In some optional embodiments of this application, the UAV also includes an auxiliary positioning module. The auxiliary positioning module can be an ultrasonic sensor, an image processing module, etc., and can also detect the UAV's current altitude. If the return-to-home landing altitude difference d1 is greater than or equal to the return-to-home operation area altitude h1, but the return-to-home altitude error e1 is greater than the return-to-home error ratio r1; or if the processing landing altitude difference d1 is greater than or equal to the processing operation area altitude h2, but the processing altitude error e2 is greater than the processing error ratio r2; or the pre-landing altitude difference d3 is greater than or equal to the pre-landing operation area altitude h3, but the pre-landing altitude error e3 is greater than the pre-landing error ratio r2, then executing the current procedure may result in excessive deviation (e.g., due to gusts of wind). If the deviation is too large, the drone may collide with other objects during landing. To avoid this, when one of the above conditions is met, the real-time altitude detection value generated by the auxiliary positioning module is read. Based on the real-time altitude detection value, the return altitude difference, landing altitude difference, pre-landing altitude difference, or whether the landing altitude difference deviates from the safe altitude range is determined. If it deviates from the safe altitude range, the drone is controlled to fly to a safe area outside the landing operation space. The safe altitude range is preferably a set value under experimental conditions and can be pre-programmed for later use.

[0076] The second aspect of this application provides a drone, which includes a processing chip that executes the drone landing control method described above. The drone landing control method can be found in the detailed description of the above embodiments and the detailed description in the accompanying drawings, and will not be repeated here.

[0077] A third aspect of this application provides a drone component, which includes a drone and a controller (as shown in Figure 20). The controller executes the drone landing control method described above, which can be found in the detailed description of the above embodiments and the accompanying drawings, and will not be repeated here. The controller may be a handheld remote control device, which is communicatively connected to the processing chip in the drone.

[0078] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions claimed by the present invention.

Claims

1. A method for controlling the landing of a drone, wherein the drone is equipped with a positioning sensor; characterized in that, The method includes: The target landing position of the UAV is determined based on the current detection signal of the positioning sensor and the landing command. A landing operation space is generated above the target landing position, using the target landing position as a base point; The landing operation space is divided into the return operation area, the processing operation area, the pre-landing operation area and the landing operation area in the vertical direction from top to bottom. Control the drone to enter the landing operation space; After the drone enters the landing operation space, the following controls are executed: Read the first return landing altitude detection signal generated by the positioning sensor; Control the drone to repeatedly perform segmented vertical landings at a set unit landing altitude within the return-to-home operation area, while simultaneously initiating the set return-to-home cycle; At the end of the set return-to-home cycle, the second return-to-home landing altitude detection signal generated by the positioning sensor is read again; Calculate the difference in return landing altitude corresponding to the first return landing altitude detection signal and the second return landing altitude detection signal; If the difference in return landing altitude is greater than or equal to the altitude of the return operation area and the return landing altitude error is less than or equal to the return landing error ratio, then the drone is determined to have landed in the return operation area. If the difference in return landing altitude is less than the altitude of the return operation area, the drone is controlled to repeatedly perform segmented vertical landings within the return operation area at a set unit return landing altitude. Simultaneously, the return landing setting cycle is restarted, and at the end of the return landing setting cycle, the second return landing altitude detection signal generated by the positioning sensor is updated, until the difference in return landing altitude is greater than or equal to the altitude of the return operation area and the return landing altitude error is less than or equal to the return landing error ratio. The return landing altitude error is the difference between the difference in return landing altitude and the altitude of the return operation area, and the return landing error ratio is proportional to the set unit return landing altitude and less than the set unit return landing altitude. The drone is controlled to repeatedly execute segmented vertical descents at a set unit altitude within the processing operation area. Control the drone to repeatedly perform segmented vertical landings at a set pre-landing altitude within the pre-landing operation area; Control the drone to descend vertically to the target landing position within the landing operation area; The center lines of the return-to-home operation area, the processing operation area, the pre-landing operation area, and the landing operation area coincide with the center line of the target landing position. The UAV sequentially passes through the return-to-home operation area, the processing operation area, the pre-landing operation area, and the landing operation area and lands at the target landing position.

2. The UAV landing control method according to claim 1, characterized in that, After determining that the landing area for the return operation has been reached, the following controls will be executed: Read the first processed landing altitude detection signal generated by the positioning sensor; The drone is controlled to repeatedly perform segmented vertical descents at a set altitude within the processing operation area, while simultaneously initiating a set processing cycle. At the end of the processing cycle, the second processed landing altitude detection signal generated by the positioning sensor is read again; Calculate the difference in processed landing altitude corresponding to the first processed landing altitude detection signal and the second processed landing altitude detection signal; Compare the processing descent altitude difference with the processing operation area altitude value corresponding to the processing operation area; If the difference in the processed landing altitude is greater than or equal to the altitude of the processing operation area, and the processing altitude error is less than or equal to the processing error ratio, then the landing in the processing operation area is determined to be in place. If the difference in the processed landing altitude is less than the altitude of the processing operation area, the UAV is controlled to repeatedly perform segmented vertical landings multiple times within the processing operation area according to a set unit of processed landing altitude. At the same time, the processing set cycle is restarted, and the second processed landing altitude detection signal generated by the positioning sensor is updated at the end of the processing set cycle, until the difference in the processed landing altitude is greater than or equal to the altitude of the processing operation area. The processing altitude error is the difference between the difference in the processed landing altitude and the altitude of the processing operation area, and the processing error ratio is proportional to the set unit of processed landing altitude and less than the set unit of processed landing altitude.

3. The UAV landing control method according to claim 2, characterized in that, After the landing is determined to be in the processing area, the following controls are executed: Read the first pre-descent altitude detection signal generated by the positioning sensor; The drone is controlled to repeatedly perform segmented vertical landings at a set pre-landing altitude within the pre-landing operation area, while simultaneously initiating the pre-landing setting cycle. At the end of the pre-landing set cycle, the second pre-landing altitude detection signal generated by the positioning sensor is read again; Calculate the difference in pre-landing altitude corresponding to the first pre-landing altitude detection signal and the second pre-landing altitude detection signal; Compare the pre-landing altitude difference with the pre-landing operation area altitude value corresponding to the pre-landing operation area; If the pre-landing altitude difference is greater than or equal to the pre-landing operation area altitude, and the pre-landing altitude error is less than or equal to the pre-error ratio, then the pre-landing operation area is determined to have landed in place. If the pre-landing altitude difference is less than the pre-landing operation area altitude, then the UAV is controlled to repeatedly perform segmented vertical landings within the pre-landing operation area according to a set unit pre-landing altitude. At the same time, the pre-landing setting cycle is restarted, and the second pre-landing altitude detection signal generated by the positioning sensor is updated at the end of the pre-landing setting cycle, until the pre-landing altitude difference is greater than or equal to the pre-landing operation area altitude. The pre-landing altitude error is the difference between the pre-landing altitude difference and the pre-landing operation area altitude, and the pre-error ratio is proportional to the set unit pre-landing altitude and less than the set unit pre-landing altitude.

4. The UAV landing control method according to claim 3, characterized in that, When controlling the drone to repeatedly perform segmented vertical landings at a set unit return landing altitude within the return operation area, or when controlling the drone to repeatedly perform segmented vertical landings at a set unit processing landing altitude within the processing operation area, or when controlling the drone to repeatedly perform segmented vertical landings at a set unit pre-landing altitude within the pre-landing operation area: The next vertical descent is executed when the actual descent distance in a single descent is greater than or equal to half of the set unit return descent altitude, set unit processing descent altitude, or set unit pre-descent altitude.

5. The UAV landing control method according to claim 4, characterized in that, The positioning sensor is a GPS module, and the UAV also includes an auxiliary positioning module; When one of the following conditions is met: The difference in return landing altitude is greater than or equal to the altitude value of the return operation area, but the return altitude error is greater than the return error ratio; The processing descent altitude difference is greater than or equal to the processing operation area altitude value, but the processing altitude error is greater than the processing error ratio; or The pre-landing altitude difference is greater than or equal to the pre-landing operation area altitude, but the pre-landing altitude error is greater than the pre-landing error ratio. Then the following controls will be executed: Read the real-time altitude detection value generated by the auxiliary positioning module; determine whether the return landing altitude difference, the processed landing altitude difference, the pre-landing altitude difference, or the landing altitude difference deviates from the safe altitude range based on the real-time altitude detection value; if it deviates from the safe altitude range, control the UAV to fly to a safe area outside the landing operation space.

6. The UAV landing control method according to claim 4, characterized in that, The altitude values ​​of the return operation area, the processing operation area, the pre-landing operation area, and the landing operation area decrease sequentially.

7. The UAV landing control method according to claim 4, characterized in that, The durations of the return-to-home setting period, the processing setting period, the pre-landing setting period, and the landing setting period decrease sequentially.

8. A drone, characterized in that, Includes a processing chip configured to perform the UAV landing control method as described in any one of claims 1 to 7.

9. A drone component, comprising a drone and a controller, characterized in that, The controller is configured to perform the UAV landing control method as described in any one of claims 1 to 7.

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