A UAV take-off and landing control method, helipad, UAV and system

Abstract

The present invention discloses a method for controlling the take-off and landing of an unmanned aerial vehicle, a helipad, an unmanned aerial vehicle and a system, comprising: receiving a landing request sent by each unmanned aerial vehicle through a first receiver to obtain a plurality of first landing requests; generating a plurality of first landing signals according to each of the first landing requests and preset helipad information; performing weighted calculation on the first landing signals according to the first landing signals and the first landing requests corresponding to the first landing signals to obtain a landing plan corresponding to each unmanned aerial vehicle; and sending each of the landing plans to the corresponding unmanned aerial vehicle through a base station to improve the control efficiency of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle control, and in particular to a method for controlling the take-off and landing of an unmanned aerial vehicle, a helipad, an unmanned aerial vehicle and a system. Background Art

[0002] Drone control technology is a technology that uses radio waves or satellite signals to control drones. Drone control technology can be divided into remote control mode and autonomous mode. In remote control mode, the drone's flight attitude, speed, altitude, heading and other parameters are set and adjusted by the operator on the ground or in the air through a remote control or console. In autonomous mode, the drone uses its own navigation system and sensors to achieve automatic flight and mission execution according to the preset flight plan and mission. The application fields of drone control technology include military, civilian, scientific research, etc., such as reconnaissance, surveillance, strike, rescue, mapping, and aerial photography.

[0003] The existing drone control methods generally adopt the strategy of staggering the take-off and landing times of drone routes to effectively avoid safety risks. However, this method limits the take-off and landing density of drones and fails to improve efficiency. On the other hand, although some risks can be avoided through manual control of landing, due to the low efficiency of manual control, there are still unreasonable judgments. Therefore, it is necessary to strike a balance between safety and efficiency in drone operations and find the best solution with comprehensive considerations. Summary of the invention

[0004] The embodiments of the present invention provide a method for controlling the take-off and landing of an unmanned aerial vehicle, a helipad, an unmanned aerial vehicle and a system, so as to improve the control efficiency of the unmanned aerial vehicle.

[0005] To achieve the above-mentioned purpose, an embodiment of the present invention provides a method for controlling the take-off and landing of a drone, which is applicable to a helipad, and includes:

[0006] Receiving, by a first receiver, landing requests sent by each UAV to obtain a plurality of first landing requests;

[0007] generating a plurality of first landing signals according to each of the first landing requests and preset apron information;

[0008] According to the first landing signal and the first landing request corresponding to the first landing signal, weighted calculation is performed on the first landing signal to obtain a landing plan corresponding to each UAV;

[0009] Each landing plan is sent to the corresponding drone through the base station.

[0010] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0011] By centrally receiving the landing requests of drones through the first receiver, the landing plans of multiple drones can be coordinated under centralized management to avoid conflicts and collisions; by using the preset apron information, the first landing signal can be generated, taking into account the availability and specific conditions of the apron, thereby improving the intelligence of the landing plan; by weighted calculation of each landing plan, multiple factors can be comprehensively considered, such as the current position of the aircraft, the status of the apron, etc., so as to generate an optimized landing plan and improve the overall landing efficiency; the landing plan is sent to each corresponding drone in real time through the base station to ensure the timely transmission of information, reduce errors and inconsistencies, and help to achieve more efficient landing operations; it can adapt to complex scenarios of multiple drones, can handle the diverse needs of different aprons and drones, and has certain scalability and adaptability.

[0012] Optionally, after generating a plurality of first landing signals according to each of the first landing requests and preset apron information, the method further includes:

[0013] Sending each of the first landing signals to the corresponding drone through the base station;

[0014] The drone data fed back by each of the drones is received through a first receiver to obtain a number of first information; wherein the first information includes: position, margin, load, model, landing speed, fault status, power, external weather data and controlled status.

[0015] By implementing this option, real-time data of the UAV is received through the first receiver, including information such as position, margin, load, model, landing speed, fault status, power, external weather data and controlled status, so as to obtain key flight parameters and realize real-time monitoring and feedback of the aircraft status; the first information provides comprehensive information on the current status and environment of the UAV, which helps to adjust the landing plan more accurately.

[0016] Optionally, the first landing signal is weighted calculated according to the first landing signal and the first landing request corresponding to the first landing signal to obtain a landing plan corresponding to each UAV, specifically as follows:

[0017] According to the first landing signal, the first information corresponding to the first landing signal, and the first landing request corresponding to the first information, a weighted calculation is performed on the first landing signal and the first information to obtain a landing plan corresponding to each UAV.

[0018] Optionally, before receiving the landing requests sent by each drone through the first receiver to obtain a plurality of first landing requests, the method further includes:

[0019] The apron information is broadcasted through a base station.

[0020] Optionally, the generating of a plurality of first landing signals according to each of the first landing requests and preset apron information is specifically:

[0021] Parsing each of the first landing requests to obtain a plurality of first requirements;

[0022] A plurality of first landing signals are generated according to each of the first requirements and the preset apron information.

[0023] Accordingly, an embodiment of the present invention further provides a method for controlling the take-off and landing of a drone, which is applicable to a drone and includes:

[0024] generating a second landing request, sending the second landing request to a ramp, so that the apron receives the second landing request and preset apron information, generating a plurality of second landing signals, and performing weighted calculation on the second landing signals according to the second landing signals and the second landing request, to generate a second landing plan;

[0025] receiving, through a second receiver, a second landing plan sent by the apron;

[0026] Landing is performed on the apron according to the second landing plan.

[0027] Optionally, before receiving the second landing plan sent by the apron through the second receiver, the method further includes:

[0028] receiving, by the second receiver, a second landing signal sent by the apron;

[0029] Obtaining second information according to the second landing signal and preset drone data;

[0030] The second information is sent to the apron through a transmitter, so that the apron performs weighted calculation on the second landing signal and the second information according to the second landing signal, the second information corresponding to the second landing signal and the second landing request corresponding to the second information to obtain a second landing plan; wherein the second information includes: position, margin, load, model, landing speed, fault status, power, external weather data and controlled status.

[0031] Optionally, the generating the second landing request and sending the second landing request to the apron is specifically:

[0032] Receiving the broadcast signal sent by the apron through the second receiver to obtain the apron information;

[0033] Generate the second landing request based on the apron information and the drone data.

[0034] Accordingly, an embodiment of the present invention further provides a parking apron, comprising: a request receiving module, a parsing module, a planning module and a sending module;

[0035] The request receiving module is used to receive the landing requests sent by each drone through the first receiver to obtain a plurality of first landing requests;

[0036] The analysis module is used to generate a plurality of first landing signals according to each of the first landing requests and preset apron information;

[0037] The planning module is used to perform weighted calculation on the first landing signal according to the first landing signal and the first landing request corresponding to the first landing signal, so as to obtain a landing plan corresponding to each UAV;

[0038] The sending module is used to send each landing plan to the corresponding drone through the base station.

[0039] Optionally, the analysis module further includes: a feedback unit and a data unit;

[0040] The feedback unit is used to send each of the first landing signals to the corresponding drone through a base station;

[0041] The data unit is used to receive the drone data fed back by each of the drones through a first receiver to obtain a number of first information; wherein the drone data includes: position, margin, load, model, landing speed, fault status, power, external weather data and controlled status.

[0042] Optionally, the planning module performs weighted calculation on the first landing signal according to the first landing signal and the first landing request corresponding to the first landing signal to obtain a landing plan corresponding to each UAV, specifically:

[0043] According to the first landing signal, the first information corresponding to the first landing signal, and the first landing request corresponding to the first information, a weighted calculation is performed on the first landing signal and the first information to obtain a landing plan corresponding to each UAV.

[0044] Optionally, before the request receiving module receives the landing requests sent by each drone through the first receiver to obtain a plurality of first landing requests, the method further includes:

[0045] The apron information is broadcasted through a base station.

[0046] Optionally, the parsing module further includes: a demand unit and a generation unit;

[0047] The demand unit is used to parse each of the first landing requests to obtain a plurality of first demands;

[0048] The generating unit is used to generate a plurality of first landing signals according to each of the first requirements and preset apron information.

[0049] Accordingly, an embodiment of the present invention further provides a drone, comprising: a request generation module, a plan receiving module and a landing module;

[0050] The request generation module is used to generate a second landing request, send the second landing request to the apron, so that the apron receives the second landing request and preset apron information, generates a plurality of second landing signals, and performs weighted calculation on the second landing signals according to the second landing signals and the second landing request to generate a second landing plan;

[0051] The plan receiving module is used to receive the second landing plan sent by the apron through a second receiver;

[0052] The landing module is used to land on the apron according to the second landing plan.

[0053] Optionally, the plan receiving module further includes: a signal receiving unit, an information calculating unit and an information sending unit;

[0054] The signal receiving unit is used to receive a second landing signal sent by the apron through the second receiver;

[0055] The information calculation unit is used to obtain second information according to the second landing signal and preset drone data;

[0056] The information sending unit is used to send the second information to the apron through a transmitter, so that the apron performs weighted calculation on the second landing signal and the second information according to the second landing signal, the second information corresponding to the second landing signal and the second landing request corresponding to the second information to obtain a second landing plan; wherein the second information includes: position, margin, load, model, landing speed, fault status, power, external weather data and controlled status.

[0057] Optionally, the request generating module further includes: a broadcast receiving unit and a landing request unit;

[0058] The broadcast receiving unit is used to receive the broadcast signal sent by the apron through the second receiver to obtain the apron information;

[0059] The landing request unit is used to generate the second landing request according to the apron information and the drone data.

[0060] Accordingly, an embodiment of the present invention further provides a drone take-off and landing control system, comprising: a helipad, a drone, a first receiver, a second receiver, a transmitter, and a base station;

[0061] The first receiver and the base station are arranged on the apron; the second receiver and the transmitter are arranged on the drone; the apron is used for taking off and landing a number of the drones;

[0062] The helipad is used to implement any one of the above-mentioned methods for controlling the take-off and landing of a drone applicable to the helipad;

[0063] The drone is used to implement any one of the above-mentioned drone take-off and landing control methods applicable to drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the implementation mode will be briefly introduced below. Obviously, the drawings described below are only some implementation modes of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0065] Figure 1 is a flow chart of a method for controlling the take-off and landing of a UAV applicable to a helipad provided by an embodiment of the present invention;

[0066] Figure 2 is a schematic diagram of a method for controlling the take-off and landing of a UAV provided by an embodiment of the present invention;

[0067] Figure 3 is a schematic diagram of a landing time calculation method provided by an embodiment of the present invention;

[0068] Figure 4 is a schematic diagram of charging station selection provided by an embodiment of the present invention;

[0069] Figure 5 This is a schematic diagram of a drone take-off and landing provided by an embodiment of the present invention;

[0070] Figure 6 This is a schematic diagram of the take-off and landing waiting time of a UAV provided by an embodiment of the present invention;

[0071] Figure 7 This is another schematic diagram of the take-off and landing waiting time of a UAV provided by an embodiment of the present invention;

[0072] Figure 8 is a flow chart of a method for controlling the take-off and landing of a drone applicable to a drone provided by an embodiment of the present invention;

[0073] Fig. 9is a structural diagram of a helipad provided by an embodiment of the present invention;

[0074] Fig.10 is a structural diagram of a drone provided by an embodiment of the present invention;

[0075] Fig.11 It is a schematic diagram of the take-off and landing waiting time of a UAV in an emergency landing situation provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0076] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0077] It should be understood that the step numbers used in this document are only for convenience of description and are not intended to limit the order in which the steps are executed.

[0078] It should be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0079] The terms “include” and “comprising” indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0080] The term "and / or" means and includes any and all possible combinations of one or more of the associated listed items.

[0081] The embodiments of the present invention provide a method for controlling the take-off and landing of a UAV, a helipad, a UAV and a system, and the application scenarios include but are not limited to: a helipad management system: applicable to the helipad, by receiving a landing request sent by a UAV, generating a landing signal based on preset helipad information, and sending the landing plan to the corresponding UAV through a base station, which can be used to effectively manage the take-off and landing of multiple UAVs on the helipad to avoid collisions and conflicts; intelligent landing planning: by weighted calculation of the landing plan of the UAV, multiple factors such as position, margin, load, model, landing speed, fault state, power, external weather data and controlled state are considered, which helps to optimize the landing sequence of the UAV and improve the utilization efficiency of the helipad; real-time feedback and adjustment: by receiving real-time data feedback of the UAV through a first receiver, including information such as position, margin, load, etc., the landing plan can be adjusted in real time to adapt to the current situation, which helps to handle emergencies and improve robustness; personalized landing planning: by parsing the landing request and generating a personalized landing signal, landing planning can be carried out according to the specific needs of the UAV, and such personalized planning includes considering the special requirements of UAVs of different models.

[0082] Embodiment 1:

[0083] Please refer to Figure 1 A flowchart of a UAV take-off and landing control method suitable for a helipad and Figure 2 A schematic diagram of a method for controlling the take-off and landing of a UAV is provided. An embodiment of the present invention provides a method for controlling the take-off and landing of a UAV, comprising:

[0084] S10. Receive landing requests sent by each UAV through a first receiver to obtain a plurality of first landing requests.

[0085] In a specific implementation, before receiving the landing requests sent by each drone through the first receiver to obtain a plurality of first landing requests, the method further includes: broadcasting and sending the helipad information through a base station.

[0086] In a specific implementation, the apron information is sent through the broadcast channel in the NR device, or individual communications are made to each drone.

[0087] In a specific implementation, the apron may broadcast the apron information of other adjacent aprons.

[0088] S20. Generate a plurality of first landing signals according to each of the first landing requests and preset apron information.

[0089] In a specific implementation, after generating a number of first landing signals according to each of the first landing requests and the preset apron information, it also includes: sending each of the first landing signals to the corresponding drone through a base station; receiving the drone data fed back by each of the drones through a first receiver to obtain a number of first information; wherein the first information includes: position, margin, load, model, landing speed, fault state, power, external weather data and controlled state. By receiving the real-time data of the drone through the first receiver, including information such as position, margin, load, model, landing speed, fault state, power, external weather data and controlled state, key flight parameters can be obtained, and real-time monitoring and feedback of the aircraft status can be achieved; the first information provides comprehensive information on the current status and environment of the drone, which helps to adjust the landing plan more accurately.

[0090] In a specific implementation, the preset apron information includes: apron configuration, including: remaining power of the apron charging station, and parking space availability.

[0091] In a specific implementation, the generating of a plurality of first landing signals according to each of the first landing requests and the preset apron information is specifically as follows: each of the first landing requests is parsed to obtain a plurality of first requirements; and a plurality of first landing signals is generated according to each of the first requirements and the preset apron information.

[0092] In a specific implementation, the drone take-off and landing types are defined according to the first information; wherein the drone take-off and landing types include: normal take-off and landing, low-power take-off and landing, emergency landing due to weather reasons, and emergency landing due to hardware failure.

[0093] S30. Perform a weighted calculation on the first landing signal according to the first landing signal and the first landing request corresponding to the first landing signal to obtain a landing plan corresponding to each UAV.

[0094] In a specific implementation, the first landing signal is weightedly calculated based on the first landing signal and the first landing request corresponding to the first landing signal to obtain a landing plan corresponding to each UAV. Specifically, according to the first landing signal, the first information corresponding to the first landing signal and the first landing request corresponding to the first information, the first landing signal and the first information are weightedly calculated to obtain a landing plan corresponding to each UAV.

[0095] In a specific implementation, the drone take-off and landing type is defined according to the first information; the drone take-off and landing type, queuing time, drone take-off and landing type priority and route priority are weightedly calculated to obtain the drone take-off and landing priority; wherein, the drone take-off and landing types include: normal take-off and landing, low-power take-off and landing, emergency landing due to weather reasons and emergency landing due to hardware failure.

[0096] In the specific implementation, please refer to Figure 3 A schematic diagram of a landing time calculation method is provided, wherein the landing time required for each drone is calculated based on the drone take-off and landing priority and the speed at which the drone signal transmitter reports information; several landing plans are generated according to the safe distance time between drones, the landing time of each drone and the drone take-off and landing priority; the landing plan is sent to the drone corresponding to the landing plan, so that the drone lands according to the landing plan.

[0097] S40: sending each landing plan to a corresponding drone via a base station.

[0098] Please refer to Figure 5 A schematic diagram of a drone take-off and landing, such as Figure 6 A schematic diagram of the waiting time for take-off and landing of a UAV Figure 7 Another schematic diagram of the waiting time for take-off and landing of a UAV is provided. An embodiment of the present invention provides a landing method for four UAVs, including:

[0099] S100. Define that the priority of route one is lower than that of route two; wherein, the priority parameter of route one is 10, the priority parameter of route two is 20, drone one, drone two, and drone three belong to route one, and drone four belongs to route two; if the landing type is an emergency landing, the corresponding priority parameter is 100; if the landing type is a normal business type, the corresponding priority parameter is 1.

[0100] S110. Define the priority calculation formula as: (route priority + landing waiting time) * landing type, and define the drone landing time as 10 minutes.

[0101] S120, please refer to Figure 5 A schematic diagram of drone take-off and landing is provided, wherein a landing application and route priority of drone 1 are received at time T; the landing priority of drone 1 is calculated according to the following formula: 10+0; wherein 10 is the priority parameter of route 1, and 0 is the landing waiting time; and drone 1 is waited for landing.

[0102] S130, please refer to Figure 6 A schematic diagram of the waiting time for drone take-off and landing is shown in FIG. At T+5, the landing application and route priority of drone 2 are received; since drone 2 belongs to route 1, the priority parameter of route 1 is 10, and the priority parameter of drone 2 is calculated by the following formula: 10+landing waiting time; for example, at T+6, drone 2 has been waiting for 1 minute, and the priority parameter is refreshed to 10+1=11; wherein 10 is the priority parameter of route 1.

[0103] S140, please refer to Figure 7Another schematic diagram of the waiting time for drone takeoff and landing is as follows: at time T+7, the landing application and route priority of drone 4 are received; at this time, drone 1 is landing and drone 2 is in the queue; since drone 4 belongs to route 2 and the route priority parameter is 20, the priority parameter of drone 4 is 20+0=20; therefore, the priority of drone 4 is greater than the landing priority of drone 2; due to the addition of drone 4, the priority order needs to be refreshed and the landing time needs to be estimated; the estimated landing time of drone 2 is updated to thirteen minutes later, and the landing time of drone 4 is three minutes later; the above landing time is notified to drone 2 and drone 4.

[0104] S150. Receive the landing application and route priority of UAV 3 at T+9. UAV 3 belongs to route 1, so the route priority parameter is 10, and the priority of UAV 3 is: 10+0=10; therefore, the priority of UAV 3 is ranked last; at this time, the priority ranking of UAV 2 and UAV 4 remains unchanged, so there is no need to notify UAV 2 and UAV 4, and it is necessary to notify UAV 3 that the landing waiting time is 21 minutes.

[0105] S160. At time T+10, UAV 1 completes landing and UAV 4 is dispatched to land.

[0106] Please refer to Figure 5 A schematic diagram of a drone take-off and landing, such as Figure 6 A schematic diagram of the waiting time for take-off and landing of a UAV Fig.11 A schematic diagram of a take-off and landing waiting time of a drone in an emergency landing situation is provided. An embodiment of the present invention provides a landing method of four drones in an emergency landing situation, including:

[0107] S200. Define that the priority of route one is lower than that of route two; wherein, the priority parameter of route one is 10, the priority parameter of route two is 20, drone one, drone two, and drone three belong to route one, and drone four belongs to route two; if the landing type is an emergency landing, the corresponding priority parameter is 100; if the landing type is a normal business type, the corresponding priority parameter is 1.

[0108] S210. Define the priority calculation formula as: (route priority + landing waiting time) * landing type, and define the drone landing time as 10 minutes.

[0109] S220, please refer to Figure 5 A schematic diagram of drone take-off and landing is provided, wherein a landing application and route priority of drone 1 are received at time T; the landing priority of drone 1 is calculated according to the following formula: 10+0; wherein 10 is the priority parameter of route 1, and 0 is the landing waiting time; and drone 1 is waited for landing.

[0110] S230, please refer to Figure 6 A schematic diagram of the waiting time for drone take-off and landing is shown in FIG. At T+5, the landing application and route priority of drone 2 are received; since drone 2 belongs to route 1, the priority parameter of route 1 is 10, and the priority parameter of drone 2 is calculated by the following formula: 10+landing waiting time; for example, at T+6, drone 2 has been waiting for 1 minute, and the priority parameter is refreshed to 10+1=11; wherein 10 is the priority parameter of route 1.

[0111] S240, please refer to Figure 7 Another schematic diagram of the waiting time for drone takeoff and landing is as follows: at time T+7, the landing application and route priority of drone 4 are received; at this time, drone 1 is landing and drone 2 is in the queue; since drone 4 belongs to route 2 and the route priority parameter is 20, the priority parameter of drone 4 is 20+0=20; the priority of drone 4 is greater than the landing priority of drone 2; due to the addition of drone 4, the priority order needs to be refreshed and the landing time needs to be estimated; the estimated landing time of drone 2 is updated to thirteen minutes later, and the landing time of drone 4 is three minutes later; the above landing time is notified to drone 2 and drone 4.

[0112] S250. Receive the landing application and route priority of UAV 3 at T+9. UAV 3 belongs to route 1, and the landing type of UAV 3 is emergency landing. The landing priority of UAV 3 is: 10*100=1000; wherein 10 is the landing priority parameter of route 1 to which UAV 3 belongs, and 100 is the priority parameter of the landing type of emergency landing. Therefore, the landing priority of UAV 3 is before UAV 2 and UAV 4. Notify UAV 2 that the landing waiting time is 23 minutes, notify UAV 4 that the landing waiting time is 13 minutes, and notify UAV 3 to land after UAV 1 completes landing, that is, the landing waiting time of UAV 3 is one minute at this time.

[0113] S260. At time T+10, UAV 1 completes landing and UAV 3 is dispatched to land.

[0114] See also Figure 8 The embodiment of the present invention provides a method for controlling the take-off and landing of a UAV, which is applicable to a UAV, and includes:

[0115] S50, generating a second landing request, sending the second landing request to the apron, so that the apron receives the second landing request and preset apron information, generates a plurality of second landing signals, and performs weighted calculation on the second landing signals according to the second landing signals and the second landing request, to generate a second landing plan.

[0116] In a specific implementation, the generating of the second landing request and sending the second landing request to the apron is specifically as follows: receiving the broadcast signal sent by the apron through the second receiver to obtain the apron information; and generating the second landing request according to the apron information and the drone data.

[0117] In the specific implementation, please refer to Figure 4 A schematic diagram of selecting a charging station, receiving the broadcast signal sent by the apron through the second receiver, and after obtaining the apron information, determining whether to land according to the apron information and the remaining power; if landing is chosen, generating the second landing request according to the apron information and the drone data.

[0118] In the specific implementation, drone data includes: interactive signaling of the take-off and landing management system, information elements that the corresponding signaling needs to carry, the status of each apron and the corresponding codes and rules, drone status, drone category, and drone capability reporting rules; the status of each apron and the corresponding codes and rules, such as when a drone fails or the battery is less than 5%, it is an emergency landing, coded as 9, drone status, drone category, drone capability reporting rules, such as classifying and defining drones by weight, volume, and arm length.

[0119] In a specific implementation, the UAV receives the apron location sent by the apron through a low-altitude coverage device; the UAV determines whether to land based on the UAV data, and if it is determined to land, a second landing request is generated and the second landing request is sent to the apron; the UAV data includes: business needs, abnormal status of the UAV, failure, low battery, external weather problems, landing due to birds, landing due to control instructions, UAV identity information and landing request type.

[0120] S60: Receive, through a second receiver, a second landing plan sent by the apron.

[0121] In a specific implementation, before receiving the second landing plan sent by the apron through the second receiver, the method further includes:

[0122] receiving, by the second receiver, a second landing signal sent by the apron;

[0123] Obtaining second information according to the second landing signal and preset drone data;

[0124] The second information is sent to the apron through a transmitter, so that the apron performs weighted calculation on the second landing signal and the second information according to the second landing signal, the second information corresponding to the second landing signal and the second landing request corresponding to the second information to obtain a second landing plan; wherein the second information includes: position, margin, load, model, landing speed, fault status, power, external weather data and controlled status.

[0125] S70: Landing on the apron according to the second landing plan.

[0126] A method for controlling the take-off and landing of a UAV provided by an embodiment of the present invention can generate an intelligent landing plan by considering multiple factors, such as position, margin, load, model, landing speed, fault status, power, external weather data and controlled status, so as to optimize the landing sequence of the UAV and improve the utilization efficiency of the helipad; by receiving real-time data feedback from the UAV, the landing plan can be adjusted in time to adapt to the current situation, improve robustness, and cope with emergencies; by parsing the landing request and generating personalized landing signals, personalized planning can be carried out according to the specific needs of different UAVs to meet the specific requirements of different UAVs; broadcasting the helipad information through the base station before the UAV sends the landing request helps to notify the UAV of the current helipad status in advance to avoid conflicts and collisions and improve the overall operating efficiency; by considering the landing request, the helipad information and the real-time data of the UAV, multiple factors are comprehensively considered to make the landing plan more comprehensive and accurate.

[0127] Embodiment 2:

[0128] Please refer to Fig. 9 A structural diagram of a helipad, an embodiment of the present invention provides a helipad, including: a request receiving module 1, a parsing module 2, a planning module 3 and a sending module 4;

[0129] The request receiving module 1 is used to receive the landing requests sent by each drone through a first receiver to obtain a plurality of first landing requests.

[0130] In a specific implementation, before the request receiving module 1 receives the landing requests sent by each drone through the first receiver and obtains a plurality of first landing requests, it also includes: broadcasting and sending the apron information through a base station.

[0131] The analysis module 2 is used to generate a plurality of first landing signals according to each of the first landing requests and preset apron information.

[0132] In a specific implementation, the analysis module 2 also includes: a feedback unit 11 and a data unit 12; wherein the feedback unit 11 is used to send each of the first landing signals to the corresponding drone through a base station; the data unit 12 is used to receive the drone data fed back by each of the drones through a first receiver to obtain a number of first information; wherein the drone data includes: position, margin, load, model, landing speed, fault status, power, external weather data and controlled status.

[0133] In a specific implementation, the analysis module 2 also includes: a demand unit 13 and a generation unit 14; wherein the demand unit is used to parse each of the first landing requests to obtain a number of first demands; and the generation unit is used to generate a number of first landing signals according to each of the first demands and preset apron information.

[0134] The planning module 3 is used to perform weighted calculation on the first landing signal according to the first landing signal and the first landing request corresponding to the first landing signal, so as to obtain a landing plan corresponding to each UAV.

[0135] In a specific implementation, the planning module 3 performs weighted calculation on the first landing signal according to the first landing signal and the first landing request corresponding to the first landing signal to obtain a landing plan corresponding to each UAV. Specifically, according to the first landing signal, the first information corresponding to the first landing signal and the first landing request corresponding to the first information, a weighted calculation is performed on the first landing signal and the first information to obtain a landing plan corresponding to each UAV.

[0136] The sending module 4 is used to send each landing plan to the corresponding drone through the base station.

[0137] Please refer to Fig.10 A structural diagram of a drone, an embodiment of the present invention provides a drone, including: a request generation module 5, a plan receiving module 6 and a landing module 7;

[0138] Among them, the request generation module 5 is used to generate a second landing request, send the second landing request to the apron, so that the apron receives the second landing request and preset apron information, generates a plurality of second landing signals, and performs weighted calculation on the second landing signal according to the second landing signal and the second landing request to generate a second landing plan.

[0139] In a specific implementation, the request generation module 5 further includes: a broadcast receiving unit 18 and a landing request unit 19; wherein the broadcast receiving unit 18 is used to receive the broadcast signal sent by the apron through the second receiver to obtain the apron information; the landing request unit 19 is used to generate the second landing request according to the apron information and the drone data. The plan receiving module 6 is used to receive the second landing plan sent by the apron through the second receiver.

[0140] In a specific implementation, the plan receiving module 6 also includes: a signal receiving unit 15, an information calculation unit 16 and an information sending unit 17; wherein the signal receiving unit 15 is used to receive a second landing signal sent by the apron through the second receiver; the information calculation unit 16 is used to obtain second information according to the second landing signal and preset drone data; the information sending unit 17 is used to send the second information to the apron through a transmitter, so that the apron performs weighted calculation on the second landing signal and the second information according to the second landing signal, the second information corresponding to the second landing signal and the second landing request corresponding to the second information to obtain a second landing plan; wherein the second information includes: position, margin, load, model, landing speed, fault status, power, external weather data and controlled status.

[0141] The landing module 7 is used to land on the apron according to the second landing plan.

[0142] For more detailed steps and working principles of this embodiment, please refer to, but not limited to, the relevant records of Embodiment 1.

[0143] A helipad and a UAV provided by an embodiment of the present invention can generate an intelligent landing plan by considering multiple factors, such as position, margin, load, model, landing speed, fault status, power, external weather data and controlled status, so as to optimize the landing order of the UAV and improve the utilization efficiency of the helipad; by receiving real-time data feedback from the UAV, the landing plan can be adjusted in time to adapt to the current situation, improve robustness, and cope with emergencies; by parsing the landing request and generating personalized landing signals, personalized planning can be carried out according to the specific needs of different UAVs to meet the specific requirements of different UAVs; broadcasting the helipad information through the base station before the UAV sends the landing request helps to notify the UAV of the current helipad status in advance to avoid conflicts and collisions and improve the overall operating efficiency; by considering the landing request, the helipad information and the real-time data of the UAV, a comprehensive consideration of multiple factors makes the landing plan more comprehensive and accurate.

[0144] Embodiment three:

[0145] An embodiment of the present invention provides a drone take-off and landing control system, comprising: a helipad, a drone, a first receiver, a second receiver, a transmitter and a base station; wherein the first receiver and the base station are arranged on the helipad; the second receiver and the transmitter are arranged on the drone; the helipad is used for taking off and landing a number of the drones; the helipad is used to implement any one of the above-mentioned drone take-off and landing control methods applicable to the helipad; the drone is used to implement any one of the above-mentioned drone take-off and landing control methods applicable to the drone.

[0146] A UAV take-off and landing control system provided by an embodiment of the present invention can generate an intelligent landing plan by considering multiple factors, such as position, margin, load, model, landing speed, fault status, power, external weather data and controlled status, so as to optimize the landing order of the UAV and improve the utilization efficiency of the helipad; by receiving real-time data feedback from the UAV, the landing plan can be adjusted in time to adapt to the current situation, improve robustness, and cope with emergencies; by parsing the landing request and generating personalized landing signals, personalized planning can be carried out according to the specific needs of different UAVs to meet the specific requirements of different UAVs; broadcasting the helipad information through the base station before the UAV sends the landing request helps to notify the UAV of the current helipad status in advance to avoid conflicts and collisions and improve the overall operating efficiency; by considering the landing request, the helipad information and the real-time data of the UAV, multiple factors are comprehensively considered to make the landing plan more comprehensive and accurate.

[0147] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling the take-off and landing of an unmanned aerial vehicle, characterized in that: Suitable for use on the tarmac, including: Receiving, by a first receiver, landing requests sent by each UAV to obtain a plurality of first landing requests; generating a plurality of first landing signals according to each of the first landing requests and preset apron information; According to the first landing signal and the first landing request corresponding to the first landing signal, weighted calculation is performed on the first landing signal to obtain a landing plan corresponding to each UAV; Sending each landing plan to the corresponding drone via a base station; After generating a plurality of first landing signals according to each of the first landing requests and the preset apron information, the method further includes: Sending each of the first landing signals to the corresponding drone through the base station; Receiving the drone data fed back by each of the drones through a first receiver to obtain a number of first information; wherein the first information includes: position, margin, load, model, landing speed, fault status, power, external weather data and controlled status; Applicable to the apron, the first landing signal is weighted calculated according to the first landing signal and the first landing request corresponding to the first landing signal to obtain the landing plan corresponding to each UAV, specifically: According to the first landing signal, the first information corresponding to the first landing signal, and the first landing request corresponding to the first information, weighted calculation is performed on the first landing signal and the first information to obtain a landing plan corresponding to each UAV; Generating the first landing plan specifically includes: According to the first information, the drone take-off and landing type is defined; the drone take-off and landing type, the queuing time, the drone take-off and landing type priority and the route priority are weighted to obtain the drone take-off and landing priority; wherein the drone take-off and landing type includes: normal take-off and landing, low-power take-off and landing, emergency landing due to weather reasons and emergency landing due to hardware failure; Based on the take-off and landing priorities of the drones and the speed at which the drone signal transmitter reports information, the required landing time of each drone is calculated; according to the safe distance time between drones, the landing time of each drone and the take-off and landing priorities of the drones, several first landing plans are generated; The priority calculation formula is: (route priority + landing waiting time) * landing type.

2. A method for controlling the take-off and landing of an unmanned aerial vehicle according to claim 1, characterized in that: Applicable to the helipad, before receiving the landing request sent by each drone through the first receiver to obtain a plurality of first landing requests, it also includes: The apron information is broadcasted through a base station.

3. A method for controlling the take-off and landing of an unmanned aerial vehicle according to claim 1, characterized in that: Applicable to the apron, the generating of a plurality of first landing signals according to each of the first landing requests and the preset apron information is specifically: Parsing each of the first landing requests to obtain a plurality of first requirements; A plurality of first landing signals are generated according to each of the first requirements and the preset apron information.

4. A method for controlling the take-off and landing of an unmanned aerial vehicle, characterized in that: Suitable for drones, including: generating a second landing request, sending the second landing request to a ramp, so that the apron receives the second landing request and preset apron information, generating a plurality of second landing signals, and performing weighted calculation on the second landing signals according to the second landing signals and the second landing request, to generate a second landing plan; receiving, through a second receiver, a second landing plan sent by the apron; Landing on the apron according to the second landing plan; Before receiving the second landing plan sent by the apron through the second receiver, the method further includes: receiving, by the second receiver, a second landing signal sent by the apron; Obtaining second information according to the second landing signal and preset drone data; Sending the second information to the apron through a transmitter, so that the apron performs weighted calculation on the second landing signal and the second information according to the second landing signal, the second information corresponding to the second landing signal and the second landing request corresponding to the second information to obtain a second landing plan; wherein the second information includes: position, margin, load, model, landing speed, fault status, power, external weather data and controlled status; Generating the second landing plan specifically includes: According to the second information, the drone take-off and landing type is defined; the drone take-off and landing type, the queuing time, the drone take-off and landing type priority and the route priority are weighted to obtain the drone take-off and landing priority; wherein the drone take-off and landing type includes: normal take-off and landing, low-power take-off and landing, emergency landing due to weather reasons and emergency landing due to hardware failure; Based on the take-off and landing priorities of the drones and the speed at which the drone signal transmitter reports information, the required landing time of each drone is calculated; according to the safe distance time between drones, the landing time of each drone and the take-off and landing priorities of the drones, several second landing plans are generated; The priority calculation formula is: (route priority + landing waiting time) * landing type.

5. A method for controlling the take-off and landing of an unmanned aerial vehicle as claimed in claim 4, characterized in that: Applicable to the UAV, the generating of the second landing request and sending the second landing request to the apron is specifically: Receiving the broadcast signal sent by the apron through the second receiver to obtain the apron information; Generate the second landing request based on the apron information and the drone data.

6. A helipad, characterized in that: include: Request receiving module, parsing module, planning module and sending module; The request receiving module is used to receive the landing requests sent by each drone through the first receiver to obtain a plurality of first landing requests; The analysis module is used to generate a plurality of first landing signals according to each of the first landing requests and preset apron information; The planning module is used to perform weighted calculation on the first landing signal according to the first landing signal and the first landing request corresponding to the first landing signal, so as to obtain a landing plan corresponding to each UAV; The sending module is used to send each landing plan to the corresponding drone through the base station; The analysis module further includes: a feedback unit and a data unit; The feedback unit is used to send each of the first landing signals to the corresponding drone through a base station; The data unit is used to receive the drone data fed back by each drone through the first receiver to obtain a number of first information; wherein the drone data includes: position, margin, load, model, landing speed, fault status, power, external weather data and controlled status; The planning module performs weighted calculation on the first landing signal according to the first landing signal and the first landing request corresponding to the first landing signal to obtain a landing plan corresponding to each UAV, specifically: According to the first landing signal, the first information corresponding to the first landing signal, and the first landing request corresponding to the first information, weighted calculation is performed on the first landing signal and the first information to obtain a landing plan corresponding to each UAV; The planning module is also used to: According to the first information, the drone take-off and landing type is defined; the drone take-off and landing type, the queuing time, the drone take-off and landing type priority and the route priority are weighted to obtain the drone take-off and landing priority; wherein the drone take-off and landing type includes: normal take-off and landing, low-power take-off and landing, emergency landing due to weather reasons and emergency landing due to hardware failure; Based on the take-off and landing priorities of the drones and the speed at which the drone signal transmitter reports information, the required landing time of each drone is calculated; according to the safe distance time between drones, the landing time of each drone and the take-off and landing priorities of the drones, several first landing plans are generated; The priority calculation formula is: (route priority + landing waiting time) * landing type.

7. A helipad as claimed in claim 6, characterized in that: Before the request receiving module receives the landing requests sent by each drone through the first receiver to obtain a plurality of first landing requests, the method further includes: The apron information is broadcasted through a base station.

8. The apron according to claim 6, characterized in that: The analysis module further includes: a demand unit and a generation unit; The demand unit is used to parse each of the first landing requests to obtain a plurality of first demands; The generating unit is used to generate a plurality of first landing signals according to each of the first requirements and preset apron information.

9. A drone, characterized in that: include: request generation module, plan reception module and landing module; The request generation module is used to generate a second landing request, send the second landing request to the apron, so that the apron receives the second landing request and preset apron information, generates a plurality of second landing signals, and performs weighted calculation on the second landing signals according to the second landing signals and the second landing request to generate a second landing plan; The plan receiving module is used to receive the second landing plan sent by the apron through a second receiver; The landing module is used to land on the apron according to the second landing plan; The plan receiving module further includes: a signal receiving unit, an information calculating unit and an information sending unit; The signal receiving unit is used to receive a second landing signal sent by the apron through the second receiver; The information calculation unit is used to obtain second information according to the second landing signal and preset drone data; The information sending unit is used to send the second information to the apron through a transmitter, so that the apron performs weighted calculation on the second landing signal and the second information according to the second landing signal, the second information corresponding to the second landing signal and the second landing request corresponding to the second information to obtain a second landing plan; wherein the second information includes: position, margin, load, model, landing speed, fault status, power, external weather data and controlled status; Generating the second landing plan specifically includes: According to the second information, the drone take-off and landing type is defined; the drone take-off and landing type, the queuing time, the drone take-off and landing type priority and the route priority are weighted to obtain the drone take-off and landing priority; wherein the drone take-off and landing type includes: normal take-off and landing, low-power take-off and landing, emergency landing due to weather reasons and emergency landing due to hardware failure; Based on the take-off and landing priorities of the drones and the speed at which the drone signal transmitter reports information, the required landing time of each drone is calculated; according to the safe distance time between drones, the landing time of each drone and the take-off and landing priorities of the drones, several second landing plans are generated; The priority calculation formula is: (route priority + landing waiting time) * landing type.

10. The drone according to claim 9, characterized in that: The request generation module further includes: a broadcast receiving unit and a landing request unit; The broadcast receiving unit is used to receive the broadcast signal sent by the apron through the second receiver to obtain the apron information; The landing request unit is used to generate the second landing request according to the apron information and the drone data.

11. A drone take-off and landing control system, characterized in that: include: A helipad, a drone, a first receiver, a second receiver, a transmitter and a base station; The first receiver and the base station are arranged on the apron; the second receiver and the transmitter are arranged on the drone; the apron is used for taking off and landing a number of the drones; The helipad is used to implement a UAV take-off and landing control method as described in any one of claims 1 to 3; The drone is used to implement a drone take-off and landing control method as described in any one of claims 4 to 5.

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