Control method of remote take-off and landing unmanned aerial vehicle

Abstract

The invention relates to the technical field of remote take-off and landing unmanned aerial vehicles, and provides a remote take-off and landing unmanned aerial vehicle control method which comprises the following steps: S1, an operator controls an unmanned aerial vehicle through a control terminal and starts a take-off module so as to enable the unmanned aerial vehicle to take off, and meanwhile, a flight control module controls the flight attitude of the unmanned aerial vehicle in real time. When the endurance of the unmanned aerial vehicle is relatively low, the waypoint detection module intervenes, and the waypoint and landing point linear calculation module calculates the linear distance from the unmanned aerial vehicle to a landing point and the original-path return flight linear distance of the unmanned aerial vehicle and performs judgment, so that different-place landing and straight-line return flight are selected; the unmanned aerial vehicle takes off in a different place through the solar cell module, judges a different-place landing point through the landing point detection module to select the terrain for landing, and charges the unmanned aerial vehicle through the solar cell module after landing, so that the unmanned aerial vehicle is supported to take off in a different place, and the unmanned aerial vehicle flies to the landing point in a different place.

Description

Technical Field

[0001] The present invention relates to the technical field of remote take-off and landing unmanned aerial vehicles (UAVs), and in particular to a control method for remote take-off and landing UAVs. Background Art

[0002] Unmanned aerial vehicles, or UAVs for short, are unmanned aircraft that are controlled by radio remote control equipment and self-contained program control devices, or are operated completely or intermittently autonomously by onboard computers. Compared with manned aircraft, drones are often more suitable for tasks that are too "dull, dirty or dangerous". Drones can be divided into military and civilian applications according to their application areas. In the military, drones are divided into reconnaissance aircraft and target aircraft. In the civilian sector, drones + industry applications are the real rigid demand for drones; their applications in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspections, disaster relief, film and television shooting, creating romance, etc. have greatly expanded the use of drones themselves, and developed countries are also actively expanding industry applications and developing drone technology.

[0003] In the prior art, when a drone is flying, its battery life is affected and thus its battery life is low when the drone is in flight. The drone needs to return, but since the drone needs to be controlled to return along the original route, the drone's battery life cannot support it to return to the landing point, causing the drone to explode in the air. Therefore, the drone cannot take off and land in a different location.

[0004] Therefore, we made improvements and proposed a control method for taking off and landing drones at different locations. Summary of the invention

[0005] The technical problem to be solved by the present invention is: when the endurance of a UAV is low, a waypoint detection module is enabled to intervene, and a waypoint and landing point straight line calculation module is enabled to calculate the straight-line distance from the UAV to the landing point and the straight-line distance of the UAV returning along the original route, and make a judgment, so as to choose to land in a different place and return in a straight line. At the same time, when landing in a different place, the landing point is judged by the landing point detection module, so as to choose the terrain for landing, and after landing, the UAV is charged by the solar cell module, so as to support the UAV to take off in a different place, and enable the UAV to fly to the landing point in a different place.

[0006] Technical Solution

[0007] In order to achieve the above-mentioned object of the invention, the present invention provides a control method for remote take-off and landing of a drone, comprising the following steps:

[0008] S1. The operator controls the drone through the control terminal and starts the take-off module to make the drone take off. At the same time, the flight control module controls the flight attitude of the drone in real time;

[0009] S2, the drone reaches the remote waypoint, and the drone's endurance is limited, so that the waypoint detection module performs position detection, and then the waypoint and landing point straight line calculation module intervenes, and calculates the straight line return and the original route return. If the straight line return is less than the original route return, and the drone's endurance supports the drone's straight line return, the return module intervenes and makes the drone return in a straight line;

[0010] S3. If the straight return route is the same as the original return route, and the drone's endurance does not support return, the remote landing preparation module intervenes, and the landing point detection module is operated, so that the landing point photography unit takes a photo of the landing point, and then the data transmission unit transmits the photo data to the big data analysis unit, and then the big data analysis unit makes a judgment. If the landing point is flat, the judgment data is transmitted to the data receiving unit, and then the decision unit receives the judgment data, so that the decision unit gives the drone a landing command, and then the remote landing module controls the drone to land;

[0011] S4, if the landing point is uneven, the navigation module intervenes to make the drone continue to fly. If there is a lot of remaining power, the landing point detection module continues to search for the landing point. If there is not much remaining power, the remote emergency landing module intervenes to make the drone land on the uneven ground.

[0012] S5. After landing at a different location, the solar cell module is activated to charge the battery through light exposure. If the battery is sufficient to return, the wake-up module is activated to wake up the drone, thereby operating the different location take-off module to return the drone. If the battery is insufficient, the battery continues to charge.

[0013] Preferably, it includes a control terminal, the control terminal is connected to the take-off module through data transmission technology, and is used for the operator to control the take-off of the drone, the take-off module is connected to the flight control module through data transmission technology, and is used to control the posture of the drone during navigation, the flight control module is connected to the waypoint detection module through data transmission technology, and is used to detect the navigation position of the drone, the waypoint detection module is connected to the waypoint and landing point straight line calculation module through data transmission technology, and is used to calculate the straight-line distance between the drone and the landing point, the waypoint detection module is connected to the return module through data transmission technology, and is used to control the drone to return, and the waypoint and landing point straight line calculation module is connected to the remote landing preparation module through data transmission technology, and is used for the drone to land remotely The off-site landing preparation module is connected to the landing point detection module through data transmission technology for detecting the landing site. The landing point detection module includes a landing point photographing unit, which is used to mechanically photograph and detect the landing site. The landing point photographing unit is connected to the data transmission unit through data transmission technology for transmitting photo data. The data transmission unit is connected to the big data analysis unit through data transmission technology for analyzing the transmitted data and analyzing the flatness of the landing site. The big data analysis unit is connected to the data receiving unit through data transmission technology for receiving the analyzed data. The data receiving unit is connected to the decision-making unit through data transmission technology for the decision-making unit to make a decision based on the analyzed data.

[0014] Preferably, the landing point detection module is connected to the off-site landing module through data transmission technology, and is used to land the UAV at a different location. The landing point detection module is connected to the continued navigation module through data transmission technology, and is used to allow the UAV to continue flying when the terrain at a different location is uneven and does not meet the landing requirements.

[0015] Preferably, the continued navigation module is connected to the off-site emergency landing module through data transmission technology, which is used for the UAV to make an emergency landing in a different location when the UAV is in a low endurance state. The off-site emergency landing module is connected to the solar cell module through data transmission technology, which is used for the UAV to use sunlight to charge after the emergency landing.

[0016] Preferably, the solar cell module is connected to the wake-up module through data transmission technology, and is used to wake up the drone after charging and when the charging power supports return. The wake-up module is connected to the remote take-off module through data transmission technology, and is used for the drone to take off at a remote location.

[0017] Preferably, the remote take-off module is connected to the return module via data transmission technology, so as to enable the drone to return from a remote location.

[0018] Preferably, the waypoint and landing point straight line calculation module is connected to the return module through data transmission technology, and is used for returning when the straight return route of the drone is shorter than the original return route.

[0019] Preferably, the remote landing module is connected to the solar cell module through data transmission technology, so as to enable the drone to land in a flat area and be charged by sunlight.

[0020] Beneficial Effects

[0021] The control method for remote take-off and landing of a drone provided by the present invention has the following beneficial effects:

[0022] When the drone's endurance is low, the waypoint detection module intervenes, and the waypoint and landing point straight line calculation module calculates the straight-line distance from the drone to the landing point and the straight-line distance of the drone's original return route, and makes a judgment, so as to choose to land in a different place and return in a straight line. At the same time, when landing in a different place, the landing point in a different place is judged by the landing point detection module, and the landing point photography unit in the landing point detection module takes a photo of the landing point in a different place. At the same time, the big data analysis unit analyzes the data transmitted by the data transmission unit, and the decision unit receives the analyzed data through the data receiving unit, so as to make accurate commands to the drone, so as to select the terrain for landing, and after landing, the drone is charged through the solar cell module, so as to support the drone to take off in a different place, and make the drone fly to the landing point in a different place. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A flow chart of the control method for remote take-off and landing of a drone provided in this application;

[0025] Figure 2 A system diagram of a control method for remote takeoff and landing of a drone provided in this application;

[0026] Figure 3 A schematic diagram of a landing point detection module for the remote take-off and landing UAV control method provided in this application;

[0027] Figure 4 A schematic diagram of the method steps for the control method of taking off and landing a drone at a different location provided in this application.

[0028] In the figure: 1. Control terminal; 2. Take-off module; 3. Flight control module; 4. Waypoint detection module; 5. Waypoint and landing point straight line calculation module; 6. Return module; 7. Off-site landing preparation module; 8. Landing point detection module; 81. Landing point photography unit; 82. Data transmission unit; 83. Big data analysis unit; 84. Data receiving unit; 85. Decision-making unit; 9. Off-site landing module; 10. Continue navigation module; 11. Off-site emergency landing module; 12. Solar cell module; 13. Wake-up module; 14. Off-site take-off module. DETAILED DESCRIPTION

[0029] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples of the specification. The following examples are only used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0030] like Figure 1-4 As shown, this embodiment proposes a control method for remote take-off and landing of a drone, including the following steps:

[0031] S1. The operator controls the drone through the control terminal 1 and starts the take-off module 2 to make the drone take off. At the same time, the flight control module 3 controls the flight attitude of the drone in real time;

[0032] S2, the drone reaches the remote waypoint, and the drone's endurance is limited, so that the waypoint detection module 4 performs position detection, and then the waypoint and landing point straight line calculation module 5 intervenes, and calculates the straight line return and the original route return. If the straight line return is less than the original route return, and the drone's endurance supports the drone's straight line return, the return module 6 intervenes and makes the drone return in a straight line;

[0033] S3, if the straight return route is the same as the original return route, and the drone's endurance does not support return, the remote landing preparation module 7 intervenes, and the landing point detection module 8 is operated, so that the landing point photography unit 81 takes a photo of the landing point, and then the data transmission unit 82 transmits the photo data to the big data analysis unit 83, and then the big data analysis unit 83 makes a judgment. If the landing point is flat, the judgment data is transmitted to the data receiving unit 84, and then the decision unit 85 receives the judgment data, so that the decision unit 85 gives a landing command to the drone, and then the remote landing module 9 controls the drone to land;

[0034] S4, if the landing point is uneven, the navigation module 10 intervenes to make the drone continue to fly. If there is a lot of remaining power, the landing point detection module 8 continues to search for the landing point. If there is not much remaining power, the remote emergency landing module 11 intervenes to make the drone land on the uneven ground.

[0035] S5. After landing at a different location, the solar cell module 12 is activated and the battery is charged by light. If the battery is sufficient for returning, the wake-up module 13 is activated and wakes up the drone, so that the different location take-off module 14 is operated and the drone returns. If the battery is insufficient, the battery continues to be charged.

[0036] In this embodiment, a control terminal 1 is included, and the control terminal 1 is connected to a take-off module 2 through data transmission technology, and is used for the operator to control the take-off of the UAV. The take-off module 2 is connected to a flight control module 3 through data transmission technology, and is used to control the posture of the UAV during navigation. The flight control module 3 is connected to a waypoint detection module 4 through data transmission technology, and is used to detect the navigation position of the UAV. The waypoint detection module 4 is connected to a waypoint and landing point straight line calculation module 5 through data transmission technology, and is used to measure the straight-line distance between the UAV and the landing point. The waypoint detection module 4 is connected to a return module 6 through data transmission technology, and is used to control the UAV to return. The waypoint and landing point straight line calculation module 5 is connected to a remote landing preparation module 7 through data transmission technology, and is used for the preparation of the UAV landing in a remote location. The off-site landing preparation module 7 is connected to the landing point detection module 8 through data transmission technology, and is used to detect the landing site. The landing point detection module 8 includes a landing point photographing unit 81, and the landing point photographing unit 81 is used to mechanically photograph and detect the landing site. The landing point photographing unit 81 is connected to the data transmission unit 82 through data transmission technology, and is used to transmit photo data. The data transmission unit 82 is connected to the big data analysis unit 83 through data transmission technology, and is used to analyze the transmitted data and analyze the flatness of the landing site. The big data analysis unit 83 is connected to the data receiving unit 84 through data transmission technology, and is used to receive the analyzed data. The data receiving unit 84 is connected to the decision unit 85 through data transmission technology, and the decision unit 85 makes a decision based on the analyzed data.

[0037] In this embodiment, the landing point detection module 8 is connected to the remote landing module 9 through data transmission technology, and is used to land the UAV in a remote location. The landing point detection module 8 is connected to the continued navigation module 10 through data transmission technology, and is used to allow the UAV to continue flying when the terrain in the remote location is uneven and does not meet the landing requirements.

[0038] In this embodiment, the continue navigation module 10 is connected to the off-site emergency landing module 11 through data transmission technology, which is used for the UAV to make an emergency landing in a different location when the UAV is in a low endurance state. The off-site emergency landing module 11 is connected to the solar cell module 12 through data transmission technology, which is used for the UAV to use sunlight to charge after the emergency landing.

[0039] In this embodiment, the solar cell module 12 is connected to the wake-up module 13 through data transmission technology, and is used to wake up the drone after charging and when the charging power supports return. The wake-up module 13 is connected to the remote take-off module 14 through data transmission technology, and is used for the drone to take off at a remote location.

[0040] In this embodiment, the remote take-off module 14 is connected to the return module 6 through data transmission technology, so as to enable the drone to return from a remote location.

[0041] In this embodiment, the waypoint and landing point straight line calculation module 5 is connected to the return module 6 through data transmission technology, and is used for the drone to return when the straight return route is shorter than the original return route.

[0042] In this embodiment, the remote landing module 9 is connected to the solar cell module 12 through data transmission technology, so as to enable the drone to land in a flat area and charge using sunlight.

[0043] The present invention enables the waypoint detection module 4 to intervene when the drone's endurance is low, and enables the waypoint and landing point straight line calculation module 5 to calculate the straight-line distance from the drone to the landing point and the straight-line distance of the drone's original return route, and make a judgment, thereby selecting a different place to land and return in a straight line. At the same time, when landing at a different place, the landing point is judged by the landing point detection module 8, and the landing point photography unit 81 in the landing point detection module 8 takes a photo of the different landing point. At the same time, the big data analysis unit 83 analyzes the data transmitted by the data transmission unit 82, and the decision unit 85 receives the analyzed data through the data receiving unit 84, thereby making accurate commands to the drone, thereby selecting the terrain for landing, and charging the drone through the solar cell module 12 after landing, thereby supporting the drone to take off at a different place and allowing the drone to fly to the landing point at a different place.

[0044] The above embodiments are only used to illustrate the present invention, but not to limit the present invention. Although the present invention is described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalent substitutions of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A control method for taking off and landing a drone at a different location, characterized in that: The following steps are involved: S1. The operator controls the drone through the control terminal (1) and activates the take-off module (2), thereby making the drone take off. At the same time, the flight control module (3) controls the flight attitude of the drone in real time; S2, the drone reaches a remote waypoint, and the drone's endurance is limited, so that the waypoint detection module (4) performs position detection, and then the waypoint and landing point straight line calculation module (5) intervenes, and calculates the straight line return and the original route return. If the straight line return is less than the original route return, and the drone's endurance supports the drone's straight line return, the return module (6) intervenes, and the drone returns in a straight line; S3, if the straight return route is the same as the original return route, and the drone's endurance does not support return, the remote landing preparation module (7) intervenes, and the landing point detection module (8) is operated, so that the landing point photography unit (81) takes a photo of the landing point, and then the data transmission unit (82) transmits the photo data to the big data analysis unit (83), and then the big data analysis unit (83) makes a judgment. If the landing point is flat, the judgment data is transmitted to the data receiving unit (84), and then the decision unit (85) receives the judgment data, so that the decision unit (85) issues a landing command to the drone, and then the remote landing module (9) controls the drone to land; S4, if the landing point is uneven, the navigation module (10) intervenes to allow the drone to continue flying. If the remaining power is high, the landing point detection module (8) continues to search for the landing point. If the remaining power is low, the remote emergency landing module (11) intervenes to allow the drone to land on the uneven ground. S5. After landing at a different location, the solar cell module (12) is activated and the battery is charged by light. If the battery is sufficient for returning, the wake-up module (13) is activated and wakes up the drone, so that the different location take-off module (14) is operated and the drone returns. If the battery is insufficient, the battery continues to be charged.

2. The control method for remote take-off and landing of a UAV according to claim 1, comprising a control terminal (1), characterized in that: The control terminal (1) is connected to the take-off module (2) through data transmission technology, and is used by the operator to control the take-off of the drone. The take-off module (2) is connected to the flight control module (3) through data transmission technology, and is used to control the posture of the drone during navigation. The flight control module (3) is connected to the waypoint detection module (4) through data transmission technology, and is used to detect the navigation position of the drone. The waypoint detection module (4) is connected to the waypoint and landing point straight line calculation module (5) through data transmission technology, and is used to calculate the straight line distance between the drone and the landing point. The waypoint detection module (4) is connected to the return module (6) through data transmission technology, and is used to control the drone to return. The waypoint and landing point straight line calculation module (5) is connected to the remote landing preparation module (7) through data transmission technology, and is used for the preparation of the drone landing in a remote location. The module (7) is connected to the landing point detection module (8) through data transmission technology, and is used to detect the landing point. The landing point detection module (8) includes a landing point photographing unit (81), and the landing point photographing unit (81) is used to mechanically photograph and detect the landing point. The landing point photographing unit (81) is connected to the data transmission unit (82) through data transmission technology, and is used to transmit photo data. The data transmission unit (82) is connected to the big data analysis unit (83) through data transmission technology, and is used to analyze the transmitted data and analyze the flatness of the landing point. The big data analysis unit (83) is connected to the data receiving unit (84) through data transmission technology, and is used to receive the analyzed data. The data receiving unit (84) is connected to the decision unit (85) through data transmission technology, and is used for the decision unit (85) to make a decision based on the analyzed data.

3. The control method for remote take-off and landing of a UAV according to claim 2, characterized in that: The landing point detection module (8) is connected to the remote landing module (9) through data transmission technology, and is used to land the UAV at a remote location. The landing point detection module (8) is connected to the continued navigation module (10) through data transmission technology, and is used to allow the UAV to continue flying when the remote terrain is uneven and does not meet the landing requirements.

4. The control method for remote take-off and landing of a UAV according to claim 2, characterized in that: The continuing navigation module (10) is connected to the remote emergency landing module (11) through data transmission technology, and is used for the UAV to make an emergency landing in a remote location when the UAV is in a low endurance state. The remote emergency landing module (11) is connected to the solar cell module (12) through data transmission technology, and is used for charging the UAV using sunlight after the UAV makes an emergency landing.

5. The control method for remote take-off and landing of a UAV according to claim 2, characterized in that: The solar cell module (12) is connected to the wake-up module (13) through data transmission technology, and is used to wake up the drone after charging and when the charging power supports return flight. The wake-up module (13) is connected to the remote take-off module (14) through data transmission technology, and is used for the drone to take off at a remote location.

6. The control method for remote take-off and landing of a UAV according to claim 2, characterized in that: The remote take-off module (14) is connected to the return module (6) via data transmission technology and is used for the drone to return from a remote location.

7. The control method for remote take-off and landing of a UAV according to claim 2, characterized in that: The waypoint and landing point straight line calculation module (5) is connected to the return module (6) through data transmission technology, and is used for returning the drone when the straight return route of the drone is shorter than the original return route.

8. The control method for remote take-off and landing of a UAV according to claim 2, characterized in that: The remote landing module (9) is connected to the solar cell module (12) through data transmission technology, and is used for the drone to land in a relatively flat area and charge using sunlight.

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