Unmanned aerial vehicle landing method and system and electronic equipment

Abstract

The invention provides an unmanned aerial vehicle landing method and system and electronic equipment, and belongs to the technical field of flight control, and the method comprises the steps: transmitting an adjustment instruction to a brightness controller according to a first-class image of a landing platform obtained by a camera, so as to adjust the brightness of the landing platform; and after brightness adjustment is completed, a second-class image of the landing platform is captured in real time according to the camera, an identification result of the identification code on the landing platform is obtained, and according to the identification result, the descending pose of the unmanned aerial vehicle is continuously adjusted or the unmanned aerial vehicle is controlled to land. Therefore, the flight control equipment adjusts the brightness of the landing platform according to the recognition result of the shot first-class image, so that the definition of the landing platform and the identification code in the image shot by the unmanned aerial vehicle camera can meet the requirements of the unmanned aerial vehicle through brightness adjustment in any environment; therefore, the unmanned aerial vehicle can continuously adjust the descending posture until the unmanned aerial vehicle lands based on scanning and recognition of the identification code, and the landing precision is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of flight control technology, and in particular to a method, system and electronic equipment for landing an unmanned aerial vehicle. Background Art

[0002] UAVs are unmanned aircraft controlled by radio remote control equipment and self-contained program control devices. They have the advantages of small size, low cost, and easy use. With the rapid development of UAV technology, UAVs are increasingly used in agricultural plant protection, power inspection, aerial photography and mapping, express logistics, and security monitoring. UAVs have become an indispensable key tool in many industries.

[0003] When a drone returns after completing a mission, it usually relies on the GPS positioning system to automatically guide the drone back to the destination, and then manually controls or automatically guides the drone to land. During manual control, the accuracy of the drone's landing is significantly affected by the operator's skill level. The operator's lack of skill or slight changes in the range of motion may cause the drone to roll over or tip over, causing damage to the drone and its related equipment. During the process of automatically guiding the drone to land, it is easily affected by the environment, making it difficult to land accurately.

[0004] In summary, the UAV landing process faces many challenges such as operational difficulty and environmental adaptability, and a high-precision automatic landing method is urgently needed. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a method, system and electronic equipment for landing a drone, so that the drone can automatically complete the landing with high precision in various environments without manual operation, thereby greatly reducing the difficulty of landing.

[0006] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0007] In a first aspect, the present invention provides a method for landing a drone, which is applied to a flight control device of the drone, wherein the flight control device is communicatively connected with a camera and a brightness controller of the drone, the brightness controller is electrically connected with a control end of a landing platform, and an identification code is provided on the landing platform, and the method comprises:

[0008] Controlling the camera to acquire a type of image of the landing platform, and sending an adjustment instruction to the brightness controller according to the type of image; wherein the adjustment instruction is used to instruct the brightness controller to adjust the brightness of the landing platform;

[0009] After the brightness adjustment is completed, the camera is controlled to capture two types of images of the landing platform in real time, and the two types of images are scanned and recognized to obtain a recognition result of the identification code;

[0010] According to the recognition result, determining whether the drone is located above the landing area of ​​the landing platform;

[0011] If not, adjusting the position of the drone according to the recognition result, controlling the drone to descend, and returning to the step of controlling the camera to capture the second type of image of the landing platform in real time, scanning and recognizing the second type of image, and obtaining the recognition result;

[0012] If yes, the drone is controlled to land.

[0013] Optionally, the identification codes are in multiple groups, and the priority of each group of identification codes is inversely proportional to the area of ​​the identification code and the landing zone distance of the identification code, and the landing zone distance is the distance between the identification code and the landing zone;

[0014] The step of determining whether the drone is located above the landing area of ​​the landing platform according to the recognition result includes:

[0015] Matching the recognition result with the preset identification ID corresponding to the identification code, and taking the identification code corresponding to the successfully matched preset identification ID as the hit code;

[0016] Selecting the hit code with the highest priority from the multiple hit codes as the guide code;

[0017] determining whether the guidance code is an identification code located in a landing area of ​​the landing platform;

[0018] If yes, it is determined that the UAV is located above the landing area;

[0019] If not, it is determined that the drone is not located above the landing area.

[0020] Optionally, the step of adjusting the position of the drone and controlling the drone to descend according to the recognition result includes:

[0021] When the guide code is one, the drone is controlled to move horizontally in a direction close to the guide code, and after the horizontal movement is completed, the drone is controlled to descend vertically;

[0022] When there are multiple guide codes, the drone is controlled to move horizontally in a direction close to any one of the guide codes, and after the horizontal movement is completed, the drone is controlled to descend vertically.

[0023] Optionally, the landing area includes a main landing area and a secondary landing area;

[0024] The step of controlling the drone to land comprises:

[0025] When the guidance code includes the identification code of the main landing area, the drone is controlled to move horizontally in a direction close to the identification code, and after the horizontal movement is completed, the drone is controlled to land;

[0026] When the guidance code only includes the identification code of the secondary landing area, the UAV is controlled to move horizontally in a direction close to any one of the guidance codes, and after the horizontal movement is completed, the UAV is controlled to land.

[0027] Optionally, the step of controlling the camera to acquire a type of image of the landing platform and sending an adjustment instruction to the brightness controller according to the type of image includes:

[0028] Controlling the camera to rotate until the camera faces the ground;

[0029] Controlling the camera to shoot and obtain a type of image;

[0030] Performing detection on the image of the type to obtain a detection result;

[0031] Determine whether there is an identification ID in the detection result that is the same as at least one preset identification ID; wherein the preset identification ID corresponds to the identification code one by one;

[0032] If not, an adjustment instruction is sent to the brightness controller, and the process returns to the step of controlling the camera to shoot and obtain a type of image.

[0033] Optionally, after the step of determining whether there is an identification ID in the detection result that is the same as at least one preset identification ID, the method further includes:

[0034] If there is no identification ID identical to the preset identification ID in the detection result, the number of identification failures is increased by one, and it is determined whether the number of identification failures is greater than the preset upper limit of failures;

[0035] If not, an adjustment instruction is sent to the brightness controller to control the drone to adjust the initial landing posture, and return to execute the step of controlling the camera to shoot and obtain a type of image;

[0036] If yes, the UAV is controlled to enter the alternate landing mode.

[0037] Optionally, the step of scanning and identifying the second type of images to obtain a recognition result of the identification code includes:

[0038] Scan and identify the two types of images currently acquired to obtain a currently identified identification code;

[0039] When the identification code is consistent with the identification codes corresponding to the second type of images of a preset number of frames before the current moment, the identification code is used as the identification result.

[0040] In a second aspect, the present invention provides a drone landing system, comprising a drone, a brightness controller and a landing platform, wherein the drone comprises a flight control device and a camera, the brightness controller is communicatively connected to the flight control device and the landing platform respectively, and an identification code is provided on the landing platform;

[0041] The flight control device is used to control the camera to capture a type of image of the landing platform in real time after entering the landing mode, and send an adjustment instruction to the brightness controller according to the type of image;

[0042] The brightness controller is used to adjust the brightness of the landing platform in response to the adjustment instruction;

[0043] The flight control device is also used to: after completing the brightness adjustment, control the camera to capture the two types of images of the landing platform in real time, and scan and identify the two types of images to obtain the recognition result of the identification code; based on the recognition result, determine whether the drone is located above the landing area of ​​the landing platform; if not, adjust the position of the drone based on the recognition result, control the drone to descend, and return to the step of controlling the camera to capture the two types of images of the landing platform in real time, and scan and identify the two types of images to obtain the recognition result; if yes, control the drone to land.

[0044] Optionally, the landing platform includes a platform plate, a light-emitting plate and a transparent sticker, and the transparent sticker is provided with an identification code;

[0045] The light-emitting board is arranged on the platform board, and the transparent sticker is arranged on the surface of the light-emitting board away from the platform board;

[0046] The control line of the light emitting panel is connected to the control end of the brightness controller.

[0047] In a third aspect, the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the drone landing method as described in the first aspect.

[0048] In a fourth aspect, the present invention provides a UAV landing device, which is applied to a flight control device of a UAV, wherein the flight control device is communicatively connected with a camera and a brightness controller of the UAV, the brightness controller is electrically connected with a control end of a landing platform, an identification code is provided on the landing platform, and the UAV landing device comprises a brightness adjustment module, a scanning and identification module, a judgment module, a descending adjustment module and a landing module;

[0049] The brightness adjustment module is used to control the camera to obtain a type of image of the landing platform, and send an adjustment instruction to the brightness controller according to the type of image; wherein the adjustment instruction is used to instruct the brightness controller to adjust the brightness of the landing platform;

[0050] The scanning and identifying module is used to control the camera to capture two types of images of the landing platform in real time after the brightness adjustment is completed, and to scan and identify the two types of images to obtain an identification result of the identification code;

[0051] The judgment module is used to judge whether the UAV is located above the landing area of ​​the landing platform according to the recognition result;

[0052] The adjusting descent module is used for adjusting the position of the drone and controlling the drone to descend according to the recognition result if the drone is not located above the landing area of ​​the landing platform, and returning to the step of controlling the camera to capture the second type of image of the landing platform in real time, scanning and recognizing the second type of image, and obtaining the recognition result;

[0053] The landing module is used to control the UAV to land if the UAV is located above the landing area of ​​the landing platform.

[0054] In a fifth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the drone landing method as described in the first aspect is implemented.

[0055] The method, system and electronic device for landing a drone provided by an embodiment of the present invention include: sending an adjustment instruction to a brightness controller according to a type of image of a landing platform acquired by a camera, so as to instruct the brightness controller to adjust the brightness of the landing platform; after completing the brightness adjustment, controlling the camera to capture a type of image of the landing platform in real time, and scanning and identifying the type of image to obtain the recognition result of the identification code on the landing platform; when determining whether the drone is located above the landing area of ​​the landing platform according to the recognition result, controlling the drone to land; otherwise, adjusting the position of the drone according to the recognition result, and controlling the drone to descend, and returning to execute the step of controlling the camera to capture the type of image of the landing platform in real time, and scanning and identifying the type of image to obtain the recognition result of the identification code on the landing platform, so as to repeat the process of scanning, identifying, adjusting the position and descending until it is located above the landing area. In this way, no matter in what environment, the identification code of the landing platform can be ensured to be clear enough by adjusting the brightness, thereby improving environmental adaptability and reducing environmental impact, so that the drone can accurately land on the landing area according to the scanning and identification result of the identification code, greatly improving the landing accuracy and reducing the landing difficulty.

[0056] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0058] Figure 1 An exploded schematic diagram of a landing platform of a UAV landing platform system provided in an embodiment of the present invention is shown.

[0059] Figure 2 A block diagram of a UAV landing platform system provided by an embodiment of the present invention is shown.

[0060] Figure 3 A block diagram of an electronic device provided by an embodiment of the present invention is shown.

[0061] Figure 4 A schematic flow chart of a method for landing a UAV provided in an embodiment of the present invention is shown.

[0062] Figure 5 Shows Figure 4 One of the flowcharts of some sub-steps of step 11 in FIG.

[0063] Figure 6 Shows Figure 4 The second flowchart of some sub-steps of step 11.

[0064] Figure 7 Shows Figure 4 Schematic diagram of the process flow of some sub-steps of step 13.

[0065] Figure 8 A top view of a landing platform provided by an embodiment of the present invention is shown.

[0066] Fig. 9 Shows Figure 4 Schematic diagram of the process flow of some sub-steps of step 15.

[0067] Explanation of the reference numerals: 10 - landing platform; 110 - platform plate; 120 - light-emitting board; 1201 - control line; 130 - transparent sticker; 140 - brightness controller; 150 - identification code; 1501 - first-level QR code; 1502 - second-level QR code; 1503 - third-level QR code; 1504 - fourth-level QR code; 160 - drone; 1601 - camera; 1602 - flight control equipment; 20 - electronic equipment; 210 - memory; 220 - processor; 230 - communication module. DETAILED DESCRIPTION

[0068] The following will be combined with the accompanying 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. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0069] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0070] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0071] The drone landing method provided by the embodiment of the present invention can be applied to Figure 1 and Figure 2 In the drone landing system shown, the drone landing system includes a drone 160 , a brightness controller 140 and a landing platform 10 . The drone 160 includes a flight control device 1602 and a camera 1601 , and an identification code 150 is provided on the landing platform 10 .

[0072] The landing platform 10 includes a platform board 110, a light-emitting board 120 and a transparent sticker 130, and a guide code is arranged on the transparent sticker 130. The light-emitting board 120 is arranged on the platform board 110, and the transparent sticker 130 is arranged on the surface of the light-emitting board 120 away from the platform board 110. The light-emitting board 120 includes a control line 1201, and the control line 1201 is connected to the output end of the brightness controller 140.

[0073] The flight control device 1602 of the drone 160 is communicatively connected with the camera 1601 and the brightness controller 140 respectively.

[0074] The camera 1601 is used to capture images of the area it is facing and send the images to the flight control device 1602 .

[0075] The brightness controller 140 is used to adjust the brightness of the landing platform 10 .

[0076] The flight control device 1602 is used to implement the drone landing method provided in the embodiment of the present invention.

[0077] Please refer to Figure 3 , is a block diagram of an electronic device 20, which may be Figure 1 and Figure 2The flight control device 1602 in the drone landing system shown. The electronic device 20 includes a memory 210, a processor 220 and a communication module 230. The memory 210, the processor 220 and the communication module 230 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0078] The memory 210 is used to store programs or data and can be, but not limited to, a random access memory, a read-only memory, a programmable read-only memory, an erasable read-only memory, an electrically erasable read-only memory, and the like.

[0079] The processor 220 is used to read / write data or programs stored in the memory 210 and execute corresponding functions. For example, Figure 1 and Figure 2 In the drone landing system shown, the processor 220 of the flight control device 1602 executes the computer program stored in the memory 210 to implement the drone landing method provided in the embodiment of the present invention.

[0080] The communication module 230 is used to establish a communication connection between the electronic device 20 and other communication terminals through a network, radio, etc., and is used to send and receive data. Figure 1 and Figure 2 In the drone landing system shown, the flight control device 1602 transmits and receives data with the camera and the brightness controller 140 respectively through the communication module 230.

[0081] It should be understood that Figure 3 The structure shown is only a schematic diagram of the structure of the electronic device 20. The electronic device 20 may also include Figure 3 More or fewer components as shown, or with Figure 3 Different configurations are shown. Figure 3 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0082] Please refer to Figure 4 , a drone landing method provided by an embodiment of the present invention, comprising steps 11 to 19, and Figure 1 and Figure 2 The flight control device 1602 in the drone landing system shown can Figure 2 The structure shown in FIG. 1 is used to execute steps 11 to 19 to implement the UAV landing method.

[0083] Step 11, controlling the camera to obtain a type of image of the landing platform, and sending an adjustment instruction to the brightness controller according to the type of image.

[0084] The adjustment instruction is used to instruct the brightness controller to adjust the brightness of the landing platform.

[0085] After the brightness adjustment is completed in step 11, step 13 is performed.

[0086] Step 13, controlling the camera to capture the second type of image of the landing platform in real time, and scanning and identifying the second type of image to obtain the identification code recognition result.

[0087] Step 15, based on the recognition result, determine whether the drone is located above the landing area of ​​the landing platform. If yes, execute step 17, if not, execute step 19, and after executing step 19, return to execute step 13.

[0088] Step 17, control the drone to land.

[0089] Step 19: According to the recognition result, adjust the position of the drone and control the drone to descend.

[0090] For example, in combination Figure 1 In the drone landing system shown, the drone 160 returns after completing the mission. When the drone 160 reaches the preset landing point, the drone 160 enters the landing mode, the flight control device 1602 establishes communication with the brightness controller 140 of the landing platform 10, and the flight control device 1602 controls the lens of the camera 1601 to face the ground. After adjusting the lens direction of the camera 1601, the camera 1601 starts to capture images, obtains a class of images, and sends the class of images to the flight control device 1602 in real time. The flight control device 1602 sends an adjustment instruction to the brightness controller 140 based on the received class of images. After receiving the adjustment instruction, the brightness controller 140 adjusts the brightness of the landing platform 10 so that the landing platform 10 and the identification code 150 in the image captured by the camera 1601 are clear enough.

[0091] After the brightness adjustment is completed, the flight control device 1602 controls the camera 1601 to capture the second type of image of the landing platform 10 in real time, and scans and identifies the second type of image to obtain the identification result of the identification code 150. The flight control device 1602 determines whether the drone 160 is located above the landing area of ​​the landing platform 10 based on the identification result. If it is determined that it is already located above the landing area of ​​the landing platform 10, the drone 160 is controlled to land. If it is determined that it has not yet reached the landing area of ​​the landing platform 10, the position of the drone 160 is adjusted, the drone 160 is controlled to descend, and the drone 160 is continued to be controlled to capture the second type of image, and the landing posture is continued to be adjusted according to the identification result of the second type of image until it reaches above the landing area (i.e., aligned with the landing area).

[0092] The current automatic landing scheme for drones generally sets two sets of QR codes on the platform, and the area of ​​the QR codes of one set is larger than that of the other set of QR codes, so that the landing is carried out by integrating the real-time dynamic carrier phase difference technology (RTK) with the QR code visual guidance. This method is only applicable to large-sized landing platforms and QR codes, and high-power lighting needs to be installed at night to ensure that the drone can recognize the QR code, which makes the overall equipment manufacturing cost high. If the lighting is uneven, it is difficult for the drone to recognize the QR code, so it is highly dependent on the environment. In addition, in extreme environments or when there are objects blocking the QR code, even if lighting and other equipment that increase the brightness of the platform are installed to illuminate, it is difficult to ensure that the drone can accurately recognize the QR code. Therefore, the landing accuracy of the drone is low.

[0093] The above-mentioned drone landing method passes through steps 11 to 19, where the drone's flight control device instructs the brightness controller to adjust the brightness of the landing platform according to a type of image captured by the drone's camera, so that the brightness adjustment is determined by the clarity of the image captured by the camera. Therefore, no matter what environment it is in, the brightness adjustment can be used to ensure that the clarity of the landing platform and the identification code in the image captured by the drone's camera meets the drone's requirements, thereby improving environmental adaptability and reducing environmental impact. Furthermore, the drone can adjust its posture based on the scanning and recognition results of the identification code to accurately land on the landing area, greatly improving the landing accuracy. At the same time, the drone automatically lands without manual operation, greatly reducing the difficulty of landing.

[0094] Among them, in step 11, the method of sending the adjustment instruction to the brightness controller 140 can be flexibly set. For example, a class of images can be written into the adjustment instruction, so that the brightness controller 140 determines the brightness adjustment value according to the detection result of the class of images, or the flight control device 1602 can determine the brightness adjustment value according to the detection result of the class of images and write the brightness adjustment value into the adjustment instruction. The above method is only an example, and the specific implementation method is not limited.

[0095] In order to ensure that the camera 1601 can capture a clear image of the landing platform 10 with the identification code 150 before the drone 160 descends, the flight control device 1602 sends an adjustment instruction according to the clarity of the identification code 150 in the real-time image in step 11. Figure 5 The process of step 11 sending an adjustment instruction to the brightness controller includes steps 111 to 115A.

[0096] Step 111, controlling the camera to rotate until the camera faces the ground.

[0097] Step 112, controlling the camera to shoot, and obtaining a type of image.

[0098] Step 113, detect a type of image to obtain a detection result.

[0099] Among them, the detection result includes the recognition result of the identification code 150 on the landing platform 10, and when there is interference in the environment or the environment is dark, the identification code 150 in the first class of images is not clear, and the detection result may be empty, which may be an erroneous identification ID. When the environment is bright enough, the identification code 150 of the first class of images is clear, and the detection result is the identification ID corresponding to the identification code 150. In addition, in the drone landing system, the identification code 150 on the landing platform 10 can be a QR code, a bar code, or any ID code with a unique identification ID. The method of detecting a class of images in step 113 can be any detection method that can identify the identification code 150.

[0100] For example, when the identification code 150 is a two-dimensional code or a barcode, a scanning technology can be used to scan a class of images to obtain a detection result. When the identification code 150 is a common graphic, a class of images can be input into a neural network model to generate a detection result using the neural network model. The above two detection methods are only examples, and their implementation methods are not limited.

[0101] Step 114, determine whether there is an identification ID in the detection result that is the same as at least one preset identification ID. If not, execute step 115A.

[0102] Step 115A, sending an adjustment instruction to the brightness controller. After step 115A, returning to step 112, when the definition does not meet the requirement, repeatedly adjusting until the requirement is met.

[0103] It should be understood that if there is no identification ID in the detection result that is the same as the preset identification ID corresponding to the identification code 150 on the landing platform 10, it means that the camera 1601 cannot obtain a clear image of the landing platform 10, and the flight control device 1602 will not send an adjustment instruction to the brightness controller 140. On the contrary, it means that the camera 1601 can obtain a clear image of the landing platform 10, and the flight control device 1602 will send an adjustment instruction to the brightness controller 140.

[0104] Here, after receiving the adjustment instruction, the brightness controller 140 can gradually increase the brightness of the landing platform 10 according to the preset brightness adjustment value until the adjustment instruction sent by the flight control device 1602 is no longer received.

[0105] Alternatively, the flight control device 1602 calculates the brightness channel of a type of image, obtains the corresponding current brightness value, takes the difference between the expected brightness value and the current brightness value as the adjustment value, and puts the adjustment value into the adjustment instruction. After receiving the adjustment instruction, the brightness controller 140 increases the brightness of the landing platform 10 by the adjustment value.

[0106] In order to avoid the situation where the drone 160 hovers for a long time and cannot land, the drone landing method provided in the embodiment of the present invention introduces the concept of performing an alternate landing when the number of recognition failures reaches the upper limit. Figure 6 If, in step 114, it is determined that there is no identification ID identical to the preset identification ID in the detection result, then steps 115B to 117 are executed.

[0107] Step 115B, add one to the number of recognition failures, and determine whether the number of recognition failures is greater than a preset upper limit of failures. If yes, execute step 116, if no, execute step 117, and after step 117, return to execute step 112.

[0108] Step 116, control the drone to enter the alternate landing mode.

[0109] Step 117, sending an adjustment instruction to the brightness controller to control the drone to adjust the initial landing posture.

[0110] Here, the process of adjusting the initial landing posture includes but is not limited to: (1) first raising the position, then adjusting the posture and then descending to the preset landing point; (2) adjusting the posture angle of the drone at the preset landing point. The above methods are only examples and are not limited here.

[0111] Through the above steps 111 to 117, before the drone descends, the brightness is continuously adjusted based on the detection results of the image captured by the camera until at least one identification code is correctly identified from the image, ensuring that each identification code guiding the drone to land can be correctly identified after the descent to improve the landing accuracy. Moreover, after adjusting the brightness of the landing platform for multiple consecutive times, if an identification code still cannot be correctly identified, the drone enters the alternate landing mode to avoid damage to the drone due to forced landing, so as to ensure landing safety.

[0112] After successfully completing the brightness adjustment, the drone 160 enters the descent mode, and the camera 1601 continues to shoot. In step 13, the information obtained by scanning and identifying the second type of image in the current frame can be used as the recognition result, or the recognition result of the identification code 150 can be obtained, or the recognition result can be obtained by scanning and identifying according to preset rules, and the specific implementation method is not limited.

[0113] In order to increase the reliability of the recognition result and improve the accuracy of the landing of the drone 160, the idea of ​​determining the recognition result based on scanning and recognizing continuous multiple frames of images is introduced in step 13. Figure 7 , step 13 includes steps 131 to 133.

[0114] Step 131 , scanning and identifying the currently acquired second-category image to obtain the currently identified identification code.

[0115] Step 133: when the identification code is consistent with the identification codes corresponding to the second type of images of a preset number of frames before the current moment, the identification code is used as the identification result.

[0116] It should be noted that the identification codes in step 133 are identical. If there is no identical identification in the identification codes of the consecutive multiple frames of the second type of image, the drone 160 enters the alternate landing mode to improve safety.

[0117] In the drone landing system, the number and size of the identification code 150 can be flexibly selected. For example, there can be two codes, one large and one small, or multiple codes of the same area, or codes of multiple areas, with multiple codes of each area, and the setting method is not restricted.

[0118] The landing platform 10 of the drone 160 is usually set on the machine nest, and the size of the machine nest and the landing platform 10 are both small, so if the landing is not accurate, the drone 160 is very likely to roll over. In order to further improve the accuracy of the unmanned landing, the drone landing method provided in the embodiment of the present invention introduces the concept of setting multiple identification codes 150, and the drone 160 uses identification codes 150 of different sizes as a guide to land at different heights.

[0119] For example, there are multiple groups of identification codes 150 on the landing platform 10, the areas of the multiple groups of identification codes 150 increase successively, and the priority of each group of identification codes 150 is inversely proportional to the area of ​​the identification code 150 and the landing area distance of the identification code 150, wherein the landing area distance is the distance between the identification code 150 and the landing area.

[0120] Here, priority refers to the boot priority.

[0121] Through the above settings, the area of ​​the identification code 150 that is closer to the landing area is smaller, so that when the drone 160 lands close to the landing platform 10, the image captured by the camera 1601 always contains a complete identification code 150, and the drone 160 lands based on the guidance, thereby improving the reliability of the landing. At the same time, the closer the identification code 150 is to the landing area, the higher its priority (i.e., the guidance priority), so that the drone 160 can finally land accurately in the expected posture (i.e., the posture guided by the identification code 150 of the landing area), greatly improving the landing accuracy.

[0122] In order to accurately guide the drone 160 to land on the landing platform 10 in the expected position, while avoiding too many identification codes 150 to increase the landing complexity. Figure 8 The identification code 150 on the landing platform 10 includes a first-level two-dimensional code 1501, a second-level two-dimensional code 1502, a third-level two-dimensional code 1503 and a fourth-level two-dimensional code 1504, the areas of which increase successively.

[0123] The first-level QR code 1501 is located in the landing area.

[0124] There are at least two fourth-level two-dimensional codes 1504 , second-level two-dimensional codes 1502 , and third-level two-dimensional codes 1503 .

[0125] The first third-level two-dimensional code 1503 is located in an area close to the landing area, and the second third-level two-dimensional code 1503 is located on one side of the first third-level two-dimensional code 1503 and away from the first third-level two-dimensional code 1501.

[0126] The two secondary two-dimensional codes 1502 are located on both sides of the first tertiary two-dimensional code 1503 .

[0127] The two fourth-level two-dimensional codes 1504 are located on both sides of the second third-level two-dimensional code 1503 .

[0128] On the basis of the above, refer to Fig. 9 In step 15, steps 151 to 159 can be used to determine whether the drone 160 is located above the landing area of ​​the landing platform 10, that is, to determine whether the drone 160 reaches the expected landing position.

[0129] Step 151, matching the recognition result with the preset identification ID corresponding to the identification code, and taking the identification code corresponding to the successfully matched preset identification ID as the hit code.

[0130] Step 153, selecting a hit code with the highest priority from multiple hit codes as a guide code.

[0131] Step 155 , determining whether the guidance code is an identification code of the landing area of ​​the landing platform. If yes, executing step 157 , if no, executing step 159 .

[0132] Step 157, determine whether the drone is located above the landing area.

[0133] Step 159, determine that the drone is not above the landing area.

[0134] Through the above steps 151 to 159, each time the identification code 150 with the highest priority is selected from the currently successfully identified identification codes 150 as the guide code, and only when the guide code is the identification code 150 of the landing area, it is determined that the drone 160 is above the landing area (i.e., it reaches the expected landing posture). At the same time, the landing time is reduced.

[0135] When it is determined that the UAV 160 is not located above the landing area (ie, the landing posture does not meet expectations), the landing posture can be adjusted in step 19 according to the position of the guidance code.

[0136] For example, when there is only one guide code, it means that other identification codes 150 of the same priority are blocked or cut by shadows. At this time, the drone 160 is controlled to move horizontally in the direction close to the guide code, and after the horizontal movement is completed, the drone 160 is controlled to descend vertically to adjust the descending posture.

[0137] When there are multiple guide codes, it means that other identification codes 150 of the same priority are not blocked or cut by shadows. At this time, the drone 160 is controlled to move horizontally in the direction close to any guide code, and after the horizontal movement is completed, the drone 160 is controlled to descend vertically.

[0138] It should be noted that, in the above process of adjusting the descending posture, when there are multiple guide codes, the horizontal movement can be made in the direction of the guide code with the closest horizontal distance, or a guide code can be randomly selected and moved horizontally in the direction of the guide code.

[0139] Furthermore, in the process of adjusting the descending posture by horizontal movement, the horizontal distance between the drone 160 and the guide code can be calculated by image recognition + coordinate system conversion, and the horizontal distance can be used as the movement value, or the drone 160 can be moved according to a preset single-step distance until it is determined to be above the guide code. The above method is only an example, and its implementation method is not limited.

[0140] When it is determined that the drone 160 is located above the landing area, the method of controlling the drone 160 to land in step 17 can be flexibly set. For example, a preset speed curve (in which the speed gradually decreases until it reaches zero) can be retrieved, and the descent speed can be adjusted according to the speed curve to slowly land on the landing platform 10. Alternatively, the descent speed can be gradually reduced by a preset speed reduction value to slowly land on the landing platform 10. In this embodiment, there is no limitation on the implementation method of the descent of the drone 160.

[0141] In order to make the drone 160 land on the landing platform 10 in the expected posture, so as to facilitate the subsequent recovery of the drone 160 by the nest and further improve the landing accuracy. Figure 8 The landing area includes a main area and a secondary area. The main area is located at the center of the landing area. There are at least three first-level QR codes 1501. One first-level QR code 1501 is located in the main area, and the remaining two first-level QR codes 1501 are located in the secondary area and on both sides of the main area.

[0142] On the basis of the above, when it is determined that the drone 160 is above the landing area, step 17 can be implemented as follows: when the guidance code includes the identification code 150 of the main landing area, the drone 160 is controlled to move horizontally in the direction close to the identification code 150, and after the horizontal movement is completed, the drone 160 is controlled to land; when the guidance code only includes the identification code 150 of the secondary landing area, the drone 160 is controlled to move horizontally in the direction close to any guidance code, and after the horizontal movement is completed, the drone 160 is controlled to land.

[0143] In the above manner, when the identification code 150 of the main landing area is identified, the aircraft lands in the posture corresponding to the identification code 150. In this way, the aircraft lands in the expected posture as much as possible, thereby improving the landing accuracy.

[0144] Take the special-shaped landing platform 10 shown in the figure (i.e., at least two four-level two-dimensional codes 1504, two-level two-dimensional codes 1502 and three-level two-dimensional codes 1503, and three first-level two-dimensional codes 1501) as an example. When the drone 160 returns to the landing site and the brightness of the landing platform 10 has been successfully adjusted, the drone 160 will first recognize two four-level two-dimensional codes 1504 through the vision of the camera 1601 when the drone 160 is at a high altitude at the beginning of its descent. If one of the codes is blocked or cut by a shadow, the camera 1601 will make a visual judgment and feed back the judgment information to the flight control device 1602, and the flight control device 1602 will adjust the position of the drone 160 to the top of the four-level two-dimensional code 1504 that is not blocked or cut by a shadow. If it is not blocked or cut by a shadow, select a four-level two-dimensional code 1504 to adjust the posture. After adjusting the posture, the drone 160 continues to land.

[0145] When the drone 160 continues to descend to a medium altitude, the drone 160 will visually recognize two level 3 QR codes 1503 (the area is second only to the level 4 QR code 1504). If both level 3 QR codes 1503 are blocked or cut by shadows, the flight control device 1602 will continue to descend until it recognizes two level 2 QR codes 1502 (the area is smaller than the level 3 QR code 1503), and then adjust the posture according to the recognized QR codes and continue to descend. If the level 3 QR code 1503 is not blocked or cut by shadows, the flight control device 1602 will select one to adjust the posture and control the drone 160 to continue to descend.

[0146] When the drone 160 lands close to the landing platform 10, the drone 160 will recognize three first-level QR codes 1501. Under normal circumstances, the drone 160 will adjust its landing posture based on the middle first-level QR code 1501 (i.e., the QR code of the landing area) and then land on the platform. When the middle first-level QR code 1501 is blocked or cut by a shadow, the drone 160 will adjust to the top of any first-level QR code 1501 on both sides and then continue to land until it reaches the landing platform 10.

[0147] Based on the same concept as the above-mentioned drone landing method, refer to Figure 1 and Figure 2 The embodiment of the present invention further provides a UAV landing system, including a UAV 160, a brightness controller 140 and a landing platform 10. The UAV 160 includes a flight control device 1602 and a camera 1601. The brightness controller 140 is respectively connected to the flight control device 1602 and the landing platform 10 for communication. The landing platform 10 is provided with an identification code 150.

[0148] The flight control device 1602 is used to control the camera 1601 to capture a type of image of the landing platform 10 in real time after entering the landing mode, and send an adjustment instruction to the brightness controller 140 according to the type of image.

[0149] The brightness controller 140 is used to adjust the brightness of the landing platform 10 in response to the adjustment instruction.

[0150] The flight control device 1602 is also used to: after completing the brightness adjustment, control the camera 1601 to capture the second type of image of the landing platform 10 in real time, and scan and identify the second type of image to obtain the recognition result of the identification code 150; according to the recognition result, determine whether the drone 160 is located above the landing area of ​​the landing platform 10; if not, adjust the position of the drone 160 according to the recognition result, and control the drone 160 to descend, and return to the step of controlling the camera 1601 to capture the second type of image of the landing platform 10 in real time, and scan and identify the second type of image to obtain the recognition result; if yes, control the drone 160 to land. That is, the drone landing method provided above is realized.

[0151] Further, see Figure 1 The landing platform 10 includes a platform plate 110 , a light-emitting plate 120 and a transparent sticker 130 , and an identification code 150 is provided on the transparent sticker 130 .

[0152] The light-emitting panel 120 is disposed on the platform panel 110 , and the transparent sticker 130 is disposed on the surface of the light-emitting panel 120 away from the platform panel 110 .

[0153] The control line 1201 of the light emitting panel 120 is connected to the control terminal of the brightness controller 140 .

[0154] For the specific implementation and effect of the drone landing system, please refer to the description of the implementation of the drone landing method in the above text, which will not be repeated here.

[0155] Based on the same inventive concept, an embodiment of the present invention also provides a UAV landing device, which can be applied to the flight control device 1602 of the UAV 160 provided above. The UAV landing device includes a brightness adjustment module, a scanning and recognition module, a judgment module, an adjustment and descent module and a landing module.

[0156] The brightness adjustment module is used to control the camera 1601 to obtain a type of image of the landing platform 10, and send an adjustment instruction to the brightness controller 140 according to the type of image. The adjustment instruction is used to instruct the brightness controller 140 to adjust the brightness of the landing platform 10.

[0157] The scanning and identifying module is used to control the camera 1601 to capture the second type of image of the landing platform 10 in real time after the brightness adjustment is completed, and scan and identify the second type of image to obtain the identification result of the identification code 150.

[0158] The judgment module is used to judge whether the drone 160 is located above the landing area of ​​the landing platform 10 according to the recognition result.

[0159] The descending adjustment module is used to adjust the position of the drone 160 and control the drone 160 to descend according to the recognition result if the drone 160 is not located above the landing area of ​​the landing platform 10, and call the operation scanning recognition module.

[0160] The landing module is used to control the drone 160 to land if the drone 160 is located above the landing area of ​​the landing platform 10.

[0161] In the above-mentioned drone landing device and drone landing system, in the above-mentioned drone landing system, the flight control device 1602 of the drone 160 instructs the brightness controller 140 to adjust the brightness of the landing platform 10 according to a type of image captured by the drone camera, so that the brightness adjustment is determined by the clarity of the image obtained by the camera 1601, so that no matter what environment, the clarity of the landing platform 10 and the identification code 150 in the image captured by the drone camera can be ensured to meet the requirements of the drone 160 through brightness adjustment, thereby improving environmental adaptability and reducing environmental impact. Furthermore, the drone 160 can adjust its posture according to the scanning and recognition results of the identification code 150 to accurately land on the landing area, greatly improving the landing accuracy. At the same time, the drone 160 automatically realizes landing without manual operation, which greatly reduces the difficulty of landing.

[0162] For the specific implementation and effect of the drone landing device, please refer to the description of the implementation of the drone landing method above, such as, for the specific implementation and effect of the brightness adjustment module, please refer to the description of the relevant content of step 11 above, for the specific implementation and effect of the scanning and recognition module, please refer to the description of the relevant content of step 13 above, for the specific implementation and effect of the judgment module, please refer to the description of the relevant content of step 15 above, for the specific implementation and effect of the adjustment and descent module, please refer to the description of the relevant content of step 17 above, for the specific implementation and effect of the landing module, please refer to the description of the relevant content of step 19 above, and no further details will be given here.

[0163] In addition, each module in the above-mentioned drone landing device can be implemented in whole or in part by software, hardware, or a combination thereof. The above-mentioned modules can be embedded in or independent of the processor 220 in the electronic device 20 in the form of hardware, or can be stored in the memory 210 of the electronic device 20 in the form of software, so that the processor 220 can call and execute the operations corresponding to the above modules to implement the drone landing method provided above.

[0164] Based on the same inventive concept as the above-mentioned drone landing method, an embodiment of the present invention also provides an electronic device 20, including a processor 220 and a memory 210, the memory 210 stores a computer program that can be executed by the processor 220, and the processor 220 can execute the computer program to implement the drone landing method proposed in the embodiment of the present invention.

[0165] The embodiment of the present invention further provides a storage medium on which a computer program is stored. When the computer program is executed by the processor 220, the drone landing method proposed in the embodiment of the present invention is implemented.

[0166] In summary, the drone landing method, system and electronic device 20 provided by the embodiments of the present invention have at least the following beneficial effects:

[0167] (1) Improve the environmental adaptability of UAV landing by setting up a landing platform with adjustable brightness;

[0168] (2) The drone lands automatically without the need for additional lighting equipment, which reduces the difficulty and cost of landing;

[0169] (3) The landing accuracy is greatly improved by setting identification codes and adjusting the brightness of the landing platform.

[0170] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0171] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0172] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory 210, a random access memory 210, a magnetic disk or an optical disk.

[0173] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for landing a drone, characterized in that: A flight control device applied to a drone, the flight control device is communicatively connected with a camera and a brightness controller of the drone, the brightness controller is electrically connected with a control end of a landing platform, and an identification code is provided on the landing platform, the method comprising: Controlling the camera to acquire a type of image of the landing platform, and sending an adjustment instruction to the brightness controller according to the type of image; wherein the adjustment instruction is used to instruct the brightness controller to adjust the brightness of the landing platform; After the brightness adjustment is completed, the camera is controlled to capture two types of images of the landing platform in real time, and the two types of images are scanned and recognized to obtain a recognition result of the identification code; According to the recognition result, determining whether the UAV is located above the landing area of ​​the landing platform; If not, adjusting the position of the drone according to the recognition result, controlling the drone to descend, and returning to the step of controlling the camera to capture the second type of image of the landing platform in real time, scanning and recognizing the second type of image, and obtaining the recognition result; If yes, the drone is controlled to land.

2. The method for landing a drone according to claim 1, characterized in that: The identification codes are in multiple groups, and the priority of each group of the identification codes is inversely proportional to the area of ​​the identification code and the landing zone distance of the identification code, and the landing zone distance is the distance between the identification code and the landing zone; The step of determining whether the drone is located above the landing area of ​​the landing platform according to the recognition result includes: Matching the recognition result with the preset identification ID corresponding to the identification code, and taking the identification code corresponding to the successfully matched preset identification ID as the hit code; Selecting the hit code with the highest priority from the multiple hit codes as the guide code; determining whether the guidance code is an identification code located in a landing area of ​​the landing platform; If yes, it is determined that the UAV is located above the landing area; If not, it is determined that the drone is not located above the landing area.

3. The method for landing a drone according to claim 2, characterized in that: The step of adjusting the position of the drone according to the recognition result and controlling the drone to descend comprises: When the guide code is one, the drone is controlled to move horizontally in a direction close to the guide code, and after the horizontal movement is completed, the drone is controlled to descend vertically; When there are multiple guide codes, the drone is controlled to move horizontally in a direction close to any of the guide codes, and after the horizontal movement is completed, the drone is controlled to descend vertically.

4. The method for landing a drone according to claim 2, characterized in that: The landing area includes a main landing area and a secondary landing area; The step of controlling the drone to land comprises: When the guidance code includes the identification code of the main landing area, the drone is controlled to move horizontally in a direction close to the identification code, and after the horizontal movement is completed, the drone is controlled to land; When the guidance code only includes the identification code of the secondary landing area, the UAV is controlled to move horizontally in a direction close to any one of the guidance codes, and after the horizontal movement is completed, the UAV is controlled to land.

5. The method for landing a drone according to any one of claims 1 to 4, characterized in that: The step of controlling the camera to acquire a type of image of the landing platform and sending an adjustment instruction to the brightness controller according to the type of image comprises: Controlling the camera to rotate until the camera faces the ground; Controlling the camera to shoot and obtain a type of image; Performing detection on the image of the type to obtain a detection result; Determine whether there is an identification ID in the detection result that is the same as at least one preset identification ID; wherein the preset identification ID corresponds to the identification code one by one; If not, an adjustment instruction is sent to the brightness controller, and the process returns to the step of controlling the camera to shoot and obtain a type of image.

6. The method for landing a drone according to claim 5, characterized in that: After the step of determining whether there is an identification ID identical to at least one preset identification ID in the detection result, the method further includes: If there is no identification ID identical to the preset identification ID in the detection result, the number of identification failures is increased by one, and it is determined whether the number of identification failures is greater than the preset upper limit of failures; If not, an adjustment instruction is sent to the brightness controller to control the drone to adjust the initial landing posture, and return to execute the step of controlling the camera to shoot and obtain a type of image; If yes, the UAV is controlled to enter the alternate landing mode.

7. The method for landing a drone according to any one of claims 1 to 4, characterized in that: The step of scanning and identifying the two types of images to obtain a recognition result of the identification code includes: Scan and identify the two types of images currently acquired to obtain a currently identified identification code; When the identification code is consistent with the identification codes corresponding to the second type of images of a preset number of frames before the current moment, the identification code is used as the identification result.

8. A drone landing system, characterized in that: It includes a drone, a brightness controller and a landing platform, wherein the drone includes a flight control device and a camera, the brightness controller is respectively connected to the flight control device and the landing platform for communication, and an identification code is set on the landing platform; The flight control device is used to control the camera to capture a type of image of the landing platform in real time after entering the landing mode, and send an adjustment instruction to the brightness controller according to the type of image; The brightness controller is used to adjust the brightness of the landing platform in response to the adjustment instruction; The flight control device is further used to: after completing the brightness adjustment, control the camera to capture two types of images of the landing platform in real time, and scan and identify the two types of images to obtain an identification result of the identification code; and determine whether the drone is located above the landing area of ​​the landing platform according to the identification result; If not, adjusting the position of the drone according to the recognition result, controlling the drone to descend, and returning to the step of controlling the camera to capture the second type of image of the landing platform in real time, scanning and recognizing the second type of image, and obtaining the recognition result; If yes, the drone is controlled to land.

9. The drone landing system according to claim 8, characterized in that: The landing platform includes a platform plate, a light-emitting plate and a transparent sticker, and the transparent sticker is provided with an identification code; The light-emitting board is arranged on the platform board, and the transparent sticker is arranged on the surface of the light-emitting board away from the platform board; The control line of the light emitting panel is connected to the control end of the brightness controller.

10. An electronic device, characterized in that: It comprises a processor and a memory, wherein the memory stores a computer program that can be executed by the processor, and the processor can execute the computer program to implement the drone landing method according to any one of claims 1 to 7.

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