Unmanned aerial vehicle landing method, system and electronic device

Abstract

The application provides a UAV landing method, system and electronic equipment, and belongs to the field of flight control technology.The method comprises the following steps: sending an adjusting instruction to a brightness controller to adjust the brightness of a landing platform according to a type of image of the landing platform obtained by a camera; after the brightness adjustment is completed, obtaining a recognition result of an identification code on the landing platform in real time according to a type of image of the landing platform captured by the camera in real time, and continuously adjusting the descending pose of the UAV or controlling the UAV to land according to the recognition result. In this way, the brightness of the landing platform is adjusted by the flight control equipment according to the recognition result of the type of image, so that no matter in what kind of environment, the clarity of the landing platform and the identification code in the image captured by the camera of the UAV can be ensured to meet the requirements of the UAV through brightness adjustment, the UAV can continuously adjust the descending pose based on the scanning and recognition of the identification code until landing, and the landing accuracy is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of flight control technology, in particular to a UAV landing method, system and electronic device. BACKGROUND

[0002] The unmanned aerial vehicle (UAV) is a kind of unmanned aircraft controlled by radio remote control equipment and self-provided program control device, which has the advantages of small size, low cost and easy use. With the rapid development of UAV technology, UAVs are increasingly widely used in agricultural plant protection, power inspection, aerial surveying and mapping, express delivery and logistics, and security monitoring. UAV has become an indispensable key tool in many industries.

[0003] When the UAV returns after performing a task, it is usually guided back by the GPS positioning system, and then manually controlled or visually guided to land. In the process of manual control, the accuracy of UAV landing is significantly affected by the skill level of the operator. Inexperienced operators or small changes in the amplitude of the action can cause the UAV to roll over or tip over, resulting in damage to the UAV and related equipment. In the process of visually guiding the UAV 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 operation difficulty and environmental adaptability, and there is an urgent need for an automatic landing method with high accuracy. SUMMARY

[0005] Therefore, the purpose of the present application is to provide a UAV landing method, system and electronic device, which can automatically complete landing with high accuracy in various environments without the need for manual operation, greatly reducing the difficulty of landing.

[0006] To achieve the above purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0007] In a first aspect, the present application provides a UAV landing method applied to a flight control device of a UAV, wherein the flight control device is in communication connection with a camera and a brightness controller of the UAV, the brightness controller is in electrical connection with a control end of a landing platform, an identification code is arranged on the landing platform, and the method comprises:

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

[0009] After completing the brightness adjustment, controlling the camera to capture a second type of image of the landing platform in real time, and performing scanning and identification on the second type of image to obtain an identification result of the identification code.

[0010] judging whether the UAV is above the landing area of the landing platform according to the recognition result;

[0011] If not, adjusting the position of the UAV according to the recognition result, controlling the UAV 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, and performing scanning and recognition on the second type of image to obtain a recognition result;

[0012] If yes, controlling the UAV to land.

[0013] Optionally, the identification codes are multiple groups, and the priority of each group of the identification codes is inversely proportional to the area of the identification codes and the landing area distance of the identification codes, the landing area distance being the distance between the identification codes and the landing area.

[0014] The step of judging whether the UAV is above the landing area of the landing platform according to the recognition result comprises:

[0015] matching the recognition result with a preset identification ID corresponding to the identification codes, and taking the identification code corresponding to the preset identification ID that is successfully matched as a hit code;

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

[0017] judging whether the guide code is an identification code located in the landing area of the landing platform;

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

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

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

[0021] When the guide code is one, controlling the UAV to move horizontally towards the direction close to the guide code, and controlling the UAV to descend vertically after the horizontal movement ends;

[0022] When the guide code is multiple, controlling the UAV to move horizontally towards the direction close to any of the guide codes, and controlling the UAV to descend vertically after the horizontal movement ends.

[0023] Optionally, the landing area comprises a main landing area and a secondary landing area.

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

[0025] When the guide code includes the identifier code of the main landing area, control the drone to move horizontally towards the identifier code, and after the horizontal movement is completed, control the drone to land;

[0026] When the guide code only includes the identifier code of the secondary landing area, control the UAV to move horizontally in the direction of any of the guide codes, and after the horizontal movement is completed, control the UAV to land.

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

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

[0029] The camera is controlled to capture images, resulting in a type of image.

[0030] The image of the aforementioned type is detected, and the detection result is obtained;

[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 one-to-one with the identification code;

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

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

[0034] If no identification ID is found in the detection results that is the same as the preset identification ID, the identification failure count is incremented by one, and it is determined whether the identification failure count is greater than the preset failure limit.

[0035] If not, an adjustment command is sent to the brightness controller to control the drone to adjust its initial landing posture, and then the process of controlling the camera to take pictures and obtain a type of image is returned.

[0036] If so, control the drone to enter the alternate landing mode.

[0037] Optionally, the step of scanning and recognizing the two types of images to obtain the recognition result of the identification code includes:

[0038] The two types of images acquired at present are scanned and identified to obtain the currently identified identification code;

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

[0040] In a second aspect, the present application provides a UAV landing system, comprising a UAV, a brightness controller and a landing platform, the UAV comprising a flight control device and a camera, the brightness controller being in communication connection with the flight control device and the landing platform respectively, and the landing platform being provided with an identification code;

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

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

[0043] The flight control device is further configured to control the camera to capture a second type of image of the landing platform in real time after completing the brightness adjustment, and perform scanning identification on the second type of image to obtain an identification result of the identification code; determine whether the UAV is located above a landing area of the landing platform according to the identification result; if not, adjust the position of the UAV according to the identification result, control the UAV to descend, and return to the step of controlling the camera to capture the second type of image of the landing platform in real time and performing scanning identification on the second type of image to obtain an identification result; and if yes, control the UAV to land.

[0044] Optionally, the landing platform comprises 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 plate is arranged on the platform plate, and the transparent sticker is arranged on the surface of the light-emitting plate away from the platform plate.

[0046] The control line of the light-emitting plate is connected with the control end of the brightness controller.

[0047] In a third aspect, the present application provides an electronic device comprising a processor and a memory, wherein the memory stores a computer program capable of being executed by the processor, and the processor can execute the computer program to realize the UAV landing method according to the first aspect.

[0048] In a fourth aspect, the present application provides a UAV landing device, which is applied to a flight control device of a UAV, the flight control device being in communication connection with a camera and a brightness controller of the UAV, the brightness controller being in electrical connection with a control end of a landing platform, the landing platform being provided with an identification code, and the UAV landing device comprising a brightness adjusting module, a scanning and identifying module, a judging module, an adjusting and descending module and a landing module.

[0049] The brightness adjusting module is configured to control the camera to acquire a first type of image of the landing platform, and send an adjusting instruction to the brightness controller according to the first type of image, wherein the adjusting instruction is configured to instruct the brightness controller to adjust the brightness of the landing platform.

[0050] The scanning and identifying module is configured to, after the brightness adjustment is completed, control the camera to capture a second type of image of the landing platform in real time, and perform scanning and identifying on the second type of image to obtain an identification result of the identification code.

[0051] The judging module is configured to judge whether the UAV is located above a landing area of the landing platform according to the identification result.

[0052] The adjusting and descending module is configured to, if the UAV is not located above the landing area of the landing platform, adjust the position of the UAV according to the identification result, control the UAV to descend, and return to the step of controlling the camera to capture the second type of image of the landing platform in real time, and performing scanning and identifying on the second type of image to obtain the identification result.

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

[0054] In a fifth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to realize the UAV landing method according to the first aspect.

[0055] The drone landing method, system, and electronic device provided in this invention include: sending an adjustment command to a brightness controller based on a first-type image of the landing platform acquired by a camera, instructing the brightness controller to adjust the brightness of the landing platform; after completing the brightness adjustment, controlling the camera to capture a second-type image of the landing platform in real time, and scanning and recognizing the second-type image to obtain the recognition result of the identification code on the landing platform; based on the recognition result, determining whether the drone is above the landing area of ​​the landing platform, and controlling the drone to land; otherwise, based on the recognition result, adjusting the position of the drone, controlling the drone to descend, and returning to execute the steps of controlling the camera to capture a second-type image of the landing platform in real time, and scanning and recognizing the second-type image to obtain the recognition result of the identification code on the landing platform, repeating the scanning, recognition, position adjustment, and descent process until the drone is above the landing area. Thus, regardless of the environment, the identification code on the landing platform can be ensured to be sufficiently clear by adjusting the brightness, thereby improving environmental adaptability and reducing environmental impact. This allows the drone to accurately land on the landing area based on the scanning and recognition result of the identification code, greatly improving landing accuracy and reducing landing difficulty.

[0056] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0057] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

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

[0059] Figure 2 A block diagram of an unmanned aerial vehicle (UAV) landing platform system provided in an embodiment of the present invention is shown.

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

[0061] Figure 4 A flowchart illustrating the drone landing method provided in an embodiment of the present invention is shown.

[0062] Figure 5 It shows Figure 4 One of the flowcharts for some sub-steps in step 11.

[0063] Figure 6 A flowchart showing part of the sub-steps of step 11 is shown. Figure 4 A flowchart showing part of the sub-steps of step 11 is shown.

[0064] Figure 7 A flowchart showing part of the sub-steps of step 13 is shown. Figure 4 A flowchart showing part of the sub-steps of step 13 is shown.

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

[0066] Figure 9 A flowchart showing part of the sub-steps of step 15 is shown. Figure 4 A flowchart showing part of the sub-steps of step 15 is shown.

[0067] BRIEF DESCRIPTION OF DRAWINGS 10 - landing platform; 110 - platform board; 120 - light-emitting board; 1201 - control line; 130 - transparent sticker; 140 - brightness controller; 150 - identification code; 1501 - first-level two-dimensional code; 1502 - second-level two-dimensional code; 1503 - third-level two-dimensional code; 1504 - fourth-level two-dimensional code; 160 - unmanned aerial vehicle; 1601 - camera; 1602 - flight control device; 20 - electronic device; 210 - memory; 220 - processor; 230 - communication module. DETAILED DESCRIPTION

[0068] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

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

[0070] It should be noted that the terms "first", "second", and so on, and the like relational terms are merely used 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", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0071] The unmanned aerial vehicle landing method provided by the embodiments of the present application can be applied to the unmanned aerial vehicle landing system shown in Figure 1 and Figure 2 The unmanned aerial vehicle landing system includes an unmanned aerial vehicle 160, a brightness controller 140 and a landing platform 10. The unmanned aerial vehicle 160 includes a flight control device 1602 and a camera 1601. The landing platform 10 is provided with an identification code 150.

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

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

[0074] The camera 1601 is configured to capture an image of the area it faces and send the image to the flight control device 1602.

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

[0076] The flight control device 1602 is configured to implement the unmanned aerial vehicle landing method provided by the embodiments of the present application.

[0077] Please refer to Figure 3 is a block schematic diagram of the electronic device 20. The electronic device 20 can be Figure 1 and Figure 2The flight control device 1602 in the UAV 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 realize the transmission or interaction of data. For example, these elements 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. The memory 210 can be, but is 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, etc.

[0079] The processor 220 is used to read / write the data or programs stored in the memory 210 and perform corresponding functions. For example, Figure 1 And Figure 2 The processor 220 of the flight control device 1602 in the UAV landing system shown executes the computer programs stored in the memory 210 to realize the UAV landing method provided by the embodiment of the present application.

[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. For example, Figure 1 And Figure 2 In the UAV landing system shown, the flight control device 1602 respectively transmits and receives data with the camera and the brightness controller 140 through the communication module 230.

[0081] It should be understood that, Figure 3 The structure shown is only a structural schematic diagram of the electronic device 20. The electronic device 20 can also include more or fewer components than those shown in Figure 3 or have a different configuration from Figure 3 The components shown in Figure 3 can be realized by hardware, software or a combination thereof.

[0082] Please refer to Figure 4 The UAV landing method provided by the embodiment of the present application includes steps 11 to 19, and Figure 1 And Figure 2 The flight control device 1602 in the UAV landing system shown can Figure 2 The structure shown, execute the above steps 11 to 19 to realize the UAV landing method.

[0083] Step 11, control the camera to acquire a type of image of the landing platform, and send an adjusting 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 through step 11, step 13 is performed.

[0086] In step 13, the camera is controlled to capture a second type of image of the landing platform in real time, and the second type of image is scanned and recognized to obtain a recognition result of the identification code.

[0087] In step 15, according to the recognition result, it is judged whether the unmanned aerial vehicle is located above the landing area of the landing platform. If yes, step 17 is performed, and if no, step 19 is performed, and after step 19 is performed, it is returned to step 13.

[0088] In step 17, the unmanned aerial vehicle is controlled to land.

[0089] In step 19, according to the recognition result, the position of the unmanned aerial vehicle is adjusted, and the unmanned aerial vehicle is controlled to descend.

[0090] For example, in combination with the unmanned aerial vehicle landing system shown in Figure 1 When the unmanned aerial vehicle 160 returns after completing the task, the unmanned aerial vehicle 160 enters the landing mode after reaching the preset landing point, 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 image shooting to obtain a first type of image, and sends the first type of image to the flight control device 1602 in real time. The flight control device 1602 sends an adjustment instruction to the brightness controller 140 according to the received first type of image. 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 a second type of image of the landing platform 10 in real time, and scans and recognizes the second type of image to obtain a recognition result of the identification code 150. According to the recognition result, the flight control device 1602 judges whether the unmanned aerial vehicle 160 is located above the landing area of the landing platform 10. If it is determined that it has been located above the landing area of the landing platform 10, the unmanned aerial vehicle 160 is controlled to land. If it is determined that it has not reached above the landing area of the landing platform 10, the position of the unmanned aerial vehicle 160 is adjusted, the unmanned aerial vehicle 160 is controlled to descend, and the unmanned aerial vehicle 160 is continuously controlled to capture the second type of image, and the landing pose is continuously adjusted according to the recognition result of the second type of image, until it reaches above the landing area (i.e., is aligned with the landing area).

[0092] The current unmanned aerial vehicle automatic landing scheme generally sets two groups of two-dimensional codes on the platform, one group of two-dimensional codes has a larger area than the other group of two-dimensional codes, and landing is performed in a manner of fusing two-dimensional code visual guidance through real-time dynamic carrier phase difference technology (RTK). This method is only applicable to large-size landing platforms and two-dimensional codes, and a high-power illuminating lamp needs to be installed at night to ensure that the unmanned aerial vehicle can identify the two-dimensional code, so that the overall equipment manufacturing cost is high. If the light is uneven, the unmanned aerial vehicle cannot identify the two-dimensional code, and thus the environment is strongly dependent. In addition, in the case of extreme environment or objects blocking the two-dimensional code, even if a device for increasing the brightness of the platform such as an illuminating lamp is installed, it is difficult to ensure that the unmanned aerial vehicle can accurately identify the two-dimensional code. Therefore, the landing accuracy of the unmanned aerial vehicle is low.

[0093] The unmanned aerial vehicle landing method described above adjusts the brightness of the landing platform by the flight control device of the unmanned aerial vehicle according to the type of image captured by the camera of the unmanned aerial vehicle through steps 11 to 19, so that the brightness adjustment is determined by the definition of the image obtained by the camera, so that in any environment, the definition of the landing platform and the identification code in the image captured by the camera of the unmanned aerial vehicle can be ensured to meet the requirements of the unmanned aerial vehicle through brightness adjustment, thereby improving the environmental adaptability and reducing the environmental impact. Furthermore, the unmanned aerial vehicle can adjust the pose according to the scanning and identification result of the identification code to accurately land on the landing area, greatly improving the landing accuracy. At the same time, the unmanned aerial vehicle automatically realizes landing without manual operation, greatly reducing the landing difficulty.

[0094] In step 11, the way of sending the adjustment instruction to the brightness controller 140 can be flexibly set. For example, the type of image can be written into the adjustment instruction, so that the brightness adjustment value is determined by the brightness controller 140 according to the detection result of the type of image, or the brightness adjustment value is determined by the flight control device 1602 according to the detection result of the type of image, and the brightness adjustment value is written into the adjustment instruction. The above-mentioned way is only an example, and the specific implementation way 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 unmanned aerial vehicle 160 descends, the concept of sending an adjustment instruction by the flight control device 1602 according to the definition of the identification code 150 in the real-time type of image is introduced in step 11. Referring to Figure 5 The process of sending the adjustment instruction to the brightness controller in step 11 includes steps 111 to 115A.

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

[0097] Step 112 controls the camera to take a picture to obtain a type of image.

[0098] Step 113, detecting the first type of image to obtain a detection result.

[0099] The detection result contains the identification result of the identification code 150 on the landing platform 10. When the environment is disturbed or dark, the identification code 150 in the first type of image is not clear, and the detection result may be empty or an incorrect identification ID. When the environment is bright, the identification code 150 in the first type of image is clear, and the detection result is the identification ID corresponding to the identification code 150. In addition, in the unmanned aerial vehicle landing system, the identification code 150 on the landing platform 10 can be a two-dimensional code, a bar code, or any ID code with a unique identification ID. The detection method of the first type of image 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 bar code, a scanning technology can be used to scan the first type of image to obtain the detection result. When the identification code 150 is a common pattern, the first type of image can be input into a neural network model to generate a detection result. The above two detection methods are only examples, and the implementation method is not limited.

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

[0102] Step 115A, sending an adjustment instruction to the brightness controller. After step 115A, return to step 112 to repeatedly adjust until the required clarity is achieved.

[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 by a preset brightness adjustment value until it no longer receives the adjustment instruction sent by the flight control device 1602.

[0105] The flight control device 1602 can also calculate the brightness channel of the image, obtain the corresponding current brightness value, take the difference between the expected brightness value and the current brightness value as the adjustment value, and put the adjustment value into the adjustment instruction. After the brightness controller 140 obtains the adjustment instruction, the brightness of the landing platform 10 is increased by the adjustment value.

[0106] To avoid the situation that the UAV 160 hovers for a long time and cannot land, the concept of identifying the failure number reaching the upper limit value and then performing the backup landing is introduced in the UAV landing method provided in the embodiment of the application. Referring to Figure 6 If it is determined in step 114 that there is no identification ID identical to the preset identification ID in the detection result, steps 115B to 117 are performed.

[0107] In step 115B, the identification failure number is increased by one, and it is determined whether the identification failure number is greater than the preset upper limit value of the failure. If yes, step 116 is performed, and if no, step 117 is performed, and after step 117, step 112 is performed.

[0108] In step 116, the UAV is controlled to enter the backup landing mode.

[0109] In step 117, an adjustment instruction is sent to the brightness controller to control the UAV to adjust the landing initial pose.

[0110] Here, the process of adjusting the landing initial pose includes but is not limited to: (1) first rising, then adjusting the pose and then descending to the preset landing point position again; (2) adjusting the pose angle of the UAV at the preset landing point position. The above-mentioned manners are only examples and are not limited herein.

[0111] Through the above steps 111 to 117, before the UAV descends, based on the detection result of the image captured by the camera, the brightness is continuously adjusted until at least one identification code is correctly identified from the image, so as to ensure that each identification code guiding the UAV to land can be correctly identified after descending, so as to improve the landing accuracy. Moreover, in the case that the brightness of the landing platform is continuously adjusted for multiple times and still cannot correctly identify one identification code, the UAV enters the backup landing mode, so as to avoid that the UAV is damaged due to forced landing, and to ensure the landing safety.

[0112] After the brightness adjustment is successfully completed, the UAV 160 enters the descending mode, the camera 1601 continuously captures, and in step 13, the information obtained by scanning and identifying the second type of image of the current frame can be taken as the identification result, or the identification result of the identification code 150 can be obtained, or the identification result can be obtained by scanning and identifying according to the preset rule, and the specific implementation manner is not limited.

[0113] In order to increase the reliability of the identification result, so as to improve the accuracy of the landing of the unmanned aerial vehicle 160, the step 13 introduces the concept of determining the identification result according to the scanning identification of the continuous multiple frames of images. Referring to Figure 7 , the step 13 includes steps 131 to 133.

[0114] In step 131, the current acquired two-type image is scanned and identified to obtain the current identified identification code.

[0115] In step 133, when the identification code is consistent with the identification code corresponding to the preset number of frames of two-type images before the current time, the identification code is taken as the identification result.

[0116] It should be noted that the consistency of the identification code in step 133 means that there is at least one same identification code. If there is no same identification code in the identification codes of the continuous multiple frames of two-type images, the unmanned aerial vehicle 160 enters the standby landing mode to improve the safety.

[0117] In the unmanned aerial vehicle landing system, the number and size of the identification code 150 can be flexibly selected, for example, it can be two codes with large and small sizes, it can also be multiple codes with the same area, and it can also be multiple codes with different areas, and each area of the code has multiple codes, and the setting mode is not limited.

[0118] The landing platform 10 of the unmanned aerial vehicle 160 is usually arranged on the nest, and the size of the nest and the landing platform 10 is small, so the landing is not accurate, and the unmanned aerial vehicle 160 is prone to rollover and other risks. In order to further improve the accuracy of the unmanned landing, the concept of providing multiple identification codes 150 in the unmanned aerial vehicle landing method provided in the embodiment of the application is introduced, and the unmanned aerial vehicle 160 uses different sizes of identification codes 150 as guidance at different heights to land.

[0119] For example, the identification codes 150 on the landing platform 10 are multiple groups, 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] The priority refers to the guidance priority.

[0121] Through the above setting, the area of the identification code 150 is smaller the closer to the landing area, so that the camera 1601 always captures a complete identification code 150 in the image during the process of the UAV 160 landing close to the landing platform 10, and the UAV 160 is guided to descend accordingly, thereby improving the reliability of landing. At the same time, the closer the identification code 150 is to the landing area, the higher the priority (i.e., the guiding priority) is, so that the UAV 160 can finally land in the expected pose (i.e., the pose guided by the identification code 150 of the landing area), thereby greatly improving the accuracy of landing.

[0122] In order to accurately guide the UAV 160 to land in the expected pose on the landing platform 10, while avoiding too many identification codes 150 to increase the complexity of landing, with reference to Figure 8 , the identification codes 150 on the landing platform 10 include 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, which have areas increasing in turn.

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

[0124] The fourth-level two-dimensional code 1504, the second-level two-dimensional code 1502, and the third-level two-dimensional code 1503 are each at least two.

[0125] The first third-level two-dimensional code 1503 is located in a region 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-level two-dimensional code 1501.

[0126] The two second-level two-dimensional codes 1502 are located on both sides of the first third-level 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, with reference to Figure 9 , in step 15, whether the UAV 160 is located above the landing area of the landing platform 10, i.e., whether the UAV 160 reaches the expected landing pose, can be determined by steps 151 to 159.

[0129] In step 151, the recognition result is matched with the preset identification ID corresponding to the identification code, and the identification code corresponding to the preset identification ID that matches successfully is taken as the hit code.

[0130] In step 153, the hit code with the highest priority is selected from the plurality of hit codes as the guide code.

[0131] In step 155, whether the guide code is the identification code located in the landing area of the landing platform is determined. If yes, step 157 is performed, and if no, step 159 is performed.

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

[0133] Step 159, determine whether the UAV is not above the landing area.

[0134] Through the above steps 151 to 159, each time the highest priority identification code 150 is selected from the currently successfully identified identification codes 150 as a guide code, and in the case of the guide code being the identification code 150 of the landing area, it is determined that the UAV 160 is above the landing area (i.e., the expected landing pose is reached). At the same time, the landing time is reduced.

[0135] In the case of determining that the UAV 160 is not above the landing area (i.e., the landing pose does not reach the expectation), the descent pose can be adjusted according to the position of the guide code in step 19.

[0136] For example, when the guide code is one, it means that other identification codes 150 of the same priority are blocked or cut by shadows, at this time, the UAV 160 is controlled to move horizontally towards the direction close to the guide code, and after the horizontal movement is completed, the UAV 160 is controlled to descend vertically, so as to adjust the descent pose.

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

[0138] It should be noted that in the above process of adjusting the descent pose, when the guide code is multiple, the UAV 160 can move horizontally towards the guide code with the shortest horizontal distance, or randomly select one guide code and move horizontally towards the guide code.

[0139] And in the process of horizontal movement to adjust the descent pose, the horizontal distance between the UAV 160 and the guide code can be calculated by image recognition + coordinate system conversion, and the horizontal distance is used as the movement value, or the UAV 160 can move by 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 is not limited.

[0140] In the case of determining that the UAV 160 is above the landing area, the way of controlling the UAV 160 to land in step 17 can be flexibly set. For example, a preset speed curve (in which the speed gradually decreases to zero) can be called to adjust the descent speed according to the speed curve, so as to slowly land on the landing platform 10. Or the descent speed can be gradually reduced by a preset speed reduction value, so as to slowly land on the landing platform 10. In this embodiment, the implementation of the UAV 160 descent is not limited.

[0141] In order to make the UAV 160 land on the landing platform 10 in the expected pose, so as to facilitate the subsequent nest recovery of the UAV 160, and further improve the landing accuracy. Please continue to refer to 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, and the first-level two-dimensional code 1501 is at least three, one first-level two-dimensional code 1501 is located in the main area, and the remaining two first-level two-dimensional 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 UAV 160 is located above the landing area, step 17 can be implemented as: when the guide code includes the identification code 150 of the main landing area, controlling the UAV 160 to move horizontally towards the direction close to the identification code 150, and after the horizontal movement is completed, controlling the UAV 160 to land; when the guide code only includes the identification code 150 of the secondary landing area, controlling the UAV 160 to move horizontally towards the direction close to any guide code, and after the horizontal movement is completed, controlling the UAV 160 to land.

[0143] In the above manner, when the identification code 150 of the main landing area is recognized, the UAV 160 is landed in the pose corresponding to the identification code 150. In this way, the UAV 160 is landed in the expected pose as much as possible, and the landing accuracy is improved.

[0144] Taking the special-shaped landing platform 10 shown in the figure (i.e. the four-level two-dimensional code 1504, the two-level two-dimensional code 1502 and the three-level two-dimensional code 1503 are at least two, and the first-level two-dimensional code 1501 is three) as an example. In the case that the UAV 160 returns to the landing site and the brightness of the landing platform 10 has been successfully adjusted, when the UAV 160 is initially lowered, the UAV 160 will first recognize two four-level two-dimensional codes 1504 through the camera 1601 vision. If one of the codes is blocked or cut by a shadow, the camera 1601 vision judges and feeds back the information to the flight control device 1602, and the flight control device 1602 adjusts the position of the UAV 160 to be directly above the four-level two-dimensional code 1504 which is not blocked or cut by a shadow. If it is not blocked or cut by a shadow, the pose is adjusted to one of the four-level two-dimensional codes 1504. After the pose is adjusted, the UAV 160 continues to land.

[0145] When continuing to land to a medium height, the UAV 160 vision will recognize two three-level two-dimensional codes 1503 (the area is only smaller than the four-level two-dimensional code 1504). If both of the three-level two-dimensional codes 1503 are blocked or cut by a shadow, the flight control device 1602 continues to land until two two-level two-dimensional codes 1502 (the area is smaller than the three-level two-dimensional code 1503) are recognized, and then the pose is adjusted according to the recognized two-dimensional code, and the UAV 160 continues to descend. If the three-level two-dimensional code 1503 is not blocked or cut by a shadow, the flight control device 1602 adjusts the pose to one, and controls the UAV 160 to continue to descend.

[0146] When the UAV 160 lands close to the landing platform 10, the UAV 160 will identify three first-level two-dimensional codes 1501. Normally, the UAV 160 will visually adjust the landing position based on the middle first-level two-dimensional code 1501 (i.e. the two-dimensional code of the landing area), and then land on the platform. When the middle first-level two-dimensional code 1501 is blocked or cut by a shadow, the UAV 160 will adjust to above any of the two first-level two-dimensional codes 1501 on the sides, and then continue to land on the landing platform 10.

[0147] Based on the same concept as the above UAV landing method, referring to Figure 1 and Figure 2 , the embodiment of the present application also provides a UAV landing system, which comprises a UAV 160, a brightness controller 140 and a landing platform 10. The UAV 160 comprises a flight control device 1602 and a camera 1601. The brightness controller 140 is in communication connection with the flight control device 1602 and the landing platform 10 respectively. The landing platform 10 is provided with an identification code 150.

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

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

[0150] The flight control device 1602 is further configured to: after completing the brightness adjustment, control the camera 1601 to capture a second type of image of the landing platform 10 in real time, and scan and identify the second type of image to obtain an identification result of the identification code 150; according to the identification result, determine whether the UAV 160 is located above the landing area of the landing platform 10; if not, adjust the position of the UAV 160 according to the identification result, and control the UAV 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 identification result; if yes, control the UAV 160 to land. That is, the UAV landing method as provided above is realized.

[0151] Further, referring to Figure 1 , the landing platform 10 comprises a platform plate 110, a light-emitting plate 120 and a transparent sticker 130. The transparent sticker 130 is provided with the identification code 150.

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

[0153] The control line 1201 of the light-emitting plate 120 is connected with the control end of the brightness controller 140.

[0154] The specific implementation and effects of the UAV landing system can be seen from the description of the implementation of the UAV landing method, which will not be repeated here.

[0155] Based on the same inventive concept, the embodiments of the present application also provide a UAV landing device, which can be applied to the flight control device 1602 of the UAV 160 provided above. The UAV landing device comprises a brightness adjusting module, a scanning and identifying module, a judging module, an adjusting and descending module, and a landing module.

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

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

[0158] The judging module is configured to judge whether the UAV 160 is located above the landing area of the landing platform 10 according to the identifying result.

[0159] The adjusting and descending module is configured to, if the UAV 160 is not located above the landing area of the landing platform 10, adjust the position of the UAV 160 according to the identifying result, control the UAV 160 to descend, and call the scanning and identifying module to run.

[0160] The landing module is configured to, if the UAV 160 is located above the landing area of the landing platform 10, control the UAV 160 to land.

[0161] In the UAV landing device and the UAV landing system, the UAV landing system controls the brightness controller 140 to adjust the brightness of the landing platform 10 according to the first type of image captured by the UAV camera, so that the brightness adjustment is determined by the definition of the image acquired by the camera 1601. Therefore, no matter in what environment, the definition of the landing platform 10 and the identification code 150 in the image captured by the UAV camera can be ensured to meet the requirements of the UAV 160 through brightness adjustment, thereby improving the environmental adaptability and reducing the environmental impact. Furthermore, the UAV 160 can adjust the pose according to the scanning and identifying result of the identification code 150 to land accurately on the landing area, thereby greatly improving the landing accuracy. At the same time, the UAV 160 automatically realizes landing without manual operation, thereby greatly reducing the landing difficulty.

[0162] The specific implementation and effects of the unmanned aerial vehicle landing device can be seen from the description of the implementation of the unmanned aerial vehicle landing method, for example, the specific implementation and effects of the brightness adjusting module can be seen from the description of step 11, the specific implementation and effects of the scanning and identifying module can be seen from the description of step 13, the specific implementation and effects of the judging module can be seen from the description of step 15, the specific implementation and effects of the adjusting and descending module can be seen from the description of step 17, and the specific implementation and effects of the landing module can be seen from the description of step 19, and thus will not be repeated here.

[0163] In addition, each module in the unmanned aerial vehicle landing device can be implemented wholly or partially by software, hardware, or a combination thereof. Each module can be embedded in or independent of the processor 220 in the electronic device 20 in hardware form, or can be stored in the memory 210 of the electronic device 20 in software form, so that the processor 220 invokes and executes the operations corresponding to each module to implement the unmanned aerial vehicle landing method as described above.

[0164] Based on the same inventive concept as the unmanned aerial vehicle landing method, the embodiment of the present application also provides an electronic device 20, which includes a processor 220 and a memory 210, the memory 210 stores a computer program capable of being executed by the processor 220, and the processor 220 can execute the computer program to implement the unmanned aerial vehicle landing method as proposed by the embodiment of the present application.

[0165] The embodiment of the present application also provides a storage medium having a computer program stored thereon, and the computer program is executed by the processor 220 to implement the unmanned aerial vehicle landing method as proposed by the embodiment of the present application.

[0166] In summary, the unmanned aerial vehicle landing method, system, and electronic device 20 provided by the embodiment of the present application have at least the following beneficial effects:

[0167] (1) By setting the landing platform with adjustable brightness, the environmental adaptability of the unmanned aerial vehicle landing is improved;

[0168] (2) The unmanned aerial vehicle is automatically landed without the need to install lighting equipment, thereby reducing the landing difficulty and cost;

[0169] (3) By setting the identification code and the landing platform with adjustable brightness, the landing accuracy is greatly improved.

[0170] In several embodiments provided by the present application, it should be understood that the disclosed apparatus and method can also be implemented in other manners. The described embodiments of the apparatus are merely exemplary, and the present application can be implemented in other manners. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation modes of the apparatus, method and computer program product according to the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a segment or a part of a code, which comprises one or more executable instructions for implementing the specified logic function. It should also be noted that in some alternative implementation modes, the functions noted in the blocks can occur in a different order from that noted in the accompanying drawings. For example, two consecutive blocks can actually be executed in parallel, and they can also be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a special-purpose hardware-based system that performs the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0171] In addition, each functional module in the various embodiments of the present application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can 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 solutions of the present application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory 210, a random access memory 210, a magnetic disk or an optical disk, and various media that can store program codes.

[0173] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method for landing an unmanned aerial vehicle (UAV), characterized in that, A flight control device for a drone, the flight control device being communicatively connected to the drone's camera and brightness controller, the brightness controller being electrically connected to the control terminal of a landing platform, the landing platform being provided with multiple sets of identification codes, the area of ​​the multiple sets of identification codes increasing sequentially, the priority of each set of identification codes being inversely proportional to the area of ​​the identification code and the landing area distance of the identification code, the landing area distance being the distance between the identification code and the landing area, the method comprising: The camera is controlled to acquire a type of image of the landing platform, and an adjustment command is sent to the brightness controller based on the type of image; wherein the adjustment command is used to instruct the brightness controller to adjust the brightness of the landing platform; After completing the brightness adjustment, 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 identified to obtain the identification result of the identification code; Based on the identification results, determine whether the drone is located above the landing area of ​​the landing platform; If not, then based on the recognition result, adjust the position of the drone, control the drone to descend, and return to the step of controlling the camera to capture the second type of image of the landing platform in real time, and scanning and recognizing the second type of image to obtain the recognition result; If so, then control the drone to land.

2. The UAV landing method according to claim 1, characterized in that, The step of determining whether the drone is located above the landing area of ​​the landing platform based on the identification result includes: The identification result is matched with the preset identifier ID corresponding to the identifier code, and the identifier code corresponding to the preset identifier ID that is successfully matched is taken as the hit code; From the multiple hit codes, select the hit code with the highest priority as the preamble; Determine whether the guidance code is an identification code for the landing area of ​​the landing platform; If so, then the drone is determined to be above the landing area; If not, it is determined that the drone is not located above the landing area.

3. The UAV landing method according to claim 2, characterized in that, The step of adjusting the position of the drone based on the identification result and controlling the drone to descend includes: When there is only one guide code, control the drone to move horizontally towards the guide code, and after the horizontal movement is completed, control the drone to descend vertically. When there are multiple guide codes, the drone is controlled to move horizontally toward any of the guide codes, and after the horizontal movement is completed, the drone is controlled to descend vertically.

4. The UAV landing method according to claim 2, characterized in that, The landing area includes a main landing area and a secondary landing area; The steps for controlling the landing of the drone include: When the guide code includes the identifier code of the main landing area, control the drone to move horizontally towards the identifier code, and after the horizontal movement is completed, control the drone to land; When the guide code only includes the identifier code of the secondary landing area, control the UAV to move horizontally in the direction of any of the guide codes, and after the horizontal movement is completed, control the UAV to land.

5. The unmanned aerial vehicle landing method 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 command to the brightness controller based on the type of image includes: Control the camera to rotate until the camera faces the ground; The camera is controlled to capture images, resulting in a type of image. The image of the aforementioned type is detected, and the detection result is obtained; 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 one-to-one with the identification code; If not, an adjustment command is sent to the brightness controller, and the process returns to the step of controlling the camera to take a picture and obtain a type of image.

6. The unmanned aerial vehicle landing method according to claim 5, characterized in that, After determining whether there is an identification ID in the detection result that is identical to at least one preset identification ID, the method further includes: If no identification ID is found in the detection results that is the same as the preset identification ID, the identification failure count is incremented by one, and it is determined whether the identification failure count is greater than the preset failure limit. If not, an adjustment command is sent to the brightness controller to control the drone to adjust its initial landing posture, and then the process of controlling the camera to take pictures and obtain a type of image is returned. If so, control the drone to enter the alternate landing mode.

7. The unmanned aerial vehicle landing method according to any one of claims 1 to 4, characterized in that, The step of scanning and recognizing the two types of images to obtain the recognition result of the identification code includes: The two types of images acquired at present are scanned and identified to obtain the currently identified identification code; When the identification code matches the identification code corresponding to the second type of image in a preset number of frames prior to the current time, the identification code is used as the identification result.

8. A drone landing system, characterized in that, The system includes a drone, a brightness controller, and a landing platform. The drone includes a flight control device and a camera. The brightness controller is communicatively connected to both the flight control device and the landing platform. The landing platform is equipped with multiple sets of identification codes, with the area of ​​each set of identification codes increasing sequentially. The priority of each set of identification codes is inversely proportional to the area of ​​the identification code and the landing area distance, where the landing area distance is the distance between the identification code and the landing area. 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 to send adjustment commands to the brightness controller based on the type of image. The brightness controller is used to adjust the brightness of the landing platform in response to the adjustment command; The flight control device is also used to: after completing the brightness adjustment, control the camera to capture the second type of image of the landing platform in real time, and scan and identify the second type of image to obtain the identification result of the identification code; and determine whether the UAV is located above the landing area of ​​the landing platform based on the identification result. If not, then based on the recognition result, adjust the position of the drone, control the drone to descend, and return to the step of controlling the camera to capture the second type of image of the landing platform in real time, and scanning and recognizing the second type of image to obtain the recognition result; If so, then control the drone to land.

9. The unmanned aerial vehicle landing system according to claim 8, characterized in that, The landing platform includes a platform board, a light-emitting board, and a transparent sticker, with an identification code set on the transparent sticker; The light-emitting panel is disposed on the platform plate, and the transparent sticker is disposed on the surface of the light-emitting panel away from the platform plate; The control line of the light-emitting panel is connected to the control terminal of the brightness controller.

10. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a computer program that can be executed by the processor to implement the drone landing method as described in any one of claims 1 to 7.

Images