Flying body landing method, device and equipment and storage medium

Abstract

The embodiment of the invention provides a flight body landing method, device and equipment and a storage medium, and the method comprises the steps: obtaining a ground image through a ground image collection module of a flight body when a landing instruction is received, and displaying the ground image on a user interface associated with the flight body; determining at least one landing area to be selected from the ground area corresponding to the ground image, and displaying the landing area on the user interface; when a first selection instruction generated when the to-be-selected landing area is selected is received, the to-be-selected landing area corresponding to the first selection instruction serves as a target landing area; and controlling the flight body to land according to the target landing area.

Description

Technical Field

[0001] The present invention relates to the technical field of flying objects, and in particular to a flying object landing method, device, equipment and storage medium. Background Art

[0002] For manned / cargo aircraft, the landing process can be regarded as a key link in the modern transportation and logistics network, which can realize the rapid transfer of people and goods in geographical space, and the manned / cargo aircraft after landing is also convenient for corresponding maintenance and replenishment. For unmanned aircraft, their landing is usually for continuous autonomous operation, such as energy replenishment and battery replacement.

[0003] At present, whether it is a manned / cargo aircraft or an unmanned aircraft, in order to ensure its safe landing, the aircraft must arrive at a pre-planned landing site before it can perform the landing operation. It can be seen that the aircraft cannot flexibly adjust the landing site according to temporary needs or temporary tasks, and it is difficult to meet more application needs. Summary of the invention

[0004] In view of this, in order to at least solve the technical problems of lack of landing flexibility and limited application due to the fact that the flying object can only land at a pre-planned landing site, the purpose of the present invention is to provide a flying object landing method, device, equipment and storage medium.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows:

[0006] A first aspect of an embodiment of the present invention provides a method for landing a flying object, comprising:

[0007] When receiving a landing instruction, acquiring a ground image through a ground image acquisition module of the flying object and displaying it on a user interface associated with the flying object;

[0008] Determine at least one candidate landing area from the ground area corresponding to the ground image, and display it on the user interface;

[0009] When receiving a first selection instruction generated by the selection of the to-be-selected landing area, taking the to-be-selected landing area corresponding to the first selection instruction as the target landing area;

[0010] The flying object is controlled to land according to the target landing area.

[0011] In an optional implementation, the step of determining at least one candidate landing area from the ground area corresponding to the ground image includes:

[0012] When touch data located on the ground image is detected, a corresponding landing area to be selected is generated according to the touch data.

[0013] In an optional implementation, the step of generating a corresponding candidate landing area according to the touch data includes:

[0014] When the touch coordinate points corresponding to the touch data form a closed figure, generating a landing area to be selected according to the center coordinate point of the closed figure and the distance between the two coordinate points farthest from each other in the closed figure;

[0015] and / or,

[0016] When the touch coordinate points corresponding to the touch data are discretely distributed or there is only one touch coordinate point, for each touch coordinate point, a corresponding landing area to be selected is generated according to the touch coordinate point and a set distance threshold.

[0017] In an optional implementation, upon receiving a landing instruction, the method further includes:

[0018] The current position of the flying object is displayed in the user interface, or the current position and current height above the ground of the flying object are displayed.

[0019] In an optional implementation, before acquiring the ground image by the ground image acquisition module of the flying object, the method further includes:

[0020] Determining a cruising range of the flying object according to the remaining flight time of the flying object;

[0021] Determining a plurality of recommended landing points from an existing satellite map according to the current position of the flying object and the endurance distance;

[0022] Marking the multiple recommended landing points in the user interface, and displaying surrounding information of each recommended landing point;

[0023] When receiving a second selected instruction generated by the selection of the to-be-recommended landing point, controlling the flying object to fly to a set height of the target recommended landing point corresponding to the second selected instruction;

[0024] Correspondingly, the step of acquiring the ground image through the ground image acquisition module of the flying object is performed when the flying object is hovering at a set height of the target recommended landing point.

[0025] In an optional embodiment, after displaying the candidate landing area on the user interface, the method further includes:

[0026] Display the surrounding information of each candidate landing area.

[0027] In an optional implementation manner, after determining the candidate landing area, the method further includes:

[0028] Determine a recommended order of each candidate landing area according to the distance between each candidate landing area and the flying object, and display the order on the user interface; and / or

[0029] The target mission location is determined according to the flight mission of the flying object, and the recommended order of each candidate landing area is determined according to the distance between each candidate landing area and the target mission location, and is displayed on the user interface.

[0030] A second aspect of an embodiment of the present invention provides a flying object landing device, comprising:

[0031] The acquisition module is configured to: upon receiving a landing instruction, acquire a ground image through the ground image acquisition module of the flying object, and display the ground image on a user interface associated with the flying object;

[0032] A determination module is configured to: determine at least one candidate landing area from the ground area corresponding to the ground image, and display it on the user interface;

[0033] The selection module is configured to: upon receiving a first selection instruction generated by the selection of the to-be-selected landing area, use the to-be-selected landing area corresponding to the first selection instruction as a target landing area;

[0034] The control module is configured to control the landing of the flying object according to the target landing area.

[0035] According to a third aspect of an embodiment of the present invention, there is provided an electronic device, comprising a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the flying body landing method provided in the first aspect above.

[0036] According to a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the flying object landing method provided in the first aspect is implemented.

[0037] The flying body landing method, device, equipment and storage medium provided by the embodiments of the present invention, on the one hand, when receiving a landing instruction, start the ground image acquisition module of the flying body to obtain the ground image below the flying body, and display the image in the user interface associated with the flying body, so that as long as there is a landing demand, the user can trigger the flying body to enter the landing stage by issuing a landing instruction to the flying body, so that the landing of the flying body is not limited to the pre-planned landing field, which is beneficial to improve the landing flexibility of the flying body; on the other hand, by determining at least one candidate landing area from the ground area corresponding to the ground image, and displaying it in the user interface for the user to select, and then using the candidate landing area selected by the user as the target landing area, and controlling the landing of the flying body, it can not only be achieved that the user can select a suitable candidate landing area as the target landing area according to his own needs or task requirements, thereby enabling the flying body to meet more application requirements, but also there is no need for the user to manually control the flying body to land in the target landing area, which can reduce the control threshold of the landing of the flying body and improve the user experience.

[0038] 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

[0039] 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.

[0040] Figure 1 A structural block diagram of an electronic device provided by an embodiment of the present invention is shown;

[0041] Figure 2 A flowchart of a method for landing a flying object provided by an embodiment of the present invention is shown;

[0042] Figure 3 A schematic diagram of a user interface showing a ground image provided by an embodiment of the present invention is shown;

[0043] Figure 4 A schematic diagram of a user interface when a flying object flies to a target landing area provided by an embodiment of the present invention is shown;

[0044] Figure 5 A schematic diagram of a user interface of a flying object during landing provided by an embodiment of the present invention is shown;

[0045] Figure 6A functional module diagram of a flying object landing device provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0046] 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.

[0047] 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.

[0048] 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.

[0049] In order to solve the technical problems in the traditional technology that a flying object can only land at a pre-planned landing field, lacks landing flexibility and is limited in application, the present invention provides a flying object landing method. On the one hand, when a landing instruction is received, a ground image acquisition module of the flying object is started to obtain a ground image below the flying object, and the image is displayed in a user interface associated with the flying object, so that as long as there is a landing demand, the user can send a landing instruction to the flying object to trigger the flying object to enter the landing stage, so that the landing of the flying object is not limited to the pre-planned landing field, which is conducive to improving the landing flexibility of the flying object; on the other hand, at least one candidate landing area is determined from the ground area corresponding to the ground image, and is displayed in the user interface for user selection, and then the candidate landing area selected by the user is used as the target landing area, and the flying object is controlled to land, thereby not only enabling the user to select a suitable candidate landing area as the target landing area according to their own needs or task requirements, so that the flying object can meet more application requirements, but also without the need for the user to manually control the flying object to land in the target landing area, the control threshold of the flying object landing can be reduced, and the user experience is improved.

[0050] The flying object landing method provided by the present invention can be applied to electronic equipment, please refer to Figure 1 , is a block diagram of the structure of an electronic device. The electronic device 100 includes a memory 110, a processor 120 and a communication module 130. The memory 110, the processor 120 and the communication module 130 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.

[0051] The memory is used to store programs or data. The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0052] The processor is used to read / write data or programs stored in the memory and execute corresponding functions.

[0053] The communication module is used to establish a communication connection between the electronic device and other communication terminals through a network, and is used to send and receive data through the network.

[0054] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device, and the electronic device may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0055] In some embodiments, the electronic device may be installed in a manned aircraft to control the flight and landing of the manned aircraft and the display status of the cockpit display screen in the manned aircraft, but its function is not limited thereto. Alternatively, the electronic device may also be a terminal device that is separated from the manned aircraft or the unmanned aircraft but has a communication connection, such as a mobile phone, a tablet, a laptop computer, or a remote control with a display screen, but is not limited thereto.

[0056] The following combination Figure 2 The method for landing a flying object provided by an embodiment of the present invention is described. Figure 2 1 is a flow chart of a method for landing a flying object provided by an embodiment of the present invention, wherein the method for landing a flying object comprises:

[0057] In step S200, when a landing instruction is received, a ground image is acquired through a ground image acquisition module of the flying object and displayed on a user interface associated with the flying object;

[0058] In step S300, at least one candidate landing area is determined from the ground area corresponding to the ground image, and is displayed on the user interface;

[0059] In step S400, when a first selection instruction generated by the selection of the candidate landing area is received, the candidate landing area corresponding to the first selection instruction is used as the target landing area;

[0060] In step S500, the flying object is controlled to land according to the target landing area.

[0061] The following takes a manned flying vehicle as an example to illustrate the relevant working principles of the above steps S200 to S300:

[0062] When a user is operating a manned aircraft and a need to land at a certain location is temporarily generated, the location may be a tourist attraction, a shopping spot or a workplace, but is not limited thereto. A landing command may be issued by operating a joystick in the aircraft or through a user interface in the cockpit. At this time, the control system of the aircraft will receive the landing command and execute step S200 to start the ground image acquisition module of the aircraft to obtain a ground image, and display the obtained ground image on the above-mentioned user interface.

[0063] Since the ground image will be used in step S300 to determine the candidate landing area, if the flying object collects the ground image at a higher altitude, it may not be possible to obtain a clear ground image, or the obtained ground image cannot show more ground details, which may cause obstacles or insufficient flatness in the candidate landing area obtained based on this, thereby affecting the safe landing of the flying object. Therefore, in order to solve this technical problem, in some embodiments, before obtaining the ground image through the ground image acquisition module, the flying object landing method provided by the embodiment of the present invention may also include:

[0064] In step S112, the flying object is controlled to hover when it descends to a set height above the ground;

[0065] Correspondingly, in the above step S200, the step of acquiring the ground image through the ground image acquisition module of the flying object is performed when the flying object is hovering at the above set height.

[0066] Therefore, by controlling the flying body to descend to a set height above the ground and hover, and then enabling the ground image acquisition module to acquire the ground image, the ground image acquisition module can work when the flying body is at a relatively suitable height and a relatively stable state. This can avoid the jitter of the collected ground image due to the instability of the flying body, which is beneficial to improving the image quality, and also ensures that the ground details can be clearly seen in the ground image.

[0067] In step S112, the height above the ground can be set based on experience and experiments, for example, 60m, but not limited thereto, as long as the safety of the flying object during hovering and the ground details presented in the ground image are clearly visible.

[0068] While the ground image is being acquired, or after the user configures the landing point identification control in the user interface showing the ground image, such as Figure 3 As shown, Figure 3is a schematic diagram of a user interface showing a ground image provided by an embodiment of the present invention, wherein the area indicated by the label A is a landing point identification control, and a landing point identification instruction will be generated. At this time, the control system will execute the above step S300 to intelligently identify the ground image, and determine at least one candidate landing area from the ground area corresponding to the ground image, such as Figure 3 The place indicated by the label B. It should be understood that Figure 3 This is just an example illustration. In practice, the control system can use the existing landing point intelligent recognition algorithm to determine multiple candidate landing areas that meet the landing requirements of the flying object from the ground image.

[0069] In addition to the above-mentioned solution for determining the candidate landing area, in order to more quickly improve the efficiency of obtaining the candidate landing area, reduce the computing burden of the control system, and reduce the deployment cost of the landing point intelligent recognition algorithm, in some embodiments, the flying body landing method provided by the embodiment of the present invention further provides a solution for manually assisting the generation of the candidate landing area, that is, in the above-mentioned step S300, the step of determining at least one candidate landing area from the ground area corresponding to the ground image includes:

[0070] In step S310, when touch data located on the ground image is detected, a corresponding candidate landing area is generated according to the touch data.

[0071] It is understandable that after the user interface displays the ground image, the user can perform a touch operation in the ground image area in the user interface to generate corresponding touch data. At this time, the control system will execute step S310 to generate a corresponding selected landing area according to the touch data. Among them, the flying body landing method provided in the embodiment of the present invention provides two implementation methods for generating a selected landing area based on touch data, so that the user can use different touch methods to assist the control system in generating a selected landing area and improve the user experience. The two implementation methods are as follows:

[0072] The first implementation method:

[0073] In the above step S310, the step of generating a corresponding candidate landing area according to the touch data may include:

[0074] In step S311, when the touch coordinate points corresponding to the touch data form a closed figure, a landing area to be selected is generated according to the central coordinate point of the closed figure and the distance between the two coordinate points farthest from each other in the closed figure.

[0075] It can be understood that the first implementation method is a solution for generating a selected landing area based on a circle selection operation. That is to say, if the user performs a touch operation to circle a certain area in the above-mentioned ground image area, corresponding touch data will be generated at this time. Therefore, the control system can determine whether the corresponding touch coordinate points form a closed figure according to the touch data. When it is determined that a closed figure is formed, step S311 will be executed to determine the coordinates of the center point of the closed figure and the distance between the two coordinate points with the farthest distance in the closed figure according to the touch data, and then generate the selected landing area. For example, the center coordinate point can be used as the center of the circle and the distance can be used as the diameter to generate a corresponding circular area, which is the selected landing area; for another example, the center coordinate point can be used as the center of the square and the distance can be used as the length of the two diagonals of the rectangle to generate a corresponding square area, which is the selected landing area. Among them, the above-mentioned area shape is only used as an exemplary description, and should not be understood as a limitation on the embodiments of the present invention, as long as a selected landing area that meets the safe landing requirements of the flying object can be generated based on the center coordinates and the distance.

[0076] It can be seen that the above method of generating the selected landing area based on the distance between the center coordinate point and the two coordinate points farthest from each other in the closed figure only needs to record the two information of the center coordinate point and the distance to generate the selected landing area, thereby simplifying the data processing of the selected landing area and reducing data storage, so that the control system can have more bandwidth space to handle other tasks.

[0077] However, when the control system bandwidth is not tight, the corresponding closed graph can be directly generated based on all the touch coordinate points corresponding to the touch data.

[0078] In addition, if the user wants to generate multiple candidate landing areas in order to select a target landing area that best meets the current needs, after completing the drawing of a closed image, a new touch operation can be performed in a different area of ​​the ground image area to complete the drawing of the second closed image, and so on, until the required multiple candidate landing areas are drawn.

[0079] The second implementation method:

[0080] In the above step S310, the step of generating a corresponding candidate landing area according to the touch data may include:

[0081] In step S311 ′, when the touch coordinate points corresponding to the touch data are discretely distributed or there is only one touch coordinate point, for each touch coordinate point, a corresponding landing area to be selected is generated according to the touch coordinate point and a set distance threshold.

[0082] It can be understood that the second implementation method is a solution for generating a candidate landing area based on a click operation, that is, if the user performs a click operation or multiple click operations in the above-mentioned ground image area, corresponding touch data will be generated. Therefore, the control system can determine whether the corresponding touch coordinate point is discretely distributed or there is only one according to the touch data. If there is only one, the corresponding candidate landing area can be directly generated with the touch coordinate point as the center of the circle and the set distance threshold as the diameter; or, the corresponding candidate landing area can be generated with the touch coordinate point as the center point and the set distance threshold as the diagonal length of the square. Similarly, the above-mentioned area shape is only for exemplary description and should not be understood as a limitation on the embodiments of the present invention, as long as a candidate landing area that meets the safe landing requirements of the flying object can be generated based on the touch coordinate point and the set distance threshold.

[0083] When there are multiple touch coordinate points and they are distributed discretely, for each touch coordinate point, the candidate landing area corresponding to each touch coordinate point can be generated according to the above method, which will not be described in detail here.

[0084] It should be understood that the above two implementation methods can be configured in the control system either one or both. This can meet the operational requirements of different users or operational requirements in different scenarios, and can further improve the applicability of the flying body landing method provided in the embodiment of the present invention.

[0085] Therefore, through the above two implementation methods, it is possible to achieve the auxiliary generation of the corresponding selected landing area based on the user's touch operation, which can improve the flexibility of generating the selected landing area and meet the different landing needs of users. However, in some cases, the user may not be able to perceive the uneven ground with the naked eye, which may cause the touch coordinate point to fall into the uneven area, thereby affecting the safe landing of the flying object. Therefore, in order to solve this technical problem, in some embodiments, after the selected landing area is generated by any of the embodiments in the above step S310, the flying object landing method provided by the embodiment of the present invention may also include:

[0086] In step S320, among all the candidate landing areas, the candidate landing areas whose flatness does not meet the set flatness threshold are eliminated.

[0087] Therefore, by eliminating the candidate landing areas whose flatness does not meet the set flatness threshold, only displaying the candidate landing areas whose flatness meets the set flatness threshold, the safe landing of the flying object can be ensured. The flatness calculation principle can be referred to in the relevant technology, and the flatness threshold can be obtained based on experience or experiment, which will not be elaborated here.

[0088] After obtaining the selected landing areas through any of the above embodiments, the selected landing areas can be displayed in the user interface. At this time, if the user clicks on one of the selected landing areas, a first selection instruction will be generated, and the control system will execute step S400 to use the selected landing area corresponding to the first selected instruction as the target landing area.

[0089] After the target landing area is obtained, step S500 is executed to control the landing of the flying object according to the target landing area. In order to allow the user to intuitively view the relative position of the flying object and the target landing area, as well as the movement direction of the flying object, in some embodiments, the position of the flying object and the orientation of the target landing area relative to the flying object can be displayed in real time in the above user interface during the flying object flying to the target landing area, such as Figure 4 As shown, Figure 4 1 is a schematic diagram of a user interface when a flying object flies to a target landing area provided by an embodiment of the present invention, wherein the position indicated by the label C is the position of the flying object.

[0090] In addition to displaying the position of the flying object in real time during the process of the flying object flying to the target landing area, the real-time position of the flying object can also be displayed in the user interface so that the user can understand the current position information of the flying object in the ground map and thus better select the target landing area. Based on this, in some embodiments, when receiving a landing instruction, the flying object landing method provided by the embodiment of the present invention can also include:

[0091] In step S111, the current position of the flying object is displayed in the user interface, or the current position and current height above the ground of the flying object are displayed.

[0092] It is understandable that when a landing instruction is received, the displayed user interface may display the current position of the flying object, the current height of the flying object from the ground, and a ground image, such as Figure 3 shown.

[0093] In some examples, the current height of the flying object above the ground may be displayed in the user interface at all times so that the user can know the current height of the flying object.

[0094] In addition, in order to facilitate the user to understand whether the flying object has landed safely, in some embodiments, the ground image acquisition module can be kept started during the process of the flying object flying to the air above the target landing area and safely landing in the target landing area, such as Figure 5 As shown, Figure 5It is a schematic diagram of a user interface of a flying object during the landing process provided by an embodiment of the present invention. It can be seen that through this user interface, the user can understand the environmental conditions of the flying object during the landing process at any time, and then respond to some emergencies, for example, a foreign object suddenly breaks into the target landing area, thereby better improving the landing safety.

[0095] In addition, with the rapid development of transportation tools, manned flying objects may be widely used by every household in the future like land transportation tools. Therefore, users can drive manned aircraft to scenic spots, shopping places, workplaces or home addresses, etc. Based on this, in order to meet users' more usage needs for flying objects, to ensure that the final landing location of the flying object can facilitate users to complete their own needs, for example, it can land near the place where the user needs to buy a certain product, so that the user can quickly reach the destination, save travel time, and thus improve the user experience. In some embodiments, before the step of acquiring the ground image through the ground image acquisition module of the flying object in the above step S200, the flying object landing method provided by the embodiment of the present invention may also include:

[0096] In step S110, the endurance distance of the flying object is determined according to the remaining flight time of the flying object;

[0097] In step S120, a plurality of recommended landing points are determined from an existing satellite map according to the current position of the flying object and the endurance distance;

[0098] In step S130, the plurality of recommended landing points are marked in the user interface, and surrounding information of each recommended landing point is displayed;

[0099] In step S140, upon receiving a second selection instruction generated by the selection of the to-be-recommended landing point, the flying object is controlled to fly to a set height of the target recommended landing point corresponding to the second selection instruction;

[0100] Correspondingly, in the above step S200, the step of acquiring the ground image through the ground image acquisition module of the flying object is performed when the flying object is hovering at the set height of the target recommended landing point.

[0101] It can be understood that through the above-mentioned steps S110 and S120, it can be ensured that the flying body has sufficient energy to fly to any one of the multiple recommended landing points determined in step S120. The technical principle of determining multiple recommended landing points from the satellite map based on the current position and cruising range of the flying body in step S120 can be: using the current position of the flying body as the center and the cruising range as the radius to generate the corresponding reachable area in the satellite map, and then obtaining multiple recommended landing points based on representative geographical landmarks in the reachable area. For example, assuming that there are shopping malls, scenic spots, sports venues, etc. in the reachable area, these landmarks of different natures can be used as a recommended landing point respectively.

[0102] After obtaining multiple recommended landing points, multiple recommended landing points can be marked in the satellite map displayed in the user interface, and the corresponding surrounding information can be attached to each recommended landing point, so that the user can know the surrounding information of each recommended landing point, and it is convenient for the user to select the recommended landing point according to their own needs, thereby ensuring that the final landing place can meet the user's current needs. Based on this, the user can select the required recommended landing point in the user interface at this time. After the selection, the control system will receive the second selected instruction and execute step S140 to control the flying body to fly to the set height of the target recommended landing point corresponding to the second selected instruction. The set height is consistent with the set height recorded above and has the same meaning.

[0103] After the flying object reaches the set height of the target recommended landing point, the above steps S200 to S500 can be executed to achieve safe landing of the flying object at the location desired by the user.

[0104] Since the target recommended landing point may refer to a relatively large geographical area, and there may be multiple surrounding facilities within the geographical area, such as multiple shopping centers, or shopping centers and sports venues, in order to further ensure that the flying object can finally land safely at the location desired by the user, in some embodiments, after the candidate landing area is displayed on the user interface in step S300, the flying object landing method provided by the embodiment of the present invention may further include:

[0105] In step S3011, the surrounding information of each candidate landing area is displayed.

[0106] Therefore, the user can learn about the surrounding information of each candidate landing area and know which candidate landing area can more conveniently reach the desired location after landing.

[0107] Although the above solution can facilitate the user to go from the landing location to the desired location, it can be seen from the above that the user needs to view the surrounding information of each candidate landing area before knowing which candidate landing area best meets his needs, which involves a lot of user operations and may affect the user experience to a certain extent. Therefore, in some embodiments, in order to improve the user experience and improve the efficiency of the user in determining the target landing area, the embodiment of the present invention also provides a corresponding solution, that is, after determining the candidate landing area in step S300, the flying object landing method provided by the embodiment of the present invention may also include:

[0108] In step S3021, a recommended order of each candidate landing area is determined according to the distance between each candidate landing area and the flying object, and is displayed on the user interface; and / or

[0109] In step S3031, the target mission location is determined according to the flight mission of the flying object, and the recommended order of each candidate landing area is determined according to the distance between each candidate landing area and the target mission location, and displayed on the user interface.

[0110] It is understandable that when there are multiple places that can meet the user's needs in the ground area corresponding to the ground map, for example, the user needs to buy sports equipment, and there are multiple places in the ground area that can provide sports equipment products. At this time, the multiple scenes are multiple landing areas to be selected. For this scene, the multiple landing areas to be selected can be sorted in order from small to large based on distance through step S3021, and the recommended order of the multiple landing areas to be selected can be obtained and displayed on the user interface. In this way, the user can directly select the top-ranked landing area as the target landing area without checking the surrounding information of each landing area to be selected one by one, which can improve the efficiency of determining the target landing area and the user experience. Of course, the user can also choose not to select the top-ranked landing area to be selected.

[0111] As for step S3031, it is understandable that the user can set up this flight mission through the user interface or other means before the flying body takes off or during the flight. This flight mission includes the target mission location. Therefore, after arriving above the target mission location, when there are multiple candidate landing areas that meet the landing requirements in the corresponding ground area, step S3031 can be used to recommend multiple candidate landing areas. Specifically, it is also based on distance. However, unlike step S3021, the distance here refers to the distance between each candidate landing area and a clear target mission point. Similarly, multiple candidate landing areas can be sorted in order from small to large according to the distance, and the recommended order of multiple candidate landing areas can be obtained and displayed in the user interface. Similarly, the user can directly select the candidate landing area with the highest sorting as the target landing area, without having to check the surrounding information of each candidate landing area one by one, which can improve the efficiency of determining the target landing area and the user experience.

[0112] In step S3021 and step S3031, the smaller the distance, the higher the ranking of the corresponding candidate landing area. In addition, from the above related records, it can be known that the candidate landing area recommendation in different application scenarios can be implemented through step S3021 and step S3031.

[0113] It is worth noting that the technical features or technical solutions in any of the above embodiments of the present invention can be combined with each other as long as there is no contradiction in the combination. In addition, although the above embodiments take a manned aircraft as an example to illustrate the flight navigation method provided by the embodiment of the present invention, it should be understood that the product to which the flight navigation method provided by the embodiment of the present invention is actually applied may not be limited to a manned aircraft, but may also be applicable to an unmanned aircraft. Accordingly, the above user interface may be displayed on a display screen of a terminal device associated with the unmanned aircraft.

[0114] In order to execute the corresponding steps in the above embodiments and various possible methods, a method for implementing a flying object landing device is given below. Optionally, the flying object landing device can adopt the above Figure 1 For further information, please refer to Figure 6 , Figure 6 This is a functional module diagram of a flying object landing device provided in an embodiment of the present invention. It should be noted that the basic principle and technical effects of the flying object landing device provided in this embodiment are the same as those of the above-mentioned embodiments. For the sake of brief description, for the parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned embodiments. The flying object landing device 200 includes:

[0115] The acquisition module 210 is configured to: upon receiving a landing instruction, acquire a ground image through a ground image acquisition module of the flying object, and display the ground image on a user interface associated with the flying object;

[0116] The determination module 220 is configured to: determine at least one candidate landing area from the ground area corresponding to the ground image, and display it on the user interface;

[0117] The selection module 230 is configured to: upon receiving a first selection instruction generated by the selection of the to-be-selected landing area, use the to-be-selected landing area corresponding to the first selection instruction as a target landing area;

[0118] The control module 240 is configured to control the landing of the flying object according to the target landing area.

[0119] In some embodiments, the process of determining module 220 determining at least one candidate landing area from the ground area corresponding to the ground image is configured as follows:

[0120] When touch data located on the ground image is detected, a corresponding landing area to be selected is generated according to the touch data.

[0121] In some embodiments, the process of the determination module 220 generating the corresponding candidate landing area according to the touch data is configured as follows:

[0122] When the touch coordinate points corresponding to the touch data form a closed figure, generating a landing area to be selected according to the center coordinate point of the closed figure and the distance between the two coordinate points farthest from each other in the closed figure;

[0123] and / or,

[0124] When the touch coordinate points corresponding to the touch data are discretely distributed or there is only one touch coordinate point, for each touch coordinate point, a corresponding landing area to be selected is generated according to the touch coordinate point and a set distance threshold.

[0125] In some embodiments, upon receiving a landing instruction, the acquisition module 210 is further configured to: display the current position of the flying object in the user interface, or display the current position and current height above the ground of the flying object.

[0126] In some embodiments, the flying body landing device 200 may further include:

[0127] The first recommendation module is configured to: upon receiving a landing instruction, determine the endurance distance of the flying object according to the remaining flight time of the flying object; determine multiple recommended landing points from an existing satellite map according to the current position of the flying object and the endurance distance; mark the multiple recommended landing points in the user interface and display the surrounding information of each recommended landing point; and upon receiving a second selection instruction generated by the selection of the recommended landing point, control the flying object to fly to the set height of the target recommended landing point corresponding to the second selection instruction.

[0128] Correspondingly, the acquisition module 210 is adjusted and configured to: when the flying object hovers at the set height of the target recommended landing point, acquire the ground image through the ground image acquisition module of the flying object, and display it on the user interface associated with the flying object.

[0129] In some embodiments, the determination module 220 is further configured to: after displaying the candidate landing areas on the user interface, display surrounding information of each candidate landing area.

[0130] In some embodiments, the flying body landing device 200 may further include a second recommendation module and / or a third recommendation module:

[0131] The second recommendation module is configured to: after the determination module 220 determines the candidate landing area, determine the recommendation order of each candidate landing area according to the distance between each candidate landing area and the flying object, and display it on the user interface;

[0132] The above-mentioned third recommendation module is configured as follows: after the determination module 220 determines the candidate landing area, the target mission location is determined according to the flight mission of the flying body, and the recommended order of each candidate landing area is determined according to the distance between each candidate landing area and the target mission location, and displayed on the user interface.

[0133] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory shown in the figure or solidified in the operating system (OS) of the electronic device, and can be Figure 1 Meanwhile, the data and program codes required for executing the above modules can be stored in the memory.

[0134] In several embodiments provided in the present application, 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 function. 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.

[0135] 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.

[0136] 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, including several instructions for enabling 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 each embodiment 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 (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0137] 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 flying object, characterized in that: include: When receiving a landing instruction, acquiring a ground image through a ground image acquisition module of the flying object and displaying it on a user interface associated with the flying object; Determine at least one candidate landing area from the ground area corresponding to the ground image, and display it on the user interface; When receiving a first selection instruction generated by the selection of the to-be-selected landing area, taking the to-be-selected landing area corresponding to the first selection instruction as the target landing area; The flying object is controlled to land according to the target landing area.

2. The method according to claim 1, characterized in that The step of determining at least one candidate landing area from the ground area corresponding to the ground image comprises: When touch data located on the ground image is detected, a corresponding landing area to be selected is generated according to the touch data.

3. The method according to claim 2, characterized in that The step of generating a corresponding candidate landing area according to the touch data includes: When the touch coordinate points corresponding to the touch data form a closed figure, generating a landing area to be selected according to the center coordinate point of the closed figure and the distance between the two coordinate points farthest from each other in the closed figure; and / or, When the touch coordinate points corresponding to the touch data are discretely distributed or there is only one touch coordinate point, for each touch coordinate point, a corresponding landing area to be selected is generated according to the touch coordinate point and a set distance threshold.

4. The method according to claim 1, characterized in that: When receiving a landing instruction, the method further includes: The current position of the flying object is displayed in the user interface, or the current position and current height above the ground of the flying object are displayed.

5. The method according to claim 1, characterized in that: Before acquiring the ground image by the ground image acquisition module of the flying object, the method further includes: Determining a cruising range of the flying object according to the remaining flight time of the flying object; Determining a plurality of recommended landing points from an existing satellite map according to the current position of the flying object and the endurance distance; Marking the multiple recommended landing points in the user interface, and displaying surrounding information of each recommended landing point; When receiving a second selected instruction generated by the selection of the to-be-recommended landing point, controlling the flying object to fly to a set height of the target recommended landing point corresponding to the second selected instruction; Correspondingly, the step of acquiring the ground image through the ground image acquisition module of the flying object is performed when the flying object is hovering at a set height of the target recommended landing point.

6. The method according to claim 1, characterized in that After displaying the candidate landing area on the user interface, the method further includes: Display the surrounding information of each candidate landing area.

7. The method according to claim 1, characterized in that After determining the candidate landing area, the method further includes: Determine a recommended order of each candidate landing area according to the distance between each candidate landing area and the flying object, and display the order on the user interface; and / or The target mission location is determined according to the flight mission of the flying object, and the recommended order of each candidate landing area is determined according to the distance between each candidate landing area and the target mission location, and is displayed on the user interface.

8. A flying object landing device, characterized in that: include: The acquisition module is configured to: upon receiving a landing instruction, acquire a ground image through the ground image acquisition module of the flying object, and display the ground image on a user interface associated with the flying object; A determination module is configured to: determine at least one candidate landing area from the ground area corresponding to the ground image, and display it on the user interface; The selection module is configured to: upon receiving a first selection instruction generated by the selection of the to-be-selected landing area, use the to-be-selected landing area corresponding to the first selection instruction as a target landing area; The control module is configured to control the landing of the flying object according to the target landing area.

9. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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