A control system for an unmanned aerial vehicle landing platform

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a control system for an unmanned aerial vehicle landing platform, comprising a first acquisition module, a second acquisition module and an execution module, wherein the first acquisition module is used to acquire the operating state of the unmanned aerial vehicle, the second acquisition module is used to acquire the environmental parameters of the landing platform, and the execution module is used to execute the following steps: if the operating state of the unmanned aerial vehicle belongs to the first target type, the unmanned aerial vehicle and the landing platform are controlled according to the environmental parameters of the landing platform and in accordance with the first control mode; if the operating state of the unmanned aerial vehicle belongs to the second target type, the unmanned aerial vehicle and the landing platform are controlled according to the environmental parameters of the landing platform and in accordance with the second control mode. The control system for the unmanned aerial vehicle landing platform provided by the present invention can reasonably select the control mode according to the operating state of the unmanned aerial vehicle and the environmental parameters of the landing platform, so as to ensure the smooth take-off and landing of the unmanned aerial vehicle and improve the safety without destroying the activity habits of birds as much as possible.

Description

Technical Field

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

[0002] Electricity is the foundation of modern society. Ensuring the normal and safe operation of the power system plays a vital role in economic development and social stability. Common power facilities include transmission lines, transmission towers and substations. In daily power maintenance, these power facilities need to be inspected regularly to prevent failures and accidents.

[0003] Traditional power inspections are limited by the terrain, which not only has low inspection efficiency but also seriously affects the life safety of inspectors. UAVs have the advantages of being maneuverable, able to operate at high altitudes, and able to obtain image information beyond human line of sight. With the rapid development of UAV technology, UAVs have gradually been widely used in power inspections. Using UAVs for power inspections, that is, inspectors use handheld remote controls to remotely send control commands to enable the UAVs to automatically inspect along a predetermined route, can not only improve the efficiency of inspection work, but also ensure the life safety of inspectors.

[0004] In the process of using drones to inspect power grids, since transmission towers are often built in remote areas such as mountainous areas and suburbs, drones often need to take off and land in woods, rugged mountain roads, and ridges. Due to the uneven take-off and landing surface, drones are often unable to take off and land normally. In order to ensure the normal take-off and landing of drones, a landing platform is required.

[0005] When setting up a landing platform in the woods, the presence and noise of the drone may startle birds, causing them to take off suddenly or change their flight path, which may not only affect the safety of the drone but also cause stress or injury to the birds. Summary of the invention

[0006] Based on this, it is necessary to provide a control system for a drone landing platform to address the low safety problem that exists in the current drone take-off and landing process.

[0007] The above purpose is achieved through the following technical solutions:

[0008] A control system for a drone landing platform, comprising:

[0009] The first acquisition module is used to obtain the operating status of the drone;

[0010] The second acquisition module is used to obtain the environmental parameters of the landing platform;

[0011] The execution module is used to execute the following steps:

[0012] If the operating state of the UAV belongs to the first target type, the UAV and the landing platform are controlled according to the environmental parameters of the landing platform and in accordance with the first control mode;

[0013] If the operating state of the UAV belongs to the first target type, the UAV and the landing platform are controlled in a first control mode according to the environmental parameters of the landing platform, including the following steps:

[0014] When the first target type is the take-off stage, the presence of bird nests and fallen birds on the trees around the landing platform is obtained;

[0015] When there are bird nests and / or fallen birds on the trees around the landing platform, drive them away according to the first bird-driving procedure;

[0016] When there are no bird nests or birds landing on the trees around the landing platform, the drone can take off normally;

[0017] A first bird-repelling module is provided on the landing platform, and a second bird-repelling module is provided on the UAV; when there are bird nests and / or fallen birds on the trees around the landing platform, the bird-repelling is performed according to the first bird-repelling procedure, including the following steps:

[0018] Activate the first bird-repelling module to drive away birds that have landed on trees around the landing platform and / or adult birds in bird nests;

[0019] When there are no birds landing on the trees around the landing platform, obtain the distribution of bird nests on the trees around the landing platform;

[0020] When there are no bird nests on the trees around the landing platform, the drone takes off normally;

[0021] Get rain information when there are bird nests on trees around the landing platform;

[0022] When it rains, the first bird-repelling module continues to operate, the drone takes off normally, and at the same time obtains information about bird nests and birds emerging from trees around the landing platform;

[0023] When there are birds flying out of the bird nests on the trees around the landing platform, the second bird-repelling module is activated to drive away the birds flying out of the bird nests;

[0024] When it is not raining, the first bird repellent module continues to operate and the drone takes off normally;

[0025] When the drone flies to a preset altitude, the first bird repellent module is turned off;

[0026] If the operating state of the UAV belongs to the second target type, the UAV and the landing platform are controlled according to the environmental parameters of the landing platform and in accordance with the second control mode;

[0027] The operating status of the UAV includes at least a take-off phase and a landing phase; the environmental parameters include at least one or any combination of weather information, biological information, and geographic, environmental, and building facility information.

[0028] Furthermore, the first bird-repelling module and / or the second bird-repelling module include a sound bird-repelling unit, and the volume of the sound bird-repelling unit on the first bird-repelling module is positively correlated with the number of birds landing on the trees around the landing platform; the volume of the sound bird-repelling unit on the second bird-repelling module is positively correlated with the number of birds flying out of the bird's nest.

[0029] Further, the sound emitted by the sound bird repelling unit includes the sound of a bird hunter.

[0030] Furthermore, the UAV is provided with a sonar positioning module; the first bird-repelling module includes an ultrasonic bird-repelling unit, and the ultrasonic bird-repelling unit and the sonar positioning module have different frequencies.

[0031] Furthermore, if the operating state of the UAV belongs to the second target type, the UAV and the landing platform are controlled in a second control mode according to the environmental parameters of the landing platform, including the following steps:

[0032] When the second target type is the landing stage, the situation of birds landing on the trees around the landing platform is obtained;

[0033] When there are birds on the trees around the landing platform, drive them away according to the second bird-driving procedure;

[0034] When there are no birds on the trees around the landing platform, follow the third bird-repelling procedure.

[0035] Furthermore, when there are birds landing on the trees around the landing platform, the second bird-repelling procedure is used to drive the birds away, including the following steps:

[0036] Start the first bird-repelling module to drive away the birds that have landed on the trees around the landing platform;

[0037] When there are no birds landing on the trees around the landing platform, obtain the distribution of bird nests on the trees around the landing platform;

[0038] When there are no bird nests on the trees around the landing platform, the drone lands normally;

[0039] Get rain information when there are bird nests on trees around the landing platform;

[0040] When it rains, the first bird-repelling module continues to operate, the drone lands normally, and at the same time obtains information about bird nests and birds emerging from trees around the landing platform;

[0041] When there are birds flying out of the bird nests on the trees around the landing platform, the second bird-repelling module is activated to drive away the birds flying out of the bird nests;

[0042] When it is not raining, the first bird repellent module continues to operate and the drone lands normally.

[0043] Furthermore, when there are no birds on the trees around the landing platform, the third bird-repelling procedure is used to repel birds, including the following steps:

[0044] Obtain the distribution of bird nests on the trees around the landing platform;

[0045] When there are no bird nests on the trees around the landing platform, the drone lands normally;

[0046] Get rain information when there are bird nests on trees around the landing platform;

[0047] When it rains, the first bird-repelling module continues to operate, the drone lands normally, and at the same time obtains information about bird nests and birds emerging from trees around the landing platform;

[0048] When there are birds flying out of the bird nests on the trees around the landing platform, the second bird-repelling module is activated to drive away the birds flying out of the bird nests;

[0049] When it is not raining, the first bird repellent module continues to operate and the drone lands normally.

[0050] Furthermore, if the operating state of the UAV belongs to the second target type, the UAV is controlled in the second control mode according to the environmental parameters of the landing platform, and the following steps are also included:

[0051] Get the time T required for the drone to return;

[0052] When the time T required for the drone to return is greater than the bird-repelling time t, the second or third bird-repelling program is started after a delay of (Tt);

[0053] When the time T required for the drone to return is less than the bird-repelling time t, the second or third bird-repelling program is started in advance (tT).

[0054] The beneficial effects of the present invention are:

[0055] When in use, a control system for a drone landing platform provided by the present invention first obtains the operating state of the drone through a first acquisition module, then obtains the environmental parameters of the landing platform through a second acquisition module, and then controls the drone and the landing platform through an execution module. When the operating state of the drone belongs to the first target type, it is controlled according to the environmental parameters of the landing platform and in accordance with a first control mode. When the operating state of the drone belongs to the second target type, it is controlled according to the environmental parameters of the landing platform and in accordance with a second control mode. In this way, the control mode can be reasonably selected according to the operating state of the drone and the environmental parameters of the landing platform, so that the drone can take off and land smoothly without disrupting the activity habits of birds as much as possible, thereby improving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A schematic flow chart of a control method for a control system of a drone landing platform provided by an embodiment of the present invention;

[0057] Figure 2 A schematic flow chart of a first control mode of a control system for a UAV landing platform provided by an embodiment of the present invention;

[0058] Figure 3 A schematic diagram of the process of the second control mode of the control system of the drone landing platform provided by one embodiment of the present invention Figure 1 ;

[0059] Figure 4 A schematic diagram of the process of the second control mode of the control system of the drone landing platform provided by one embodiment of the present invention Figure 2 ;

[0060] Figure 5 A hardware configuration block diagram of a control system for a UAV landing platform provided in one embodiment of the present invention.

[0061] in:

[0062] 1. Execution module; 11. First acquisition module; 12. Second acquisition module; 13. Third acquisition module; 14. First bird-repelling module; 15. Second bird-repelling module. DETAILED DESCRIPTION

[0063] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0064] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned herein, unless otherwise specified, include direct and indirect connections (couplings). In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0065] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0066] like Figure 1 As shown, Figure 1 A flow chart of a control method for a control system of a UAV landing platform provided in one embodiment of the present invention, wherein the control system of the UAV landing platform is configured to include a first acquisition module 11, a second acquisition module 12 and an execution module 1, wherein the first acquisition module 11 is used to acquire the operating state of the UAV; the second acquisition module 12 is used to acquire the environmental parameters of the landing platform; the execution module 1 is used to execute the following steps: if the operating state of the UAV belongs to the first target type, the UAV and the landing platform are controlled according to the environmental parameters of the landing platform and in accordance with the first control mode; if the operating state of the UAV belongs to the second target type, the UAV and the landing platform are controlled according to the environmental parameters of the landing platform and in accordance with the second control mode; wherein the operating state of the UAV includes at least a take-off phase and a landing phase; and the environmental parameters include at least one or any combination of weather information, biological information, and geographic, environmental, and building facility information.

[0067] Specifically in this embodiment, the first acquisition module 11 is set on the landing platform, and can communicate with the drone in a wireless manner, such as using Wi-Fi communication, LoRa communication, Bluetooth protocol communication or other short-range communication methods; Figure 5As shown, the first acquisition module 11 can also be connected to the execution module 1 in a wired manner for communication.

[0068] Taking the connection method of the communication connection as Wi-Fi connection as an example, when the drone is preparing to take off, the landing platform scans the wireless signal of the Wi-Fi hotspot (also known as a wireless router) through the communicator, and then establishes a communication connection with the Wi-Fi hotspot; after establishing a communication connection with the Wi-Fi hotspot, the landing platform can query other devices that have established a communication connection with the Wi-Fi hotspot; if the other devices that have established a communication connection with the Wi-Fi hotspot include a drone, a communication connection can be established between the first acquisition module 11 and the drone through the Wi-Fi hotspot.

[0069] Furthermore, after the first acquisition module 11 establishes a communication connection with the drone, it can receive the operating status information of the drone.

[0070] More specifically, the second acquisition module 12 is arranged on the landing platform and can be set as an infrared panoramic camera. The infrared panoramic camera is a camera that combines infrared imaging technology and panoramic shooting function. It has thermal imaging mode, visible light mode and hybrid mode (infrared + visible light). The thermal imaging mode uses an infrared sensor to capture the temperature difference of different objects to generate a thermal image; the visible light mode means that under sufficient light conditions, the camera can switch to ordinary visible light mode and use a traditional CMOS or CCD sensor to capture color images; the hybrid mode can turn on the infrared and visible light modes at the same time, and fuse the images in the two modes together to provide richer details and color information; Figure 5 As shown, the second acquisition module 12 can be connected to the execution module 1 in a wired manner for communication.

[0071] It is understandable that the second acquisition module 12 may also be configured as a combination of an infrared camera and a panoramic camera.

[0072] More specifically, the execution module 1 refers to a device that can generate an operation control signal according to the instruction operation code and the timing signal to instruct the landing platform and the drone to execute the control instruction. Exemplarily, the execution module 1 can be set as a central processing unit (CPU), a general-purpose processor network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD) or any combination thereof. The execution module 1 can also be other devices with processing functions, such as circuits, devices or software modules.

[0073] More specifically, the weather information is set to include raining and not raining; the biological information is set to include the presence of birds landing on the trees around the landing platform, the absence of birds landing on the trees around the landing platform, the presence of chicks and / or adult birds in the bird nests on the trees around the landing platform, and the absence of chicks and / or adult birds in the bird nests on the trees around the landing platform; the geographical\environment\building facility information is set to include the presence of bird nests on the trees around the landing platform and the absence of bird nests on the trees around the landing platform.

[0074] When in use, the operating state of the UAV is first obtained through the first acquisition module 11, and then the environmental parameters of the landing platform are obtained through the second acquisition module 12. Then, the UAV and the landing platform are controlled through the execution module 1. When the operating state of the UAV belongs to the first target type, it is controlled according to the environmental parameters of the landing platform and in accordance with the first control mode. When the operating state of the UAV belongs to the second target type, it is controlled according to the environmental parameters of the landing platform and in accordance with the second control mode. In this way, the control mode can be reasonably selected according to the operating state of the UAV and the environmental parameters of the landing platform, so as to ensure the smooth take-off and landing of the UAV and improve safety without disrupting the activity habits of the birds as much as possible.

[0075] In some embodiments, Figure 2 As shown, if the operating state of the UAV belongs to the first target type, the UAV and the landing platform are controlled in the first control mode according to the environmental parameters of the landing platform, and the setting includes the following steps:

[0076] When the first target type is the take-off stage, the presence of bird nests and fallen birds on the trees around the landing platform is obtained;

[0077] When there are bird nests and / or fallen birds on the trees around the landing platform, drive them away according to the first bird-driving procedure;

[0078] When there are no bird nests or fallen birds on the trees around the landing platform, the drone can take off normally.

[0079] Specifically in this embodiment, the presence of bird nests and landed birds on the trees around the landing platform can be determined by using the hybrid mode of the infrared panoramic camera and the differences in color and heat between tree branches, leaves, bird nests and birds.

[0080] More specifically, when there are bird nests and / or fallen birds on the trees around the landing platform, birds may fly back to their nests during the take-off of the drone. Since the drone is a foreign object and generates noise during flight, birds that are about to fly back to their nests or have already flown back to their nests or fallen birds may be easily frightened, causing them to suddenly take off or change their flight paths, which may easily lead to a collision with the drone. To avoid this situation, it is set to perform bird repelling according to the first bird repelling procedure.

[0081] More specifically, when there are no bird nests or fallen birds on the trees around the landing platform, the drone will naturally not be hit by birds that are preparing to fly back to their nests or have already flown back to their nests or fallen birds, so the drone can take off normally and perform its work tasks conveniently.

[0082] In a further embodiment, a first bird-repelling module 14 is provided on the landing platform, and a second bird-repelling module 15 is provided on the drone; Figure 2 As shown, when there are bird nests and / or fallen birds on the trees around the landing platform, the first bird-repelling procedure is followed to drive away the birds, including the following steps:

[0083] The first bird-repelling module 14 is activated to drive away birds that have landed on trees around the landing platform and / or adult birds in bird nests;

[0084] When there are no birds landing on the trees around the landing platform, obtain the distribution of bird nests on the trees around the landing platform;

[0085] When there are no bird nests on the trees around the landing platform, the drone takes off normally;

[0086] Get rain information when there are bird nests on trees around the landing platform;

[0087] When it rains, the first bird-repelling module 14 continues to operate, the UAV takes off normally, and at the same time obtains the situation of birds emerging from nests on the trees around the landing platform;

[0088] When there are birds flying out of the bird nests on the trees around the landing platform, the second bird-repelling module 15 is activated to drive away the birds flying out of the bird nests;

[0089] When it is not raining, the first bird repelling module 14 continues to operate and the UAV takes off normally;

[0090] When the drone flies to a preset height, the first bird-repelling module 14 is turned off.

[0091] Specifically in this embodiment, the distribution of bird nests and landed birds on the trees around the landing platform can be determined by using the hybrid mode of the infrared panoramic camera and the differences in color and heat between tree branches, leaves, bird nests and birds.

[0092] More specifically, when there are no birds landing on the trees around the landing platform, but it is raining, since there are bird nests on the trees around the landing platform, adult birds may stay in the nests to protect young birds and avoid rain. At this time, the bird-repelling effect of the landing platform is limited. When the drone takes off, the adult birds guarding the nests may suddenly take off due to fright and attack the drone, resulting in a crash. To avoid this situation, it is set that when it rains, the first bird-repelling module 14 continues to operate, thereby avoiding the occurrence of birds landing on the trees around the landing platform, and the drone takes off normally. At the same time, the infrared panoramic camera is used to obtain the situation of birds emerging from the bird nests on the trees around the landing platform. When there are birds emerging from the bird nests on the trees around the landing platform, the second bird-repelling module 15 is started to drive away the birds flying out of the bird nests in a targeted manner, thereby effectively avoiding the occurrence of collision accidents.

[0093] More specifically, when there are no bird nests on the trees around the landing platform, the drone will naturally not be hit by birds that are preparing to fly back to their nests or have already flown back to their nests, so the drone can take off normally.

[0094] More specifically, when it is not raining, the adult birds in the bird nests and the birds that have fallen on the trees will be temporarily driven away by the first bird-repelling module 14, and the UAV can take off normally at this time.

[0095] More specifically, when the drone flies to a preset height, even if birds land on the trees around the landing platform or birds leave their nests or return to their nests, it will not interfere with the flight of the drone. In order to reduce power consumption and reduce interference with the living habits of birds, the first bird-repelling module 14 is set to be turned off.

[0096] More specifically, Figure 5 As shown, the first acquisition module 11 can be connected to the execution module 1 in a wired manner, and the second acquisition module 12 can be connected to the execution module 1 in a wireless manner.

[0097] In a further embodiment, the first bird-repelling module 14 and / or the second bird-repelling module 15 can be configured to include a sound bird-repelling unit, and the volume of the sound bird-repelling unit on the first bird-repelling module 14 is positively correlated with the number of birds landing on the trees around the landing platform; the volume of the sound bird-repelling unit on the second bird-repelling module 15 is positively correlated with the number of birds flying out of the bird's nest.

[0098] Specifically in this embodiment, the sound bird-repelling unit can emit bird alarm sounds or the sounds of bird hunters, such as the cry of an eagle, to drive away the birds; when the number of birds landing on the trees around the landing platform increases, the volume of the sound bird-repelling unit on the first bird-repelling module 14 can be set to be larger to improve the bird-repelling efficiency; when the number of birds flying out of the bird's nest increases, in order to drive away the birds as quickly as possible, the volume of the sound bird-repelling unit on the second bird-repelling module 15 can be set to be larger.

[0099] In other embodiments, when a sonar positioning module is provided on the drone, and the first bird repellent module 14 is configured to include an ultrasonic bird repellent unit, since the sonar positioning module also uses sound waves for positioning, in the working environment of the ultrasonic bird repellent unit, due to the presence of a large number of trees, these trees may reflect ultrasonic waves to form a cluttered acoustic environment; although this will not directly affect the communication of the drone, it may affect the effect of ultrasonic bird repellent. At the same time, the complex acoustic environment may cause the sonar positioning module on the drone to receive erroneous echo information, affecting its height measurement or obstacle avoidance function; to avoid this situation, the frequencies of the ultrasonic bird repellent unit and the sonar positioning module are set to be different.

[0100] More specifically, ultrasonic bird repellent units can emit high-frequency sound waves that are beyond the range of human hearing but are effective against many bird species, thereby dispersing flocks of birds in a short period of time.

[0101] In other embodiments, when a sonar positioning module is provided on the drone, and the first bird-repelling module 14 is configured to include an ultrasonic bird-repelling unit, the influence of a complex acoustic environment on the positioning accuracy of the sonar positioning module can also be reduced by using filtering technology, that is, a digital filter is used in the signal processing stage of the sonar sensor to filter out the signal with the same frequency as the ultrasonic bird-repelling unit and retain the useful echo signal; the influence of a complex acoustic environment on the positioning accuracy of the sonar positioning module can also be reduced by using other sensors to assist in positioning, such as a laser radar (LiDAR), an infrared rangefinder, a visual sensor or an inertial measurement unit (IMU), and the data fusion with the sonar positioning module can improve the accuracy of positioning and obstacle avoidance. Exemplarily, the flight position of the drone can be obtained by an infrared panoramic camera to correct the data of the sonar positioning module.

[0102] In other embodiments, the first bird repellent module 14 and / or the second bird repellent module 15 can also be configured as a visual bird repellent unit or a laser bird repellent unit, wherein the visual bird repellent unit mainly forms visual deterrents such as raptor models or rotating colorful flags, which can imitate the image or movements of predators to alert birds and make them avoid the area; the laser bird repellent unit mainly irradiates birds with lasers to scare them away.

[0103] It is understandable that the bird repelling unit illustrated in the embodiment of the present invention does not constitute a specific limitation on the first bird repelling module 14 and the second bird repelling module 15. In other embodiments of the present invention, the specific form of the first bird repelling module 14 and the second bird repelling module 15 can be set as a combination of any of the above bird repelling units.

[0104] In other embodiments, Figure 3As shown, if the operating state of the UAV belongs to the second target type, the UAV and the landing platform are controlled in the second control mode according to the environmental parameters of the landing platform, including the following steps:

[0105] When the second target type is the landing stage, the situation of birds landing on the trees around the landing platform is obtained;

[0106] When there are birds on the trees around the landing platform, drive them away according to the second bird-driving procedure;

[0107] When there are no birds on the trees around the landing platform, follow the third bird-repelling procedure.

[0108] Specifically in this embodiment, the hybrid mode of the infrared panoramic camera can be used to determine the distribution of birds landing on the trees around the landing platform by utilizing the differences in color and heat between the branches, leaves and birds of the trees.

[0109] More specifically, when there are birds on the trees around the landing platform, during the landing process of the drone, since the drone is a foreign object and generates noise during flight, the birds can be easily frightened, causing them to suddenly take off or change their flight path, and thus easily collide with the drone. To avoid this situation, it is set to carry out bird repelling according to the second bird repelling procedure.

[0110] More specifically, when there are no birds landing on the trees around the landing platform, there may still be bird nests on them. If there are bird nests, during the landing process of the UAV, since the UAV is a foreign object and generates noise during flight, the birds that are preparing to fly back to the nests or have already flown back to the nests can be easily frightened, causing them to suddenly take off or change their flight paths, and thus easily collide with the UAV. To avoid this situation, it is set to carry out bird repelling according to the third bird repelling procedure.

[0111] In a further embodiment, Figure 3 As shown, when there are birds landing on the trees around the landing platform, the second bird-repelling procedure is used to drive away the birds, which is configured to include the following steps:

[0112] The first bird-repelling module 14 is activated to drive away birds that have landed on trees around the landing platform;

[0113] When there are no birds landing on the trees around the landing platform, obtain the distribution of bird nests on the trees around the landing platform;

[0114] When there are no bird nests on the trees around the landing platform, the drone lands normally;

[0115] Get rain information when there are bird nests on trees around the landing platform;

[0116] When it rains, the first bird-repelling module 14 continues to operate, the UAV lands normally, and at the same time obtains the situation of birds emerging from nests on the trees around the landing platform;

[0117] When there are birds flying out of the bird nests on the trees around the landing platform, the second bird-repelling module 15 is activated to drive away the birds flying out of the bird nests;

[0118] When it is not raining, the first bird-repelling module 14 continues to operate and the UAV lands normally.

[0119] Specifically in this embodiment, the distribution of bird nests on the trees around the landing platform can be determined by using the hybrid mode of the infrared panoramic camera and the differences in color and heat between the branches, leaves and bird nests of the trees.

[0120] More specifically, when there are no bird nests on the trees around the landing platform, the drone will naturally not be hit by birds that are preparing to fly back to their nests or have already flown back to their nests, so the drone can land normally.

[0121] More specifically, when there are no birds landing on the trees around the landing platform, but it is raining, since there are bird nests on the trees around the landing platform, adult birds may stay in the nests to protect young birds and avoid rain. At this time, the bird-repelling effect of the landing platform is limited. When the drone takes off, the adult birds guarding the nests may suddenly take off due to fright and attack the drone, resulting in a crash. To avoid this situation, it is set that when it rains, the first bird-repelling module 14 continues to operate, thereby avoiding the occurrence of birds landing on the trees around the landing platform, and the drone takes off normally. At the same time, the infrared panoramic camera is used to obtain the situation of birds emerging from the bird nests on the trees around the landing platform. When there are birds emerging from the bird nests on the trees around the landing platform, the second bird-repelling module 15 is started to drive away the birds flying out of the bird nests in a targeted manner, thereby effectively avoiding the occurrence of accidents.

[0122] More specifically, when it is not raining, the adult birds in the bird nests and the birds that have fallen on the trees will be temporarily driven away by the first bird-repelling module 14, and the UAV can take off normally at this time.

[0123] In other embodiments, Figure 4 As shown, when there are no birds landing on the trees around the landing platform, the third bird-repelling procedure is used to drive away birds, which is configured to include the following steps:

[0124] Obtain the distribution of bird nests on the trees around the landing platform;

[0125] When there are no bird nests on the trees around the landing platform, the drone lands normally;

[0126] Get rain information when there are bird nests on trees around the landing platform;

[0127] When it rains, the first bird-repelling module 14 continues to operate, the UAV lands normally, and at the same time obtains the situation of birds emerging from nests on the trees around the landing platform;

[0128] When there are birds flying out of the bird nests on the trees around the landing platform, the second bird-repelling module 15 is activated to drive away the birds flying out of the bird nests;

[0129] When it is not raining, the first bird-repelling module 14 continues to operate and the UAV lands normally.

[0130] Specifically in this embodiment, the distribution of bird nests on the trees around the landing platform can be determined by using the hybrid mode of the infrared panoramic camera and the differences in color and heat between the branches, leaves and bird nests of the trees.

[0131] More specifically, when there are no bird nests on the trees around the landing platform, the drone will naturally not be hit by birds that are preparing to fly back to their nests or have already flown back to their nests, so the drone can land normally.

[0132] More specifically, when there are no birds landing on the trees around the landing platform, but it is raining, since there are bird nests on the trees around the landing platform, adult birds may stay in the nests to protect young birds and avoid rain. At this time, the bird-repelling effect of the landing platform is limited. When the drone takes off, the adult birds guarding the nests may suddenly take off due to fright and attack the drone, resulting in a crash. To avoid this situation, it is set that when it rains, the first bird-repelling module 14 continues to operate, thereby avoiding the occurrence of birds landing on the trees around the landing platform, and the drone takes off normally. At the same time, the infrared panoramic camera is used to obtain the situation of birds emerging from the bird nests on the trees around the landing platform. When there are birds emerging from the bird nests on the trees around the landing platform, the second bird-repelling module 15 is started to drive away the birds flying out of the bird nests in a targeted manner, thereby effectively avoiding the occurrence of accidents.

[0133] More specifically, when it is not raining, the adult birds in the bird nests and the birds that have fallen on the trees will be temporarily driven away by the first bird-repelling module 14, and the UAV can take off normally at this time.

[0134] In other embodiments, in order to improve the working efficiency and avoid the situation of waiting for bird driving and pre-driving bird driving, it is set that if the operation state of the UAV belongs to the second target type, the UAV is controlled in the second control mode according to the environmental parameters of the landing platform, and the following steps are also included:

[0135] Get the time T required for the drone to return;

[0136] When the time T required for the drone to return is greater than the bird-repelling time t, the second or third bird-repelling program is started after a delay of (Tt);

[0137] When the time T required for the drone to return is less than the bird-repelling time t, the second or third bird-repelling program is started in advance (tT).

[0138] Specifically in this embodiment, in order to obtain the time T required for the drone to return in time, the control system of the drone landing platform is configured to further include a third acquisition module 13, which is arranged on the landing platform and can communicate with the drone in a wireless manner, such as using a Wi-Fi communication method, a LoRa communication method, a Bluetooth protocol communication method or other medium and short distance communication methods, so as to obtain the time T required for the drone to return in time; Figure 5 As shown, the third acquisition module 13 can also be connected to the execution module 1 in a wired manner for communication.

[0139] More specifically, the time T required for the drone to return can be determined manually, or the appropriate return time can be determined by outputting pulses based on the drone's working conditions and the drone's battery level at the time and by combining control technology with expert system technology in artificial intelligence, fuzzy control and rough set theory methods.

[0140] Exemplarily, when the bird-repelling time t is 10 minutes and the time T required for the drone to return is 20 minutes, the second or third bird-repelling program can be started 10 minutes later, so that the bird-repelling work can be completed when the drone returns to the vicinity of the landing platform, so that the drone can fly directly back to the landing platform, avoiding the situation of waiting for bird repelling; when the bird-repelling time t is 10 minutes and the time T required for the drone to return is 5 minutes, the second or third bird-repelling program can be started 5 minutes in advance, so that the bird-repelling work can be completed when the drone returns to the vicinity of the landing platform, so that the drone can fly directly back to the landing platform, avoiding the situation where the first bird-repelling module works in advance, thereby improving work efficiency.

[0141] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0142] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A control system for an unmanned aerial vehicle landing platform, characterized in that: include: The first acquisition module is used to obtain the operating status of the drone; The second acquisition module is used to obtain the environmental parameters of the landing platform; The execution module is used to execute the following steps: If the operating state of the UAV belongs to the first target type, the UAV and the landing platform are controlled according to the environmental parameters of the landing platform and in accordance with the first control mode; If the operating state of the UAV belongs to the first target type, the UAV and the landing platform are controlled in a first control mode according to the environmental parameters of the landing platform, including the following steps: When the first target type is the take-off stage, the presence of bird nests and fallen birds on the trees around the landing platform is obtained; When there are bird nests and / or fallen birds on the trees around the landing platform, drive them away according to the first bird-driving procedure; When there are no bird nests or birds landing on the trees around the landing platform, the drone can take off normally; A first bird-repelling module is provided on the landing platform, and a second bird-repelling module is provided on the UAV; when there are bird nests and / or fallen birds on the trees around the landing platform, the bird-repelling is performed according to the first bird-repelling procedure, including the following steps: Activate the first bird-repelling module to drive away birds that have landed on trees around the landing platform and / or adult birds in bird nests; When there are no birds landing on the trees around the landing platform, obtain the distribution of bird nests on the trees around the landing platform; When there are no bird nests on the trees around the landing platform, the drone takes off normally; Get rain information when there are bird nests on trees around the landing platform; When it rains, the first bird-repelling module continues to operate, the drone takes off normally, and at the same time obtains information about bird nests and birds emerging from trees around the landing platform; When there are birds flying out of the bird nests on the trees around the landing platform, the second bird-repelling module is activated to drive away the birds flying out of the bird nests; When it is not raining, the first bird repellent module continues to operate and the drone takes off normally; When the drone flies to a preset altitude, the first bird repellent module is turned off; If the operating state of the UAV belongs to the second target type, the UAV and the landing platform are controlled according to the environmental parameters of the landing platform and in accordance with the second control mode; The operating status of the UAV includes at least a take-off phase and a landing phase; the environmental parameters include at least one or any combination of weather information, biological information, and geographic, environmental, and building facility information.

2. The control system of the UAV landing platform according to claim 1, characterized in that: The first bird-repelling module and / or the second bird-repelling module include a sound bird-repelling unit. The volume of the sound bird-repelling unit on the first bird-repelling module is positively correlated with the number of birds landing on the trees around the landing platform; the volume of the sound bird-repelling unit on the second bird-repelling module is positively correlated with the number of birds flying out of the bird's nest.

3. The control system of the UAV landing platform according to claim 2, characterized in that: The sounds emitted by the acoustic bird repellent unit include the sounds of bird predators.

4. The control system of the UAV landing platform according to claim 1, characterized in that: The UAV is provided with a sonar positioning module; the first bird-repelling module comprises an ultrasonic bird-repelling unit, and the ultrasonic bird-repelling unit and the sonar positioning module have different frequencies.

5. The control system of the UAV landing platform according to claim 1, characterized in that: If the operating state of the UAV belongs to the second target type, the UAV and the landing platform are controlled in the second control mode according to the environmental parameters of the landing platform, including the following steps: When the second target type is the landing stage, the situation of birds landing on the trees around the landing platform is obtained; When there are birds on the trees around the landing platform, drive them away according to the second bird-driving procedure; When there are no birds on the trees around the landing platform, follow the third bird-repelling procedure.

6. The control system of the UAV landing platform according to claim 5, characterized in that: When there are birds on the trees around the landing platform, follow the second bird-repelling procedure, including the following steps: Start the first bird-repelling module to drive away the birds that have landed on the trees around the landing platform; When there are no birds landing on the trees around the landing platform, obtain the distribution of bird nests on the trees around the landing platform; When there are no bird nests on the trees around the landing platform, the drone lands normally; Get rain information when there are bird nests on trees around the landing platform; When it rains, the first bird-repelling module continues to operate, the drone lands normally, and at the same time obtains information about bird nests and birds emerging from trees around the landing platform; When there are birds flying out of the bird nests on the trees around the landing platform, the second bird-repelling module is activated to drive away the birds flying out of the bird nests; When it is not raining, the first bird repellent module continues to operate and the drone lands normally.

7. The control system of the UAV landing platform according to claim 5, characterized in that: When there are no birds on the trees around the landing platform, follow the third bird-repelling procedure, including the following steps: Obtain the distribution of bird nests on the trees around the landing platform; When there are no bird nests on the trees around the landing platform, the drone lands normally; Get rain information when there are bird nests on trees around the landing platform; When it rains, the first bird-repelling module continues to operate, the drone lands normally, and at the same time obtains information about bird nests and birds emerging from trees around the landing platform; When there are birds flying out of the bird nests on the trees around the landing platform, the second bird-repelling module is activated to drive away the birds flying out of the bird nests; When it is not raining, the first bird repellent module continues to operate and the drone lands normally.

8. The control system of the UAV landing platform according to claim 5, characterized in that: If the operating state of the UAV belongs to the second target type, the UAV is controlled in the second control mode according to the environmental parameters of the landing platform, and the following steps are also included: Get the time T required for the drone to return; When the time T required for the drone to return is greater than the bird-repelling time t, the second or third bird-repelling program is started after a delay of (Tt); When the time T required for the drone to return is less than the bird-repelling time t, the second or third bird-repelling program is started in advance (tT).

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