Multi-unmanned aerial vehicle automatic scheduling safe take-off and landing control method and system

Abstract

The invention discloses a multi-unmanned aerial vehicle automatic scheduling safe take-off and landing control method and system. The method comprises the following steps: judging whether a plurality of unmanned aerial vehicles are in a take-off process at present; if the current multiple UAVs are in the take-off process, determining the safe take-off height of the multiple UAVs according to the flight line height of the UAVs, sorting the take-off sequence of the UAVs according to the safe take-off height of the multiple UAVs, and taking off in a preset sequence; otherwise, judging whether the target unmanned aerial vehicle is in a return landing process or not; if the target unmanned aerial vehicle is in the return flight landing process, judging whether the current multiple unmanned aerial vehicles are in a safe landing stage or not; if the current multiple unmanned aerial vehicles are in the safe landing stage, carrying out landing safe collision detection on the current multiple unmanned aerial vehicles in the safe landing stage; otherwise, if the current multiple UAVs are in the safe return flight stage, performing return flight safe collision detection on the current multiple UAVs in the safe return flight stage. Seamless connection of links of multi-machine continuous take-off and landing can be achieved, and the overall operation efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a method and system for controlling the automatic scheduling and safe take-off and landing of multiple unmanned aerial vehicles. Background Art

[0002] Existing solutions for safe takeoff of multiple drones include:

[0003] (1) After one plane flies away, another one is manually released. This method has the following disadvantages: there is no coordination mechanism, inspection mechanism, timeout mechanism, etc. It is unsafe and inefficient. In addition, the manual judgment of the release time requires high requirements for operators. There is still a risk of collision accidents due to the operator's failure to respond to emergencies in a timely manner.

[0004] (2) Take off at a different take-off position. This method has the following disadvantages: it requires a sufficiently large take-off platform, and the drone does not take off completely straight. When the drone's attitude deviates, there is a high probability that mutual interference will occur, causing obstacle avoidance hovering or collision accidents.

[0005] Existing solutions for safe landing of multiple drones include:

[0006] (1) When planning routes and launching drones, design the order in which drones return and land. This approach has the following disadvantages: it does not take into account the various variables of drone flight (different route complexity, different wind speed and direction conditions, and different human and abnormal interruptions). Generally, drones will not strictly return and land in the expected time and order, and the tracks may overlap during the process, resulting in a collision accident.

[0007] (2) Manually land another drone after one has landed. This method has the following disadvantages: low efficiency, high energy consumption, and the need for one or more professionals to closely monitor the return and landing process of the drone. Improper coordination or untimely response by personnel may result in a collision. Summary of the invention

[0008] The purpose of the present invention is to overcome the defects of the prior art. The present invention provides a method and system for automatically scheduling the safe take-off and landing of multiple UAVs. The present invention is used to achieve the purpose of multiple UAVs sharing a single helipad for safe take-off and landing, and solves the problem that multiple UAVs are prone to collision accidents during take-off and landing due to the same take-off and landing paths.

[0009] In order to achieve the expected effect, the present invention adopts the following technical solutions:

[0010] The present invention discloses a multi-UAV automatic dispatching safe take-off and landing control method, comprising:

[0011] Determine whether the current multiple drones are in the take-off process;

[0012] If multiple drones are currently in the take-off process, the safe take-off height of the multiple drones is determined according to the drone route height, and the take-off order of the drones is sorted according to the safe take-off height of the multiple drones and they take off in a preset order;

[0013] Otherwise, determine whether the target drone is in the return landing process;

[0014] If the target drone is in the return landing process, determine whether the target drone is in the safe landing stage;

[0015] If the target UAV is in the safe landing stage, the target UAV in the safe landing stage will be subjected to landing safety collision detection;

[0016] Otherwise, if the target UAV is in the safe return phase, the target UAV in the safe return phase will be subjected to return safety collision detection.

[0017] Furthermore, the safe take-off altitude is the altitude of the first navigation point in the current multi-UAV route.

[0018] Furthermore, the taking off in a preset order is specifically as follows: taking-off instructions are sent preferentially to drones with high safe take-off altitudes; before sending take-off instructions to drones one by one in order, the flight altitude of the previous drone of the target drone is monitored; when the flight altitude of the previous drone of the target drone has reached the safe take-off altitude, a take-off instruction is sent to the target drone.

[0019] Further, when the target UAV is in the landing mode, the target UAV is determined to be in the safe landing stage;

[0020] and / or,

[0021] When the target drone is in return mode and within A meters of the return point, the target drone is judged to be in the safe landing stage;

[0022] and / or,

[0023] When the target drone is in the return-to-land process and is within A meters of the return point, the target drone is judged to be in the safe landing stage;

[0024] and / or,

[0025] When the target drone is in the manual control mode of the virtual joystick and is within B meters of the return point, the target drone is judged to be in the safe landing stage;

[0026] and / or,

[0027] When the target drone is in any mode and is within C meters of the return point, the target drone is judged to be in the safe landing stage.

[0028] Furthermore, the return safety collision detection specifically includes:

[0029] When the target UAV is in the safe return stage, the status information of other UAVs is received to find UAVs that are also in the safe return stage, and by comparing the distance value from the target UAV to the return point, the two UAVs closest to it are found as the return safety collision detection objects.

[0030] Furthermore, the return safety collision detection strategy includes:

[0031] When the target drone is in the safe return stage and there are no other drones in front or behind, the target drone maintains the default preset safe return altitude;

[0032] and / or,

[0033] When the target drone is in the safe return phase, there is no drone in front but there is a drone behind, then the triangular path formed by the coordinates of the target drone, the landing pad return point, and the drone behind the target drone is calculated to obtain the angle between the path of the target drone to the return point and the path of the drone behind to the return point;

[0034] When the angle exceeds the preset value, the target drone maintains the default preset safe return altitude;

[0035] When the angle does not exceed the preset value, the target drone returns to hover and waits for the drone behind the target drone to fly in front of the target drone. The target drone then increases the first preset distance based on the preset safe return altitude of the drone that has already flown in front as the return altitude of the target drone and continues to return;

[0036] and / or,

[0037] When the target drone is in the safe return stage, and there is a drone in front but no drone behind, the target drone returns at the preset safe return altitude of the drone in front plus the second preset distance;

[0038] and / or,

[0039] When the target drone is in the safe return stage, and there are drones in front and behind, the return altitude difference between the drones in front and behind the target drone is calculated to see whether it is greater than a third preset distance;

[0040] When the return altitude difference between the drones in front and behind the target drone is greater than or equal to the third preset distance, the safe return altitude of the target drone = (the return altitude of the front drone + the return altitude of the rear drone) / 2;

[0041] When the return altitude difference between the drones in front and behind the target drone is less than the third preset distance, the return hovering is cancelled. After the rear drone flies to the front, the target drone continues to return by raising the fourth preset distance based on the preset safe return altitude of the drone that has already flown in front as the return altitude of the target drone.

[0042] Furthermore, the landing safety collision detection specifically includes:

[0043] All drones currently in the safe landing stage are sorted according to their current flight altitudes, and land in order from low to high altitudes.

[0044] Furthermore, after each drone has landed, the helipad moves the drone to the charging area through the aircraft grabbing structure, freeing up the public landing area for the next drone to land;

[0045] When the aircraft handling structure moves the landing drone, it reports that the current apron is in a state where landing is not allowed;

[0046] When the aircraft capture structure completes the movement of the UAV and resets it to the deployed state, it reports that the current apron is in a state that allows landing.

[0047] Furthermore, when the target UAV is in the safe landing stage, it is detected in real time whether there is a UAV below;

[0048] When it is detected that there is no drone below, it is determined whether the current apron status allows landing;

[0049] When the landing pad is identified as a landing-permitted state, the current landing process of the target UAV is maintained;

[0050] When the landing pad is identified as not allowing landing, the current landing process of the target drone is canceled and the drone is hovered and waited;

[0051] When a drone is detected below, the height difference between the nearest drone below and the target drone is obtained;

[0052] When the height difference is greater than or equal to the fifth preset distance, the current landing behavior is maintained;

[0053] When the height difference is less than the fifth preset distance, the landing behavior is stopped immediately and the aircraft hovers in the air for safe avoidance.

[0054] The present invention also discloses a multi-UAV automatic dispatching safe take-off and landing control system, comprising:

[0055] The acquisition module is used to collect the flight data of multiple drones;

[0056] A control module is used to automatically schedule safe take-off and landing control of multiple UAVs according to any of the methods described above.

[0057] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides a method and system for controlling the automatic dispatching and safe take-off and landing of multiple unmanned aerial vehicles. The present invention does not require operator operation, and can automatically detect the dispatching and control, thereby improving efficiency and simplifying the process. The present invention can also perform take-off and landing or safe avoidance according to the current status of all unmanned aerial vehicles and the status of the helipad to improve safety. The present invention can achieve seamless connection of all links of continuous take-off and landing of multiple aircraft, thereby improving overall operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0059] Figure 1 It is a schematic diagram of a UAV take-off provided by an embodiment of the present invention.

[0060] Figure 2 The figure is a schematic diagram of a UAV landing provided by an embodiment of the present invention.

[0061] Figure 3 It is a schematic diagram of the entire state process of a drone provided by an embodiment of the present invention.

[0062] Figure 4 The present invention provides a flowchart of a method for controlling the automatic scheduling and safe take-off and landing of multiple unmanned aerial vehicles. DETAILED DESCRIPTION

[0063] The following will be combined with the 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] See also Figures 1 to 4 The present invention discloses a multi-UAV automatic dispatching safe take-off and landing control method, comprising:

[0065] Determine whether the current multiple drones are in the take-off process;

[0066] If multiple drones are currently in the take-off process, the safe take-off height of the multiple drones is determined according to the drone route height, and the take-off order of the drones is sorted according to the safe take-off height of the multiple drones and they take off in a preset order;

[0067] In one embodiment, the safe take-off altitude is the altitude of the first point in the current multi-UAV route.

[0068] In another embodiment, the taking off in a preset order is specifically as follows: taking-off instructions are sent preferentially to UAVs with high safe take-off altitudes, and before sending take-off instructions to the UAVs one by one in order, the flight altitude of the previous UAV of the target UAV is monitored, and when the flight altitude of the previous UAV of the target UAV has reached the safe take-off altitude, a take-off instruction is sent to the target UAV.

[0069] Otherwise, determine whether the target drone is in the return landing process;

[0070] If the target drone is in the return landing process, determine whether the target drone is in the safe landing stage;

[0071] If the target UAV is in the safe landing stage, the target UAV in the safe landing stage will be subjected to landing safety collision detection;

[0072] Otherwise, if the target UAV is in the safe return phase, the target UAV in the safe return phase will be subjected to return safety collision detection.

[0073] Specifically, the landing process mainly involves two stages: the safe return stage and the safe landing stage. When the target drone is in the safe return stage, it only performs return safety collision detection with all other drones in the safe return stage; when the drone is in the safe landing stage, it only performs landing safety collision detection with all other drones in the safe landing stage.

[0074] It is worth noting that the takeoff scheduling of each aircraft in the takeoff process is controlled by the program in the aircraft nest on the apron, while the safety avoidance scheduling of the return landing process is detected and scheduled by each aircraft itself, that is, each aircraft will obtain the status of other aircraft and then find the nearest front and rear aircraft for avoidance.

[0075] In one embodiment, when the target UAV is in the landing mode, the target UAV is determined to be in the safe landing stage;

[0076] and / or,

[0077] When the target drone is in return mode and within A meters of the return point, the target drone is judged to be in the safe landing stage;

[0078] and / or,

[0079] When the target drone is in the return-to-land process and is within A meters of the return point, the target drone is judged to be in the safe landing stage;

[0080] and / or,

[0081] When the target drone is in the manual control mode of the virtual joystick and is within B meters of the return point, the target drone is judged to be in the safe landing stage;

[0082] and / or,

[0083] When the target drone is in any mode and is within C meters of the return point, the target drone is judged to be in the safe landing stage.

[0084] It is worth noting that when the drone completes the mission and enters the landing process, it will participate in the safety test. The drone participating in the safety test will first determine whether it is in the safe landing stage. If it is not in the safe landing stage, it will be determined as the safe return stage.

[0085] Specifically, when the drone is in landing mode, it is directly determined to be in the safe landing stage.

[0086] When the drone is in return mode and is within 50 meters of the return point, it is still considered to be in the safe landing stage.

[0087] When the drone is already in the safety detection state and is within 50 meters from the return point, it is judged to be in the safe landing stage.

[0088] When the drone is in the manual control mode of the virtual joystick and is within 10 meters of the return point, it is considered to be in the safe landing stage.

[0089] In any other mode, when the distance to the return point is within 5 meters, it is forcibly determined as the safe landing stage.

[0090] Other situations during the safety detection stage are judged as the safe return stage.

[0091] The entire state process of the drone includes: safety detection stage and non-safety detection stage.

[0092] Among them, the safety detection stage includes: safe return stage and safe landing stage.

[0093] Furthermore, the return safety collision detection specifically includes:

[0094] When the target UAV is in the safe return stage, the status information of other UAVs is received to find UAVs that are also in the safe return stage, and by comparing the distance value from the target UAV to the return point, the two UAVs closest to it are found as the return safety collision detection objects.

[0095] Specifically, when all drones report their own status data in real time, they will automatically receive the status information of all other drones for collision calculation after takeoff. In order to improve the calculation speed, the main focus is on the flight status, return altitude, distance from the return point, and flight altitude. When all drones start to return, they will return according to the preset return altitude by default. Once the drone enters the return state, each drone will search for drones that are also in the return state in the status information of all other drones received, and compare the value of the distance from the current drone to the return point to find the two drones closest to itself as safe collision detection objects. All drones will preset a safe return altitude before taking off, such as 100 meters, 110 meters, and 120 meters according to the drone number. The preset safe return altitude can be staggered at a fixed interval (for example, 10 meters) in height difference.

[0096] Furthermore, the return safety collision detection strategy includes:

[0097] When the target drone is in the safe return stage and there are no other drones in front or behind, the target drone maintains the default preset safe return altitude;

[0098] and / or,

[0099] When the target drone is in the safe return stage, there is no drone in front and there is a drone behind, it is similar to the current drone cutting in line to return in front of the drone behind, so the triangular path formed by the coordinates of the target drone, the landing pad return point, and the drone behind the target drone is calculated to obtain the angle between the path of the target drone to the return point and the path of the drone behind to the return point;

[0100] When the angle exceeds a preset value (e.g., 10 degrees), it is considered that the two drones are still safe in the horizontal space, and the target drone maintains the default preset safe return altitude;

[0101] When the angle does not exceed a preset value (e.g., 10 degrees), it is considered that the two drones overlap in their current return paths and need to avoid each other by staggering their return altitudes. The current drone is in front of the following drone and is about to cut in line. To be on the safe side, the target drone returns and hovers, and waits for the drone behind the target drone to fly in front of the target drone. The target drone then increases the first preset distance (e.g., 40 meters) based on the preset safe return altitude of the drone that has already flown in front, and continues to return using the strategy of the target drone's return altitude.

[0102] and / or,

[0103] When the target drone is in the safe return stage, there is a drone in front and no drone behind, the target drone returns by adding a second preset distance (e.g. 40 meters) to the preset safe return altitude of the drone in front.

[0104] and / or,

[0105] When the target drone is in the safe return stage, there are drones in front and behind, similar to the current drone cutting in between the two drones in front and behind to return, then the return altitude difference between the drones in front and behind the target drone is calculated to see whether it is greater than a third preset distance (e.g., 40 meters);

[0106] When the return altitude difference between the drones in front and behind the target drone is greater than or equal to the third preset distance (for example, 40 meters), the safe return altitude of the target drone = (return altitude of the front drone + return altitude of the rear drone) / 2; that is, the return altitude of the current drone is at least 20 meters different from the return altitude of the drones in front and behind.

[0107] When the return altitude difference between the drones in front and behind the target drone is less than the third preset distance (for example, 40 meters), the return hovering is canceled, and after the rear drone flies to the front, the target drone continues to return based on the preset safe return altitude of the drone that has already flown in front, and then increases the fourth preset distance (for example, 40 meters) as the return altitude of the target drone.

[0108] Furthermore, the landing safety collision detection specifically includes:

[0109] All drones currently in the safe landing stage are sorted according to their current flight altitudes, and land in order from low to high altitudes.

[0110] Furthermore, after each drone has landed, the helipad moves the drone to the charging area through the aircraft grabbing structure, freeing up the public landing area for the next drone to land;

[0111] When the aircraft handling structure moves the landing drone, it reports that the current apron is in a state where landing is not allowed;

[0112] When the aircraft capture structure completes the movement of the UAV and resets it to the deployed state, it reports that the current apron is in a state that allows landing.

[0113] Furthermore, when the target UAV is in the safe landing stage, it is detected in real time whether there is a UAV below;

[0114] When it is detected that there is no drone below, it is determined whether the current apron status allows landing;

[0115] When the landing pad is identified as a landing-permitted state, the current landing process of the target UAV is maintained;

[0116] When the landing pad is identified as not allowing landing, the current landing process of the target drone is canceled and the drone is hovered and waited;

[0117] When a drone is detected below, the height difference between the nearest drone below and the target drone is obtained;

[0118] When the height difference is greater than or equal to a fifth preset distance (e.g., 30 meters), the current landing behavior is maintained;

[0119] When the height difference is less than a fifth preset distance (eg, 30 meters), the landing behavior is stopped immediately and the aircraft hovers in the air for safe avoidance.

[0120] When the distance is less than the preset value, it will hover and wait, and enter the landing state again after the distance exceeds the preset value. When the UAV is in the first position, whether the landing condition is met is used as the basis for deciding whether to continue landing. In this way, the entire UAV group is linked, and this strategy is compatible with any number of UAVs for safe and orderly landing, and the process is simple and controllable. The present invention does not require operator operation, and fully automatically detects and dispatches control, which improves efficiency and simplifies the process. The present invention can also take off and land or safely avoid according to the current status of all UAVs and the status of the helipad to improve safety. The present invention can achieve seamless connection of various links of continuous take-off and landing of multiple aircraft, thereby improving overall operating efficiency.

[0121] Specifically, all drones only pay attention to the distance from the previous drone. When the distance is less than 30 meters, they hover and wait, and then enter the landing state again after the distance exceeds 30 meters. When the drone is in the first position, whether the apron has the landing conditions is used as the basis for deciding whether to continue landing. In this way, the entire drone group is linked. This strategy is compatible with any number of passing objects, and the process is simple and controllable.

[0122] The present invention does not require operator operation, and can automatically detect, dispatch and control, thereby improving efficiency and simplifying the process. The present invention can also perform takeoff and landing or safe avoidance according to the current status of all drones and the status of the helipad to improve safety. The present invention can achieve seamless connection of all links of continuous takeoff and landing of multiple drones, thereby improving overall operating efficiency.

[0123] The present invention also discloses a multi-UAV automatic dispatching safe take-off and landing control system, comprising:

[0124] The acquisition module is used to collect the flight data of multiple drones;

[0125] A control module is used to automatically schedule safe take-off and landing control of multiple UAVs according to any of the methods described above.

[0126] The system embodiments can be implemented one-to-one with the aforementioned method embodiments, and will not be described in detail here.

[0127] Based on the same inventive concept, the present invention also discloses an electronic device, which may include: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus. The processor may call the logic instructions in the memory to execute a multi-UAV automatic scheduling safe take-off and landing control method, including:

[0128] Determine whether the current multiple drones are in the take-off process;

[0129] If multiple drones are currently in the take-off process, the safe take-off height of the multiple drones is determined according to the drone route height, and the take-off order of the drones is sorted according to the safe take-off height of the multiple drones and they take off in a preset order;

[0130] Otherwise, determine whether the target drone is in the return landing process;

[0131] If the target drone is in the return landing process, determine whether the target drone is in the safe landing stage;

[0132] If the target UAV is in the safe landing stage, the target UAV in the safe landing stage will be subjected to landing safety collision detection;

[0133] Otherwise, if the target UAV is in the safe return phase, the target UAV in the safe return phase will be subjected to return safety collision detection.

[0134] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, 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, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method 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.

[0135] On the other hand, an embodiment of the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, and when the program instructions are executed by a computer, the computer can execute a multi-UAV automatic scheduling safe take-off and landing control method provided by the above-mentioned method embodiments, including:

[0136] Determine whether the current multiple drones are in the take-off process;

[0137] If multiple drones are currently in the take-off process, the safe take-off height of the multiple drones is determined according to the drone route height, and the take-off order of the drones is sorted according to the safe take-off height of the multiple drones and they take off in a preset order;

[0138] Otherwise, determine whether the target drone is in the return landing process;

[0139] If the target drone is in the return landing process, determine whether the target drone is in the safe landing stage;

[0140] If the target UAV is in the safe landing stage, the target UAV in the safe landing stage will be subjected to landing safety collision detection;

[0141] Otherwise, if the target UAV is in the safe return phase, the target UAV in the safe return phase will be subjected to return safety collision detection.

[0142] In another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the computer program is implemented to execute a multi-UAV automatic scheduling safe take-off and landing control method provided in the above embodiments, including:

[0143] Determine whether the current multiple drones are in the take-off process;

[0144] If multiple drones are currently in the take-off process, the safe take-off height of the multiple drones is determined according to the drone route height, and the take-off order of the drones is sorted according to the safe take-off height of the multiple drones and they take off in a preset order;

[0145] Otherwise, determine whether the target drone is in the return landing process;

[0146] If the target drone is in the return landing process, determine whether the target drone is in the safe landing stage;

[0147] If the target UAV is in the safe landing stage, the target UAV in the safe landing stage will be subjected to landing safety collision detection;

[0148] Otherwise, if the target UAV is in the safe return phase, the target UAV in the safe return phase will be subjected to return safety collision detection.

[0149] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0150] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-UAV automatic dispatching safe take-off and landing control method, characterized in that: include: Determine whether the current multiple drones are in the take-off process; If multiple drones are currently in the take-off process, the safe take-off height of the multiple drones is determined according to the drone route height, and the take-off order of the drones is sorted according to the safe take-off height of the multiple drones and they take off in a preset order; Otherwise, determine whether the target drone is in the return landing process; If the target drone is in the return landing process, determine whether the target drone is in the safe landing stage; If the target UAV is in the safe landing stage, the target UAV in the safe landing stage will be subjected to landing safety collision detection; Otherwise, if the target UAV is in the safe return phase, the target UAV in the safe return phase will be subjected to return safety collision detection.

2. A multi-UAV automatic dispatching safe take-off and landing control method as claimed in claim 1, characterized in that: The safe take-off altitude is the altitude of the first point in the current multi-UAV route.

3. A multi-UAV automatic dispatching safe take-off and landing control method as claimed in claim 1, characterized in that: The taking off in a preset order is specifically as follows: taking-off instructions are sent preferentially to drones with high safe take-off altitudes; before sending take-off instructions to drones one by one in order, the flight altitude of the previous drone of the target drone is monitored; when the flight altitude of the previous drone of the target drone has reached the safe take-off altitude, a take-off instruction is sent to the target drone.

4. A multi-UAV automatic dispatching safe take-off and landing control method as claimed in claim 1, characterized in that: When the target drone is in landing mode, the target drone is judged to be in a safe landing stage; and / or, When the target drone is in return mode and within A meters of the return point, the target drone is judged to be in the safe landing stage; and / or, When the target drone is in the return-to-land process and is within A meters of the return point, the target drone is judged to be in the safe landing stage; and / or, When the target drone is in the manual control mode of the virtual joystick and is within B meters of the return point, the target drone is judged to be in the safe landing stage; and / or, When the target drone is in any mode and is within C meters of the return point, the target drone is judged to be in the safe landing stage.

5. A multi-UAV automatic dispatching safe take-off and landing control method as claimed in claim 1, characterized in that: The return safety collision detection specifically includes: When the target UAV is in the safe return stage, the status information of other UAVs is received to find UAVs that are also in the safe return stage, and by comparing the distance value from the target UAV to the return point, the two UAVs closest to it are found as the return safety collision detection objects.

6. A multi-UAV automatic dispatching safe take-off and landing control method as claimed in claim 5, characterized in that: The return safety collision detection strategy includes: When the target drone is in the safe return stage and there are no other drones in front or behind, the target drone maintains the default preset safe return altitude; and / or, When the target drone is in the safe return phase, there is no drone in front but there is a drone behind, then the triangular path formed by the coordinates of the target drone, the landing pad return point, and the drone behind the target drone is calculated to obtain the angle between the path of the target drone to the return point and the path of the drone behind to the return point; When the angle exceeds the preset value, the target drone maintains the default preset safe return altitude; When the angle does not exceed the preset value, the target drone returns to hover and waits for the drone behind the target drone to fly in front of the target drone. The target drone then increases the first preset distance based on the preset safe return altitude of the drone that has already flown in front as the return altitude of the target drone and continues to return; and / or, When the target drone is in the safe return stage, and there is a drone in front but no drone behind, the target drone returns at the preset safe return altitude of the drone in front plus the second preset distance; and / or, When the target drone is in the safe return stage, and there are drones in front and behind, the return altitude difference between the drones in front and behind the target drone is calculated to see whether it is greater than a third preset distance; When the return altitude difference between the drones in front and behind the target drone is greater than or equal to the third preset distance, the safe return altitude of the target drone = (the return altitude of the front drone + the return altitude of the rear drone) / 2; When the return altitude difference between the drones in front and behind the target drone is less than the third preset distance, the return hovering is cancelled. After the rear drone flies to the front, the target drone continues to return by raising the fourth preset distance based on the preset safe return altitude of the drone that has already flown in front as the return altitude of the target drone.

7. A multi-UAV automatic dispatching safe take-off and landing control method as claimed in claim 1, characterized in that: The landing safety collision detection specifically includes: All drones currently in the safe landing stage are sorted according to their current flight altitudes, and land in order from low to high altitudes.

8. A multi-UAV automatic dispatching safe take-off and landing control method as claimed in claim 7, characterized in that: After each drone has landed, the helipad moves the drone to the charging area through the aircraft grabbing structure, freeing up the public landing area for the next drone to land; When the aircraft handling structure moves the landing drone, it reports that the current apron is in a state where landing is not allowed; When the aircraft capture structure completes the movement of the UAV and resets it to the deployed state, it reports that the current apron is in a state that allows landing.

9. A multi-UAV automatic dispatching safe take-off and landing control method as claimed in claim 8, characterized in that: When the target drone is in the safe landing stage, detect in real time whether there is a drone below; When it is detected that there is no drone below, it is determined whether the current apron status allows landing; When the landing pad is identified as a landing-permitted state, the current landing process of the target UAV is maintained; When the landing pad is identified as not allowing landing, the current landing process of the target drone is canceled and the drone is hovered and waited; When a drone is detected below, the height difference between the nearest drone below and the target drone is obtained; When the height difference is greater than or equal to the fifth preset distance, the current landing behavior is maintained; When the height difference is less than the fifth preset distance, the landing behavior is stopped immediately and the aircraft hovers in the air for safe avoidance.

10. A multi-UAV automatic dispatching safe take-off and landing control system, characterized in that: include: The acquisition module is used to collect the flight data of multiple drones; A control module, used for automatically scheduling safe take-off and landing control of multiple UAVs according to the method described in any one of claims 1-9.

Images