Method for remotely taking off and landing unmanned aerial vehicle in unmanned aerial vehicle airport

Abstract

The invention discloses a method for taking off and landing an unmanned aerial vehicle in different places in an unmanned aerial vehicle airport, and belongs to the technical field of unmanned aerial vehicles According to the invention, the problem of remote take-off and landing of the existing unmanned aerial vehicle is solved, the navigation task is sent to the unmanned aerial vehicle airport through the terminal, so that the unmanned aerial vehicle navigates according to the received navigation task path, and after the unmanned aerial vehicle executes the navigation task, the nearby unmanned aerial vehicle airport for landing can be found through real-time positioning of the unmanned aerial vehicle. In the above process, taking-off and landing of the unmanned aerial vehicle do not need to be manually operated, remote taking-off and landing of the unmanned aerial vehicle are achieved, and after the unmanned aerial vehicle arrives at an unmanned aerial vehicle airport for landing and before the unmanned aerial vehicle lands, the relative position relation of the unmanned aerial vehicle at the moment can be obtained by extracting large and small images in the landing area images; and the landing point of the unmanned aerial vehicle is accurately positioned according to the relative position relation and the size image, so that the unmanned aerial vehicle can accurately land.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a method for a UAV to take off and land at a remote UAV airport. Background Art

[0002] With the continuous development of drone technology, drones are becoming more and more popular and widely used in urban management, surveying and mapping, power inspection, agriculture, meteorology and other fields. When planning the use of drones for urban management and inspection tasks, it is necessary to dispatch drones from their current location to inspect along the inspection route and finally fly to a different location for landing.

[0003] However, the existing drones have the following problems during use: the traditional drone operation method requires manual operation of the drone's take-off and landing, and the drone needs to be followed throughout the process, which greatly reduces the efficiency and safety of the operation, making it difficult to achieve remote take-off and landing of the drone; therefore, it does not meet the existing needs. In this regard, we propose a method for drones to take off and land in remote locations at drone airports. Summary of the invention

[0004] The purpose of the present invention is to provide a method for a drone to take off and land at a drone airport in a different location. A navigation mission is sent to the drone airport through a terminal so that the drone can navigate according to the received navigation mission path. After the drone completes the navigation mission, the drone can find a nearby drone airport that can be used for landing through the real-time positioning of the drone, thereby realizing the remote landing of the drone. Before landing, the drone will obtain the relative position relationship of the drone at this time by extracting the large and small images in the landing area image, and then accurately locate the landing point of the drone based on the relative position relationship and the large and small images, so that the drone can land accurately, thereby solving the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a method for taking off and landing a drone at a drone airport in a different place, comprising a drone and a drone airport, wherein the drone airport has the functions of automatic take-off, automatic landing, automatic flight and automatic data uploading, and there are multiple drone airports, each of which is provided with a parking space for parking drones, and each drone airport corresponds to a project inspection area, and the drone airport controls the drones at the parking space of the airport to inspect the corresponding project inspection area, comprising the following steps:

[0006] Step 1: Based on RTK technology, the real-time positioning of the drone is obtained. The drone is equipped with attitude sensors and environmental sensors. The attitude sensors monitor the attitude information of the drone in real time, and the environmental sensors monitor the environmental information around the drone in real time. Based on the attitude information and environmental information, it is determined whether the current drone is suitable for take-off and landing;

[0007] Step 2: The drone airport issues an automatic take-off command to the drone parked at the airport parking space. The drone automatically takes off according to the automatic take-off command and automatically flies to the project inspection area corresponding to the drone airport. The drone monitors the project inspection area through the onboard camera and finally obtains the supervision data. The drone retains the progress of this supervision and transmits the obtained supervision data back to the drone airport, which then uploads the supervision data to the monitoring terminal.

[0008] Step 3: After the drone completes the supervision of the project inspection area, it returns to the corresponding drone airport for landing. If the drone encounters a problem during the supervision process, it will find a nearby drone airport for emergency landing based on the real-time positioning of the drone. The drone is not subject to the conditions of step 1 during emergency landing;

[0009] Step 4: When the drone airport controls the drone to land automatically, the image of the parking area of ​​the drone airport where it landed is obtained through the onboard camera, the obtained image is processed, and the large and small images in the processed image are extracted. The relative position relationship between the drone and the image is obtained by extracting the large and small images, and the landing point of the drone is accurately located based on the relative position relationship and the large and small images.

[0010] Furthermore, the drone airport has the functions of automatic take-off, automatic landing, automatic flight and automatic data upload, specifically:

[0011] Automatic take-off function: The drone airport controls the drone parked at the parking space to automatically take off;

[0012] Automatic landing function: The drone airport controls the drone to automatically land at the parking space for return or emergency landing;

[0013] Automatic flight function: The drone airport controls the drone to take off and fly automatically to carry out supervision work;

[0014] Automatic data upload function: The drone airport uploads the drone’s regulatory data to the monitoring terminal.

[0015] Furthermore, the drone can be positioned in real time through RTK technology. The drone airport obtains the real-time location information of the drone based on the real-time positioning. The drone monitors the attitude information of the drone and the environmental information around the drone through attitude sensors and environmental sensors respectively. Based on the monitored attitude information and environmental information, it is determined whether the current drone is suitable for take-off and landing. The specific situations are as follows:

[0016] If the current drone is in flight, the attitude information and environmental information of the drone during flight are obtained. If the attitude information and environmental information of the drone meet the preset conditions, the drone is controlled to land on the target drone take-off airport;

[0017] If the current drone is in a parking state, the attitude information and environmental information of the drone when parked are obtained. If the attitude information and environmental information of the drone meet the preset conditions, the drone is controlled to take off from the drone airport.

[0018] Furthermore, the attitude information refers to the attitude of the drone when it is flying and parked, and the environmental information refers to the weather conditions around the drone. The preset conditions need to ensure that the attitude information of the drone is a horizontal attitude, and that the environmental information around the drone is in a good state, which is specifically divided into the following situations:

[0019] If the attitude information of the drone does not meet the preset conditions, the attitude of the drone is adjusted until it is adjusted to meet the preset conditions of the attitude information of the drone;

[0020] If the drone's environmental information does not meet the preset conditions, if the drone is in a parked state, the drone will give up automatic take-off. If the drone is in a flying state and the current landing drone airport does not meet the preset conditions, then based on the drone's real-time positioning, it will reselect a nearby drone airport that meets the preset conditions for environmental information for landing.

[0021] Furthermore, the drone uses the onboard camera to monitor the project inspection area corresponding to the drone airport, and the drone retains the progress of this supervision. Among them, the drone obtains the last photo position, altitude and onboard camera angle through the retained supervision progress, and accurately re-shoots the photo based on the last photo position, altitude and onboard camera angle. All airports can complete the accurate re-shooting of the progress of the city's key projects on the same day, which can be used for project progress comparison and urban historical records.

[0022] Furthermore, the drone makes an emergency landing and specifically performs the following operations:

[0023] If a drone at a drone airport is damaged or malfunctions, or the battery is low, the drone will find a landing point based on its real-time positioning and make an emergency landing at a drone airport near the landing point;

[0024] The drone airport near the landing point will automatically take off the drones at the airport, freeing up the parking spaces at the drone airport, which will be used for emergency landings of drones.

[0025] Furthermore, the drone's onboard camera specifically performs the following operations:

[0026] After the drone completes its flight according to the navigation mission, it will search for a drone airport where it can land based on its real-time positioning information. After arriving at the drone airport, the drone will collect images of the landing point area of ​​the drone airport in real time through the onboard camera.

[0027] Processing the collected images of the landing point area, and identifying the processed images to identify the large and small images in the images, thereby determining the distance between the identified large and small images and the UAV;

[0028] According to the distance between the large and small images and the UAV, the relative position relationship between the UAV and the large and small images is obtained, and then the landing point of the UAV is determined according to the large and small images and the relative position relationship. If the landing point of the UAV cannot be determined, the UAV is adjusted through the terminal.

[0029] Furthermore, two images of different sizes and strong contrast will be arranged in the landing area of ​​the drone airport. The images have multi-layered patterns and the patterns or colors of the two images cannot be consistent. The small image is set in the area of ​​the large image or close to the large image. The image of the landing area needs to be processed by denoising and local enhancement in order to identify the large and small images in the image.

[0030] Furthermore, the landing point of the drone is determined, specifically:

[0031] Identify the features of the large image in the image of the landing area so that no one approaches the landing point;

[0032] Identify the features of the small image in the landing point area image, and use the identified small image as the landing point of the UAV;

[0033] If the small image is successfully recognized, the small image is determined as the landing point and the drone is controlled to land. If the small image is not recognized successfully, the terminal takes the current hovering position of the drone as the center and corrects the hovering distance of the drone with a radius of 0-2 meters, and re-acquires the image until the small image is successfully recognized.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The present invention can send a navigation mission to a drone airport through a terminal, and the drone airport can forward the navigation mission to the drone corresponding to the drone airport, so that the drone can receive the navigation mission sent by the terminal and take off, thereby realizing the remote take-off of the drone. After the drone completes the navigation mission, the drone can autonomously find a nearby drone airport that can be used for landing through real-time positioning information, thereby realizing the remote landing of the drone. In the above process, there is no need to manually operate the take-off and landing of the drone, thereby realizing the remote take-off and landing of the drone.

[0036] 2. After the drone of the present invention arrives at a drone airport that can be used for landing, the drone will first obtain an image of the landing area through an onboard camera before landing, so that the large and small images can be extracted from the landing area image, thereby obtaining the relative position relationship between the drone and the large and small images, and then the landing point of the drone can be accurately located based on the relative position relationship and the large and small images, so that the drone can land accurately. DETAILED DESCRIPTION

[0037] The following will be combined with 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.

[0038] In order to solve the technical problem that the traditional drone operation mode requires manual operation of the drone take-off and landing, and requires following the drone throughout the process, which greatly reduces the efficiency and safety of the operation, making it difficult to achieve drone take-off and landing in different places, this embodiment provides the following technical solutions:

[0039] A method for taking off and landing a drone at a drone airport in a different place includes a drone and a drone airport. The drone airport has the functions of automatic take-off, automatic landing, automatic flight and automatic data upload. There are multiple drone airports, each of which has a parking space for parking drones, and each drone airport corresponds to a project inspection area. The drone airport controls the drones on the parking space of the airport to inspect the corresponding project inspection area, including the following steps:

[0040] Step 1: Based on RTK technology, the real-time positioning of the drone is obtained. The drone is equipped with attitude sensors and environmental sensors. The attitude sensors monitor the attitude information of the drone in real time, and the environmental sensors monitor the environmental information around the drone in real time. Based on the attitude information and environmental information, it is determined whether the current drone is suitable for take-off and landing;

[0041] Step 2: The drone airport issues an automatic take-off command to the drone parked at the airport parking space. The drone automatically takes off according to the automatic take-off command and automatically flies to the project inspection area corresponding to the drone airport. The drone monitors the project inspection area through the onboard camera and finally obtains the supervision data. The drone retains the progress of this supervision and transmits the obtained supervision data back to the drone airport, which then uploads the supervision data to the monitoring terminal.

[0042] Step 3: After the drone completes the supervision of the project inspection area, it returns to the corresponding drone airport for landing. If the drone encounters a problem during the supervision process, it will find a nearby drone airport for emergency landing based on the real-time positioning of the drone. The drone is not subject to the conditions of step 1 during emergency landing;

[0043] Step 4: When the drone airport controls the drone to land automatically, the image of the parking area of ​​the drone airport where it landed is obtained through the onboard camera, the obtained image is processed, and the large and small images in the processed image are extracted. The relative position relationship between the drone and the image is obtained by extracting the large and small images, and the landing point of the drone is accurately located according to the relative position relationship and the large and small images;

[0044] Among them, the drone airport has the functions of automatic take-off, automatic landing, automatic flight and automatic data upload, specifically:

[0045] Automatic take-off function: The drone airport controls the drone parked at the parking space to automatically take off;

[0046] Automatic landing function: The drone airport controls the drone to automatically land at the parking space for return or emergency landing;

[0047] Automatic flight function: The drone airport controls the drone to take off and fly automatically to carry out supervision work;

[0048] Automatic data upload function: The drone airport uploads the drone’s regulatory data to the monitoring terminal.

[0049] The technical effects of the above content: the drone airport has the functions of automatic take-off, automatic landing, automatic flight and automatic data upload, so that the drone airport can control the drones parked at the airport to perform automatic take-off, automatic landing, and automatic flight operations, and automatically upload the supervision data after the drone completes the inspection work, and when a problem occurs, the drone can find a drone airport near the landing point for emergency landing. There is no need to manually operate the drone during this process. After the drone arrives at the drone airport that can be used for landing, the drone will obtain the relative position relationship of the drone at this time by extracting the large and small images in the landing area image before landing, and then accurately locate the landing point of the drone based on the relative position relationship and the large and small images, so that the drone can land accurately.

[0050] The drone can be positioned in real time through RTK technology. The drone airport obtains the real-time location information of the drone based on the real-time positioning. The drone uses attitude sensors and environmental sensors to monitor the attitude information of the drone and the environmental information around the drone. Based on the monitored attitude information and environmental information, it is determined whether the current drone is suitable for takeoff and landing. The specific situations are as follows:

[0051] If the current drone is in flight, the attitude information and environmental information of the drone during flight are obtained. If the attitude information and environmental information of the drone meet the preset conditions, the drone is controlled to land on the target drone take-off airport;

[0052] If the current drone is in a parking state, the attitude information and environmental information of the drone when parked are obtained. If the attitude information and environmental information of the drone meet the preset conditions, the drone is controlled to take off from the drone airport.

[0053] It should be noted that the attitude information refers to the attitude of the drone when it is flying and parked, and the environmental information refers to the weather conditions around the drone. The preset conditions need to ensure that the attitude information of the drone is horizontal and the environmental information around the drone is in good condition. The specific conditions are as follows:

[0054] If the attitude information of the drone does not meet the preset conditions, the attitude of the drone is adjusted until it is adjusted to meet the preset conditions of the attitude information of the drone;

[0055] If the drone's environmental information does not meet the preset conditions, if the drone is in a parked state, the drone will give up automatic take-off. If the drone is in a flying state and the current landing drone airport does not meet the preset conditions, then based on the drone's real-time positioning, it will reselect a nearby drone airport that meets the preset conditions for environmental information for landing.

[0056] The technical effects of the above content are as follows: RTK technology can obtain centimeter-level positioning accuracy in real time in the wild. It can provide the three-dimensional coordinates of the observation point in real time and achieve centimeter-level high accuracy, so that the location information between the drone and the drone airport can be obtained more accurately. At the same time, through the attitude sensor carried by the drone, the attitude information of the drone can be accurately obtained, further improving the positioning accuracy and stability of the drone. The attitude sensor can monitor the attitude of the drone in real time to obtain the attitude information of the drone. The environmental sensor can monitor the environment around the drone in real time to obtain the environmental information around the drone. The attitude information and environmental information obtained can be used to determine whether the current drone is suitable for take-off and landing. The judgment is based on whether the attitude information and environmental information meet the preset conditions. The preset conditions need to ensure that the attitude information of the drone is horizontal and the environmental information around the drone is in good condition. The attitude information and environmental information need to all meet the preset conditions. If one of them does not meet the preset conditions, the drone cannot take off and land. This setting is to ensure that the drone can fly safely.

[0057] In this embodiment,

[0058] The current drone is in flight status:

[0059] If the attitude information and environmental information of the drone meet the preset conditions, the drone is controlled to land on the target drone take-off airport;

[0060] The attitude information and environmental information of the drone do not meet the preset conditions. If the attitude information does not meet the preset conditions, the terminal adjusts the attitude of the drone and then lands on the target drone airport. If the environmental information does not meet the preset conditions, the terminal reselects a drone airport that meets the preset conditions of the environmental information for landing based on the real-time positioning of the drone.

[0061] The drone is currently in parking state:

[0062] If the attitude information and environmental information of the drone meet the preset conditions, the drone is controlled to take off from the drone airport;

[0063] The attitude information and environmental information of the drone do not meet the preset conditions. If the attitude information does not meet the preset conditions, the terminal will adjust the attitude of the drone before taking off. If the environmental information does not meet the preset conditions, the drone will give up taking off.

[0064] The drone uses the onboard camera to monitor the project inspection area corresponding to the drone airport, and the drone retains the progress of this supervision. Among them, the drone obtains the last photo position, altitude and onboard camera angle through the retained supervision progress, and accurately re-shoots the photo based on the last photo position, altitude and onboard camera angle. All airports can complete the accurate re-shooting of the progress of the city's key projects on the same day, which can be used for project progress comparison and urban historical records.

[0065] The technical effect of the above content: the drone airport has the functions of automatic take-off, automatic landing, automatic flight, and automatic data uploading. The drone airport cluster can automatically complete the supervision of the city's key projects in a short period of time according to the above work content, avoid staff inspections, improve supervision efficiency, and form efficient historical records at the same time; in this embodiment, Airport No. 1 corresponds to the A plot project, and Airport No. 2 corresponds to the B plot project. When inspecting, the drone of Airport No. 1 flies over the A plot project and takes a precise re-shoot based on the last photo position, height and camera angle. At the same time, the drone of Airport No. 2 flies over the B plot project and takes a precise re-shoot based on the last photo position, height and camera angle. In this way, all airports can complete the precise re-shooting of the progress of the city's key projects on the same day, which can be used for project progress comparison and urban historical records.

[0066] The drone makes an emergency landing and performs the following operations:

[0067] If a drone at a drone airport is damaged or malfunctions, or the battery is low, the drone will find a landing point based on its real-time positioning and make an emergency landing at a drone airport near the landing point;

[0068] The drone airport near the landing point will automatically take off the drones at the airport, freeing up the parking spaces at the drone airport, which will be used for emergency landings of drones.

[0069] The technical effect of the above content: When a drone is damaged or malfunctions, or is low on power, it is necessary to make an emergency landing of the drone. The drone searches for the landing point based on real-time positioning and makes an emergency landing at a drone airport near the landing point. After determining the drone airport for emergency landing, the drone airport will command the drones at the airport to take off automatically, thereby freeing up empty parking spaces for emergency landing of the drone. The drone is not subject to the conditions of step one during emergency landing. Therefore, all drone airport cluster aircraft will automatically adjust accordingly, thereby ensuring that the drone can make an emergency landing when a problem occurs.

[0070] Two images of different sizes and strong contrast will be arranged in the landing area of ​​the drone airport. The images have multi-layered patterns and the patterns or colors of the two images cannot be consistent. The small image is set in the area of ​​the large image or close to the large image.

[0071] The technical effect of the above content is as follows: two images of different sizes and strong contrast are set in the landing point area of ​​the drone airport in order to accurately locate the landing point of the drone, and the two images of different sizes can verify the landing point to ensure that the drone will not deviate when landing. The multi-level pattern setting of large and small images is to ensure that the features of large and small images are more prominent and easy to identify. The large and small images with a single pattern and color cannot be recognized by the drone, and thus the landing point cannot be found. At the same time, there must be a strong contrast between the large image and the small image to ensure that the drone can accurately identify the two images of large and small.

[0072] The drone's onboard camera performs the following operations:

[0073] After the drone completes its flight according to the navigation mission, it will search for a drone airport where it can land based on its real-time positioning information. After arriving at the drone airport, the drone will collect images of the landing point area of ​​the drone airport in real time through the onboard camera.

[0074] The collected images of the landing point area are processed, and the processed images are identified to identify the large and small images in the images, so as to determine the distance between the identified large and small images and the UAV; specifically, the images of the landing point area need to be processed by denoising and local enhancement to strengthen the important features of the images so as to identify the large and small images in the images;

[0075] According to the distance between the large and small images and the UAV, the relative position relationship between the UAV and the large and small images is obtained, and then the landing point of the UAV is determined according to the large and small images and the relative position relationship. If the landing point of the UAV cannot be determined, the UAV is adjusted through the terminal.

[0076] Determine the landing point for the drone, specifically:

[0077] First, the features of the large image in the landing area image are identified so that no one approaches the landing point;

[0078] Then, the features of the small image in the landing point area image are identified, and the identified small image is used as the landing point of the UAV;

[0079] If the small image is successfully recognized, the small image is determined as the landing point and the drone is controlled to land. If the small image is not recognized successfully, the terminal takes the current hovering position of the drone as the center and corrects the hovering distance of the drone with a radius of 0-2 meters, and re-acquires the image until the small image is successfully recognized.

[0080] The technical effect of the above content is as follows: after the drone completes the inspection according to the navigation mission, the drone determines the surrounding drone airport that can be used for landing through RTK technology, and flies to the drone airport for landing. When the drone arrives at the landing area of ​​the drone airport, the image of the landing area is collected by the onboard camera, and the collected landing area image is denoised and locally enhanced to enhance the effect of the landing area image. Then, the processed landing area image is recognized, thereby extracting the features of the large and small images in the landing area image, first recognizing the large image and then the small image, and using the recognized small image as For the landing point of the drone, if the large image or small image recognition is unsuccessful, the terminal will use the current drone position as the center and a radius of 0-2 meters to correct the drone's hovering distance, and then continue to collect images of the landing point area for recognition until both the large image and the small image are successfully recognized. By recognizing the large image, the landing point area can be approached, and the large image can further determine the landing point area, and then the small image in or around the large image can be identified. The small image can be used to determine the landing point of the drone, so that the drone can land at the landing point of the small image, ensuring the precise landing of the drone and preventing the drone from landing in areas other than the landing point.

[0081] Working principle: The terminal sends a navigation mission to the drone airport so that the drone can navigate according to the received navigation mission path. After completing the navigation mission, the drone can find a nearby drone airport that can be used for landing through the real-time positioning of the drone. In the above process, there is no need to manually operate the take-off and landing of the drone, and the drone’s take-off and landing is realized. After the drone arrives at the drone airport that can be used for landing, before landing, the drone will obtain the relative position relationship of the drone at this time by extracting the large and small images in the landing area image, and then accurately locate the landing point of the drone based on the relative position relationship and the large and small images, so that the drone can land accurately.

[0082] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0083] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for taking off and landing a drone at a drone airport in a different place, comprising a drone and a drone airport, wherein the drone airport has the functions of automatic take-off, automatic landing, automatic flight and automatic data upload, and there are multiple drone airports, each of which is provided with a parking space for parking drones, and each drone airport corresponds to a project inspection area, and the drone airport controls the drones at the parking space of the airport to inspect the corresponding project inspection area, characterized in that: The following steps are involved: Step 1: Based on RTK technology, the real-time positioning of the drone is obtained. The drone is equipped with attitude sensors and environmental sensors. The attitude sensors monitor the attitude information of the drone in real time, and the environmental sensors monitor the environmental information around the drone in real time. Based on the attitude information and environmental information, it is determined whether the current drone is suitable for take-off and landing; Step 2: The drone airport issues an automatic take-off command to the drone parked at the airport parking space. The drone automatically takes off according to the automatic take-off command and automatically flies to the project inspection area corresponding to the drone airport. The drone monitors the project inspection area through the onboard camera and finally obtains the supervision data. The drone retains the progress of this supervision and transmits the obtained supervision data back to the drone airport, which then uploads the supervision data to the monitoring terminal. Step 3: After the drone completes the supervision of the project inspection area, it returns to the corresponding drone airport for landing. If the drone encounters a problem during the supervision process, it will find a nearby drone airport for emergency landing based on the real-time positioning of the drone. The drone is not subject to the conditions of step 1 during emergency landing; Step 4: When the drone airport controls the drone to land automatically, the image of the parking area of ​​the drone airport where it landed is obtained through the onboard camera, the obtained image is processed, and the large and small images in the processed image are extracted. The relative position relationship between the drone and the image is obtained by extracting the large and small images, and the landing point of the drone is accurately located based on the relative position relationship and the large and small images.

2. The method for taking off and landing a drone at a drone airport in a different location according to claim 1, characterized in that: The drone airport has the functions of automatic take-off, automatic landing, automatic flight and automatic data upload, specifically: Automatic take-off function: The drone airport controls the drone parked at the parking space to automatically take off; Automatic landing function: The drone airport controls the drone to automatically land at the parking space for return or emergency landing; Automatic flight function: The drone airport controls the drone to take off and fly automatically to carry out supervision work; Automatic data upload function: The drone airport uploads the drone’s regulatory data to the monitoring terminal.

3. The method for taking off and landing a drone at a drone airport in a different location according to claim 1, characterized in that: The drone can be positioned in real time through RTK technology. The drone airport obtains the real-time location information of the drone based on the real-time positioning. The drone uses attitude sensors and environmental sensors to monitor the attitude information of the drone and the environmental information around the drone. Based on the monitored attitude information and environmental information, it is determined whether the current drone is suitable for takeoff and landing. The specific situations are as follows: If the current drone is in flight, the attitude information and environmental information of the drone during flight are obtained. If the attitude information and environmental information of the drone meet the preset conditions, the drone is controlled to land on the target drone take-off airport; If the current drone is in a parking state, the attitude information and environmental information of the drone when parked are obtained. If the attitude information and environmental information of the drone meet the preset conditions, the drone is controlled to take off from the drone airport.

4. The method for taking off and landing a UAV at a remote UAV airport according to claim 3, characterized in that: The attitude information refers to the attitude of the drone when it is flying and parked, and the environmental information refers to the weather conditions around the drone. The preset conditions require that the attitude information of the drone is horizontal, and that the environmental information around the drone is in good condition. The specific conditions are as follows: If the attitude information of the drone does not meet the preset conditions, the attitude of the drone is adjusted until it is adjusted to meet the preset conditions of the attitude information of the drone; If the drone's environmental information does not meet the preset conditions, if the drone is in a parked state, the drone will give up automatic take-off. If the drone is in a flying state and the current landing drone airport does not meet the preset conditions, then based on the drone's real-time positioning, it will reselect a nearby drone airport that meets the preset conditions for environmental information for landing.

5. The method for taking off and landing a UAV at a remote UAV airport according to claim 1, characterized in that: The drone uses the onboard camera to monitor the project inspection area corresponding to the drone airport, and the drone retains the progress of this supervision. Among them, the drone obtains the last photo position, altitude and onboard camera angle through the retained supervision progress, and accurately re-shoots the photo based on the last photo position, altitude and onboard camera angle. All airports can complete the accurate re-shooting of the progress of the city's key projects on the same day, which can be used for project progress comparison and urban historical records.

6. The method for taking off and landing a UAV at a remote UAV airport according to claim 1, characterized in that: The drone makes an emergency landing and performs the following operations: If a drone at a drone airport is damaged or malfunctions, or the battery is low, the drone will find a landing point based on its real-time positioning and make an emergency landing at a drone airport near the landing point; The drone airport near the landing point will automatically take off the drones at the airport, freeing up the parking spaces at the drone airport, which will be used for emergency landings of drones.

7. The method for taking off and landing a UAV at a remote UAV airport according to claim 1, characterized in that: The drone's onboard camera performs the following operations: After the drone completes its flight according to the navigation mission, it will search for a drone airport where it can land based on its real-time positioning information. After arriving at the drone airport, the drone will collect images of the landing point area of ​​the drone airport in real time through the onboard camera. Processing the collected images of the landing point area, and identifying the processed images to identify the large and small images in the images, thereby determining the distance between the identified large and small images and the UAV; According to the distance between the large and small images and the UAV, the relative position relationship between the UAV and the large and small images is obtained, and then the landing point of the UAV is determined according to the large and small images and the relative position relationship. If the landing point of the UAV cannot be determined, the UAV is adjusted through the terminal.

8. The method for taking off and landing a UAV at a remote UAV airport according to claim 1, characterized in that: Two images of different sizes and strong contrast will be arranged in the landing area of ​​the drone airport. The images have multi-layered patterns and the patterns or colors of the two images cannot be consistent. The small image is set in the area of ​​the large image or close to the large image. The image of the landing area needs to be processed by denoising and local enhancement in order to identify the large and small images in the image.

9. The method for taking off and landing a UAV at a remote UAV airport according to claim 7, characterized in that: Determine the landing point for the drone, specifically: Identify the features of the large image in the image of the landing area so that no one approaches the landing point; Identify the features of the small image in the landing point area image, and use the identified small image as the landing point of the UAV; If the small image is successfully recognized, the small image is determined as the landing point and the drone is controlled to land. If the small image is not recognized successfully, the terminal takes the current hovering position of the drone as the center and corrects the hovering distance of the drone with a radius of 0-2 meters, and re-acquires the image until the small image is successfully recognized.