Method and system for positioning unmanned aerial vehicle by unmanned aerial vehicle landing platform

Abstract

The invention discloses a method and a system for positioning an unmanned aerial vehicle by an unmanned aerial vehicle landing platform. A positioning area of the unmanned aerial vehicle landing platform is defined according to the upper surface of the unmanned aerial vehicle landing platform, the model of the unmanned aerial vehicle and a working scene of the unmanned aerial vehicle landing platform; and in a plane-coordinate system corresponding to the upper surface of the unmanned aerial vehicle landing platform, the relative offset of the unmanned aerial vehicle is defined according to the positioning area of the unmanned aerial vehicle landing platform and the plurality of landing contact points of the unmanned aerial vehicle. Furthermore, corresponding attitude coefficients are defined according to the multiple attitude parameters and the translation mode of the unmanned aerial vehicle, and attitude regulation and control of the unmanned aerial vehicle in all directions are triggered according to the attitude coefficients and preset attitude coefficients, so that dynamic balance of the unmanned aerial vehicle in the translation process is ensured; positioning control over the unmanned aerial vehicle by the unmanned aerial vehicle landing platform and translation control over the unmanned aerial vehicle relative to the upper surface of the unmanned aerial vehicle landing platform are compatible, and control over the final position precision of the unmanned aerial vehicle landing platform and the unmanned aerial vehicle is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle landing platforms, and in particular to a method and system for positioning a unmanned aerial vehicle by a unmanned aerial vehicle landing platform. Background Art

[0002] With the development of science and technology, drone landing platforms are widely used in people's lives and are used for drones to dock. At this time, the drone flies towards the drone landing platform and docks on the upper surface of the drone landing platform. However, when the drone docks on the upper surface of the drone landing platform, it is always misaligned with the preset landing position, which affects the final position accuracy of the drone landing platform and the drone, and cannot achieve the positioning control of the drone by the drone landing platform and the translation control of the drone relative to the upper surface of the drone landing platform. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a method and system for positioning a drone by a drone landing platform, which collects the location of the drone landing platform; defines the working scene of the drone landing platform according to the environmental detection of the location of the drone landing platform; defines the positioning area of ​​the drone landing platform according to the upper surface of the drone landing platform, the model of the drone and the working scene of the drone landing platform; in the plane coordinate system corresponding to the upper surface of the drone landing platform, defines the relative offset of the drone according to the positioning area of ​​the drone landing platform and multiple landing contact points of the drone, and is compatible with the overall consideration of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, realizes multi-dimensional comparison of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, and ensures the accuracy of the positioning area of ​​the drone landing platform.

[0004] Furthermore, a corresponding translation mode of the drone is defined based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and the flight speed and distance of the drone in the horizontal direction are regulated according to the translation mode of the drone; the translation process of the drone relative to the upper surface of the drone landing platform is monitored in real time, and multiple attitude parameters of the drone during the translation process are collected in real time, corresponding attitude coefficients are defined according to the multiple attitude parameters and the translation mode of the drone, and attitude control of the drone in various directions is triggered according to the attitude coefficient and the preset attitude coefficient to ensure the dynamic balance of the drone during the translation process, and is compatible with the positioning control of the drone by the drone landing platform and the translation control of the drone relative to the upper surface of the drone landing platform, thereby realizing the control of the final position accuracy of the drone landing platform and the drone.

[0005] An embodiment of the present invention provides a method for positioning a drone by a drone landing platform, which is applied to a scenario where a drone landing platform positions a drone; the method for positioning a drone by a drone landing platform includes: Collect the location of the drone landing platform; Define the working scenario of the drone landing platform based on the environmental detection of the location of the drone landing platform; Define the positioning area of ​​the drone landing platform according to the upper surface of the drone landing platform, the model of the drone, and the working scenario of the drone landing platform; In a plane coordinate system corresponding to the upper surface of the UAV landing platform, a relative offset of the UAV is defined according to a positioning area of ​​the UAV landing platform and a plurality of landing contact points of the UAV; The translation mode of the drone is defined based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and the flight speed and flight distance of the drone in the horizontal direction are controlled according to the translation mode of the drone; Monitor the translation process of the UAV relative to the upper surface of the UAV landing platform in real time, and collect multiple attitude parameters of the UAV during the translation process in real time, define corresponding attitude coefficients according to the multiple attitude parameters and the translation mode of the UAV, and trigger the attitude control of the UAV in various directions according to the attitude coefficients and preset attitude coefficients.

[0006] Optionally, collecting the location of the drone landing platform includes: Collect the position response signal of the UAV landing platform; Define the response space of the UAV landing platform according to the position response signal of the UAV landing platform; Match the corresponding control space based on the tracing of the response space of the drone landing platform; Define the corresponding position space according to the control space and the model of the drone landing platform; The corresponding position information is defined according to the traversal of the position space, and the location of the UAV landing platform is defined according to the position information and the surrounding environment image, and the location of the UAV landing platform is collected.

[0007] Optionally, the step of defining a working scenario of the drone landing platform according to the environmental detection of the location of the drone landing platform includes: Freeze the location of the drone landing platform; Define the corresponding environment space based on the location of the drone landing platform and the model of the drone landing platform; Defining multiple environmental parameters of different dimensions according to the traversal of the environmental space; Matching the corresponding environmental level according to multiple environmental parameters of different dimensions, and matching the corresponding environmental detection method according to the environmental level, the model of the UAV landing platform, and the flight parameters of the UAV during the landing process; Triggering environmental detection of the location of the drone landing platform along the environmental detection method; The working scenario of the drone landing platform is defined based on the environmental detection of the location of the drone landing platform.

[0008] Optionally, defining the positioning area of ​​the drone landing platform according to the upper surface of the drone landing platform, the model of the drone, and the working scene of the drone landing platform includes: Freeze the working scene of the drone landing platform; Traverse the drone landing platform and locate the upper surface of the drone landing platform; Associate the upper surface of the drone landing platform, the model of the drone, and the working scenario of the drone landing platform; Defining first area parameters based on a working scenario of the UAV landing platform and an upper surface of the UAV landing platform; Define the second area parameters based on the working scenario of the drone landing platform and the model of the drone; A matching table associating the second area parameters, the first area parameters, and the drone landing platform defines the positioning area of ​​the drone landing platform.

[0009] Optionally, in the plane coordinate system corresponding to the upper surface of the drone landing platform, defining the relative offset of the drone according to the positioning area of ​​the drone landing platform and multiple landing contact points of the drone includes: Freeze the upper surface of the UAV landing platform, and construct a corresponding plane coordinate system based on the upper surface of the UAV landing platform; Real-time monitoring of the plane coordinate system corresponding to the upper surface of the drone landing platform; In the plane coordinate system corresponding to the upper surface of the UAV landing platform, the positioning area of ​​the UAV landing platform is collected; Based on the contact portion of the drone with the upper surface of the drone landing platform, multiple landing contact points of the drone are defined, the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone are associated, and the relative offset of the drone is defined according to the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone.

[0010] Optionally, the translation mode of the corresponding drone is defined based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and the flight speed and flight distance of the drone in the horizontal direction are regulated according to the translation mode of the drone, including: Freeze the relative offset of the drone; A surface image of the upper surface of the UAV landing platform is collected by the UAV, and a friction portion of the upper surface and a surface material of the upper surface are defined according to the surface image of the upper surface of the UAV landing platform; The upper surface friction coefficient of the UAV landing platform is defined according to the friction part of the upper surface and the surface material of the upper surface.

[0011] Optionally, the step of defining a corresponding translation mode of the drone based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and regulating the flight speed and flight distance of the drone in the horizontal direction according to the translation mode of the drone, further includes: Associating the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and defining a corresponding translation mode of the drone according to the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone; Control the drone's horizontal flight according to its translation mode; Monitor the drone's horizontal flight in real time and collect the corresponding flight speed and distance.

[0012] Optionally, the real-time monitoring of the translation process of the drone relative to the upper surface of the drone landing platform, and the real-time collection of multiple attitude parameters of the drone during the translation process, defining corresponding attitude coefficients according to the multiple attitude parameters and the translation mode of the drone, and triggering attitude control of the drone in various directions according to the attitude coefficients and preset attitude coefficients include: Real-time monitoring of the translation process of the UAV relative to the upper surface of the UAV landing platform; Based on the attitude detectors configured at various positions of the UAV, multiple attitude parameters of the UAV during the translation process are collected in real time.

[0013] Optionally, the real-time monitoring of the translation process of the drone relative to the upper surface of the drone landing platform, and the real-time collection of multiple attitude parameters of the drone during the translation process, defining corresponding attitude coefficients according to the multiple attitude parameters and the translation mode of the drone, and triggering attitude control of the drone in various directions according to the attitude coefficients and preset attitude coefficients, also include: Associate multiple attitude parameters and the translation mode of the drone; Construct multiple attitude combinations based on multiple attitude parameters and the translation model of the UAV; Defining corresponding posture coefficients according to the recognition of multiple posture combinations; The corresponding preset attitude coefficient is matched based on the interaction between the UAV landing platform and the UAV; the attitude coefficient and the preset attitude coefficient are compared, and the attitude control of the UAV in various directions is triggered according to the corresponding attitude difference to ensure the dynamic balance of the UAV during the translation process.

[0014] In addition, an embodiment of the present invention further provides a positioning system for a drone landing platform to a drone, and the positioning system for a drone landing platform to a drone includes: The acquisition module is used to collect the location of the drone landing platform; The scenario module is used to define the working scenario of the drone landing platform according to the environmental detection of the location of the drone landing platform; A positioning area module is used to define the positioning area of ​​the drone landing platform according to the upper surface of the drone landing platform, the model of the drone, and the working scene of the drone landing platform; An offset module is used to define a relative offset of the drone in a plane coordinate system corresponding to the upper surface of the drone landing platform according to a positioning area of ​​the drone landing platform and multiple landing contact points of the drone; The flight module is used to define the corresponding translation mode of the drone based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and to control the horizontal flight speed and flight distance of the drone according to the translation mode of the drone; The attitude control module is used to monitor the translation process of the UAV relative to the upper surface of the UAV landing platform in real time, and collect multiple attitude parameters of the UAV during the translation process in real time, define corresponding attitude coefficients according to multiple attitude parameters and the translation mode of the UAV, and trigger the attitude control of the UAV in various directions according to the attitude coefficients and preset attitude coefficients.

[0015] In an embodiment of the present invention, the location of the drone landing platform is collected through the method in the embodiment of the present invention; the working scene of the drone landing platform is defined based on the environmental detection of the location of the drone landing platform; the positioning area of ​​the drone landing platform is defined according to the upper surface of the drone landing platform, the model of the drone and the working scene of the drone landing platform; in the plane coordinate system corresponding to the upper surface of the drone landing platform, the relative offset of the drone is defined according to the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, which is compatible with the overall consideration of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, realizes the multi-dimensional comparison of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, and ensures the accuracy of the positioning area of ​​the drone landing platform.

[0016] Furthermore, a corresponding translation mode of the drone is defined based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and the flight speed and distance of the drone in the horizontal direction are regulated according to the translation mode of the drone; the translation process of the drone relative to the upper surface of the drone landing platform is monitored in real time, and multiple attitude parameters of the drone during the translation process are collected in real time, corresponding attitude coefficients are defined according to the multiple attitude parameters and the translation mode of the drone, and attitude control of the drone in various directions is triggered according to the attitude coefficient and the preset attitude coefficient to ensure the dynamic balance of the drone during the translation process, and is compatible with the positioning control of the drone by the drone landing platform and the translation control of the drone relative to the upper surface of the drone landing platform, thereby realizing the control of the final position accuracy of the drone landing platform and the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 1 is a flow chart of a method for positioning a drone by a drone landing platform in an embodiment of the present invention; Figure 2 is a flow chart of S11 in the method for positioning a drone by a drone landing platform in an embodiment of the present invention; Figure 3 is a flow chart of S12 in the method for positioning a drone by a drone landing platform in an embodiment of the present invention; Figure 4 is a flow chart of S13 in the method for positioning a drone by a drone landing platform in an embodiment of the present invention; Figure 5 is a flow chart of S14 in the method for positioning a drone by a drone landing platform in an embodiment of the present invention; Figure 6 is a flow chart of S15 in the method for positioning a drone by a drone landing platform in an embodiment of the present invention; Figure 7 is a flow chart of S16 in the method for positioning a drone by a drone landing platform in an embodiment of the present invention; Figure 8 Schematic diagram of the structure of the positioning system of the drone landing platform for the drone in the embodiment of the present invention; Fig. 9The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0019] 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.

[0020] See also Figures 1 to 9 A method for positioning a drone by a drone landing platform is applied to a scenario where a drone landing platform positions a drone. The method for positioning a drone by a drone landing platform includes: Step S11: collecting the location of the drone landing platform; Step S12: defining a working scenario of the drone landing platform according to the environmental detection of the location of the drone landing platform; Step S13: defining a working scenario of the drone landing platform according to the environmental detection of the location of the drone landing platform; Step S14: in a plane coordinate system corresponding to the upper surface of the drone landing platform, defining a relative offset of the drone according to a positioning area of ​​the drone landing platform and a plurality of landing contact points of the drone; Step S15: defining a corresponding translation mode of the drone based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and regulating the flight speed and flight distance of the drone in the horizontal direction according to the translation mode of the drone; Step S16: monitor the translation process of the UAV relative to the upper surface of the UAV landing platform in real time, and collect multiple attitude parameters of the UAV during the translation process in real time, define corresponding attitude coefficients according to the multiple attitude parameters and the translation mode of the UAV, and trigger the attitude control of the UAV in various directions according to the attitude coefficients and preset attitude coefficients.

[0021] In an embodiment of the present invention, the location of the drone landing platform is collected through the method in the embodiment of the present invention; the working scene of the drone landing platform is defined based on the environmental detection of the location of the drone landing platform; the positioning area of ​​the drone landing platform is defined according to the upper surface of the drone landing platform, the model of the drone and the working scene of the drone landing platform; in the plane coordinate system corresponding to the upper surface of the drone landing platform, the relative offset of the drone is defined according to the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, which is compatible with the overall consideration of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, realizes the multi-dimensional comparison of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, and ensures the accuracy of the positioning area of ​​the drone landing platform.

[0022] Furthermore, a corresponding translation mode of the drone is defined based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and the flight speed and distance of the drone in the horizontal direction are regulated according to the translation mode of the drone; the translation process of the drone relative to the upper surface of the drone landing platform is monitored in real time, and multiple attitude parameters of the drone during the translation process are collected in real time, corresponding attitude coefficients are defined according to the multiple attitude parameters and the translation mode of the drone, and attitude control of the drone in various directions is triggered according to the attitude coefficient and the preset attitude coefficient to ensure the dynamic balance of the drone during the translation process, and is compatible with the positioning control of the drone by the drone landing platform and the translation control of the drone relative to the upper surface of the drone landing platform, thereby realizing the control of the final position accuracy of the drone landing platform and the drone.

[0023] refer to Figure 2 , in step S11, the location of the drone landing platform is collected; In the specific implementation process of the present invention, the specific steps may be: S111: Collect the position response signal of the UAV landing platform; S112: defining a response space of the UAV landing platform according to a position response signal of the UAV landing platform; S113: Matching the corresponding control space based on tracing the response space of the UAV landing platform; S114: defining a corresponding position space according to the control space and the model of the UAV landing platform; S115: Define corresponding position information according to the traversal of the position space, define the location of the drone landing platform according to the position information and the surrounding environment image, and collect the location of the drone landing platform.

[0024] In an embodiment of the present application, a position response signal of a UAV landing platform is collected, the position response signal of the UAV landing platform is introduced, and the position response signal of the UAV landing platform is further processed. At the same time, the response space of the UAV landing platform is defined according to the position response signal of the UAV landing platform, so as to facilitate tracing the response space of the UAV landing platform.

[0025] Therefore, based on the tracing of the response space of the UAV landing platform and matching the corresponding control space, the control space is introduced, thereby associating the control space and the model of the UAV landing platform, and realizing further matching of the control space and the model of the UAV landing platform. Therefore, the corresponding position space is defined according to the model of the control space and the UAV landing platform, and then the corresponding position information is defined according to the traversal of the position space, and the location of the UAV landing platform is defined according to the location information and the surrounding environment image, and the location of the UAV landing platform is collected.

[0026] Furthermore, it is compatible with the overall consideration of location information and surrounding environment images, and realizes multi-dimensional control of location information and surrounding environment images, thereby ensuring the accuracy of the location of the drone landing platform.

[0027] refer to Figure 3 , in step S12, a working scenario of the drone landing platform is defined according to the environmental detection of the location of the drone landing platform; In the specific implementation process of the present invention, the specific steps may be: S121: freeze the location of the drone landing platform; S122: defining a corresponding environment space based on the location of the UAV landing platform and the model of the UAV landing platform; S123: defining multiple environmental parameters of different dimensions according to the traversal of the environmental space; S124: matching a corresponding environmental level according to multiple environmental parameters of different dimensions, and matching a corresponding environmental detection method according to the environmental level, the model of the UAV landing platform, and the flight parameters of the UAV during the landing process; S125: triggering environmental detection of the location of the drone landing platform along the environmental detection method; S126: Defining a working scenario of the drone landing platform based on environmental detection of the location of the drone landing platform.

[0028] In an embodiment of the present application, the location of the UAV landing platform is frozen; the corresponding environmental space is defined based on the location of the UAV landing platform and the model of the UAV landing platform, which is compatible with the overall consideration of the location of the UAV landing platform and the model of the UAV landing platform, and realizes multi-dimensional control of the location of the UAV landing platform and the model of the UAV landing platform, thereby ensuring the accuracy of the environmental space.

[0029] Furthermore, multiple environmental parameters of different dimensions are defined according to the traversal of the environmental space, and multiple environmental parameters of different dimensions are introduced, so that the corresponding environmental level is matched according to the multiple environmental parameters of different dimensions, and the corresponding environmental detection method is matched according to the environmental level, the model of the UAV landing platform, and the flight parameters of the UAV during the landing process. This realizes multi-dimensional control of the environmental level, the model of the UAV landing platform, and the flight parameters of the UAV during the landing process, and ensures the accuracy of the environmental detection method.

[0030] Therefore, environmental detection of the location of the drone landing platform is triggered along the environmental detection method; the working scenario of the drone landing platform is defined based on the environmental detection of the location of the drone landing platform, so as to control the working scenario of the drone landing platform, introducing overall consideration of the working scenario of the drone landing platform.

[0031] refer to Figure 4 , in step S13, the positioning area of ​​the drone landing platform is defined according to the upper surface of the drone landing platform, the model of the drone, and the working scene of the drone landing platform; In the specific implementation process of the present invention, the specific steps may be: S131: Freeze the working scene of the drone landing platform; S132: traverse the drone landing platform and locate the upper surface of the drone landing platform; S133: Associating the upper surface of the drone landing platform, the model of the drone, and the working scene of the drone landing platform; S134: defining first area parameters based on a working scene of the drone landing platform and an upper surface of the drone landing platform; S135: defining second area parameters based on the working scenario of the drone landing platform and the model of the drone; S136: Associating the second area parameter, the first area parameter and the matching table of the drone landing platform to define the positioning area of ​​the drone landing platform.

[0032] In an embodiment of the present application, the working scene of the drone landing platform is frozen, and at the same time, the drone landing platform is traversed and the upper surface of the drone landing platform is located; the upper surface of the drone landing platform, the model of the drone and the working scene of the drone landing platform are associated, and the upper surface of the drone landing platform, the model of the drone and the working scene of the drone landing platform are controlled in multiple dimensions.

[0033] Therefore, the first area parameters are defined based on the working scenario of the UAV landing platform and the upper surface of the UAV landing platform, which is compatible with the overall consideration of the working scenario of the UAV landing platform and the upper surface of the UAV landing platform, realizes multi-dimensional control of the working scenario of the UAV landing platform and the upper surface of the UAV landing platform, and ensures the accuracy of the first area parameters.

[0034] At the same time, the parameters of the second area are defined based on the working scenario of the drone landing platform and the model of the drone, which is compatible with the overall consideration of the working scenario of the drone landing platform and the model of the drone, realizes multi-dimensional control of the working scenario of the drone landing platform and the model of the drone, and ensures the accuracy of the parameters of the second area.

[0035] Furthermore, a matching table of second area parameters, first area parameters and the UAV landing platform is introduced to facilitate associating the second area parameters, first area parameters and the matching table of the UAV landing platform, thereby associating the second area parameters, first area parameters and the matching table of the UAV landing platform to define the positioning area of ​​the UAV landing platform, thereby realizing multi-dimensional control of the second area parameters, first area parameters and the matching table of the UAV landing platform.

[0036] refer to Figure 5 , S14: in a plane coordinate system corresponding to the upper surface of the UAV landing platform, defining a relative offset of the UAV according to a positioning area of ​​the UAV landing platform and a plurality of landing contact points of the UAV; In the specific implementation process of the present invention, the specific steps may be: S141: Freeze the upper surface of the UAV landing platform, and construct a corresponding plane coordinate system based on the upper surface of the UAV landing platform; S142: Real-time monitoring of the plane coordinate system corresponding to the upper surface of the UAV landing platform; S143: collecting a positioning area of ​​the drone landing platform in a plane coordinate system corresponding to the upper surface of the drone landing platform; S144: Define multiple landing contact points of the drone based on the contact portion of the drone with the upper surface of the drone landing platform, associate the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, and define the relative offset of the drone based on the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone.

[0037] In an embodiment of the present application, the location of the drone landing platform is collected; the working scene of the drone landing platform is defined based on the environmental detection of the location of the drone landing platform; the positioning area of ​​the drone landing platform is defined according to the upper surface of the drone landing platform, the model of the drone and the working scene of the drone landing platform; in the plane coordinate system corresponding to the upper surface of the drone landing platform, the relative offset of the drone is defined according to the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, which is compatible with the overall consideration of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, realizes the multi-dimensional comparison of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, and ensures the accuracy of the positioning area of ​​the drone landing platform.

[0038] At this time, the upper surface of the UAV landing platform is frozen, and a corresponding plane coordinate system is constructed based on the upper surface of the UAV landing platform. The plane coordinate system is introduced, and the upper surface of the UAV landing platform is further controlled.

[0039] Furthermore, the plane coordinate system corresponding to the upper surface of the UAV landing platform is monitored in real time. At the same time, the positioning area of ​​the UAV landing platform is collected in the plane coordinate system corresponding to the upper surface of the UAV landing platform, and the positioning area of ​​the UAV landing platform is introduced to facilitate further processing of the positioning area of ​​the UAV landing platform.

[0040] Therefore, based on the contact part of the drone on the upper surface of the drone landing platform, multiple landing contact points of the drone are defined, the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone are associated, and the relative offset of the drone is defined according to the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone. This is compatible with the overall control of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, and realizes the comparison of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone in multiple dimensions, thereby ensuring the accuracy of the relative offset of the drone.

[0041] Furthermore, the relative offset of the drone is defined according to the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, which is compatible with the overall consideration of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, realizes the multi-dimensional comparison of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, and ensures the accuracy of the positioning area of ​​the drone landing platform.

[0042] refer to Figure 6 , S15: defining a corresponding translation mode of the UAV based on the relative offset of the UAV, the friction coefficient of the upper surface of the UAV landing platform, and the overall weight of the UAV, and regulating the flight speed and flight distance of the UAV in the horizontal direction according to the translation mode of the UAV; In the specific implementation process of the present invention, the specific steps may be: S151: relative offset of the freeze drone; S152: collecting a surface image of the upper surface of the drone landing platform based on the drone, and defining a friction portion of the upper surface and a surface material of the upper surface according to the surface image of the upper surface of the drone landing platform; S153: defining a friction coefficient of an upper surface of the UAV landing platform according to a friction portion of the upper surface and a surface material of the upper surface; S154: Associating the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and defining a corresponding translation mode of the drone according to the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone; S155: Control the horizontal flight of the drone according to the translation mode of the drone; S156: Monitor the horizontal flight of the UAV in real time, and collect the corresponding flight speed and flight distance.

[0043] In an embodiment of the present application, the relative offset of the drone is frozen, and the relative offset of the drone is further controlled. At the same time, the surface image of the upper surface of the drone landing platform is collected by the drone, and the friction part of the upper surface and the surface material of the upper surface are defined according to the surface image of the upper surface of the drone landing platform. This realizes the recognition of the surface image of the upper surface of the drone landing platform, and ensures the accuracy of the friction part of the upper surface and the surface material of the upper surface.

[0044] Furthermore, the upper surface friction coefficient of the UAV landing platform is defined according to the friction part of the upper surface and the surface material of the upper surface, which is compatible with the overall consideration of the friction part of the upper surface and the surface material of the upper surface, realizes multi-dimensional control of the friction part of the upper surface and the surface material of the upper surface, and ensures the accuracy of the upper surface friction coefficient of the UAV landing platform.

[0045] Therefore, the relative offset of the UAV, the friction coefficient of the upper surface of the UAV landing platform, and the overall weight of the UAV are associated, and the corresponding translation mode of the UAV is defined according to the relative offset of the UAV, the friction coefficient of the upper surface of the UAV landing platform, and the overall weight of the UAV, thereby realizing multi-dimensional control of the translation mode of the UAV and ensuring the accuracy of the translation mode of the UAV.

[0046] Furthermore, the horizontal flight of the UAV is regulated according to the translation mode of the UAV; the horizontal flight of the UAV is monitored in real time, and the corresponding flight speed and flight distance are collected, thereby realizing real-time control of the flight speed and flight distance, so as to ensure the lateral flight of the UAV in the horizontal direction.

[0047] refer to Figure 7 , S16: real-time monitoring of the translation process of the UAV relative to the upper surface of the UAV landing platform, and real-time collection of multiple attitude parameters of the UAV during the translation process, defining corresponding attitude coefficients according to the multiple attitude parameters and the translation mode of the UAV, and triggering attitude control of the UAV in various directions according to the attitude coefficients and the preset attitude coefficients; In the specific implementation process of the present invention, the specific steps may be: S161: real-time monitoring of the translation process of the UAV relative to the upper surface of the UAV landing platform; S162: collecting multiple attitude parameters of the UAV in the translation process in real time based on attitude detectors configured at various positions of the UAV; S163: Associating multiple attitude parameters and the translation mode of the drone; S164: construct multiple attitude combinations based on multiple attitude parameters and the translation model of the drone; S165: defining corresponding posture coefficients according to the recognition of multiple posture combinations; S166: Matching a corresponding preset attitude coefficient based on the interaction between the UAV landing platform and the UAV; comparing the attitude coefficient with the preset attitude coefficient, and triggering attitude control of the UAV in various directions according to the corresponding attitude difference, so as to ensure the dynamic balance of the UAV during the translation process.

[0048] In the specific implementation process of the present invention, the corresponding translation mode of the drone is defined based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and the flight speed and flight distance of the drone in the horizontal direction are regulated according to the translation mode of the drone; the translation process of the drone relative to the upper surface of the drone landing platform is monitored in real time, and multiple attitude parameters of the drone during the translation process are collected in real time, corresponding attitude coefficients are defined according to the multiple attitude parameters and the translation mode of the drone, and the attitude control of the drone in various directions is triggered according to the attitude coefficient and the preset attitude coefficient to ensure the dynamic balance of the drone during the translation process, and is compatible with the positioning control of the drone by the drone landing platform and the translation control of the drone relative to the upper surface of the drone landing platform, thereby realizing the control of the final position accuracy of the drone landing platform and the drone.

[0049] At this time, the translation process of the UAV relative to the upper surface of the UAV landing platform is monitored in real time. Based on the attitude detectors configured at various positions of the UAV, multiple attitude parameters of the UAV during the translation process are collected in real time, and multiple attitude parameters of the UAV during the translation process are introduced, and overall control is performed on the multiple attitude parameters of the UAV during the translation process.

[0050] Furthermore, multiple attitude parameters and the translation mode of the UAV are associated; multiple attitude combinations are constructed based on the multiple attitude parameters and the translation mode of the UAV; and corresponding attitude coefficients are defined according to the identification of multiple attitude combinations, thereby ensuring accurate control of the attitude coefficients.

[0051] Therefore, the corresponding preset attitude coefficient is matched based on the interaction between the UAV landing platform and the UAV; the attitude coefficient and the preset attitude coefficient are compared, and the attitude control of the UAV in various directions is triggered according to the corresponding attitude difference, so as to ensure the dynamic balance of the UAV during the translation process, and is compatible with the positioning control of the UAV by the UAV landing platform and the translation control of the UAV relative to the upper surface of the UAV landing platform, thereby realizing the control of the final position accuracy of the UAV landing platform and the UAV.

[0052] In an embodiment of the present invention, the location of the drone landing platform is collected through the method in the embodiment of the present invention; the working scene of the drone landing platform is defined based on the environmental detection of the location of the drone landing platform; the positioning area of ​​the drone landing platform is defined according to the upper surface of the drone landing platform, the model of the drone and the working scene of the drone landing platform; in the plane coordinate system corresponding to the upper surface of the drone landing platform, the relative offset of the drone is defined according to the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, which is compatible with the overall consideration of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, realizes the multi-dimensional comparison of the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, and ensures the accuracy of the positioning area of ​​the drone landing platform.

[0053] Furthermore, a corresponding translation mode of the drone is defined based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and the flight speed and distance of the drone in the horizontal direction are regulated according to the translation mode of the drone; the translation process of the drone relative to the upper surface of the drone landing platform is monitored in real time, and multiple attitude parameters of the drone during the translation process are collected in real time, corresponding attitude coefficients are defined according to the multiple attitude parameters and the translation mode of the drone, and attitude control of the drone in various directions is triggered according to the attitude coefficient and the preset attitude coefficient to ensure the dynamic balance of the drone during the translation process, and is compatible with the positioning control of the drone by the drone landing platform and the translation control of the drone relative to the upper surface of the drone landing platform, thereby realizing the control of the final position accuracy of the drone landing platform and the drone.

[0054] See also Figure 8 , Figure 8 It is a schematic diagram of the structural composition of the positioning system of the drone landing platform for the drone in an embodiment of the present invention.

[0055] like Figure 8 As shown, a positioning system for a drone landing platform to a drone, the positioning system for a drone landing platform to a drone includes: The acquisition module 21 is used to acquire the location of the drone landing platform; A scenario module 22, used to define a working scenario of the drone landing platform according to the environmental detection of the location of the drone landing platform; A positioning area module 23, used to define a positioning area of ​​the drone landing platform according to the upper surface of the drone landing platform, the model of the drone, and the working scene of the drone landing platform; An offset module 24, used to define a relative offset of the drone in a plane coordinate system corresponding to the upper surface of the drone landing platform according to a positioning area of ​​the drone landing platform and a plurality of landing contact points of the drone; The flight module 25 is used to define the corresponding translation mode of the drone based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and to control the flight speed and flight distance of the drone in the horizontal direction according to the translation mode of the drone; The attitude control module 26 is used to monitor the translation process of the UAV relative to the upper surface of the UAV landing platform in real time, and collect multiple attitude parameters of the UAV during the translation process in real time, define corresponding attitude coefficients according to the multiple attitude parameters and the translation mode of the UAV, and trigger the attitude control of the UAV in various directions according to the attitude coefficients and preset attitude coefficients.

[0056] See also Fig. 9 , refer to the following Fig. 9 The electronic device 40 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0057] like Fig. 9 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0058] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0059] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0060] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0061] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0062] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0063] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a multi-parameter sensor device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0064] Those skilled in the art can understand that all or some of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0065] In addition, the above describes in detail the method and system for positioning a drone by a drone landing platform provided in an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. For those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for positioning a drone by a drone landing platform, characterized in that: Applicable to the scenario of positioning a drone by a drone landing platform; the method for positioning a drone by a drone landing platform includes: Collect the location of the drone landing platform; Define the working scenario of the drone landing platform based on the environmental detection of the location of the drone landing platform; Define the positioning area of ​​the drone landing platform according to the upper surface of the drone landing platform, the model of the drone, and the working scenario of the drone landing platform; In a plane coordinate system corresponding to the upper surface of the UAV landing platform, a relative offset of the UAV is defined according to a positioning area of ​​the UAV landing platform and a plurality of landing contact points of the UAV; The translation mode of the drone is defined based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and the flight speed and flight distance of the drone in the horizontal direction are controlled according to the translation mode of the drone; Monitor the translation process of the UAV relative to the upper surface of the UAV landing platform in real time, and collect multiple attitude parameters of the UAV during the translation process in real time, define corresponding attitude coefficients according to the multiple attitude parameters and the translation mode of the UAV, and trigger the attitude control of the UAV in various directions according to the attitude coefficients and preset attitude coefficients.

2. The method for positioning a drone using a drone landing platform according to claim 1, characterized in that: The location of the landing platform of the acquisition drone includes: Collect the position response signal of the UAV landing platform; Define the response space of the UAV landing platform according to the position response signal of the UAV landing platform; Match the corresponding control space based on the tracing of the response space of the drone landing platform; Define the corresponding position space according to the control space and the model of the drone landing platform; The corresponding position information is defined according to the traversal of the position space, and the location of the UAV landing platform is defined according to the position information and the surrounding environment image, and the location of the UAV landing platform is collected.

3. The method for positioning a drone using a drone landing platform according to claim 2, characterized in that: The working scenario of the drone landing platform is defined according to the environmental detection of the location of the drone landing platform, including: Freeze the location of the drone landing platform; Define the corresponding environment space based on the location of the drone landing platform and the model of the drone landing platform; Defining multiple environmental parameters of different dimensions according to the traversal of the environmental space; Matching the corresponding environmental level according to multiple environmental parameters of different dimensions, and matching the corresponding environmental detection method according to the environmental level, the model of the UAV landing platform, and the flight parameters of the UAV during the landing process; Triggering environmental detection of the location of the drone landing platform along the environmental detection method; The working scenario of the drone landing platform is defined based on the environmental detection of the location of the drone landing platform.

4. The method for positioning a drone using a drone landing platform according to claim 3, characterized in that: Defining the positioning area of ​​the drone landing platform according to the upper surface of the drone landing platform, the model of the drone, and the working scene of the drone landing platform includes: Freeze the working scene of the drone landing platform; Traverse the drone landing platform and locate the upper surface of the drone landing platform; Associate the upper surface of the drone landing platform, the model of the drone, and the working scenario of the drone landing platform; Defining first area parameters based on a working scenario of the UAV landing platform and an upper surface of the UAV landing platform; Define the second area parameters based on the working scenario of the drone landing platform and the model of the drone; A matching table associating the second area parameters, the first area parameters, and the drone landing platform defines the positioning area of ​​the drone landing platform.

5. The method for positioning a drone using a drone landing platform according to claim 4, characterized in that: In the plane coordinate system corresponding to the upper surface of the drone landing platform, the relative offset of the drone is defined according to the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone, including: Freeze the upper surface of the UAV landing platform, and construct a corresponding plane coordinate system based on the upper surface of the UAV landing platform; Real-time monitoring of the plane coordinate system corresponding to the upper surface of the drone landing platform; In the plane coordinate system corresponding to the upper surface of the UAV landing platform, the positioning area of ​​the UAV landing platform is collected; Based on the contact portion of the drone with the upper surface of the drone landing platform, multiple landing contact points of the drone are defined, the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone are associated, and the relative offset of the drone is defined according to the positioning area of ​​the drone landing platform and the multiple landing contact points of the drone.

6. The method for positioning a drone using a drone landing platform according to claim 5, characterized in that: The translation mode of the drone is defined based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and the flight speed and flight distance of the drone in the horizontal direction are regulated according to the translation mode of the drone, including: Freeze the relative offset of the drone; A surface image of the upper surface of the UAV landing platform is collected by the UAV, and a friction portion of the upper surface and a surface material of the upper surface are defined according to the surface image of the upper surface of the UAV landing platform; The upper surface friction coefficient of the UAV landing platform is defined according to the friction part of the upper surface and the surface material of the upper surface.

7. The method for positioning a drone using a drone landing platform according to claim 6, characterized in that: The method further includes defining a corresponding translation mode of the drone based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and regulating the flight speed and flight distance of the drone in the horizontal direction according to the translation mode of the drone, and: Associating the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and defining a corresponding translation mode of the drone according to the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone; Control the drone's horizontal flight according to its translation mode; Monitor the drone's horizontal flight in real time and collect the corresponding flight speed and distance.

8. The method for positioning a drone using a drone landing platform according to claim 7, characterized in that: The real-time monitoring of the translation process of the UAV relative to the upper surface of the UAV landing platform, and the real-time collection of multiple attitude parameters of the UAV during the translation process, defining corresponding attitude coefficients according to the multiple attitude parameters and the translation mode of the UAV, and triggering attitude control of the UAV in various directions according to the attitude coefficients and the preset attitude coefficients, include: Real-time monitoring of the translation process of the UAV relative to the upper surface of the UAV landing platform; Based on the attitude detectors configured at various positions of the UAV, multiple attitude parameters of the UAV during the translation process are collected in real time.

9. The method for positioning a drone using a drone landing platform according to claim 8, characterized in that: The real-time monitoring of the translation process of the UAV relative to the upper surface of the UAV landing platform, and the real-time collection of multiple attitude parameters of the UAV during the translation process, defining corresponding attitude coefficients according to the multiple attitude parameters and the translation mode of the UAV, and triggering attitude control of the UAV in various directions according to the attitude coefficients and the preset attitude coefficients, also include: Associate multiple attitude parameters and the translation mode of the drone; Construct multiple attitude combinations based on multiple attitude parameters and the translation model of the UAV; Defining corresponding posture coefficients according to the recognition of multiple posture combinations; The corresponding preset attitude coefficient is matched based on the interaction between the UAV landing platform and the UAV; the attitude coefficient and the preset attitude coefficient are compared, and the attitude control of the UAV in various directions is triggered according to the corresponding attitude difference to ensure the dynamic balance of the UAV during the translation process.

10. A positioning system for a drone landing platform to a drone, characterized in that: The positioning system of the drone landing platform for the drone is applied to the positioning method of the drone landing platform for the drone as claimed in any one of claims 1 to 9, and the positioning system of the drone landing platform for the drone includes: The acquisition module is used to collect the location of the drone landing platform; The scenario module is used to define the working scenario of the drone landing platform according to the environmental detection of the location of the drone landing platform; A positioning area module is used to define the positioning area of ​​the drone landing platform according to the upper surface of the drone landing platform, the model of the drone, and the working scene of the drone landing platform; An offset module is used to define a relative offset of the drone in a plane coordinate system corresponding to the upper surface of the drone landing platform according to a positioning area of ​​the drone landing platform and multiple landing contact points of the drone; The flight module is used to define the corresponding translation mode of the drone based on the relative offset of the drone, the friction coefficient of the upper surface of the drone landing platform, and the overall weight of the drone, and to control the horizontal flight speed and flight distance of the drone according to the translation mode of the drone; The attitude control module is used to monitor the translation process of the UAV relative to the upper surface of the UAV landing platform in real time, and collect multiple attitude parameters of the UAV during the translation process in real time, define corresponding attitude coefficients according to multiple attitude parameters and the translation mode of the UAV, and trigger the attitude control of the UAV in various directions according to the attitude coefficients and preset attitude coefficients.

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