Configurable sign-based unmanned aerial vehicle landing method and system, and processing equipment

Abstract

The invention discloses an unmanned aerial vehicle landing method and system based on configurable marks and processing equipment. The method comprises the steps that a descending instruction and a configuration file are received; judging whether a mark which can be recognized by the unmanned aerial vehicle and corresponds to the descending instruction corresponds to a mark in a configuration file or not; if the mark which can be identified by the unmanned aerial vehicle corresponds to the mark in the configuration file, detecting the configuration file, and judging whether the attribute configuration of the configuration file is legal or not; if the attribute configuration of the configuration file is legal, controlling the unmanned aerial vehicle to descend to a specified height; receiving and identifying image transmission data and motion data of a visual sign obtained by the unmanned aerial vehicle at a specified height, and judging whether there is only one sign corresponding to the sign in the configuration file in the image transmission data or not; if yes, relative position information of the unmanned aerial vehicle and the target position is determined, and the unmanned aerial vehicle is controlled to land on the target position; and if not, the unmanned aerial vehicle is driven away from the preset take-off and landing range of the take-off and landing platform. According to the method, the unmanned aerial vehicle can adapt to various application scenes.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) application technology, and in particular to a UAV landing method, system and processing equipment based on configurable markers. Background Art

[0002] At present, the precision landing technology of drones has been developed to a certain extent, usually using technical means such as GPS, visual navigation and inertial navigation. GPS navigation technology relies on satellite signals to provide location information. In complex environments such as urban high-rise buildings and forests, GPS signals are easily blocked or reflected, resulting in reduced positioning accuracy. In addition, the accuracy of GPS navigation is limited by the signal quality and is only applicable within a few meters, which is difficult to meet the centimeter-level accuracy of drone landing.

[0003] Visual navigation technology uses cameras to capture environmental images and uses image processing algorithms for positioning and navigation. Common visual navigation methods include using Aruco markers or QR codes for positioning, which have higher landing accuracy than GPS navigation. However, visual navigation has many limitations in practical applications and can easily affect the landing effect of drones in complex environments. For example:

[0004] Single configuration: Existing visual navigation systems can usually only recognize specific types of markers, with a single application scenario, low flexibility, and cannot be well adjusted to adapt to different application scenarios.

[0005] Fixed size and ID: During the design phase of the visual navigation system, the size and ID of the marker are fixed. This fixed configuration cannot adapt well to different viewing distances and accuracy requirements and cannot be flexibly adjusted.

[0006] Difficulty in taking off and landing multiple drones: Existing drone landing systems are usually only suitable for single-machine landing. When multiple drones use the same landing platform at the same time, interference and conflict are prone to occur, resulting in low landing efficiency and even possible collision accidents. Summary of the invention

[0007] The purpose of the present invention is to provide a method, system and processing device for landing a drone based on a configurable marker to solve the technical problems in the prior art. The preferred technical solutions among the many technical solutions provided by the present invention can produce many technical effects as described below.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] The unmanned aerial vehicle landing method based on a configurable mark provided by the present invention is applied to an autopilot, and the unmanned aerial vehicle landing method based on a configurable mark includes:

[0010] Receive descent instructions and configuration files sent by the take-off and landing platform;

[0011] Determine whether the mark recognizable by the drone corresponding to the descent instruction corresponds to the mark in the configuration file;

[0012] If the mark that the drone can identify corresponds to the mark in the configuration file, the configuration file is detected, and it is determined whether the attribute configuration of the configuration file is legal;

[0013] If the attribute configuration of the configuration file is legal, the drone is controlled to descend to a specified height;

[0014] Receive and identify the image transmission data and motion data of the UAV obtaining the visual mark at the specified height, and determine whether there is and only one mark in the image transmission data corresponding to the mark in the configuration file; if so, determine the relative position information between the UAV and the target position, and control the UAV to land at the target position; if not, drive the UAV away from the preset take-off and landing range of the take-off and landing platform.

[0015] Optionally, determining whether the attribute configuration is legal includes:

[0016] Determine whether the logo ID range in the configuration file belongs to a preset range, and determine whether the logo size in the configuration file is greater than 0;

[0017] If the logo ID range in the configuration file belongs to the preset range, and the logo size in the configuration file is a legal positive number, then the attribute configuration is legal.

[0018] Optionally, controlling the drone to descend to a specified height includes:

[0019] Initialize the autopilot to read the configuration file, add the drone status data callback interface and start virtual remote sensing;

[0020] Controlling the drone to descend by using the virtual remote sensing;

[0021] Determining whether the drone has reached the specified altitude;

[0022] If not, the virtual remote control continues to control the drone to descend until the drone reaches the specified height.

[0023] Optionally, the receiving and identifying the image transmission data and motion data of the drone acquiring the visual mark at the specified height, determining whether there is one and only one mark in the image transmission data corresponding to the mark in the configuration file; if so, determining the relative position information between the drone and the target position, and controlling the drone to land at the target position, includes:

[0024] Using the autopilot to call the detectMarkers interface of the Aruco algorithm, the target position is detected by identifying the dictionary type and the marker ID of the configuration file;

[0025] Determining whether the drone detects one and only one target location;

[0026] If yes, the Aruco algorithm estimatePoseSingleMarkers interface is called, the marker size of the configuration file is passed in, and the drone posture is determined;

[0027] Determine the relative position information between the drone and the target position according to the target position and the drone posture;

[0028] Calculate the relative position information by using a PID algorithm to determine the control data;

[0029] The attitude and position of the UAV are adjusted according to the control data, so as to control the UAV to land at the target position.

[0030] Optionally, after determining whether the drone detects one and only one target position, the method further includes:

[0031] If not, determining whether the preparation time for landing of the drone exceeds a preset time;

[0032] If the preparation time for landing of the UAV does not exceed the preset time, continue to detect whether there is and only one target position;

[0033] If the preparation time for the UAV to land exceeds the preset time, the landing of the UAV is determined to be abnormal, and the UAV is driven out of the preset take-off and landing range of the take-off and landing platform.

[0034] Optionally, applied to a drone, the drone landing method based on a configurable marker includes:

[0035] Acquire the image transmission data of the visual mark at the specified height, and acquire the motion data of the drone itself in real time;

[0036] The acquired image transmission data and motion data are transmitted to the autopilot, so that the control module of the autopilot determines the relative position information between the UAV and the target position according to the image transmission data and the motion data, thereby determining the control data, and transmitting the control data back to the UAV;

[0037] The attitude adjustment and the position adjustment are performed according to the control data so as to land at the target position.

[0038] Optionally, applied to a take-off and landing platform, the drone landing method based on a configurable marker includes:

[0039] sending the configuration file to the autopilot, the autopilot executing the configurable marker based drone landing method as applied to the autopilot;

[0040] The configuration file is generated by configuring the attributes of the visual mark by the take-off and landing platform through the communication module of the autopilot, and the attribute configuration includes the dictionary type, size and ID of the configuration mark, and the visual mark includes at least two different types of visual marks.

[0041] Optionally, a physical sign or an electronic display screen is provided on the take-off and landing platform for configuring the attributes of the visual sign; the physical sign is a physical sign integrating multiple sizes and multiple IDs, and the electronic display screen is used to dynamically adjust the size and ID of the visual sign in real time.

[0042] A drone landing system based on configurable markers, comprising:

[0043] The take-off and landing platform is used to send the configuration file to the autopilot;

[0044] The autopilot is used to receive a descent command and a configuration file sent by a take-off and landing platform; determine whether a mark that can be recognized by the drone corresponding to the descent command corresponds to a mark in the configuration file; if the mark that can be recognized by the drone corresponds to the mark in the configuration file, detect the configuration file and determine whether the attribute configuration of the configuration file is legal; if the attribute configuration of the configuration file is legal, control the drone to descend to a specified height; receive and identify the image transmission data and motion data of the drone acquiring the visual mark at the specified height, determine the relative position information between the drone and the target position, and thus control the drone to land at the target position;

[0045] The drone is used to obtain the image transmission data of the visual mark at the specified height, and obtain the motion data of the drone itself in real time; the acquired image transmission data and the motion data are transmitted to the control module of the autopilot, so that the control module of the autopilot can judge whether there is one and only one mark in the image transmission data corresponding to the mark in the configuration file according to the image transmission data and the motion data; if so, determine the relative position information between the drone and the target position, and control the drone to land on the target position; if not, drive the drone away from the preset take-off and landing range of the take-off and landing platform.

[0046] A UAV landing processing device based on configurable markers, comprising:

[0047] one or more processors;

[0048] A memory is used to store one or more computer programs, and one or more of the processors are used to execute the one or more computer programs stored in the memory, so that one or more of the processors execute the configurable marker-based drone landing method as applied to the autopilot.

[0049] Implementing one of the above technical solutions of the present invention has the following advantages or beneficial effects:

[0050] The present invention enhances the accuracy and adaptability of drone landing by receiving the configuration file generated by the configuration visual mark through the autopilot, and can be flexibly adjusted to adapt to different application scenarios. The drone identifies the corresponding target position according to the configuration information and lands accurately, thereby providing a reliable landing solution in a complex environment. In addition, by configuring multiple different types of visual marks, it can be applied to multi-machine take-off and landing scenarios, ensuring that multiple drones can take off and land safely and efficiently on the same take-off and landing platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. It is obvious that the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0052] Figure 1 is a first flow chart of an embodiment of a method for landing a drone based on a configurable marker according to the present invention;

[0053] Figure 2 is a second flow chart of an embodiment of a method for landing a drone based on a configurable marker according to the present invention;

[0054] Figure 3It is the first type of visual sign of the embodiment of the drone landing method based on configurable signs of the present invention;

[0055] Figure 4 It is the second type of visual sign of the embodiment of the drone landing method based on configurable signs of the present invention;

[0056] Figure 5 It is a structural schematic diagram of integrating various types of visual signs on the take-off and landing platform of an embodiment of the UAV landing system based on configurable signs of the present invention;

[0057] Figure 6 It is a structural schematic diagram of an embodiment of a UAV landing system based on configurable markers of the present invention. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the present invention clearer, the various exemplary embodiments to be described below will refer to the corresponding drawings, which constitute a part of the exemplary embodiments, wherein various exemplary embodiments that may be used to implement the present invention are described. Unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following exemplary embodiments do not represent all implementation methods consistent with the present disclosure. It should be understood that they are only examples of processes, methods, devices, etc. that are consistent with some aspects of the present disclosure as detailed in the attached claims, and other embodiments may also be used, or the embodiments listed herein may be modified in structure and function without departing from the scope and essence of the present invention.

[0059] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", etc. indicate the orientation or positional relationship based on the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the elements referred to must have a specific orientation, be constructed and operated in a specific orientation. The terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. The term "multiple" means two or more. The terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, an integral connection, a mechanical connection, an electrical connection, a communication connection, a direct connection, an indirect connection through an intermediate medium, and can be the internal connection of two elements or the interaction relationship between two elements. The term "and / or" includes any and all combinations of one or more related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0060] In order to illustrate the technical solution of the present invention, a specific embodiment is used below for description, and only the parts related to the embodiment of the present invention are shown.

[0061] Embodiment 1:

[0062] like Figure 1 As shown, the present invention provides a UAV landing method based on a configurable flag, which is applied to an autopilot. The UAV landing method based on a configurable flag includes:

[0063] S11, receiving a descending instruction and a configuration file sent by the take-off and landing platform;

[0064] S12, determining whether the mark that can be recognized by the drone corresponding to the descent command corresponds to the mark in the configuration file;

[0065] S13. If the mark that the drone can recognize corresponds to the mark in the configuration file, the configuration file is tested and whether the attribute configuration of the configuration file is legal;

[0066] S14. If the attribute configuration of the configuration file is legal, the drone is controlled to descend to a specified height;

[0067] S15, receiving and identifying the image transmission data and motion data of the UAV obtaining the visual mark at the specified altitude, and determining whether there is one and only one mark in the image transmission data corresponding to the mark in the configuration file; if so, determining the relative position information between the UAV and the target position, and controlling the UAV to land at the target position; if not, driving the UAV away from the preset take-off and landing range of the take-off and landing platform.

[0068] Specifically, the communication module of the autopilot receives the configuration file sent by the take-off and landing platform, which can enhance the accuracy and adaptability of the drone landing, making the drone landing method more applicable and more flexible. The configuration file contains the dictionary type, size and ID of the visual sign, as well as other necessary parameters. These parameters define the physical characteristics and recognition characteristics of the visual sign, so that the method can be dynamically adjusted according to different task requirements. The communication module of the autopilot receives the descent command and the configuration file sent by the take-off and landing platform, and then merges and sends them to the control module of the autopilot. The control module of the autopilot can parse the configuration file in JSON format, determine whether the sign that the drone corresponding to the descent command can recognize corresponds to the sign in the configuration file, and determine whether the drone corresponding to the descent command can take off and land on the take-off and landing platform. The control module of the autopilot can also determine whether the attribute configuration of the configuration file is legal, ensure that the visual sign configured by the take-off and landing platform is legal, ensure that the drone landing method is executed normally, and calculate the precise landing point. The drone is adjusted by the calculated control data, so as to control the drone to land accurately.

[0069] The present invention enhances the accuracy and adaptability of drone landing by receiving the configuration file generated by the configuration visual mark through the autopilot, and can be flexibly adjusted to adapt to different application scenarios. The drone identifies the corresponding target position according to the configuration information and lands accurately, thereby providing a reliable landing solution in a complex environment. In addition, by configuring multiple different types of visual marks, it can be applied to multi-machine take-off and landing scenarios, ensuring that multiple drones can take off and land safely and efficiently on the same take-off and landing platform.

[0070] As an optional implementation, judging whether the attribute configuration is legal includes:

[0071] Determine whether the logo ID range in the configuration file belongs to the preset range, and determine whether the logo size in the configuration file is greater than 0;

[0072] If the range of the flag ID in the configuration file belongs to the preset range, and the flag size in the configuration file is a legal positive number, the attribute configuration is legal. Specifically, after the communication module of the autopilot receives the descent instruction and the configuration file, it merges the descent instruction and the configuration file into a comprehensive instruction, sends it to the control module of the autopilot, and checks the legality of the attribute configuration through the control module of the autopilot. When checking the legality of the attribute configuration, it is determined whether the flag ID range in the configuration file belongs to the range of 0-149 or the dictionary ID range, and whether the flag size in the configuration file is greater than 0. If the flag ID range in the configuration file belongs to the range of 0-149 or the dictionary ID range, and the flag size in the configuration file is greater than 0, the attribute configuration is legal, and the control module of the autopilot can control the drone to descend to the specified height, and execute step S15. If the flag ID range in the configuration file does not belong to the range of 0-149 or the dictionary ID range, and / or the flag size in the configuration file is not 0, the attribute configuration is illegal, and the result is fed back to the communication module of the autopilot, and the decentralization process of this configuration file is terminated.

[0073] As an optional implementation, controlling the drone to descend to a specified height includes:

[0074] Initialize the autopilot to read the configuration file, add the drone status data callback interface, and enable virtual remote sensing;

[0075] Control the descent of the drone through virtual remote sensing;

[0076] Determine whether the drone has reached the specified height;

[0077] If not, the virtual remote control continues to control the drone to descend until the drone reaches the specified height. Specifically, the autopilot adds a drone status data callback interface, which can receive the drone's motion information and the image transmission data obtained by the drone by adding the drone status data callback interface. The autopilot turns on virtual remote sensing, adjusts the drone to the specified height through virtual remote sensing to obtain image transmission data, and can also control the drone to adjust its attitude and land. Through the virtual remote sensing interface, control the drone to descend to the specified height, which can be selected as 12m above the take-off and landing platform. Detect whether the drone has reached the specified height. If the drone has not reached the specified height, continue to control the drone to descend through the virtual remote sensing interface until the drone reaches the specified height. If it is detected that the drone has reached the specified height, control the drone to stop descending, and the control module of the autopilot obtains the image transmission data, performs recognition algorithm calculations on the visual signs, and realizes the attitude estimation of the drone.

[0078] As an optional implementation, receiving and identifying the image transmission data and motion data of the UAV acquiring the visual mark at the specified height, and determining the relative position information between the UAV and the target position, includes:

[0079] Use the autopilot to call the detectMarkers interface of the Aruco algorithm to detect the target position by identifying the dictionary type and marker ID of the configuration file;

[0080] Determine whether the drone detects one and only one target location;

[0081] If yes, the Aruco algorithm estimatePoseSingleMarkers interface is called, the marker size of the configuration file is passed in, and the drone posture is determined;

[0082] According to the target position and the attitude of the UAV, the relative position information between the UAV and the target position is determined;

[0083] The relative position information is calculated through the PID algorithm to determine the control data;

[0084] The attitude and position of the UAV are adjusted according to the control data, so as to control the UAV to land at the target location.

[0085] Specifically, the control module of the autopilot parses the json file according to the configuration file sent by the user, extracts the type and mark ID in the configuration file, and detects the target position by updating the type and mark ID passed to the detectMarkers interface of the Aruco algorithm. When it is detected that there is only one target position, the mark size in the configuration file is extracted, and the attitude of the drone is estimated by updating the mark size passed to the estimatePoseSingleMarkers interface of the Aruco algorithm, and the rotation angle and translation of each mark are calculated. After identifying the target position, the relative position information of the drone relative to the target position can be determined. The control data (i.e. virtual remote sensing data) is determined by adjusting the proportion, integration and differentiation of the PID algorithm recognition result, and the drone is precisely controlled by the control data to achieve attitude adjustment and precise descent of the drone. The virtual remote sensing data includes the rotation angle and translation of the UAV. For example, the UAV can be controlled by virtual remote sensing, and the angle of the UAV head can be rotated to point to the target direction (the default direction is the small marker block group at the target position); the UAV is moved in the horizontal direction (X-axis direction and Y-axis direction) to move the UAV above the marker target point in the target position. The marker target point is the marker position of the small marker block ID in the configuration file. The deviation threshold between the UAV and the marker target point can be selected to be within 0.08m; the UAV is moved in the vertical direction (Z-axis direction) to land the UAV at the target position to achieve precise landing of the UAV.

[0086] As an optional implementation, after determining whether the drone detects one and only one target position, the method further includes:

[0087] If not, determine whether the drone's preparation for landing time exceeds the preset time;

[0088] If the drone's preparation for landing time does not exceed the preset time, continue to detect whether there is one and only one target location;

[0089] If the preparation time of the drone for landing exceeds the preset time, the drone landing is judged to be abnormal, and the drone is driven out of the preset take-off and landing range of the take-off and landing platform. Specifically, the preset time is adaptively set according to actual needs. By limiting the preparation time of the drone for landing by the preset time, it can avoid the situation where the drone is in the preparation state for landing for a long time and cannot land, thereby affecting the landing of other drones. When the control module of the autopilot detects the target position by updating the type and mark ID in the configuration file of the detectMarkers interface of the Aruco algorithm, when it is judged that the target position is not detected, the target position can continue to be detected within the preset time until it is detected that there is only one target position. If it exceeds the preset time, it is judged that the drone precision landing is abnormal, the drone is driven out of the preset take-off and landing range of the take-off and landing platform, and the next drone enters the preset take-off and landing range of the take-off and landing platform. Or when it is judged that there are two or more target positions detected, it is judged that the drone precision landing is abnormal, the drone is driven out of the preset take-off and landing range of the take-off and landing platform, and the next drone enters the preset take-off and landing range of the take-off and landing platform.

[0090] As an optional implementation, Figure 2 As shown, the method for landing a drone based on a configurable flag includes:

[0091] S21. Obtain the image transmission data of the visual sign at the specified altitude, and obtain the UAV's own motion data in real time;

[0092] S22, transmitting the acquired image transmission data and motion data to the autopilot, so that the control module of the autopilot can determine the relative position information between the UAV and the target position according to the image transmission data and motion data, thereby determining the control data, and transmitting the control data back to the UAV;

[0093] S23, performing attitude adjustment and position adjustment according to the control data, so as to land at the target position.

[0094] Specifically, when the drone is controlled and adjusted to a specified height through the control module of the autopilot, the drone can obtain clear image transmission data, and then transmit the image transmission data to the control module of the autopilot. The control module of the autopilot obtains the image transmission data (i.e., video stream) from the drone, and performs visual landmark recognition based on the attribute parameters of the read configuration file to calculate the relative position information of the drone relative to the target position. The relative position information is calculated through the PID algorithm, the control data is determined and the control data is transmitted back to the drone. The drone moves according to the received control data to achieve attitude adjustment and position adjustment, so that the drone can land accurately at the target position.

[0095] As an optional implementation, the method for landing a drone based on a configurable flag applied to a take-off and landing platform includes:

[0096] The configuration file is sent to the autopilot, and the control module of the autopilot executes the configurable flag-based drone landing method applied to the autopilot.

[0097] Among them, the configuration file is generated by the take-off and landing platform through the communication module of the autopilot to configure the attributes of the visual mark. The attribute configuration includes the dictionary type, size and ID of the configuration mark, and the visual mark includes at least two different types of visual marks. Specifically, the attribute configuration of the visual mark is completed by configuring the type, size and ID of the visual mark, and the communication module of the autopilot is updated below the configuration file. The communication module of the autopilot converts the generated configuration file into JSON format. When receiving the descent command, the descent command and the configuration file are merged into one command, which is sent to the control module of the autopilot through the communication module. In addition to the Aruco type, other types of visual marks can also be used, such as the AprilTag type, which can further expand the scope of application of the method. Using the OpenCV open source computer vision library, detection and recognition algorithms for various types of visual marks are implemented. For example Figure 3 and Figure 4 The visual signs shown are two different types of visual signs.

[0098] As an optional implementation, a physical sign or an electronic display screen is set on the take-off and landing platform for configuring the attributes of the visual sign. The physical sign is a physical sign that integrates multiple sizes and multiple IDs, and the electronic display screen is used to dynamically adjust the size and ID of the visual sign in real time. Specifically, multiple types of visual signs can be configured on the take-off and landing platform, and the user can select the appropriate sign type according to the specific application scenario, and identify and locate according to the configured corresponding type of sign. The user can flexibly adjust the size and ID of the visual sign according to actual needs. In both long-distance and short-distance landing scenes, the user can configure the appropriate visual sign size. At the same time, the ID of the visual sign can be dynamically configured according to the task requirements to support applications in multi-task environments, thereby ensuring the accuracy of the landing of the drone. The dynamic configuration method of the attributes of the visual sign includes using a physical sign on the take-off and landing platform, and selecting a suitable physical sign for identification according to the task requirements through the integrated physical signs of multiple sizes and multiple IDs, so as to achieve dynamic configuration of the visual sign. An electronic display screen can also be used on the take-off and landing platform. The electronic display screen can change the pattern of the visual sign in real time according to the needs to display visual signs of different sizes and IDs. The use of an electronic display screen to dynamically configure the visual sign is suitable for scenes where the visual sign configuration needs to be frequently adjusted.

[0099] Embodiment 2:

[0100] like Figure 6As shown, a UAV landing system based on configurable signs includes: a take-off and landing platform, which is used to send a configuration file to an autopilot. Specifically, the take-off and landing platform and the UAV are both communicatively connected to the communication module of the autopilot. The communication module of the autopilot can receive the descent command issued by the UAV within the preset take-off and landing range and the configuration file issued by the take-off and landing platform. The communication module of the autopilot sends the received descent command and configuration file to the control module of the autopilot. The configuration file is a file generated when the take-off and landing platform configures the attributes of the visual sign through the communication module of the autopilot. The take-off and landing platform configures the attributes of the visual sign through a physical sign or an electronic display screen. Attributes include dictionary type, size, and ID.

[0101] In the application scenario of multiple aircraft landing, such as Figure 5 As shown, physical markers can be set on the same take-off and landing platform, including four different types of visual markers. The drone finds the corresponding target position through the configuration set by the user and lands accurately on the corresponding target position.

[0102] It also includes an autopilot, which is used to receive the descent command and the configuration file sent by the take-off and landing platform, and determine whether the mark that the drone can recognize corresponding to the descent command corresponds to the mark in the configuration file. If the mark that the drone can recognize corresponds to the mark in the configuration file, the configuration file is detected, and it is determined whether the attribute configuration of the configuration file is legal. If the attribute configuration of the configuration file is legal, the drone is controlled to descend to a specified height. Receive and identify the image transmission data and motion data of the drone obtaining the visual mark at the specified height, determine the relative position information between the drone and the target position, and thus control the drone to land at the target position. Specifically, the autopilot includes a communication module and a control module. The communication module of the autopilot is a communication bridge between the drone and the take-off and landing platform, and is used to receive the descent command and the configuration file sent by the take-off and landing platform. The control module of the autopilot can perform recognition algorithm calculations and attitude estimation based on the configuration file sent by the communication module of the autopilot and the image transmission video stream of the drone, thereby controlling the landing of the drone.

[0103] It also includes a drone, which is used to obtain the image transmission data of the visual mark at a specified height, and obtain the motion data of the drone itself in real time, and transmit the obtained image transmission data and motion data to the control module of the autopilot, so that the control module of the autopilot can judge whether there is one and only one mark in the image transmission data corresponding to the mark in the configuration file according to the image transmission data and motion data; if so, the relative position information between the drone and the target position is determined, and the drone is controlled to land at the target position; if not, the drone is driven away from the preset take-off and landing range of the take-off and landing platform. Specifically, the drone is equipped with a high-resolution camera and an inertial sensor (i.e., an IMU sensor), and the drone can identify the image transmission data of the visual mark on the take-off and landing platform through the camera, so that the control module of the autopilot can determine the relative position information between the drone and the target position according to the image transmission data. The drone can measure the acceleration and rotational motion of the drone through the inertial sensor, so that the control module of the autopilot can adjust the flight attitude and speed of the drone according to the motion data. More types of sensors, such as laser radar, can also be integrated on the drone to further improve the accuracy and reliability of the drone landing. Multi-sensor data fusion technology is used to enhance the positioning and navigation capabilities of the drone in complex environments. Each drone is configured with an independent visual sign dictionary type and ID, so that the drones can take off and land in an orderly manner, ensuring that multiple drones can take off and land safely and efficiently on the same platform, avoiding interference and conflict when multiple drones take off and land.

[0104] Embodiment three:

[0105] A drone landing processing device based on configurable flags includes: one or more processors, a memory for storing one or more computer programs, and one or more processors for executing one or more computer programs stored in the memory, so that the one or more processors execute the drone landing method based on configurable flags of embodiment 1. Specifically, the memory includes a static hard disk, a solid state hard disk, a random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), an optical storage device, a magnetic storage device, a flash memory, a magnetic disk or an optical disk and / or a combination of the above devices, that is, it can be implemented by any type of volatile or non-volatile storage device or a combination thereof.

[0106] The above description is only the preferred embodiment of the present invention. It is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the protection scope of the present invention.

Claims

1. A method for landing a drone based on a configurable marker, characterized in that: Applied to an autopilot, the drone landing method based on configurable markers includes: Receive descent instructions and configuration files sent by the take-off and landing platform; Determine whether the mark recognizable by the drone corresponding to the descent instruction corresponds to the mark in the configuration file; If the mark that the drone can identify corresponds to the mark in the configuration file, the configuration file is detected, and it is determined whether the attribute configuration of the configuration file is legal; If the attribute configuration of the configuration file is legal, the drone is controlled to descend to a specified height; Receive and identify the image transmission data and motion data of the UAV obtaining the visual mark at the specified height, and determine whether there is one and only one mark in the image transmission data corresponding to the mark in the configuration file; if so, determine the relative position information between the UAV and the target position, and control the UAV to land at the target position; if not, drive the UAV away from the preset take-off and landing range of the take-off and landing platform.

2. The method for landing a UAV based on a configurable marker according to claim 1, characterized in that: The determining whether the attribute configuration is legal includes: Determine whether the logo ID range in the configuration file belongs to a preset range, and determine whether the logo size in the configuration file is greater than 0; If the logo ID range in the configuration file belongs to the preset range, and the logo size in the configuration file is a legal positive number, then the attribute configuration is legal.

3. The method for landing a drone based on a configurable marker according to claim 1, characterized in that: The controlling the drone to descend to a specified height comprises: Initialize the autopilot to read the configuration file, add the drone status data callback interface and start virtual remote sensing; Controlling the drone to descend by using the virtual remote sensing; Determining whether the drone has reached the specified altitude; If not, the virtual remote control continues to control the drone to descend until the drone reaches the specified height.

4. The method for landing a UAV based on a configurable marker according to claim 1, characterized in that: The receiving and identifying the image transmission data and motion data of the UAV acquiring the visual mark at the specified altitude, and determining whether there is and only one mark in the image transmission data corresponding to the mark in the configuration file; If yes, then determining the relative position information between the UAV and the target position, and controlling the UAV to land on the target position, including: Using the autopilot to call the detectMarkers interface of the Aruco algorithm, the target position is detected by identifying the dictionary type and the marker ID of the configuration file; Determining whether the drone detects one and only one target location; If yes, the Aruco algorithm estimatePoseSingleMarkers interface is called, the marker size of the configuration file is passed in, and the drone posture is determined; Determine the relative position information between the drone and the target position according to the target position and the drone posture; Calculate the relative position information by using a PID algorithm to determine the control data; The attitude and position of the UAV are adjusted according to the control data, so as to control the UAV to land at the target position.

5. The method for landing a UAV based on a configurable marker according to claim 4, characterized in that: After determining whether the drone detects one and only one target position, the method further includes: If not, determining whether the preparation time for landing of the drone exceeds a preset time; If the preparation time for landing of the UAV does not exceed the preset time, continue to detect whether there is and only one target position; If the preparation time for the UAV to land exceeds the preset time, the landing of the UAV is determined to be abnormal, and the UAV is driven out of the preset take-off and landing range of the take-off and landing platform.

6. A method for landing a drone based on a configurable marker, characterized in that: Applied to a drone, the drone landing method based on a configurable marker includes: Obtain the image transmission data of the visual landmark at a specified altitude and obtain the drone's own motion data in real time; The acquired image transmission data and motion data are transmitted to the autopilot, so that the control module of the autopilot determines the relative position information between the UAV and the target position according to the image transmission data and the motion data, thereby determining the control data, and transmitting the control data back to the UAV; The attitude adjustment and the position adjustment are performed according to the control data so as to land at the target position.

7. A method for landing a drone based on a configurable marker, characterized in that: Applied to the take-off and landing platform, the drone landing method based on the configurable marker includes: Sending the configuration file to the autopilot, wherein the autopilot executes the drone landing method based on the configurable marker according to any one of claims 1 to 5; The configuration file is generated by configuring the attributes of the visual mark by the take-off and landing platform through the communication module of the autopilot, and the attribute configuration includes the dictionary type, size and ID of the configuration mark, and the visual mark includes at least two different types of visual marks.

8. The method for landing a UAV based on a configurable marker according to claim 7, characterized in that: A physical sign or an electronic display screen is provided on the take-off and landing platform for configuring the properties of the visual sign; the physical sign is a physical sign integrating multiple sizes and multiple IDs, and the electronic display screen is used for dynamically adjusting the size and ID of the visual sign in real time.

9. A drone landing system based on configurable markers, characterized in that: include: The take-off and landing platform is used to send the configuration file to the autopilot; Autopilot, used to receive descent instructions and configuration files sent by the take-off and landing platform; Determine whether the flag that the drone corresponding to the descent instruction can recognize corresponds to the flag in the configuration file; if the flag that the drone can recognize corresponds to the flag in the configuration file, detect the configuration file and determine whether the attribute configuration of the configuration file is legal; if the attribute configuration of the configuration file is legal, control the drone to descend to a specified height; Receiving and identifying the image transmission data and motion data of the UAV acquiring the visual mark at the specified height, determining the relative position information between the UAV and the target position, and thus controlling the UAV to land at the target position; The drone is used to obtain the image transmission data of the visual mark at the specified height, and obtain the motion data of the drone itself in real time; the obtained image transmission data and the motion data are transmitted to the control module of the autopilot, so that the control module of the autopilot can judge whether there is one and only one mark in the image transmission data corresponding to the mark in the configuration file according to the image transmission data and the motion data; if so, determine the relative position information between the drone and the target position, and control the drone to land at the target position; If not, the drone is driven out of the preset take-off and landing range of the take-off and landing platform.

10. A drone landing processing device based on configurable markers, characterized in that: include: one or more processors; A memory for storing one or more computer programs, and one or more processors for executing one or more computer programs stored in the memory, so that one or more processors execute the configurable marker-based drone landing method as described in any one of claims 1-5.

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