Method and device for controlling take-off and landing of unmanned aerial vehicle under high density

Abstract

The invention provides a control mode for flying take-off and landing of the unmanned aerial vehicles under high density, an efficient and safe take-off and landing organization mode is designed in an airspace near a take-off and landing point of the unmanned aerial vehicles according to the thought of taking off from the outer side and landing from the inner side, and it is guaranteed that the unmanned aerial vehicle group safely and orderly completes take-off, queuing, landing and re-take-off. The Erlang model in the queuing wheel is combined to adaptively calculate the system average queuing length and the system average waiting time of the unmanned aerial vehicle warehouse returning scene under the high density, the index is sent back to the management and control system in real time, the management and control system overall plans the whole flight plan, and the whole operation capability and the capacity change condition of the system are evaluated; and a basis is provided for elastic adjustment of a dynamic flight plan and real-time flow prediction.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a method and device for controlling the take-off and landing of unmanned aerial vehicles under high density. Background Art

[0002] With the rapid development of the low-altitude area, high-density, high-heterogeneity and high-frequency flights will be the only way for the development of the low-altitude economy, and will subsequently become stabilized and normalized.

[0003] At present, a small number of low-altitude aircraft (such as drones) can be controlled by pilots or background systems. The existing low-altitude air traffic control system has the ability to monitor drones in real time, but it does not yet have the ability to directly control the coordinated flight of batches of drones. Once the number of drones increases and forms a high density of operations, the existing air traffic control system will not be able to guarantee the safety and efficiency of flight. Summary of the invention

[0004] The present invention provides a method and device for controlling the take-off and landing of a UAV under high density, so as to solve the technical problems of unsafe and low efficiency of UAV flight under high density in the prior art.

[0005] The present invention provides a method for controlling the take-off and landing of a UAV under high density, comprising: When the UAV needs to take off to perform a flight mission, control the UAV to take off from the ground take-off and landing field along the vertical channel; Control the drone to take off vertically to a preset height and then fly outward to the flight waiting area in the takeoff preparation layer and hover; After confirming that the route can be entered, control the drone to enter the route from the flight waiting area; Among them, the ground take-off and landing field is divided into multiple take-off and landing areas. Each take-off and landing area extends upward from the vertical take-off and landing field at the center of the take-off and landing area to the circling waiting layer and the take-off preparation layer to form a vertical channel, and the flight waiting area is circular.

[0006] In some embodiments, it also includes: When the UAV completes its flight mission and leaves the route to prepare for landing, the UAV is controlled to enter the hovering waiting area in the hovering waiting layer and hover; the hovering waiting area is circular; After confirming that there is a landing nest available at the ground landing field below the hovering waiting layer, control the drone to enter the vertical channel inward and land along the vertical channel to the ground landing field.

[0007] In some embodiments, before controlling the drone to enter the hovering waiting area in the hovering waiting layer and hover, the method further includes: Based on the average arrival rate of drones returning to the hangar, the average service rate of the drone hangar, the number of drone hangars, and the capacity of the drone hangar system, determine the average queue length and average waiting time when queuing; And make sure that the average queue length and average waiting time are within the acceptable range for drones.

[0008] In some embodiments, the takeoff preparation layer is located between the hovering waiting layer and the ground take-off and landing field.

[0009] In some embodiments, the hovering waiting layer is located between the take-off preparation layer and the ground landing field.

[0010] In some embodiments, the ground landing and take-off area is divided into four landing and take-off areas: east, west, south, and north.

[0011] According to the present invention, a high-density UAV take-off and landing control device is provided, comprising: The first control module is used to control the UAV to take off from the ground take-off and landing field along the vertical channel when the UAV needs to take off to perform a flight mission; The second control module is used to control the UAV to take off vertically to a preset height and then fly outward to the flight waiting area in the take-off preparation layer and hover; The third control module is used to control the UAV to enter the route from the flight waiting area when it is confirmed that the route can be entered; Among them, the ground take-off and landing field is divided into multiple take-off and landing areas. Each take-off and landing area extends upward from the vertical take-off and landing field at the center of the take-off and landing area to the circling waiting layer and the take-off preparation layer to form a vertical channel, and the flight waiting area is circular.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a method for controlling the take-off and landing of a UAV under high density as described in any one of the above methods is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for controlling the take-off and landing of an unmanned aerial vehicle under high density as described in any one of the above-mentioned methods.

[0014] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned methods for controlling the take-off and landing of unmanned aerial vehicles under high density.

[0015] The method and device for controlling the take-off and landing of unmanned aerial vehicles under high density provided by the present invention plan the ground take-off and landing field and the airspace above, design multiple take-off and landing areas, vertical channels, and flight waiting areas, and control the unmanned aerial vehicle group to take off and land, queue and hover in an orderly and reasonable manner, thereby improving the safety and efficiency of the take-off and landing of unmanned aerial vehicles under high density. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0017] Figure 1 It is a flow chart of the method for controlling the take-off and landing of unmanned aerial vehicles under high density provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the ground take-off and landing field provided by the present invention.

[0019] Figure 3 It is a schematic diagram of the queuing process of drones returning to the warehouse under high density provided by the present invention.

[0020] Figure 4 It is a schematic diagram of the airspace design of the UAV take-off and landing field provided by the present invention.

[0021] Figure 5 It is a structural schematic diagram of the UAV take-off and landing control device under high density provided by the present invention.

[0022] Figure 6 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0024] Airspace is a certain range of space that can meet the needs of aircraft operations. Through airspace management, without changing the existing human-machine operating rules, it provides guarantees for the flight safety, airspace safety, and efficient use of airspace for manned / unmanned aircraft. All flight activities must be approved in the airspace before they can be carried out.

[0025] The drone take-off and landing point describes the location where the drone takes off, transfers, and lands. It includes equipment such as the drone automatic hangar and meteorological facilities. The drone automatic hangar communicates with the drone and the intelligent air traffic control system. Before the drone lands, the intelligent air traffic control system collects weather conditions near the take-off and landing point, and sends intelligent control instructions to the aircraft and hangar based on factors such as the flight plan and the drone's own conditions to complete the take-off and landing of the aircraft.

[0026] As the low-altitude economy is still in its infancy, the take-off and landing points for drones in various regions are relatively discrete and are mostly used for scene demonstrations and presentations (drone shows). There is no overall planning and design for drone nests under high-volume flight conditions. The location of the nest is closely related to the airspace above it, and the design of its airspace needs to be considered in coordination. There is relatively little mature experience in this regard.

[0027] At present, the mode of returning drones to the warehouse is mostly that the pilot commands the landing through the remote control, and the system background controls the drone to land at the designated nest. Both focus on the control of a single drone. When the number of drones returning to the warehouse is large or even queues occur, there is a lack of unified traffic management methods, resulting in the failure to ensure the safety of drone take-off and landing, and low efficiency.

[0028] Figure 1 FIG. 1 is a flow chart of a method for controlling the take-off and landing of a UAV under high density provided by the present invention. Figure 1 As shown, the method includes the following: Step 101: When the UAV needs to take off to perform a flight mission, the UAV is controlled to take off from a ground take-off and landing field along a vertical channel.

[0029] Step 102: Control the UAV to take off vertically to a preset height, then fly outward into the flight waiting area in the takeoff preparation layer and hover.

[0030] Step 103: When it is confirmed that the route can be entered, control the UAV to enter the route from the flight waiting area; wherein the ground take-off and landing field is divided into multiple take-off and landing areas, each take-off and landing area extends upward from the vertical take-off and landing field at the center of the take-off and landing area to the circling waiting layer and the take-off preparation layer to form a vertical channel, and the flight waiting area is ring-shaped.

[0031] In some embodiments, it also includes: When the UAV completes its flight mission and leaves the route to prepare for landing, the UAV is controlled to enter the hovering waiting area in the hovering waiting layer and hover; the hovering waiting area is circular; After confirming that there is a landing nest available at the ground landing field below the hovering waiting layer, control the drone to enter the vertical channel inward and land along the vertical channel to the ground landing field.

[0032] Specifically, Figure 2 Schematic diagram of the ground take-off and landing field provided by the present invention, such as Figure 2 As shown, a feasible design scheme for a ground take-off and landing field (with multiple hangars or machine nests) is given.

[0033] The development of the low-altitude industry is still in its infancy. Most of the existing drone take-off and landing points are fixed and individually set up to meet the take-off and landing needs of small traffic volumes. When the demand for flight and take-off and landing increases, from a design perspective, it is difficult to adapt to the requirements of high-density throughput and low-cost equipment deployment. From a management perspective, the design of dispersed take-off and landing points with long spacing is not conducive to supervisors "seeing the overall situation from one picture". When the project is implemented, it will also bring about problems such as multi-point resource occupation, redundant equipment configuration (such as meteorological sensors), and complex cable laying.

[0034] Therefore, the present invention proposes a construction method of centralized zoning layout of ground take-off and landing fields, which effectively utilizes ground space and facilitates collaborative management. The ground take-off and landing fields are divided into multiple take-off and landing areas. The modular management mode can perform take-off and landing operations at the same time, improve space utilization and take-off and landing efficiency, and is more conducive to ensuring safety. The number of take-off and landing areas can be reasonably arranged according to the size, location, surrounding buildings, airspace environment, etc. of the ground take-off and landing fields.

[0035] like Figure 2 As shown, a concentrated area for take-off and landing fields is delineated, and divided into four take-off and landing areas in the four directions of east, south, west and north. The modular management mode can carry out take-off and landing operations simultaneously, thereby improving space utilization and take-off and landing efficiency.

[0036] The drone take-off and landing model under high density is essentially a queuing process. Figure 3 Schematic diagram of the queuing process of UAVs returning to the warehouse under high density provided by the present invention. Figure 3 As shown, the landing process includes the random arrival of drones at the hangar, the queuing of drones for landing, the landing process, and the completion of landing.

[0037] When the number of drones returning to the warehouse / transferring is large (such as the scene where a large number of staff use drones to order meals for delivery during lunch time), the single queue queuing mode in which drones queue up to enter and land one by one has low time utilization and disorderly space occupancy. The present invention plans the airspace above the ground take-off and landing field, designs multiple vertical channels and flight waiting areas, controls the drone group to take off and land, queue up and hover in an orderly and reasonable manner, and improves the safety and efficiency of drone take-off and landing under high density.

[0038] Figure 4 Schematic diagram of the airspace design of the UAV take-off and landing field provided by the present invention, such as Figure 4As shown, the present invention designs an airspace structure adapted to the take-off and landing of drones under high density, and combines the real-time instructions of the control system to complete the control mode of multi-queue and multi-hangar simultaneous service. The air above the take-off and landing field is divided into the route layer, the hovering waiting layer, and the take-off preparation layer. The hovering waiting layer is higher than the take-off preparation layer (the take-off preparation layer is located between the hovering waiting layer and the ground take-off and landing field). The drone leaves the route and first enters the hovering waiting layer. If there is an idle nest, it will land. If there is no idle nest, it will wait in the hovering waiting area. The hovering waiting area is located in the hovering waiting layer and is circular. In order to avoid conflicts between take-off and landing drones, when taking off, the drone takes off vertically at a certain height (which can be lower than the height of the take-off preparation area, or the same as the height of the take-off preparation area), first moves outward or obliquely outward to the take-off preparation area, and then flies sideways into the main route; if multiple take-off drones are ready, the drones in each partition range can take off at the same time to the nearest flight preparation area to prepare for take-off. From the overall range of the take-off and landing field airspace, the drone lands from the inside of the hovering waiting area and takes off from the outside of the take-off preparation area.

[0039] During the takeoff phase, if there are many takeoffs, they will take off vertically at a certain height and then fly sideways to the flight waiting area above the corresponding area to prepare for takeoff; if the takeoff area is set in the middle of the takeoff and landing field (shared tubular lift area), it will also cause queue congestion for takeoff, affecting the overall efficiency. And once the drone at the top of the queue has hovering, shaking or other unpredictable problems, it will seriously affect the release of a large number of drones waiting to take off below it.

[0040] During the landing phase, when the UAV completes its flight mission and is ready to land, after leaving the route, it will fly obliquely into the circling waiting area and hover. A certain height difference is set in the circling waiting area. On the one hand, it is compatible with the errors caused by the differences in the body design of UAVs of various manufacturers, and on the other hand, it avoids the "rotor vortex ring" effect: when rotor UAVs land vertically at a low speed, the airflow will circulate at the end of the blades to form a "ring-shaped air mass", causing the rotor UAV to consume power but not generate lift, that is, "sinking with power". At this time, the UAV will shake or even drop a certain distance.

[0041] If there is an empty landing nest below the hovering waiting area, the control system will guide the drones in the waiting queue to land one by one. When all the nests are occupied, the arriving drones will enter the hovering waiting area and wait in a queue.

[0042] In some embodiments, before controlling the drone to enter the hovering waiting area in the hovering waiting layer and hover, the method further includes: Based on the average arrival rate of drones returning to the hangar, the average service rate of the drone hangar, the number of drone hangars, and the capacity of the drone hangar system, determine the average queue length and average waiting time when queuing; And make sure that the average queue length and average waiting time are within the acceptable range for drones.

[0043] Specifically, based on the above design, a mathematical model is established for the drone return and take-off process under high density, and key performance indicators such as average queue length and average queue time are calculated, and then fed back to the control system to adjust the subsequent flight plan. The process is as follows: Since the takeoff, flight, and return to the warehouse of each drone are based on individual needs, the system cooperates with the user to complete the entire flight process. This process is random and independent. Under high-density drone return process, the arrival process of each drone satisfies the Poisson flow with parameter λ.

[0044] For a sufficiently small Δt, the probability of two or more customers arriving within the time interval [t, t+Δt) is extremely small and can be ignored, that is, the situation where the system controls a certain number of drones to return to the warehouse at the same time at time t is not considered.

[0045] In a very small time period Δt, the probability of a drone arriving at the hangar is stable and proportional to the length of the time period.

[0046] According to Poisson's principle, the following contents are defined under this system: 1) The average arrival rate of the drones back to the warehouse is λ; 2) the average service rate μ of the drone hangar (which varies with the product performance differences of different drone hangars); 3) The number of drone hangars is s; 4) The capacity of the drone hangar system is K: When the system detects that the number of drones on the way back to the hangar and the number of drones waiting to enter the hangar is greater than the hangar number s, the flight return plan for this hangar will not be arranged. K may be greater than s because there are cases where drones that have returned to the hangar fly away again in a short period of time.

[0047] The probability that the system state is n at time t is represented by Pn(t). The probability that the system state is n in steady state is:

[0048] When the number of hangars is s, the average arrival rate of drones is:

[0049] The total service rate is:

[0050] remember Indicates the service intensity. When (if it is greater than 1, it will always queue up), then:

[0051] When all the hangar positions are occupied by drones, if the arriving drone wants to enter the hangar, it must take off and leave. At this time, "entry" and "leave" occur alternately. For any state n, when the average number of times entering the state per unit time is equal to the average number of times leaving the state per unit time, the balance equation can be obtained:

[0052] It follows that:

[0053] therefore: ,

[0054] in,

[0055] Based on the above, the following indicators of the drone hangar are further calculated: Average queue length:

[0056] Average waiting time:

[0057] The effects of the present invention are mainly: (1) The overall design-modular management organization method proposed in the present invention can significantly save space utilization and equipment construction costs.

[0058] (2) Improve the efficiency of drone return to the warehouse under high density conditions and provide a safe and stable traffic management method.

[0059] (3) Significantly optimize system capacity and avoid air traffic congestion. Under high density, the average queue length and average waiting time of drones returning to the warehouse will be fed back to the control system in real time, and the control system will adjust the rhythm in time and reasonably arrange subsequent flight plans.

[0060] The drone take-off and landing control device under high density provided by the present invention is described below. The drone take-off and landing control device under high density described below and the drone take-off and landing control method under high density described above can be referenced to each other.

[0061] Figure 5 : is a schematic diagram of the structure of the high-density UAV take-off and landing control device provided by the present invention, such as Figure 5 As shown, the present invention provides a high-density UAV take-off and landing control device, comprising: The first control module 501 is used to control the UAV to take off from the ground landing field along the vertical channel when the UAV needs to take off to perform a flight mission; The second control module 502 is used to control the UAV to take off vertically to a preset height and then fly outward to the flight waiting area in the take-off preparation layer and hover; The third control module 503 is used to control the UAV to enter the route from the flight waiting area when it is confirmed that the route can be entered; Among them, the ground take-off and landing field is divided into multiple take-off and landing areas. Each take-off and landing area extends upward from the vertical take-off and landing field at the center of the take-off and landing area to the circling waiting layer and the take-off preparation layer to form a vertical channel, and the flight waiting area is circular.

[0062] Specifically, the above-mentioned UAV take-off and landing control device under high density provided in the embodiment of the present application can implement all the method steps implemented in the above-mentioned UAV take-off and landing control method embodiment under high density, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0063] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6 As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the take-off and landing control method of the UAV under high density, and the method includes: When the UAV needs to take off to perform a flight mission, control the UAV to take off from the ground take-off and landing field along the vertical channel; Control the drone to take off vertically to a preset height and then fly outward to the flight waiting area in the takeoff preparation layer and hover; After confirming that the route can be entered, control the drone to enter the route from the flight waiting area; Among them, the ground take-off and landing field is divided into multiple take-off and landing areas. Each take-off and landing area extends upward from the vertical take-off and landing field at the center of the take-off and landing area to the circling waiting layer and the take-off preparation layer to form a vertical channel, and the flight waiting area is circular.

[0064] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0065] On the other hand, the present invention further provides a computer program product, the computer program product includes a computer program, the computer program can be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer can execute the high-density UAV take-off and landing control method provided by the above methods, the method comprising: When the UAV needs to take off to perform a flight mission, control the UAV to take off from the ground take-off and landing field along the vertical channel; Control the drone to take off vertically to a preset height and then fly outward to the flight waiting area in the takeoff preparation layer and hover; After confirming that the route can be entered, control the drone to enter the route from the flight waiting area; Among them, the ground take-off and landing field is divided into multiple take-off and landing areas. Each take-off and landing area extends upward from the vertical take-off and landing field at the center of the take-off and landing area to the circling waiting layer and the take-off preparation layer to form a vertical channel, and the flight waiting area is circular.

[0066] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented when the computer program is executed by a processor to execute the high-density UAV take-off and landing control method provided by the above methods, the method comprising: When the UAV needs to take off to perform a flight mission, control the UAV to take off from the ground take-off and landing field along the vertical channel; Control the drone to take off vertically to a preset height and then fly outward to the flight waiting area in the takeoff preparation layer and hover; After confirming that the route can be entered, control the drone to enter the route from the flight waiting area; Among them, the ground take-off and landing field is divided into multiple take-off and landing areas. Each take-off and landing area extends upward from the vertical take-off and landing field at the center of the take-off and landing area to the circling waiting layer and the take-off preparation layer to form a vertical channel, and the flight waiting area is circular.

[0067] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0068] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0069] It should also be noted that the terms "first", "second", etc. in the embodiments of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the take-off and landing of unmanned aerial vehicles under high density, characterized in that: include: When the UAV needs to take off to perform a flight mission, control the UAV to take off from the ground take-off and landing field along the vertical channel; Control the drone to take off vertically to a preset height and then fly outward to the flight waiting area in the takeoff preparation layer and hover; After confirming that the route can be entered, control the drone to enter the route from the flight waiting area; Among them, the ground take-off and landing field is divided into multiple take-off and landing areas. Each take-off and landing area extends upward from the vertical take-off and landing field at the center of the take-off and landing area to the circling waiting layer and the take-off preparation layer to form a vertical channel, and the flight waiting area is circular.

2. The method for controlling the take-off and landing of unmanned aerial vehicles under high density according to claim 1, characterized in that: Also includes: When the UAV completes its flight mission and leaves the route to prepare for landing, the UAV is controlled to enter the hovering waiting area in the hovering waiting layer and hover; The hovering waiting area is circular; After confirming that there is a landing nest available at the ground landing field below the hovering waiting layer, control the drone to enter the vertical channel inward and land along the vertical channel to the ground landing field.

3. The method for controlling the take-off and landing of unmanned aerial vehicles under high density according to claim 2, characterized in that: Before controlling the drone to enter the hovering waiting area in the hovering waiting layer and hover, it also includes: Based on the average arrival rate of drones returning to the hangar, the average service rate of the drone hangar, the number of drone hangars, and the capacity of the drone hangar system, determine the average queue length and average waiting time when queuing; And make sure that the average queue length and average waiting time are within the acceptable range for drones.

4. The method for controlling the take-off and landing of unmanned aerial vehicles under high density according to claim 1, characterized in that: The takeoff preparation floor is located between the circling waiting floor and the ground take-off and landing field.

5. The method for controlling the take-off and landing of unmanned aerial vehicles under high density according to claim 1, characterized in that: The circling waiting layer is located between the take-off preparation layer and the ground landing field.

6. The method for controlling the take-off and landing of unmanned aerial vehicles under high density according to claim 1, characterized in that: The ground landing and take-off area is divided into four landing and take-off areas: east, west, south and north.

7. A high-density drone take-off and landing control device, characterized in that: include: The first control module is used to control the UAV to take off from the ground take-off and landing field along the vertical channel when the UAV needs to take off to perform a flight mission; The second control module is used to control the UAV to take off vertically to a preset height and then fly outward to the flight waiting area in the take-off preparation layer and hover; The third control module is used to control the UAV to enter the route from the flight waiting area when it is confirmed that the route can be entered; Among them, the ground take-off and landing field is divided into multiple take-off and landing areas. Each take-off and landing area extends upward from the vertical take-off and landing field at the center of the take-off and landing area to the circling waiting layer and the take-off preparation layer to form a vertical channel, and the flight waiting area is circular.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method for controlling the take-off and landing of a drone under high density conditions as described in any one of claims 1 to 6 is implemented.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, the method for controlling the take-off and landing of a UAV under high density conditions as described in any one of claims 1 to 6 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by the processor, the method for controlling the take-off and landing of a UAV under high density conditions as described in any one of claims 1 to 6 is implemented.

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