Marine unmanned aerial vehicle landing method and system, intelligent terminal and storage medium

Abstract

The invention relates to a marine unmanned aerial vehicle landing method and system, an intelligent terminal and a storage medium, and relates to the field of unmanned aerial vehicle technologies. Acquiring environment detection information of the take-off and landing platform based on the landing triggering information; judging whether the environment detection information meets the requirements of landing environment information or not; if yes, platform position information of the take-off and landing platform is obtained, and the unmanned aerial vehicle is controlled to move to the position corresponding to the platform position information and land on the take-off and landing platform; if not, obtaining overall environment parameter information of the take-off and landing sea area; analyzing and determining landing area information according to the overall environment parameter information; controlling the unmanned aerial vehicle and the take-off and landing platform to move to an area corresponding to the landing area information, and acquiring platform position information of the take-off and landing platform; and controlling the unmanned aerial vehicle to move to a position corresponding to the platform position information and land on the take-off and landing platform. The method has the effect of improving the landing precision of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the field of drone technology, and in particular to a method, system, intelligent terminal and storage medium for landing an ocean drone. Background Art

[0002] Marine drones refer to drone systems that are specifically or primarily used for marine operations. They play an important role in the marine environment.

[0003] In the related technology, when marine drones are used for marine operations in waters near the coast, a drone take-off and landing base can be set up near the coast for the drone to take off and land. In waters far from the coast, due to the drone's endurance limitations, a take-off and landing platform needs to be set up in the sea for drones far from the coast to take off and land.

[0004] Regarding the above-mentioned related technologies, the take-off and landing base is located on the coast, so the overall landing environment is relatively stable. Therefore, the UAV can land by falling directly. However, the take-off and landing platform far away from the coast has a very complex sea environment, which can easily cause the take-off and landing platform to move and shake in the sea. As a result, the UAV cannot achieve lossless landing by falling directly, resulting in poor landing accuracy. There is still room for improvement. Summary of the invention

[0005] In order to improve the landing accuracy of drones, the present application provides a marine drone landing method, system, intelligent terminal and storage medium.

[0006] In the first aspect, the present application provides a method for landing an ocean drone, which adopts the following technical solution: A method for landing an ocean drone, comprising: Get the landing trigger information of the drone; Acquiring environmental detection information of a preset take-off and landing platform based on the landing trigger information; the environmental detection information is characterized by sea wave parameters and meteorological parameters at the location of the take-off and landing platform; Determine whether the environmental detection information meets the requirements of the preset landing environment information; If it meets the requirements, the platform position information of the take-off and landing platform is obtained, and the UAV is controlled to move to the position corresponding to the platform position information and land on the take-off and landing platform; If not, the overall environmental parameter information of the preset take-off and landing sea area is obtained; Analyze and determine the landing area information based on the overall environmental parameter information; Control the UAV and the take-off and landing platform to move to the area corresponding to the landing area information, and obtain the platform position information of the take-off and landing platform; Control the UAV to move to the position corresponding to the platform location information and land on the take-off and landing platform.

[0007] By adopting the above technical solution, when it is determined that the marine UAV needs to land, the environmental detection information of the take-off and landing platform is collected. When it is determined that the environmental detection information does not meet the requirements of the landing environment information, it indicates that the waves and weather in the sea area where the take-off and landing platform are located are relatively bad, which has a huge impact on the smooth landing of the UAV. Therefore, the landing area information is determined after analyzing the overall environmental parameter information of the take-off and landing sea area, so that the UAV and the take-off and landing platform are moved to the landing area information, and the landing is completed in a more environmentally friendly area, thereby improving the landing accuracy of the UAV.

[0008] Optionally, the steps of controlling the drone to move to a position corresponding to the platform position information and land on the take-off and landing platform include: Get the drone location information of the drone; Analyze and determine the horizontal distance information based on the platform position information and the drone position information; When the horizontal distance information is equal to the preset precise landing distance information, the sea area image information is obtained; Analyze and determine the moving path information based on the sea area image information and the preset platform feature information; According to the moving path information, the UAV is controlled to move above the take-off and landing platform, and the UAV is controlled to land on the take-off and landing platform.

[0009] By adopting the above technical solution, after the horizontal distance information between the UAV and the take-off and landing platform reaches the precise landing distance information, the sea area image information is collected, and image recognition is performed to determine the moving path of the UAV to the top of the take-off and landing platform, thereby ensuring that the UAV can accurately move to the top of the take-off and landing platform for precise landing.

[0010] Optionally, the steps of controlling the drone to land on the take-off and landing platform include: Obtaining movement parameter information and heaving parameter information of the take-off and landing platform; Control the drone to follow the take-off and landing platform according to the movement parameter information; Determine whether the undulation parameter information meets the requirements of the preset vertical drop angle information; If it meets the requirements, the drone will be controlled to land directly on the take-off and landing platform according to the direct landing trigger information; If it does not meet the requirements, the take-off and landing platform will be controlled according to the preset platform adjustment method to assist the UAV in landing.

[0011] By adopting the above technical solution, the UAV is controlled to follow the take-off and landing platform, thereby ensuring the synchronization of the UAV and the take-off and landing platform, and improving the landing accuracy of the UAV. When it is determined that the undulation parameter information does not meet the requirements of the vertical landing angle information, it indicates that the take-off and landing platform is still undulating. Therefore, the UAV is assisted in landing according to the platform adjustment method, thereby improving the landing accuracy of the UAV.

[0012] Optionally, the step of controlling the take-off and landing platform to assist the UAV in landing according to a preset platform adjustment method includes: Determine the adjustment sequence number information according to the undulation parameter information and the preset direction sequence number relationship information; Analyze and determine the sequence number fluctuation parameter information according to the fluctuation parameter information and the adjustment sequence number information; Analyze and determine the sequence number adjustment speed information according to the sequence number fluctuation parameter information; Determine the sequence number adjustment distance information according to the sequence number fluctuation parameter information and the preset angle distance relationship information; According to the adjustment sequence number information, the preset adjustment lever is controlled to adjust the level of the preset landing platform with the sequence number adjustment distance information and the sequence number adjustment speed information, and the drone is controlled to land on the landing platform.

[0013] By adopting the above technical solution, the adjustment lever is controlled according to the adjustment sequence number information to adjust the level of the landing platform with the sequence number adjustment speed information and the sequence number adjustment distance information. Therefore, no matter how the take-off and landing platform fluctuates, the landing platform used to receive the drone always remains level, thereby improving the accuracy of the drone's landing.

[0014] Optionally, the steps of controlling the drone to land on the landing platform include: Control the preset recovery device to rise according to the preset recovery height information, and obtain the landing height information of the UAV; Determine whether the landing altitude information meets the requirements of the recovery altitude information; If it does not meet the requirement, the landing height information of the drone will continue to be obtained for cyclic judgment; If it meets the requirements, the recovery device is controlled to recover the drone to assist the drone to land on the landing platform.

[0015] By adopting the above technical solution, when the landing height information of the UAV reaches the recovery height information, the recovery device is controlled to recover the UAV, thereby assisting the UAV to land on the landing platform, and the UAV will not be unable to accurately land on the take-off and landing platform due to the ups and downs of the take-off and landing platform, thereby improving the landing accuracy of the UAV.

[0016] Optionally, the step of controlling the recovery device to recover the drone to assist the drone to land on the landing platform includes: Obtain landing platform image information; Analyze and determine adjustment parameter information based on landing platform image information and preset landing center feature information; Adjust the drone according to the adjustment parameter information so that the drone is aligned with the landing platform; Obtain drone image information; Analyze and determine the clamping angle information based on the UAV image information and the preset landing gear feature information; According to the clamping angle information, the recovery device is controlled to adjust the clamping angle and then clamp the landing gear on the UAV; The recovery device is controlled according to the preset recovery parameter information to recover the UAV to the landing platform.

[0017] By adopting the above technical solution, after image recognition of the landing platform image information, the position of the UAV is adjusted to align the UAV with the landing platform, and then image recognition is performed based on the UAV image information to determine the clamping angle information, so that the recovery device can accurately clamp the landing gear on the UAV after adjusting the clamping angle, thereby improving the convenience of the recovery device in recovering the UAV.

[0018] Optionally, the step of analyzing and determining the landing area information according to the overall environmental parameter information includes: Obtain the return position information of the drone and the receiving position information of the take-off and landing platform; Analyze and determine suitable landing area information based on overall environmental parameter information and landing environment information; Analyze and determine the regional landing route information based on the return position information, the received position information and the suitable landing area information; The best landing area information is determined by analyzing the regional landing distance information, and the best landing area information is defined as the landing area information.

[0019] By adopting the above technical solution, the suitable landing area information in the overall environmental parameter information is determined, and then the optimal landing area information is determined based on the return position information, the receiving position information and the landing area information. While ensuring that the UAV can land accurately on the take-off and landing platform, the moving distance of the UAV and the take-off and landing platform is reduced, thereby improving the landing efficiency.

[0020] In the second aspect, the present application provides a marine drone landing system, which adopts the following technical solution: A marine drone landing system, comprising: An acquisition module is used to obtain landing trigger information, environmental detection information, platform location information and overall environmental parameter information; A memory, used to store a program of any of the above-mentioned methods for landing an ocean drone; The program in the processor and the memory can be loaded and executed by the processor to implement any of the above-mentioned methods for landing an ocean drone.

[0021] By adopting the above technical solution, the control processor loads and executes a program of a marine UAV landing method stored in the memory, so that the acquisition module obtains a series of data related to the landing of the marine UAV. When it is determined that the environmental detection information does not meet the requirements of the landing environment information, the overall environmental parameter information of the take-off and landing sea area is analyzed to determine the landing area information, so that the UAV and the take-off and landing platform are moved to the landing area information, and the landing is completed in a more environmentally friendly area, thereby improving the landing accuracy of the UAV.

[0022] In a third aspect, the present application provides a smart terminal, which adopts the following technical solution: An intelligent terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned methods for landing an ocean drone.

[0023] By adopting the above technical solution, by operating the intelligent terminal, the processor loads and executes a program of a marine UAV landing method in the memory, so that when it is determined that the environmental detection information does not meet the requirements of the landing environment information, the overall environmental parameter information of the take-off and landing sea area is analyzed to determine the landing area information, so that the UAV and the take-off and landing platform are moved to the landing area information, and the landing is completed in a more environmentally friendly area, thereby improving the landing accuracy of the UAV.

[0024] In a fourth aspect, the present application provides a computer storage medium capable of storing a corresponding program, which is convenient for improving the landing accuracy of a drone, and adopts the following technical solution: A computer-readable storage medium stores a computer program that can be loaded by a processor and execute any of the above-mentioned ocean drone landing methods.

[0025] By adopting the above technical solution, a computer program for a method for landing an ocean UAV is stored in a computer-readable storage medium, so that the processor loads and executes the computer program in the storage medium. Therefore, when it is determined that the environmental detection information does not meet the requirements of the landing environment information, the landing area information is determined after analyzing the overall environmental parameter information of the take-off and landing sea area, so that the UAV and the take-off and landing platform are moved to the landing area information, and the landing is completed in a more environmentally friendly area, thereby improving the landing accuracy of the UAV.

[0026] In summary, the present application includes at least one of the following beneficial technical effects: 1. When it is determined that the marine UAV needs to land, the environmental detection information of the take-off and landing platform is collected. When it is determined that the environmental detection information does not meet the requirements of the landing environment information, it indicates that the waves and weather in the sea area where the take-off and landing platform are located are relatively bad, which has a huge impact on the smooth landing of the UAV. Therefore, the landing area information is determined after analyzing the overall environmental parameter information of the take-off and landing sea area, so that the UAV and the take-off and landing platform are moved to the landing area information and complete the landing in an environmentally more friendly area, thereby improving the landing accuracy of the UAV; 2. By controlling the drone to follow the take-off and landing platform, the drone and the take-off and landing platform are synchronized, and the landing accuracy of the drone is improved. When it is determined that the undulation parameter information does not meet the requirements of the vertical landing angle information, it indicates that the take-off and landing platform is still undulating. Therefore, the drone is assisted in landing according to the platform adjustment method, thereby improving the landing accuracy of the drone; 3. When the landing height information of the UAV reaches the recovery height information, the recovery device is controlled to recover the UAV, thereby assisting the UAV to land on the landing platform, and the UAV will not be unable to land accurately on the take-off and landing platform due to the ups and downs of the take-off and landing platform, thereby improving the landing accuracy of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a flow chart of a method for landing an ocean drone in an embodiment of the present application.

[0028] Figure 2 It is a flowchart of the steps of controlling the drone to move to a position corresponding to the platform position information and land on the take-off and landing platform in an embodiment of the present application.

[0029] Figure 3 It is a flow chart of the steps of controlling the drone to land on the take-off and landing platform in an embodiment of the present application.

[0030] Figure 4 It is a flow chart of the steps of controlling the take-off and landing platform to assist the UAV in landing according to a preset platform adjustment method in an embodiment of the present application.

[0031] Figure 5 It is a flow chart of the steps of controlling the drone to land on the landing platform in an embodiment of the present application.

[0032] Figure 6 It is a flow chart of the steps of controlling the recovery device to recover the drone to assist the drone to land on the landing platform in an embodiment of the present application.

[0033] Figure 7 It is a flowchart of the steps of analyzing and determining landing area information based on overall environmental parameter information in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 7 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0035] The embodiment of the present application discloses a method for precise landing of an ocean UAV, and specifically discloses a processing terminal, a UAV and a take-off and landing platform. The processing terminal is respectively installed on the UAV and the take-off and landing platform, and data interaction between the UAV and the take-off and landing platform is realized through communication connection. After the processing terminal receives the landing trigger information of the UAV, the environmental detection information of the area where the take-off and landing platform is located is detected. When the processing terminal determines that the environmental detection information does not meet the requirements of the landing environment information, the overall environmental parameter information of the take-off and landing sea area is collected, so as to determine the landing area information, so that the UAV and the take-off and landing platform are both moved to the landing area information, so that the UAV completes the landing under stable environmental conditions, thereby improving the accuracy of the UAV landing.

[0036] Reference Figure 1 The present application embodiment discloses a method for landing an ocean drone, comprising the following steps: Step S100: Acquire the landing trigger information of the drone.

[0037] The landing trigger information refers to the trigger data for the drone to land. In one embodiment, the landing trigger information is sent to the processing terminal after the drone completes the mission; in another embodiment, the landing trigger information is input into the processing terminal by the operator.

[0038] Step S101: obtaining environmental detection information of a preset landing and take-off platform based on landing trigger information; the environmental detection information is characterized by sea wave parameters and meteorological parameters at the location of the landing and take-off platform.

[0039] Among them, after the processing terminal receives the landing trigger information, it detects the environmental detection information of the area where the take-off and landing platform is located to provide data support for the subsequent determination of whether the drone can land in the area.

[0040] The landing platform refers to a platform for drones to take off and land, usually a ship. Environmental detection information refers to the wave parameters and meteorological data at the location of the landing platform. The wave parameters are determined by taking pictures and image recognition of the sea area by the camera on the landing platform and combining it with the undulation angle of the landing platform. The meteorological data is determined by taking pictures and image recognition of the sea area by the camera on the landing platform and combining it with the data from the meteorological website.

[0041] Step S102: Determine whether the environmental detection information meets the requirements of preset landing environment information.

[0042] Among them, landing environment information refers to environmental parameters suitable for UAV landing, which also includes wave parameters and meteorological parameters. The specific values ​​are determined by the operator according to the actual situation of the UAV. The requirements for landing environment information mean that the wave parameters are not greater than the wave parameters corresponding to the landing environment information and the meteorological parameters belong to the meteorological parameters corresponding to the landing environment information.

[0043] The processing terminal determines whether the wave parameters corresponding to the environmental detection information are not greater than the wave parameters corresponding to the landing environment information, and whether the meteorological parameters corresponding to the environmental detection information belong to the meteorological parameters corresponding to the landing environment information, thereby determining whether the area where the take-off and landing platform is located is suitable for the UAV to land.

[0044] Step S1021: If it meets the requirements, the platform position information of the take-off and landing platform is obtained, and the UAV is controlled to move to the position corresponding to the platform position information and land on the take-off and landing platform.

[0045] Among them, if the processing terminal determines that the wave parameters corresponding to the environmental detection information are not greater than the wave parameters corresponding to the landing environment information, and the meteorological parameters corresponding to the environmental detection information belong to the meteorological parameters corresponding to the landing environment information, it indicates that the environmental conditions in the area where the take-off and landing platform is located are relatively stable and suitable for the UAV to land. Therefore, the platform position information of the take-off and landing platform is collected, so as to control the UAV to move to the position corresponding to the platform position information and land on the take-off and landing platform. For specific methods, refer to Figure 2 steps.

[0046] The platform location information refers to the location of the take-off and landing platform in the sea area. The platform location is determined by the positioning system and sent to the processing terminal of the drone.

[0047] Step S1022: If not, obtain the overall environmental parameter information of the preset take-off and landing sea area.

[0048] Among them, if the processing terminal determines that the wave parameters corresponding to the environmental detection information are greater than the wave parameters corresponding to the landing environment information, and / or the meteorological parameters corresponding to the environmental detection information do not belong to the meteorological parameters corresponding to the landing environment information, it indicates that the environment in the area where the take-off and landing platform is located is unstable and not suitable for the UAV to land. Therefore, the overall environmental parameter information of the take-off and landing sea area is detected to provide data support for the subsequent determination of the area suitable for landing.

[0049] The take-off and landing sea area refers to the sea area where drones can take off and land. It is divided by the operator according to the actual situation and stored in the processing terminal. The overall environmental parameter information refers to the wave parameters and meteorological parameters of each grid position in the take-off and landing sea area. The environmental parameters of different grid positions are queried on the meteorological website by the processing terminal, and the grid positions are associated with the environmental parameters.

[0050] Step S10221: Analyze and determine the landing area information based on the overall environmental parameter information.

[0051] The landing area information refers to the area where the drone lands after adjustment, which is determined by the processing terminal after analyzing the overall environmental parameter information. The specific method is as follows Figure 7 steps.

[0052] Step S103: Control the UAV and the take-off and landing platform to move to the area corresponding to the landing area information, and obtain the platform position information of the take-off and landing platform.

[0053] Among them, after determining the landing area information, the drone and the take-off and landing platform are controlled to move to the area corresponding to the landing area information, and after reaching the area, the platform position information of the take-off and landing platform is detected, thereby providing data support for the subsequent control of the drone to land on the take-off and landing platform.

[0054] The platform location information in this step is consistent with the platform location information in step S1021 and will not be repeated here.

[0055] Step S104: Control the UAV to move to the position corresponding to the platform position information and land on the take-off and landing platform.

[0056] Among them, after the processing terminal determines the platform location information, the drone is controlled to move to the position corresponding to the platform location information and land on the take-off and landing platform. The specific method is as follows Figure 2 steps, so that the UAV can land in an area with a relatively stable environment, thereby improving the landing accuracy of the UAV.

[0057] Reference Figure 2 , the steps of controlling the UAV to move to the position corresponding to the platform position information and land on the take-off and landing platform include: Step S200: Obtain the drone location information of the drone.

[0058] The drone location information refers to the location of the drone, which is obtained by the positioning system on the drone and sent to the processing terminal.

[0059] Step S201: Analyze and determine horizontal distance information based on the platform position information and the drone position information.

[0060] Among them, the horizontal distance information refers to the horizontal distance between the UAV and the take-off and landing platform, which is determined by the positioning system after analyzing the corresponding position of the platform position information and the corresponding position of the UAV position information.

[0061] Step S202: When the horizontal distance information is equal to the preset precise landing distance information, the sea area image information is obtained.

[0062] Among them, the precise landing distance information refers to the maximum horizontal distance between the UAV and the take-off and landing platform when the UAV begins to land accurately. The specific value is determined by the operator based on actual conditions.

[0063] When the processing terminal determines that the distance corresponding to the horizontal distance information is equal to the distance corresponding to the precise landing distance information, it means that the UAV is close enough to the take-off and landing platform. At this time, the UAV needs to land accurately. Therefore, the sea area image information is collected to provide data support for the subsequent control of the UAV for precise landing.

[0064] Sea area image information refers to the image of the sea area where the drone is located, which is taken by the camera on the drone and sent to the processing terminal.

[0065] Step S203: Analyze and determine the moving path information based on the sea area image information and the preset platform feature information.

[0066] The platform feature information refers to the image features representing the take-off and landing platform, which is stored in the processing terminal by the operator. The moving path information refers to the path of the drone when it moves above the take-off and landing platform. The processing terminal identifies the features corresponding to the platform feature information in the image corresponding to the sea area image information, and thus determines the position of the take-off and landing platform in the image with the position of the drone as the origin, thereby obtaining the shortest path from the origin to the platform position.

[0067] Step S204: Control the UAV to move above the take-off and landing platform according to the moving path information, and control the UAV to land on the take-off and landing platform.

[0068] Among them, after determining the moving path information, the processing terminal controls the UAV to move to the top of the take-off and landing platform according to the path corresponding to the moving path information, so that the UAV is aligned with the take-off and landing platform, and then controls the UAV to land on the take-off and landing platform. The specific method is referred to Figure 3 steps.

[0069] Reference Figure 3 ,The steps to control the drone to land on the take-off and landing platform include: Step S300: Acquire the movement parameter information and the ups and downs parameter information of the take-off and landing platform.

[0070] The moving parameter information refers to the moving direction and speed of the take-off and landing platform, which is detected by the speedometer and positioning system on the take-off and landing platform. The heave parameter information refers to the heave angle, heave direction and heave speed of the take-off and landing platform, which is detected by the inertial measurement unit and visual sensor installed on the take-off and landing platform.

[0071] Step S301: Control the UAV to follow the take-off and landing platform according to the movement parameter information.

[0072] Among them, after obtaining the movement parameter information, the UAV is controlled to move with the take-off and landing platform in the direction and speed corresponding to the movement parameter information, so as to ensure that the UAV is always directly above the take-off and landing platform, providing basic support for the subsequent control of the UAV landing.

[0073] Step S302: determining whether the undulation parameter information meets the requirement of the preset vertical angle information.

[0074] Among them, the straight-down angle information refers to the undulation angle at which direct landing can be carried out. The specific value is determined by the operator based on the actual conditions of the UAV and the take-off and landing platform. The requirement for the straight-down angle information refers to an angle value not greater than that corresponding to the straight-down angle information.

[0075] The processing terminal determines whether the ups and downs angle corresponding to the ups and downs parameter information is not greater than the angle value corresponding to the straight-down angle information, thereby determining whether the ups and downs angle of the take-off and landing platform is too large, causing the drone to be unable to land accurately on the take-off and landing platform.

[0076] Step S3021: If it meets the requirements, the UAV is controlled to land directly on the take-off and landing platform according to the direct landing trigger information.

[0077] Among them, if the processing terminal determines that the ups and downs angle corresponding to the ups and downs parameter information is not greater than the angle value corresponding to the straight-down angle information, it means that the ups and downs angle of the take-off and landing platform is small. At this time, the UAV can land directly on the take-off and landing platform. Therefore, the UAV is controlled to land directly on the take-off and landing platform according to the direct landing trigger information.

[0078] Direct landing trigger information refers to the trigger data that controls the drone to land directly on the take-off and landing platform at a preset speed, which is stored in the processing terminal by the operator.

[0079] Step S3022: If not, the take-off and landing platform is controlled according to a preset platform adjustment method to assist the UAV in landing.

[0080] Among them, if the processing terminal determines that the ups and downs angle corresponding to the ups and downs parameter information is greater than the angle value corresponding to the straight-fall angle information, it means that the ups and downs angle of the take-off and landing platform is too large. At this time, the drone cannot land directly. Therefore, the take-off and landing platform is controlled according to the platform adjustment method to assist the drone in landing, ensuring that the drone lands accurately on the take-off and landing platform.

[0081] The platform adjustment method refers to the method of adjusting the level of the take-off and landing platform to assist the UAV to land accurately on the take-off and landing platform. For specific methods, refer to Figure 4 The steps are stored in the processing terminal by the operator.

[0082] Reference Figure 4 The steps of controlling the take-off and landing platform to assist the UAV in landing according to the preset platform adjustment method include: Step S400: determining adjustment sequence number information according to the undulation parameter information and preset direction sequence number relationship information.

[0083] Among them, the direction number relationship information refers to the correspondence between the ups and downs direction and the adjustment number. When the take-off and landing platform rises and falls in different directions, there are level adjustment devices at both ends of the take-off and landing platform corresponding to the ups and downs direction. The serial number of the device corresponds to the ups and downs direction one by one to form a mapping table.

[0084] The adjustment sequence number information refers to the sequence number for starting the adjustment level device, which is obtained by searching the mapping table corresponding to the direction sequence number relationship information by the processing terminal according to the heave direction corresponding to the heave parameter information.

[0085] Step S401: analyzing and determining the sequence number fluctuation parameter information according to the fluctuation parameter information and the adjustment sequence number information.

[0086] The serial number fluctuation parameter information refers to the angle that the device corresponding to the serial number needs to adjust, which is obtained by the processing terminal associating the fluctuation angle corresponding to the fluctuation parameter information with the serial number corresponding to the adjustment serial number information.

[0087] Step S402: Analyze and determine the sequence number adjustment speed information according to the sequence number fluctuation parameter information.

[0088] The sequence number adjustment speed information refers to the speed at which the device corresponding to the sequence number adjusts the level, and is determined by the processing terminal according to the fluctuation speed corresponding to the sequence number fluctuation parameter information.

[0089] Step S403: determining the sequence number adjustment distance information according to the sequence number fluctuation parameter information and the preset angle distance relationship information.

[0090] Among them, the angle-distance relationship information refers to the corresponding relationship between different ups and downs angles and adjustment distances. When the take-off and landing platform rises and falls, the size of the take-off and landing platform itself remains unchanged as the length of the hypotenuse of the right triangle, while the ups and downs angle is one angle of the right triangle, and the adjustment distance is the right-angled side of the right triangle corresponding to the ups and downs angle. Therefore, the adjustment distance can be obtained by calculating the sine value of the ups and downs angle and the size value of the take-off and landing platform according to the Pythagorean theorem.

[0091] The serial number adjustment distance information refers to the distance that the device corresponding to the serial number needs to adjust, and is calculated by the processing terminal by inputting the fluctuation angle corresponding to the serial number fluctuation parameter information into the relationship formula corresponding to the angle distance relationship information.

[0092] Step S404: according to the adjustment sequence number information, the preset adjustment lever is controlled to adjust the level of the preset landing platform with the sequence number adjustment distance information and the sequence number adjustment speed information, and the drone is controlled to land on the landing platform.

[0093] The adjustment rod refers to a device used to adjust the level of the take-off and landing platform. Multiple hydraulic rods can be used. Through the extension and retraction of the hydraulic rods, the landing platform on the take-off and landing platform can always remain horizontal when the take-off and landing platform rises and falls. The landing platform refers to the platform on the take-off and landing platform that actually receives the drone.

[0094] The processing terminal controls the corresponding adjustment rod according to the sequence number corresponding to the adjustment sequence number information to adjust the distance corresponding to the sequence number information and the speed corresponding to the sequence number adjustment speed information, so that the adjustment rod drives the landing platform to always remain horizontal, and then controls the drone to land on the landing platform that is always horizontal. For specific methods, refer to Figure 5 steps to improve the landing accuracy of the drone.

[0095] Reference Figure 5 ,The steps to control the drone to land on the landing pad include: Step S500: controlling the preset recovery device to rise according to the preset recovery height information, and obtaining the landing height information of the UAV.

[0096] Among them, the processing terminal controls the recovery device to rise to the height corresponding to the recovery height information, and detects the landing height information of the UAV, providing data support for the subsequent control of the recovery device to recover the UAV.

[0097] The recovery device refers to a device installed on the landing platform for recovering the UAV, including a hydraulic rod, a turntable and a pneumatic clamp. The turntable is installed at the output end of the hydraulic rod, and the pneumatic clamp is installed on the side of the turntable away from the hydraulic rod. The hydraulic rod drives the pneumatic clamp close to the UAV, and the turntable adjusts the gripping angle of the pneumatic clamp. After the pneumatic clamp clamps the UAV, the hydraulic rod retracts to recover the UAV to the landing platform.

[0098] The recovery height information refers to the height at which the recovery device recovers the drone, and the specific value is determined by the operator based on the actual situation of the recovery device. The landing height information refers to the height of the drone relative to the landing platform, which is detected by the laser rangefinder installed on the drone.

[0099] Step S501: Determine whether the landing height information meets the requirements of the recovery height information.

[0100] The requirement of the recovery height information refers to the height value corresponding to the recovery height information. The processing terminal determines whether the height corresponding to the landing height information is equal to the height value corresponding to the recovery height information, thereby determining whether the height of the drone is sufficient for the recovery device to recover it.

[0101] Step S5011: If it does not meet the requirements, continue to obtain the landing height information of the drone for cyclic judgment.

[0102] Among them, if the processing terminal determines that the height corresponding to the landing height information is not equal to the height value corresponding to the recovery height information, it means that the height of the drone is still too high at this time and the recovery device cannot recover the drone. Therefore, the landing height information of the drone continues to be detected, thereby continuing to pay attention to the height of the drone.

[0103] Step S5012: If it is met, the recovery device is controlled to recover the drone to assist the drone to land on the landing platform.

[0104] If the processing terminal determines that the height corresponding to the landing height information is equal to the height value corresponding to the recovery height information, it indicates that the recovery device can recover the drone. Therefore, the recovery device is controlled to recover the drone, thereby assisting the drone to land accurately on the landing platform. For specific methods, refer to Figure 6 steps.

[0105] Reference Figure 6 , the steps of controlling the recovery device to recover the UAV to assist the UAV to land on the landing platform include: Step S600: Acquire landing platform image information.

[0106] The landing platform image information refers to the image of the landing platform, which is captured by a camera on the drone.

[0107] Step S601: analyzing and determining adjustment parameter information according to the landing platform image information and preset landing center feature information.

[0108] The landing center feature information refers to the image feature of the landing platform center, which is stored in the processing terminal by the operator. The adjustment parameter information refers to the direction and distance of adjustment. The processing terminal establishes a plane rectangular coordinate system with the center of the drone as the origin in the image corresponding to the landing platform image information, thereby determining the coordinates of the features corresponding to the landing center feature information in the coordinate system, and then determining the direction and distance between the coordinates and the origin to obtain the adjustment parameter information.

[0109] Step S602: Adjust the drone according to the adjustment parameter information so that the drone is aimed at the landing platform.

[0110] Among them, after determining the adjustment parameter information, the processing terminal controls the drone to move in the direction and distance corresponding to the adjustment parameter information, so that the center of the drone is aligned with the center of the landing platform, which facilitates the subsequent recovery device to recover the drone.

[0111] Step S603: Obtain drone image information.

[0112] Among them, drone image information refers to the image of the drone, which is captured by a camera on the landing platform.

[0113] Step S604: Analyze and determine the clamping angle information based on the drone image information and the preset landing gear feature information.

[0114] The landing gear feature information refers to the image feature of the UAV landing gear, which is stored in the processing terminal by the operator. The clamping angle information refers to the angle at which the recovery device clamps the UAV landing gear. The processing terminal identifies the landing gear direction corresponding to the landing gear feature information in the image corresponding to the UAV image information, and identifies the angle between the landing gear direction and the preset direction line to obtain the clamping angle information.

[0115] Step S605: Control the recovery device to adjust the clamping angle according to the clamping angle information and then clamp the landing gear on the UAV.

[0116] Among them, after determining the clamping angle information, the processing terminal controls the turntable in the recovery device to rotate the pneumatic clamp at an angle corresponding to the clamping angle information, so that the pneumatic clamp is aligned with the landing gear, and then controls the pneumatic clamp to clamp the landing gear of the drone, preparing for the subsequent recovery of the drone.

[0117] Step S606: Control the recovery device to recover the UAV to the landing platform according to the preset recovery parameter information.

[0118] Among them, after the pneumatic gripper clamps the landing gear, the processing terminal controls the retraction of the hydraulic rod according to the recovery speed corresponding to the recovery parameter information, so as to smoothly recover the UAV to the landing platform, thereby improving the landing accuracy of the UAV.

[0119] The recovery parameter information refers to the speed at which the recovery device recovers the drone. The specific value is determined by the operator based on actual conditions.

[0120] Reference Figure 7 The steps of analyzing and determining the landing area information according to the overall environmental parameter information include: Step S700: Obtain the return position information of the UAV and the receiving position information of the take-off and landing platform.

[0121] The return position information refers to the position of the drone when it determines that it needs to land, which is detected by the positioning system on the drone and sent to the processing terminal. The receiving position information refers to the position of the take-off and landing platform when it determines that it needs to receive the drone, which is detected by the positioning system on the take-off and landing platform and sent to the processing terminal.

[0122] Step S701: Analyze and determine suitable landing area information based on overall environmental parameter information and landing environment information.

[0123] Among them, the suitable landing area information refers to the area suitable for the drone to land. The processing terminal compares the parameters corresponding to the overall environmental parameter information with the parameters corresponding to the landing environment information, and selects the area that meets the landing environment information requirements, which is the suitable landing area information.

[0124] Step S702: Analyze and determine the regional landing distance information based on the return position information, the received position information and the suitable landing area information.

[0125] Among them, the regional landing distance information refers to the distance that the UAV and the take-off and landing platform move to the landing area. After determining the landing area information, the processing terminal calculates the distance between the position corresponding to the return position information and the area corresponding to the landing area information, and then calculates the distance between the position corresponding to the receiving position information and the area corresponding to the landing area information, and adds the two together to obtain the regional landing distance information.

[0126] Step S703: Analyze and determine the best landing area information according to the regional landing distance information, and define the best landing area information as the landing area information.

[0127] Among them, after obtaining the regional landing distance information, the processing terminal sorts the distances corresponding to the regional landing distance information from small to large, thereby selecting the area with the shortest distance as the best landing area information, and defining the best landing area information as the landing area information, so that the drone and the take-off and landing platform can reach the landing area at the fastest speed for landing.

[0128] The best landing area information refers to the suitable area that the UAV and the take-off and landing platform can reach the fastest. The processing terminal sorts the distances corresponding to the regional landing distance information from small to large, and selects the area with the shortest distance as the best landing area information.

[0129] Based on the same inventive concept, the embodiment of the present application provides a marine drone landing system, comprising: An acquisition module is used to acquire landing trigger information, environmental detection information, platform location information, overall environmental parameter information, drone location information, sea area image information, movement parameter information, undulation parameter information, landing height information, landing platform image information, drone image information, return location information, and receiving location information; A memory for storing a program for a method of landing an ocean drone; The program in the memory can be loaded and executed by the processor to implement a method for landing an ocean drone.

[0130] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0131] An embodiment of the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and executed for a method of landing an ocean drone.

[0132] Computer storage media include, for example, various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0133] Based on the same inventive concept, an embodiment of the present application provides an intelligent terminal, including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute a method for landing an ocean drone.

[0134] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0135] The above are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. Any feature disclosed in this specification (including the abstract and drawings), unless otherwise stated, can be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

Claims

1. A method for landing an ocean drone, characterized in that: include: Get the landing trigger information of the drone; Acquire environmental detection information of a preset take-off and landing platform based on landing trigger information; The environmental detection information is characterized by sea wave parameters and meteorological parameters at the location of the take-off and landing platform; Determine whether the environmental detection information meets the requirements of the preset landing environment information; If it meets the requirements, the platform position information of the take-off and landing platform is obtained, and the UAV is controlled to move to the position corresponding to the platform position information and land on the take-off and landing platform; If not, the overall environmental parameter information of the preset take-off and landing sea area is obtained; Analyze and determine the landing area information based on the overall environmental parameter information; Control the UAV and the take-off and landing platform to move to the area corresponding to the landing area information, and obtain the platform position information of the take-off and landing platform; Control the UAV to move to the position corresponding to the platform location information and land on the take-off and landing platform.

2. A method for landing an ocean drone according to claim 1, characterized in that: The steps of controlling the UAV to move to the position corresponding to the platform position information and land on the take-off and landing platform include: Get the drone location information of the drone; Analyze and determine the horizontal distance information based on the platform position information and the drone position information; When the horizontal distance information is equal to the preset precise landing distance information, the sea area image information is obtained; Analyze and determine the moving path information based on the sea area image information and the preset platform feature information; According to the moving path information, the UAV is controlled to move above the take-off and landing platform, and the UAV is controlled to land on the take-off and landing platform.

3. A method for landing an ocean drone according to claim 2, characterized in that: The steps to control the drone to land on the take-off and landing platform include: Obtaining movement parameter information and heaving parameter information of the take-off and landing platform; Control the drone to follow the take-off and landing platform according to the movement parameter information; Determine whether the undulation parameter information meets the requirements of the preset vertical drop angle information; If it meets the requirements, the drone will be controlled to land directly on the take-off and landing platform according to the direct landing trigger information; If it does not meet the requirements, the take-off and landing platform will be controlled according to the preset platform adjustment method to assist the UAV in landing.

4. A method for landing an ocean drone according to claim 3, characterized in that: The steps of controlling the take-off and landing platform to assist the UAV in landing according to the preset platform adjustment method include: Determine the adjustment sequence number information according to the undulation parameter information and the preset direction sequence number relationship information; Analyze and determine the sequence number fluctuation parameter information according to the fluctuation parameter information and the adjustment sequence number information; Analyze and determine the sequence number adjustment speed information according to the sequence number fluctuation parameter information; Determine the sequence number adjustment distance information according to the sequence number fluctuation parameter information and the preset angle distance relationship information; According to the adjustment sequence number information, the preset adjustment lever is controlled to adjust the level of the preset landing platform with the sequence number adjustment distance information and the sequence number adjustment speed information, and the drone is controlled to land on the landing platform.

5. A method for landing an ocean drone according to claim 4, characterized in that: The steps to control the drone to land on the landing pad include: Control the preset recovery device to rise according to the preset recovery height information, and obtain the landing height information of the UAV; Determine whether the landing altitude information meets the requirements of the recovery altitude information; If it does not meet the requirement, the landing height information of the drone will continue to be obtained for cyclic judgment; If it meets the requirements, the recovery device is controlled to recover the drone to assist the drone to land on the landing platform.

6. A method for landing an ocean drone according to claim 5, characterized in that: The steps of controlling the recovery device to recover the drone to assist the drone to land on the landing platform include: Obtain landing platform image information; Analyze and determine adjustment parameter information based on landing platform image information and preset landing center feature information; Adjust the drone according to the adjustment parameter information so that the drone is aligned with the landing platform; Obtain drone image information; Analyze and determine the clamping angle information based on the UAV image information and the preset landing gear feature information; According to the clamping angle information, the recovery device is controlled to adjust the clamping angle and then clamp the landing gear on the UAV; The recovery device is controlled according to the preset recovery parameter information to recover the UAV to the landing platform.

7. The method for landing an ocean drone according to claim 1, characterized in that: The steps of analyzing and determining the landing area information based on the overall environmental parameter information include: Obtain the return position information of the drone and the receiving position information of the take-off and landing platform; Analyze and determine suitable landing area information based on overall environmental parameter information and landing environment information; Analyze and determine the regional landing route information based on the return position information, the received position information and the suitable landing area information; The best landing area information is determined by analyzing the regional landing distance information, and the best landing area information is defined as the landing area information.

8. A marine drone landing system, characterized in that: include: An acquisition module is used to obtain landing trigger information, environmental detection information, platform position information and overall environmental parameter information; A memory for storing a program of a method for landing an ocean drone according to any one of claims 1 to 7; The program in the processor memory can be loaded and executed by the processor to implement a marine drone landing method as described in any one of claims 1 to 7.

9. An intelligent terminal, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes a method for landing an ocean drone as claimed in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: A computer program is stored which can be loaded by a processor and executes a method for landing an ocean drone as claimed in any one of claims 1 to 7.

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