Unmanned aerial vehicle landing positioning method and device based on unmanned aerial vehicle nest and storage medium

Abstract

The invention discloses an unmanned aerial vehicle landing positioning method and device based on an unmanned aerial vehicle nest, and a storage medium, and can assist an unmanned aerial vehicle in positioning based on an unmanned aerial vehicle landing positioning device arranged on the unmanned aerial vehicle nest under the conditions of unmanned landing and too low residual electric quantity, prevent the unmanned aerial vehicle from continuously consuming electric energy with relatively high power consumption, and improve the power consumption of the unmanned aerial vehicle. And the risk caused by too low residual electric quantity is reduced. Besides, in the process that the unmanned aerial vehicle nest assists positioning of the unmanned aerial vehicle, the unmanned aerial vehicle nest bears energy consumption caused by communication to a large extent, further excessive consumption of residual electricity of the unmanned aerial vehicle is avoided, and safe landing of the unmanned aerial vehicle is guaranteed to a certain extent. On one hand, simultaneous control over the three-dimensional position and the channel is achieved. On the other hand, conditions are provided for safe landing of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of simultaneous control of three-dimensional position and course, and in particular to a method and device for positioning a drone landing based on a drone nest and a storage medium. Background Art

[0002] Unmanned aerial vehicles, also known as "drones" or "UAVs" in English, are unmanned aircraft that are controlled by radio remote control equipment and self-contained program control devices, or are operated completely or intermittently autonomously by onboard computers. The supporting devices that cooperate with drones and provide functions such as charging for drones can be called drone nests or drone airports. The rapid development of drone technology has made drone-related products emerge in industries such as agriculture and construction.

[0003] However, drone technology is a fusion of multiple technologies, such as energy storage technology and positioning technology. On the one hand, it effectively improves the flexibility of drone performance, and on the other hand, it also poses a challenge to the integration and adaptation of technologies. For example, in a scenario where the drone's endurance is required to be high, if the drone's positioning performance is good, but the energy storage is not compatible with the scenario, it will lead to hidden dangers in the drone's endurance. At this time, even if the drone has good positioning capabilities, it is difficult to achieve its expected effect. If serious problems occur during the landing process, it may even cause losses. It can be seen that in the case of hidden dangers in the drone's endurance, how to achieve the positioning of the drone during the landing process has become an urgent problem to be solved. For example, the public (announcement) number: CN108536168B, the patent title: "A method, device, drone and storage medium for positioning a drone" (main classification number: G05D1 / 10), solves the problem of positioning deviation in dual-antenna RTK technology and realizes accurate positioning of drones. For another example, the patent publication (announcement) number is CN111309050B, and the patent title is: "A method for identifying and positioning unmanned aerial vehicle targets" (main classification number: G05D1 / 10). Through the ranging device around the aircraft, the spatial model of obstacles in the flight plane of the aircraft is obtained, and then positioning is achieved, and then obstacles are avoided.

[0004] On the one hand, it can illustrate that the simultaneous control technology applicable to three-dimensional position and course has great potential in the field of UAV-related technologies; on the other hand, it can also illustrate that the technology exploration in this field still has relatively broad expansion prospects. Summary of the invention

[0005] The embodiments of the present application provide a drone landing positioning method and device and a storage medium based on a drone nest to at least partially solve the above-mentioned technical problems.

[0006] The present application embodiment adopts the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a method for positioning a drone landing based on a drone nest. The method is based on a drone system, and the drone system includes: a drone, a drone nest, and a positioning module; the positioning module includes: a passive tag set on the drone, an active tag set on the drone nest, and a drone landing positioning device set on the drone nest; the active tag and the passive tag communicate via RFID; the method is executed by the drone landing positioning device, and the method includes:

[0008] In an optional embodiment of the present specification, the active tag includes a first active tag and a second active tag; the first active tag includes an ultra-high frequency RFID chip, and the second active tag includes a high frequency RFID chip; the second energy-saving positioning instruction includes a first sub-instruction and a second sub-instruction; the second frequency includes a primary frequency and a secondary frequency;

[0009] Controlling the active tag to start working includes: controlling both the first active tag and the second active tag to start working;

[0010] If the active tag detects the passive tag, a second energy-saving positioning instruction is sent to the drone, including: if only the first active tag detects the passive tag, the first sub-instruction is sent to the drone; so that the drone increases the positioning frequency of its own positioning to the primary frequency while landing according to the landing route according to the first sub-instruction; if both the first active tag and the second active tag detect the passive tag, the second sub-instruction is sent to the drone; so that the drone increases the positioning frequency of its own positioning to the secondary frequency while landing according to the landing route according to the second sub-instruction; the secondary frequency is higher than the primary frequency.

[0011] In an optional embodiment of the present specification, the secondary frequency is higher than the positioning frequency when the UAV receives the landing instruction.

[0012] In an optional embodiment of the present specification, the operating frequency of the first active tag is 860-960 MHz; the operating frequency of the second active tag is 13.56 MHz.

[0013] In an optional embodiment of this specification, the method further includes:

[0014] Determine an alternative landing location within a specified range around the drone nest based on an image captured by an image acquisition unit on the drone nest;

[0015] When only the first active tag detects the passive tag, planning a route for the drone between its current position and the alternative landing location as a first alternative route based on the current position of the drone;

[0016] The first alternative route is sent to the drone, so that when the drone detects that its remaining power is less than a preset second power threshold, it chooses to land according to the first alternative route; the second power threshold is less than the first power threshold.

[0017] In an optional embodiment of this specification, the method further includes:

[0018] When only the first active tag detects the passive tag, if the result of the drone's self-positioning is outside the detection range of the first active tag, the coordinates of the alternative landing location are sent to the drone, so that the drone plans a second alternative route between its current position and the alternative landing location according to the alternative landing location, so as to land according to the second alternative route.

[0019] In an optional embodiment of this specification, the method further includes:

[0020] When both the first active tag and the second active tag detect the passive tag, if the result of the drone's self-positioning is outside the detection range of the second active tag, a route change instruction will be issued to the drone, so that the drone responds to the route change instruction and lands according to the first alternative route.

[0021] In a second aspect, the embodiment of the present application further provides a drone landing positioning device based on a drone nest, wherein the drone landing positioning device belongs to a positioning module of a drone system; the drone system further comprises: a drone and a drone nest; the positioning module further comprises: a passive tag arranged on the drone and an active tag arranged on the drone nest; the drone landing positioning device is arranged on the drone nest;

[0022] The UAV landing positioning device is configured as follows: after receiving the UAV's response to the landing command, determining the remaining power of the UAV; if the remaining power is less than a preset first power threshold, sending an energy-saving positioning first instruction to the UAV; allowing the UAV to reduce the positioning frequency of its own positioning to a preset first frequency while landing according to a preset landing route according to the first energy-saving positioning instruction; after receiving the UAV's response to the first energy-saving positioning instruction, controlling the active tag to start working; if the active tag detects the passive tag, sending an energy-saving positioning second instruction to the UAV; allowing the UAV to increase the positioning frequency of its own positioning to a preset second frequency while landing according to the landing route according to the second energy-saving positioning instruction; the second frequency is greater than the first frequency; if it is detected that the UAV completes landing on the UAV nest, displaying positioning completion information.

[0023] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0024] Processor; and

[0025] A memory arranged to store computer executable instructions which, when executed, cause the processor to perform the method steps described in the first aspect.

[0026] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores one or more programs. When the one or more programs are executed by an electronic device including multiple applications, the electronic device executes the method steps described in the first aspect.

[0027] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0028] The method, device and storage medium in this specification can assist the drone in positioning based on the drone landing positioning device set on the drone nest when no one is landing and the remaining power is too low, while avoiding the drone from continuing to consume power at a high power consumption, thereby reducing the risk caused by the low remaining power. In addition, in the process of the drone nest assisting the drone in positioning, the drone nest bears the energy consumption caused by communication to a large extent, avoiding further excessive consumption of the remaining power of the drone, so as to ensure the safe landing of the drone to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0030] Figure 1 A schematic diagram of the process of the drone landing positioning method based on the drone nest provided in the embodiment of this specification;

[0031] Figure 2 It is a schematic diagram of the structure of an electronic device in an embodiment of this specification. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0033] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

[0034] The serial numbers of the components in this document, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0035] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0036] The technical solution in this specification is based on a drone system. The drone system in this specification includes a drone, a drone nest, and a positioning module. Ideally, the drone nest has certain management functions for the drone. When the drone is not in use, it should be located in the drone nest. After the drone completes its flight mission, it should land in the drone nest. In addition, the drone nest can optionally have other auxiliary functions, such as charging the drone.

[0037] The positioning module in this specification includes: a passive tag (Passive Tag, passive tag or passive tag) set on the drone, an active tag (Active Tag, active tag or active tag) set on the drone nest, and a drone landing positioning device set on the drone nest. The active tag and the passive tag communicate through RFID (Radio Frequency Identification, wireless radio frequency identification technology).

[0038] During the interaction between the active tag and the passive tag, the active tag actively sends a signal of a certain frequency. The reader reads and decodes the information and sends it to the central information system for relevant data processing. Since the passive tag does not have to be responsible for the initiative of the interaction during the interaction, it consumes less energy, which helps to avoid excessive consumption of the remaining power of the drone. The drone nest is usually set in a relatively stable position, and there is no risk of crashing, so the power consumption of the drone nest poses a lower risk to the landing process of the drone. If conditions permit, the RFID technology in the relevant technology can be applied to this specification.

[0039] The method in this specification is performed by the drone landing positioning device. Figure 1 As shown, the drone landing positioning method based on the drone nest in this specification includes the following steps:

[0040] S100: After receiving a response from the drone to a landing command, determining a remaining battery level of the drone.

[0041] In an optional embodiment, the system in this specification further includes a control handle, and the landing command can be sent by the user to the drone through the control handle. In other optional embodiments, the control handle can also be sent to the drone nest, and the drone nest transmits the landing command to the drone.

[0042] The drone's response to the landing command can be sent directly to the drone nest by the drone, or it can be transmitted to the drone nest by the control handle. The response sent by the drone can include its own remaining power detection result, so that the drone nest knows the remaining power of the drone.

[0043] S102: If the remaining power is less than a preset first power threshold, a first energy-saving positioning instruction is sent to the drone.

[0044] The first power threshold may be an empirical value, and may be related to the energy storage capacity of the drone's battery, the load of the drone, etc. Generally, if the remaining power of the drone is less than the first power threshold, it means that there is a high possibility of risk during the landing of the drone.

[0045] The drone in this specification has a positioning function for itself. In the related art, the technical means that can realize the positioning of the drone in the flight state are applicable to this specification when conditions permit. Exemplary, vision-based positioning, laser positioning, etc. But no matter what kind of positioning means, it will cause a certain amount of power consumption. When sending a landing command to the drone, it is usually when the drone has completed the execution of the task. At this time, the drone no longer needs to perform corresponding operations on the target object (for example, the task performed by the drone is to shoot wild rhinoceros, then the wild rhinoceros is the target object), so there is no need for too strict requirements in terms of flight stability and adjustment of flight attitude. In addition, before the drone performs the task, most of them take off from the drone nest. On the way to perform the task, they have a certain understanding of the information of the environment. Even if they return by the original route, they will not perform strict information collection on the environment. Then reducing their own positioning frequency will not affect the tasks that have been completed, nor will it cause too much impact on the return flight.

[0046] After receiving the first instruction, the drone reduces the positioning frequency of its own positioning to the preset first frequency while landing according to the preset landing route according to the energy-saving positioning first instruction. If, during the flight of the drone, the preset positioning frequency is once every 10 seconds, the first frequency may be once every 15 seconds. The specific value of the first frequency may be determined by experience. Reducing the positioning frequency can reduce the resources consumed by the drone when processing data, thereby reducing the energy consumption of the drone.

[0047] The preset landing route can be a route planned by the drone itself. Since the drone is most aware of its own location and environment, the drone itself can also have a certain path planning ability, and the drone also knows the location of the drone nest, the landing route can be completely planned by the drone itself. In addition, the planning of the landing route can also be performed by other control components in the system, and this manual does not make specific restrictions. In the relevant technology, the technical means that can plan routes for drones are applicable to this manual when conditions permit.

[0048] The first instruction may be sent to the drone via remote communication, rather than RFID.

[0049] The landing route in this manual is the route planned for the drone after the drone receives the landing command, which may include a certain return route.

[0050] S104: After receiving the response from the drone to the first energy-saving positioning instruction, controlling the active tag to start working.

[0051] In this step, the active tag actively sends a signal. Since the drone is equipped with a passive tag, once the drone falls into the range of the signal sent by the active tag (indicating that the drone is close to the drone nest at this time), it can be detected by the drone landing positioning device. In other words, RFID technology also plays a certain positioning role in this manual, at least it can determine the distance between the drone and the drone nest.

[0052] S106: If the active tag detects the passive tag, a second energy-saving positioning instruction is sent to the drone.

[0053] The active tag detecting the passive tag indicates that the drone is very close to the drone nest. At this time, the drone needs to aim at the landing position provided by the drone nest more accurately. Any deviation may cause losses. The energy-saving positioning second instruction in this manual enables the drone to increase the positioning frequency of its own positioning to a preset second frequency while landing according to the landing route according to the energy-saving positioning second instruction; the second frequency is greater than the first frequency. Increasing the positioning frequency can effectively ensure safety during landing.

[0054] S108: If it is detected that the drone completes landing on the drone nest, positioning completion information is displayed.

[0055] In the related art, technical means that can be used to detect whether the drone has landed on the drone nest are applicable to this specification when conditions permit. In an optional embodiment, the process of displaying the positioning completion information can be to generate the positioning completion information and send the positioning completion information to the control handle.

[0056] The method, device and storage medium in this specification can assist the drone in positioning based on the drone landing positioning device set on the drone nest when no one is landing and the remaining power is too low, while avoiding the drone from continuing to consume power at a high power consumption, thereby reducing the risk caused by the low remaining power. In addition, in the process of the drone nest assisting the drone in positioning, the drone nest bears the energy consumption caused by communication to a large extent, avoiding further excessive consumption of the remaining power of the drone, so as to ensure the safe landing of the drone to a certain extent.

[0057] In addition, in an optional embodiment of the present specification, RFID technology can also be used to improve the accuracy of drone positioning.

[0058] In this embodiment, the active tag includes a first active tag and a second active tag. The first active tag includes an ultra-high frequency RFID chip (for example, the working frequency of the first active tag is 860-960 MHz, and the tag reading and writing distance is farther, generally up to 10 meters or more), and the second active tag includes a high-frequency RFID chip (for example, the working frequency of the second active tag is about 13.56 MHz, and the tag reading and writing distance is farther, generally up to 1-1.5 meters). The second instruction for energy-saving positioning includes a first sub-instruction and a second sub-instruction; the second frequency includes a primary frequency and a secondary frequency, and the secondary frequency is higher than the primary frequency. Optionally, more than one first active tag and / or second active tag is provided, and if one of them can detect a passive tag, it is deemed to be detected to improve detection accuracy.

[0059] In this embodiment, the “controlling the active tag to start working” in the aforementioned step includes: controlling both the first active tag and the second active tag to start working.

[0060] The aforementioned step of "if the active tag detects the passive tag, then sending the second energy-saving positioning instruction to the drone" includes: if only the first active tag detects the passive tag (indicating that although the drone is relatively close to the drone nest at this time, it has not yet reached the level where it can be determined whether it can land smoothly at the drone nest), then sending a first sub-instruction to the drone, so that the drone, according to the first sub-instruction, increases the positioning frequency of its own positioning to the primary frequency while landing according to the landing route.

[0061] After that, the drone still continues to execute the landing. If both the first active tag and the second active tag detect the passive tag (indicating that the drone is very close to the drone nest at this time, enough to determine whether it can land smoothly at the drone nest), the second sub-instruction is sent to the drone; so that the drone increases the positioning frequency of its own positioning to the secondary frequency while landing according to the landing route according to the second sub-instruction. The secondary frequency is higher than the primary frequency, which can improve the landing accuracy to ensure the landing quality.

[0062] In a further optional embodiment, the secondary frequency is higher than the positioning frequency when the UAV receives the landing command. Since the UAV already has the conditions for safe landing at this time, setting a higher secondary frequency is conducive to improving the landing quality.

[0063] In order to further improve the landing safety of the drone when the remaining power of the drone is low, in an optional embodiment of the present specification, an image acquisition unit is provided on the drone nest. Based on the image acquired by the image acquisition unit on the drone nest, an alternative landing site is determined within a specified range around the drone nest (the specified range can be a preset geographical range. For example, the drone nest is the center of the circle, and the range is within a radius of 10 meters). The drone nest is usually not set in a location with many obstacles (for example, in a bush with dense vegetation). The drone nest also requires certain setting conditions, then there is at least a large enough flat site to place the drone nest. Therefore, it is not necessarily impossible to find a similarly flat site near the drone nest, or other areas of the flat site where the drone nest is located (i.e., alternative landing sites). In most cases, the area of ​​the helipad that the drone nest can provide for the drone to land is smaller than the area of ​​the site where it is located. Then it is easier for the drone to land on the site, but it is not conducive to the recovery of the drone. When the remaining power of the drone is insufficient and there may be risks, safety should be put first.

[0064] When only the first active tag detects the passive tag, based on the current position of the drone, a route between the current position of the drone and the alternative landing site is planned for the drone as the first alternative route. The first alternative route is sent to the drone, so that when the drone detects that its remaining power is less than the preset second power threshold, it chooses to land according to the first alternative route. The second power threshold is less than the first power threshold. The remaining power less than the preset second power threshold indicates that the remaining power of the drone has been further aggravated. From the current position of the drone and the subsequent landing process, the positioning requirements for the drone are relatively high. There may be a high risk of still requiring the drone to land at the drone nest. Landing at the alternative landing site can ensure safety. Moreover, the drone is close to the ground at this time, and even if it crashes, it will happen soon. The drone checks its own remaining power and makes decisions to ensure timeliness.

[0065] If, after the first alternative route is sent to the drone, the drone detects that its remaining power is not less than a preset second power threshold, it will still land according to the preset landing route.

[0066] In addition, in a further optional embodiment, when only the first active tag detects the passive tag, if the result of the drone's self-positioning is outside the detection range of the first active tag (previously, the drone sends its own positioning result to the drone nest. When it is found that the drone's own positioning result is different from the positioning result of the drone nest, it indicates that at least one of the current remaining power of the drone, the environment in which it is located, and the items carried on it has affected the result of the drone's own positioning, and it is necessary to focus on ensuring the safety of the drone), the coordinates of the alternative landing site are sent to the drone, so that the drone plans its second alternative route between its current position and the alternative landing site according to the alternative landing site (at this time, there is still a certain distance from the drone nest, and the risk of changing the route is not very large, and even if the drone's own positioning is different from the positioning result of the drone nest, since there is still a certain distance from the landing site, there is a certain fault tolerance space, so the drone plans its route by itself, and there is enough fault tolerance space) to land according to the second alternative route.

[0067] When both the first active tag and the second active tag detect the passive tag, if the result of the drone's self-positioning is outside the detection range of the second active tag (but within the detection range of the first active tag. This indicates that the drone performance problem caused by insufficient remaining power has just occurred, and at this time the drone is already close to the drone nest, and the risk caused by it may occur at any time), a route change instruction will be issued to the drone, so that the drone responds to the route change instruction and lands according to the first alternative route. At this time, if the problem of low remaining power affects the drone's ability to plan its own route, the fault tolerance space is relatively small. Then the drone is directly ordered to land at the alternative landing site according to the route planned by the drone nest to avoid risks as much as possible.

[0068] Furthermore, the specification also provides a drone landing positioning device based on a drone nest, wherein the drone landing positioning device belongs to a positioning module of a drone system; the drone system further comprises: a drone and a drone nest; the positioning module further comprises: a passive tag arranged on the drone and an active tag arranged on the drone nest; the drone landing positioning device is arranged on the drone nest;

[0069] The UAV landing positioning device is configured as follows: after receiving the UAV's response to the landing command, determining the remaining power of the UAV; if the remaining power is less than a preset first power threshold, sending an energy-saving positioning first instruction to the UAV; allowing the UAV to reduce the positioning frequency of its own positioning to a preset first frequency while landing according to a preset landing route according to the first energy-saving positioning instruction; after receiving the UAV's response to the first energy-saving positioning instruction, controlling the active tag to start working; if the active tag detects the passive tag, sending an energy-saving positioning second instruction to the UAV; allowing the UAV to increase the positioning frequency of its own positioning to a preset second frequency while landing according to the landing route according to the second energy-saving positioning instruction; the second frequency is greater than the first frequency; if it is detected that the UAV completes landing on the UAV nest, displaying positioning completion information.

[0070] The device can execute the method in any of the aforementioned embodiments and can obtain the same or similar technical effects, which will not be described in detail here.

[0071] Figure 2 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 2 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0072] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0073] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.

[0074] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a drone landing positioning device based on the drone nest at the logical level. The processor executes the program stored in the memory and is specifically used to execute any of the aforementioned drone landing positioning methods based on the drone nest.

[0075] The above application Figure 1 The drone landing positioning method based on the drone nest disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in a decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0076] The electronic device may also perform Figure 1 A drone landing positioning method based on drone nest is implemented Figure 1 The functions of the illustrated embodiment will not be described in detail in the embodiments of the present application.

[0077] An embodiment of the present application also proposes a computer-readable storage medium, which stores one or more programs, and the one or more programs include instructions. When the instructions are executed by an electronic device including multiple applications, they execute any of the aforementioned drone landing positioning methods based on drone nests.

[0078] Those skilled in the art will appreciate that the embodiments of the present application may provide methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0079] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0080] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0081] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0082] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0083] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0084] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0085] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity or device including the element.

[0086] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0087] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A drone landing positioning method based on a drone nest, characterized in that: The method is based on a drone system, which includes: a drone, a drone nest, and a positioning module; the positioning module includes: a passive tag set on the drone, an active tag set on the drone nest, and a drone landing positioning device set on the drone nest; The active tag and the passive tag communicate via RFID; The method is performed by the UAV landing positioning device, and the method includes: After receiving a response from the drone to the landing command, determining a remaining battery level of the drone; If the remaining power is less than a preset first power threshold, a first energy-saving positioning instruction is sent to the drone; so that the drone, according to the first energy-saving positioning instruction, reduces the positioning frequency of its own positioning to a preset first frequency while landing according to a preset landing route; After receiving a response from the drone to the first energy-saving positioning instruction, controlling the active tag to start working; If the active tag detects the passive tag, a second energy-saving positioning instruction is sent to the drone; so that the drone increases the positioning frequency of its own positioning to a preset second frequency while landing according to the landing route according to the second energy-saving positioning instruction; the second frequency is greater than the first frequency; If it is detected that the drone completes landing on the drone nest, positioning completion information is displayed.

2. The method according to claim 1, characterized in that: The active tag includes a first active tag and a second active tag; the first active tag includes an ultra-high frequency RFID chip, and the second active tag includes a high frequency RFID chip; the second energy-saving positioning instruction includes a first sub-instruction and a second sub-instruction; the second frequency includes a primary frequency and a secondary frequency; Controlling the active tag to start working includes: controlling both the first active tag and the second active tag to start working; If the active tag detects the passive tag, a second energy-saving positioning instruction is sent to the drone, including: if only the first active tag detects the passive tag, the first sub-instruction is sent to the drone; so that the drone increases the positioning frequency of its own positioning to the primary frequency while landing according to the landing route according to the first sub-instruction; if both the first active tag and the second active tag detect the passive tag, the second sub-instruction is sent to the drone; so that the drone increases the positioning frequency of its own positioning to the secondary frequency while landing according to the landing route according to the second sub-instruction; the secondary frequency is higher than the primary frequency.

3. The method according to claim 2, characterized in that: The secondary frequency is higher than the positioning frequency when the UAV receives the landing instruction.

4. The method according to claim 2, characterized in that: The operating frequency of the first active tag is 860-960 MHz; the operating frequency of the second active tag is 13.56 MHz.

5. The method according to claim 2, characterized in that: The method further comprises: Determine an alternative landing location within a specified range around the drone nest based on an image captured by an image acquisition unit on the drone nest; When only the first active tag detects the passive tag, planning a route for the drone between its current position and the alternative landing location as a first alternative route based on the current position of the drone; The first alternative route is sent to the drone, so that when the drone detects that its remaining power is less than a preset second power threshold, it chooses to land according to the first alternative route; the second power threshold is less than the first power threshold.

6. The method according to claim 5, characterized in that The method further comprises: When only the first active tag detects the passive tag, if the result of the drone's self-positioning is outside the detection range of the first active tag, the coordinates of the alternative landing location are sent to the drone, so that the drone plans a second alternative route between its current position and the alternative landing location according to the alternative landing location, so as to land according to the second alternative route.

7. The method according to claim 5, characterized in that: The method further comprises: When both the first active tag and the second active tag detect the passive tag, if the result of the drone's self-positioning is outside the detection range of the second active tag, a route change instruction will be issued to the drone, so that the drone responds to the route change instruction and lands according to the first alternative route.

8. The drone landing positioning device based on the drone nest is characterized by: The drone landing positioning device belongs to the positioning module of the drone system; the drone system further includes: a drone and a drone nest; the positioning module further includes: a passive tag set on the drone and an active tag set on the drone nest; the drone landing positioning device is set on the drone nest; The UAV landing positioning device is configured as follows: after receiving the UAV's response to the landing command, determining the remaining power of the UAV; if the remaining power is less than a preset first power threshold, sending an energy-saving positioning first instruction to the UAV; allowing the UAV to reduce the positioning frequency of its own positioning to a preset first frequency while landing according to a preset landing route according to the first energy-saving positioning instruction; after receiving the UAV's response to the first energy-saving positioning instruction, controlling the active tag to start working; if the active tag detects the passive tag, sending an energy-saving positioning second instruction to the UAV; allowing the UAV to increase the positioning frequency of its own positioning to a preset second frequency while landing according to the landing route according to the second energy-saving positioning instruction; the second frequency is greater than the first frequency; if it is detected that the UAV completes landing on the UAV nest, displaying positioning completion information.

9. An electronic device, comprising: processor; as well as A memory arranged to store computer executable instructions, which when executed cause the processor to perform the method of any one of claims 1 to 7.

10. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of application programs, causes the electronic device to execute any one of the methods of claims 1 to 7.

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