Multi-point guiding method and system for unmanned aerial vehicle by unmanned aerial vehicle landing platform

Abstract

The invention discloses a multi-point guiding method and system for an unmanned aerial vehicle by an unmanned aerial vehicle landing platform, and the method comprises the steps: triggering the online detection of the unmanned aerial vehicle based on an online detection space, and constructing a multi-point guiding system of the unmanned aerial vehicle according to a plurality of flight parameters of the unmanned aerial vehicle, the deflection amount of the unmanned aerial vehicle, and a landing region of the unmanned aerial vehicle landing platform. And the accuracy of the multi-point guiding system of the unmanned aerial vehicle is ensured. Further, multiple guide areas are constructed according to the multiple flight guide points, the flight direction of the unmanned aerial vehicle and the flight speed of the unmanned aerial vehicle, and corresponding guide paths are constructed based on the multiple guide areas; the unmanned aerial vehicle flies along the guiding path, the flight deviation amount of the unmanned aerial vehicle is dynamically monitored in the flight process, dynamic calibration of the unmanned aerial vehicle is triggered according to the flight deviation amount of the unmanned aerial vehicle, the flight speed of the unmanned aerial vehicle and the flight mode of the unmanned aerial vehicle, and multi-point guiding of the unmanned aerial vehicle in the flight process by the unmanned aerial vehicle landing platform is achieved. And the flight of the unmanned aerial vehicle is dynamically calibrated.

Description

Technical Field

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

[0002] With the development of science and technology, drone landing platforms are widely used in the drone field and serve as a docking place for drones. At this time, the drone landing platform communicates dynamically with the drone to facilitate the interaction between the drone landing platform and the drone. In the existing technology, the drone flies along the current direction and gradually lands toward the drone landing platform. However, the drone will have yaw during the flight. The existing technology does not dynamically control the yaw, and it is impossible to achieve dynamic calibration of the drone. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a multi-point guidance method and system for a drone landing platform to a drone, which collects the relative distance between the drone landing platform and the drone; constructs an online detection space for the drone landing platform according to the relative distance between the drone landing platform and the drone and the distribution of multiple positioning detection points of the drone landing platform; triggers online detection of the drone based on the online detection space to collect the yaw amount of the drone; constructs a multi-point guidance system for the drone according to multiple flight parameters of the drone, the yaw amount of the drone and the landing area of ​​the drone landing platform, which is compatible with the overall consideration of multiple flight parameters of the drone, the yaw amount of the drone and the landing area of ​​the drone landing platform, realizes multi-dimensional control of multiple flight parameters of the drone, the yaw amount of the drone and the landing area of ​​the drone landing platform, and ensures the accuracy of the multi-point guidance system of the drone.

[0004] Furthermore, in the multi-point guidance system of the UAV, multiple corresponding flight guidance points are matched based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, multiple guidance areas are constructed according to the multiple flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and corresponding guidance paths are constructed based on the multiple guidance areas; the UAV flies along the guidance path, and dynamically monitors the flight deviation of the UAV during the flight, and triggers dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV, thereby realizing multi-point guidance of the UAV by the UAV landing platform during the flight, and dynamically calibrating the flight of the UAV, so as to further improve the multi-point guidance effect of the UAV landing platform on the UAV.

[0005] An embodiment of the present invention provides a multi-point guidance method for a drone landing platform to a drone, which is characterized by being applied to a multi-point guidance scenario for a drone landing platform to a drone; the multi-point guidance method for a drone landing platform to a drone includes:

[0006] Collect the relative distance between the drone landing platform and the drone;

[0007] An online detection space for the UAV landing platform is constructed according to the relative distance between the UAV landing platform and the UAV and the distribution of multiple positioning detection points of the UAV landing platform;

[0008] Based on the online detection space trigger, the drone is detected online to collect the yaw value of the drone;

[0009] Construct a multi-point guidance system for the UAV based on multiple flight parameters of the UAV, the yaw amount of the UAV, and the landing area of ​​the UAV landing platform;

[0010] In the multi-point guidance system of the UAV, multiple corresponding flight guidance points are matched based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, multiple guidance areas are constructed according to the multiple flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and corresponding guidance paths are constructed based on the multiple guidance areas;

[0011] The UAV flies along the guided path and dynamically monitors the flight deviation of the UAV during the flight. The dynamic calibration of the UAV is triggered according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV.

[0012] Optionally, collecting the relative distance between the drone landing platform and the drone includes:

[0013] Collect interaction signals between drone landing platforms and drones;

[0014] Analyze the interaction signals between drone landing platforms and drones;

[0015] Defining the location of the drone landing platform and the location of the drone based on the analysis of the interaction signals between the drone landing platform and the drone;

[0016] Correlating the location of the drone landing platform, the location of the drone, the flight direction of the drone, and the landing area of ​​the drone landing platform;

[0017] The relative distance between the drone landing platform and the drone is defined according to the position of the drone landing platform, the position of the drone, the flight direction of the drone, and the landing area of ​​the drone landing platform to collect the relative distance between the drone landing platform and the drone.

[0018] Optionally, the online detection space of the drone landing platform is constructed according to the relative distance between the drone landing platform and the drone and the distribution of multiple positioning detection points of the drone landing platform, including:

[0019] Freeze the relative distance between the drone landing platform and the drone;

[0020] The distribution of multiple positioning detection points is defined based on the landing area of ​​the UAV landing platform and the three-dimensional model of the UAV landing platform;

[0021] Correlate the relative distance between the drone landing platform and the drone, the distribution of multiple positioning detection points of the drone landing platform, and the detection range of the drone landing platform;

[0022] A first spatial coefficient is defined according to a relative distance between the UAV landing platform and the UAV and a distribution of a plurality of positioning detection points of the UAV landing platform;

[0023] A second spatial coefficient is defined according to a relative distance between the UAV landing platform and the UAV and a detection range of the UAV landing platform;

[0024] The second space coefficient, the first space coefficient and the detection space matching table are dynamically interacted, and an online detection space of the UAV landing platform is constructed based on the second space coefficient, the first space coefficient and the detection space matching table.

[0025] Optionally, the online detection of the UAV based on the online detection space triggering and collecting the yaw amount of the UAV includes:

[0026] Freeze-frame online detection space;

[0027] When the UAV is in the online detection space, mark the spatial position of the UAV relative to the online detection space;

[0028] Divide multiple flight areas based on online detection space and drone models;

[0029] Associating multiple flight areas and spatial positions of the UAV relative to the online detection space, and defining corresponding detection modes according to matching of the multiple flight areas and spatial positions of the UAV relative to the online detection space;

[0030] triggering online detection of the UAV according to the detection mode and the online detection space;

[0031] Based on the online detection of the UAV, multiple attitude parameters and yaw amounts in multiple dimensions of the UAV are collected. The yaw amount of the UAV is defined according to the multiple attitude parameters of the UAV, the yaw amounts in multiple dimensions and the preset flight route to collect the yaw amount of the UAV.

[0032] Optionally, the multi-point guidance system of the drone is constructed according to multiple flight parameters of the drone, the yaw amount of the drone, and the landing area of ​​the drone landing platform, including:

[0033] Freeze the yaw amount of the drone;

[0034] Associating multiple flight parameters of the UAV, the yaw amount of the UAV, and multiple flight parameters of the UAV and the yaw amount of the UAV;

[0035] A plurality of flight guidance features are defined according to a plurality of flight parameters of the UAV and a yaw amount of the UAV;

[0036] A multi-point guidance system for the UAV is constructed based on multiple flight guidance features, the flight route of the UAV and the flight mode of the UAV.

[0037] Optionally, in the multi-point guidance system of the UAV, matching corresponding multiple flight guidance points based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, constructing multiple guidance areas according to the multiple flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and constructing corresponding guidance paths based on the multiple guidance areas include:

[0038] The multi-point guidance system of the fixed-frame UAV;

[0039] In the multi-point guidance system of the UAV, the dynamic position of the UAV and the landing area of ​​the UAV landing platform are associated;

[0040] Based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, multiple corresponding flight guidance points are matched.

[0041] Optionally, in the multi-point guidance system of the UAV, matching corresponding multiple flight guidance points based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, constructing multiple guidance areas according to the multiple flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and constructing corresponding guidance paths based on the multiple guidance areas, further comprising:

[0042] Multiple interactions on multiple flight guidance points, the flight direction of the drone, and the flight speed of the drone;

[0043] Construct multiple guidance areas according to multiple flight guidance points, the flight direction of the UAV, and the flight speed of the UAV;

[0044] A corresponding guide path is constructed along the plurality of guide areas.

[0045] Optionally, the UAV flies along the guide path, and dynamically monitors the flight deviation of the UAV during the flight, and triggers dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV, and the flight mode of the UAV, including:

[0046] Freeze guide path;

[0047] The drone flies along the guided path;

[0048] The flight deviation of the drone is dynamically monitored during the flight.

[0049] Optionally, the UAV flies along the guide path, and dynamically monitors the flight deviation of the UAV during the flight, triggering dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV, and the flight mode of the UAV, further comprising:

[0050] Correlate the flight deviation of the drone, the flight speed of the drone, and the flight mode of the drone;

[0051] Triggering dynamic calibration of the drone according to the flight deviation of the drone, the flight speed of the drone, and the flight mode of the drone;

[0052] Dynamically control the multi-point guidance of the drone by the drone landing platform.

[0053] In addition, an embodiment of the present invention further provides a multi-point guidance system for a drone landing platform to a drone, and the multi-point guidance system for a drone landing platform to a drone includes:

[0054] A collection module is used to collect the relative distance between the drone landing platform and the drone;

[0055] An online detection space module is used to construct an online detection space of the drone landing platform according to the relative distance between the drone landing platform and the drone and the distribution of multiple positioning detection points of the drone landing platform;

[0056] The yaw module is used to trigger online detection of the UAV based on the online detection space and collect the yaw of the UAV;

[0057] A multi-point guidance system module is used to build a multi-point guidance system for the UAV based on multiple flight parameters of the UAV, the yaw amount of the UAV, and the landing area of ​​the UAV landing platform;

[0058] A guidance path module is used to match corresponding multiple flight guidance points based on the dynamic position of the drone and the landing area of ​​the drone landing platform in the multi-point guidance system of the drone, construct multiple guidance areas according to the multiple flight guidance points, the flight direction of the drone and the flight speed of the drone, and construct corresponding guidance paths based on the multiple guidance areas;

[0059] The dynamic calibration module is used for the UAV to fly along the guidance path and dynamically monitor the flight deviation of the UAV during the flight, and trigger the dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV.

[0060] In an embodiment of the present invention, through the method in the embodiment of the present invention, the relative distance between the UAV landing platform and the UAV is collected; the online detection space of the UAV landing platform is constructed according to the relative distance between the UAV landing platform and the UAV and the distribution of multiple positioning detection points of the UAV landing platform; based on the online detection space, online detection of the UAV is triggered to collect the yaw amount of the UAV; according to multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, a multi-point guidance system for the UAV is constructed, which is compatible with the overall consideration of multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, realizes multi-dimensional control of multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, and ensures the accuracy of the multi-point guidance system of the UAV.

[0061] Furthermore, in the multi-point guidance system of the UAV, multiple corresponding flight guidance points are matched based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, multiple guidance areas are constructed according to the multiple flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and corresponding guidance paths are constructed based on the multiple guidance areas; the UAV flies along the guidance path, and dynamically monitors the flight deviation of the UAV during the flight, and triggers dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV, thereby realizing multi-point guidance of the UAV by the UAV landing platform during the flight, and dynamically calibrating the flight of the UAV, so as to further improve the multi-point guidance effect of the UAV landing platform on the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0063] Figure 1 is a schematic flow chart of a multi-point guidance method for a drone landing platform to a drone in an embodiment of the present invention;

[0064] Figure 2 is a flow chart of S11 in the multi-point guidance method for a drone landing platform to a drone in an embodiment of the present invention;

[0065] Figure 3 is a flow chart of S12 in the multi-point guidance method for a drone landing platform to a drone in an embodiment of the present invention;

[0066] Figure 4 is a flow chart of S13 in the multi-point guidance method for a drone landing platform to a drone in an embodiment of the present invention;

[0067] Figure 5 is a flow chart of S14 in the multi-point guidance method for a drone landing platform to a drone in an embodiment of the present invention;

[0068] Figure 6 is a flow chart of S15 in the multi-point guidance method for a drone landing platform to a drone in an embodiment of the present invention;

[0069] Figure 7 is a flow chart of S16 in the multi-point guidance method for a drone landing platform to a drone in an embodiment of the present invention;

[0070] Figure 8 Schematic diagram of the structure of a multi-point guidance system for a UAV by a UAV landing platform in an embodiment of the present invention;

[0071] Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0072] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0073] See also Figures 1 to 9 A multi-point guidance method for a UAV landing platform to a UAV is applied to a multi-point guidance scenario of a UAV landing platform to a UAV; the multi-point guidance method for a UAV landing platform to a UAV includes:

[0074] Step S11: collecting the relative distance between the drone landing platform and the drone;

[0075] Step S12: constructing an online detection space of the drone landing platform according to the relative distance between the drone landing platform and the drone and the distribution of multiple positioning detection points of the drone landing platform;

[0076] Step S13: constructing an online detection space of the drone landing platform according to the relative distance between the drone landing platform and the drone and the distribution of multiple positioning detection points of the drone landing platform;

[0077] Step S14: constructing a multi-point guidance system for the UAV according to multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform;

[0078] Step S15: In the multi-point guidance system of the UAV, a plurality of corresponding flight guidance points are matched based on the dynamic position of the UAV and the landing area of ​​the landing platform of the UAV, a plurality of guidance areas are constructed according to the plurality of flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and a corresponding guidance path is constructed based on the plurality of guidance areas;

[0079] Step S16: The UAV flies along the guidance path, and dynamically monitors the flight deviation of the UAV during the flight, and triggers dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV, and the flight mode of the UAV.

[0080] In an embodiment of the present invention, through the method in the embodiment of the present invention, the relative distance between the UAV landing platform and the UAV is collected; the online detection space of the UAV landing platform is constructed according to the relative distance between the UAV landing platform and the UAV and the distribution of multiple positioning detection points of the UAV landing platform; based on the online detection space, online detection of the UAV is triggered to collect the yaw amount of the UAV; according to multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, a multi-point guidance system for the UAV is constructed, which is compatible with the overall consideration of multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, realizes multi-dimensional control of multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, and ensures the accuracy of the multi-point guidance system of the UAV.

[0081] Furthermore, in the multi-point guidance system of the UAV, multiple corresponding flight guidance points are matched based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, multiple guidance areas are constructed according to the multiple flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and corresponding guidance paths are constructed based on the multiple guidance areas; the UAV flies along the guidance path, and dynamically monitors the flight deviation of the UAV during the flight, and triggers dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV, thereby realizing multi-point guidance of the UAV by the UAV landing platform during the flight, and dynamically calibrating the flight of the UAV, so as to further improve the multi-point guidance effect of the UAV landing platform on the UAV.

[0082] refer to Figure 2 , in step S11, the relative distance between the drone landing platform and the drone is collected;

[0083] In the specific implementation process of the present invention, the specific steps may be:

[0084] S111: Collect the interaction signals between the UAV landing platform and the UAVs;

[0085] S112: analyzing the interaction signals between the UAV landing platform and the UAVs;

[0086] S113: defining the position of the drone landing platform and the position of the drone based on the analysis of the interaction signals between the drone landing platform and the drone;

[0087] S114: Associating the location of the drone landing platform, the location of the drone, the flight direction of the drone, and the landing area of ​​the drone landing platform;

[0088] S115: defining a relative distance between the drone landing platform and the drone according to the position of the drone landing platform, the position of the drone, the flight direction of the drone, and the landing area of ​​the drone landing platform, so as to collect the relative distance between the drone landing platform and the drone.

[0089] In an embodiment of the present application, interaction signals between a drone landing platform and a drone are collected; the interaction signals between the drone landing platform and the drone are analyzed; the position of the drone landing platform and the position of the drone are defined based on the analysis of the interaction signals between the drone landing platform and the drone, the position of the drone landing platform and the position of the drone are introduced, and the position of the drone landing platform and the position of the drone are dynamically controlled.

[0090] Therefore, the position of the drone landing platform, the position of the drone, the flight direction of the drone and the landing area of ​​the drone landing platform are associated; the relative distance between the drone landing platform and the drone is defined according to the position of the drone landing platform, the position of the drone, the flight direction of the drone and the landing area of ​​the drone landing platform, and the position of the drone landing platform, the position of the drone, the flight direction of the drone and the landing area of ​​the drone landing platform are introduced.

[0091] Furthermore, it is compatible with the overall consideration of the position of the drone landing platform, the position of the drone, the flight direction of the drone and the landing area of ​​the drone landing platform, realizing multi-dimensional control of the position of the drone landing platform, the position of the drone, the flight direction of the drone and the landing area of ​​the drone landing platform, ensuring the accuracy of the relative distance between the drone landing platform and the drone, and at the same time, collecting the relative distance between the drone landing platform and the drone, so as to further control the relative distance between the drone landing platform and the drone.

[0092] refer to Figure 3 In step S12, an online detection space of the drone landing platform is constructed according to the relative distance between the drone landing platform and the drone and the distribution of multiple positioning detection points of the drone landing platform;

[0093] In the specific implementation process of the present invention, the specific steps may be:

[0094] S121: freeze the relative distance between the drone landing platform and the drone;

[0095] S122: defining distribution of multiple positioning detection points based on a landing area of ​​the drone landing platform and a three-dimensional model of the drone landing platform;

[0096] S123: Associating the relative distance between the drone landing platform and the drone, the distribution of multiple positioning detection points of the drone landing platform, and the detection range of the drone landing platform;

[0097] S124: defining a first spatial coefficient according to a relative distance between the drone landing platform and the drone and distribution of multiple positioning detection points of the drone landing platform;

[0098] S125: defining a second space coefficient according to a relative distance between the drone landing platform and the drone and a detection range of the drone landing platform;

[0099] S126: Dynamically interact the second space coefficient, the first space coefficient and the detection space matching table, and construct an online detection space for the drone landing platform based on the second space coefficient, the first space coefficient and the detection space matching table.

[0100] In an embodiment of the present application, the relative distance between the drone landing platform and the drone is frozen; the distribution of multiple positioning detection points is defined based on the landing area of ​​the drone landing platform and the three-dimensional model of the drone landing platform, and the landing area of ​​the drone landing platform and the three-dimensional model of the drone landing platform are introduced. The landing area of ​​the drone landing platform and the three-dimensional model of the drone landing platform are controlled as a whole to ensure the rationality of the distribution of multiple positioning detection points.

[0101] Furthermore, the relative distance between the drone landing platform and the drone, the distribution of multiple positioning detection points of the drone landing platform, and the detection range of the drone landing platform are associated, and dynamic interaction of the relative distance between the drone landing platform and the drone, the distribution of multiple positioning detection points of the drone landing platform, and the detection range of the drone landing platform is achieved, so as to achieve overall control of the relative distance between the drone landing platform and the drone, the distribution of multiple positioning detection points of the drone landing platform, and the detection range of the drone landing platform.

[0102] Therefore, the first spatial coefficient is defined according to the relative distance between the UAV landing platform and the UAV and the distribution of multiple positioning detection points of the UAV landing platform; the second spatial coefficient is defined according to the relative distance between the UAV landing platform and the UAV and the detection range of the UAV landing platform, and the second spatial coefficient and the first spatial coefficient are introduced, and then the second spatial coefficient, the first spatial coefficient and the detection space matching table are dynamically interacted, and the online detection space of the UAV landing platform is constructed based on the second spatial coefficient, the first spatial coefficient and the detection space matching table, thereby ensuring the accuracy of the online detection space of the UAV landing platform.

[0103] refer to Figure 4 In step S13, based on the online detection space trigger, online detection of the UAV is performed to collect the yaw amount of the UAV;

[0104] In the specific implementation process of the present invention, the specific steps may be:

[0105] S131: Freeze-frame online detection space;

[0106] S132: When the UAV is in the online detection space, mark the spatial position of the UAV relative to the online detection space;

[0107] S133: Divide multiple flight areas based on online detection space and drone models;

[0108] S134: Associating multiple flight areas and spatial positions of the UAV relative to the online detection space, and defining corresponding detection modes according to matching of the multiple flight areas and spatial positions of the UAV relative to the online detection space;

[0109] S135: triggering online detection of the UAV according to the detection mode and the online detection space;

[0110] S136: Based on the online detection of the UAV, multiple attitude parameters and yaw amounts in multiple dimensions of the UAV are collected, and the yaw amount of the UAV is defined according to the multiple attitude parameters of the UAV, the yaw amounts in multiple dimensions and a preset flight route to collect the yaw amount of the UAV.

[0111] In an embodiment of the present application, the online detection space is frozen and controlled. At this time, when the drone is in the online detection space, the spatial position of the drone relative to the online detection space is marked; and multiple flight areas are divided based on the online detection space and the model of the drone.

[0112] Furthermore, multiple flight areas and the spatial positions of the UAV relative to the online detection space are associated, and corresponding detection modes are defined based on the matching of the multiple flight areas and the spatial positions of the UAV relative to the online detection space. This is compatible with the matching of the spatial positions of the multiple flight areas and the UAV relative to the online detection space, realizes multi-dimensional matching of the spatial positions of the multiple flight areas and the UAV relative to the online detection space, and ensures the accuracy of the detection mode.

[0113] Therefore, online detection of the UAV is triggered according to the detection mode and the online detection space; multiple attitude parameters and yaw amounts in multiple dimensions of the UAV are collected based on the online detection of the UAV, and the yaw amount of the UAV is defined according to the multiple attitude parameters of the UAV, the yaw amounts in multiple dimensions and the preset flight route.

[0114] Furthermore, the system is compatible with the overall consideration of multiple attitude parameters of the drone, the yaw amount in multiple dimensions, and the preset flight route, and realizes the multi-dimensional control of multiple attitude parameters of the drone, the yaw amount in multiple dimensions, and the preset flight route, ensuring the accuracy of the yaw amount of the drone. Furthermore, the yaw amount of the drone is collected, which usually refers to the degree of deviation between the actual flight direction of the aircraft and the expected or set direction during the flight.

[0115] refer to Figure 5 , S14: constructing a multi-point guidance system of the UAV according to multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform;

[0116] In the specific implementation process of the present invention, the specific steps may be:

[0117] S141: freeze the yaw value of the drone;

[0118] S142: Associating multiple flight parameters of the UAV, the yaw amount of the UAV, and multiple flight parameters of the UAV and the yaw amount of the UAV;

[0119] S143: defining a plurality of flight guidance features according to a plurality of flight parameters of the UAV and a yaw amount of the UAV;

[0120] S144: Construct a multi-point guidance system for the UAV based on multiple flight guidance features, the flight route of the UAV, and the flight mode of the UAV.

[0121] In an embodiment of the present application, the relative distance between the UAV landing platform and the UAV is collected; an online detection space of the UAV landing platform is constructed based on the relative distance between the UAV landing platform and the UAV and the distribution of multiple positioning detection points of the UAV landing platform; online detection of the UAV is triggered based on the online detection space, and the yaw amount of the UAV is collected; a multi-point guidance system for the UAV is constructed based on multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, which is compatible with the overall consideration of multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, realizes multi-dimensional control of multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, and ensures the accuracy of the multi-point guidance system of the UAV.

[0122] At this time, the yaw amount of the UAV is frozen, and multiple flight parameters of the UAV, the yaw amount of the UAV, and multiple flight parameters of the linked UAVs and the yaw amount of the UAV are introduced, and the multiple flight parameters of the UAV, the yaw amount of the UAV, and multiple flight parameters of the linked UAVs and the yaw amount of the UAV are associated.

[0123] Therefore, multiple flight parameters of the UAV, the yaw amount of the UAV and the multiple flight parameters of the UAV and the yaw amount of the UAV are associated; multiple flight guidance features are defined according to the multiple flight parameters of the UAV and the yaw amount of the UAV, which is compatible with the overall consideration of the multiple flight parameters of the UAV and the yaw amount of the UAV, realizes the multi-dimensional control of the multiple flight parameters of the UAV and the yaw amount of the UAV, and ensures the accuracy of the multiple flight guidance features.

[0124] Furthermore, multiple flight guidance features are introduced, and the flight route and flight mode of the UAV are associated with the multiple flight guidance features, thereby realizing dynamic interaction of the multiple flight guidance features, the flight route of the UAV and the flight mode of the UAV, thereby constructing a multi-point guidance system for the UAV based on the multiple flight guidance features, the flight route of the UAV and the flight mode of the UAV, which is compatible with the overall consideration of multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, and realizes multi-dimensional control of multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, thereby ensuring the accuracy of the multi-point guidance system of the UAV.

[0125] refer to Figure 6 , S15: In the multi-point guidance system of the UAV, a plurality of corresponding flight guidance points are matched based on the dynamic position of the UAV and the landing area of ​​the landing platform of the UAV, a plurality of guidance areas are constructed according to the plurality of flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and a corresponding guidance path is constructed based on the plurality of guidance areas;

[0126] In the specific implementation process of the present invention, the specific steps may be:

[0127] S151: Multi-point guidance system for fixed-frame UAVs;

[0128] S152: In a multi-point guidance system for drones, associating the dynamic position of the drone and the landing area of ​​the drone landing platform;

[0129] S153: Matching corresponding multiple flight guidance points based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform;

[0130] S154: Multiple interactions on multiple flight guidance points, the flight direction of the drone, and the flight speed of the drone;

[0131] S155: constructing multiple guidance areas according to multiple flight guidance points, the flight direction of the UAV, and the flight speed of the UAV;

[0132] S156: Construct corresponding guidance paths along multiple guidance areas.

[0133] In the embodiment of the present application, the multi-point guidance system of the drone is fixed, and the multi-point guidance system of the drone is controlled. At this time, in the multi-point guidance system of the drone, the dynamic position of the drone and the landing area of ​​the drone landing platform are associated; based on the dynamic position of the drone and the landing area of ​​the drone landing platform, the corresponding multiple flight guidance points are matched, which is compatible with the overall consideration of the dynamic position of the drone and the landing area of ​​the drone landing platform, and ensures the accuracy of multiple flight guidance points.

[0134] At this time, multiple interactions are performed on multiple flight guidance points, the flight direction of the UAV, and the flight speed of the UAV, thereby realizing multiple interactions on multiple flight guidance points, the flight direction of the UAV, and the flight speed of the UAV.

[0135] Furthermore, multiple guidance areas are constructed according to multiple flight guidance points, the flight direction of the UAV, and the flight speed of the UAV; corresponding guidance paths are constructed along the multiple guidance areas, which is compatible with the overall consideration of the multiple guidance areas, realizes multi-dimensional control of the multiple guidance areas, and ensures the accuracy of the guidance paths.

[0136] refer to Figure 7 , S16: The UAV flies along the guidance path, and dynamically monitors the flight deviation of the UAV during the flight, and triggers the dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV;

[0137] In the specific implementation process of the present invention, the specific steps may be:

[0138] S161: freeze the guide path;

[0139] S162: The drone flies along the guided path;

[0140] S163: Dynamically monitor the flight deviation of the drone during flight;

[0141] S164: Associate the flight deviation of the UAV, the flight speed of the UAV, and the flight mode of the UAV;

[0142] S165: triggering dynamic calibration of the drone according to the flight deviation of the drone, the flight speed of the drone, and the flight mode of the drone;

[0143] S166: Dynamically control the multi-point guidance of the drone by the drone landing platform.

[0144] During the specific implementation of the present invention, in the multi-point guidance system of the UAV, multiple corresponding flight guidance points are matched based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, multiple guidance areas are constructed according to the multiple flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and corresponding guidance paths are constructed based on the multiple guidance areas; the UAV flies along the guidance path, and dynamically monitors the flight deviation of the UAV during the flight, and triggers dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV, thereby realizing multi-point guidance of the UAV by the UAV landing platform during the flight, and dynamically calibrating the flight of the UAV, so as to further improve the multi-point guidance effect of the UAV landing platform on the UAV.

[0145] At this time, the guidance path is frozen and controlled, and the UAV flies along the guidance path. The UAV dynamically monitors the flight deviation of the UAV during the flight, thereby correlating the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV.

[0146] Therefore, the dynamic calibration of the UAV is triggered according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV; the multi-point guidance of the UAV landing platform to the UAV is dynamically controlled. At the same time, the multi-point guidance of the UAV by the UAV landing platform during the flight is realized, and the flight of the UAV is dynamically calibrated to further improve the multi-point guidance effect of the UAV landing platform on the UAV.

[0147] In an embodiment of the present invention, through the method in the embodiment of the present invention, the relative distance between the UAV landing platform and the UAV is collected; the online detection space of the UAV landing platform is constructed according to the relative distance between the UAV landing platform and the UAV and the distribution of multiple positioning detection points of the UAV landing platform; based on the online detection space, online detection of the UAV is triggered to collect the yaw amount of the UAV; according to multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, a multi-point guidance system for the UAV is constructed, which is compatible with the overall consideration of multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, realizes multi-dimensional control of multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, and ensures the accuracy of the multi-point guidance system of the UAV.

[0148] Furthermore, in the multi-point guidance system of the UAV, multiple corresponding flight guidance points are matched based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, multiple guidance areas are constructed according to the multiple flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and corresponding guidance paths are constructed based on the multiple guidance areas; the UAV flies along the guidance path, and dynamically monitors the flight deviation of the UAV during the flight, and triggers dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV, thereby realizing multi-point guidance of the UAV by the UAV landing platform during the flight, and dynamically calibrating the flight of the UAV, so as to further improve the multi-point guidance effect of the UAV landing platform on the UAV.

[0149] See also Figure 8 , Figure 8 It is a schematic diagram of the structural composition of the multi-point guidance system of the UAV landing platform for the UAV in an embodiment of the present invention.

[0150] like Figure 8As shown, a multi-point guidance system for a drone landing platform to a drone, the multi-point guidance system for a drone landing platform to a drone includes:

[0151] The acquisition module 21 is used to acquire the relative distance between the drone landing platform and the drone;

[0152] An online detection space module 22 is used to construct an online detection space of the drone landing platform according to the relative distance between the drone landing platform and the drone and the distribution of multiple positioning detection points of the drone landing platform;

[0153] The yaw module 23 is used to trigger online detection of the UAV based on the online detection space and collect the yaw of the UAV;

[0154] A multi-point guidance system module 24 is used to construct a multi-point guidance system for the UAV according to multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform;

[0155] The guidance path module 25 is used to match the corresponding multiple flight guidance points based on the dynamic position of the drone and the landing area of ​​the drone landing platform in the multi-point guidance system of the drone, construct multiple guidance areas according to the multiple flight guidance points, the flight direction of the drone and the flight speed of the drone, and construct the corresponding guidance path based on the multiple guidance areas;

[0156] The dynamic calibration module 26 is used for the UAV to fly along the guidance path and dynamically monitor the flight deviation of the UAV during the flight, and trigger the dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV.

[0157] See also Fig. 9 , refer to the following Fig. 9 The electronic device 40 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0158] like Fig. 9 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0159] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0160] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0161] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0162] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0163] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0164] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a multi-parameter sensor device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0165] Those skilled in the art can understand that all or some of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0166] In addition, the above is a detailed introduction to the multi-point guidance method and system for the drone landing platform of the embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A multi-point guidance method for a drone landing platform to a drone, characterized in that: Applicable to the multi-point guidance scenario of drone landing platform to drone; The multi-point guidance method of the drone landing platform to the drone includes: Collect the relative distance between the drone landing platform and the drone; An online detection space for the UAV landing platform is constructed according to the relative distance between the UAV landing platform and the UAV and the distribution of multiple positioning detection points of the UAV landing platform; Based on the online detection space trigger, the drone is detected online to collect the yaw value of the drone; Construct a multi-point guidance system for the UAV based on multiple flight parameters of the UAV, the yaw amount of the UAV, and the landing area of ​​the UAV landing platform; In the multi-point guidance system of the UAV, multiple corresponding flight guidance points are matched based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, multiple guidance areas are constructed according to the multiple flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and corresponding guidance paths are constructed based on the multiple guidance areas; The UAV flies along the guided path and dynamically monitors the flight deviation of the UAV during the flight. The dynamic calibration of the UAV is triggered according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV.

2. The multi-point guidance method for a drone landing platform to a drone according to claim 1, characterized in that: The collecting the relative distance between the drone landing platform and the drone includes: Collect interaction signals between drone landing platforms and drones; Analyze the interaction signals between drone landing platforms and drones; Defining the location of the drone landing platform and the location of the drone based on the analysis of the interaction signals between the drone landing platform and the drone; Correlating the location of the drone landing platform, the location of the drone, the flight direction of the drone, and the landing area of ​​the drone landing platform; The relative distance between the drone landing platform and the drone is defined according to the position of the drone landing platform, the position of the drone, the flight direction of the drone, and the landing area of ​​the drone landing platform to collect the relative distance between the drone landing platform and the drone.

3. The multi-point guidance method for a drone landing platform to a drone according to claim 2, characterized in that: The online detection space of the drone landing platform is constructed according to the relative distance between the drone landing platform and the drone and the distribution of multiple positioning detection points of the drone landing platform, including: Freeze the relative distance between the drone landing platform and the drone; The distribution of multiple positioning detection points is defined based on the landing area of ​​the UAV landing platform and the three-dimensional model of the UAV landing platform; Correlate the relative distance between the drone landing platform and the drone, the distribution of multiple positioning detection points of the drone landing platform, and the detection range of the drone landing platform; A first spatial coefficient is defined according to a relative distance between the UAV landing platform and the UAV and a distribution of a plurality of positioning detection points of the UAV landing platform; A second spatial coefficient is defined according to a relative distance between the UAV landing platform and the UAV and a detection range of the UAV landing platform; The second space coefficient, the first space coefficient and the detection space matching table are dynamically interacted, and an online detection space of the UAV landing platform is constructed based on the second space coefficient, the first space coefficient and the detection space matching table.

4. The multi-point guidance method for a drone landing platform to a drone according to claim 3 is characterized in that: The online detection of the UAV based on the online detection space triggering and collecting the yaw amount of the UAV include: Freeze-frame online detection space; When the UAV is in the online detection space, mark the spatial position of the UAV relative to the online detection space; Divide multiple flight areas based on online detection space and drone models; Associating multiple flight areas and spatial positions of the UAV relative to the online detection space, and defining corresponding detection modes according to matching of the multiple flight areas and spatial positions of the UAV relative to the online detection space; triggering online detection of the UAV according to the detection mode and the online detection space; Based on the online detection of the UAV, multiple attitude parameters and yaw amounts in multiple dimensions of the UAV are collected. The yaw amount of the UAV is defined according to the multiple attitude parameters of the UAV, the yaw amounts in multiple dimensions and the preset flight route to collect the yaw amount of the UAV.

5. The multi-point guidance method for a drone landing platform to a drone according to claim 4, characterized in that: The multi-point guidance system of the UAV is constructed according to multiple flight parameters of the UAV, the yaw amount of the UAV and the landing area of ​​the UAV landing platform, including: Freeze the yaw amount of the drone; Associating multiple flight parameters of the UAV, the yaw amount of the UAV, and multiple flight parameters of the UAV and the yaw amount of the UAV; A plurality of flight guidance features are defined according to a plurality of flight parameters of the UAV and a yaw amount of the UAV; A multi-point guidance system for the UAV is constructed based on multiple flight guidance features, the flight route of the UAV and the flight mode of the UAV.

6. The multi-point guidance method for a drone landing platform to a drone according to claim 5, characterized in that: In the multi-point guidance system of the UAV, a plurality of corresponding flight guidance points are matched based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, a plurality of guidance areas are constructed according to the plurality of flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and a corresponding guidance path is constructed based on the plurality of guidance areas, including: The multi-point guidance system of the fixed-frame UAV; In the multi-point guidance system of the UAV, the dynamic position of the UAV and the landing area of ​​the UAV landing platform are associated; Based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, multiple corresponding flight guidance points are matched.

7. The multi-point guidance method for a drone landing platform to a drone according to claim 6, characterized in that: In the multi-point guidance system of the UAV, a plurality of corresponding flight guidance points are matched based on the dynamic position of the UAV and the landing area of ​​the UAV landing platform, a plurality of guidance areas are constructed according to the plurality of flight guidance points, the flight direction of the UAV and the flight speed of the UAV, and a corresponding guidance path is constructed based on the plurality of guidance areas, and further includes: Multiple interactions on multiple flight guidance points, the flight direction of the drone, and the flight speed of the drone; Construct multiple guidance areas according to multiple flight guidance points, the flight direction of the UAV, and the flight speed of the UAV; A corresponding guide path is constructed along the plurality of guide areas.

8. The multi-point guidance method for a drone landing platform to a drone according to claim 7, characterized in that: The UAV flies along the guide path, and dynamically monitors the flight deviation of the UAV during the flight, and triggers dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV, and the flight mode of the UAV, including: Freeze guide path; The drone flies along the guided path; The flight deviation of the drone is dynamically monitored during the flight.

9. The multi-point guidance method for a drone landing platform to a drone according to claim 8, characterized in that: The UAV flies along the guide path, and dynamically monitors the flight deviation of the UAV during the flight, triggers dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV, and also includes: Correlate the flight deviation of the drone, the flight speed of the drone, and the flight mode of the drone; Triggering dynamic calibration of the drone according to the flight deviation of the drone, the flight speed of the drone, and the flight mode of the drone; Dynamically control the multi-point guidance of the drone by the drone landing platform.

10. A multi-point guidance system for a drone landing platform to a drone, characterized in that: The multi-point guidance system of the drone landing platform for the drone is applied to the multi-point guidance method of the drone landing platform for the drone as claimed in any one of claims 1 to 9, and the multi-point guidance system of the drone landing platform for the drone includes: A collection module is used to collect the relative distance between the drone landing platform and the drone; An online detection space module is used to construct an online detection space of the drone landing platform according to the relative distance between the drone landing platform and the drone and the distribution of multiple positioning detection points of the drone landing platform; The yaw module is used to trigger online detection of the UAV based on the online detection space and collect the yaw of the UAV; A multi-point guidance system module is used to build a multi-point guidance system for the UAV based on multiple flight parameters of the UAV, the yaw amount of the UAV, and the landing area of ​​the UAV landing platform; A guidance path module is used to match corresponding multiple flight guidance points based on the dynamic position of the drone and the landing area of ​​the drone landing platform in the multi-point guidance system of the drone, construct multiple guidance areas according to the multiple flight guidance points, the flight direction of the drone and the flight speed of the drone, and construct corresponding guidance paths based on the multiple guidance areas; The dynamic calibration module is used for the UAV to fly along the guidance path and dynamically monitor the flight deviation of the UAV during the flight, and trigger the dynamic calibration of the UAV according to the flight deviation of the UAV, the flight speed of the UAV and the flight mode of the UAV.

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