Laser-guided unmanned aerial vehicle landing method and system

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a laser-guided unmanned aerial vehicle landing method and system.The method comprises the steps that initial flight action information of a to-be-landed unmanned aerial vehicle relative to an unmanned aerial vehicle landing platform is collected in real time, the initial flight action information is corrected based on environment influence parameters, and the unmanned aerial vehicle is landed according to flight action deviation information; and determining the action adjustment amount of the to-be-landed unmanned aerial vehicle, generating an action instruction through the action adjustment amount, and sending the action instruction to the to-be-landed unmanned aerial vehicle for execution until the flight action deviation information meets the preset tolerance deviation threshold value, thereby overcoming the measurement error of the flight action caused by the environmental influence, reducing the landing error of the unmanned aerial vehicle, and improving the landing efficiency. And the landing reliability and the landing safety of the unmanned aerial vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a laser-guided unmanned aerial vehicle landing method and system. Background Art

[0002] With the rapid development of drone technology, drones are increasingly used in fields such as electricity. However, safe and accurate landing of drones has always been a key problem in the industry. Traditional landing methods based on visual recognition are highly dependent on light conditions. In environments with strong light, weak light, or drastic light changes, their recognition accuracy will drop significantly, making it difficult to ensure the accuracy of landing. However, the accuracy of landing based solely on GPS positioning is severely limited by the accuracy of satellite signals and signal obstruction. In signal-blocked areas such as urban high-rise buildings and mountainous areas, the landing deviation may reach several meters or even larger, which can easily lead to large landing errors and poor reliability of drones, which can easily cause safety accidents. Summary of the invention

[0003] In view of this, the present invention provides a laser-guided UAV landing method and system, which solves the technical problems of large UAV landing errors, poor reliability, and high likelihood of causing safety accidents.

[0004] A first aspect of the present invention provides a laser-guided UAV landing method, which is applied to a UAV landing platform, comprising:

[0005] Collecting in real time the initial flight motion information of the UAV to be landed relative to the UAV landing platform; the initial flight motion information includes initial laser positioning coordinates and initial flight attitude information;

[0006] Correcting the initial flight action information based on the environmental impact parameter to obtain flight action information;

[0007] Determining flight action deviation information according to the flight action information and preset expected flight action information;

[0008] Determining a motion adjustment amount of the UAV to be landed according to the flight motion deviation information;

[0009] An action instruction is generated according to the action adjustment amount of the drone to be landed, and the action instruction is sent to the drone to be landed, and the action instruction is executed by the drone to be landed until the flight action deviation information meets a preset tolerance deviation threshold.

[0010] Preferably, the real-time collection of initial flight action information of the drone to be landed relative to the drone landing platform includes:

[0011] Performing laser ranging on the drone to be landed by the drone landing platform, and determining the initial laser positioning coordinates of the drone to be landed based on the laser ranging result and the laser ranging angle;

[0012] Obtaining the acceleration and angular velocity of the drone to be landed by means of a built-in gyroscope of the drone to be landed;

[0013] The initial flight attitude information of the UAV landing platform is determined according to the acceleration and angular velocity of the UAV to be landed; wherein the initial flight attitude information includes a pitch angle, a roll angle and a heading angle.

[0014] Preferably, the environmental influencing parameters include ambient light intensity and airflow;

[0015] The step of correcting the initial flight action information based on the environmental impact parameter to obtain the flight action information includes:

[0016] When the ambient light intensity is greater than a preset light intensity threshold, the three-dimensional laser positioning coordinate light intensity error of the initial laser positioning coordinate is determined by a light interference positioning error model; the light interference positioning error model is:

[0017]

[0018] In the formula, , , are the laser positioning coordinate light intensity errors in the x-axis, y-axis and z-axis directions respectively, are the error coefficients in the x-axis, y-axis and z-axis directions respectively, is the ambient light intensity, is the light intensity threshold, For time, are the angular frequencies in the x-axis, y-axis and z-axis directions respectively, are the initial phases in the x-axis direction, y-axis direction and z-axis direction respectively;

[0019] The three-dimensional laser positioning coordinate airflow error of the initial laser positioning coordinate is determined according to the airflow disturbance offset model; the airflow disturbance offset model is:

[0020]

[0021] In the formula, , are the laser positioning coordinate airflow errors in the x-axis, y-axis and z-axis directions respectively, is the air density, is the wind speed, is the maximum cross-sectional area of ​​the UAV, are the aerodynamic coefficients in the x-axis and y-axis directions, is the lift coefficient, is the maximum projection area of ​​the UAV in the vertical direction, For wind direction, is the angle between the airflow and the drone in the vertical direction, m is the mass of the drone, g is the acceleration due to gravity, are the angles between the horizontal speed of the drone and the airflow direction, is the time interval, is the flight speed of the drone;

[0022] The initial laser positioning coordinates are error corrected according to the light intensity error of the three-dimensional laser positioning coordinates and the airflow error of the three-dimensional laser positioning coordinates to obtain laser positioning coordinates.

[0023] Preferably, the environmental impact parameter includes magnetic field strength;

[0024] The step of correcting the initial flight action information based on the environmental impact parameter to obtain the flight action information includes:

[0025] The error of the heading angle is determined according to the magnetic field interference offset model; the error of the heading angle is:

[0026]

[0027] In the formula, is the heading angle error, , are the influence coefficients of magnetic field intensity and magnetic field change rate on heading angle deviation, is the magnetic field strength, is the angular frequency of the magnetic field change, is the initial phase;

[0028] The heading angle is corrected by the error of the heading angle to obtain a corrected heading angle, and flight attitude information is determined according to the corrected heading angle, the pitch angle and the roll angle.

[0029] Preferably, the motion adjustment includes an acceleration adjustment and a posture adjustment, and the posture adjustment includes a pitch angle adjustment, a roll angle adjustment and a heading angle adjustment;

[0030] The step of determining the motion adjustment amount of the unmanned aerial vehicle to be landed according to the flight motion deviation information includes:

[0031] According to the flight action deviation information, the acceleration adjustment amount of the unmanned aerial vehicle to be landed is determined by a posture and position coupling correction model; wherein the posture and position coupling correction model is:

[0032]

[0033] In the formula, , , are the acceleration adjustments in the x-axis, y-axis, and z-axis directions, respectively. , , are the weight coefficients of the acceleration correction in the x-axis direction, , , are the weight coefficients of the acceleration correction in the y-axis direction, , , are the weight coefficients of the acceleration correction in the z-axis direction, , , They are the x-axis motion deviation, y-axis motion deviation and z-axis motion deviation, is the pitch angle error, is the heading angle, is the roll angle, is the rolling angle error;

[0034] The current pitch angle is corrected by a pitch angle correction model to obtain the pitch angle adjustment amount; wherein the pitch angle correction model is:

[0035]

[0036] In the formula, is the pitch angle adjustment, is the influence coefficient of pitch angle on angular velocity, is the initial angular velocity;

[0037] The current roll angle is corrected by a roll angle correction model to obtain the roll angle adjustment amount; wherein the roll angle correction model is:

[0038]

[0039] In the formula, is the roll angle adjustment, is the influence coefficient of roll angle on acceleration, is the initial acceleration;

[0040] The current heading angle is corrected by the heading angle error to obtain the heading angle adjustment amount; wherein the heading angle adjustment amount is:

[0041]

[0042] In the formula, is the heading angle adjustment, is the heading angle error.

[0043] Preferably, the method further comprises: establishing a two-way communication link between the drone to be landed and the drone landing platform; the establishing a two-way communication link between the drone to be landed and the drone landing platform comprises:

[0044] When the UAV landing platform locks onto the UAV to be landed through laser scanning, a communication request signal is sent to the UAV to be landed; the communication request signal includes the UAV landing platform identity;

[0045] The drone to be landed responds to the communication request signal, generates a communication reply signal, encrypts the communication reply signal, and runs The encrypted communication reply signal is modulated in a modulation manner, and the modulated communication reply signal is sent to the UAV landing platform, wherein the communication reply signal includes an identity identifier and posture information.

[0046] Preferably, the method further comprises:

[0047] According to the laser positioning coordinates and the preset platform landing positioning coordinates, a plurality of initial flight paths are obtained from the preset map data; each of the initial flight paths includes the laser positioning coordinates, the preset platform landing positioning coordinates and a plurality of node coordinates;

[0048] With the goal of shortest flight path and minimum energy consumption required for flight, multiple initial flight paths are optimized based on a heuristic search algorithm to generate a flight path that best meets the goal.

[0049] Preferably, the method further includes a process of charging the drone through the drone landing platform; the process of charging the drone through the drone landing platform includes:

[0050] Charging the drone via mains electricity;

[0051] The voltage of the mains is monitored in real time, and when the voltage of the mains is less than a preset safety voltage threshold, the backup battery is switched to charge the drone.

[0052] Preferably, the method further comprises:

[0053] Monitor the remaining power change of the UAV to be landed in real time during the landing process, and update the rotor thrust coefficient of the UAV to be landed according to the remaining power of the UAV to be landed; the rotor thrust coefficient is:

[0054]

[0055] Where k is the rotor thrust coefficient, is the initial control parameter, To control the parameters, is the remaining battery power of the drone, is the maximum capacity of the battery;

[0056] The rotor thrust of the UAV to be landed is updated according to the rotor thrust coefficient.

[0057] In a second aspect, the present invention further provides a laser-guided UAV landing system, comprising:

[0058] A flight information collection module, used to collect in real time the initial flight action information of the UAV to be landed relative to the UAV landing platform; the initial flight action information includes initial laser positioning coordinates and initial flight attitude information;

[0059] A flight action correction module, used to correct the initial flight action information based on environmental impact parameters to obtain flight action information;

[0060] An action deviation determination module, used to determine flight action deviation information according to the flight action information and preset expected flight action information;

[0061] An action adjustment module, used to determine the action adjustment amount of the UAV to be landed according to the flight action deviation information;

[0062] The action execution module is used to generate an action instruction according to the action adjustment amount of the drone to be landed, and send the action instruction to the drone to be landed, so that the drone to be landed executes the action instruction until the flight action deviation information meets a preset tolerance deviation threshold.

[0063] It can be seen from the above technical scheme that the present invention collects the initial flight action information of the UAV to be landed relative to the UAV landing platform in real time, corrects the initial flight action information based on the environmental impact parameters, and determines the action adjustment amount of the UAV to be landed according to the flight action deviation information, and generates an action instruction through the action adjustment amount and sends it to the UAV to be landed for execution until the flight action deviation information meets the preset tolerance deviation threshold, thereby overcoming the measurement error of the flight action caused by the environmental impact, reducing the UAV landing error, improving the UAV landing reliability, and improving the UAV landing safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] 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 labor.

[0065] Figure 1 A flowchart of a laser-guided UAV landing method provided by an embodiment of the present invention;

[0066] Figure 2 A schematic structural diagram of a laser-guided UAV landing system provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0067] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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.

[0068] An embodiment of the present application provides a laser-guided drone landing method. The embodiment of the present application can be applied to controlling the landing of a drone, and the method can be executed by a drone landing platform.

[0069] In the deployment of drone landing platforms, 1. Open sites: When deploying in open sites, choose areas with flat terrain, unobstructed vision, and away from tall buildings, metal structures, and strong electromagnetic interference sources (such as substations). Before deployment, the site must be fully cleaned to avoid stones, cables, and other debris that may hinder the propagation of laser signals and affect the landing of drones. Use a level to carefully measure the flatness of the ground. The ground slope must be controlled within ±0.5°. If it does not meet the standard, leveling operations must be performed.

[0070] Rooftop: For deployment on the rooftops of urban high-rise buildings, choose a location close to the edge of the roof and directly below the core load-bearing structure of the building. For example, the edge area near the elevator room on the roof of an office building is more suitable, because there is a high probability that the main load-bearing columns of the building are below it. In the early stage of installation, the waterproof condition of the roof is checked, and protective mats are laid to prevent the installation operation from damaging the waterproof layer. In addition, with the help of the existing lightning protection system on the roof, an independent grounding device is installed on the platform, and the grounding resistance must be no more than 10Ω to prevent damage to the equipment caused by lightning strikes.

[0071] Mountainous areas: In mountainous areas, when deploying landing platforms for drones that perform inspection tasks, you should choose a mountaintop platform or a flat place on the mountainside that is high and has a wide view without tall trees or mountains blocking the view. If you are carrying out power inspection tasks in mountainous areas, a mountaintop close to the transmission line and with higher terrain is an ideal choice. Before installation, compact the ground and pour a concrete foundation if necessary to ensure that the platform is installed firmly and can withstand strong winds and other severe weather in the mountainous areas. In view of the possibility of blind spots in mountainous communications, a satellite communication module is also required to ensure unimpeded communication between the platform and the drone and the control center.

[0072] Installation and debugging of UAV landing platform

[0073] Hardware assembly: Strictly follow the overall structural design of the platform, and assemble the laser emission and positioning module, signal processing unit, power management unit, and protection and stability structure in sequence. For example, first build an aluminum alloy frame to ensure that the connection parts of the frame are tight and stable, and use a torque wrench to tighten the screws according to the specified torque value. Then install the laser emission and positioning module, and fix it precisely at the specified position of the frame to ensure that the deviation of the laser emission direction does not exceed ±0.1°. Then connect the cables of the signal processing unit and the power management unit to ensure that the cables are connected correctly and firmly to prevent looseness and short circuit.

[0074] Electrical connection and testing: After the hardware is assembled, proceed with the electrical connection. Connect the external AC power supply to ensure that the voltage is stable at 220V±10%, and check whether the AC power access indicator of the power management unit is on normally. At the same time, connect the backup lithium battery and check the battery power, which is required to be no less than 80%. Perform a preliminary electrical test, turn on the platform power, and check whether the working indicator lights of each module are displayed normally. For example, the self-test indicator light of the laser emission and positioning module should flash quickly after powering on, and then stay on, indicating that the self-test has passed. Use a multimeter to check whether the power supply voltage of each module is within the normal range. For example, the working voltage of the signal processing unit needs to be in the range of 5V±0.2V.

[0075] Software configuration and calibration: Use the supporting control software to configure and calibrate the platform. First, set the parameters of the laser emission and positioning module, such as setting the laser emission frequency to 500MHz, which matches the drone receiving frequency, and using a specific DSSS encoding method to enhance the signal's anti-interference ability. Then carry out coordinate calibration, using the platform's built-in positioning system and laser ranging function to measure the position coordinates of the platform relative to surrounding known landmarks (such as building corners, measurement control points), and input the control software for calibration. At the same time, calibrate the laser emission angle, and adjust the horizontal and vertical angles of the laser emission device through the control software to ensure that it can accurately cover the predetermined drone landing area, and the calibration error must not exceed ±0.05°.

[0076] like Figure 1As shown, the embodiment of the present application provides a laser-guided drone landing method, which is applied to a drone landing platform, including steps S1 to S5. Among them:

[0077] Step S1, collecting in real time the initial flight action information of the UAV to be landed relative to the UAV landing platform; the initial flight action information includes initial laser positioning coordinates and initial flight attitude information.

[0078] Among them, the UAV to be landed should be within the landing range of the UAV landing platform, and the UAV to be landed should be locked by the UAV landing platform, and for the reliability of communication, a two-way communication link should be established between the UAV to be landed and the UAV landing platform; Establishing a two-way communication link between the UAV to be landed and the UAV landing platform includes:

[0079] Step S11: When the drone landing platform locks onto the drone to be landed through laser scanning, a communication request signal is sent to the drone to be landed; the communication request signal includes the drone landing platform identity.

[0080] After the laser launcher on the drone landing platform is activated, it quickly scans the surrounding airspace in a spiral scanning path. The scanning range is gradually expanded from near to far, covering a larger airspace in a shorter time. When the laser beam scans the reflector on the surface of the drone, the reflected light returns with some characteristic information of the drone, thereby quickly identifying the drone and locking the target drone.

[0081] Assume that the scanning angular velocity of the laser emitting device is , the scanning starting radius is , then at time The area A covered by the inner scan is:

[0082] .

[0083] After the UAV landing platform locks the UAV through laser, it sends a communication request signal to the UAV to be landed. Suppose the communication request signal is , whose expression is:

[0084]

[0085] In the formula, is the platform identity. is the communication frequency, is the data transmission rate, is the platform coordinate.

[0086] Step S12: The UAV to be landed responds to the communication request signal, generates a communication reply signal, encrypts the communication reply signal, and runs The modulation method modulates the encrypted communication reply signal and sends the modulated communication reply signal to the UAV landing platform. The communication reply signal includes identity identification and posture information.

[0087] Among them, the confirmation reply signal includes identity identification and posture information, which is recorded as .Right now:

[0088]

[0089] In the formula, For drone identification, are the coordinates of the drone, is the attitude angle, The remaining power.

[0090] The AES encryption algorithm is used to encrypt the communication reply signal. Specifically, the data D of the original communication reply signal is grouped into fixed lengths, and each group of data is Key Under the action of , after multiple rounds of complex byte replacement, row shift, column confusion and key addition operations, it is converted into encrypted ciphertext Taking one round of encryption operation as an example, let the input state matrix be , the key matrix is , then the output after one round of encryption is for:

[0091]

[0092] in For byte replacement operation, For row shift operation, For the column confusion operation, Represents bitwise XOR. Through multiple rounds of such operations, data transmission security is ensured to prevent malicious theft or tampering.

[0093] Next, use Modulation method modulates the encrypted data. The digital signals "0" and "1" are mapped to different frequencies. and , let the modulated signal be ,but:

[0094]

[0095] Where A is the signal amplitude, , is the initial phase. In this way, the signal can be transmitted stably and efficiently in the wireless channel, improving the anti-interference ability and transmission reliability.

[0096] In the process of acquiring the initial flight action information, specifically, the real-time acquisition of the initial flight action information of the UAV to be landed relative to the UAV landing platform in step S1 includes:

[0097] Step S101: perform laser ranging on the drone to be landed through the drone landing platform, and determine the initial laser positioning coordinates of the drone to be landed based on the laser ranging result and the laser ranging angle.

[0098] Among them, using the laser ranging formula , where c is the propagation speed of the laser in the air, L is the horizontal distance from the laser emission point to the reflection point, and t is the round-trip time.

[0099] Combined emission angle horizontal angle and vertical angle , the initial laser positioning coordinates of the UAV relative to the UAV landing platform can be calculated using geometric relationships .

[0100] Step S102: Obtain the acceleration and angular velocity of the drone to be landed through the built-in gyroscope of the drone to be landed.

[0101] Step S103: determining the initial flight attitude information of the landing platform of the UAV according to the acceleration and angular velocity of the UAV to be landed; wherein the initial flight attitude information includes a pitch angle, a roll angle and a heading angle.

[0102] Among them, the acceleration of the drone to be landed is obtained through the gyroscope and angular velocity , calculated by integrating the speed And displacement calculation formula: , obtain the initial flight attitude information, the initial flight attitude information includes the pitch angle , Roll Angle and heading angle .

[0103] Step S2: correcting the initial flight action information based on the environmental impact parameters to obtain flight action information.

[0104] The platform and the drone are equipped with light intensity sensors, anemometers and wind vanes to monitor the ambient light intensity in real time. , wind speed ,wind direction The environmental data such as the environmental factors are used to influence the model, and the flight action error obtained by monitoring caused by the environment is estimated. The flight action error is used to correct the initial flight action information to reduce the error of the initial flight action information.

[0105] Specifically, environmental influencing parameters include ambient light intensity and airflow.

[0106] The initial flight action information is corrected based on the environmental impact parameter in step S2 to obtain the flight action information, including:

[0107] Step S201: When the ambient light intensity is greater than a preset light intensity threshold, the light interference positioning error model is used to determine the three-dimensional laser positioning coordinate light intensity error of the initial laser positioning coordinate; the light interference positioning error model is:

[0108]

[0109] In the formula, , , are the laser positioning coordinate light intensity errors in the x-axis, y-axis and z-axis directions respectively, are the error coefficients in the x-axis, y-axis and z-axis directions respectively, Characterizes the influence of light intensity on positioning errors in various directions. is the ambient light intensity, is the light intensity threshold, For time, are the angular frequencies in the x-axis, y-axis and z-axis directions respectively, Reflects the fluctuation characteristics of error over time. are the initial phases in the x-axis, y-axis and z-axis directions respectively, Considering the differences in the initial impact of light intensity changes on positioning errors at different times;

[0110] Step S202: determining the airflow error of the three-dimensional laser positioning coordinates of the initial laser positioning coordinates according to the airflow disturbance offset model; the airflow disturbance offset model is:

[0111]

[0112] In the formula, , are the laser positioning coordinate airflow errors in the x-axis, y-axis and z-axis directions respectively, is the air density, is the wind speed, is the maximum cross-sectional area of ​​the UAV, are the aerodynamic coefficients in the x-axis and y-axis directions, It is related to the shape and posture of the drone. is the lift coefficient, is the maximum projection area of ​​the UAV in the vertical direction, For wind direction, is the angle between the airflow and the drone in the vertical direction, m is the mass of the drone, g is the gravitational acceleration, are the angles between the horizontal speed of the drone and the airflow direction, is the time interval, Used to calculate the cumulative deviation caused by airflow during this time period, is the flight speed of the drone.

[0113] Among them, considering the differences in airflow characteristics at different altitudes, a correlation model between altitude and airflow parameters is established. Assuming the current altitude of the drone is h, the airflow velocity correction coefficients at different altitudes are , then the wind speed actually used to calculate the offset for:

[0114]

[0115] Makes airflow disturbance compensation more accurate at different altitudes.

[0116] Among them, the airflow disturbance deviation model is used to calculate the deviation of the drone caused by the airflow in the horizontal and vertical directions according to the principles of aerodynamics.

[0117] Step S203, performing error correction on the initial laser positioning coordinates according to the light intensity error of the three-dimensional laser positioning coordinates and the airflow error of the three-dimensional laser positioning coordinates to obtain the laser positioning coordinates.

[0118] Among them, by weighting the three-dimensional laser positioning coordinate light intensity error and the three-dimensional laser positioning coordinate airflow error, the weighted result is used to correct the error of the initial laser positioning coordinates, and the weights corresponding to the three-dimensional laser positioning coordinate light intensity error and the three-dimensional laser positioning coordinate airflow error can be set based on experience.

[0119] In some embodiments, the environmental impact parameter includes magnetic field strength. Considering the possible magnetic field interference in the UAV flight environment, especially in special areas such as near power facilities or metal mining areas, the environmental magnetic field strength is measured by magnetic sensors. and its rate of change , a model of the effect of magnetic field interference on the UAV’s gyroscope is established, namely, the magnetic field interference offset model.

[0120] The initial flight action information is corrected based on the environmental impact parameter in step S2 to obtain the flight action information, including:

[0121] Step S211, determining the heading angle error according to the magnetic field interference offset model; the heading angle error is:

[0122]

[0123] In the formula, is the heading angle error, , are the influence coefficients of magnetic field intensity and magnetic field change rate on heading angle deviation, is the magnetic field strength, is the angular frequency of the magnetic field change, is the initial phase.

[0124] Step S212: Correct the heading angle by using the heading angle error to obtain a corrected heading angle, and determine the flight attitude information based on the corrected heading angle, pitch angle, and roll angle.

[0125] Step S3: determining flight action deviation information according to the flight action information and preset expected flight action information.

[0126] Among them, for the calculation of coordinate position deviation: the laser positioning coordinates The expected landing coordinates of the preset platform By comparison, the position error is:

[0127]

[0128] For attitude deviation calculation: compare the current attitude with the planned landing attitude and calculate the attitude error, such as pitch angle error ,in, is the preset expected pitch angle, roll angle error , is the preset expected roll angle, heading angle error , is the preset desired heading angle.

[0129] Step S4: determining the motion adjustment amount of the UAV to be landed according to the flight motion deviation information.

[0130] In some embodiments, the motion adjustment includes an acceleration adjustment and an attitude adjustment, and the attitude adjustment includes a pitch angle adjustment, a roll angle adjustment, and a heading angle adjustment;

[0131] Determining the motion adjustment amount of the UAV to be landed according to the flight motion deviation information in step S4 includes:

[0132] Step S401: Determine the acceleration adjustment amount of the UAV to be landed through the attitude and position coupling correction model according to the flight action deviation information; wherein the attitude and position coupling correction model is:

[0133]

[0134] In the formula, , , are the acceleration adjustments in the x-axis, y-axis, and z-axis directions, respectively. , , are the weight coefficients of the acceleration correction in the x-axis direction, , , are the weight coefficients of the acceleration correction in the y-axis direction, , , are the weight coefficients of the acceleration correction in the z-axis direction, , , They are the x-axis motion deviation, y-axis motion deviation and z-axis motion deviation, is the pitch angle error, is the heading angle, is the roll angle, is the rolling angle error;

[0135] Step S402: Correct the current pitch angle using a pitch angle correction model to obtain a pitch angle adjustment amount; wherein the pitch angle correction model is:

[0136]

[0137] In the formula, is the pitch angle adjustment, is the influence coefficient of pitch angle on angular velocity, is the initial angular velocity;

[0138] Step S403: Correct the current roll angle using a roll angle correction model to obtain a roll angle adjustment value; wherein the roll angle correction model is:

[0139]

[0140] In the formula, is the roll angle adjustment, is the influence coefficient of roll angle on acceleration, is the initial acceleration;

[0141] Step S404: Correct the current heading angle by the heading angle error to obtain a heading angle adjustment amount; wherein the heading angle adjustment amount is:

[0142]

[0143] In the formula, is the heading angle adjustment, is the heading angle error.

[0144] Step S5: generating an action instruction according to the action adjustment amount of the UAV to be landed, and sending the action instruction to the UAV to be landed, so that the UAV to be landed executes the action instruction until the flight action deviation information meets the preset tolerance deviation threshold.

[0145] Among them, when the flight action deviation information is less than the preset tolerance deviation threshold, it is determined that the drone has completely landed on the platform with an accurate posture.

[0146] It should be noted that the embodiment of the present application collects the initial flight motion information of the UAV to be landed relative to the UAV landing platform in real time, corrects the initial flight motion information based on environmental impact parameters, and determines the motion adjustment amount of the UAV to be landed according to the flight motion deviation information, and generates motion instructions through the motion adjustment amount and sends them to the UAV to be landed for execution until the flight motion deviation information meets the preset tolerance deviation threshold, thereby overcoming the measurement error of the flight motion caused by environmental impact, reducing the UAV landing error, improving the UAV landing reliability, and improving the UAV landing safety.

[0147] In some embodiments, the method further comprises:

[0148] Step S61, obtaining multiple initial flight paths from preset map data according to the laser positioning coordinates and the preset platform landing positioning coordinates; each initial flight path includes the laser positioning coordinates, the preset platform landing positioning coordinates and multiple node coordinates;

[0149] Step S62: With the shortest flight path and the minimum energy consumption required for flight as the goals, multiple initial flight paths are optimized based on a heuristic search algorithm to generate a flight path that best meets the goals.

[0150] Among them, the UAV determines the evaluation function by taking the shortest flight path and the minimum energy consumption required for flight as the goal: ,in, represents the nodes in the search process, Represents from the starting point to the node The actual cost is the comprehensive cost of energy, time, etc. consumed by the drone to fly from the current position to the node; It is a slave node The estimated cost to the target point (platform location), usually calculated by the node The Euclidean distance or Manhattan distance to the target point is used to estimate the distance.

[0151] For example, the current position coordinates of the drone are , the platform coordinates are , for nodes on a two-dimensional plane , According to the Euclidean distance formula Calculation. The algorithm starts from the starting node, adds it to the open list (the set of nodes to be explored), traverses the open list, and selects The node with the smallest value is expanded.

[0152] For the newly expanded node, if it is not in the open list and the closed list (the set of explored nodes), calculate its and value, add it to the open list, and record its parent node. If the new node is already in the open list, compare the path to the node through the current path Value and original If the new value is smaller, update the node value and parent node. The search ends when the target node is expanded or the open list is empty. If the target node is found, the optimal path from the starting point to the target point can be obtained by backtracking the parent node path. In the drone scenario, the path planning algorithm will comprehensively consider the surrounding obstacle information (obtained through the drone's visual sensor or pre-stored map data) and generate a flight path from the current position to an altitude of 50 meters above the platform. During the flight, the drone sends its own status information to the platform every 1 second, and the platform monitors its flight status in real time.

[0153] In some embodiments, an external AC power supply is used as the main power supply of the platform. At the same time, a large-capacity, high-energy-density lithium battery is equipped as a backup power supply to ensure the stable operation of the platform under various power supply conditions.

[0154] The laser-guided drone landing method provided in the embodiment of the present application also includes a process of charging the drone through the drone landing platform; the process of charging the drone through the drone landing platform includes:

[0155] Step S601: Charge the drone via AC power.

[0156] Step S602: monitor the voltage of the mains in real time. When the voltage of the mains is less than a preset safety voltage threshold, switch to the backup battery to charge the drone.

[0157] Among them, when the mains power is detected Below the preset safety threshold When the battery is powered by a backup battery, it can automatically switch to the backup battery in a very short time (such as within 10 milliseconds), realizing seamless power switching and ensuring uninterrupted operation of the platform. In terms of charging management, it has intelligent charging function and can perform precise control according to the characteristic curve and real-time status of the lithium battery. It adopts constant current-constant voltage charging mode. In the initial stage of charging, the battery is charged at a constant current. The battery is quickly charged, and when the battery power reaches a certain proportion (for example, 80%), it switches to a constant voltage Charging mode, at this time the charging current gradually decreases to avoid overcharging and effectively extend the battery life. The battery charge change process can be approximated by the formula Indicates that is the battery power at time t, is the initial charge, is the charging current that varies with time, This intelligent charging management strategy can give full play to the performance advantages of lithium batteries and improve the power reliability and stability of the platform.

[0158] In some embodiments, the drone dynamically updates the correction strategy parameters according to real-time data and errors during the entire landing process. When the drone approaches the platform, the position error tolerance value and attitude error tolerance value are reduced. At the same time, according to the real-time changes in the environment, the parameters of the environmental impact error estimation model are adjusted. Considering the impact of the drone battery power on the flight performance, the laser-guided drone landing method provided in the embodiment of the present application also includes:

[0159] Step S701: monitor the remaining power change of the UAV to be landed in real time during the landing process, and update the rotor thrust coefficient of the UAV to be landed according to the remaining power of the UAV to be landed; the rotor thrust coefficient is:

[0160]

[0161] Where k is the rotor thrust coefficient, is the initial control parameter, To control the parameters, is the remaining battery power of the drone, is the maximum capacity of the battery;

[0162] Step S702: updating the rotor thrust of the UAV to be landed according to the rotor thrust coefficient.

[0163] Among them, the rotor thrust of the UAV to be landed is continuously updated by multiplying the rotor thrust coefficient and the initial rotor thrust. As the power decreases, the rotor thrust is reasonably adjusted to ensure the landing performance of the UAV.

[0164] In some embodiments, when the drone is within 5 meters of the platform, it enters the precision landing stage. At this point, the drone's position and attitude can be more precisely measured and adjusted. The drone recognizes specific identification marks (such as color and shape marks) on the platform surface to further accurately calculate its relative position and attitude to the platform. The control systems of the platform and the drone make the final fine adjustments to the drone's flight status based on these high-precision data. For example, by fine-tuning the rotor speed, the drone is allowed to slowly descend at a speed of 0.1 meters per second in the vertical direction, while maintaining a stable horizontal position with a deviation controlled within ±0.1 meters. During this process, the platform monitors all drone status data in real time. Once an abnormality is detected (such as low battery, sudden change in attitude, etc.), an alarm is immediately issued and corresponding emergency measures are taken, such as controlling the drone to hover or guiding it to land in an alternate landing area.

[0165] After the drone successfully lands on the platform, the platform records the landing time, position, attitude, power and other data of the drone, as well as the environmental data (such as light intensity, wind speed, wind direction, etc.) and control parameters (such as rotor speed adjustment, attitude adjustment angle, etc.) during the entire landing process. These data are used for subsequent data analysis and performance evaluation, such as analyzing the landing success rate and accuracy of the drone under different environmental conditions, so as to optimize and improve the control system of the platform and the drone. At the same time, the platform sends a landing completion confirmation signal to the drone through the wireless communication module. After receiving the signal, the drone shuts down the power system and related sensors to successfully complete the entire landing process.

[0166] Based on the same inventive concept, an embodiment of the present application also provides a laser-guided UAV landing system for implementing the above-mentioned laser-guided UAV landing method.

[0167] The implementation solution to the problem provided by the system is similar to the implementation solution recorded in the above method. Therefore, the specific limitations in one or more laser-guided UAV landing system embodiments provided below can be referred to the limitations on the laser-guided UAV landing method above and will not be repeated here.

[0168] like Figure 2 As shown, the embodiment of the present application provides a laser-guided drone landing system, comprising:

[0169] The flight information collection module 100 is used to collect the initial flight action information of the UAV to be landed relative to the UAV landing platform in real time; the initial flight action information includes the initial laser positioning coordinates and the initial flight attitude information;

[0170] A flight action correction module 200 is used to correct the initial flight action information based on the environmental impact parameter to obtain the flight action information;

[0171] The action deviation determination module 300 is used to determine the flight action deviation information according to the flight action information and the preset expected flight action information;

[0172] The motion adjustment module 400 is used to determine the motion adjustment amount of the UAV to be landed according to the flight motion deviation information;

[0173] The action execution module 500 is used to generate an action instruction according to the action adjustment amount of the UAV to be landed, and send the action instruction to the UAV to be landed, so that the UAV to be landed executes the action instruction until the flight action deviation information meets the preset tolerance deviation threshold.

[0174] In some embodiments, real-time collection of initial flight motion information of the drone to be landed relative to the drone landing platform includes:

[0175] The UAV landing platform performs laser ranging on the UAV to be landed, and determines the initial laser positioning coordinates of the UAV to be landed based on the laser ranging result and the laser ranging angle;

[0176] The acceleration and angular velocity of the UAV to be landed are obtained through the built-in gyroscope of the UAV to be landed;

[0177] The initial flight attitude information of the UAV landing platform is determined according to the acceleration and angular velocity of the UAV to be landed; wherein the initial flight attitude information includes the pitch angle, the roll angle and the heading angle.

[0178] In some embodiments, the environmental influencing parameters include ambient light intensity and airflow;

[0179] The initial flight action information is corrected based on the environmental impact parameters to obtain flight action information, including:

[0180] When the ambient light intensity is greater than the preset light intensity threshold, the light interference positioning error model is used to determine the three-dimensional laser positioning coordinate light intensity error of the initial laser positioning coordinate; the light interference positioning error model is:

[0181]

[0182] In the formula, , , are the laser positioning coordinate light intensity errors in the x-axis, y-axis and z-axis directions respectively, are the error coefficients in the x-axis, y-axis and z-axis directions respectively, is the ambient light intensity, is the light intensity threshold, For time, are the angular frequencies in the x-axis, y-axis and z-axis directions respectively, are the initial phases in the x-axis direction, y-axis direction and z-axis direction respectively;

[0183] The airflow error of the three-dimensional laser positioning coordinates of the initial laser positioning coordinates is determined according to the airflow disturbance offset model; the airflow disturbance offset model is:

[0184]

[0185] In the formula, , are the laser positioning coordinate airflow errors in the x-axis, y-axis and z-axis directions respectively, is the air density, is the wind speed, is the maximum cross-sectional area of ​​the UAV, are the aerodynamic coefficients in the x-axis and y-axis directions, is the lift coefficient, is the maximum projection area of ​​the UAV in the vertical direction, For wind direction, is the angle between the airflow and the drone in the vertical direction, m is the mass of the drone, g is the acceleration due to gravity, are the angles between the horizontal speed of the drone and the airflow direction, is the time interval, is the flight speed of the drone;

[0186] The initial laser positioning coordinates are corrected according to the light intensity error of the three-dimensional laser positioning coordinates and the airflow error of the three-dimensional laser positioning coordinates to obtain the laser positioning coordinates.

[0187] In some embodiments, the environmental impact parameter includes magnetic field strength;

[0188] The initial flight action information is corrected based on the environmental impact parameters to obtain flight action information, including:

[0189] The heading angle error is determined based on the magnetic field interference offset model; the heading angle error is:

[0190]

[0191] In the formula, is the heading angle error, , are the influence coefficients of magnetic field intensity and magnetic field change rate on heading angle deviation, is the magnetic field strength, is the angular frequency of the magnetic field change, is the initial phase;

[0192] The heading angle is corrected by the error of the heading angle to obtain a corrected heading angle, and the flight attitude information is determined according to the corrected heading angle, pitch angle and roll angle.

[0193] In some embodiments, the motion adjustment includes an acceleration adjustment and an attitude adjustment, and the attitude adjustment includes a pitch angle adjustment, a roll angle adjustment, and a heading angle adjustment;

[0194] According to the flight action deviation information, the action adjustment amount of the UAV to be landed is determined, including:

[0195] According to the flight action deviation information, the acceleration adjustment amount of the UAV to be landed is determined through the attitude and position coupling correction model; wherein the attitude and position coupling correction model is:

[0196]

[0197] In the formula, , , are the acceleration adjustments in the x-axis, y-axis, and z-axis directions, respectively. , , are the weight coefficients of the acceleration correction in the x-axis direction, , , are the weight coefficients of the acceleration correction in the y-axis direction, , , are the weight coefficients of the acceleration correction in the z-axis direction, , , They are the x-axis motion deviation, y-axis motion deviation and z-axis motion deviation, is the pitch angle error, is the heading angle, is the roll angle, is the rolling angle error;

[0198] The current pitch angle is corrected by the pitch angle correction model to obtain the pitch angle adjustment value; wherein the pitch angle correction model is:

[0199]

[0200] In the formula, is the pitch angle adjustment, is the influence coefficient of pitch angle on angular velocity, is the initial angular velocity;

[0201] The current roll angle is corrected by the roll angle correction model to obtain the roll angle adjustment value; wherein the roll angle correction model is:

[0202]

[0203] In the formula, is the roll angle adjustment, is the influence coefficient of roll angle on acceleration, is the initial acceleration;

[0204] The current heading angle is corrected by the heading angle error to obtain the heading angle adjustment amount; wherein the heading angle adjustment amount is:

[0205]

[0206] In the formula, is the heading angle adjustment, is the heading angle error.

[0207] In some embodiments, the system further includes: a communication building module, configured to establish a two-way communication link between the drone to be landed and the drone landing platform; establishing a two-way communication link between the drone to be landed and the drone landing platform includes:

[0208] When the drone landing platform locks onto the drone to be landed through laser scanning, a communication request signal is sent to the drone to be landed; the communication request signal includes the drone landing platform identity;

[0209] The UAV to be landed responds to the communication request signal, generates a communication reply signal, encrypts the communication reply signal, and runs The modulation method modulates the encrypted communication reply signal and sends the modulated communication reply signal to the UAV landing platform. The communication reply signal includes identity identification and posture information.

[0210] In some embodiments, the system further includes: a path optimization module, which is used to obtain multiple initial flight paths from preset map data according to the laser positioning coordinates and the preset platform landing positioning coordinates; each initial flight path includes the laser positioning coordinates, the preset platform landing positioning coordinates and multiple node coordinates;

[0211] With the goal of shortest flight path and minimum energy consumption, multiple initial flight paths are optimized based on heuristic search algorithm to generate the flight path that best meets the goal.

[0212] In some embodiments, the system further includes a charging module for charging the drone through the drone landing platform. The process of charging the drone through the drone landing platform includes:

[0213] Charge the drone via mains electricity;

[0214] Monitor the voltage of the mains in real time. When the voltage of the mains is lower than the preset safety voltage threshold, switch to the backup battery to charge the drone.

[0215] In some embodiments, the system further includes: a rotor thrust optimization module, which is used to monitor the change of the remaining power of the UAV to be landed during the landing process in real time, and update the rotor thrust coefficient of the UAV to be landed according to the remaining power of the UAV to be landed; the rotor thrust coefficient is:

[0216]

[0217] Where k is the rotor thrust coefficient, is the initial control parameter, To control the parameters, is the remaining battery power of the drone, is the maximum capacity of the battery;

[0218] Update the rotor thrust of the UAV to be landed according to the rotor thrust coefficient.

[0219] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0220] It should be noted that the terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or apparatus.

[0221] In several embodiments provided by the present invention, it is understood that each box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from that marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.

[0222] In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0223] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laser-guided UAV landing method, applied to a UAV landing platform, characterized in that: include: Collecting in real time the initial flight action information of the UAV to be landed relative to the UAV landing platform; The initial flight action information includes initial laser positioning coordinates and initial flight attitude information; Correcting the initial flight action information based on the environmental impact parameter to obtain flight action information; Determining flight action deviation information according to the flight action information and preset expected flight action information; Determining a motion adjustment amount of the UAV to be landed according to the flight motion deviation information; An action instruction is generated according to the action adjustment amount of the drone to be landed, and the action instruction is sent to the drone to be landed, and the action instruction is executed by the drone to be landed until the flight action deviation information meets a preset tolerance deviation threshold.

2. The laser-guided UAV landing method according to claim 1, characterized in that: The real-time collection of initial flight action information of the UAV to be landed relative to the UAV landing platform includes: Performing laser ranging on the drone to be landed by the drone landing platform, and determining the initial laser positioning coordinates of the drone to be landed based on the laser ranging result and the laser ranging angle; Obtaining the acceleration and angular velocity of the drone to be landed by means of a built-in gyroscope of the drone to be landed; The initial flight attitude information of the UAV landing platform is determined according to the acceleration and angular velocity of the UAV to be landed; wherein the initial flight attitude information includes a pitch angle, a roll angle and a heading angle.

3. The laser-guided UAV landing method according to claim 2, characterized in that: The environmental influencing parameters include ambient light intensity and airflow; The step of correcting the initial flight action information based on the environmental impact parameter to obtain the flight action information includes: When the ambient light intensity is greater than a preset light intensity threshold, the three-dimensional laser positioning coordinate light intensity error of the initial laser positioning coordinate is determined by a light interference positioning error model; the light interference positioning error model is: In the formula, , , are the laser positioning coordinate light intensity errors in the x-axis, y-axis and z-axis directions respectively, are the error coefficients in the x-axis, y-axis and z-axis directions respectively, is the ambient light intensity, is the light intensity threshold, For time, are the angular frequencies in the x-axis, y-axis and z-axis directions respectively, are the initial phases in the x-axis direction, y-axis direction and z-axis direction respectively; The three-dimensional laser positioning coordinate airflow error of the initial laser positioning coordinate is determined according to the airflow disturbance offset model; the airflow disturbance offset model is: In the formula, , are the laser positioning coordinate airflow errors in the x-axis, y-axis and z-axis directions respectively, is the air density, is the wind speed, is the maximum cross-sectional area of ​​the UAV, are the aerodynamic coefficients in the x-axis and y-axis directions, is the lift coefficient, is the maximum projection area of ​​the UAV in the vertical direction, For wind direction, is the angle between the airflow and the drone in the vertical direction, m is the mass of the drone, g is the acceleration due to gravity, are the angles between the horizontal speed of the drone and the airflow direction, is the time interval, is the flight speed of the drone; The initial laser positioning coordinates are error corrected according to the light intensity error of the three-dimensional laser positioning coordinates and the airflow error of the three-dimensional laser positioning coordinates to obtain laser positioning coordinates.

4. The laser-guided UAV landing method according to claim 2, characterized in that: The environmental impact parameters include magnetic field strength; The step of correcting the initial flight action information based on the environmental impact parameter to obtain the flight action information includes: The error of the heading angle is determined according to the magnetic field interference offset model; the error of the heading angle is: In the formula, is the heading angle error, , are the influence coefficients of magnetic field intensity and magnetic field change rate on heading angle deviation, is the magnetic field strength, is the angular frequency of the magnetic field change, is the initial phase; The heading angle is corrected by the error of the heading angle to obtain a corrected heading angle, and flight attitude information is determined according to the corrected heading angle, the pitch angle and the roll angle.

5. The laser-guided UAV landing method according to claim 1, characterized in that: The action adjustment includes an acceleration adjustment and a posture adjustment, and the posture adjustment includes a pitch angle adjustment, a roll angle adjustment and a heading angle adjustment; The step of determining the motion adjustment amount of the unmanned aerial vehicle to be landed according to the flight motion deviation information includes: According to the flight action deviation information, the acceleration adjustment amount of the unmanned aerial vehicle to be landed is determined by a posture and position coupling correction model; wherein the posture and position coupling correction model is: In the formula, , , are the acceleration adjustments in the x-axis, y-axis, and z-axis directions, respectively. , , are the weight coefficients of the acceleration correction in the x-axis direction, , , are the weight coefficients of the acceleration correction in the y-axis direction, , , are the weight coefficients of the acceleration correction in the z-axis direction, , , They are the x-axis motion deviation, y-axis motion deviation and z-axis motion deviation, is the pitch angle error, is the heading angle, is the roll angle, is the rolling angle error; The current pitch angle is corrected by a pitch angle correction model to obtain the pitch angle adjustment amount; wherein the pitch angle correction model is: In the formula, is the pitch angle adjustment, is the influence coefficient of pitch angle on angular velocity, is the initial angular velocity; The current roll angle is corrected by a roll angle correction model to obtain the roll angle adjustment amount; wherein the roll angle correction model is: In the formula, is the roll angle adjustment, is the influence coefficient of roll angle on acceleration, is the initial acceleration; The current heading angle is corrected by the heading angle error to obtain the heading angle adjustment amount; wherein the heading angle adjustment amount is: In the formula, is the heading angle adjustment, is the heading angle error.

6. The laser-guided UAV landing method according to claim 1, characterized in that: Also includes: Establishing a two-way communication link between the drone to be landed and the drone landing platform; The establishing of a two-way communication link between the drone to be landed and the drone landing platform comprises: When the UAV landing platform locks onto the UAV to be landed through laser scanning, a communication request signal is sent to the UAV to be landed; The communication request signal includes the identity of the drone landing platform; The drone to be landed responds to the communication request signal, generates a communication reply signal, encrypts the communication reply signal, and runs The encrypted communication reply signal is modulated in a modulation manner, and the modulated communication reply signal is sent to the UAV landing platform, wherein the communication reply signal includes an identity identifier and posture information.

7. The laser-guided UAV landing method according to claim 3 or 4, characterized in that: Also includes: According to the laser positioning coordinates and the preset platform landing positioning coordinates, a plurality of initial flight paths are obtained from the preset map data; each of the initial flight paths includes the laser positioning coordinates, the preset platform landing positioning coordinates and a plurality of node coordinates; With the goal of shortest flight path and minimum energy consumption required for flight, multiple initial flight paths are optimized based on a heuristic search algorithm to generate a flight path that best meets the goal.

8. The laser-guided UAV landing method according to claim 1, characterized in that: It also includes a process of charging the drone via the drone landing platform; The process of charging the drone through the drone landing platform includes: Charging the drone via mains electricity; The voltage of the mains is monitored in real time, and when the voltage of the mains is less than a preset safety voltage threshold, the backup battery is switched to charge the drone.

9. The laser-guided UAV landing method according to claim 1, characterized in that: Also includes: Monitor the remaining power change of the UAV to be landed in real time during the landing process, and update the rotor thrust coefficient of the UAV to be landed according to the remaining power of the UAV to be landed; the rotor thrust coefficient is: Where k is the rotor thrust coefficient, is the initial control parameter, To control the parameters, is the remaining battery power of the drone, is the maximum capacity of the battery; The rotor thrust of the UAV to be landed is updated according to the rotor thrust coefficient.

10. A laser-guided drone landing system, characterized in that: include: A flight information collection module, used to collect in real time the initial flight action information of the UAV to be landed relative to the UAV landing platform; the initial flight action information includes initial laser positioning coordinates and initial flight attitude information; A flight action correction module, used to correct the initial flight action information based on environmental impact parameters to obtain flight action information; An action deviation determination module, used to determine flight action deviation information according to the flight action information and preset expected flight action information; An action adjustment module, used to determine the action adjustment amount of the UAV to be landed according to the flight action deviation information; The action execution module is used to generate an action instruction according to the action adjustment amount of the drone to be landed, and send the action instruction to the drone to be landed, so that the drone to be landed executes the action instruction until the flight action deviation information meets a preset tolerance deviation threshold.

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