Landing method and system of unmanned aerial vehicle, computer equipment and storage medium

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle landing method and system, computer equipment and a storage medium. The method comprises the steps that when it is detected that a positioning signal of a target unmanned aerial vehicle is abnormal, a display identification instruction is sent to multiple unmanned aerial vehicle hangars in a target area, and the multiple unmanned aerial vehicle hangars control a heating array to display a first positioning identification according to the display identification instruction; receiving a target positioning image generated by the target unmanned aerial vehicle for the first positioning identifiers of all the unmanned aerial vehicle hangars; and planning a target landing route of the target unmanned aerial vehicle by using the plurality of first positioning identifiers in the target positioning image, so that the target unmanned aerial vehicle lands to the target hangar according to the target landing route. The thermal imaging coordinates of different combinations are formed by using the heating arrays of the plurality of unmanned aerial vehicle hangars, and the target unmanned aerial vehicle can accurately land to the target hangar according to the target landing route after identifying the combined thermal imaging coordinates, so that the problem that the unmanned aerial vehicle cannot accurately land back to the hangar is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a landing method, system, computer device and storage medium for unmanned aerial vehicles. Background Art

[0002] Currently, a two-dimensional code combined with acrylic material is used on the hangar of an unmanned aerial vehicle, and by means of a fill light, the unmanned aerial vehicle can quickly scan the two-dimensional code on the hangar when landing, so as to achieve precise landing of the unmanned aerial vehicle.

[0003] In some extreme weather scenarios (such as late at night, heavy fog, group fog, haze, rain, snow, etc.) or when the positioning signal of the unmanned aerial vehicle is abnormal, it is difficult for the unmanned aerial vehicle to identify the two-dimensional code on the hangar of the unmanned aerial vehicle during the landing process, resulting in the unmanned aerial vehicle being unable to land back in the hangar precisely. Summary of the Invention

[0004] In view of this, the present application provides a landing method, system, computer device and storage medium for an unmanned aerial vehicle to solve the problem that the unmanned aerial vehicle cannot land back in the hangar precisely.

[0005] In a first aspect, the present application provides a landing method for an unmanned aerial vehicle, including: when detecting that the positioning signal of a target unmanned aerial vehicle is abnormal, sending a display identification instruction to a plurality of unmanned aerial vehicle hangars in a target area, so that the plurality of unmanned aerial vehicle hangars control a heating array to display a first positioning identification according to the display identification instruction; receiving a target positioning image generated by the target unmanned aerial vehicle for the first positioning identifications of all the unmanned aerial vehicle hangars; and using the plurality of first positioning identifications in the target positioning image to plan a target landing route for the target unmanned aerial vehicle, so that the target unmanned aerial vehicle lands on a target hangar according to the target landing route.

[0006] Landing method of the drone in this application. When the central control platform detects that the positioning signal of the target drone is abnormal, it obtains the geographical coordinate information of the target drone before the positioning signal is abnormal, spreads a preset distance outward with the geographical coordinate information as the center point to generate a target area, and sends a display identification instruction to multiple drone hangars in the target area. After receiving the display identification instruction, the multiple drone hangars can control their own heating arrays according to the display identification instruction to display the first positioning identification in the display identification instruction. Then, the target drone takes pictures of all the first positioning identifications to obtain a target positioning image and sends it to the central control platform. The central control platform uses the multiple first positioning identifications in the target positioning image to plan the target landing route of the target drone, so that the target drone lands on the target hangar according to the target landing route. This solution uses the heating arrays of multiple drone hangars to form thermal imaging coordinates of different combinations. After the target drone recognizes the combined thermal imaging coordinates, the target drone can accurately land on the target hangar according to the target landing route planned by the central control platform, solving the problem that the drone cannot accurately land back in the hangar.

[0007] In an alternative implementation, determining the target area includes: obtaining the geographical coordinate information of the target drone before the positioning signal is abnormal; spreading a preset distance outward with the geographical coordinate information as the center point to generate a target area.

[0008] The target area generated by spreading a preset distance outward with the geographical coordinate information as the center point can be the area that the field of view angle of the image acquisition device of the target drone can cover. Subsequently, the target drone can better generate a target positioning image for all the first positioning identifications of the drone hangars in the target area. If the preset distance is large, the determined target area will also become larger accordingly, and too many first positioning identifications will instead increase the computational complexity; if the preset distance is small, the determined target area will also become smaller accordingly, and too few first positioning identifications will result in insufficient information and inability to further accurately determine the target landing route.

[0009] In an alternative implementation, using the multiple first positioning identifications in the target positioning image to plan the target landing route of the target drone includes: in the target positioning image, determining the line segment connecting at least the target number of first positioning identifications as a candidate landing route to obtain multiple candidate landing routes; using the distance between the target drone and each candidate landing route to determine the target landing route from the multiple candidate landing routes.

[0010] Since the target UAV is far from all the UAV hangars in the target area, in order to enable the target UAV to land quickly and accurately on the target hangar, it is necessary to guide the target UAV to fly towards the location where the UAV hangar is located. In this solution, the candidate landing route is determined by connecting at least the target number of first positioning marks, which can not only screen out possible landing paths from complex image information, narrow the search range, but also guide the target UAV to fly towards the location where the UAV hangar is located, improving the accuracy of the determined target landing route.

[0011] In an alternative embodiment, the target landing route is determined from multiple candidate landing routes by using the distance between the target UAV and each candidate landing route, including: obtaining the image coordinate information of the first midpoint of multiple candidate landing routes, where the first midpoint is the point at the middle position of the candidate landing route; obtaining the image coordinate information of a preset first pixel point, which is used to represent the coordinate information of the target UAV in the target positioning image; using the image coordinate information of the first pixel point and the image coordinate information of each first midpoint to determine the first target distance between the first pixel point and each first midpoint; and determining the candidate landing route corresponding to the smallest first target distance as the target landing route.

[0012] Using the distance between the first pixel point corresponding to the target UAV in the target positioning image and the first midpoint of each candidate landing route can accurately quantify the positional relationship between the target UAV and each candidate route. Selecting the candidate landing route corresponding to the smallest first target distance as the target landing route ensures that the selected target landing route is the closest to the target UAV in space, thus providing the most accurate landing guidance for the UAV and improving the accuracy and success rate of landing.

[0013] In an alternative embodiment, the target landing route is determined from multiple candidate landing routes by using the distance between the target UAV and each candidate landing route, including: obtaining the image coordinate information of the first midpoint of multiple candidate landing routes, and the geographical coordinate information of the target UAV before the positioning signal is abnormal, where the first midpoint is the point at the middle position of the candidate landing route; converting the geographical coordinate information from the geographical coordinate system to the image coordinate system, and determining the image coordinate information of the second pixel point corresponding to the geographical coordinate information in the target positioning image; using the image coordinate information of the second pixel point and the image coordinate information of each first midpoint to determine the second target distance between the second pixel point and each first midpoint; and determining the candidate landing route corresponding to the smallest second target distance as the target landing route.

[0014] Since the target UAV can temporarily stop flying after the positioning signal is abnormal, or the flight speed of the target UAV is slow, resulting in a small difference in the position of the target UAV before and after the positioning signal is abnormal, the geographical coordinate information of the target UAV before the positioning signal is abnormal is mapped under the image coordinates, and the image coordinate information of the second pixel point corresponding to the target UAV is determined in the target positioning image. Then, the second target distance between the second pixel point and each first intermediate point is calculated, and the candidate landing route corresponding to the smallest second target distance is determined as the target landing route. This can also ensure that the selected target landing route is the closest to the target UAV in space, thereby providing the most accurate landing guidance for the UAV and improving the accuracy and success rate of landing.

[0015] In an alternative embodiment, the landing method of the UAV further includes: sending the target landing route to the target UAV, so that the target UAV lands at the second intermediate point according to the target landing route. The second intermediate point and the first intermediate point of the target landing route are in the same vertical direction, and the height of the second intermediate point from the ground is less than the height of the first intermediate point from the ground; obtaining the target height between the second intermediate point and the ground, and the target positioning image generated by the target UAV at the second intermediate point; when the target height meets the preset conditions, using the first positioning identifier in the target positioning image obtained again to determine the candidate UAV hangar, so that the heating array of the candidate UAV hangar displays the second positioning identifier, and the target UAV performs thermal imaging scanning on the second positioning identifier and lands at the target hangar according to the thermal imaging scanning result; when the target height does not meet the preset conditions, enter the step of planning the target landing route of the target UAV using multiple first positioning identifiers in the target positioning image.

[0016] When the target height meets the preset conditions, it indicates that the target UAV is currently relatively close to the ground, and its field of view angle can no longer cover all UAV hangars in the target area. Therefore, at this time, the first positioning identifier in the target positioning image obtained again can be used to determine the candidate UAV hangar, and the heating array of the candidate UAV hangar is made to display the second positioning identifier, so that the target UAV performs thermal imaging scanning on the second positioning identifier to land at the target hangar; if the target height does not meet the preset conditions, it indicates that the target UAV is still relatively far from the ground, so the target landing route can be re-planned using the target positioning image obtained for the first time, which can adjust the landing strategy in a timely manner according to the actual situation and ensure the smooth progress of the UAV landing process.

[0017] In an alternative embodiment, the method for landing a drone further includes: after determining a candidate drone hangar by using the first positioning identifier in the target positioning image obtained again, determining the drone hangars other than the candidate drone hangar among the multiple drone hangars as closed drone hangars; sending a closing notice to the multiple closed drone hangars to cause the multiple closed drone hangars to turn off the heating arrays.

[0018] Turning off the heating arrays other than the candidate drone hangar can ensure that when the target drone lands according to the thermal imaging scan result, it will not be misled by the thermal signals of other irrelevant drone hangars, so as to more accurately identify and land on the target hangar. In addition, turning off the heating arrays other than the candidate drone hangar can avoid unnecessary energy consumption and improve energy utilization efficiency.

[0019] In a second aspect, the present application provides a drone landing system, including a central control platform, a target drone, and multiple drone hangars. Among them, when the central control platform detects that the positioning signal of the target drone is abnormal, it sends a display identifier instruction to the multiple drone hangars in the target area; the multiple drone hangars control the heating arrays to display the first positioning identifier according to the display identifier instruction; the target drone generates a target positioning image for the first positioning identifiers of all the drone hangars; the central control platform plans the target landing route of the target drone by using the multiple first positioning identifiers in the target positioning image; the target drone lands on the target hangar according to the target landing route.

[0020] In the method for landing a drone of the present application, when the central control platform detects that the positioning signal of the target drone is abnormal, it sends a display identifier instruction to the multiple drone hangars in the target area. After receiving the display identifier instruction, the multiple drone hangars can control their own heating arrays according to the display identifier instruction to display the first positioning identifier in the display identifier instruction; then, the target drone takes pictures of all the first positioning identifiers to obtain a target positioning image and sends it to the central control platform; the central control platform plans the target landing route of the target drone by using the multiple first positioning identifiers in the target positioning image, so that the target drone lands on the target hangar according to the target landing route. This solution uses the heating arrays of multiple drone hangars to form different combinations of thermal imaging coordinates. After the target drone recognizes the combined thermal imaging coordinates, the target drone can accurately land on the target hangar according to the target landing route planned by the central control platform, thus solving the problem that the drone cannot accurately land back in the hangar.

[0021] In a third aspect, the present application provides a computer device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to perform the landing method of the unmanned aerial vehicle according to the first aspect or any corresponding embodiment thereof.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium, on which computer instructions are stored. The computer instructions are used to cause a computer to execute the landing method of the unmanned aerial vehicle according to the first aspect or any corresponding embodiment thereof. Description of the Drawings

[0023] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 is a schematic structural diagram of a landing system of an unmanned aerial vehicle according to an embodiment of the present application;

[0025] Figure 2 is a schematic flowchart of a landing method of an unmanned aerial vehicle according to an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of a target positioning image according to an embodiment of the present application;

[0027] Figure 4 is a schematic flowchart of another landing method of an unmanned aerial vehicle according to an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of determining a target landing route according to an embodiment of the present application;

[0029] Figure 6 is a structural block diagram of a landing device of an unmanned aerial vehicle according to an embodiment of the present application;

[0030] Figure 7 is a schematic hardware structure diagram of a computer device according to an embodiment of the present application. Detailed Embodiments

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0032] Combined with the application scenarios on which the landing method of the drone depends, the application scenarios will be described herein.

[0033] Currently, a two-dimensional code combined with acrylic material is used on the drone hangar, and through the method of supplementary light, the drone can quickly scan the two-dimensional code on the hangar when landing, realizing the precise landing of the drone.

[0034] In some extreme weather scenarios (such as late at night, heavy fog, group fog, haze, rain, snow, etc.) or when the positioning signal of the drone is abnormal, it is difficult for the drone to recognize the two-dimensional code on the drone hangar during the landing process, resulting in the drone being unable to land back in the hangar precisely.

[0035] In view of this, the present application provides a landing method, system, computer device, and storage medium for a drone to solve the problem that the drone cannot land back in the hangar precisely. The landing method for the drone includes: when detecting that the positioning signal of the target drone is abnormal, sending a display identification instruction to multiple drone hangars in the target area, so that the multiple drone hangars control the heating array to display a first positioning identification according to the display identification instruction; receiving the target positioning image generated by the target drone for the first positioning identifications of all the drone hangars; using the multiple first positioning identifications in the target positioning image to plan the target landing route of the target drone, so that the target drone lands on the target hangar according to the target landing route.

[0036] Landing method of the drone in this application. When the central control platform detects that the positioning signal of the target drone is abnormal, it sends a display identification instruction to multiple drone hangars in the target area. After receiving the display identification instruction, the multiple drone hangars can control their own heating arrays according to the display identification instruction to display the first positioning identification in the display identification instruction. Then, the target drone takes pictures of all the first positioning identifications to obtain a target positioning image and sends it to the central control platform. The central control platform uses the multiple first positioning identifications in the target positioning image to plan the target landing route of the target drone, so that the target drone lands on the target hangar according to the target landing route. This solution uses the heating arrays of multiple drone hangars to form thermal imaging coordinates of different combinations. After the target drone recognizes the combined thermal imaging coordinates, the target drone can accurately land on the target hangar according to the target landing route planned by the central control platform, thus solving the problem that the drone cannot accurately land back in the hangar.

[0037] To facilitate the understanding of the landing method of the drone in this application, the following describes a specific application environment architecture or a specific hardware architecture on which the execution of the landing method of the drone depends.

[0038] As Figure 1 shown, the drone landing system in this application includes a central control platform, a drone (not shown in Figure 1 ) and a drone hangar. Among them, the central control platform can communicate with the drone and the central control platform can also communicate with the drone hangar through the network. The drone hangar includes a power module, an MCU (Microcontroller Unit, abbreviated as MCU) and a heating array. For each heating array of the drone hangar, a corresponding temperature sensor is provided.

[0039] For the central control platform, it can generate a first positioning identification according to the height of the target drone. For example, when the height of the target drone is 2000 meters, the first positioning identification can be a "cross" - shaped graphic; when the height of the target drone is 1000 meters, the first positioning identification can be a "rice" - shaped graphic; when the height of the target drone is 100 meters, it can be a large - scale two - dimensional code; when the height of the target drone is 20 meters, it can be a small - scale two - dimensional code. That is, the first positioning identification can be flexibly adjusted based on the height of the target drone and the landing requirements of the drone, and there is no limitation in this application. It should be understood that the first positioning identification can be an encrypted graphic obtained by code compilation or a two - dimensional code.

[0040] As Figure 1As shown, the heating array includes a plurality of heating units arranged in a certain form, and these heating units are fixed together by fixing means. For example, the heating array can be a two-dimensional pixel array. The heating array can be connected to other components (such as an MCU, a power module, etc.) in the integrated circuit through metal wires or a metal interconnect layer. It should be noted that the multiple heating units in a heating array are not electrically connected to each other, that is, the multiple heating units do not affect each other.

[0041] For Figure 1 In the drone hangar shown, the power module can supply power to the MCU. The MCU can communicate with the central control platform through a network. The MCU can also send a level signal to the heating array to control the on / off of the multiple heating units in the heating array. Of course, the power module can also supply power to the heating array through the MCU, so that the multiple heating units in the heating array emit thermal radiation in the on state. For a heating array, each heating unit corresponds to a temperature sensor. In actual application, a temperature sensor can also be set for the entire heating array, and this application does not limit this. When the heating array is in the heating state, the temperature sensor can monitor the temperature of the corresponding heating unit in real time and feedback the temperature value to the MCU. The MCU compares the received temperature value with the preset temperature value and precisely controls the temperature of the heating unit by adjusting the magnitude of the current output to the heating unit. For example, when the temperature sensor detects that the temperature value of the heating unit is lower than the preset temperature value, the MCU will increase the current to make the heating unit generate more heat, thereby increasing the temperature; conversely, when the temperature value is higher than the preset temperature value, the MCU will decrease the current to reduce the heat generation of the heating unit and make the temperature drop. Through such temperature control, the situation that the heating unit is burned due to too high temperature can be avoided, making the drone hangar outdoors have a high level of safety.

[0042] According to an embodiment of the present application, an embodiment of a landing method for a drone is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0043] In this embodiment, a landing method for a drone is provided, which can be used for the above-mentioned central control platform. Figure 2 It is a flowchart of the landing method for a drone according to an embodiment of the present invention. As Figure 2 shown, the process includes the following steps:

[0044] Step S202, when the positioning signal of the target UAV is detected to be abnormal, send a display identification instruction to multiple UAV hangars in the target area, so that the multiple UAV hangars control the heating array to display the first positioning identification according to the display identification instruction.

[0045] The geographical coordinate information of the target UAV can be determined through the positioning signal, and this positioning signal can be a GPS (Global Positioning System) signal or an RTK (Real-Time Kinematic) signal.

[0046] There are various implementation methods for detecting whether the positioning signal of the target UAV is abnormal. For example, if there are large deviations in the positioning data of the target UAV, such as a sudden decrease in accuracy or a position jump exceeding the normal range, it may indicate that the positioning signal is abnormal. Another example is to compare the actual positioning data of the target UAV with the preset flight path in real time. When the distance of the target UAV deviating from the preset flight path exceeds a certain threshold, it may be that the positioning signal of the target UAV is abnormal.

[0047] The display identification instruction is used to indicate that the UAV hangar controls its own heating array to display the first positioning identification. Among them, the display identification instruction may carry the first calibration identification or may not carry the first positioning identification. In the case where the display identification instruction does not carry the first positioning identification, the first positioning identification can be sent to the UAV hangar again while sending the display identification instruction to the UAV hangar.

[0048] There are various implementation methods for sending the display identification instruction to each UAV hangar. For example, the ID information of each UAV hangar can be obtained first, and then the display identification instruction can be sent to the corresponding UAV hangar by using the ID information of each UAV hangar. Another example is to use the existing 4G or 5G mobile communication network, and the central control platform sends the display identification instruction to the UAV hangars in the target area through the network base station.

[0049] For the display identification instruction, when the positioning signal of the target UAV is initially detected to be abnormal, the display identification instruction can be to notify each UAV hangar to turn on all the heating units in the heating array. During the subsequent landing process of the target UAV, the first positioning identification can be adjusted or not adjusted. Specifically, whether to adjust it needs to be determined according to the landing situation of the target UAV.

[0050] Taking a drone hangar as an example, the process of the drone hangar for the first positioning identifier after receiving the display identifier instruction can be as follows: First, decode the first positioning identifier carried in the display identifier instruction to obtain a binarized sequence corresponding to the first positioning identifier; convert each binarized data in the binarized sequence into a corresponding level signal, and determine target heating units in the heating array that match the respective level signals; control the opening and closing of the switching elements of each target heating unit using the level signal to control the on and off of the target heating unit, so as to display the first positioning identifier in the corresponding drone hangar. It should be understood that when the first positioning identifier is a two-dimensional code, the effective information can be stored by the heating of the target heating unit, that is, it can be understood that the heating of the target heating unit corresponds to the information at the black blocks of the two-dimensional code.

[0051] Step S204, receive the target positioning image generated by the target drone for the first positioning identifiers of all drone hangars.

[0052] When the heating arrays of multiple drone hangars in the target area are all turned on, the image acquisition device carried by the target drone can take a picture of the target positioning image from high altitude. The target positioning image includes multiple first positioning identifiers. For example, if the display identifier instruction is used to notify each drone hangar to turn on all the heating arrays, what can be taken from high altitude is the target positioning image as shown in Figure 3 should be understood that Figure 3 the rounded rectangle frames in are used to represent the situation after all the heating units in the heating arrays of each drone hangar are turned on, that is, after all the heating arrays are turned on, each heating array is in a white state.

[0053] Step S206, use the multiple first positioning identifiers in the target positioning image to plan the target landing route of the target drone, so that the target drone lands at the target hangar according to the target landing route.

[0054] Using the multiple first positioning identifiers in the target positioning image to plan the target landing route of the target drone means using the multiple calibration identifiers in the target positioning image to guide the target drone to gradually approach the target hangar. For example, during the process of the target drone, continuously update the reference point of the target drone during landing, so that the target drone can quickly reach near the target hangar.

[0055] The target landing route can be a straight line or a parabola. For example, if the target landing route is a straight line, the target UAV can fly from its current position to the end point corresponding to the target landing route, and then descend in height at the end point position corresponding to the target landing route. For another example, if the target landing route is a parabola, the target UAV can directly fly from its current position in the form of a parabola to the end point corresponding to the target landing route after the height has been decreased.

[0056] It should be understood that the target hangar can be one of multiple UAV hangars in the target area.

[0057] In the landing method of the UAV of the present application, when the central control platform detects that the positioning signal of the target UAV is abnormal, it sends a display identification instruction to multiple UAV hangars in the target area. After receiving the display identification instruction, the multiple UAV hangars can control their own heating arrays according to the display identification instruction to display the first positioning identification in the display identification instruction. Then, the target UAV takes images of all the first positioning identifications, obtains the target positioning image and sends it to the central control platform. The central control platform uses the multiple first positioning identifications in the target positioning image to plan the target landing route of the target UAV, so that the target UAV lands at the target hangar according to the target landing route. This solution uses the heating arrays of multiple UAV hangars to form different combinations of thermal imaging coordinates. After the target UAV recognizes the combined thermal imaging coordinates, the target UAV can accurately land at the target hangar according to the target landing route planned by the central control platform, thus solving the problem that the UAV cannot accurately land back in the hangar.

[0058] In this embodiment, a landing method of a UAV is provided, which can be used for the above-mentioned central control platform. Figure 4 It is a flowchart of the landing method of the UAV according to an embodiment of the present invention, as Figure 4 shown, and this process includes the following steps:

[0059] Step S402, when detecting that the positioning signal of the target UAV is abnormal, send a display identification instruction to multiple UAV hangars in the target area, so that the multiple UAV hangars control the heating array to display the first positioning identification according to the display identification instruction. Please refer to Figure 2 Step S202 of the shown embodiment, which will not be elaborated here.

[0060] Specifically, the above step S402 includes:

[0061] Step S4022, obtain the geographical coordinate information of the target UAV before the positioning signal is abnormal.

[0062] Geographic coordinate information is the information representing the location of a certain point on the earth through longitude and latitude. Geographic coordinate information can accurately determine the location of any point on the earth and has a wide range of applications in fields such as map drawing, navigation and positioning, and geographic information systems. For drones, geographic coordinate information can help determine their flight positions, plan flight routes, and accurately locate and track them in case of problems.

[0063] There are various ways to obtain the geographic coordinate information of the target drone before the positioning signal anomaly. For example, it can be obtained from the geographic coordinate information stored in the target drone itself. Another example is that the geographic coordinate information of the target drone before the positioning signal anomaly can be obtained from the data recorded by the ground control station. In this application, the specific method of obtaining the geographic coordinate information of the target drone before the positioning signal anomaly is not restricted.

[0064] Step S4024: Generate a target area by spreading a preset distance outward from the geographic coordinate information as the center point.

[0065] The preset distance is a distance set in advance. This preset distance can be calculated according to relevant algorithms or estimated according to empirical values, and this application does not restrict this.

[0066] For the above-mentioned target area, it can be an area in the shape of a circle, a rectangle, or other shapes. For example, the point corresponding to the geographic coordinate information is determined as the center point of a circle, and the preset distance is used as the radius of the circle to construct a circle; the area corresponding to the circle is determined as the target area. Specifically, if the altitude at which the target drone is located when the positioning signal is abnormal is 3000 meters, the central control platform uses the geographic coordinate information of the target drone before the positioning signal anomaly as the center point of the circle, and takes 50 kilometers as the radius of the circle, and determines the area corresponding to the circle as the target area.

[0067] Through steps S4022 and S4024, the target area generated by spreading a preset distance outward from the geographic coordinate information as the center point can be an area that can be covered by the field of view angle of the image acquisition device of the target drone. Subsequently, the target drone can better generate target positioning images for the first positioning identifiers of all drone hangars in the target area. If the preset distance is large, the determined target area will also become larger accordingly, and too many first positioning identifiers will instead increase the computational complexity; if the preset distance is small, the determined target area will also become smaller accordingly, and too few first positioning identifiers will lead to insufficient information, resulting in the inability to further accurately determine the target landing route.

[0068] Step S404: Receive the target positioning images generated by the target drone for the first positioning identifiers of all drone hangars. For details, please refer to Figure 2Step S204 of the illustrated embodiment will not be elaborated here.

[0069] In step S406, using multiple first positioning identifiers in the target positioning image, plan the target landing route of the target UAV so that the target UAV lands at the target hangar according to the target landing route. For details, please refer to Figure 2 Step S206 of the illustrated embodiment will not be elaborated here.

[0070] For the UAV landing method provided in this embodiment, when the central control platform detects an abnormal positioning signal of the target UAV, it sends a display identification instruction to multiple UAV hangars in the target area. After receiving the display identification instruction, the multiple UAV hangars can control their own heating arrays according to the display identification instruction to display the first positioning identifier in the display identification instruction. Then, the target UAV takes pictures of all the first positioning identifiers to obtain a target positioning image and sends it to the central control platform. The central control platform uses the multiple first positioning identifiers in the target positioning image to plan the target landing route of the target UAV so that the target UAV lands at the target hangar according to the target landing route. This solution uses the heating arrays of multiple UAV hangars to form different combinations of thermal imaging coordinates. After the target UAV recognizes the combined thermal imaging coordinates, the target UAV can accurately land at the target hangar according to the target landing route planned by the central control platform, solving the problem that the UAV cannot accurately land back in the hangar.

[0071] In an alternative embodiment, using multiple first positioning identifiers in the target positioning image to plan the target landing route of the target UAV includes: in the target positioning image, determining the line segment connecting at least the target number of first positioning identifiers as a candidate landing route to obtain multiple candidate landing routes; using the distances between the target UAV and each candidate landing route to determine the target landing route from the multiple candidate landing routes.

[0072] The target number can be a preset value. In this application, the specific value of the target number is not limited and can be flexibly adjusted according to actual needs. For example, as Figure 5 shown, the target number is 3, that is, the line segment composed of at least 3 first positioning identifiers (when all the heating units in the heating array are turned on, the first positioning identifier corresponds to the heating array) is a candidate landing route, and the first candidate landing route, the second candidate landing route, and the third candidate landing route are obtained respectively. Then, using the distances between the target UAV and the first candidate landing route, the second candidate landing route, and the third candidate landing route, the target landing route is determined from the multiple candidate landing routes.

[0073] It should be understood that the target quantity can be a fixed value, or it can be a variable value. That is to say, the target quantity can be flexibly adjusted according to factors such as the altitude of the target UAV and the total number of UAV hangars.

[0074] Since the target UAV is far from all UAV hangars in the target area, in order to enable the target UAV to land quickly and accurately at the target hangar, it is necessary to guide the target UAV to fly towards the location of the UAV hangar. In this solution, the candidate landing route is determined by connecting at least the target quantity of the first positioning identifiers. This can not only screen out possible landing paths from complex image information, narrowing the search range, but also guide the target UAV to fly towards the location of the UAV hangar, improving the accuracy of the determined target landing route.

[0075] In an alternative embodiment, the target landing route is determined from multiple candidate landing routes by using the distance between the target UAV and each candidate landing route, including: obtaining the image coordinate information of the first midpoint of multiple candidate landing routes, where the first midpoint is the point at the middle position of the candidate landing route; obtaining the image coordinate information of a preset first pixel point, which is used to represent the coordinate information of the target UAV in the target positioning image; using the image coordinate information of the first pixel point and the image coordinate information of each first midpoint to determine the first target distance between the first pixel point and each first midpoint; and determining the candidate landing route corresponding to the smallest first target distance as the target landing route.

[0076] As Figure 5 shown, the first midpoint can be the point at the middle position of the first candidate landing route, the second candidate landing route, and the third candidate landing route. According to experience, a pixel point is designated as the first pixel point in the target positioning image to represent the coordinate information of the target UAV in the target positioning image through the coordinate information of the first pixel point. In this way, the distance between the target UAV and each first midpoint can be simply and quickly calculated in the target positioning image. For example, the first pixel point can be the pixel point at the lower left corner (when the face is facing the screen) of the target positioning image, or the pixel point at the upper right corner. Of course, it is not limited to this. Specifically, it can be estimated in combination with the azimuth information of the target UAV where the signal is abnormal.

[0077] Using the distance between the first pixel point corresponding to the target UAV in the target positioning image and the first intermediate point of each candidate landing route, the positional relationship between the target UAV and each candidate route can be accurately quantified. Selecting the candidate landing route corresponding to the smallest first target distance as the target landing route ensures that the selected target landing route is the closest to the target UAV in space, thus providing the most accurate landing guidance for the UAV and improving the accuracy and success rate of landing.

[0078] In an alternative embodiment, determining the target landing route from multiple candidate landing routes using the distance between the target UAV and each candidate landing route includes: obtaining the image coordinate information of the first intermediate points of multiple candidate landing routes, and the geographical coordinate information of the target UAV before the positioning signal anomaly, where the first intermediate point is the point at the middle position of the candidate landing route; converting the geographical coordinate information from the geographical coordinate system to the image coordinate system, and determining the image coordinate information of the second pixel point corresponding to the geographical coordinate information in the target positioning image; using the image coordinate information of the second pixel point and the image coordinate information of each first intermediate point to determine the second target distance between the second pixel point and each first intermediate point; and determining the candidate landing route corresponding to the smallest second target distance as the target landing route.

[0079] It can be seen from Figure 5 that the distance between the target UAV and the first intermediate point of the second candidate landing route is the smallest, so the second candidate landing route can be determined as the target landing route.

[0080] Since the target UAV can temporarily stop flying after the positioning signal anomaly, or the flight speed of the target UAV is slow, the positional difference of the target UAV before and after the positioning signal anomaly is small. Therefore, mapping the geographical coordinate information of the target UAV before the positioning signal anomaly to the image coordinates, determining the image coordinate information of the second pixel point corresponding to the target UAV in the target positioning image, calculating the second target distance between the second pixel point and each first intermediate point, and determining the candidate landing route corresponding to the smallest second target distance as the target landing route can also ensure that the selected target landing route is the closest to the target UAV in space, thus providing the most accurate landing guidance for the UAV and improving the accuracy and success rate of landing.

[0081] In an alternative embodiment, the method for the UAV to land further includes: sending a target landing route to the target UAV, so that the target UAV lands at a second intermediate point according to the target landing route. The second intermediate point and the first intermediate point of the target landing route are in the same vertical direction, and the height of the second intermediate point from the ground is less than the height of the first intermediate point from the ground; obtaining the target height between the second intermediate point and the ground, and the target positioning image generated by the target UAV at the second intermediate point; when the target height meets the preset condition, using the first positioning identifier in the target positioning image obtained again to determine the candidate UAV hangar, so that the heating array of the candidate UAV hangar displays a second positioning identifier, and the target UAV performs thermal imaging scanning on the second positioning identifier and lands at the target hangar according to the thermal imaging scanning result; when the target height does not meet the preset condition, enter the step of planning the target landing route of the target UAV by using multiple first positioning identifiers in the target positioning image.

[0082] For example, as Figure 5 shown, the target landing route (i.e., the second candidate landing route) is sent to the target UAV. After receiving the target landing route, the target UAV can first fly to the first intermediate point corresponding to the target landing route, and then start to descend at the position of the first intermediate point corresponding to the target landing route until it lands at the second intermediate point. At this time, the target height between the second intermediate point and the ground and the target positioning image generated by the target UAV at the second intermediate point are obtained.

[0083] If the target height meets the preset condition, for example, the target height is less than the preset height, it indicates that the target UAV is relatively close to the ground. Therefore, the candidate UAV hangar can be controlled to make the heating array display the second positioning identifier. For example, there are 3 candidate UAV hangars. The No. 1 candidate UAV hangar displays a "rice" - shaped positioning identifier, the No. 2 candidate UAV hangar (i.e., the target hangar) displays a "cross" - shaped positioning identifier, and the No. 3 candidate UAV hangar displays a "rice" - shaped positioning identifier. The central control notice notifies the target UAV to search for the "cross" - shaped positioning identifier. In this way, the target UAV performs thermal imaging scanning on the second positioning identifier. When the target UAV recognizes the "cross" - shaped positioning identifier, it lands at the No. 2 candidate UAV hangar (target hangar). In order for the target UAV to land at the target hangar more accurately and quickly. After the target UAV recognizes the "cross" - shaped positioning identifier, the central control platform can also adjust the second positioning identifier according to the height of the target UAV, so that the target hangar can display different second positioning identifiers according to the height of the target UAV, in order to guide the target UAV to land at the target hangar quickly and accurately.

[0084] If the target height does not meet the preset conditions, the target landing route is continuously planned using the target positioning image captured by the target UAV at the second intermediate point. For example, only the drone hangars on the second candidate landing route and the third candidate landing route shown in Figure 5 are shown in the target positioning image captured by the target UAV at the second intermediate point. At this time, the value of the target quantity can be adjusted. For example, a line segment formed by at least two drone hangars is determined as the candidate landing route, and the foregoing steps are continued until the target UAV lands at the target hangar.

[0085] When the target height meets the preset conditions, it indicates that the target UAV is currently relatively close to the ground, and its field of view angle can no longer cover all the drone hangars in the target area. Therefore, at this time, the first positioning identifier in the target positioning image obtained again can be used to determine the candidate drone hangar, and the heating array of the candidate drone hangar is made to display the second positioning identifier, so that the target UAV performs thermal imaging scanning on the second positioning identifier to land at the target hangar; if the target height does not meet the preset conditions, it indicates that the target UAV is still relatively far from the ground, so the target landing route can be re-planned using the target positioning image obtained for the first time, so that the landing strategy can be adjusted in a timely manner according to the actual situation to ensure the smooth progress of the UAV landing process.

[0086] In an alternative embodiment, the method further includes: after determining the candidate drone hangar using the first positioning identifier in the target positioning image obtained again, determining the drone hangars other than the candidate drone hangar among the multiple drone hangars as the closed drone hangars; sending a closing notice to the multiple closed drone hangars to cause the heating arrays of the multiple closed drone hangars to be closed.

[0087] For example, only the drone hangars on the second candidate landing route and the third candidate landing route shown in Figure 5 are shown in the target positioning image captured by the target UAV at the second intermediate point. Since the heating arrays on the drone hangars on the first candidate landing route are no longer used in the subsequent landing process, the heating arrays on the drone hangars on the first candidate landing route can be closed.

[0088] Closing the heating arrays other than the candidate drone hangar can ensure that when the target UAV lands according to the thermal imaging scanning result, it will not be misled by the thermal signals of other irrelevant drone hangars, so as to more accurately identify and land at the target hangar. In addition, closing the heating arrays other than the candidate drone hangar can avoid unnecessary energy consumption and improve energy utilization efficiency.

[0089] In this embodiment, a landing device for a drone is further provided. This device is used to implement the above-mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, the term "module" can be a combination of software and / or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0090] This embodiment provides a landing device for a drone, and this landing device for a drone can be applied to a central control platform. As Figure 6 shown, this landing device for a drone includes:

[0091] An instruction sending module 610, configured to send a display identification instruction to a plurality of drone hangars in a target area when detecting that the positioning signal of a target drone is abnormal, so that the plurality of drone hangars control a heating array to display a first positioning identification according to the display identification instruction.

[0092] An image receiving module 620, configured to receive a target positioning image generated by the target drone for the first positioning identifications of all drone hangars.

[0093] A flight path planning module 630, configured to use the plurality of first positioning identifications in the target positioning image to plan a target landing flight path for the target drone, so that the target drone lands at a target hangar according to the target landing flight path.

[0094] In some alternative implementation manners, the instruction sending module 610 includes:

[0095] A geographic coordinate obtaining unit, configured to obtain the geographic coordinate information of the target drone before the positioning signal is abnormal.

[0096] A region generating unit, configured to expand a preset distance outward with the geographic coordinate information as the center point to generate a target region.

[0097] In some alternative implementation manners, the flight path planning module 630 includes:

[0098] A candidate flight path determining unit, configured to determine, in the target positioning image, a line segment connecting at least a target number of first positioning identifications as a candidate landing flight path, and obtain a plurality of candidate landing flight paths.

[0099] A target flight path determining unit, configured to use the distances between the target drone and each candidate landing flight path to determine a target landing flight path from the plurality of candidate landing flight paths.

[0100] In some alternative implementation manners, the target flight path determining unit includes:

[0101] A first acquisition subunit, configured to acquire the image coordinate information of the first midpoints of multiple candidate landing routes, where the first midpoint is the point at the middle position of the candidate landing route.

[0102] A second acquisition subunit, configured to acquire the image coordinate information of a preset first pixel point, where the first pixel point is used to represent the coordinate information of the target UAV in the target positioning image.

[0103] A first determination subunit, configured to determine the first target distances between the first pixel point and each first midpoint by using the image coordinate information of the first pixel point and the image coordinate information of each first midpoint.

[0104] A second determination subunit, configured to determine the candidate landing route corresponding to the minimum first target distance as the target landing route.

[0105] In some alternative embodiments, the target route determination unit further includes:

[0106] A third acquisition subunit, configured to acquire the image coordinate information of the first midpoints of multiple candidate landing routes, and the geographical coordinate information of the target UAV before the positioning signal is abnormal, where the first midpoint is the point at the middle position of the candidate landing route.

[0107] A third determination subunit, configured to convert the geographical coordinate information from the geographical coordinate system to the image coordinate system, and determine the image coordinate information of the second pixel point corresponding to the geographical coordinate information in the target positioning image.

[0108] A fourth determination subunit, configured to determine the second target distances between the second pixel point and each first midpoint by using the image coordinate information of the second pixel point and the image coordinate information of each first midpoint.

[0109] A fifth determination subunit, configured to determine the candidate landing route corresponding to the minimum second target distance as the target landing route.

[0110] In some alternative embodiments, the landing device of the UAV further includes:

[0111] A route sending module, configured to send the target landing route to the target UAV, so that the target UAV lands at a second midpoint according to the target landing route. The second midpoint and the first midpoint of the target landing route are in the same vertical direction, and the height of the second midpoint from the ground is less than the height of the first midpoint from the ground.

[0112] A height acquisition module, configured to acquire the target height between the second midpoint and the ground, and acquire the target positioning image generated by the target UAV at the second midpoint again.

[0113] The identification display module, when the target height meets the preset conditions, uses the first positioning identification in the target positioning image obtained again to determine the candidate UAV hangar, makes the heating array of the candidate UAV hangar display the second positioning identification, and the target UAV performs thermal imaging scanning on the second positioning identification and lands at the target hangar according to the thermal imaging scanning result.

[0114] The planning module is used to enter the step of planning the target landing route of the target UAV by using multiple first positioning identifications in the target positioning image when the target height does not meet the preset conditions.

[0115] In some optional embodiments, the landing device of the UAV further includes:

[0116] The determination module is used to, after determining the candidate UAV hangar by using the first positioning identification in the target positioning image obtained again, determine the UAV hangars other than the candidate UAV hangar among the multiple UAV hangars as the closed UAV hangars.

[0117] The closing module is used to send a closing notice to the multiple closed UAV hangars to make the heating arrays of the multiple closed UAV hangars closed.

[0118] For the landing device of the UAV in this application, when the central control platform detects that the positioning signal of the target UAV is abnormal, it sends a display identification instruction to multiple UAV hangars in the target area. After receiving the display identification instruction, the multiple UAV hangars can control their own heating arrays according to the display identification instruction to display the first positioning identification in the display identification instruction. Then, the target UAV takes pictures of all the first positioning identifications to obtain the target positioning image and sends it to the central control platform. The central control platform uses the multiple first positioning identifications in the target positioning image to plan the target landing route of the target UAV, so that the target UAV lands at the target hangar according to the target landing route. This solution uses the heating arrays of multiple UAV hangars to form different combinations of thermal imaging coordinates. After the target UAV recognizes the combined thermal imaging coordinates, the target UAV can accurately land at the target hangar according to the target landing route planned by the central control platform, thus solving the problem that the UAV cannot accurately land back in the hangar.

[0119] The further function descriptions of the above-mentioned various modules and units are the same as those in the corresponding embodiments above, and will not be repeated here.

[0120] The landing device of the UAV in this embodiment is presented in the form of functional units. Here, the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and a memory that execute one or more software or fixed programs, and / or other devices that can provide the above functions.

[0121] The embodiment of the present application also provides an unmanned aerial vehicle (UAV) landing system. The UAV landing system includes a central control platform, a target UAV, and multiple UAV hangars. Among them, when the central control platform detects that the positioning signal of the target UAV is abnormal, it sends a display identification instruction to multiple UAV hangars in the target area; the multiple UAV hangars control the heating array to display the first positioning identification according to the display identification instruction; the target UAV generates a target positioning image for the first positioning identifications of all the UAV hangars; the central control platform plans the target landing route of the target UAV by using the multiple first positioning identifications in the target positioning image; the target UAV lands at the target hangar according to the target landing route.

[0122] In the UAV landing system of the present application, when the central control platform detects that the positioning signal of the target UAV is abnormal, it sends a display identification instruction to multiple UAV hangars in the target area. After receiving the display identification instruction, the multiple UAV hangars can control their own heating arrays according to the display identification instruction to display the first positioning identification in the display identification instruction; then, the target UAV takes pictures of all the first positioning identifications to obtain a target positioning image and sends it to the central control platform; the central control platform plans the target landing route of the target UAV by using the multiple first positioning identifications in the target positioning image, so that the target UAV lands at the target hangar according to the target landing route. This solution uses the heating arrays of multiple UAV hangars to form different combinations of thermal imaging coordinates. After the target UAV recognizes the combined thermal imaging coordinates, the target UAV can accurately land at the target hangar according to the target landing route planned by the central control platform, thus solving the problem that the UAV cannot accurately land back in the hangar.

[0123] The embodiment of the present application also provides a computer device having the above Figure 6 shown UAV landing device.

[0124] Please refer to Figure 7 , Figure 7 which is a schematic structural diagram of a computer device provided by an optional embodiment of the present application, as Figure 7As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting the components, including a high-speed interface and a low-speed interface. Each component communicates with each other using different buses and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed within the computer device, including instructions stored in the memory or on the memory to display graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some alternative embodiments, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories if needed. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (such as an array of servers, a set of blade servers, or a multi-processor system). Figure 7 Take a processor 710 as an example in Figure 7 .

[0125] The processor 710 can be a central processing unit, a network processor, or a combination thereof. Among them, the processor 710 can further include a hardware chip. The above hardware chip can be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The above programmable logic device can be a complex programmable logic device, a field programmable gate array, a generic array logic, or any combination thereof.

[0126] Among them, the memory 720 stores instructions executable by at least one processor 710, so that the at least one processor 710 executes the method shown in the above embodiments.

[0127] The memory 720 can include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created according to the use of the computer device. In addition, the memory 720 can include a high-speed random access memory and can also include a non-transitory memory, such as at least one disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 can optionally include a memory remotely set relative to the processor 710, and these remote memories can be connected to the computer device through a network. Examples of the above network include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0128] The memory 720 can include a volatile memory, such as a random access memory; the memory can also include a non-volatile memory, such as a flash memory, a hard disk, or a solid-state drive; the memory 20 can also include a combination of the above types of memories.

[0129] The computer device further includes an input device 730 and an output device 740. The processor 710, the memory 720, the input device 730, and the output device 740 may be connected via a bus or other means. Figure 7 Taking connection via a bus as an example.

[0130] The input device 730 can receive input digital or character information and generate key signal inputs related to the user settings and function controls of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touchpad, a pointing stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 740 may include a display device, an auxiliary lighting device (e.g., an LED), and a haptic feedback device (e.g., a vibration motor), etc. The above display device includes but is not limited to a liquid crystal display, a light-emitting diode, a display, and a plasma display. In some alternative embodiments, the display device may be a touch screen.

[0131] The embodiments of the present application also provide a computer-readable storage medium. The method according to the embodiments of the present application can be implemented in hardware, firmware, or be implemented as computer code that can be recorded on a storage medium, or be implemented as computer code that is originally stored in a remote storage medium or a non-transitory machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be processed by such software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory, a random access memory, a flash memory, a hard disk, or a solid-state drive, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by the computer, the processor, or the hardware, the methods shown in the above embodiments are implemented.

[0132] A part of the present application can be applied as a computer program product, such as computer program instructions. When executed by a computer, through the operation of the computer, the methods and / or technical solutions according to the present application can be invoked or provided. Those skilled in the art should be able to understand that the forms in which computer program instructions exist in a computer-readable medium include but are not limited to source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include but are not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Herein, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to the computer.

[0133] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A landing method for a drone, characterized in that, Including: When the positioning signal of the target UAV is detected to be abnormal, sending a display identification instruction to a plurality of UAV hangars in the target area, so that the plurality of UAV hangars control the heating array to display a first positioning identification according to the display identification instruction; Receiving a target positioning image generated by the target UAV for the first positioning identifications of all the UAV hangars; Using the plurality of first positioning identifications in the target positioning image to plan a target landing route for the target UAV, so that the target UAV lands at a target hangar according to the target landing route.

2. The method according to claim 1, characterized in that, Determining the target area includes: Obtaining the geographical coordinate information of the target UAV before the positioning signal is abnormal; Taking the geographical coordinate information as a center point and spreading a preset distance outward to generate the target area.

3. The method according to claim 1, wherein Using the plurality of first positioning identifications in the target positioning image to plan a target landing route for the target UAV, including: In the target positioning image, determining a line segment connecting at least a target number of the first positioning identifications as a candidate landing route, and obtaining a plurality of the candidate landing routes; Using the distances between the target UAV and the candidate landing routes to determine the target landing route from the plurality of candidate landing routes.

4. The method according to claim 3, wherein Using the distances between the target UAV and the candidate landing routes to determine the target landing route from the plurality of candidate landing routes, including: Obtaining the image coordinate information of a first midpoint of a plurality of the candidate landing routes, where the first midpoint is a point at the middle position of the candidate landing route; Obtaining the image coordinate information of a preset first pixel point, where the first pixel point is used to represent the coordinate information of the target UAV in the target positioning image; Using the image coordinate information of the first pixel point and the image coordinate information of each of the first midpoints to determine a first target distance between the first pixel point and each of the first midpoints; Determining the candidate landing route corresponding to the smallest first target distance as the target landing route.

5. The method according to claim 3, characterized in that Using the distances between the target UAV and the candidate landing routes to determine the target landing route from the plurality of candidate landing routes, including: Obtaining the image coordinate information of a first midpoint of a plurality of the candidate landing routes, and the geographical coordinate information of the target UAV before the positioning signal is abnormal, where the first midpoint is a point at the middle position of the candidate landing route; Converting the geographical coordinate information from a geographical coordinate system to an image coordinate system, and determining the image coordinate information of a second pixel point corresponding to the geographical coordinate information in the target positioning image; Using the image coordinate information of the second pixel point and the image coordinate information of each of the first midpoints to determine a second target distance between the second pixel point and each of the first midpoints; Determining the candidate landing route corresponding to the smallest second target distance as the target landing route.

6. The method according to claim 4 or 5, characterized in that, It further includes: Send the target landing route to the target UAV, so that the target UAV lands at the second intermediate point according to the target landing route. The second intermediate point is in the same vertical direction as the first intermediate point of the target landing route, and the height of the second intermediate point from the ground is less than the height of the first intermediate point from the ground; Obtain the target height between the second intermediate point and the ground, and the target positioning image generated by the target UAV at the second intermediate point; When the target height meets the preset conditions, use the first positioning identifier in the target positioning image obtained again to determine the candidate UAV hangar, so that the heating array of the candidate UAV hangar displays the second positioning identifier. The target UAV performs thermal imaging scanning on the second positioning identifier and lands at the target hangar according to the thermal imaging scanning result; When the target height does not meet the preset conditions, enter the step of planning the target landing route of the target UAV by using multiple first positioning identifiers in the target positioning image.

7. The method according to claim 6, characterized in that After determining the candidate UAV hangar by using the first positioning identifier in the target positioning image obtained again, the method further includes: Determine the UAV hangars other than the candidate UAV hangar among the multiple UAV hangars as the closed UAV hangars; Send a closing notice to the multiple closed UAV hangars to make the multiple closed UAV hangars turn off the heating array.

8. An unmanned aerial vehicle landing system, characterized in that, It includes a central control platform, a target UAV and multiple UAV hangars, where When the central control platform detects that the positioning signal of the target UAV is abnormal, it sends a display identifier instruction to multiple UAV hangars in the target area; The multiple UAV hangars control the heating array to display the first positioning identifier according to the display identifier instruction; The target UAV generates a target positioning image for the first positioning identifiers of all the UAV hangars; The central control platform plans the target landing route of the target UAV by using multiple first positioning identifiers in the target positioning image; The target UAV lands at the target hangar according to the target landing route.

9. A computer device, characterized in that, It includes: A memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the landing method of the UAV according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Computer instructions are stored on the computer-readable storage medium, and the computer instructions are used to make the computer execute the landing method of the UAV according to any one of claims 1 to 7.

Images