Unmanned aerial vehicle landing method and system based on thermal imaging two-dimensional code

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle landing method and system based on a thermal imaging two-dimensional code, and the method comprises the steps that a landing side main control unit firstly receives a landing request signal sent by an unmanned aerial vehicle, and activates a heating unit array; according to a preset two-dimensional code coding rule, on-off or heating power of each heating unit in the heating unit array is controlled, and a thermal radiation two-dimensional code with temperature difference is generated; the unmanned aerial vehicle side main control unit captures an infrared image of the thermal radiation two-dimensional code through thermal imaging equipment and analyzes the infrared image to obtain a landing position coordinate, and the unmanned aerial vehicle side main control unit adjusts the flight path of the unmanned aerial vehicle according to an analysis result and completes landing. The heat radiation two-dimensional code is actively generated through the heating unit array, and a remarkable temperature comparison image can be formed without depending on ambient light by utilizing the heat radiation characteristic of an infrared band.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly to a method and system for unmanned aerial vehicle landing based on thermal imaging two-dimensional codes. Background Art

[0002] In the field of unmanned aerial vehicle applications, especially in complex scenarios such as logistics distribution, geological exploration, and power line inspection, the precise landing of unmanned aerial vehicles is of crucial importance.

[0003] Traditional unmanned aerial vehicle landing platforms often use acrylic two-dimensional codes and rely on visible light recognition technology. Under good weather conditions, this method can effectively guide the unmanned aerial vehicle to land. However, in extreme weather conditions, such as late-night heavy fog, cluster fog, haze, rain, and snow, the visible light recognition system is severely interfered with, and it is difficult for the camera of the unmanned aerial vehicle to capture a clear two-dimensional code image, resulting in the inability to accurately locate the landing area. Although there are some improvement measures in the prior art, there are still obvious limitations. For example, some solutions add supplementary lights to the two-dimensional code to enhance visibility in a darker environment. However, such supplementary lighting measures have limited effects in thick fog or heavy rain and snow weather. The light scattering and diffuse reflection phenomena severely weaken the supplementary lighting effect, and the supplementary lights themselves may also malfunction due to the harsh environment, unable to meet the usage requirements in all-weather complex environments.

[0004] In the above solutions, the prior art cannot ensure that the unmanned aerial vehicle can recognize the two-dimensional code of the unmanned aerial vehicle landing platform in extreme weather, enabling the unmanned aerial vehicle to complete the landing. Summary of the Invention

[0005] In view of this, the present invention provides a method and system for unmanned aerial vehicle landing based on thermal imaging two-dimensional codes to solve the problem that the prior art cannot ensure that the unmanned aerial vehicle can recognize the two-dimensional code of the unmanned aerial vehicle landing platform in extreme weather, enabling the unmanned aerial vehicle to complete the landing.

[0006] In a first aspect, the present invention provides a method for unmanned aerial vehicle landing based on thermal imaging two-dimensional codes, which is applied to the landing-side main control unit of a system for unmanned aerial vehicle landing based on thermal imaging two-dimensional codes. The system further includes an array of heating units arranged in the landing area, a main control unit on the unmanned aerial vehicle side, and a thermal imaging device arranged on the unmanned aerial vehicle. The method includes:

[0007] Receiving a landing request signal sent by the unmanned aerial vehicle and activating the array of heating units;

[0008] According to the preset two-dimensional code encoding rule, control the on / off or heating power of each heating unit in the heating unit array to generate a thermal radiation two-dimensional code with temperature differences, so that the main control unit on the unmanned aerial vehicle (UAV) side captures an infrared image of the thermal radiation two-dimensional code through a thermal imaging device, analyzes it to obtain the landing position coordinates, and adjusts the flight path of the UAV according to the analysis result to complete the landing.

[0009] In an optional implementation manner, the system further includes a temperature sensor. The temperature sensor and the heating unit array are disposed on an integrated circuit board in the landing area. After controlling the on / off or heating power of each heating unit in the heating unit array according to the preset two-dimensional code encoding rule, the method further includes:

[0010] Control the temperature sensor to monitor the temperature of the heating unit array in real time and obtain the monitored temperatures of each heating unit.

[0011] According to the monitored temperatures and the preset temperature thresholds, dynamically adjust the magnitude of the current output to each heating unit.

[0012] In an optional implementation manner, the dynamically adjusting the magnitude of the current output to each heating unit according to the monitored temperatures and the preset temperature thresholds includes:

[0013] When the monitored temperature of a target heating unit in the landing area is lower than the preset minimum temperature threshold, increase the current output to the target heating unit.

[0014] When the monitored temperature of a target heating unit in the landing area is higher than the preset maximum temperature threshold, decrease the current output to the target heating unit.

[0015] In an optional implementation manner, when generating the thermal radiation two-dimensional code with temperature differences, the method further includes:

[0016] Embed an error correction check code or a repeat positioning flag in the thermal radiation two-dimensional code.

[0017] When some heating units fail, reconstruct a complete thermal radiation two-dimensional code through redundant information.

[0018] In a second aspect, the present invention provides a UAV landing method based on a thermal imaging two-dimensional code, which is applied to a main control unit on the UAV side of a UAV landing system based on a thermal imaging two-dimensional code. The system further includes a main control unit on the landing side, a heating unit array disposed in the landing area, and a thermal imaging device disposed on the UAV. The method includes:

[0019] Control the drone to send a landing request signal, so that the main control unit on the landing side receives the landing request signal and activates the heating unit array; according to the preset two-dimensional code encoding rule, control the on / off or heating power of each heating unit in the heating unit array to generate a thermal radiation two-dimensional code with temperature differences;

[0020] Capture the infrared image of the thermal radiation two-dimensional code through the thermal imaging device and perform analysis to obtain the landing position coordinates;

[0021] According to the analysis result, adjust the flight path of the drone and complete the landing.

[0022] In an alternative embodiment, the capturing the infrared image of the thermal radiation two-dimensional code through the thermal imaging device and performing analysis to obtain the landing position coordinates includes:

[0023] Capture the infrared image of the thermal radiation two-dimensional code through the thermal imaging device and preprocess the infrared image; the preprocessing includes radiation correction processing and image enhancement processing;

[0024] Use template matching on the preprocessed infrared image to locate the two-dimensional code area and its boundary, and extract the gray values of each pixel point within the two-dimensional code area to restore the two-dimensional code pixel information;

[0025] Decode the restored two-dimensional code pixel information and obtain the pixel coordinate data;

[0026] Combine the positioning system and attitude information of the drone to convert the pixel coordinate data into the landing position coordinates of the drone.

[0027] In a third aspect, the present invention provides a drone landing system based on a thermal imaging two-dimensional code, the system includes: a main control unit on the landing side, a heating unit array arranged in the landing area, a main control unit on the drone side, and a thermal imaging device arranged on the drone;

[0028] The main control unit on the drone side is used to control the landing request signal sent by the drone;

[0029] The main control unit on the landing side is used to receive the landing request signal and activate the heating unit array; according to the preset two-dimensional code encoding rule, control the on / off or heating power of each heating unit in the heating unit array to generate a thermal radiation two-dimensional code with temperature differences;

[0030] The thermal imaging device is used to capture the infrared image of the thermal radiation two-dimensional code and send the infrared image to the main control unit on the drone side;

[0031] The main control unit on the drone side is also used to analyze the infrared image to obtain the landing position coordinates; according to the analysis result, adjust the flight path of the drone and complete the landing.

[0032] In an optional implementation manner, the system further includes a temperature sensor, and the temperature sensor and the heating unit array are arranged on an integrated circuit board in the landing area;

[0033] The temperature sensor is used to monitor the temperature of the heating unit array in real time and feedback the monitored temperature of each heating unit to the main control unit on the landing side; so that the main control unit on the landing side dynamically adjusts the magnitude of the current output to each heating unit according to the monitored temperature and a preset temperature threshold.

[0034] In a fourth aspect, the present invention 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 execute a method for a drone to land based on a thermal imaging two-dimensional code according to the first aspect or any corresponding implementation manner thereof.

[0035] In a fifth aspect, the present invention provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to cause a computer to execute a method for a drone to land based on a thermal imaging two-dimensional code according to the first aspect or any corresponding implementation manner thereof.

[0036] In a sixth aspect, the present invention provides a computer program product, including computer instructions, and the computer instructions are used to cause a computer to execute a method for a drone to land based on a thermal imaging two-dimensional code according to the first aspect or any corresponding implementation manner thereof.

[0037] The technical solution provided by the present invention may include the following beneficial effects:

[0038] The present invention actively generates a thermal radiation two-dimensional code through a heating unit array, and utilizes the thermal radiation characteristics in the infrared band to form a significant temperature contrast image without relying on ambient light. It completely solves the problem of the failure of visible light positioning in low visibility scenarios such as late night fog, group fog, haze, rain and snow, and ensures that the drone can clearly identify the landing mark through a thermal imaging device under all-weather and all-weather conditions, significantly improving the landing reliability in complex environments.

[0039] The present invention integrates a temperature sensor to monitor the temperature of the heating unit in real time, and combines the main control unit on the landing side to dynamically adjust the current, so that the temperature of the heating unit is stabilized within a preset range. It avoids the decrease in thermal radiation contrast caused by environmental temperature fluctuations, ensures that the two-dimensional code can present clear pixel differences in different temperature environments, and improves the decoding accuracy of the drone thermal imaging device.

[0040] The heating units of the present invention are arranged in a two-dimensional pixel array, and the on / off or power of each unit can be independently controlled by the landing-side main control unit to form a customized fixed QR code pattern. It supports flexible configuration of QR code identifiers for different landing areas. By dynamically adjusting the heating power, grayscale pixel display can also be achieved, which is compatible with thermal imaging devices of different resolutions.

[0041] When generating the thermal radiation QR code, the present invention embeds an error correction check code or a repeated positioning flag. When some units fail, the complete QR code can be reconstructed through redundant information. This reduces the risk of recognition failure caused by individual heating unit failures. Even if some pixel points fail, the landing coordinates can still be calculated through the remaining valid information, ensuring the stability of the system during long-term operation. Description of the Drawings

[0042] 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 use in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0043] Figure 1 It is a schematic structural diagram of an unmanned aerial vehicle landing system based on a thermal imaging QR code according to an embodiment of the present invention;

[0044] Figure 2 It is a schematic connection diagram of the landing-side main control unit and the integrated circuit board according to an embodiment of the present invention;

[0045] Figure 3 It is a flowchart of a method for an unmanned aerial vehicle to land based on a thermal imaging QR code according to an embodiment of the present invention;

[0046] Figure 4 It is a flowchart of another method for an unmanned aerial vehicle to land based on a thermal imaging QR code according to an embodiment of the present invention;

[0047] Figure 5 It is a structural block diagram of a device for an unmanned aerial vehicle to land based on a thermal imaging QR code according to an embodiment of the present invention;

[0048] Figure 6 It is a structural block diagram of another device for an unmanned aerial vehicle to land based on a thermal imaging QR code according to an embodiment of the present invention;

[0049] Figure 7 It is a schematic hardware structure diagram of a computer device according to an embodiment of the present invention. Detailed Embodiments

[0050] 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. Apparently, 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 shall fall within the protection scope of the present invention.

[0051] In this embodiment, a drone landing system based on a thermal imaging two-dimensional code is provided. Figure 1 It is a schematic structural diagram of a drone landing system based on a thermal imaging two-dimensional code according to an embodiment of the present invention. As Figure 1 shown, the system includes: a main control unit 01 on the landing side, an array of heating units 02 arranged in the landing area, a main control unit 03 on the drone side, and a thermal imaging device 04 arranged on the drone.

[0052] The main control unit 03 on the drone side is used to control the landing request signal sent by the drone.

[0053] The main control unit 01 on the landing side is used to receive the landing request signal and activate the array of heating units 02; according to the preset two-dimensional code encoding rules, control the on / off or heating power of each heating unit in the array of heating units 02 to generate a thermal radiation two-dimensional code with temperature differences.

[0054] The thermal imaging device 04 is used to capture the infrared image of the thermal radiation two-dimensional code and send the infrared image to the main control unit 03 on the drone side.

[0055] The main control unit 03 on the drone side is further used to analyze the infrared image to obtain the landing position coordinates; according to the analysis result, adjust the flight path of the drone and complete the landing.

[0056] Furthermore, in this embodiment, the thermal imaging device 04 is used to capture the infrared band of the infrared image. The electromagnetic spectrum range covered by the thermal radiation in the infrared band is very wide, and the part with a wavelength between 0.75 micrometers and 1 millimeter belongs to the infrared band. Within this band, the energy of thermal radiation is relatively concentrated, and there are obvious differences in the infrared energy radiated by objects at different temperatures, which makes the infrared band the main object of detection for thermal imaging technology. The thermal imaging device 04 is an infrared detector, which is the core component of the thermal imaging system. It can sense and convert the received infrared radiation energy into an electrical signal or other signal that can be processed. The processed digital signal will be transmitted to the main control unit 03 on the drone side. In the main control unit 03 on the drone side, according to different algorithms and models, the signal is converted into corresponding image pixel values, and then a thermal image is generated. Usually, the area with a higher temperature will be displayed as a brighter color in the thermal image, while the area with a lower temperature will be displayed as a darker color. In this way, the temperature distribution on the surface of the object can be visually observed from the thermal image.

[0057] When the drone enters the landing stage, the main control unit 03 on the drone side sends a landing request signal to the main control unit 01 on the landing side through a wireless communication module (such as Wi-Fi, Bluetooth), triggering the ground device to start. After receiving the landing request, the main control unit 01 on the landing side immediately activates the heating element array 02 to make it enter the working state (such as being powered on to generate heat). The main control unit 01 on the landing side also independently controls the on / off or heating power of each heating element according to the preset two-dimensional code encoding rule (such as black and white pixels corresponding to the heating / non-heating state) through pulse width modulation (PWM) or current regulation technology: the heating element "generates heat": corresponding to the "white pixel" of the two-dimensional code (high temperature area, strong infrared radiation); the heating element "does not generate heat": corresponding to the "black pixel" of the two-dimensional code (ambient temperature area, weak infrared radiation). Finally, a thermal radiation pattern corresponding to the standard two-dimensional code is formed to ensure that the thermal imaging device of the drone can identify it.

[0058] The heating element array 02 is composed of N heating elements (such as tungsten wire, nickel-chromium alloy or polysilicon elements) to form a two-dimensional pixel array, which is integrated on an integrated circuit board. Adjacent heating elements do not conduct heat, ensuring that the temperature between pixels is independently controllable. The heating element array 02 generates infrared radiation higher than the ambient temperature through heating (following Joule's law Q = I²Rt), forming a temperature difference pattern that can be detected by the thermal imaging device of the drone, replacing the traditional visible light two-dimensional code. The heating of the heating element is mainly based on Joule's law, that is, when an electric current passes through a conductor, the heat generated by the conductor is proportional to the square of the current, the resistance of the conductor, and the energization time. In the heating element, when a certain voltage is applied to it, since the heating material has a certain resistance, the electric current passing through the heating material will generate heat, causing the temperature of the heating element to rise.

[0059] The thermal imaging device 04 senses the thermal radiation energy of the heating unit through an infrared detector (such as a focal plane array), converts the temperature distribution into an electrical signal, and generates a grayscale or pseudo-color thermal image (the higher the temperature, the brighter the image). The captured infrared image is transmitted to the main control unit 03 on the UAV side in real time as the original data for decoding and positioning.

[0060] After the main control unit 03 on the UAV side obtains the infrared image captured by the thermal imaging device 04, it analyzes the QR code pixel information through the built-in algorithm, extracts the landing position coordinates, and combines the attitude data of the UAV itself (such as altitude, heading angle) to generate flight control instructions to adjust the flight path of the UAV (such as decelerating, turning, descending) until precise landing is completed.

[0061] In an optional implementation manner, the system further includes a temperature sensor 05, and the temperature sensor 05 and the heating unit array 02 are arranged on the integrated circuit board in the landing area;

[0062] The temperature sensor 05 is used to monitor the temperature of the heating unit array 02 in real time and feedback the monitored temperature of each heating unit to the main control unit 01 on the landing side; so that the main control unit 01 on the landing side dynamically adjusts the magnitude of the current output to each heating unit according to the monitored temperature and a preset temperature threshold.

[0063] Further, the temperature sensor 05 and the heating unit array are co-located on the integrated circuit board to monitor the temperature of each heating unit or the overall area in real time. The temperature sensor 05 feeds back the monitored temperature to the main control unit 01 on the landing side; the main control unit 01 on the landing side dynamically adjusts the current according to the preset threshold: if the temperature is lower than the threshold, increase the current to increase the heating power; if the temperature is too high, decrease the current or suspend heating to avoid overheating from interfering with image recognition.

[0064] Further, please refer to Figure 2Schematic diagram of the connection between the shown landing-side main control unit 01 and the integrated circuit board. The heating element array 02, as part of the integrated circuit board, is connected to other components in the integrated circuit (such as the MCU, that is, the landing-side main control unit 01, the power module, etc.) through metal wires or metal interconnection layers. The landing-side main control unit 01 (i.e., the MCU) controls the on and off of the switching elements (such as transistors) connected to the heating element array 02 through control signals, thereby controlling whether there is current passing through the heating element array 02 and realizing the control of the heating state of the heating element array 02. When the heating element array 02 needs to generate heat, the landing-side main control unit 01 (i.e., the MCU) outputs a high-level signal to turn on the switching element, and the current passes through the heating element to generate heat; when heating is not required, the landing-side main control unit 01 (i.e., the MCU) outputs a low-level signal to turn off the switching element, and the heating element stops generating heat. In order to accurately control the heating state of the heating element, the integrated temperature sensor 05 is integrated near or inside the heating element array 02 in this embodiment. The temperature sensor 05 can monitor the temperature of the heating element in real time and feedback the temperature signal to the landing-side main control unit 01 (i.e., the MCU). The landing-side main control unit 01 (i.e., the MCU) compares the received temperature signal with the preset temperature value and realizes the accurate control of the heating element temperature by adjusting the magnitude of the current output to the heating element. For example, when the temperature sensor 05 detects that the temperature of the heating element is lower than the preset value, the landing-side main control unit 01 (i.e., the MCU) will increase the output current to make the heating element generate more heat, thereby increasing the temperature; on the contrary, when the temperature is higher than the preset value, the landing-side main control unit 01 (i.e., the MCU) will decrease the output current to reduce the heat generation of the heating element and make the temperature drop.

[0065] Furthermore, the heating element array 02 can adopt metal materials and semiconductor materials. Metal materials can be such as tungsten (W), nickel-chromium alloy (NiCr), etc. Tungsten has the characteristics of high melting point and high resistivity, can withstand higher temperatures and is not easy to deform and melt during the heating process, which can ensure the stable operation of the heating element at a higher power. The nickel-chromium alloy has good oxidation resistance and corrosion resistance, and its resistivity is relatively high. When passing current, it can effectively convert electrical energy into heat energy, with a higher heating efficiency, stable performance, and long service life. Semiconductor materials such as polysilicon, etc. Polysilicon is a commonly used semiconductor heating material, and it has a relatively high temperature coefficient of resistance, that is, its resistance value changes significantly when the temperature changes. This enables the heating amount of the heating element to be adjusted more precisely by controlling the current, can realize fast and accurate temperature control, and meet the precise regulation requirements for the heating state of the heating element when generating infrared two-dimensional codes.

[0066] Furthermore, such as Figure 2As shown, the hangar powers the integrated circuit board. The landing-side master control unit 01 (i.e., MCU) on the integrated circuit board can control the on / off or heating power of each heating unit to correspondingly represent the black and white pixel points or different gray values in the QR code. For example, it is stipulated that the heating unit heating represents the white pixel point and not heating represents the black pixel point. After the heating units on the integrated circuit board start heating according to the setting, since the temperature of the heating units is higher than the ambient temperature, according to the principle of thermal radiation, the heating units will radiate infrared rays outward. The infrared energy radiated by the heating units is relatively strong, while the infrared energy radiated by the non-heating units is weak or almost none. The drone, through the mounted thermal imaging device 04, will display the image in different colors or grayscales according to the pixel values, thus presenting an infrared QR code image corresponding to the state of the heating units on the integrated circuit board, and then completing the recognition and landing.

[0067] The resolutions of the infrared cameras of the thermal imaging device 04 usually include the following: 120x90, 256x192, 384x288, 640x512, 800x600, and 1280x1024. These numbers represent the number of horizontal pixels and vertical pixels that the thermal imaging device 04 can display. For example, an infrared camera with 640x512 pixels can display the horizontal details of 640 pixel points on the image and the details of 512 pixel points in the vertical direction.

[0068] Application scenarios of infrared cameras with different resolutions:

[0069] Low resolution (such as 120x90): Suitable for scenarios that require low cost and basic monitoring functions.

[0070] Medium resolution (such as 256x192, 384x288): Suitable for general monitoring needs and can provide clear images at a relatively long distance.

[0071] High resolution (such as 640x512, 800x600, 1280x1024): Suitable for scenarios that require high-precision temperature measurement and monitoring, can observe and measure smaller targets and at a farther distance; can be applied to the drone landing scenario.

[0072] The infrared cameras in this embodiment have the following technical parameters and functions:

[0073] Infrared night vision function: Can clearly capture the dynamics of the monitored area in a completely dark environment.

[0074] Efficient encoding technology: Such as H.265 encoding technology, which can effectively compress the video file size and reduce the storage space occupancy.

[0075] Waterproof design: Such as IP67-level waterproof design, suitable for long-term outdoor use.

[0076] Motion recognition function: It can automatically recognize moving objects in the monitoring area and issue an alarm in a timely manner.

[0077] These technical parameters and functions enable the infrared camera of this embodiment to provide high-quality monitoring and security protection in various environments.

[0078] In summary, in this embodiment, a thermal radiation QR code is actively generated by the heating unit array. Utilizing the thermal radiation characteristics in the infrared band, a significant temperature contrast image can be formed without relying on ambient light. It completely solves the problem of the failure of visible light positioning in low visibility scenarios such as late-night heavy fog, group fog, haze, rain, and snow, ensuring that the drone can clearly identify the landing mark through the thermal imaging device under all-weather and all-weather conditions, and significantly improving the landing reliability in complex environments.

[0079] This embodiment integrates a temperature sensor to monitor the temperature of the heating unit in real time, and combines with the main control unit on the landing side to dynamically adjust the current, so that the temperature of the heating unit is stabilized within a preset range. It avoids the decrease in thermal radiation contrast caused by environmental temperature fluctuations, ensures that the QR code can present clear pixel differences in different temperature environments, and improves the decoding accuracy of the drone thermal imaging device.

[0080] The heating units of this embodiment are arranged in the form of a two-dimensional pixel array. Each unit can be independently controlled for on / off or power by the main control unit on the landing side, forming a custom fixed QR code pattern. It supports flexible configuration of QR code identifiers for different landing areas. By dynamically adjusting the heating power, grayscale pixel display can also be achieved, which is compatible with thermal imaging devices of different resolutions.

[0081] This embodiment embeds an error correction check code or a repeated positioning flag when generating the thermal radiation QR code. When some units fail, the complete QR code can be reconstructed through redundant information. It reduces the risk of recognition failure caused by individual heating unit failures. Even if some pixel points fail, the landing coordinates can still be calculated through the remaining valid information, ensuring the stability of the system during long-term operation.

[0082] According to an embodiment of the present invention, an embodiment of a drone landing method based on a thermal imaging QR code 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.

[0083] In this embodiment, a drone landing method based on a thermal imaging QR code is provided, which is applied to Figure 1 the main control unit 01 on the landing side of a drone landing system based on a thermal imaging QR code shown in Figure 3is a flowchart of a UAV landing method based on a thermal imaging QR code according to an embodiment of the present invention, as shown in Figure 3 shown. The process includes the following steps:

[0084] Step S301: Receive the landing request signal sent by the UAV and activate the heating element array.

[0085] Furthermore, when the UAV needs to land, its on-board UAV-side main control unit 03 will send a landing request signal to the landing-side main control unit 01 via wireless communication means (such as Wi-Fi, Bluetooth, 4G / 5G, etc.). This signal is the start instruction for the entire landing process. The landing-side main control unit 01 is equipped with a corresponding communication module for receiving the landing request signal from the UAV. Once the signal is received, the landing-side main control unit 01 will send an activation instruction to the heating element array 02, causing the heating element array 02, which was originally in a standby or low-power state, to start powering on and enter the working preparation state. For example, the heating element is composed of materials such as resistance wires and will start generating heat after being powered on.

[0086] Step S302: According to the preset QR code encoding rule, control the on / off or heating power of each heating element in the heating element array to generate a thermal radiation QR code with temperature differences; so that the UAV-side main control unit captures the infrared image of the thermal radiation QR code through a thermal imaging device and performs analysis to obtain the landing position coordinates, and adjusts the flight path of the UAV according to the analysis result and completes the landing.

[0087] Furthermore, the preset QR code encoding rule is pre-set, and it represents different encoding information through the on / off or heating power of the heating element. For example, it can be stipulated that the heating of the heating element represents binary "1" and non-heating represents binary "0", and specific QR code patterns are formed through different permutations and combinations. The landing-side main control unit 01 accurately controls the on / off state of each heating element according to the encoding rule through a control circuit (such as using electronic components such as relays and MOS transistors), or controls the heating power of the heating element by adjusting the current magnitude. For example, for the position that needs to be displayed as "1", the main control unit will power on and heat the corresponding heating element; for the position displayed as "0", the heating element will be kept non-powered.

[0088] Due to the different on / off or heating power of the heating elements, different temperatures will be generated. The heating elements have a higher temperature, and the non-heating elements have a temperature close to the ambient temperature, thus forming a thermal radiation QR code with temperature differences in space. This thermal radiation QR code can be captured by the thermal imaging device 04 on the UAV.

[0089] After the side main control unit 03 of the drone captures the infrared image of the thermal radiation QR code through the thermal imaging device 04, it will analyze and process the image to extract the landing position coordinate information contained therein. Then, based on this coordinate information, combined with the flight state and navigation system of the drone itself, it adjusts the flight path and finally guides the drone to complete the landing.

[0090] In an alternative embodiment, after controlling the on / off or heating power of each heating unit in the heating unit array according to the preset QR code encoding rule, the method further includes:

[0091] Controlling the temperature sensor to continuously monitor the temperature of the heating unit array and obtaining the monitored temperature of each heating unit;

[0092] According to the monitored temperature and the preset temperature threshold, dynamically adjust the magnitude of the current output to each heating unit.

[0093] In an alternative embodiment, the dynamically adjusting the magnitude of the current output to each heating unit according to the monitored temperature and the preset temperature threshold includes:

[0094] When the monitored temperature of the target heating unit in the landing area is lower than the preset minimum temperature threshold, increase the current output to the target heating unit;

[0095] When the monitored temperature of the target heating unit in the landing area is higher than the preset maximum temperature threshold, decrease the current output to the target heating unit.

[0096] Further, the temperature sensor 05 and the heating element array 02 are installed on the same integrated circuit board in the landing area. Its main function is to monitor the temperature of each heating element in real time. Due to environmental factors (such as temperature changes, solar radiation, etc.) and the characteristic differences of the heating elements themselves, there may be a deviation between the actual temperature and the expected temperature of the heating elements. Through the real-time monitoring of the temperature sensor 05, the accurate temperature information of each heating element can be obtained in a timely manner. The temperature sensor 05 will transmit the monitored temperature data to the landing-side main control unit 01 in the form of electrical signals. The landing-side main control unit 01 processes and converts these signals to obtain the specific monitored temperature values of each heating element. The landing-side main control unit 01 dynamically adjusts the magnitude of the current output to each of these heating elements according to the monitored temperature and the preset temperature threshold. When the monitored temperature of the target heating element in the landing area is lower than the preset minimum temperature threshold, it indicates that the heating power of this heating element is insufficient and cannot achieve the expected temperature effect, which may affect the clarity and recognizability of the thermal radiation two-dimensional code. At this time, the landing-side main control unit 01 will increase the current output to the target heating element. According to Joule's law Q = I2Rt (where Q is heat, I is current, R is resistance, and t is time), after the current increases, the heat generated by the heating element will increase, thereby raising the temperature to reach or approach the preset temperature range. When the monitored temperature of the target heating element is higher than the preset maximum temperature threshold, the excessive temperature may damage the heating element, and at the same time, it may also affect the operation of other surrounding heating elements, and even cause errors in the information of the thermal radiation two-dimensional code. Therefore, the landing-side main control unit 01 will reduce the current output to the target heating element to reduce the heat generated by the heating element and lower the temperature to a safe range.

[0097] In an optional implementation manner, when generating the thermal radiation two-dimensional code with temperature differences, the method further includes:

[0098] Embedding an error correction check code or a repeated positioning mark in the thermal radiation two-dimensional code;

[0099] When some heating elements fail, reconstruct the complete thermal radiation two-dimensional code through redundant information.

[0100] Furthermore, the error correction code is a coding method used to detect and correct errors that may occur during data transmission or storage. Embedding the error correction code in the thermal radiation QR code is equivalent to adding a layer of data protection mechanism to the QR code. In this embodiment, the QR code data is encoded to embed the error correction information into the QR code. The repeated positioning marks are some patterns or identifiers with specific characteristics set in the thermal radiation QR code, which are used to assist the drone in more accurately identifying the position and orientation of the QR code. These marks can appear repeatedly at different positions of the QR code. Even if some marks are blocked or damaged, the drone can still determine the overall position of the QR code through other marks.

[0101] The embedded error correction code and repeated positioning marks in this embodiment are part of the redundant information. When some heating units fail, the landing side main control unit or the drone side main control unit can use this redundant information to detect and correct errors. For example, through the error correction code, it can be determined which data may have errors and attempts can be made to repair them; using the repeated positioning marks, the position and orientation of the QR code can be re-determined, thereby reconstructing the complete thermal radiation QR code to ensure that the drone can accurately obtain the landing position coordinate information.

[0102] In summary, in this embodiment, the thermal radiation QR code is actively generated by the heating unit array. Utilizing the thermal radiation characteristics in the infrared band, a significant temperature contrast image can be formed without relying on ambient light. It completely solves the problem of the failure of visible light positioning in low visibility scenarios such as late-night fog, dense fog, haze, rain, and snow, ensuring that the drone can clearly identify the landing identifier through the thermal imaging device under all-weather and all-weather conditions, and significantly improving the landing reliability in complex environments.

[0103] This embodiment integrates a temperature sensor to monitor the temperature of the heating unit in real time, and combines with the landing side main control unit to dynamically adjust the current, so that the temperature of the heating unit is stabilized within a preset range. It avoids the decrease in thermal radiation contrast caused by environmental temperature fluctuations, ensures that the QR code can present clear pixel differences in different temperature environments, and improves the decoding accuracy of the drone's thermal imaging device.

[0104] The heating units in this embodiment are arranged in a two-dimensional pixel array form, and each unit's on / off or power can be independently controlled by the landing side main control unit to form a custom fixed QR code pattern. It supports flexible configuration of QR code identifiers in different landing areas. By dynamically adjusting the heating power, grayscale pixel display can also be achieved, which is compatible with thermal imaging devices of different resolutions.

[0105] In this embodiment, an error correction check code or a repeated positioning mark is embedded when generating the thermal radiation two-dimensional code. When some units fail, the complete two-dimensional code can be reconstructed through redundant information, reducing the risk of recognition failure caused by the failure of individual heating units. Even if some pixel points fail, the landing coordinates can still be calculated through the remaining valid information, ensuring the stability of the system during long-term operation.

[0106] In this embodiment, another method for a drone to land based on a thermal imaging two-dimensional code is provided, which is applied to Figure 1 the main control unit 03 on the drone side of a drone landing system based on a thermal imaging two-dimensional code shown in Figure 4 is a flowchart of another method for a drone to land based on a thermal imaging two-dimensional code according to an embodiment of the present invention, as shown in Figure 4 shown, and this process includes the following steps:

[0107] Step S401, control the drone to send a landing request signal; so that the main control unit on the landing side receives the landing request signal and activates the heating unit array; according to the preset two-dimensional code encoding rule, control the on / off or heating power of each heating unit in the heating unit array to generate a thermal radiation two-dimensional code with temperature differences.

[0108] Further, the main control unit 03 on the drone side controls the drone to send a landing request signal to the main control unit 01 on the landing side. This signal is equivalent to an instruction, informing the landing system that a drone is about to land and relevant equipment needs to be started and a thermal radiation two-dimensional code for landing guidance needs to be generated. After receiving this landing request signal, the main control unit 01 on the landing side activates the heating unit array 02 and starts to control the on / off or heating power of each heating unit in the heating unit array 02 according to the preset two-dimensional code encoding rule to generate a thermal radiation two-dimensional code with temperature differences, providing a key guidance mark for the landing of the drone.

[0109] Step S402, capture an infrared image of the thermal radiation two-dimensional code through the thermal imaging device and perform analysis to obtain the landing position coordinates.

[0110] In some optional implementation manners, this step S402 includes:

[0111] Capture an infrared image of the thermal radiation two-dimensional code through the thermal imaging device and perform preprocessing on the infrared image; the preprocessing includes radiation correction processing and image enhancement processing;

[0112] Use template matching to locate the two-dimensional code area and its boundary for the preprocessed infrared image, and extract the gray values of each pixel point within the two-dimensional code area to restore the two-dimensional code pixel information;

[0113] Decode the restored two-dimensional code pixel information and obtain the pixel coordinate data;

[0114] Combined with the positioning system and attitude information of the UAV, the pixel coordinate data is converted into the landing position coordinates of the UAV.

[0115] Furthermore, the thermal imaging device 04 on the UAV captures an infrared image containing a thermal radiation QR code. The captured image may be affected by various factors such as atmospheric interference and device noise. Therefore, it is necessary to preprocess the image. The preprocessing includes radiation correction processing to eliminate the interference of factors such as atmospheric absorption and instrument response on the infrared radiation measurement results, so that the gray value of the image can more accurately reflect the actual radiation energy of the target; it also includes image enhancement processing to improve the contrast and clarity of the image, making the QR code more prominent in the image for subsequent identification and parsing.

[0116] In this embodiment, template matching and other techniques are used to locate the QR code area and its boundary in the preprocessed infrared image, and determine the position range of the QR code in the image. Then, the gray values of each pixel point in the QR code area are extracted to restore the pixel information of the QR code, so as to accurately extract the information related to the QR code from the complex image data.

[0117] The main control unit 03 on the UAV side decodes the restored QR code pixel information to obtain the stored pixel coordinate data. Then, combined with the positioning system (such as GPS) and attitude information (such as heading angle, pitch angle, etc.) of the UAV, the pixel coordinate data is converted into the actual landing position coordinates of the UAV. This process is to convert the encoded information carried in the QR code into spatial position information that the UAV can understand and use, providing a basis for subsequent flight path adjustment.

[0118] Step S403, according to the parsing result, adjust the flight path of the UAV and complete the landing.

[0119] Furthermore, the main control unit 03 on the UAV side compares the parsed landing position coordinates with the current position and attitude of the UAV, calculates the parameters such as the flight direction, speed, and angle that need to be adjusted, generates a new flight path command, and controls the UAV to fly according to the adjusted flight path. The UAV gradually approaches the landing area along the adjusted flight path and finally completes the precise landing. During the entire landing process, the main control unit 03 on the UAV side may continuously update the landing position coordinates according to the real-time captured infrared image and perform multiple flight path adjustments to ensure the accuracy and safety of the landing.

[0120] In summary, in this embodiment, the heat - generating unit array actively generates a thermal - radiation QR code. Utilizing the thermal - radiation characteristics in the infrared band, a significant temperature - contrast image can be formed without relying on ambient light. This completely solves the problem of the failure of visible - light positioning in low - visibility scenarios such as late - night heavy fog, patchy fog, haze, rain, and snow, ensuring that the drone can clearly identify the landing mark through the thermal - imaging device under all - weather and all - meteorological conditions, and significantly improving the landing reliability in complex environments.

[0121] This embodiment integrates a temperature sensor to monitor the temperature of the heat - generating unit in real - time, and combines with the main control unit on the landing side to dynamically adjust the current, so that the temperature of the heat - generating unit is stabilized within a preset range. This avoids the decrease in thermal - radiation contrast caused by environmental - temperature fluctuations, ensures that the QR code can present clear pixel differences in different temperature environments, and improves the decoding accuracy of the drone's thermal - imaging device.

[0122] The heat - generating units in this embodiment are arranged in a two - dimensional pixel array form. Each unit's on - off or power can be independently controlled through the main control unit on the landing side to form a custom fixed QR - code pattern. It supports flexible configuration of QR - code identifiers for different landing areas. By dynamically adjusting the heating power, grayscale - pixel display can also be achieved, which is compatible with thermal - imaging devices of different resolutions.

[0123] When generating the thermal - radiation QR code in this embodiment, an error - correction check code or a repeated positioning mark is embedded. When some units fail, the complete QR code can be reconstructed through redundant information. This reduces the risk of recognition failure caused by individual heat - generating unit failures. Even if some pixel points fail, the landing coordinates can still be calculated through the remaining valid information, ensuring the stability of the system during long - term operation.

[0124] In this embodiment, a drone landing device based on a thermal - imaging QR code is also provided. This device is used to implement the above - mentioned embodiment 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 can achieve 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.

[0125] This embodiment provides a drone landing device based on a thermal - imaging QR code, which is applied to Figure 1 the main control unit 01 on the landing side of a drone landing system based on a thermal - imaging QR code as shown in Figure 5 the figure, and includes:

[0126] A heat - generating unit activation module 501, which is used to receive the landing - request signal sent by the drone and activate the heat - generating unit array;

[0127] The thermal radiation QR code generation module 502 is configured to control the on / off or heating power of each heating unit in the heating unit array according to a preset QR code encoding rule, so as to generate a thermal radiation QR code with temperature differences, enabling the main control unit on the unmanned aerial vehicle (UAV) side to capture an infrared image of the thermal radiation QR code through a thermal imaging device, perform analysis to obtain the landing position coordinates, and adjust the flight path of the UAV and complete the landing according to the analysis result.

[0128] In some optional embodiments, the device is further configured to:

[0129] After controlling the on / off or heating power of each heating unit in the heating unit array according to a preset QR code encoding rule, control the temperature sensor to monitor the temperature of the heating unit array in real time, and obtain the monitored temperatures of each heating unit.

[0130] Dynamically adjust the magnitude of the current output to each heating unit according to the monitored temperature and a preset temperature threshold.

[0131] In an optional embodiment, the device is further configured to:

[0132] When the monitored temperature of a target heating unit in the landing area is lower than a preset minimum temperature threshold, increase the current output to the target heating unit.

[0133] When the monitored temperature of a target heating unit in the landing area is higher than a preset maximum temperature threshold, reduce the current output to the target heating unit.

[0134] In an optional embodiment, the device is further configured to:

[0135] When generating the thermal radiation QR code with temperature differences, embed an error correction check code or a repeat positioning flag in the thermal radiation QR code.

[0136] When some heating units fail, reconstruct a complete thermal radiation QR code through redundant information.

[0137] The further function descriptions of the above-mentioned modules and units are the same as those in the corresponding embodiments above, and will not be elaborated here.

[0138] This embodiment provides another UAV landing device based on a thermal imaging QR code, which is applied to Figure 1 the main control unit 03 on the UAV side of a UAV landing system based on a thermal imaging QR code shown in Figure 6 and includes:

[0139] The landing request signal sending module 601 is used to control the drone to send a landing request signal, so that the main control unit on the landing side receives the landing request signal and activates the heating unit array. According to the preset two-dimensional code encoding rule, it controls the on / off or heating power of each heating unit in the heating unit array to generate a thermal radiation two-dimensional code with temperature differences.

[0140] The landing position coordinate acquisition module 602 is used to capture the infrared image of the thermal radiation two-dimensional code through the thermal imaging device and perform analysis to obtain the landing position coordinates.

[0141] The drone landing control module 603 is used to adjust the flight path of the drone and complete the landing according to the analysis result.

[0142] In an optional implementation manner, the landing position coordinate acquisition module 602 is further used for:

[0143] Capturing the infrared image of the thermal radiation two-dimensional code through the thermal imaging device and preprocessing the infrared image. The preprocessing includes radiation correction processing and image enhancement processing.

[0144] Using template matching to locate the two-dimensional code area and its boundary for the preprocessed infrared image, and extracting the gray values of each pixel point in the two-dimensional code area to restore the two-dimensional code pixel information.

[0145] Decoding the restored two-dimensional code pixel information and obtaining pixel coordinate data.

[0146] Combining the positioning system and attitude information of the drone, converting the pixel coordinate data into the landing position coordinates of the drone.

[0147] The further function descriptions of the above-mentioned various modules and units are the same as those in the corresponding above embodiments and will not be elaborated here.

[0148] In summary, in this embodiment, the heating unit array actively generates a thermal radiation two-dimensional code. By using the thermal radiation characteristics in the infrared band, a significant temperature contrast image can be formed without relying on environmental light. It completely solves the problem of the failure of visible light positioning in low visibility scenarios such as late-night heavy fog, patchy fog, haze, rain, and snow, ensuring that the drone can clearly identify the landing mark through the thermal imaging device under all-weather and all-weather conditions, and significantly improving the landing reliability in complex environments.

[0149] This embodiment integrates a temperature sensor to monitor the temperature of the heating unit in real time, and combines with the main control unit on the landing side to dynamically adjust the current, so that the temperature of the heating unit is stabilized within a preset range. It avoids the decrease in thermal radiation contrast caused by environmental temperature fluctuations, ensures that the two-dimensional code can present clear pixel differences in different temperature environments, and improves the decoding accuracy of the drone thermal imaging device.

[0150] In this embodiment, the heating units are arranged in a two-dimensional pixel array. Each unit can be independently controlled for on / off or power by the main control unit on the landing side, forming a customized fixed QR code pattern. It supports flexible configuration of QR code identifiers for different landing areas. By dynamically adjusting the heating power, grayscale pixel display can also be achieved, which is compatible with thermal imaging devices of different resolutions.

[0151] In this embodiment, error correction check codes or repeated positioning marks are embedded when generating the thermal radiation QR code. When some units fail, the complete QR code can be reconstructed through redundant information. This reduces the risk of recognition failure caused by individual heating unit failures. Even if some pixel points fail, the landing coordinates can still be calculated through the remaining valid information, ensuring the stability of the system during long-term operation.

[0152] An embodiment of the present invention also provides a computer device. 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 invention. As shown in Figure 7 , the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various 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 optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. 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 In

[0153] FIG.

[0154] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0155] The memory 20 may 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, etc. In addition, the memory 20 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some alternative embodiments, the memory 20 may optionally include a memory remotely provided with respect to the processor 10, and these remote memories can be connected to the computer device through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0156] The memory 20 may include volatile memory, for example, random access memory; the memory may also include non-volatile memory, for example, flash memory, a hard disk, or a solid-state drive; the memory 20 may further include a combination of the above types of memory.

[0157] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0158] The embodiments of the present invention also provide a computer-readable storage medium. The methods according to the embodiments of the present invention 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 originally stored in a remote storage medium or a non-transitory machine-readable storage medium and to be stored in a local storage medium downloaded through a network, so that the methods described herein can be stored in such software processes 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 may also include a combination of the above types of memory. 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, and 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.

[0159] A part of the present invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can, through the operation of the computer, call or provide the methods and / or technical solutions according to the present invention. Those skilled in the art should 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 instructions, or the computer compiles the instructions and then executes the corresponding compiled program, or the computer reads and executes the instructions, or the computer reads and installs the instructions 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.

[0160] 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 all fall within the defined scope.

Claims

1. A method for a drone to land based on a thermal imaging QR code, characterized in that Applied to the landing-side main control unit of a drone landing system based on thermal imaging QR codes, the system further includes an array of heating units arranged in the landing area, a drone-side main control unit, and a thermal imaging device installed on the drone. The method includes: Receiving a landing request signal sent by the drone and activating the array of heating units; According to the preset QR code encoding rules, controlling the on / off or heating power of each heating unit in the array of heating units to generate a thermal radiation QR code with temperature differences, so that the drone-side main control unit captures an infrared image of the thermal radiation QR code through the thermal imaging device, analyzes it to obtain the landing position coordinates, and adjusts the flight path of the drone according to the analysis result and completes the landing.

2. The method according to claim 1, wherein The system further includes a temperature sensor. The temperature sensor and the array of heating units are arranged on an integrated circuit board in the landing area. After controlling the on / off or heating power of each heating unit in the array of heating units according to the preset QR code encoding rules, the method further includes: Controlling the temperature sensor to monitor the temperature of the array of heating units in real time and obtaining the monitored temperature of each heating unit; Dynamically adjusting the magnitude of the current output to each heating unit according to the monitored temperature and a preset temperature threshold.

3. The method according to claim 2, wherein The dynamically adjusting the magnitude of the current output to each heating unit according to the monitored temperature and a preset temperature threshold includes: When the monitored temperature of a target heating unit in the landing area is lower than the preset minimum temperature threshold, increasing the current output to the target heating unit; When the monitored temperature of a target heating unit in the landing area is higher than the preset maximum temperature threshold, decreasing the current output to the target heating unit.

4. The method according to claim 1, wherein When generating the thermal radiation QR code with temperature differences, the method further includes: Embedding an error correction check code or a repeated positioning flag in the thermal radiation QR code; When some heating units fail, reconstructing a complete thermal radiation QR code through redundant information.

5. A method for a drone to land based on a thermal imaging QR code, characterized in that, Applied to the drone-side main control unit of a drone landing system based on thermal imaging QR codes, the system further includes a landing-side main control unit, an array of heating units arranged in the landing area, and a thermal imaging device installed on the drone. The method includes: Controlling the drone to send a landing request signal, so that the landing-side main control unit receives the landing request signal, activates the array of heating units, and according to the preset QR code encoding rules, controls the on / off or heating power of each heating unit in the array of heating units to generate a thermal radiation QR code with temperature differences; Capturing an infrared image of the thermal radiation QR code through the thermal imaging device and analyzing it to obtain the landing position coordinates; Adjusting the flight path of the drone according to the analysis result and completing the landing.

6. The method according to claim 5, wherein The capturing an infrared image of the thermal radiation QR code through the thermal imaging device and analyzing it to obtain the landing position coordinates includes: Capturing an infrared image of the thermal radiation QR code through the thermal imaging device and performing preprocessing on the infrared image. The preprocessing includes radiation correction processing and image enhancement processing; Using template matching to locate the QR code area and its boundary for the pre-processed infrared image, and extracting the gray values of each pixel in the QR code area to restore the QR code pixel information; Decoding the restored QR code pixel information and obtaining pixel coordinate data; Combining the positioning system and attitude information of the drone to convert the pixel coordinate data into the landing position coordinates of the drone.

7. An unmanned aerial vehicle landing system based on a thermal imaging two-dimensional code, characterized in that, The system includes: a main control unit on the landing side, an array of heating units arranged in the landing area, a main control unit on the drone side, and a thermal imaging device arranged on the drone; The main control unit on the drone side is used to control the landing request signal sent by the drone; The main control unit on the landing side is used to receive the landing request signal and activate the array of heating units; according to the preset QR code encoding rules, control the on / off or heating power of each heating unit in the array of heating units to generate a thermal radiation QR code with temperature differences; The thermal imaging device is used to capture the infrared image of the thermal radiation QR code and send the infrared image to the main control unit on the drone side; The main control unit on the drone side is further used to analyze the infrared image to obtain the landing position coordinates; according to the analysis result, adjust the flight path of the drone and complete the landing.

8. The system according to claim 7, wherein The system further includes a temperature sensor, and the temperature sensor and the array of heating units are arranged on an integrated circuit board in the landing area; The temperature sensor is used to monitor the temperature of the array of heating units in real time and feedback the monitored temperature of each heating unit to the main control unit on the landing side; so that the main control unit on the landing side dynamically adjusts the magnitude of the current output to each heating unit according to the monitored temperature and the preset temperature threshold.

9. A computer device, characterized in that, Including: A memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute a drone landing method according to any one of claims 1 to 6.

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 cause a computer to execute a drone landing method according to any one of claims 1 to 6.

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