Building balcony landing method and device and computer readable storage medium

Abstract

The invention discloses a building balcony landing method and device and a computer readable storage medium, and the method comprises the steps: recognizing a balcony guardrail of a balcony region after the balcony region of a delivery address is reached; and guardrail characteristics of the balcony guardrail are obtained, guardrail falling is executed according to the guardrail characteristics, and the guardrail characteristics comprise the width and flatness of the top face of the guardrail. According to the method, the guardrail characteristics of the balcony guardrail are identified and acquired, the width and flatness of the top surface of the guardrail are determined according to the guardrail characteristics, and the guardrail landing is adaptively executed, so that the unmanned aerial vehicle can effectively and safely implement the balcony guardrail landing aiming at building dense scenes such as commercial street areas and residential districts, and residents can conveniently take parcels; and the user experience of building distribution is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle technology, and in particular to a method, device and computer-readable storage medium for landing on a building balcony. Background Technology

[0002] In the existing technology, with the continuous development of unmanned aerial vehicles, the demand for logistics and distribution based on unmanned aerial vehicles has also increased significantly.

[0003] However, current logistics delivery strategies based on unmanned aerial vehicles are not applicable to actual building delivery scenarios. Specifically: First, logistics delivery drones generally choose open areas such as atriums between floors or fire platforms on the outer edge of windows as delivery destinations. However, these areas may be occupied by clutter or have closed windows, which may compromise the safety of aircraft landing and make it inconvenient for residents to pick up their packages. Second, due to the limitations of the building structure in residential areas, logistics delivery drones can only place items in open areas such as atriums and fire platforms, and residents cannot know the delivery status of their items in real time.

[0004] Therefore, how to effectively and safely land aircraft in densely populated building scenarios such as commercial districts and residential communities to facilitate residents' package pickup and improve the user experience of building delivery has become an urgent technical problem to be solved. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the present invention aims to provide a method, device and computer-readable storage medium for landing on building balconies, so as to solve the problems that it is not possible to effectively and safely land aircraft in densely built-up scenarios such as commercial districts and residential communities, which makes it inconvenient for residents to pick up their packages and results in a poor user experience for building delivery.

[0006] This invention proposes a method for landing on building balconies, applied to unmanned aerial vehicles performing building delivery tasks. The method includes: Upon arrival at the balcony area of ​​the delivery address, the balcony railing of the balcony area is identified. The railing features of the balcony railing are obtained, and the railing is lowered according to the railing features, wherein the railing features include the width and flatness of the top surface of the railing.

[0007] Optionally, obtaining the railing features of the balcony railing and performing railing lowering based on the railing features specifically includes: Check whether the width exceeds the spacing between the aircraft's supports; If the width exceeds the bracket spacing, the railing is lowered using the brackets; if the width does not exceed the bracket spacing, the balcony floor is lowered using the brackets.

[0008] Optionally, detecting whether the width exceeds the aircraft's support spacing further includes: When the width exceeds the bracket spacing, the flatness is checked to see if it meets the preset flatness conditions. If the flatness meets the flatness condition, the railing is lowered using the support frame; if the flatness does not meet the flatness condition, the balcony floor is lowered using the support frame.

[0009] Optionally, obtaining the railing features of the balcony railing and performing railing lowering based on the railing features specifically includes: Detect whether the flatness meets the preset flatness conditions; If the flatness meets the flatness condition, the guardrail is lowered using a support or the belly of the machine; if the flatness does not meet the flatness condition, the balcony floor is lowered using a support.

[0010] Optionally, detecting whether the flatness meets the preset flatness conditions further includes: When the flatness meets the flatness condition, the relationship between the width and the spacing between the aircraft's supports is detected. If the width is less than the bracket spacing, the guardrail is lowered using the belly of the aircraft. If the width is greater than the bracket spacing, the guardrail is lowered using the brackets. If the width is equal to the bracket spacing, then the vertical guardrail is lowered using the brackets.

[0011] Optionally, the step of lowering the vertical guardrail using the supports if the width is equal to the support spacing further includes: Adjust the orientation to make the bracket perpendicular to the guardrail; Once the support center of gravity of the bracket is located on the center line of the guardrail, the guardrail is lowered using the bracket.

[0012] Optionally, obtaining the railing features of the balcony railing and performing railing lowering based on the railing features specifically includes: When the width does not exceed the spacing between the aircraft's supports, check whether the flatness meets the preset flatness conditions; If the flatness does not meet the preset flatness conditions, the aircraft belly will be used to lower the guardrail while retaining power to maintain balance.

[0013] Optionally, obtaining the railing features of the balcony railing and performing railing lowering based on the railing features specifically includes: When the width exceeds the spacing between the aircraft's supports, the flatness is checked to see if it meets the preset flatness conditions. If the flatness does not meet the preset flatness conditions, the guardrail will be lowered using a support frame, while maintaining power to keep the balance.

[0014] The present invention also proposes a building balcony landing device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the building balcony landing method as described in any of the preceding claims.

[0015] The present invention also proposes a computer-readable storage medium storing a program for landing an unmanned aerial vehicle on a building balcony, wherein the balcony landing program, when executed by a processor, implements the steps of the balcony landing method as described in any of the preceding claims.

[0016] The building balcony landing method, device, and computer-readable storage medium of the present invention identify and acquire the railing features of the balcony railing, determine the width and flatness of the top surface of the railing, and adaptively perform railing landing. This enables unmanned aerial vehicles to effectively and safely land on balcony railings in densely populated building scenarios such as commercial districts and residential communities, facilitating residents to pick up their packages and improving the user experience of building delivery. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is a flowchart of the first embodiment of the building balcony lowering method of the present invention; Figure 2 This is a flowchart of the second embodiment of the building balcony lowering method of the present invention; Figure 3 This is a flowchart of the third embodiment of the building balcony lowering method of the present invention; Figure 4 This is a flowchart of the fourth embodiment of the building balcony lowering method of the present invention; Figure 5 This is a flowchart of the fifth embodiment of the building balcony lowering method of the present invention; Figure 6 This is a flowchart of the sixth embodiment of the building balcony lowering method of the present invention; Figure 7 This is a flowchart of the seventh embodiment of the building balcony lowering method of the present invention; Figure 8 This is a flowchart of the eighth embodiment of the building balcony lowering method of the present invention; Figure 9-11 This is a schematic diagram of the positional relationship of the first embodiment of the building balcony landing method of the present invention. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0019] In the following description, the use of suffixes such as "module," "part," or "unit" to denote elements is solely for the purpose of illustrative purposes and has no specific meaning in itself. Therefore, "module," "part," or "unit" may be used interchangeably.

[0020] Example 1 Figure 1 This is a flowchart of the first embodiment of the building balcony landing method of the present invention. A building balcony landing method, applied to an unmanned aerial vehicle performing building delivery tasks, includes: S1. Upon arrival at the balcony area of ​​the delivery address, identify the balcony railing of the balcony area. S2. Obtain the railing features of the balcony railing and perform railing descent according to the railing features, wherein the railing features include the width and flatness of the top surface of the railing.

[0021] In this embodiment, after the unmanned aerial vehicle (UAV) carrying the object arrives at the balcony area of ​​the delivery address, it collects image data of the balcony area and performs preset feature recognition to determine the balcony railing. Further, it extracts railing features according to a preset algorithm to determine the width and flatness of the railing's top surface. Furthermore, considering that the length of the railing's top surface is usually longer than the length of the aircraft's support structure, the aircraft's landing attitude only needs to be adaptively adjusted based on the width and flatness of the railing's top surface. Further, considering the length of the railing's top surface... The support structure is typically longer than the aircraft's length, and only a section of the top surface of the guardrail is needed to support the aircraft. Therefore, the aircraft's landing attitude can be adjusted adaptively based on the width and flatness of this section of the guardrail's top surface. Furthermore, when the top surface of the guardrail has unequal widths, i.e., sections with different widths, the section with the largest width is selected as the landing point of the support structure supporting the aircraft. Furthermore, when the top surface of the guardrail has different degrees of flatness, i.e., sections with different degrees of flatness, the section with the highest degree of flatness is selected as the landing point of the support structure supporting the aircraft.

[0022] In this embodiment, a double-row parallel support frame is used as an example (the frame is relatively thin). If the spacing between the double-row parallel support frames is less than the width of the top surface of the railing, the aircraft attitude is adjusted so that the double-row parallel support frames are parallel to the railing and the centerline of the double-row parallel support frames coincides with the centerline of the top surface of the railing. At this time, the aircraft can land safely and stably on the top surface of the balcony railing. Similarly, a double-row sled support frame is used as an example. If the width of the double-row sled support frame is less than the width of the top surface of the railing, the aircraft attitude is adjusted so that the double-row sled support frames are parallel to the railing and the centerline of the double-row sled support frames coincides with the centerline of the top surface of the railing. At this time, the aircraft can land safely and stably on the top surface of the balcony railing. Similarly, a four-corner rectangular... Taking a rectangular support as an example, if the width of the four rectangular supports is less than the width of the top surface of the guardrail, the aircraft attitude is adjusted so that the long side of the rectangular support is parallel to the guardrail, and the centerline of the two wide sides of the rectangular support coincides with the centerline of the top surface of the guardrail. At this time, the aircraft can land safely and stably on the top surface of the balcony guardrail. Furthermore, if the aircraft is equipped with a retractable support, the width of the retractable support is adjusted to be less than the width of the top surface of the guardrail before adjusting the aircraft attitude. If the adjustment is successful, the aircraft attitude is then adjusted. If the adjustment fails, other alternative landing plans are executed. The centerline of the top surface of the guardrail refers to the line that is parallel to the two long sides of the top surface of the guardrail and bisects the width of the top surface when the top surface of the guardrail is of equal width.

[0023] In this embodiment, please refer to Figure 9 The figure shows a positional relationship between the aircraft support structure and the top surface of the guardrail when the support structure consists of two parallel strip structures. Both strip support 1 and strip support 2 are parallel to the long side of the top surface of the guardrail and can land on the top surface of the guardrail. Based on the above implementation, aircraft equipped with double-row parallel support structures or double-row sled support structures can land according to this positional relationship.

[0024] In this embodiment, please refer to Figure 10 The figure shows the positional relationship between the aircraft support and the top surface of the guardrail when the support is a rectangular strip structure. The two parallel sides of the rectangular support can rest on the top surface of the guardrail and maintain balance. Based on the above implementation, an aircraft with a rectangular support at four corners can land according to this positional relationship.

[0025] In this embodiment, please refer to Figure 11The diagram illustrates another positional relationship between the aircraft support structure (two parallel strips) and the top surface of the guardrail. Both strip support 1 and strip support 2 are parallel to the width of the top surface of the guardrail and maintain balance. Based on this embodiment, aircraft equipped with double-row parallel supports or double-row ski supports can land according to this positional relationship. It should be noted that in this case, the minimum stable landing support range for the aircraft equipped with these double-row parallel supports or double-row ski supports must first be determined. Then, the length of this support range is compared with the width of the top surface of the guardrail. If the length is less than the width, then the aircraft equipped with these double-row parallel supports or double-row ski supports can land according to this positional relationship.

[0026] In this embodiment, the above example is a support landing scheme implemented under the condition that the top surface of the guardrail is flat. However, if the top surface of the guardrail is not flat, even if the spacing between the two rows of parallel supports is less than the width of the top surface of the guardrail, it cannot be guaranteed that the aircraft can land safely and stably on the top surface of the balcony guardrail. In this case, it is also necessary to combine corresponding power compensation measures to implement the landing in a way that maintains dynamic balance. For example, in the case of the top surface of the guardrail being tilted, the aircraft controls one or more rotors at the lower end of the tilted surface to continue to output power, thereby preventing the aircraft from slipping. Alternatively, the fuselage (e.g., belly, cargo hold, etc.) can be used as a support to implement the landing.

[0027] The beneficial effect of this embodiment is that by identifying and obtaining the railing features of the balcony railing, and thereby determining the width and flatness of the top surface of the railing, and adaptively performing railing landing, the unmanned aerial vehicle can effectively and safely land on the balcony railing in densely populated building scenarios such as commercial streets and residential communities, making it convenient for residents to pick up their packages and improving the user experience of building delivery.

[0028] Example 2 Figure 2 This is a flowchart of the second embodiment of the balcony lowering method of the present invention. Based on the above embodiment, the step of obtaining the railing features of the balcony railing and performing railing lowering according to the railing features specifically includes: S11. Detect whether the width exceeds the spacing between the aircraft's supports; S12. If the width exceeds the bracket spacing, the railing is lowered using the brackets; if the width does not exceed the bracket spacing, the balcony floor is lowered using the brackets.

[0029] In this embodiment, the bracket spacing is determined according to different bracket types. As mentioned in the example above, the brackets of an aircraft include parallel brackets, sled brackets, corner brackets, and retractable brackets. Specifically, for parallel brackets, the distance between the two parallel bracket bodies is used as the bracket spacing; for sled brackets, the overall width of the double-row sled brackets is used as the bracket spacing; for corner brackets, the length of the two wide sides is used as the bracket spacing; and for retractable brackets, the width at the minimum retracted position is used to determine the bracket spacing.

[0030] In this embodiment, when it is determined that the aircraft is equipped with landing supports and the landing procedure is set to support landing, if the width exceeds the support spacing, the support will be used for guardrail landing; if the width does not exceed the support spacing, the support will be used for balcony ground landing.

[0031] In this embodiment, when it is determined that the aircraft is equipped with landing supports and the landing procedure does not specify landing with supports, if the width exceeds the support spacing, the aircraft will land using the supports to access the guardrail. If the width does not exceed the support spacing, the aircraft will check whether the bottom surface of the fuselage or the cargo hold is flat. If it is not flat, the aircraft will land using the supports to access the balcony ground. If the bottom surface of the fuselage or the cargo hold is flat, the aircraft will land using the bottom surface of the fuselage or the cargo hold as support to access the balcony guardrail. It should be noted that when landing using the bottom surface of the fuselage or the cargo hold as support to access the balcony guardrail, the parallel supports and ski supports must be parallel to the guardrail and not in contact with it, or the retractable supports can be opened to make them parallel to the guardrail and not in contact with it. It can also be seen that this landing method is not suitable for four-corner supports.

[0032] The beneficial effect of this embodiment is that by detecting whether the width of the guardrail exceeds the spacing between the aircraft's supports, it can adaptively select whether to perform a guardrail landing or a balcony ground landing using the supports, thereby improving the design redundancy of guardrail landing and enhancing landing safety.

[0033] Example 3 Figure 3 This is a flowchart of the third embodiment of the building balcony landing method of the present invention. Based on the above embodiment, the step of detecting whether the width exceeds the spacing of the aircraft's supports further includes: S111. When the width exceeds the bracket spacing, detect whether the flatness meets the preset flatness conditions; S112. If the flatness meets the flatness condition, the railing is lowered using the support; if the flatness does not meet the flatness condition, the balcony floor is lowered using the support.

[0034] In this embodiment, the guardrail includes wooden guardrails, iron guardrails, and cement guardrails, etc. The surface features of the top surface of the guardrail include various types, such as flat guardrails, sloping guardrails, and convex guardrails. Further, corresponding flatness conditions are determined according to different surface features. For example, for flat guardrails, the height difference between the concave and convex shapes is less than a preset difference (e.g., 0.5-2 cm, etc.). For sloping guardrails, the angle of inclination is less than a preset degree (e.g., slope within 15 degrees). For convex guardrails, the curvature of the convex surface is less than a preset curvature. Further, it is not necessary for the flatness of the entire guardrail to meet the above requirements, but only the flatness of a certain interval needs to meet the above requirements. Further, when the flatness of the top surface of the guardrail is different, that is, when there are intervals with different flatness, the interval with the highest flatness is selected as the landing point of the support for the aircraft.

[0035] In this embodiment, if the unmanned aerial vehicle detects that the flatness of the top surface of the guardrail meets the flatness condition, it will use the support to land on the guardrail; if it detects that the flatness does not meet the flatness condition, it will use the support to land on the balcony ground.

[0036] The beneficial effect of this embodiment is that by combining width and flatness, a suitable landing method can be determined, thereby improving landing safety and avoiding problems such as aircraft tilting or falling after landing due to uneven guardrails.

[0037] Example 4 Figure 4 This is a flowchart of the fourth embodiment of the balcony lowering method of the present invention. Based on the above embodiment, the step of obtaining the railing features of the balcony railing and performing railing lowering according to the railing features specifically includes: S21. Detect whether the flatness meets the preset flatness conditions; S22. If the flatness meets the flatness condition, the guardrail is lowered using a support or the belly of the machine; if the flatness does not meet the flatness condition, the balcony floor is lowered using a support.

[0038] In this embodiment, unlike the above method, when the flatness meets the flatness condition, the guardrail landing is performed using a support or the belly of the aircraft, rather than necessarily using a support. For example, when the top surface of the guardrail is flat enough, and the bottom surface of the belly of the aircraft or the cargo hold is also flat enough, the belly of the aircraft or the cargo hold can be used as a support to land stably on the top surface of the guardrail.

[0039] In this embodiment, as described above, when the top surface of the guardrail is sufficiently flat, if the aircraft is equipped with a retractable support and the bottom surface of the fuselage is also sufficiently flat, the retractable support is first deployed before landing, and the fuselage is used as support to land on the top surface of the guardrail; furthermore, after the fuselage contacts the top surface of the guardrail, the retractable support is retracted, that is, the aircraft's retractable support is tightened and clamped to the guardrail, so that the aircraft can be stably fixed to the top surface of the guardrail.

[0040] The beneficial effect of this embodiment is that by combining width and flatness, a suitable landing method can be selected from various landing methods such as belly, support, or balcony, thereby improving landing safety and avoiding problems such as aircraft tilting or falling after landing due to uneven guardrails. At the same time, this embodiment prioritizes landing on balcony guardrails. On the one hand, it makes it convenient for residents to open the cargo compartment and retrieve the cargo directly after going to the balcony without having to squat down and lift it up. On the other hand, it does not occupy the balcony area and does not require residents to make room on the balcony for the aircraft.

[0041] Example 5 Figure 5 This is a flowchart of the fifth embodiment of the building balcony lowering method of the present invention. Based on the above embodiment, the step of detecting whether the flatness meets the preset flatness conditions further includes: S211. When the flatness meets the flatness condition, detect the relationship between the width and the spacing between the aircraft's supports. S221. If the width is less than the bracket spacing, then the guardrail is lowered using the belly of the aircraft. S222. If the width is greater than the bracket spacing, then the bracket is used to lower the guardrail. S223. If the width is equal to the bracket spacing, then the vertical guardrail is lowered using the brackets.

[0042] In this embodiment, one approach is to directly determine the landing method based on the bracket spacing and the guardrail width. Specifically, if the width is less than the bracket spacing, the aircraft belly will be used for a guardrail landing; if the width is greater than the bracket spacing, the aircraft will be used for a guardrail landing; and if the width is equal to the bracket spacing, the aircraft will be used for a vertical guardrail landing.

[0043] In this embodiment, another approach is, as described in the example above, to determine the landing method based on the bracket spacing and guardrail width for different types of brackets. Specifically: First, for parallel brackets and sled brackets, if the width is less than the bracket spacing, the aircraft belly performs a guardrail landing; if the width is greater than the bracket spacing, the bracket performs a guardrail landing; if the width is equal to the bracket spacing, the bracket performs a vertical guardrail landing. Second, for four-corner brackets, if the width is less than the bracket spacing, the aircraft lands on the balcony floor; if the width is greater than the bracket spacing, the bracket performs a guardrail landing; if the width is equal to the bracket spacing, the bracket performs a vertical landing along the long side of the rectangle. Third, for retractable brackets, if the width is less than the minimum bracket spacing, the bracket is extended and the aircraft belly performs a guardrail landing; if the width is greater than the minimum bracket spacing, the bracket is retracted and a guardrail landing is performed; if the width is equal to the minimum spacing, the bracket is extended to its maximum spacing and a vertical guardrail landing is performed, thereby ensuring the stability of the vertical landing.

[0044] The beneficial effect of this embodiment is that by determining different landing methods based on the relationship between the width of the guardrail and the spacing between the aircraft's supports, the applicability and flexibility of aircraft guardrail landing are improved.

[0045] Example 6 Figure 6 This is a flowchart of the sixth embodiment of the building balcony lowering method of the present invention. Based on the above embodiment, the step of lowering the vertical railing using the supports if the width is equal to the support spacing further includes: S2231. Adjust the posture to make the bracket perpendicular to the guardrail; S2232. After confirming that the support center of gravity of the bracket falls on the center line of the guardrail, the bracket is used to lower the guardrail.

[0046] In this embodiment, the center of gravity of the parallel support, sled support, four-corner support and retractable support is determined respectively. For example, for the parallel support, sled support, four-corner support and retractable support, an outer rectangle of the support is constructed, and the center point of this rectangle is used as the center of gravity of the support.

[0047] In this embodiment, a rectangular top surface of the guardrail is constructed, with the axis of the wide side of this rectangle serving as the central axis of the guardrail. Based on this, during attitude adjustment, on the one hand, the center of gravity of the aforementioned support falls into the central axis, and on the other hand, the long side of the outer rectangle of the aforementioned support is perpendicular to the central axis, thereby improving the stability of the aircraft landing on the top surface of the guardrail.

[0048] The beneficial effect of this embodiment is that by adjusting the aircraft's attitude before landing to make the support perpendicular to the guardrail, and by determining that the support center of gravity of the aircraft support falls on the center line of the guardrail, the support is used to perform the guardrail landing, thereby ensuring the safety during landing and the stability after landing.

[0049] Example 7 Figure 7 This is a flowchart of the seventh embodiment of the building balcony lowering method of the present invention. Based on the above embodiment, the step of obtaining the railing features of the balcony railing and performing railing lowering according to the railing features specifically includes: S23. When the width does not exceed the spacing between the aircraft's supports, check whether the flatness meets the preset flatness conditions. S24. If the flatness does not meet the preset flatness conditions, the guardrail will be lowered using the belly of the aircraft, while maintaining power to keep the balance.

[0050] In this embodiment, unlike the above-described implementation, even if the flatness of the top surface of the guardrail does not meet the preset flatness conditions, the aircraft can still land on the guardrail. That is, during the landing process, the power output of one or more of the aircraft's multi-rotors is retained, so that the aircraft can still maintain dynamic balance when it lands on an uneven guardrail with its belly as support.

[0051] In this embodiment, the corresponding power maintenance method is determined according to different flatness. For example, in the case of a tilted top surface of the guardrail, the aircraft controls one or more rotors at the lower end of the tilted surface to continue to output power, thereby preventing the aircraft from slipping.

[0052] The beneficial effect of this embodiment is that by performing a landing on the railing with the belly of the aircraft and conserving power to maintain balance, the aircraft can land stably on the uneven surface of the balcony railing, thereby improving the success rate of landing on the balcony railing.

[0053] Example 8 Figure 8 This is a flowchart of the eighth embodiment of the building balcony lowering method of the present invention. Based on the above embodiment, the step of obtaining the railing features of the balcony railing and performing railing lowering according to the railing features specifically includes: S25. When the width exceeds the spacing between the aircraft's supports, check whether the flatness meets the preset flatness conditions. S26. If the flatness does not meet the preset flatness conditions, the guardrail is lowered using the support, and the power is retained to maintain balance.

[0054] In this embodiment, unlike the above-described implementation, on the one hand, the flatness of the top surface of the railing does not meet the preset flatness conditions, and on the other hand, the width of the top surface of the railing also exceeds the spacing between the aircraft's supports. In this case, if the aircraft still needs to land on the balcony railing, some of the multi-rotor output power needs to be retained so that the aircraft can land on the railing via the supports and maintain dynamic balance. At this time, the aircraft can land with the supports parallel to the railing or perpendicular to the railing. Furthermore, the output power of one or more multi-rotors can be adjusted according to the landing support point to avoid instability or slippage.

[0055] The beneficial effect of this embodiment is that by using an aircraft support to perform the railing landing and retaining power to maintain balance, the aircraft can land stably on the uneven surface of the balcony railing, thereby improving the success rate of balcony railing landing.

[0056] Example 9 Based on the above embodiments, the present invention also proposes a building balcony landing device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the building balcony landing method as described in any of the above embodiments.

[0057] It should be noted that the above-described device embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the device embodiments, which will not be repeated here.

[0058] Example 10 Based on the above embodiments, the present invention also proposes a computer-readable storage medium storing a building balcony landing program, wherein when the building balcony landing program is executed by a processor, the steps of the building balcony landing method as described in any of the above claims are implemented.

[0059] It should be noted that the above-described medium embodiments and method embodiments belong to the same concept. The specific implementation process can be found in the method embodiments, and the technical features in the method embodiments are also applicable to the medium embodiments, which will not be repeated here.

[0060] The building balcony landing method, device, and computer-readable storage medium of the present invention identify and acquire the railing features of the balcony railing, determine the width and flatness of the top surface of the railing, and adaptively perform railing landing. This enables unmanned aerial vehicles to effectively and safely land on balcony railings in densely populated building scenarios such as commercial districts and residential communities, facilitating residents to pick up their packages and improving the user experience of building delivery.

[0061] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0062] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0063] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0064] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for landing on a building balcony, applied to an unmanned aerial vehicle performing building delivery tasks, characterized in that, The method includes: Upon arrival at the balcony area of ​​the delivery address, the balcony railing of the balcony area is identified. The railing features of the balcony railing are obtained, and the railing is lowered according to the railing features, wherein the railing features include the width and flatness of the top surface of the railing.

2. The method for lowering a building balcony according to claim 1, characterized in that, The step of acquiring the railing features of the balcony railing and performing railing lowering based on the railing features specifically includes: Check whether the width exceeds the spacing between the aircraft's supports; If the width exceeds the bracket spacing, the railing is lowered using the brackets; if the width does not exceed the bracket spacing, the balcony floor is lowered using the brackets.

3. The method for lowering a building balcony according to claim 2, characterized in that, The step of detecting whether the width exceeds the spacing between the aircraft's supports further includes: When the width exceeds the bracket spacing, the flatness is checked to see if it meets the preset flatness conditions. If the flatness meets the flatness condition, the railing is lowered using the support frame; if the flatness does not meet the flatness condition, the balcony floor is lowered using the support frame.

4. The method for lowering a building balcony according to claim 1, characterized in that, The step of acquiring the railing features of the balcony railing and performing railing lowering based on the railing features specifically includes: Detect whether the flatness meets the preset flatness conditions; If the flatness meets the flatness condition, the guardrail is lowered using a support or the belly of the machine; if the flatness does not meet the flatness condition, the balcony floor is lowered using a support.

5. The method for lowering a building balcony according to claim 4, characterized in that, The step of detecting whether the flatness meets the preset flatness conditions further includes: When the flatness meets the flatness condition, the relationship between the width and the spacing between the aircraft's supports is detected. If the width is less than the bracket spacing, the guardrail is lowered using the belly of the aircraft. If the width is greater than the bracket spacing, the guardrail is lowered using the brackets. If the width is equal to the bracket spacing, then the vertical guardrail is lowered using the brackets.

6. The method for lowering a building balcony according to claim 5, characterized in that, The provision that if the width is equal to the bracket spacing, then the vertical guardrail is lowered using the brackets further includes: Adjust the orientation to make the bracket perpendicular to the guardrail; Once the support center of gravity of the bracket is located on the center line of the guardrail, the guardrail is lowered using the bracket.

7. The method for lowering a building balcony according to claim 1, characterized in that, The step of acquiring the railing features of the balcony railing and performing railing lowering based on the railing features specifically includes: When the width does not exceed the spacing between the aircraft's supports, check whether the flatness meets the preset flatness conditions; If the flatness does not meet the preset flatness conditions, the aircraft belly will be used to lower the guardrail while retaining power to maintain balance.

8. The method for lowering a building balcony according to claim 1, characterized in that, The step of acquiring the railing features of the balcony railing and performing railing lowering based on the railing features specifically includes: When the width exceeds the spacing between the aircraft's supports, the flatness is checked to see if it meets the preset flatness conditions. If the flatness does not meet the preset flatness conditions, the guardrail will be lowered using a support frame, while maintaining power to keep the balance.

9. A balcony lowering device, characterized in that, The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the building balcony lowering method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a program for landing an unmanned aerial vehicle on a building balcony, which, when executed by a processor, implements the steps of the building balcony landing method as described in any one of claims 1 to 8.

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