Aircraft landing method and device and computer readable storage medium

Abstract

The invention discloses an aircraft landing method and device and a computer readable storage medium, the method is applied to an unmanned aircraft executing a building delivery task, a balcony support is installed on the side vertical face of a balcony, and the method comprises the steps that after a balcony area corresponding to a delivery address is reached, the balcony support of the area is connected, and the balcony support is connected to the unmanned aircraft; support features, personnel features and environment features of a balcony area, cargo hold features of the aircraft and cargo features of the aircraft are obtained; and controlling the balcony bracket to be adjusted to a bracket angle corresponding to the one or more characteristics, and falling to the balcony bracket. According to the method, the aircraft is connected with the balcony support in the balcony area and controls the balcony support to be adjusted to the proper angle, so that the aircraft stably lands on the balcony support, the aircraft can effectively and safely land on the balcony support aiming at building dense scenes such as commercial street areas and residential districts, landing areas do not need to be additionally arranged, and the cost is reduced. And the resident can conveniently take the parcels.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle technology, and more particularly to an aircraft landing method, equipment, and computer-readable storage medium. 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 an aircraft landing method, device and computer-readable storage medium to solve the problems that the current methods are not effective and safe for aircraft landing in densely built-up scenarios such as commercial districts and residential communities, which are inconvenient for residents to pick up their packages and result in a poor user experience for building delivery.

[0006] This invention proposes an aircraft landing method for unmanned aerial vehicles performing building delivery tasks. The aircraft lands on a balcony support, which is installed on the side facade of a balcony. The method includes: Upon arrival at the balcony area corresponding to the delivery address, the balcony support in the balcony area is connected, and the support characteristics of the balcony support, the personnel characteristics and environmental characteristics of the balcony area, the cargo hold characteristics of the aircraft, and the cargo characteristics are obtained. After adjusting the balcony support to an angle that corresponds to one or more of the support features, cargo hold features, cargo features, personnel features, and environmental features, the balcony support is lowered onto the balcony support.

[0007] Optionally, the support features include a support area and a locking structure. The control of adjusting the balcony support to a support angle corresponding to one or more of the support features, cargo hold features, cargo features, personnel features, and environmental features specifically includes: The bottom area and bottom structure of the cargo hold are determined based on the aforementioned cargo hold characteristics; Check whether the area of ​​the support frame is greater than the area of ​​the cargo hold bottom; If the area of ​​the support frame is larger than the area of ​​the cargo hold bottom, then the angle of the support frame is adjusted to be parallel to the horizontal plane; If the area of ​​the support frame is less than or equal to the area of ​​the cargo hold bottom, then it is detected whether the locking structure matches the bottom structure; If the locking structure matches the bottom structure, then the bracket angle is adjusted to the locking angle; If the locking structure does not match the bottom structure, the bracket angle is adjusted to the limit angle.

[0008] Optionally, adjusting the bracket angle to the locking angle further includes: The angle for retrieving the item is determined based on the personnel characteristics and / or the environmental characteristics. The device is lowered onto the balcony support, and after the locking structure locks with the bottom structure, the locking angle is adjusted to the removal angle.

[0009] Optionally, adjusting the bracket angle to the limit angle further includes: The orientation of the cargo hold doors is determined based on the cargo hold characteristics, and the angle for retrieving items is determined based on the orientation of the cargo hold doors. Land on the balcony support, and after the aircraft is secured by the balcony support at the limiting angle, adjust the limiting angle to the picking angle.

[0010] Optionally, determining the pickup angle based on the personnel characteristics and / or the environmental characteristics specifically includes: Based on the personnel characteristics, the estimated personnel height and the estimated difficulty of retrieving the item are calculated. Determine the retrieval angle corresponding to the estimated height of the person and / or the estimated difficulty of retrieval.

[0011] Optionally, determining the retrieval angle based on the orientation of the hatch specifically includes: Determine the current climate and airspace conditions based on the aforementioned environmental characteristics; Determine the pick-up angle corresponding to the climate conditions and / or the clearance conditions.

[0012] Optionally, determining the pickup angle based on the personnel characteristics and / or the environmental characteristics further includes: Determine the cargo weight and cargo dimensions in the cargo characteristics; The pickup angle is adjusted according to the weight and / or size of the goods.

[0013] Optionally, determining the pickup angle corresponding to the climate conditions and / or the clearance conditions further includes: Determine the cargo attributes and cargo packaging in the cargo characteristics; The pickup angle is adjusted according to the cargo attributes and / or the cargo packaging.

[0014] The present invention also proposes an aircraft landing device, the device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the aircraft landing method as described in any of the preceding claims.

[0015] The present invention also proposes a computer-readable storage medium storing an aircraft landing program, wherein when the aircraft landing program is executed by a processor, the steps of the aircraft landing method as described in any of the preceding claims are implemented.

[0016] The aircraft landing method, apparatus, and computer-readable storage medium of this invention connect to and control a balcony support in a balcony area to adjust it to a suitable angle so that the aircraft can land stably on the balcony support. This allows for effective and safe landing on balcony supports in densely populated building environments such as commercial districts and residential communities, eliminating the need for additional landing areas and facilitating resident access. 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 aircraft landing method of the present invention; Figure 2 This is a flowchart of the second embodiment of the aircraft landing method of the present invention; Figure 3 This is a flowchart of the third embodiment of the aircraft landing method of the present invention; Figure 4 This is a flowchart of the fourth embodiment of the aircraft landing method of the present invention; Figure 5 This is a flowchart of the fifth embodiment of the aircraft landing method of the present invention; Figure 6 This is a flowchart of the sixth embodiment of the aircraft landing method of the present invention; Figure 7 This is a flowchart of the seventh embodiment of the aircraft landing method of the present invention; Figure 8 This is a flowchart of the eighth embodiment of the aircraft 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 aircraft landing method of the present invention. An aircraft landing method is applied to an unmanned aerial vehicle performing a building delivery task, wherein the aircraft lands on a balcony support, the balcony support being installed on the side facade of a balcony, and the method includes: S1. Upon arrival at the balcony area corresponding to the delivery address, connect the balcony support of the balcony area and obtain the support characteristics of the balcony support, the personnel characteristics and environmental characteristics of the balcony area, the cargo hold characteristics of the aircraft, and the cargo characteristics. S2. After controlling the balcony support to adjust to a support angle that corresponds to one or more of the support features, cargo hold features, cargo features, personnel features, and environmental features, the balcony support is lowered onto the balcony support.

[0021] In this embodiment, the balcony support includes various types, such as an electrically retractable support based on the side facade of the balcony railing, or an electrically retractable support based on the side wall of the balcony. The electrically retractable support has two deformation characteristics: first, it electrically adjusts the angle between the support's bearing surface and the horizontal plane according to received angle control commands; second, it electrically adjusts the support area of ​​the support's bearing surface according to received telescopic control commands. Optionally, the rotation axis of the electrically retractable support is horizontal and close to the side facade of the railing or wall. Optionally, initially, the electrically retractable support is in contact with the side facade of the railing or wall. Optionally, in the first deployment stage... The rotating shaft of the electric telescopic bracket rotates from top to bottom or from bottom to top, thereby gradually reducing the angle between the electric telescopic bracket and the horizontal plane of the balcony floor from a right angle. Optionally, in the second deployment stage, the bearing surface of the electric telescopic bracket expands through the telescopic mechanism, thereby increasing the support area of ​​the bearing surface, or retracts through the telescopic mechanism, thereby reducing the support area of ​​the bearing surface. Optionally, the electric telescopic bracket communicates directly with and is controlled by the unmanned aerial vehicle (UAV), or the electric telescopic bracket is controlled by a smart home gateway, and the UAV connects to the home gateway to control the electric telescopic bracket.

[0022] In this embodiment, when the unmanned aerial vehicle (UAV) performing the building delivery task arrives at the balcony area corresponding to the delivery address, it actively establishes a communication link with the balcony support in the balcony area. One method is that the UAV locates the balcony support based on the connection information contained in the order information and directly establishes a communication link with the balcony support based on the identity information contained in the order information. Another method is that the UAV establishes a communication link with the gateway of the resident's home based on the verification information contained in the order information, thereby obtaining control authority over the balcony support. That is, the communication link with the balcony support is established indirectly through the gateway of the home.

[0023] In this embodiment, after the aircraft establishes a communication link with the balcony support, it obtains the support features of the balcony support. The support features include two aspects: first, the adjustment range of the angle between the bearing surface and the horizontal plane of the balcony; and second, the adjustment range of the size of the bearing surface.

[0024] In this embodiment, the aircraft further acquires the characteristics of people and the environment in the balcony area through its own sensing devices. On the one hand, it uses cameras to collect and recognize images to determine the situation of people in the balcony area. On the other hand, it uses cameras to collect and recognize images to determine the environmental conditions of the balcony area. Specifically, the situation of people includes the number of people, their identities, heights, and ages, while the environmental conditions include wind speed, temperature, rainfall, and visibility. Optionally, to protect the privacy of residents, the identities, heights, and ages of the people are identified by features, and no specific details are collected.

[0025] In this embodiment, the aircraft determines the cargo characteristics of the aircraft through order information and the cargo hold characteristics of the aircraft through its own configuration information. Specifically, the cargo characteristics include the size, weight, attributes and packaging of the cargo, and the cargo hold characteristics include the external dimensions of the cargo hold, the installation orientation and the opening method or direction of the hatch, etc. Optionally, the attributes of the cargo include information such as the type of cargo and the value of the cargo, for example, the cargo is food, stationery and glass products, etc.

[0026] In this embodiment, once the aircraft determines one or more of the above-mentioned features, it can generate corresponding support adjustment commands based on one or more features, thereby controlling the angle between the balcony support's load-bearing surface and the horizontal plane, and / or the size of the load-bearing surface; after the balcony support is adjusted, the aircraft lands on the balcony support, which on the one hand ensures the stability of the aircraft, and on the other hand improves the convenience for residents to pick up their items.

[0027] The beneficial effect of this embodiment is that by connecting and controlling the balcony support in the balcony area to a suitable angle, the aircraft can land stably on the balcony support. This allows the aircraft to effectively and safely land on the balcony support in densely built-up areas such as commercial districts and residential communities, without the need to set up an additional landing area, and it is convenient for residents to pick up their items.

[0028] Example 2 Figure 2 This is a flowchart of a second embodiment of the aircraft landing method of the present invention. Based on the above embodiment, the support features include a support area and a locking structure. The step of controlling the balcony support to adjust to a support angle corresponding to one or more of the support features, cargo hold features, cargo features, personnel features, and environmental features specifically includes: S21. Determine the bottom area and bottom structure of the cargo hold based on the cargo hold characteristics; S22. Detect whether the area of ​​the support frame is greater than the area of ​​the bottom of the cargo hold; S23. If the area of ​​the support frame is larger than the area of ​​the bottom of the cargo hold, then adjust the angle of the support frame to be parallel to the horizontal plane; S24. If the area of ​​the bracket is less than or equal to the area of ​​the bottom of the cargo hold, then detect whether the locking structure matches the bottom structure; S25. If the locking structure matches the bottom structure, then adjust the bracket angle to the locking angle; S26. If the locking structure does not match the bottom structure, the bracket angle is adjusted to the limit angle.

[0029] In this embodiment, as described above, the bracket features include two aspects: first, the adjustment range of the angle between the bearing surface and the horizontal plane; second, the adjustment range of the size of the bearing surface. Further, the bracket features include a bracket area and a locking structure, wherein the bracket area is calculated from the above-mentioned dimensions, and the locking structure includes an electric telescopic claw, an electric telescopic plate, etc., for fixing the aircraft or cargo hold.

[0030] In this embodiment, for the configuration of an aircraft's bottom cargo hold, firstly, the bottom area and bottom structure of the cargo hold are determined based on the cargo hold characteristics. Then, it is detected whether the area of ​​the support frame is greater than the bottom area of ​​the cargo hold. Subsequently, adaptive adjustments are made according to different situations: specifically, firstly, if the area of ​​the support frame is less than or equal to the bottom area of ​​the cargo hold, it is detected whether the locking structure matches the bottom structure; secondly, if the locking structure matches the bottom structure, the angle of the support frame is adjusted to the locking angle; thirdly, if the locking structure does not match the bottom structure, the angle of the support frame is adjusted to the limiting angle.

[0031] It should be noted that the aforementioned locking structure is a movable part of the balcony support frame, used to secure the aircraft or cargo hold; another method is to configure the aforementioned locking structure on the aircraft or cargo hold, that is, to secure the balcony support frame through the locking structure of the aircraft or cargo hold.

[0032] It should also be noted that when the balcony support is deployed, if the position of the support's bearing surface is not the same as or higher than the surface of the balcony railing, considering that the aircraft's rotor boundary may exceed the area of ​​the support, which could cause the aircraft's rotor to collide with the balcony side facade during landing, the rotor's coverage area is used instead of the cargo hold bottom area as the basis for judgment. That is, the support area is checked to see if it is greater than the coverage area of ​​all the aircraft's rotors, and then adjustments are made adaptively according to the above method and in combination with different situations.

[0033] In this embodiment, the locking structure and the bottom structure are matched in such a way that when the bottom of the aircraft or cargo hold comes into contact with the support surface of the bracket, the locking structure can fix the aircraft or cargo hold, thereby ensuring that the aircraft will not be displaced due to subsequent changes in the bracket angle; wherein, the bottom structure is the cargo hold bottom structure when the cargo hold is mounted on the bottom, or the fuselage bottom structure when the cargo hold is not mounted on the bottom.

[0034] In this embodiment, to further improve the stability of the aircraft after landing on the balcony support surface (for example, actions such as residents opening the cargo hold, retrieving items from the cargo hold, and closing the cargo hold may affect this stability), the locking structure is also linked to the support angle. That is, when the locking structure matches the bottom structure, the support angle is adjusted to the locking angle, thereby facilitating the locking structure to fix the aircraft or cargo hold. For example, the locking structure is an electrically retractable claw. When it is determined that the locking structure matches the bottom structure, the support angle is adjusted to the locking angle. At this angle, the gripping direction of the electrically retractable claw corresponds to the contact surface of the aircraft or cargo hold, thereby fixing the aircraft more stably. Optionally, the above-mentioned structure matching determination method is that after the aircraft lands on the balcony support surface, if the locking structure can fix the bottom structure, then the locking structure is considered to match the bottom structure. For example, the bottom structure includes a protrusion and a groove. After the aircraft lands on the balcony support surface, the protrusion is embedded into the groove of the locking structure, and the locking structure electrically extends its limiting part to the groove, thereby achieving the locking effect.

[0035] In this embodiment, to address the mismatch between the locking structure and the bottom structure, and to further improve the applicability of aircraft landing on the balcony support surface, the aircraft or cargo hold is limited by the support angle. That is, during the aircraft's landing on the support surface, the support angle is dynamically adjusted so that the support surface can restrict the aircraft from slipping. For example, before the aircraft lands, the balcony support is in a retracted state, that is, the support surface is against the balcony railing or balcony side wall. During the aircraft's landing, the balcony support is adjusted from the retracted state to the extended state, with the support surface parallel to the horizontal plane. Furthermore, after the aircraft contacts the support surface, the balcony support retracts by a preset angle (ten to thirty degrees) to prevent the aircraft from slipping due to insufficient friction or human handling after power output stops.

[0036] The beneficial effect of this embodiment is that by combining the load-bearing detection of the bearing surface with the matching detection of the locking structure, the aircraft can land effectively and stably on the balcony support under different conditions, thus improving the adaptability of the balcony support to support aircraft.

[0037] Example 3 Figure 3This is a flowchart of a third embodiment of the aircraft landing method of the present invention. Based on the above embodiment, adjusting the bracket angle to the locking angle further includes: S31. Determine the pickup angle based on the personnel characteristics and / or the environmental characteristics; S32. Descend to the balcony support, and after the locking structure locks with the bottom structure, adjust the locking angle to the picking angle.

[0038] In this embodiment, the retrieval angle is adjusted according to the position of the personnel, so as to facilitate the residents to open the hatch and retrieve the items while ensuring that the aircraft will not slip. For example, for the resident's position, after the locking structure and the bottom structure are locked, the retrieval angle is adjusted so that the cargo hatch door is slightly tilted towards the resident's position, which makes it easier to prompt the resident to open the hatch and retrieve the items.

[0039] In this embodiment, the above-mentioned pick-up angle is adjusted according to the external environment to ensure that the object is not damaged. For example, when rainy weather is detected, after the locking structure and the bottom structure are locked, the pick-up angle is adjusted so that the cargo hold door is tilted slightly downward to prevent raindrops from hitting the cargo.

[0040] The beneficial effect of this embodiment is that the lifting angle is dynamically adjusted after the locking structure and the bottom structure are locked, making it more convenient to lift the item and less likely to damage the item.

[0041] Example 4 Figure 4 This is a flowchart of the fourth embodiment of the aircraft landing method of the present invention. Based on the above embodiment, adjusting the bracket angle to the limit angle further includes: S41. Determine the orientation of the cargo hold door based on the cargo hold characteristics, and determine the picking angle based on the orientation of the cargo hold door; S42. Land on the balcony support, and after the aircraft is fixed by the balcony support at the limiting angle, adjust the limiting angle to the picking angle.

[0042] In this embodiment, as described in the example above, regarding the limiting action, that is, the balcony support is retracted by a preset angle (ten to thirty degrees) to prevent the aircraft from slipping due to insufficient friction or manual retrieval after the aircraft stops power output. At this time, the cabin door may be difficult to open due to the above limiting action, or the cabin door may not open at an angle that is sufficient, making it difficult to retrieve items. In this case, the cabin door orientation is determined according to the above cargo hold characteristics, and the retrieval angle is determined according to the cabin door orientation. Then, after the aircraft is fixed by the balcony support at the limiting angle, the limiting angle is adjusted to the retrieval angle. That is, it is fixed first during landing, and then slowly unfolded when the resident can carry out the opening operation. It is understood that the resident has the ability to manually prevent the aircraft from slipping when retrieving items.

[0043] Furthermore, in this embodiment, after the resident has collected the item and closed the cabin door, the aircraft is still slowly adjusted to the limit angle before taking off again to prevent it from slipping.

[0044] The beneficial effect of this embodiment is that by adjusting the limiting angle and the picking angle, the stability of the aircraft and the convenience of picking up the parts are balanced.

[0045] Example 5 Figure 5 This is a flowchart of the fifth embodiment of the aircraft landing method of the present invention. Based on the above embodiment, the step of determining the pick-up angle according to the personnel characteristics and / or the environmental characteristics specifically includes: S311. Calculate the estimated height of the personnel and the estimated difficulty of retrieving the item based on the personnel characteristics; S312. Determine the retrieval angle corresponding to the estimated height of the person and / or the estimated difficulty of retrieval.

[0046] In this embodiment, the retrieval angle is adjusted according to the height of the person, so as to facilitate the resident to open the cabin and retrieve the item without ensuring that the aircraft will not slip. For example, for shorter children, after the locking structure and bottom structure are locked, the retrieval angle is adjusted so that the cargo cabin door is tilted slightly downward, making it easier for the child to open the cabin and retrieve the item independently. For taller residents, after the locking structure and bottom structure are locked, the retrieval angle is adjusted so that the cargo cabin door is tilted slightly upward, making it easier for the resident to open the cabin manually and to perform the retrieval operation intuitively.

[0047] The beneficial effect of this embodiment is that by dynamically determining the retrieval angle corresponding to the estimated height of the person and / or the estimated difficulty of retrieval, the retrieval becomes more convenient and the object is less likely to be damaged.

[0048] Example 6 Figure 6This is a flowchart of the sixth embodiment of the aircraft landing method of the present invention. Based on the above embodiment, the step of determining the retrieval angle according to the orientation of the hatch specifically includes: S411. Determine the current climate conditions and airspace conditions based on the environmental characteristics described; S412. Determine the pickup angle corresponding to the climate conditions and / or the clearance conditions.

[0049] In this embodiment, after determining the orientation of the hatch, the current climate conditions and / or clearance conditions are determined. For example, in rainy or snowy weather, the hatch opening is tilted, and in sunny weather, the hatch opening is made to face upwards, making it easier for residents to stably retrieve goods. Furthermore, in this embodiment, the environmental characteristics mentioned above have a higher priority than the personnel characteristics mentioned above. For example, when taller residents retrieve items in rainy or snowy weather, the hatch is not adjusted slightly upwards, but rather slightly downwards, so as to avoid the items being affected by rain or snow.

[0050] In this embodiment, if the balcony support is installed on the balcony railing, it is further determined whether the railing affects the opening and closing of the cabin door. That is, the current airspace conditions are determined and adjusted to a suitable pick-up angle. On the one hand, this facilitates residents to pick up their goods, and on the other hand, it avoids affecting the aircraft's restart.

[0051] The beneficial effect of this embodiment is that by dynamically determining the retrieval angle corresponding to the climate conditions and / or the airspace conditions, retrieval becomes more convenient, the object is less likely to be damaged, and flight safety is ensured.

[0052] Example 7 Figure 7 This is a flowchart of the seventh embodiment of the aircraft landing method of the present invention. Based on the above embodiment, the step of determining the pick-up angle according to the personnel characteristics and / or the environmental characteristics further includes: S33. Determine the cargo weight and cargo dimensions in the cargo characteristics; S34. Adjust the picking angle according to the weight and / or size of the goods.

[0053] In this embodiment, when the weight of the goods is large, the above-mentioned pick-up angle is adjusted to an angle that is convenient for residents to pick up, for example, the hatch is tilted slightly downwards to facilitate residents to carry it.

[0054] In this embodiment, when the cargo is large, the above-mentioned pick-up angle is adjusted to facilitate the cargo leaving the hold, so as to avoid the cargo scraping against the hatch, railing, or wall when leaving the hold. For example, the hatch is offset from the balcony railing or the side wall to avoid the railing or wall interfering with the opening of the hatch.

[0055] The beneficial effect of this embodiment is that by dynamically adjusting the retrieval angle according to the weight and / or size of the cargo, the hatch opening becomes more flexible and the retrieval becomes easier.

[0056] Example 8

[0057] Figure 8 This is a flowchart of the eighth embodiment of the aircraft landing method of the present invention. Based on the above embodiment, determining the pick-up angle corresponding to the weather conditions and / or the clearance conditions further includes: S43. Determine the cargo attributes and cargo packaging in the cargo characteristics; S44. Adjust the pickup angle according to the cargo attributes and / or the cargo packaging.

[0058] In this embodiment, the cargo attributes include information such as the type of cargo and the value of the cargo. For example, the cargo may be food, stationery, or glassware. The cargo packaging refers to the information on the outer packaging of the cargo, such as paper packaging, bagged packaging, unpackaged, or boxed.

[0059] In this embodiment, for food items, the horizontal angle is adjusted as the retrieval angle to prevent the food from tipping over. For glass items, the angle of the bearing surface with the hatch facing upwards at a preset angle is adjusted as the retrieval angle to prevent the item from slipping and getting damaged.

[0060] The beneficial effect of this embodiment is that by dynamically adjusting the picking angle according to the cargo attributes and / or the cargo packaging, damage to the object is effectively avoided.

[0061] Example 9 Based on the above embodiments, the present invention also proposes an aircraft 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 aircraft landing method as described in any of the preceding embodiments.

[0062] 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.

[0063] Example 10 Based on the above embodiments, the present invention also proposes a computer-readable storage medium storing an aircraft landing program, wherein when the aircraft landing program is executed by a processor, the steps of the aircraft landing method as described in any of the above claims are implemented.

[0064] 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.

[0065] The aircraft landing method, apparatus, and computer-readable storage medium of the present invention connect to and control the balcony support in the balcony area to adjust to a suitable angle so that the aircraft can land stably on the balcony support. This enables the aircraft to effectively and safely land on the balcony support in densely built-up areas such as commercial districts and residential communities, without the need for additional landing areas, and facilitates residents' retrieval of items.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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. An aircraft landing method for an unmanned aircraft performing a building delivery task, comprising the steps of: The aircraft lands on a balcony support structure, the balcony support structure being installed on the side facade of the balcony, and the method includes: Upon arrival at the balcony area corresponding to the delivery address, the balcony support in the balcony area is connected, and the support characteristics of the balcony support, the personnel characteristics and environmental characteristics of the balcony area, the cargo hold characteristics of the aircraft, and the cargo characteristics are obtained. After adjusting the balcony support to an angle that corresponds to one or more of the support features, cargo hold features, cargo features, personnel features, and environmental features, the balcony support is lowered onto the balcony support.

2. The aircraft landing method according to claim 1, characterized in that, The support features include a support area and a locking structure. Controlling the balcony support to adjust to an angle corresponding to one or more of the support features, cargo hold features, cargo features, personnel features, and environmental features specifically includes: The bottom area and bottom structure of the cargo hold are determined based on the aforementioned cargo hold characteristics; Check whether the area of ​​the support frame is greater than the area of ​​the cargo hold bottom; If the area of ​​the support frame is larger than the area of ​​the cargo hold bottom, then the angle of the support frame is adjusted to be parallel to the horizontal plane; If the area of ​​the support frame is less than or equal to the area of ​​the cargo hold bottom, then it is detected whether the locking structure matches the bottom structure; If the locking structure matches the bottom structure, then the bracket angle is adjusted to the locking angle; If the locking structure does not match the bottom structure, the bracket angle is adjusted to the limit angle.

3. The aircraft landing method according to claim 2, characterized in that, The step of adjusting the bracket angle to the locking angle further includes: The angle for retrieving the item is determined based on the personnel characteristics and / or the environmental characteristics. The device is lowered onto the balcony support, and after the locking structure locks with the bottom structure, the locking angle is adjusted to the removal angle.

4. The aircraft landing method according to claim 2, characterized in that, The step of adjusting the bracket angle to the limit angle further includes: The orientation of the cargo hold doors is determined based on the cargo hold characteristics, and the angle for retrieving items is determined based on the orientation of the cargo hold doors. Land on the balcony support, and after the aircraft is secured by the balcony support at the limiting angle, adjust the limiting angle to the picking angle.

5. The aircraft landing method according to claim 3, characterized in that, The step of determining the pickup angle based on the personnel characteristics and / or the environmental characteristics specifically includes: Based on the personnel characteristics, the estimated personnel height and the estimated difficulty of retrieving the item are calculated. Determine the retrieval angle corresponding to the estimated height of the person and / or the estimated difficulty of retrieval.

6. The aircraft landing method according to claim 4, characterized in that, The step of determining the retrieval angle based on the orientation of the hatch specifically includes: Determine the current climate and airspace conditions based on the aforementioned environmental characteristics; Determine the pick-up angle corresponding to the climate conditions and / or the clearance conditions.

7. The aircraft landing method according to claim 5, characterized in that, The step of determining the pickup angle based on the personnel characteristics and / or the environmental characteristics further includes: Determine the cargo weight and cargo dimensions in the cargo characteristics; The pickup angle is adjusted according to the weight and / or size of the goods.

8. The aircraft landing method according to claim 6, characterized in that, Determining the pickup angle corresponding to the climate conditions and / or the clearance conditions further includes: Determine the cargo attributes and cargo packaging in the cargo characteristics; The pickup angle is adjusted according to the cargo attributes and / or the cargo packaging.

9. An aircraft landing 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 aircraft landing 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 an application aircraft landing program, which, when executed by a processor, implements the steps of the aircraft landing method as described in any one of claims 1 to 8.

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