Methods, devices, equipment and media for unmanned aerial vehicle (UAV) landing

Abstract

This invention provides a method, apparatus, device, and medium for landing unmanned aerial vehicles (UAVs). The method includes: determining whether the UAV meets the necessary set of conditions for landing in the hangar based on the hangar health status vector and the UAV's own self-sensing status vector, and generating landing control commands for the UAV, including landing commands at the original hangar or at an alternate landing site; controlling the UAV to fly to the original hangar and land according to the landing procedure based on the original hangar landing command and a preset landing procedure at the original hangar; and generating flight path information for the UAV from its current position to the alternate landing site based on the alternate landing site landing command and alternate landing site information, so that the UAV can fly to the alternate landing site and land according to the flight path information. This solution can significantly improve the safety of UAV return landing and reduce the risk of crash and damage when the return point is unavailable.

Description

Technical Field

[0001] This invention relates to the field of compound-wing unmanned aerial vehicle (UAV) control technology, and in particular to a UAV landing method, apparatus, equipment, and medium. Background Technology

[0002] Currently, drones with automatic return-to-home functionality are typically pre-set to a single return-to-home point (such as a takeoff point or hangar). When this return-to-home point becomes unavailable due to malfunctions, severe weather, or other reasons, the drone usually finds itself in a "cannot land" predicament. Common strategies include hovering and waiting or making an emergency landing on the spot, which carries a high risk of crashing or being damaged. Summary of the Invention

[0003] This invention provides a method, apparatus, device, and medium for landing unmanned aerial vehicles (UAVs) to solve the aforementioned technical problems.

[0004] This invention provides a method for landing a drone, the method comprising:

[0005] Based on the hangar health status vector and the UAV's own self-sensing status vector, determine whether the UAV meets the necessary set of conditions for landing in the hangar, and generate landing control commands for the UAV. The landing control commands include the original hangar landing command or the alternative landing site landing command. Based on the original hangar landing command and the preset landing procedure in the original hangar, control the UAV to fly to the original hangar and land according to the landing procedure; Based on the landing command and the alternate landing site information, a flight path is generated for the UAV from its current location to the alternate landing site, so that the UAV can fly to the alternate landing site and land according to the flight path information.

[0006] In one embodiment of the present invention, based on the original hangar landing command and the preset landing procedure in the original hangar, the method further includes controlling the UAV to fly to the original hangar before landing according to the landing procedure. Determine the maximum error value from the hangar center and the required conversion altitude when the UAV is completely converted from a fixed-wing to a multi-rotor during landing, and determine the hangar's allowable degradation error and the final decision altitude; Define the conversion height as the top height and the maximum error value as the top radius to generate a top circle; Define the final decision height as the bottom height and the allowable degradation error of the hangar as the bottom radius to generate a bottom circle; Based on the top circle and the bottom circle, a funnel-shaped fault-tolerant funnel model is generated. The fault-tolerant funnel model is used to characterize the actual allowable deviation at different real-time altitudes during the UAV's landing in the original hangar.

[0007] In one embodiment of the present invention, based on the original hangar landing command and the preset landing procedure in the original hangar, controlling the UAV to fly to the original hangar and land according to the landing procedure includes: Determine the real-time horizontal plane deviation and real-time altitude of the UAV relative to the center point of the hangar; The actual allowable deviation is determined in the fault-tolerant funnel model based on the real-time altitude, and the real-time horizontal plane deviation is compared with the actual allowable deviation. If the real-time horizontal plane deviation is less than or equal to the actual allowable deviation, the UAV is controlled to continue landing towards the original hangar; if the real-time horizontal plane deviation is greater than the actual allowable deviation, an instruction is generated to switch the UAV's landing position.

[0008] In one embodiment of the present invention, if the real-time horizontal plane deviation is greater than the actual allowable deviation, after generating the instruction for the UAV to switch landing positions, the method further includes: Control the drone to stop landing according to the landing procedure towards the designated hangar; Control the drone to climb in rotor mode and fly laterally out of the designated hangar area; Generate a landing instruction at the alternate landing site.

[0009] In one embodiment of the present invention, determining whether the UAV meets the necessary set of conditions for landing in the hangar is based on the hangar health state vector and the UAV's own self-perceived state vector, including: The positioning accuracy of the UAV positioning module is compared with a preset threshold to determine whether the positioning accuracy is higher than the preset threshold. Maintain a valid connection with the original hangar data link and verify whether the drone can receive data from the original hangar to determine whether the communication is continuous. Determine whether the real-time wind speed and direction reported by the UAV and the hangar are within the aircraft's landing safety envelope; Determine if the originally designated hangar is available, ready, and fault-free.

[0010] In one embodiment of the present invention, generating landing control commands for a drone includes: If the drone simultaneously meets all the conditions in the set of necessary conditions for landing in the hangar, then a landing command is generated for the originally designated hangar. If the drone does not meet any of the necessary conditions in the set of conditions for landing in the hangar, a landing instruction is generated at the alternate landing site.

[0011] In one embodiment of the present invention, based on the landing command and the alternate landing site information, a flight path information of the UAV from its current location to the alternate landing site is generated, so that after the UAV flies to the alternate landing site and lands according to the flight path information, the method further includes: When the drone arrives within the preset range of the alternate landing site, the visual recognition system searches for and locks onto the preset ground markers of the alternate landing site, and precisely aligns the drone with the ground markers. If the alignment is successful, the drone is controlled to land precisely at the alternate landing site. If the alignment fails, the drone automatically downgrades to a combined navigation mode based on inertial navigation and barometer, executes a safe descent procedure, and ensures that the drone lands within the designated area.

[0012] The present invention also provides a drone landing device, comprising: The processing module determines whether the UAV meets the necessary set of conditions for landing in the hangar based on the hangar health status vector and the UAV's own self-sensing status vector, and generates landing control commands for the UAV, including landing commands at the original hangar or landing commands at the alternate landing site. The original hangar landing module, based on the original hangar landing command and the preset landing procedure in the original hangar, controls the UAV to fly to the original hangar and land according to the landing procedure; The alternate landing site landing module generates flight path information for the UAV from its current location to the alternate landing site based on the alternate landing site landing command and alternate landing site information, so that the UAV can fly to the alternate landing site and land according to the flight path information.

[0013] The present invention also provides an electronic device, the electronic device comprising: One or more processors; A storage device for storing one or more programs that, when executed by one or more processors, enable the electronic device to implement the drone landing method.

[0014] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer processor, causes the computer to perform the aforementioned drone landing method.

[0015] The beneficial effects of this invention are as follows: The UAV landing method proposed in this invention, by pre-storing alternate landing site information and establishing a forced landing decision logic, no longer relies on a single hangar as the only return landing point. When multi-source fusion determines that the hangar does not meet the safe landing conditions, it automatically forces the landing command to land at the alternate landing site, replacing the passive response method of hovering and waiting or forced landing in place in the prior art. This achieves an upgrade from "passive risky landing" to "active safe alternate landing", significantly improving the safety of UAV return landing and reducing the risk of crash and damage when the return landing point is unavailable. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0017] In the attached diagram: Figure 1 This is a flowchart of a drone landing method provided in one embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of a fault-tolerant funnel model provided in one embodiment of the present invention.

[0019] Figure 3 This is a block diagram of a drone landing device provided in one embodiment of the present invention. Detailed Implementation

[0020] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0021] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. The drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the shape, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0022] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0023] Please see Figure 1 , Figure 1 A drone landing method provided in an embodiment of the present invention includes: Step S110: Based on the hangar health status vector and the UAV's own self-sensing status vector, determine whether the UAV meets the set of necessary conditions for landing in the hangar, and generate a landing control command for the UAV. The landing control command includes a landing command at the original hangar or a landing command at the alternate landing site.

[0024] For example, the hangar health status vector includes status information such as whether the hangar is idle, ready, and fault-free.

[0025] For example, the self-perceived state vector includes state information such as whether communication is continuous and whether navigation is reliable.

[0026] The set of necessary conditions refers to the conditions that must be met for a drone to land in the designated hangar. For example, it is necessary to ensure that the drone's navigation is reliable, that the drone's communication with the designated hangar is continuous and without failure, that environmental conditions such as weather conditions allow the drone to land in the designated hangar, and that the designated hangar can be used for drone landing.

[0027] Step S120: Based on the original hangar landing command and the preset landing procedure in the original hangar, control the UAV to fly to the original hangar and land according to the landing procedure.

[0028] In this embodiment, after determining that a landing can be made at the designated hangar, the landing is carried out according to the originally set landing procedure. The landing procedure includes details about the landing route and method.

[0029] Step S130: Based on the landing command and the alternate landing site information, generate flight path information for the UAV from its current location to the alternate landing site, so that the UAV can fly to the alternate landing site and land according to the flight path information.

[0030] For example, alternate landing site information includes the coordinates of the alternate landing site. Based on the current location of the drone, the coordinates of the alternate landing site, and the real-time wind direction and speed, the drone's landing trajectory information can be determined.

[0031] In an exemplary embodiment, based on the original hangar landing command and the preset landing procedure in the original hangar, the method controls the UAV to fly to the original hangar before landing according to the landing procedure, and the method further includes steps S210 to S240.

[0032] Step S210: Determine the maximum error value from the hangar center and the required conversion altitude when the UAV is completely converted from a fixed-wing to a multi-rotor during landing, and determine the hangar's allowable degradation error and the final decision altitude.

[0033] For example, the maximum deviation is 15 meters, corresponding to a conversion height of 50 meters. The allowable degradation error is 0.5 meters, and the final decision height is 1 meter.

[0034] Step S220: Define the conversion height as the top height and the maximum error value as the top radius to generate a top circle.

[0035] For example, the top circle is 50 meters above the ground, meaning the top height is 50 meters. The radius of the top circle is 15 meters.

[0036] Step S230: Define the final decision height as the bottom height, define the allowable degradation error of the hangar as the bottom radius, and generate a bottom circle.

[0037] For example, the bottom circle is 1 meter above the ground, meaning the bottom height is 1 meter. The radius of the bottom circle is 0.5 meters.

[0038] Step S240: Based on the top circle and the bottom circle, a funnel-shaped fault-tolerant funnel model is generated. The fault-tolerant funnel model is used to characterize the actual allowable deviation at different real-time altitudes during the UAV's landing in the original hangar.

[0039] For example, the generated fault-tolerant funnel model is as follows: Figure 2 As shown. (Attached) Figure 2 The UAV 21 can only land successfully at the designated airport 22 within the limits set by the fault-tolerant funnel model.

[0040] For example, within the height difference range between the bottom and top circles, the real-time allowable deviation Dmax(Ht) can be calculated using the following formula: Dmax(Ht) = Dmax2 + (Dmax1 - Dmax2) (Ht-H2) / (H1-H2) in, Dmax1 is the top radius; Dmax2 is the bottom radius; Ht represents the real-time height; H1 is the top height; H2 is the bottom height.

[0041] In an exemplary embodiment, the process of controlling the UAV to fly to the designated hangar and land according to the landing procedure based on the original hangar landing command and the preset landing procedure in the original hangar includes at least steps S310 and S320.

[0042] Step S310: Determine the real-time horizontal plane deviation and real-time altitude of the UAV relative to the center point of the hangar.

[0043] For example, the drone uses a camera and a positioning module (such as a GPS positioning module) to determine the aforementioned real-time horizontal plane deviation and real-time altitude.

[0044] Step S320: Determine the actual allowable deviation in the fault-tolerant funnel model based on the real-time altitude, and compare the real-time horizontal plane deviation with the actual allowable deviation. If the real-time horizontal plane deviation is less than or equal to the actual allowable deviation, control the UAV to continue landing towards the original hangar; if the real-time horizontal plane deviation is greater than the actual allowable deviation, generate an instruction for the UAV to switch landing positions.

[0045] For example, if the real-time horizontal plane deviation Dt ≤ D_max (actual allowable deviation), it means that the drone's current state is still within the "correctable" safety tolerance range and it can continue to descend. If Dt > D_max, it is predicted that the drone will not be able to converge the deviation to within 0.5 meters when it descends to a height of 1 meter.

[0046] In an exemplary embodiment, if the real-time horizontal plane deviation is greater than the actual allowable deviation, after generating the instruction for the UAV to switch landing positions, the method further includes steps S410 to S430.

[0047] Step S410: Control the drone to stop landing towards the designated hangar according to the landing procedure.

[0048] Step S420: Control the drone to climb in rotor mode and fly laterally out of the original hangar area.

[0049] Step S430: Generate landing instructions at the alternate landing site.

[0050] For example, after generating a landing instruction at an alternate landing site, step S130 is performed.

[0051] In an exemplary embodiment, the determination of whether the UAV meets the necessary set of conditions for landing in the hangar is based on the hangar health state vector and the UAV's own self-perceived state vector, including steps S510 to S540.

[0052] Step S510 involves comparing the positioning accuracy of the UAV positioning module with a preset threshold to determine whether the positioning accuracy is higher than the preset threshold. This step is to confirm the reliability of the UAV navigation.

[0053] For example, the preset threshold can be set according to requirements.

[0054] Step S520: Maintain a valid data link connection with the original hangar and verify whether the drone can receive data from the original hangar to determine if communication is continuous. This step is to determine the continuity of drone communication.

[0055] Step S530: Determine whether the real-time wind speed and direction reported by the UAV and the hangar are within the aircraft's landing safety envelope. This step is to determine weather permissibility, that is, whether the weather and environmental conditions meet the UAV's landing requirements.

[0056] Step S540: Determine whether the designated hangar is available, ready, and fault-free. That is, determine whether the designated hangar meets the requirements for drone landing.

[0057] In one exemplary embodiment, generating landing control commands for the drone includes steps S610 and S620.

[0058] Step S610: If the UAV simultaneously meets all the conditions in the set of necessary conditions for landing in the hangar, then a landing command is generated for the originally designated hangar.

[0059] It should be noted that a drone can only land if all the conditions in the necessary condition set are met.

[0060] For example, the set of necessary conditions includes: Navigation reliability is guaranteed: GPS / RTK positioning accuracy is higher than a preset threshold.

[0061] Ensure communication continuity: Maintain a valid connection with the host library's data link and be able to receive its status packets.

[0062] Meteorological clearance is met: the real-time wind speed and direction detected by the UAV and reported by the hangar are within the aircraft's landing safety envelope.

[0063] Meeting hangar availability requirements: The original hangar was designed to be "idle, ready, and fault-free".

[0064] Step S620: If the UAV does not meet any of the necessary conditions in the set of conditions for landing in the hangar, a landing command is generated at the alternate landing site.

[0065] In this embodiment, the drone cannot land in the designated hangar if any condition is not met.

[0066] In an exemplary embodiment, based on the alternate landing site landing command and alternate landing site information, a flight path information of the UAV from its current location to the alternate landing site is generated, so that after the UAV flies to the alternate landing site and lands according to the flight path information, the method further includes: When the drone arrives within the preset range of the alternate landing site, the visual recognition system searches for and locks onto the preset ground markers of the alternate landing site, and precisely aligns the drone with the ground markers. If the alignment is successful, the drone is controlled to land precisely at the alternate landing site. If the alignment fails, the drone automatically downgrades to a combined navigation mode based on inertial navigation and barometer, executes a safe descent procedure, and ensures that the drone lands within the designated area.

[0067] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0068] Figure 3 This is a block diagram illustrating a drone landing device in an exemplary embodiment of this application.

[0069] like Figure 3 As shown, the exemplary drone landing device includes: The processing module 310 determines whether the UAV meets the necessary set of conditions for landing in the hangar based on the hangar health status vector and the UAV's own self-sensing status vector, and generates a landing control command for the UAV, which includes a landing command for the original hangar or a landing command for the alternate landing site. The original hangar landing module 320, based on the original hangar landing command and the landing program preset in the original hangar, controls the UAV to fly to the original hangar and land according to the landing program; The alternate landing site landing module 330 generates flight path information of the UAV from its current location to the alternate landing site based on the alternate landing site landing command and alternate landing site information, so that the UAV can fly to the alternate landing site and land according to the flight path information.

[0070] This application pre-stores alternate landing site information and establishes a forced alternate landing decision logic, no longer relying on a single hangar as the only return landing point. When multi-source fusion determines that the hangar does not meet the safe landing conditions, it automatically and forcibly executes the alternate landing site landing command, replacing the passive response method of hovering and waiting or forced landing in place in the existing technology. It realizes the upgrade from "passive risky landing" to "active safe alternate landing", significantly improving the safety of UAV return alternate landing and reducing the risk of crash and damage when the return landing point is unavailable.

[0071] By combining real-time status data of the compound-wing UAV (used to determine the UAV's self-aware state vector) with real-time status data of the hangar (used to determine the hangar's health state vector), and through multi-source information fusion, the necessary conditions for safe landing (the set of necessary conditions for landing in the hangar) are determined. This overcomes the limitations of existing technologies that rely solely on the UAV's single perspective and where each fault handling module operates independently. It achieves a comprehensive assessment of both the UAV's own status and the hangar's condition, providing a more comprehensive basis for decision-making and effectively avoiding landing risks caused by overlooking single faults. It also solves the problem of isolated fault assessments by constructing a global "airport-airport collaborative" assessment mechanism, improving the comprehensiveness and reliability of landing feasibility assessments.

[0072] When the original hangar cannot be safely landed, a dedicated alternate landing trajectory is generated and executed based on the UAV's real-time status data (real-time horizontal plane deviation and real-time altitude), alternate landing site coordinates, and geographical feature information. This fully adapts to the flight characteristics of compound-wing UAVs, ensuring reasonable alternate landing trajectory planning and a smooth landing process. It fills the gap in existing technologies that lack a systematic alternate landing strategy, improving the success rate of UAV alternate landings in complex scenarios. It also solves the problems of simple alternate landing trigger conditions and lack of adaptability in existing technologies.

[0073] It should be noted that the drone landing device and the drone landing method provided in the above embodiments belong to the same concept. The specific ways in which each module and unit performs operations have been described in detail in the method embodiments, and will not be repeated here. In practical applications, the drone landing device provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above, and this is not a limitation here.

[0074] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the drone landing method provided in the above embodiments.

[0075] Another aspect of this application provides a computer-readable storage medium storing a computer program thereon, which, when executed by a computer's processor, causes the computer to perform the drone landing method as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into the electronic device.

[0076] Another aspect of this application provides a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the drone landing method provided in the various embodiments described above.

[0077] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A method for landing an unmanned aerial vehicle (UAV), characterized in that, include: Based on the hangar health status vector and the UAV's own self-sensing status vector, determine whether the UAV meets the necessary set of conditions for landing in the hangar, and generate landing control commands for the UAV. The landing control commands include the original hangar landing command or the alternative landing site landing command. Based on the original hangar landing command and the preset landing procedure in the original hangar, control the UAV to fly to the original hangar and land according to the landing procedure; Based on the landing command and the alternate landing site information, a flight path is generated for the UAV from its current location to the alternate landing site, so that the UAV can fly to the alternate landing site and land according to the flight path information.

2. The UAV landing method according to claim 1, characterized in that, Based on the original hangar landing command and the preset landing procedure in the original hangar, the method further includes controlling the UAV to fly to the original hangar before landing according to the landing procedure: Determine the maximum error value from the hangar center and the required conversion altitude when the UAV is completely converted from a fixed-wing to a multi-rotor during landing, and determine the hangar's allowable degradation error and the final decision altitude; Define the conversion height as the top height and the maximum error value as the top radius to generate a top circle; Define the final decision height as the bottom height and the allowable degradation error of the hangar as the bottom radius to generate a bottom circle; Based on the top circle and the bottom circle, a funnel-shaped fault-tolerant funnel model is generated. The fault-tolerant funnel model is used to characterize the actual allowable deviation at different real-time altitudes during the UAV's landing in the original hangar.

3. The UAV landing method according to claim 2, characterized in that, Based on the original hangar landing command and the preset landing procedure in the original hangar, control the UAV to fly to the original hangar and land according to the landing procedure, including: Determine the real-time horizontal plane deviation and real-time altitude of the UAV relative to the center point of the hangar; The actual allowable deviation is determined in the fault-tolerant funnel model based on the real-time altitude, and the real-time horizontal plane deviation is compared with the actual allowable deviation. If the real-time horizontal plane deviation is less than or equal to the actual allowable deviation, the UAV is controlled to continue landing towards the original hangar; if the real-time horizontal plane deviation is greater than the actual allowable deviation, an instruction is generated to switch the UAV's landing position.

4. The UAV landing method according to claim 3, characterized in that, If the real-time horizontal plane deviation is greater than the actual allowable deviation, then after generating the instruction for the UAV to switch landing positions, the method further includes: Control the drone to stop landing according to the landing procedure towards the designated hangar; Control the drone to climb in rotor mode and fly laterally out of the designated hangar area; Generate a landing instruction at the alternate landing site.

5. The unmanned aerial vehicle landing method according to claim 1, characterized in that, Based on the hangar health state vector and the UAV's own self-perceived state vector, determine whether the UAV meets the necessary set of conditions for landing in the hangar, including: The positioning accuracy of the UAV positioning module is compared with a preset threshold to determine whether the positioning accuracy is higher than the preset threshold. Maintain a valid connection with the original hangar data link and verify whether the drone can receive data from the original hangar to determine whether the communication is continuous. Determine whether the real-time wind speed and direction reported by the UAV and the hangar are within the aircraft's landing safety envelope; Determine if the originally designated hangar is available, ready, and fault-free.

6. The unmanned aerial vehicle landing method according to claim 1, characterized in that, Generate landing control commands for the drone, including: If the drone simultaneously meets all the conditions in the set of necessary conditions for landing in the hangar, then a landing command is generated for the originally designated hangar. If the drone does not meet any of the necessary conditions in the set of conditions for landing in the hangar, a landing instruction is generated at the alternate landing site.

7. The unmanned aerial vehicle landing method according to claim 1, characterized in that, Based on the landing command and the alternate landing site information, a flight path is generated for the UAV from its current location to the alternate landing site. After the UAV flies to the alternate landing site and lands according to the flight path information, the method further includes: When the drone arrives within the preset range of the alternate landing site, the visual recognition system searches for and locks onto the preset ground markers of the alternate landing site, and precisely aligns the drone with the ground markers. If the alignment is successful, the drone is controlled to land precisely at the alternate landing site. If the alignment fails, the drone automatically downgrades to a combined navigation mode based on inertial navigation and barometer, executes a safe descent procedure, and ensures that the drone lands within the designated area.

8. A drone landing device, characterized in that, include: The processing module determines whether the UAV meets the necessary set of conditions for landing in the hangar based on the hangar health status vector and the UAV's own self-sensing status vector, and generates landing control commands for the UAV, including landing commands at the original hangar or landing commands at the alternate landing site. The original hangar landing module, based on the original hangar landing command and the preset landing procedure in the original hangar, controls the UAV to fly to the original hangar and land according to the landing procedure; The alternate landing site landing module generates flight path information for the UAV from its current location to the alternate landing site based on the alternate landing site landing command and alternate landing site information, so that the UAV can fly to the alternate landing site and land according to the flight path information.

9. A device, characterized in that, include: One or more processors and memory, The memory stores a computer program that, when executed by the one or more processors, causes the device to perform the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by one or more processors, causes the device to perform the method as described in any one of claims 1-7.

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