Unmanned aerial vehicle hangar and image display method

Abstract

The application relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle hangar and an image display method, the unmanned aerial vehicle hangar comprising a hangar platform and a processing unit and at least one display unit arranged on the hangar platform; the processing unit is used for acquiring a preset gray image to be currently displayed, determining a display area and display data of the preset gray image on the display unit according to the preset gray image, and controlling the display unit to display the preset gray image; the display unit is used for displaying the preset gray image in the display area; the preset gray image is used for calibrating a multispectral camera of an unmanned aerial vehicle, or the preset gray image is used for identifying and acquiring specific information by the unmanned aerial vehicle. The application can realize full-automatic calibration of a multispectral camera of an unmanned aerial vehicle and accurate landing positioning on the hangar platform, and improves the operation efficiency of the unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to UAV hangars and image display methods. Background Technology

[0002] With the maturity and large-scale application of drone technology, drone hangars, as core supporting facilities for drone storage, automatic charging, maintenance, operation scheduling and safety management, directly determine the closed-loop capability and operational efficiency of drone automated operations based on their technological maturity.

[0003] In related technologies, the calibration scheme for multispectral cameras carried by drones requires manual intervention by engineers. Before calibration, staff need to manually remove the standard gray card and place it precisely in the designated location on the hangar platform. After the camera is calibrated, the gray card also needs to be manually retrieved.

[0004] In drone landing positioning solutions, the QR code used for positioning is usually placed manually in a specific location within the hangar. It is necessary to ensure that the QR code is placed flat, unobstructed, and in the correct orientation. At the same time, the integrity and positional stability of the QR code must be checked regularly to avoid positioning failure due to QR code offset or damage.

[0005] The aforementioned calibration schemes based on standard gray cards and the precise landing and positioning schemes for drones both have obvious operational limitations, efficiency bottlenecks, reliability shortcomings, and poor scenario adaptability. They all rely on manual operation, which not only increases labor costs but also prolongs drone preparation time and reduces overall operational efficiency. Furthermore, manual operation is prone to positional errors, reducing calibration and positioning effectiveness. They are particularly unsuitable for batch drone scheduling, high-frequency take-off and landing operations, synchronous drone calibration, and high-frequency calibration scenarios. They are difficult to adapt to the needs of large-scale, automated drone operations and cannot meet the requirements of unmanned and intelligent hangar operations. Summary of the Invention

[0006] This invention provides a drone hangar and image display method, which can effectively improve the overall operational efficiency of drones and realize the unmanned and intelligent operation of drone hangars.

[0007] In a first aspect, the present invention provides a drone hangar, the drone hangar including a hangar platform and a processing unit and at least one display unit disposed on the hangar platform; The processing unit is used to acquire a preset grayscale image to be displayed, determine the display area and display data of the preset grayscale image on the display unit according to the preset grayscale image, and control the display unit to display the preset grayscale image. The display unit is used to display the preset grayscale image in the display area; the preset grayscale image is used by the UAV for multispectral camera calibration, or the preset grayscale image is used by the UAV to identify and acquire specific information.

[0008] In some embodiments, the preset grayscale image includes a neutral grayscale image or an information identification image; The neutral gray image is used for the UAV to perform multispectral camera calibration, and the information identification image is used by the UAV to identify and acquire specific information.

[0009] In some embodiments, the information identification image is a QR code image, and the specific information includes the landing location information of the drone on the hangar platform.

[0010] In some embodiments, the preset grayscale image includes a neutral grayscale image, and the drone hangar further includes a central control platform; The central control platform is used to provide the neutral gray image to the processing unit in response to the camera calibration request of the UAV.

[0011] In some embodiments, the preset grayscale image includes an information identification image, and the drone hangar further includes a central control platform; The central control platform is used to provide the information identification image to the processing unit in response to the information acquisition request of the UAV.

[0012] In some embodiments, the information identification image is a QR code image, and the information acquisition request is the landing and positioning request of the UAV; The central control platform is used to respond to the landing positioning request of the UAV, obtain the QR code image corresponding to the available landing position on the hangar platform, and provide the QR code image to the processing unit. The QR code image is used by the UAV to identify and obtain landing position information.

[0013] In some embodiments, each landing position on the hangar platform is configured with multiple QR code images, wherein each QR code image corresponds to the pre-landing hovering altitude of a drone; The central control platform is used to respond to the landing and positioning request of the UAV and obtain the corresponding QR code image based on the current pre-landing hovering altitude of the UAV.

[0014] In some embodiments, the display unit includes a plurality of pixel units arranged in an array; The processing unit is used to determine the pixel units and corresponding pixel values ​​for displaying the preset grayscale image based on the preset grayscale image; the display area includes the positions of the pixel units for displaying the preset grayscale image, and the display data includes the pixel values ​​of the pixel units for displaying the preset grayscale image.

[0015] Secondly, the present invention provides an image display method for a drone hangar, the drone hangar having a display unit, the image display method comprising: Get the current preset grayscale image to be displayed; The display area and display data of the preset grayscale image on the display unit are determined based on the preset grayscale image; The control display unit displays the preset grayscale image in the display area. The preset grayscale image is used by the UAV for multispectral camera calibration, or the preset grayscale image is used by the UAV to identify and acquire specific information.

[0016] In some embodiments, the preset grayscale image includes a neutral grayscale image or a QR code image, and obtaining the current preset grayscale image to be displayed includes: In response to a camera calibration request from the UAV, the neutral gray image is acquired, and the neutral gray image is used for multispectral camera calibration of the UAV; or, In response to a drone's landing request, a QR code image corresponding to an available landing location in the drone hangar is acquired. The QR code image is used by the drone to identify and obtain landing location information, and the specific information includes the landing location information.

[0017] According to the embodiments of the present invention, the UAV hangar and image display method are provided by equipping the UAV hangar with a processing unit and a display unit. The processing unit acquires a preset grayscale image to be displayed, and the display unit displays the preset grayscale image. The preset grayscale image is used by the UAV for multispectral camera calibration or to identify and obtain specific information (such as landing position and attitude). This enables fully automated UAV multispectral camera calibration and precise landing positioning on the hangar platform without human intervention, improving UAV operation efficiency. It can adapt to the needs of large-scale and automated UAV operations and meet the needs of unmanned and intelligent hangar operation. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the composition structure of a drone hangar provided in an embodiment of the present invention; Figure 2 A schematic diagram of the composition structure of another unmanned aerial vehicle hangar provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the composition structure of a display unit in an embodiment of the present invention; Figure 4 This is a schematic diagram of the composition structure of a pixel unit in an embodiment of the present invention; Figure 5 This is a schematic diagram showing a neutral gray image in an embodiment of the present invention; Figure 6 This is a schematic diagram showing a QR code image in an embodiment of the present invention; Figure 7 A flowchart illustrating an image display method for a drone hangar provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] In related technologies, drone hangars serve as core supporting facilities for storing, automatically charging, maintaining, scheduling, and managing drones. Their technological maturity directly determines the closed-loop capability and operational efficiency of automated drone operations.

[0023] Multispectral cameras mounted on drones are widely used in various scenarios such as agricultural growth monitoring, ecological environment assessment, and resource exploration due to their ability to accurately capture the spectral characteristics of objects on the Earth's surface. Calibration, as a crucial step before data acquisition by multispectral cameras, directly determines the accuracy, reliability, and quantitative analysis precision of subsequent spectral data, and is a core prerequisite for ensuring the practical value of multispectral remote sensing technology. In the calibration scheme for multispectral cameras mounted on drones, manual intervention by engineers is required. Before calibration, staff must manually remove a standard gray card and accurately place it in a designated location on the hangar platform, ensuring that the gray card is within the multispectral camera's field of view and meets requirements such as uniformity and no obstruction. After the camera completes calibration, the gray card must be manually retrieved.

[0024] Precise landing and positioning of drones directly determines whether they can safely and stably dock in the designated area of ​​the hangar. It is a core element in ensuring the closed-loop automation of drone operations and improving operational efficiency and safety. In drone landing and positioning solutions, a QR code for positioning is typically placed manually in a specific location within the hangar. The QR code must be placed flat, unobstructed, and in the correct orientation. The integrity and positional stability of the QR code must be checked regularly to prevent positioning failure due to QR code misalignment or damage.

[0025] The aforementioned calibration schemes based on standard gray cards and the precise landing and positioning schemes for drones both suffer from significant operational limitations, efficiency bottlenecks, reliability shortcomings, and poor scenario adaptability. They all rely on manual operation, which not only increases labor costs but also prolongs drone preparation time, reducing overall operational efficiency. Furthermore, manual operation is prone to positional errors, reducing calibration and positioning effectiveness. They are particularly unsuitable for scenarios involving batch drone scheduling, high-frequency take-off and landing operations, synchronous drone calibration, and high-frequency calibration. They are ill-suited to the needs of large-scale, automated drone operations and cannot meet the requirements of unmanned and intelligent hangar operations.

[0026] In view of this, embodiments of the present invention provide a drone hangar and image display method. By equipping the drone hangar with a processing unit and a display unit, the processing unit acquires a preset grayscale image to be displayed, and the display unit displays the preset grayscale image. The preset grayscale image is used by the drone for multispectral camera calibration or to identify and obtain specific information (such as landing position and attitude). This enables fully automated drone multispectral camera calibration and precise landing positioning on the hangar platform without manual intervention, improving drone operation efficiency and adapting to the needs of large-scale, automated drone operations, while also meeting the requirements of unmanned and intelligent hangar operation. In practical applications, this method can reduce costs and increase efficiency in drone hangars, reduce the packaging and configuration of QR codes for drone landing positioning on the hangar platform, increase the success rate of precise landing, and effectively address the needs of various drone scenarios.

[0027] According to an embodiment of the present invention, an embodiment of a drone hangar is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0028] This invention provides a drone hangar. Figure 1 This is a schematic diagram of the composition structure of a drone hangar provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the drone hangar includes a hangar platform 101, a processing unit 102 and at least one display unit 103 disposed on the hangar platform 101.

[0029] The processing unit 102 is used to acquire the preset grayscale image to be displayed, determine the display area and display data of the preset grayscale image on the display unit 103 according to the preset grayscale image, and control the display unit 103 to display the preset grayscale image.

[0030] The display unit 103 is used to display a preset grayscale image in the display area; the preset grayscale image is used by the UAV for multispectral camera calibration, or the preset grayscale image is used by the UAV to identify and obtain specific information.

[0031] In this embodiment of the invention, the hangar platform 101 is a ground infrastructure designed specifically for drones, which can provide drones with functions such as parking, take-off and landing, automatic storage, charging / battery swapping, maintenance and task scheduling, so as to realize unmanned operation.

[0032] The processing unit 102 is powered by the hangar platform 101 and is responsible for processing the images to be displayed to the drone; the display unit 103 is powered by the processing unit 102 and is connected to the processing unit 102 in communication and is responsible for displaying the image data transmitted by the processing unit 102.

[0033] In some scenarios, when it is necessary to calibrate the multispectral camera of a drone, the processing unit 102 acquires a preset grayscale image for the drone to perform multispectral camera calibration, and displays it through the display unit 103. This allows the drone to calibrate the multispectral camera on the drone through the preset grayscale image displayed by the display unit 103, achieving automated drone multispectral camera calibration without manual intervention.

[0034] In some scenarios, when it is necessary to transmit specific information to the drone or when the drone needs to acquire specific information, the processing unit 102 acquires a preset grayscale image for the drone to identify and acquire specific information, and displays it through the display unit 103. This allows the drone to acquire the corresponding specific information, such as landing position information and attitude information for the drone to perform precise landing positioning, by recognizing the preset grayscale image displayed by the display unit 103. This achieves automated precise landing positioning of the drone without human intervention.

[0035] According to embodiments of the present invention, the drone hangar is equipped with a processing unit and a display unit. The processing unit acquires a preset grayscale image to be displayed, and the display unit displays the preset grayscale image. The preset grayscale image is used by the drone for multispectral camera calibration or to identify and obtain specific information (such as landing position and attitude). This enables fully automated drone multispectral camera calibration and precise landing positioning on the hangar platform without human intervention, improving drone operation efficiency. It can adapt to the needs of large-scale and automated drone operations and meet the needs of unmanned and intelligent hangar operation.

[0036] In some embodiments, the preset grayscale image includes a neutral grayscale image or an information identification image. The neutral grayscale image is used by the UAV for multispectral camera calibration, and the information identification image is used by the UAV to identify and acquire specific information.

[0037] A neutral gray image is an image in which the values ​​of red, green, and blue pixels are equal. The reflectance of a neutral gray image is approximately 18%, and it is located in the brightness center between black and white. It can uniformly reflect light of all wavelengths without introducing color shift. In multispectral camera calibration, the camera needs to accurately capture the light intensity of different bands. Neutral gray images can help identify and correct sensor response deviations, for example, by comparing theoretical reflectance with measured values ​​and adjusting gain or offset parameters to ensure the consistency of data across different bands.

[0038] Therefore, in some embodiments, when it is necessary to perform multispectral camera calibration on the UAV, a neutral gray image of a preset size is obtained by the processing unit 102 and displayed by the display unit 103, so that the UAV can perform camera calibration by taking pictures of the neutral gray image displayed by the display unit 103 with the multispectral camera.

[0039] Information identification images refer to visual graphics arranged according to specific rules that encode and represent various types of specific information such as text, data, and links. They can be parsed and restored by visual recognition devices (or dedicated reading devices) to realize the transmission and recognition of specific information.

[0040] In some embodiments, when it is necessary to transmit specific information to the drone or when the drone needs to acquire specific information, the processing unit 102 acquires an information identification image carrying the specific information and displays it through the display unit 103, so that the drone can identify and acquire the specific information from the information identification image by scanning and recognizing it. For example, the specific information may include landing position information on the hangar platform 101 where the drone can land and park, and the drone's parking attitude information at the landing position.

[0041] In some embodiments, the information identification image is a QR code image, and the specific information includes the drone's landing position information and parking attitude information on the hangar platform. When the drone is about to land and park on the hangar platform 101, the corresponding QR code image is displayed through the display unit 103, so that the drone can scan the QR code image with a visual recognition device to obtain the landing position information available for the drone to land and the drone's parking attitude information at the landing position on the hangar platform 101.

[0042] Figure 2 This is a schematic diagram of the composition structure of another unmanned aerial vehicle hangar provided by an embodiment of the present invention. In some embodiments, such as... Figure 2 As shown, the drone hangar also includes a central control platform 104, which is used to acquire the preset grayscale image to be displayed and provide the preset grayscale image to be displayed to the processing unit 102.

[0043] Preset grayscale images can be stored in the central control platform 104 or a preset database. The central control platform can read the preset grayscale images to be displayed from the database. The central control platform 104 is a hardware and software integrated system for centralized and intelligent management of single / multiple UAVs. It is also the core command center for UAV operations. Its core function is to break the independent operation limitations of a single UAV and realize unified scheduling, real-time monitoring, task management, and data interaction of UAV swarms.

[0044] In some embodiments, when it is necessary to calibrate the multispectral camera of the UAV, the central control platform 104 acquires a preset grayscale image for multispectral camera calibration and provides the grayscale image for multispectral camera calibration, such as a neutral gray image, to the processing unit 102.

[0045] In some embodiments, when it is necessary to transmit specific information (such as landing location information) to the drone, the central control platform 104 acquires a preset grayscale image carrying the specific information and provides the processing unit 102 with the grayscale image carrying the specific information, such as an information identification image.

[0046] In some embodiments, the central control platform 104 is used to determine a preset grayscale image to be displayed in response to a specific request from the drone, and to provide the preset grayscale image to be displayed to the processing unit 102.

[0047] In some embodiments, the specific request from the UAV is a camera calibration request, which requests multispectral camera calibration. The preset grayscale image includes a preset neutral gray image. The central control platform 104 is used to provide the preset neutral gray image to the processing unit 102 in response to the UAV's camera calibration request.

[0048] It should be noted that the embodiments of the present invention do not impose special restrictions on the size and pixel resolution of the neutral gray image, and can be configured according to actual needs or the multispectral camera calibration requirements of the UAV.

[0049] In some embodiments, the specific request of the UAV is an information acquisition request. The preset grayscale image includes a preset information identification image. The central control platform 104 is used to respond to the information acquisition request of the UAV, acquire the corresponding information identification image, and provide the information identification image to the processing unit 102. Different information acquisition requests correspond to different information identification images, carrying different specific information.

[0050] In some embodiments, the information identification image is a QR code image. A QR code is essentially a data matrix that contains specific information, such as a URL, text, or numbers.

[0051] In some embodiments, the information identification image is a QR code image, which is used to carry the landing position information and parking attitude information of the UAV at the landing position, etc. The information acquisition request is a landing positioning request of the UAV, which is used to request landing positioning. The central control platform 104 is used to respond to the UAV's landing positioning request, acquire the QR code image corresponding to the available landing position in the UAV hangar, and provide the corresponding QR code image to the processing unit 102. The QR code image is used by the UAV to identify and acquire the landing position information and parking attitude information, etc.

[0052] In some embodiments, different QR code images are pre-configured for different drone landing positions on the hangar platform 101. Each QR code image carries the corresponding landing position information and the drone's parking attitude information. When the drone is preparing to land, it can obtain the corresponding landing position and parking attitude through QR code image recognition, and then land at the landing position and park in the parking attitude.

[0053] In some embodiments, each preset landing position on the hangar platform 101 may be configured with multiple QR code images, wherein each QR code image corresponding to each landing position corresponds to the pre-landing hovering height of a drone, and the pre-landing hovering height refers to the height of the drone's hovering position from the hangar platform 101 when it is preparing to land.

[0054] In some embodiments, the higher the pre-landing hovering altitude of the drone, the larger the size and resolution of the corresponding QR code image.

[0055] By configuring different QR code images for different pre-landing hovering altitudes, the clarity of the QR code images captured by the drone can be improved when the drone lands at different pre-landing hovering altitudes. This makes it easier for the drone to accurately identify the QR code images to obtain landing location information and reduces the probability that the drone cannot effectively identify the QR code images when landing at higher pre-landing hovering altitudes.

[0056] In some embodiments, the spatial location area for preparing the drone to land can be pre-set. For example, the spatial location area includes a spatial location area that is 3 meters or 10 meters away from the hangar platform 101. When the drone returns to the home plane, it enters the spatial location area and can send a landing positioning request to the central control platform 104. The request can carry the drone's current spatial location information and attitude information.

[0057] In some embodiments, the central control platform 104 is used to respond to the landing positioning request of the UAV, obtain the corresponding QR code image according to the current pre-landing hovering altitude of the UAV, and provide the corresponding QR code image to the processing unit 102.

[0058] Specifically, the central control platform 104 can determine the pre-landing hovering height of the drone based on the spatial location of the requested drone, and select a QR code image that matches the pre-landing hovering height of the drone from the QR code images corresponding to the available landing positions on the hangar platform 101.

[0059] In some embodiments, after acquiring the preset grayscale image to be displayed, the processing unit 102 determines the display area and display data of the preset grayscale image on the display unit 103 by decoding the preset grayscale image.

[0060] Figure 3 This is a schematic diagram of the composition structure of a display unit according to an embodiment of the present invention. In some embodiments, such as... Figure 3 As shown, the display unit 103 includes multiple pixel units arranged in an array. For example, the multiple pixel units arranged in an array include M×N pixel units, that is, M rows and N columns of pixel units. There is no light transmission and no heat conduction between the pixel units.

[0061] In some embodiments, the processing unit 102 and the display unit 103 may be located on the same integrated circuit board. The processing unit 102 and the display unit 103 may transmit information through an integrated circuit bus (I2C). Each pixel unit in the display unit 103 may be connected to a power module on the integrated circuit board through metal wires or metal interconnect layers. The power module may provide the necessary power to the processing unit 102 and the display unit 103.

[0062] In some embodiments, the processing unit 102 can read and write the display data of each pixel unit stored in the display register of the display unit 103 via I2C, thereby controlling the display unit 103 to display a preset grayscale image.

[0063] In some embodiments, the processing unit 102 is configured to determine, based on a preset grayscale image, pixel units for displaying the preset grayscale image and their corresponding pixel values; the display area includes the positions of the pixel units for displaying the preset grayscale image, and the display data includes the pixel values ​​of the pixel units for displaying the preset grayscale image.

[0064] Specifically, the processing unit 102 decodes the preset grayscale image to parse data such as the image resolution and pixel values ​​of each pixel of the preset grayscale image, thereby mapping and determining the pixel unit on the display unit 103 used to display the preset grayscale image and the pixel values ​​of the pixel unit used to display the preset grayscale image.

[0065] In this embodiment of the invention, white and black are divided into several levels according to a logarithmic relationship, which are called gray levels. There are 256 gray levels. An image represented by gray levels is called a grayscale image. The pixel value is a digital code that represents the color / brightness of the pixel. The grayscale image has a single channel. The pixel value range of each pixel in the grayscale image is 0~255 (8-bit code). 0 represents pure black, 255 represents pure white, and intermediate values ​​represent different gray levels.

[0066] In some embodiments, each pixel unit includes multiple sub-pixels, which can be arranged in an array. Each sub-pixel corresponds to a light-emitting device of a certain color (such as a light-emitting diode LED). The pixel value of each pixel unit includes the pixel component values ​​of multiple sub-pixels. The pixel component value of each sub-pixel represents the color component / luminance component corresponding to that sub-pixel.

[0067] Figure 4This is a schematic diagram of the composition structure of a pixel unit in an embodiment of the present invention. In some embodiments, each pixel unit includes four sub-pixels, namely a red (R) sub-pixel, a green (G) sub-pixel, a blue (B) sub-pixel, and a white (W) sub-pixel. The processing unit 102 controls the display brightness of each sub-pixel by reading and writing the pixel component values ​​of each sub-pixel in the display register of the display unit 103, thereby displaying a preset grayscale image.

[0068] Combination Figure 4 As shown, the grayscale is divided into 256 levels, with a grayscale range of 0~255. The grayscale color can be adjusted by adjusting the pixel component values ​​of sub-pixels R, G, and B. When the pixel component values ​​of sub-pixels R, G, and B are equal, the color is neutral gray. When the pixel component values ​​of sub-pixels R, G, and B are R=G=B=128 (corresponding to RGB(128, 128, 128) in decimal), the color is absolutely neutral gray. When displaying neutral gray, the display brightness can be adjusted by adjusting the pixel component value of sub-pixel W.

[0069] When displaying an absolutely neutral gray color, if you need to adjust the gray level, you can do so by changing the pixel component values ​​of the three color sub-pixels. You can increase the pixel component values ​​of the R, G, and B sub-pixels to deepen the gray display, for example, RGB(150, 150, 150) is dark gray. Conversely, you can decrease the pixel component values ​​of the R, G, and B sub-pixels to lighten the gray display, for example, RGB(100, 100, 100) is light gray.

[0070] It is understandable that when the pixel component values ​​of sub-pixels R, G, and B are all 255, white is displayed; when the pixel component values ​​of sub-pixels R, G, and B are all 0, black is displayed.

[0071] Combination Figures 2-4 As shown, based on the above grayscale display principle, when it is necessary to calibrate the multispectral camera of the UAV, the central control platform 104 provides a preset neutral gray image to the processing unit 102. The processing unit 102 obtains the pixel component values ​​of each pixel by decoding the neutral gray image, maps them to each pixel unit on the display unit 103, determines the pixel component values ​​of each sub-pixel of each pixel unit in the display unit 103, sends the pixel component values ​​of each sub-pixel of each pixel unit to the display unit 103, writes them into the display register of the display unit 103, updates the pixel component values ​​of each sub-pixel in each pixel unit, and thus controls the display unit 103 to display the corresponding neutral gray image.

[0072] When a drone needs to land on hangar platform 101, a preset QR code image is provided to processing unit 102 via central control platform 104. Processing unit 102 obtains the pixel component values ​​of each pixel by decoding the QR code image, maps them to each pixel unit on display unit 103, determines the pixel component values ​​of each sub-pixel of each pixel unit in display unit 103, sends the pixel component values ​​of each sub-pixel of each pixel unit to display unit 103, writes them to the display register of display unit 103, updates the pixel component values ​​of each sub-pixel in each pixel unit, thereby controlling display unit 103 to display the corresponding QR code image.

[0073] Figure 5 This is a schematic diagram illustrating the display of a neutral gray image in an embodiment of the present invention, as shown below. Figure 5 As shown, for example, the display unit 103 includes 16 pixel units of 4×4. The neutral gray image acquired by the processing unit 102 is a neutral gray square pattern with a resolution of 2×2. The processing unit 102 controls the display unit 103 to provide different combinations of pixel unit light emission to display the desired neutral gray square pattern.

[0074] Specifically, the processing unit 102 decodes the neutral gray image to obtain the pixel component values ​​of each pixel, maps them to each pixel unit on the display unit 103, determines the pixel unit used to display the neutral gray image, determines the pixel component values ​​of each sub-pixel of each pixel unit, and writes the pixel component values ​​of each sub-pixel of each pixel unit into the display register of the display unit 103, thereby controlling the display unit 103 to display the 2×2 neutral gray square pattern.

[0075] like Figure 5As shown, the processing unit 102 determines that the pixel units used to display the neutral gray image are pixel unit 6, pixel unit 7, pixel unit 10 and pixel unit 11. In pixel unit 6, the pixel component values ​​of sub-pixels R, G, and B are R=G=B=128, and the pixel component value of sub-pixel W is W=100. Pixel unit 6 displays neutral gray. In pixel unit 7, the pixel component values ​​of sub-pixels R, G, and B are R=G=B=128, and the pixel component value of sub-pixel W is W=100. Pixel unit 7 displays neutral gray. In pixel unit 10, the pixel component values ​​of sub-pixels R, G, and B are R=G=B=128, and the pixel component value of sub-pixel W is W=100. Pixel unit 10 displays neutral gray. In pixel unit 11, the pixel component values ​​of sub-pixels R, G, and B are R=G=B=128, and the pixel component value of sub-pixel W is W=100. Pixel unit 11 displays neutral gray. In the remaining 12 pixel units, the pixel component values ​​of sub-pixels R, G, and B are R=G=B=255, and the pixel component value of sub-pixel W is W=100. The remaining 12 pixel units all display white. In this way, the display unit 103 can be controlled to display the desired 2×2 neutral gray square pattern in the middle display area.

[0076] The pixel component value of sub-pixel W is set according to the actual display brightness requirement. The pixel component value of sub-pixel W in each pixel unit can be preset according to the actual display brightness requirement. For example, it can be set that when the pixel component value of sub-pixel W is W=100, it means that the display brightness requirement is met. When the pixel component value of each sub-pixel W does not meet the display brightness requirement, the processing unit 102 can automatically adjust the pixel component value of each sub-pixel W.

[0077] Figure 6 This is a schematic diagram showing a QR code image in an embodiment of the present invention, such as... Figure 6 As shown, for example, the display unit 103 includes 16 pixel units of 4×4 pixels, and the QR code image acquired by the processing unit 102 is... Figure 6 The processing unit 102 controls the display unit 103 to provide different combinations of pixel unit light emission to display the required QR code image.

[0078] Specifically, the processing unit 102 decodes the QR code image to obtain the pixel component values ​​of each pixel, maps them to each pixel unit on the display unit 103, determines the pixel unit used to display the QR code image, determines the pixel component values ​​of each sub-pixel of each pixel unit, and writes the pixel component values ​​of each sub-pixel of each pixel unit into the display register of the display unit 103, thereby controlling the display unit 103 to display the QR code image.

[0079] like Figure 6As shown, the QR code image consists of a black part and a white part. The black part is in the shape of a cross, and the rest is white. The processing unit 102 determines that the pixel units used to display the black part of the QR code image are pixel unit 2, pixel unit 5, pixel unit 6, pixel unit 7 and pixel unit 10, and the remaining pixel units display the white part.

[0080] In pixel unit 2, the pixel component values ​​of sub-pixels R, G, B, and W are R=G=B=W=0, and pixel unit 2 displays black; in pixel unit 5, the pixel component values ​​of sub-pixels R, G, B, and W are R=G=B=W=0, and pixel unit 5 displays black; in pixel unit 6, the pixel component values ​​of sub-pixels R, G, B, and W are R=G=B=W=0, and pixel unit 6 displays black; in pixel unit 7, the pixel component values ​​of sub-pixels R, G, B, and W are R=G=B=W=0, and pixel unit 7 displays black; in pixel unit 10, the pixel component values ​​of sub-pixels R, G, B, and W are R=G=B=W=0, and pixel unit 10 displays black; in the remaining 11 pixel units, the pixel component values ​​of sub-pixels R, G, and B are R=G=B=255, the pixel component value of sub-pixel W is W=100, and the remaining 11 pixel units all display white. In this way, the display unit 103 can be controlled to display the desired QR code image in the central display area.

[0081] In some embodiments, the central control platform 104 and the processing unit 102 can transmit information via a wireless transmission protocol, and the processing unit 102 and the display unit 103 can transmit information via I2C (Inter-Integrated Circuit).

[0082] The embodiments of the present invention do not impose special limitations on the specific implementation of the processing unit 102. For example, the processing unit 102 can be a microcontroller unit (MCU). Similarly, the embodiments of the present invention do not impose special limitations on the specific implementation of the display unit 103. It can be any display screen capable of displaying grayscale images, such as an LED (Light Emitting Diode), LCD (Liquid Crystal Display), or OLED (Organic Light-Emitting Diode) display screen.

[0083] This invention also provides an image display method for a drone hangar, wherein the drone hangar is the same as the one described above, and the drone hangar has a display unit. Figure 7This is a flowchart illustrating an image display method for a drone hangar provided in an embodiment of the present invention. This image display method is implemented based on the processing unit of the drone hangar. Figure 7 As shown, the image display method includes: Step S701: Obtain the preset grayscale image to be displayed.

[0084] Step S702: Determine the display area and display data of the preset grayscale image on the display unit based on the preset grayscale image.

[0085] Step S703: Control the display unit to display a preset grayscale image in the display area. The preset grayscale image is used by the UAV for multispectral camera calibration, or the preset grayscale image is used by the UAV to identify and obtain specific information.

[0086] In some embodiments, the preset grayscale image includes a neutral grayscale image or a QR code image. Obtaining the preset grayscale image to be displayed includes: in response to a camera calibration request from the drone, obtaining a neutral grayscale image, which is used by the drone to perform multispectral camera calibration; or, in response to a landing positioning request from the drone, obtaining a QR code image corresponding to an empty landing position in the drone hangar, which is used by the drone to identify and obtain landing position information, including specific information such as landing position information.

[0087] The image display method of this invention is applied to the drone hangar of the above embodiments. For a detailed description of the image display method, please refer to the description of the central control platform, processing unit and display unit in the drone hangar of the above embodiments, which will not be repeated here.

[0088] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0089] The following is a detailed reference. Figure 8 This diagram illustrates a structural schematic suitable for implementing an electronic device according to embodiments of the present invention. The electronic device may include a processor (e.g., a central processing unit, graphics processor, etc.) 801, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 802 or a program loaded from memory 808 into random access memory (RAM) 803. RAM 803 also stores various programs and data required for the operation of the electronic device. The processor 801, ROM 802, and RAM 803 are interconnected via bus 804. Input / output (I / O) interface 805 is also connected to bus 804.

[0090] Typically, the following devices can be connected to I / O interface 805: input devices 806 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 807 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 808 including, for example, magnetic tapes, hard disks, etc.; and communication devices 809. Communication device 809 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 8 Electronic devices with various devices are shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0091] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 809, or installed from a memory 808, or installed from a ROM 802. When the computer program is executed by the processor 801, it performs the functions defined in the image display method of the embodiments of the present invention.

[0092] Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0093] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the image display method shown in the above embodiments is implemented.

[0094] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0095] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A hangar for unmanned aerial vehicles (UAVs), characterized in that, The drone hangar includes a hangar platform and a processing unit and at least one display unit mounted on the hangar platform; The processing unit is used to acquire a preset grayscale image to be displayed, determine the display area and display data of the preset grayscale image on the display unit according to the preset grayscale image, and control the display unit to display the preset grayscale image. The display unit is used to display the preset grayscale image in the display area; The preset grayscale image is used for multispectral camera calibration of the UAV, or the preset grayscale image is used for the UAV to identify and obtain specific information.

2. The drone hangar according to claim 1, characterized in that, The preset grayscale image includes a neutral grayscale image or an information identification image; The neutral gray image is used for the UAV to perform multispectral camera calibration, and the information identification image is used by the UAV to identify and acquire specific information.

3. The drone hangar according to claim 2, characterized in that, The information identification image is a QR code image, and the specific information includes the landing location information of the drone on the hangar platform.

4. The drone hangar according to claim 1, characterized in that, The preset grayscale image includes a neutral grayscale image, and the drone hangar also includes a central control platform; The central control platform is used to provide the neutral gray image to the processing unit in response to the camera calibration request of the UAV.

5. The drone hangar according to claim 1, characterized in that, The preset grayscale image includes an information identification image, and the drone hangar also includes a central control platform; The central control platform is used to provide the information identification image to the processing unit in response to the information acquisition request of the UAV.

6. The drone hangar according to claim 5, characterized in that, The information identification image is a QR code image, and the information acquisition request is the landing and positioning request of the UAV; The central control platform is used to respond to the landing positioning request of the UAV, obtain the QR code image corresponding to the available landing position on the hangar platform, and provide the QR code image to the processing unit. The QR code image is used by the UAV to identify and obtain landing position information.

7. The unmanned aerial vehicle hangar according to claim 6, characterized in that, Each landing position on the hangar platform is equipped with multiple QR code images, where each QR code image corresponds to the pre-landing hovering height of a drone. The central control platform is used to respond to the landing and positioning request of the UAV and obtain the corresponding QR code image based on the current pre-landing hovering altitude of the UAV.

8. The drone hangar according to claim 1, characterized in that, The display unit includes multiple pixel units arranged in an array; The processing unit is used to determine the pixel units and corresponding pixel values ​​for displaying the preset grayscale image based on the preset grayscale image; the display area includes the positions of the pixel units for displaying the preset grayscale image, and the display data includes the pixel values ​​of the pixel units for displaying the preset grayscale image.

9. A method for displaying images in a drone hangar, characterized in that, The drone hangar has a display unit, and the method includes: Get the current preset grayscale image to be displayed; The display area and display data of the preset grayscale image on the display unit are determined based on the preset grayscale image; The control display unit displays the preset grayscale image in the display area. The preset grayscale image is used by the UAV for multispectral camera calibration, or the preset grayscale image is used by the UAV to identify and acquire specific information.

10. The method according to claim 9, characterized in that, The preset grayscale image includes a neutral grayscale image or a QR code image, and obtaining the current preset grayscale image to be displayed includes: In response to a camera calibration request from the UAV, the neutral gray image is acquired, and the neutral gray image is used for multispectral camera calibration of the UAV; or, In response to a drone's landing location request, a QR code image corresponding to an available landing location in the drone hangar is acquired. The QR code image is used by the drone to identify and obtain landing location information, and the specific information includes the landing location information.

Images