Micro-tower-based unmanned aerial vehicle take-off and landing and lighting control method and system

Abstract

This application relates to the field of unmanned aerial vehicle (UAV) technology and provides a UAV take-off, landing, and lighting control method and system based on a microtower. The system receives flight missions through an edge controller and performs unified verification of multi-dimensional conditions, including light environment compliance. Based on mission attributes, the light environment zone to which the microtower belongs, and the current time period, the system dynamically generates phased lighting control strategies that match the entire lifecycle of take-off, flight, and landing. The system accurately calls and executes these strategies based on the real-time status of the UAV. This effectively limits the on-time, illumination range, and brightness limit of the lighting module while ensuring the visual recognition safety of the UAV at each stage of operation, thus achieving a dynamic balance between flight safety and light environment protection.

Description

Technical Field

[0001] This application belongs to the field of unmanned aerial vehicle (UAV) technology, and in particular relates to a method and system for UAV take-off, landing and lighting control based on a microtower. Background Technology

[0002] Currently, drones are increasingly used in urban inspections, logistics delivery, and emergency rescue, leading to higher demands on low-altitude infrastructure. Existing low-altitude lighting solutions typically operate independently as an adjunct to road or landscape lighting, lacking effective data interaction and linkage mechanisms with drone flight control systems. Especially at night or in low-visibility environments, lighting systems often operate at high brightness to ensure flight visibility, resulting in significant energy waste and generating spillover and uplighting, causing light pollution to surrounding residential areas and dark zone protected areas. It is difficult to strike a balance between ensuring flight safety and meeting light environment constraints. Therefore, a solution capable of collaboratively managing drone flight and lighting control is urgently needed to address the problem of existing lighting modes being ill-suited to the full-cycle operational needs of drones and prone to causing light pollution. Summary of the Invention

[0003] In view of this, the embodiments of this application provide a method and system for UAV take-off and landing and lighting control based on a micro-tower, which can solve the problem that existing lighting modes are difficult to adapt to the full life cycle operation needs of UAVs and are prone to causing light pollution.

[0004] In a first aspect, embodiments of this application provide a method for UAV takeoff and landing and lighting control based on a micro-tower, including:

[0005] Receive drone flight missions, which must include at least the flight route information, take-off and landing point locations, and mission type.

[0006] Multi-dimensional compliance verification of flight missions should be conducted, including at least verification of light environment compliance.

[0007] If the verification passes, a phased lighting control strategy matching the entire mission cycle will be generated based on the flight mission, the light environment zone to which the micro-tower belongs, and the current time period. The phased lighting control strategy includes at least the takeoff phase strategy and the landing phase strategy.

[0008] Based on the phased lighting control strategy and the real-time status of the UAV, the corresponding phased strategy is invoked and executed during the corresponding task time period. The phased strategy is used to control the lighting module of the micro-tower.

[0009] Upon completion of drone landing, the system performs a reset of the micro-tower lighting status and data archiving.

[0010] Secondly, embodiments of this application provide a drone take-off and landing and lighting control system based on a microtower, including a drone, a microtower, an edge controller and a lighting module;

[0011] The micro-tower is used to support drones and lighting modules;

[0012] The lighting module is used to provide controlled lighting;

[0013] Drones are used to perform flight missions;

[0014] The edge controller, located in the micro-tower, connects to both the drone and the lighting module, and is used for:

[0015] Receive drone flight missions, which must include at least the flight route information, take-off and landing point locations, and mission type.

[0016] Multi-dimensional compliance verification of flight missions should be conducted, including at least verification of light environment compliance.

[0017] If the verification passes, a phased lighting control strategy matching the entire mission cycle will be generated based on the flight mission, the light environment zone to which the micro-tower belongs, and the current time period. The phased lighting control strategy includes at least the takeoff phase strategy and the landing phase strategy.

[0018] Based on the phased lighting control strategy and the real-time status of the UAV, the corresponding phased strategy is invoked and executed during the corresponding task time period. The phased strategy is used to control the lighting module of the micro-tower.

[0019] Upon completion of drone landing, the system performs a reset of the micro-tower lighting status and data archiving.

[0020] Thirdly, embodiments of this application provide an edge controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the above-described micro-tower-based UAV take-off and landing and lighting control method.

[0021] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described micro-tower-based UAV take-off and landing and lighting control method.

[0022] Fifthly, embodiments of this application provide a computer program product that, when running on an edge controller, causes the edge controller to execute the aforementioned micro-tower-based UAV take-off and landing and lighting control method.

[0023] The beneficial effects of this application embodiment compared with the prior art are as follows: This application embodiment receives flight missions through an edge controller and performs unified verification of multi-dimensional conditions, including light environment compliance. Based on mission attributes, the light environment zone to which the micro-tower belongs, and the current time period, it dynamically generates phased lighting control strategies that match the entire cycle of takeoff, flight, and landing. Based on the real-time status of the UAV, it accurately calls and executes these strategies. Thus, while ensuring the visual recognition safety of the UAV at each stage of operation, it effectively limits the on-time, illumination range, and brightness limit of the lighting module, achieving a dynamic balance between flight safety and light environment protection. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram illustrating the implementation process of the UAV take-off, landing, and lighting control method based on a microtower provided in this application embodiment.

[0026] Figure 2 This is a cross-tower collaborative topology diagram provided in the embodiments of this application.

[0027] Figure 3 This is a schematic diagram of the structure of the UAV take-off and landing and lighting control system based on a microtower provided in the embodiments of this application.

[0028] Figure 4 This is a schematic diagram of the edge controller provided in an embodiment of this application. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are protected by this application.

[0030] It should be noted that the terms "comprising," "including," and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application, are intended to cover non-exclusive inclusion. For example, a process, method, terminal, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. Terms such as "first" and "second" in the claims, specification, and accompanying drawings of this application, as well as relational terms, are used merely to distinguish one entity / operation / object from another entity / operation / object, and do not necessarily require or imply any such immediate relationship or order between these entities / operations / objects.

[0031] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0032] Currently, drones are increasingly used in urban inspections, logistics delivery, and emergency rescue, leading to higher demands on low-altitude infrastructure. Existing low-altitude lighting solutions typically operate independently as an adjunct to road or landscape lighting, lacking effective data interaction and linkage mechanisms with drone flight control systems. Especially at night or in low-visibility environments, lighting systems often operate at high brightness to ensure flight visibility, resulting in significant energy waste and generating spillover and uplighting, causing light pollution to surrounding residential areas and dark zone protected areas. It is difficult to strike a balance between ensuring flight safety and meeting light environment constraints. Therefore, a solution capable of collaboratively managing drone flight and lighting control is urgently needed to address the problem of existing lighting modes being ill-suited to the full-cycle operational needs of drones and prone to causing light pollution.

[0033] In view of this, this application provides a UAV take-off and landing and lighting control method based on a microtower. The method receives flight missions through an edge controller and performs unified verification of multi-dimensional conditions, including light environment compliance. Based on mission attributes, the light environment zone to which the microtower belongs, and the current time period, a phased lighting control strategy matching the entire cycle of take-off, flight, and landing is dynamically generated and executed based on the real-time status of the UAV. This effectively limits the on-time, illumination range, and brightness limit of the lighting module while ensuring the visual recognition safety of the UAV at each stage of operation, thus achieving a dynamic balance between flight safety and light environment protection.

[0034] To illustrate the technical solution of this application, specific embodiments are described below.

[0035] Figure 1 This illustration shows a schematic flowchart of a microtower-based UAV takeoff and landing and lighting control method according to an embodiment of this application. This method can be applied to the edge controller in a microtower-based UAV takeoff and landing and lighting control system. Furthermore, the system also includes a UAV, a microtower, and a lighting module.

[0036] The micro-tower is a multifunctional pole-shaped infrastructure that integrates machine nests, lighting, and sensing equipment, and is divided into a bottom energy zone, a middle sensing zone, and a top operation zone along its height.

[0037] Unmanned aerial vehicles (UAVs) are aerial mobile platforms that perform flight missions. They are equipped with flight control and communication modules and can interact with micro-towers in real time to exchange status information.

[0038] The lighting module is a hardware assembly that includes a main lighting unit and a low-altitude directional lighting unit. The low-altitude directional lighting unit can be equipped with a light shield and an angle adjustment mechanism for precise supplemental lighting in the take-off and landing areas, with independent power supplies for the two lighting circuits.

[0039] The edge controller is a local control core deployed within the microtower. It is responsible for receiving tasks, performing verifications, generating policies, and driving hardware, and has the ability to self-manage even when the network is down.

[0040] Specifically, the above-mentioned UAV take-off, landing and lighting control method based on microtower may include the following steps S101 to S105.

[0041] Step S101: Receive the drone flight mission.

[0042] The flight mission includes at least route information, take-off and landing point locations, and mission type.

[0043] A flight mission is an operational instruction issued by the management platform, which includes at least route information, take-off and landing point locations, mission type, and may also include priority parameters.

[0044] Flight path information is a sequence of waypoint coordinates and flight altitudes that defines the drone's flight trajectory, used to calculate the lighting coverage area and timing.

[0045] The take-off and landing point is the coordinate of the drone's take-off or landing as specified in the mission, usually corresponding to the center of the drone nest at the top of the micro-tower.

[0046] Task type is a classification that represents the operational scenario, including road inspection, cultural and tourism support, and emergency rescue.

[0047] In the embodiments of this application, the edge controller can receive flight mission data packets issued by the management platform via 5G or fiber optic links, parse and extract route information, take-off and landing point locations, mission types and priorities, and store the data in local cache after verifying data integrity.

[0048] Step S102: Perform multi-dimensional compliance verification on the flight mission.

[0049] The multi-dimensional compliance verification includes at least the light environment compliance verification.

[0050] Multi-dimensional compliance verification is a joint pre-flight screening process that includes the lighting environment, airspace, aircraft housing, weather, power supply, and communication links.

[0051] Light environment compliance verification is a sub-item of multi-dimensional verification. It compares real-time light data with partition thresholds and is a veto condition for flight release.

[0052] In the embodiments of this application, the edge controller can retrieve real-time data on the light environment, airspace approval, nest status, weather, power supply and communication links in parallel, and make joint judgments based on preset thresholds. It outputs a verification pass signal only when all dimensions meet the safety and compliance requirements; otherwise, it terminates the process and issues an alarm.

[0053] Step S103: If the verification passes, a phased lighting control strategy matching the entire mission cycle is generated based on the flight mission, the light environment zone to which the micro-tower belongs, and the current time period.

[0054] The phased lighting control strategy includes at least a takeoff phase strategy and a landing phase strategy.

[0055] The phased lighting control strategy is a set of instructions covering the entire lifecycle. It can be divided into takeoff, flight, and landing strategies, defining lighting parameters for each phase.

[0056] The takeoff phase strategy is a sub-strategy for the takeoff phase, which controls pre-opening lighting and safety confirmation lighting after takeoff.

[0057] The landing phase strategy is a sub-strategy of the landing phase, which controls the return path and platform lighting to ensure visual guidance for autonomous landing.

[0058] Light environment zoning refers to control areas defined based on environmental protection requirements. These areas can include dark sky protection zones, residential areas, and urban areas, and are associated with different light constraint thresholds.

[0059] The current time period is the local real-time time read by the edge controller, which can be divided into daytime, evening, and late night modes, affecting the basic lighting brightness setting.

[0060] In the embodiments of this application, after the verification is passed, the edge controller can combine task attributes, light environment partitions and the current time period, query the preset mapping table to determine the lighting requirements of each stage, construct a logical set including take-off, flight and landing segments, and adjust the brightness upper limit according to task priority, and generate a structured phased lighting control strategy and store it in the running memory.

[0061] Step S104: Based on the phased lighting control strategy and the real-time status of the UAV, the corresponding phased strategy is invoked and executed during the corresponding task time period.

[0062] The segmentation strategy is used to control the lighting module of the microtower.

[0063] Segmented strategies are execution units within a strategy set that correspond to specific time periods or events, directly driving the hardware actions of the lighting module.

[0064] In the embodiments of this application, the edge controller can index matching segmented strategy parameters from the strategy based on the real-time position and stage information fed back by the UAV, and convert them into PWM or bus commands to drive the lighting module, dynamically adjusting the beam's on-time, angle, and brightness, thereby achieving precise adaptation of lighting to the flight state.

[0065] Step S105: In response to the completion of the drone landing, perform the micro-tower lighting status reset and data archiving.

[0066] Among them, the lighting status reset is a system recovery action that turns off directional lighting, restores basic brightness, and returns the mechanism to its original position after the task is completed.

[0067] In the embodiments of this application, after the drone has landed and the nest has closed, the edge controller can control the lighting module to reset to the basic state, and at the same time package and encrypt the entire process data, write it to local storage and upload it to the cloud through a redundant link, thereby realizing automatic state regression and data closed-loop management.

[0068] The beneficial effects of this application embodiment compared with the prior art are as follows: This application embodiment receives flight missions through an edge controller and performs unified verification of multi-dimensional conditions, including light environment compliance. Based on mission attributes, the light environment zone to which the micro-tower belongs, and the current time period, it dynamically generates phased lighting control strategies that match the entire cycle of takeoff, flight, and landing. Based on the real-time status of the UAV, it accurately calls and executes these strategies. Thus, while ensuring the visual recognition safety of the UAV at each stage of operation, it effectively limits the on-time, illumination range, and brightness limit of the lighting module, achieving a dynamic balance between flight safety and light environment protection.

[0069] In some specific embodiments of this application, the multi-dimensional compliance verification of the flight mission may specifically include steps S401 and S402.

[0070] Step S401: Obtain the light environment zone to which the micro-tower belongs, the current time period, and the priority of the flight mission, and determine the lighting constraint boundary according to the preset mapping relationship between the light environment zone, time period, and mission priority.

[0071] The lighting constraint boundary includes at least the maximum permissible illuminance and the maximum upward luminous flux ratio.

[0072] The lighting constraint boundary is a set of light environment control thresholds pre-existing within the edge controller.

[0073] Maximum permissible illuminance is the highest permissible light intensity on the ground or in the airspace surrounding the microtower, measured in lux (lx), and is used to limit the upper limit of the brightness of the lighting modules.

[0074] The maximum upward luminous flux ratio is the upper limit of the proportion of luminous flux directed above the horizontal plane in the total output luminous flux of the lighting module, expressed as a percentage (%), and is used to suppress the impact of spill light on the dark environment.

[0075] In the embodiments of this application, the edge controller can first read pre-configured basic parameters from local non-volatile memory. The light environment zone to which the micro-tower belongs is the location code fixed in the device identifier register before leaving the factory. The current time period is a time period label (divided into daytime, evening, and late night) mapped by the built-in real-time clock module. The priority of the flight mission is the level identifier extracted from the parsed flight mission data packet (Level 0 for emergency, Level 1 for routine inspection, and Level 2 for cultural tourism display). Then, the edge controller can retrieve the pre-stored "light environment zone-time period-priority" three-dimensional mapping relationship table (as shown in Table 1) in flash memory, match the threshold corresponding to the current parameter combination, generate an illumination constraint boundary including the maximum allowable illuminance and the maximum uplight luminous flux ratio, and temporarily store it in the running memory.

[0076] Light environment partitioning Time period Task Priority Maximum permissible illuminance (lx) Maximum upward luminous flux ratio (%) Remark Darkness Reserve 23:00-05:00 Emergency (Level 0) ≤150 (can be temporarily increased to 300) ≤3% (can be finely adjusted to 8%) Only illuminate the take-off and landing points Darkness Reserve 23:00-05:00 Routine inspection (Level 1) ≤50 ≤2% Disable main lighting Residential area 22:00-06:00 Culture and Tourism (Level 2) ≤100 ≤5% Color temperature ≤3000K Urban areas All day Emergency ≤500 ≤15%

[0077] Table 1

[0078] Step S402: Collect real-time light environment data around the micro-tower. If the real-time light environment data does not exceed the lighting constraint boundary, the light environment is determined to be compliant.

[0079] Among them, the real-time light environment data are the surrounding light field parameters collected in real time by the light environment sensor mounted on the micro-tower, which may include the current illuminance, upward luminous flux, and color temperature value.

[0080] In the embodiments of this application, the edge controller can poll the ambient light sensor array mounted on the central sensing area of ​​the micro-tower via the I2C bus to collect real-time ambient light data of the surrounding environment at a sampling frequency of 1Hz. This data includes at least the current horizontal illuminance, upward luminous flux, and color temperature. The collected real-time illuminance is then compared with the maximum permissible illuminance within the lighting constraint boundary, and the real-time upward luminous flux is compared with the maximum upward luminous flux ratio. If both indicators do not exceed the constraint boundary, the ambient light compliance verification pass flag is set. If either indicator exceeds the limit, an ambient light compliance alarm is triggered, and the subsequent process is terminated.

[0081] This application's implementation dynamically generates lighting constraint boundaries through a three-dimensional mapping relationship between light environment zoning, current time period, and task priority. This replaces the traditional coarse verification mode with fixed thresholds, adapting to the differentiated compliance requirements of different control areas, different time periods, and different operational tasks. Rigid verification is achieved through direct comparison of real-time light environment data and constraint boundaries. Light environment requirements are deeply embedded into the pre-departure release process of flight missions. This not only strictly constrains lighting output to avoid light pollution under normal missions, but also provides quantitative basis for lighting control in different scenarios. It effectively solves the problem of the disconnect between light environment control and flight safety requirements in existing UAV lighting control, improving the compliance, precision, and management efficiency of low-altitude lighting operations.

[0082] In some specific embodiments of this application, after obtaining the light environment zone to which the microtower belongs, the current time period, and the priority of the flight mission, and determining the lighting constraint boundary according to the preset mapping relationship between the light environment zone, time period, and mission priority, the above method may further include steps S501 and S502.

[0083] Step S501: Collect real-time light environment data around the micro-tower.

[0084] In the embodiments of this application, the specific implementation steps are as described in step S401 above.

[0085] Step S502: If the real-time light environment data exceeds the lighting constraint boundary, dynamically adjust the brightness or illumination angle of the lighting module until it meets the lighting constraint boundary.

[0086] In the embodiments of this application, the edge controller can monitor the light environment data in the ring buffer in real time. When the instantaneous illuminance exceeds the maximum allowable illuminance or the upward luminous flux exceeds the maximum upward luminous flux ratio, the type of exceedance is first determined: if the illuminance exceeds the limit, the PWM duty cycle of the low-altitude directional lighting unit is reduced in a minimum step of 1%, compressing the luminous flux output without changing the beam coverage area, until the real-time illuminance of three consecutive samples falls back to within the constraint boundary; if the upward luminous flux ratio exceeds the limit, the stepper motor is driven to reduce the pitch angle of the lighting unit in a minimum step of 0.1°, reducing the upward projection component of the beam, until the upward luminous flux ratio of three consecutive samples meets the requirements. During the calibration process, the minimum safe brightness of the lighting module is always maintained to avoid affecting the visual positioning of the UAV.

[0087] The implementation method of this application constructs a real-time acquisition-dynamic calibration-closed-loop verification light environment feedback control link during the segmented strategy execution. This not only ensures continuous compliance of the light environment throughout the entire flight operation cycle, avoiding the impact of excessive spill light and uplight on surrounding residential areas and ecologically sensitive areas, but also adapts to sudden fluctuations such as environmental reflection and equipment aging through millisecond-level dynamic parameter correction. Without reducing the safety of UAV take-off and landing and flight, it improves the accuracy of lighting control and system robustness, and further strengthens the dynamic balance between flight safety and light environment protection.

[0088] In some specific embodiments of this application, the multi-dimensional compliance verification also includes other compliance verifications. The multi-dimensional compliance verification of the flight mission may specifically include steps S601 to S604.

[0089] Step S601: Extract the airspace information, nest identifier, meteorological characteristics of the operation area, and power supply and communication status of the microtower associated with the flight mission. Based on the preset airspace access rules, nest operation threshold, meteorological adaptation rules, power supply reliability standards, and communication link redundancy requirements, perform individual compliance judgments on airspace compliance, nest status, meteorological conditions, power supply status, and communication links to obtain the corresponding individual verification results.

[0090] Among them, airspace information refers to the flight airspace attribute data associated with flight missions, including the airspace classification corresponding to the route (such as controlled airspace, reporting airspace, and suitable airspace), airspace approval status code, and no-fly zone buffer zone distance.

[0091] The nest identifier is a unique code for the drone nest on the top of the micro-tower, which is associated with the nest's hardware model, firmware version and geographical location information, and is used to index the corresponding nest's operating parameter thresholds.

[0092] The meteorological characteristics of the operating area refer to the set of real-time meteorological parameters within a preset radius around the micro-tower, including at least wind speed, wind direction, visibility, precipitation intensity, and temperature, collected by a micro-meteorological station integrated in the middle of the micro-tower.

[0093] The power supply status of the microtower refers to the operating parameters of the microtower energy system, including the mains power access status, the remaining power of the backup battery (SOC), the battery health (SOH), and the load current of each power supply circuit, which are monitored in real time by the power management unit (PMU).

[0094] The communication status of a microtower refers to the link quality parameters between the microtower and the external management platform and other microtowers, including the signal strength of the primary link (such as 5G), the connectivity of the backup link (such as LoRa, Mesh) and the end-to-end latency, which are periodically reported by the communication module.

[0095] Airspace access rules are pre-existing airspace access determination logic within the edge controller, defining access conditions under different airspace categories (e.g., no approval is required for airworthy airspace, while controlled airspace requires a valid approval code).

[0096] The cell operation threshold is a range of safe operating parameters preset for a specific cell identifier, including the normal operating temperature range (-20℃~60℃), the maximum allowable vibration acceleration (≤0.5g), and the normal range of charging interface impedance.

[0097] The weather adaptation rules define a set of weather thresholds for safe flight of UAVs, including the maximum permissible takeoff wind speed (e.g., ≤10m / s), minimum takeoff visibility (e.g., ≥200m), and maximum permissible precipitation intensity, which are used to determine whether the weather conditions meet the operational requirements.

[0098] The power supply reliability standard defines the minimum energy guarantee requirements for microtowers to perform flight missions, including normal mains power supply or backup battery remaining power ≥60% and load rate of each circuit ≤80%.

[0099] The communication link redundancy requirement defines the minimum communication assurance conditions required for flight control and lighting coordination, requiring at least one primary link with a signal strength ≥ -90dBm and one backup link with normal connectivity to exist simultaneously.

[0100] The single-item verification result is a Boolean identifier (pass / fail) output for compliance judgment of a single dimension, accompanied by a judgment timestamp and exception code (if any).

[0101] In the embodiments of this application, the edge controller can first parse and extract airspace information (including airspace classification code, approval ID) and nest identifier (such as SN code) from the flight mission data packet, and simultaneously call the multi-dimensional sensing unit in parallel through the communication interface. It requests the latest meteorological characteristics (wind speed, visibility, etc.) of the operating area from the airspace management system, queries the power management unit for the microtower power supply status (mains power status, battery SOC), and obtains the microtower communication status (primary / backup link signal strength) from the communication module. Then, it retrieves pre-stored airspace access rules, nest operation thresholds, meteorological adaptation rules, power supply reliability standards, and communication link redundancy requirements, and compares and judges each of the five types of extracted information. For example, it verifies the validity of the airspace approval ID, compares whether the current temperature of the hive is within the threshold range, determines whether the wind speed is lower than the maximum allowable value, confirms that the backup battery SOC is ≥60%, and detects that the main link signal strength is ≥-90dBm. Finally, it generates a single-item verification result (pass / fail) that includes five items: airspace compliance, hive normality, weather suitability, power supply reliability, and communication normality, and attaches an exception code (such as hive temperature exceeding the limit code E101).

[0102] Step S602: Cross-verify based on the correlation of the individual verification results. If any individual verification fails or multiple verification results conflict, then the compliance verification of other dimensions is determined to fail.

[0103] In the embodiments of this application, the edge controller can read five individual verification results and perform correlation checks according to predefined cross-logic rules. First, it checks for any single item failures (e.g., unsuitable weather results are directly deemed as failures). Second, it checks for logical conflicts in multi-dimensional results. For example, if airspace access is approved but the pod temperature exceeds limits (potentially a pod malfunction preventing heat dissipation, posing a crash risk if forced to take off), or if the weather is suitable but the power supply SOC is only 50% (the drone may lose contact due to power outages during the mission), or if the main communication link is normal but the backup link is disconnected (redundancy requirements are not met; in extreme cases, a main link interruption will lead to loss of control). Any of the above conflicts is determined as a failure of compliance checks in other dimensions, and the conflict type is recorded (e.g., "power supply-weather conflict").

[0104] Step S603: If all individual checks pass without conflict, a preliminary conclusion is generated that compliance checks for other dimensions have passed.

[0105] In the implementation of this application, if the edge controller confirms that all individual verifications have passed and there are no logical conflicts during cross-verification, it can generate a preliminary conclusion that other dimensions of compliance verification have passed, and temporarily store the conclusion in the verification cache area and attach a verification timestamp.

[0106] Step S604: Align the preliminary conclusion with the light environment compliance verification result. If both pass, the other dimensions of compliance verification are determined to have passed and are considered as part of the multi-dimensional compliance verification.

[0107] In the implementation of this application, the edge controller can read the preliminary conclusion of other dimension compliance verification generated in step three, and at the same time read the light environment compliance flag bit output by the light environment compliance verification step, and execute the alignment verification logic: if the preliminary conclusion of other dimensions is "pass" and the light environment compliance flag bit is "true", then it is determined that the compliance verification of other dimensions is finally passed, and the global multi-dimensional compliance verification pass flag bit is set as a component of the multi-dimensional compliance verification; if the preliminary conclusion of other dimensions is "fail" or the light environment compliance flag bit is "false", then it is determined that the compliance verification of other dimensions is finally failed, triggering the alarm of the corresponding dimension and terminating the subsequent process. The purpose of this step is to realize the unified verification of non-light environment dimensions and light environment dimensions, ensure the consistency of the two types of verification conclusions, avoid the contradictory situation of "light environment compliant but airspace no-fly zone" or "airspace permitted but light environment exceeds the standard", and finally output a globally unified multi-dimensional compliance verification result.

[0108] The implementation method of this application constructs a multi-dimensional compliance verification mechanism, which not only achieves comprehensive coverage and standardized screening of non-light environment dimensions such as airspace, aircraft nest, meteorology, power supply, and communication, but also identifies hidden logical conflicts that cannot be found in a single dimension through cross-verification. Furthermore, by generating alignment verification with the light environment verification through preliminary conclusions, the light environment compliance requirements are deeply integrated into the multi-dimensional verification system, ensuring flight safety and equipment reliability.

[0109] In some specific embodiments of this application, when the flight mission is a cross-tower flight mission, the above method may further include steps S701 to S703.

[0110] Step S701: This microtower sends the cross-tower lighting request containing the flight route information to the microtower group coordination unit.

[0111] Among them, cross-tower flight missions refer to operations where the take-off point and landing point of the UAV belong to different micro-tower service areas, or the flight route passes through the coverage areas of multiple micro-towers, which is different from flight missions that only operate in the vicinity of a single tower.

[0112] The micro-tower group collaboration unit is a collaboration management module deployed in the cloud or at the edge of the main micro-tower, possessing functions such as micro-tower topology information management, task scheduling, and data forwarding. For example... Figure 2 As shown, the collaborative unit is deployed at the network layer and connects to the edge controllers of each micro-tower via a 5G or Mesh network to form a cloud-edge-device collaborative architecture.

[0113] Cross-tower lighting requirements are standardized messages generated by the takeoff microtower that include flight path information, UAV identification, mission priority, lighting lead time, and brightness constraints.

[0114] In the embodiments of this application, the edge controller can first extract flight path data consisting of continuous latitude and longitude coordinates and flight altitude, the UAV's unique identifier, and mission priority from the flight mission. Combined with a pre-configured 30-second lighting lead and the local tower's lighting environment constraints, it encapsulates and generates a standardized cross-tower lighting request message containing the aforementioned fields. This message is then sent to the micro-tower group coordination unit via a 5G communication link or a Mesh self-organizing network. If transmission fails, a retry mechanism of up to three attempts is triggered. If the retry still fails, the cross-tower coordination is deemed abnormal, and subsequent processes are terminated.

[0115] Furthermore, to ensure the timing consistency of multi-tower coordinated lighting, all microtowers are equipped with high-precision time synchronization modules. These modules obtain standard timestamps by receiving Global Navigation Satellite System (GNSS) signals or accessing a time server within the park. Each microtower executes a countdown based on a unified standard timeline to ensure that target microtowers along the route can synchronously start lighting at the preset absolute time point, eliminating coordination errors caused by local clock drift.

[0116] Furthermore, the data interaction between the edge controller and the microtower group coordination unit follows a lightweight IoT communication protocol (such as MQTT). The edge controller serializes and encapsulates the generated cross-tower lighting demand messages according to a predefined structured data format (such as JSON format) and publishes them to the message broker server through a specific topic. The microtower group coordination unit obtains instructions by subscribing to the corresponding topic, thereby achieving efficient routing and reliable distribution of control instructions across network environments.

[0117] In step S702, the micro-tower group coordination unit determines the target micro-towers along the route based on the flight path information and distributes the cross-tower lighting requirements to the edge controllers of each target micro-tower.

[0118] Among them, the target microtower refers to the microtower that the flight path passes through and whose coverage area intersects with the flight path of the drone. It is selected by the microtower group coordination unit based on the flight path information and is responsible for providing local lighting services to the drones passing through.

[0119] In the embodiments of this application, after receiving a cross-tower lighting request message, the micro-tower group coordination unit can parse all waypoint coordinates in the flight route information, traverse the pre-stored micro-tower topology database (including the latitude and longitude, coverage radius, operating status, and load of each micro-tower), filter out micro-towers whose coverage areas intersect with the flight route trajectory, and remove micro-towers that are currently in a faulty, fully loaded, or offline state to obtain a target micro-tower list. Subsequently, the flight route information, lighting lead, brightness constraints, and other parameters in the cross-tower lighting request message are encapsulated into target instructions and distributed to the edge controllers of each target micro-tower via a multicast communication link, while simultaneously recording the instruction reception status of each target tower. If a target tower fails to return a reception confirmation within a specified time, the system automatically switches to the next best neighboring micro-tower to redistribute the instructions.

[0120] In step S703, the edge controller of each target micro-tower controls the lighting module of its tower to turn on before the drone enters the corresponding coverage area and turn off after the drone leaves.

[0121] The coverage area refers to the effective lighting range of the micro-tower low-altitude directional lighting module.

[0122] In the embodiments of this application, after receiving the target command issued by the coordination unit, the edge controller of each target microtower can obtain the RTK high-precision position information of the UAV in real time and continuously calculate the horizontal distance between the current position of the UAV and the tower. When the distance is less than or equal to the pre-configured coverage radius of the tower, the low-altitude directional lighting module of the tower is activated 30 seconds in advance, driving the angle adjustment mechanism to align the beam with the flight path direction and adjust the brightness to the threshold range required by the command. When the distance is greater than the coverage radius of the tower and lasts for more than 5 seconds, the low-altitude directional lighting module is turned off and the basic lighting state of the current period is restored. At the same time, the execution results of lighting on / off are reported to the microtower group coordination unit in real time.

[0123] This application's implementation method overcomes the limitations of independent control of a single tower through a cross-tower lighting coordination mechanism. It can dynamically match the activation and deactivation of lighting at passing micro-towers based on the real-time location of the UAV, eliminating lighting blind spots during cross-tower flights. Furthermore, it reduces light pollution and energy consumption through on-demand activation and instant deactivation control logic. Simultaneously, relying on the global scheduling capabilities of the micro-tower group coordination unit, it achieves dynamic and balanced allocation of cross-tower lighting resources, significantly improving the resource utilization rate of low-altitude infrastructure groups and the safety assurance capabilities of large-scale cross-tower flight missions.

[0124] In some specific embodiments of this application, when the task type is hovering operation within the neighborhood of this tower, the step of calling and executing the corresponding segmentation strategy during the corresponding task time period may specifically include steps S801 to S803.

[0125] Step S801: Before the UAV enters the vicinity of the tower, control the lighting module to adjust to the lighting state matching the hovering operation.

[0126] The "neighborhood" of this tower refers to a circular area with a radius of 50-200 meters centered on the microtower. Specific values ​​are pre-configured and stored in the edge controller's local parameter table based on the microtower's pole height and the rated power of the low-altitude directional lighting module.

[0127] Hovering operations refer to low-altitude operations in which drones remain relatively stationary within the vicinity of the tower. They are suitable for scenarios such as cultural and tourism nighttime light shows, fixed-point high-definition inspections, and precise logistics delivery.

[0128] In the embodiments of this application, the edge controller can acquire the RTK high-precision location information of the drone in real time through the 5G communication link, and simultaneously retrieve the radius threshold of the neighborhood of the tower from the local parameter table to continuously calculate the horizontal distance between the current position of the drone and the tower. When the distance is less than or equal to the sum of the neighborhood radius and the 10-meter lead, the lighting module pre-adjustment process is triggered: if the task type is a cultural tourism night tour hovering operation, the low-altitude directional lighting module is controlled to switch to a low color temperature mode below 3000K, the illumination angle is adjusted to align with the preset hovering area, and the brightness of the main lighting module is simultaneously adjusted to a preset value matching the light show theme. If the task type is an inspection hovering operation, the low-altitude directional lighting module is controlled to switch to a focused mode, the beam is precisely aligned with the point to be inspected, and the upward luminous flux ratio is monitored simultaneously during the adjustment process to ensure that it does not exceed the 5% limit threshold.

[0129] Step S802: Maintain the lighting status during the drone hovering operation.

[0130] In the embodiments of this application, the edge controller can monitor the flight status data of the UAV in real time. When it detects that the UAV has entered a stable hovering state with position fluctuation ≤0.5 meters and altitude deviation ≤1 meter, it locks the parameters of the current lighting module and polls the real-time data of the light environment monitoring module at a frequency of 1Hz. If the upward luminous flux ratio or ambient illuminance exceeds the light environment constraint boundary, the pitch angle of the low-altitude directional lighting module is finely adjusted in 0.1° steps, and the brightness is reduced in 1% steps until the light environment data falls back to the compliant range. During the hovering operation, the lighting status and UAV position data are continuously reported to the micro-tower group coordination unit. If an anomaly occurs where the UAV deviates from the neighborhood range, an audible and visual alarm is immediately triggered and simultaneously pushed to the management platform.

[0131] Step S803: After the drone leaves the vicinity of the tower, control the lighting module to restore it to the basic lighting state.

[0132] Among them, the basic lighting status refers to the default lighting mode of the microtower when there is no flight mission, which matches the current light environment zone and the current time period. For example, in the dark protection zone, only 10% of the main lighting brightness is retained and the low-altitude directional lighting module is turned off in the dark night mode, while the normal road lighting brightness is maintained in the urban daytime mode.

[0133] In the embodiments of this application, the edge controller can continuously calculate the horizontal distance between the UAV and the tower. When it detects that the distance is greater than the sum of the neighborhood radius and the 10-meter buffer and lasts for more than 5 seconds (avoiding misjudgment caused by slight positional jitter of the UAV), and at the same time receives the hovering end or return command issued by the UAV, it triggers the lighting module reset process: first, the brightness of the low-altitude directional lighting module is gradually reduced to 0 and turned off, then the brightness of the main lighting module is adjusted to the basic lighting threshold corresponding to the current light environment zone and the current time period, the angle adjustment mechanism is driven back to the initial pitch angle, and after the reset is completed, the status change information is reported to the management platform.

[0134] This application's implementation method addresses the pain point of traditional single-tower lighting being unable to adapt to diverse near-field operational needs through neighborhood hovering operation lighting control logic. It can provide customized lighting matching the operational characteristics in scenarios such as cultural tourism night tours and fixed-point inspections, ensuring operational quality and visual experience. Furthermore, through mechanisms such as pre-adjustment, dynamic light environment closed-loop management, and precise reset after operation, it can strictly limit upward and spill light, avoiding light interference to dark protection zones and residential areas. At the same time, it eliminates energy waste caused by ineffective lighting, significantly improving the resource utilization and service adaptability of the micro-tower in near-field low-altitude operation scenarios.

[0135] In some specific embodiments of this application, the step of calling and executing the corresponding segmentation strategy during the corresponding task time period may specifically include steps S901 and S902.

[0136] Step S901: During the takeoff phase, before performing the hatch opening operation in the drone's nest, control the low-altitude directional lighting unit in the lighting module to turn on and adjust the illumination range to cover the takeoff and landing area. After the drone leaves the ground, maintain the lighting for the duration required for safety confirmation.

[0137] The low-altitude directional lighting unit is a dedicated lighting component mounted in the central sensing area of ​​the micro-tower. It employs a semi-cut-off beam distribution structure and is equipped with an adjustable pitch and horizontal deflection stepper motor, a light shield, and an independent power supply circuit. The beam can be precisely directed towards the takeoff and landing platform and surrounding safety areas, with an upward luminous flux ratio pre-configured to be no more than 5%, used for visual guidance during UAV takeoff and landing. Specifically, the low-altitude directional lighting unit can use semi-cut-off LED modules, with light intensity distribution conforming to the GB / T33649 road lighting light distribution requirements. When the micro-tower height is 6-10m, the pitch angle during takeoff is locked at -30° to -45° (the negative sign indicates downward tilt), and the horizontal deflection is ±15° to cover the takeoff and landing platform.

[0138] The take-off and landing area is a circular area with a radius of 1.5-2 meters, centered on the center of the take-off and landing platform at the top of the micro-tower. It covers the landing gear projection range during take-off and landing of the UAV and the surrounding 0.5-meter safety buffer zone.

[0139] In the embodiments of this application, after receiving the pre-opening command from the nest controller, the edge controller can immediately trigger the takeoff phase lighting control process. First, it retrieves the pre-stored takeoff and landing area coordinates from the local parameter table, drives the stepper motor of the low-altitude directional lighting unit to adjust the pitch and horizontal deflection angles, aligning the beam center with the takeoff and landing area. Then, it activates the low-altitude directional lighting unit and adjusts the brightness to the maximum safe value allowed by the current light environment zone. Simultaneously, it polls the real-time data from the light environment monitoring module. If the upward luminous flux exceeds the 5% threshold, it fine-tunes the pitch angle until compliance is achieved. After the nest door is fully opened and the UAV self-test ready signal is received, the lighting status remains unchanged. After the UAV takes off, it continuously receives attitude angle and acceleration data uploaded by the flight control system. If the attitude angle fluctuation is less than 2° and the acceleration is close to gravitational acceleration for 3 consecutive seconds, the safety confirmation is considered complete. The lighting is then maintained for 3-5 seconds to meet the required safety confirmation time.

[0140] Step S902: During the landing phase, after receiving the UAV return signal, the time of arrival at the tower's take-off and landing point is predicted based on the UAV's real-time position. The low-altitude directional lighting unit is then turned on in advance to cover the return path and take-off and landing area until the UAV completes landing.

[0141] In the embodiments of this application, after receiving the return-to-home signal sent by the UAV flight control system, the edge controller can immediately extract the UAV's current RTK three-dimensional coordinates, real-time flight speed, and remaining battery power data carried in the signal. Combined with the locally stored coordinates of the local tower's take-off and landing points, the controller calculates the straight-line distance between the two and divides it by the current flight speed to obtain the predicted arrival time at the tower's take-off and landing point. If the calculated result is less than the pre-configured 30-second lead time, the low-altitude directional lighting unit is immediately activated; otherwise, a waiting timer is entered. Before the timer ends, the arrival time is recalculated every second to adapt to the UAV's variable-speed flight. After reaching the lead time threshold, the low-altitude directional lighting unit is activated and its illumination range is adjusted to simultaneously cover the UAV's current position to the tower's take-off and landing point's return path and take-off and landing area. The illumination brightness is adjusted to the maximum safe value allowed by the current light environment zone. Simultaneously, the real-time position of the UAV is continuously monitored. If the UAV deviates from the original return-to-home path, the deflection angle of the lighting unit is adjusted synchronously to track the new path. This continues until a signal indicating landing completion and door closure is received from the nest controller, at which point the low-altitude directional lighting unit is deactivated and the system returns to basic lighting status.

[0142] The implementation method of this application solves the problems of visual positioning failure and frequent landing accidents caused by delayed lighting timing and mismatched illumination range in existing UAV take-off and landing lighting. Pre-deploying lighting before take-off provides a stable light environment for UAV self-check and avoids action delay after opening the cabin. Before landing, the timing of lighting and illumination range are adjusted based on dynamic position prediction, realizing visual guidance coverage of the entire return path. At the same time, the brightness and angle are dynamically adjusted in combination with light environment constraints throughout the process, reducing light pollution and energy consumption while ensuring take-off and landing safety, and improving the take-off and landing success rate and system operation efficiency of low-altitude operations at night.

[0143] In some specific embodiments of this application, the step of generating a phased lighting control strategy that matches the entire mission cycle based on the flight mission, the light environment zone to which the micro-tower belongs, and the current time period may specifically include steps S1001 to S1003.

[0144] Step S1001: Extract the mission type, route information and mission priority from the flight mission, and determine the lighting requirements for each stage of the mission by combining the light environment zoning and the current time period.

[0145] The aforementioned stages include at least the takeoff stage and the landing stage. The lighting requirements include the lighting coverage area and minimum illuminance requirements for each stage.

[0146] The minimum illumination requirement refers to the minimum light intensity threshold required to ensure the safety of drone operations at a specific stage, and is set according to the type of mission.

[0147] In the embodiments of this application, the edge controller can first parse the mission type field, the route information consisting of consecutive waypoints, and the mission priority identifier from the flight mission data packet. Simultaneously, it reads the light environment zone code of the micro-tower and the current time period label provided by the real-time clock from the local storage unit. Then, according to preset stage mapping rules, it breaks down the entire mission cycle, dividing it into at least a takeoff stage and a landing stage. If the route information includes cross-tower waypoints or neighboring hover points, a flight stage or neighboring operation stage is added accordingly. For each stage, the edge controller can query a pre-stored mapping table combining the light environment zone and the current time period to determine the geometric parameters of the lighting coverage area and the minimum illuminance requirement for that stage. For example, in night mode, for the takeoff stage of a mission, the coverage area is determined to be the takeoff and landing platform and a 2-meter radius around it, with a minimum illuminance of 50 lux.

[0148] Step S1002: Based on the lighting requirements, and in conjunction with the corresponding light environment partition and the predefined light environment constraint boundary for the current time period, construct a lighting control logic set that includes the activation timing, illumination range, and brightness upper limit of lighting modules at each stage.

[0149] The lighting control logic set refers to a structured instruction set generated by the edge controller, which contains time series and parameter mapping relationships. It is divided into multiple logic segments according to the time axis. Each segment corresponds to a flight phase and defines the on / off state of the lighting module, brightness percentage, beam pitch angle, horizontal deflection angle and color temperature value within that period.

[0150] In the embodiments of this application, the edge controller can construct a lighting control logic set based on the lighting requirements of each stage, combined with the corresponding current lighting environment partition retrieved from the lighting environment database and the predefined lighting environment constraint boundary for the current time period. First, based on the flight path information and the expected speed of the UAV, the start timestamp and duration of each stage are calculated, and the timing for turning on and off the lighting modules in each stage is defined. Second, based on the coordinates of the lighting coverage area of ​​each stage, the required pitch angle and horizontal deflection angle of the low-altitude directional lighting unit are calculated, and the illumination range is defined. Finally, based on the minimum illuminance requirement and referring to the brightness upper limit of the lighting environment constraint boundary, the initial brightness value of each stage is set, and the above parameters are arranged into a complete logic set in chronological order.

[0151] Step S1003: Perform compliance verification on the lighting control logic set according to the task priority. If the task priority is an emergency priority, it is allowed to temporarily exceed the light environment constraint boundary to adjust the upper limit of the corresponding stage of brightness. If the task priority is a non-emergency priority, the upper limit of brightness is locked to not exceed the light environment constraint boundary, and the phased lighting control strategy is generated.

[0152] Emergency priority refers to the urgency level identifier defined in the flight mission. It corresponds to mission types involving life and property safety or major public safety, such as medical emergency, fire rescue, and power restoration. These missions are given the highest resource scheduling authority and are allowed to exceed the conventional light environment constraints under specific conditions. Specifically, the criteria for determining emergency priority are as follows: the edge controller parses the mission type field in the flight mission data packet. When the field identifies the mission as medical emergency (e.g., mission ID containing the identifier 120), fire rescue (e.g., mission ID containing the identifier 119), power restoration, or handling of sudden public safety incidents, the system automatically classifies the mission as emergency priority.

[0153] Non-emergency priority refers to routine urban inspections, logistics distribution, cultural and tourism performances, and other tasks that do not involve emergency life safety. These tasks must strictly adhere to the light environment constraint boundaries.

[0154] In the embodiments of this application, the edge controller can load a lighting control logic set and read the mission priority identifier in the flight mission to initiate a compliance verification process. If the mission priority is determined to be an emergency priority, the emergency mode correction logic is executed, traversing the brightness parameters of all stages in the logic set. If it is found that the brightness value is lower than the minimum illuminance requirement due to the constraint boundary of the light environment, the upper limit of brightness is forcibly raised to the level corresponding to the minimum illuminance requirement, and a breach log is recorded. Furthermore, in order to prevent excessive light pollution or equipment damage caused by emergency lighting, a dynamic upper limit is set for the breach range. The edge controller can compare the brightness value to be adjusted with the preset maximum physical load of the luminaire (e.g., the maximum brightness is set to 100%) to ensure that the adjusted brightness meets the minimum take-off and landing illuminance requirements and does not exceed the physical limits and safe operation thresholds of the equipment. In addition, it is understood that when the emergency priority breaches the light environment constraint boundary, the edge controller can automatically generate a compliance exemption log containing the breach duration, breach brightness value, and mission ID, and upload it synchronously to the city light environment supervision platform for record-keeping, and restore it to the original constraint boundary within 24 hours after the breach.

[0155] If the task priority is determined to be non-urgent, the normal mode verification logic is executed, strictly locking all brightness parameters in the logic set to ensure that their values ​​never exceed the maximum value defined by the light environment constraint boundary. If any exceedance is detected, it is automatically corrected down to the compliance range. After verification and correction are completed, the edge controller can serialize and encapsulate the adjusted lighting control logic set, add a policy version number, generate a timestamp, task ID, and checksum, forming the final phased lighting control policy file, which is loaded into the policy execution queue in the running memory to await invocation, and simultaneously backed up to local non-volatile storage.

[0156] This application's implementation method introduces dynamic compliance verification logic based on task priority, achieving the hierarchical management goal of ensuring safety in emergency tasks and protecting the environment in routine tasks. This avoids the fatal flaw of insufficient lighting in emergency rescue caused by traditional solutions that rigidly adhere to environmental indicators, and also avoids light pollution caused by arbitrarily breaking through light environment constraints during routine operations. At the same time, the generated strategy has the characteristic of precise spatiotemporal matching, improving the intelligence level, resource utilization efficiency, and environmental friendliness of low-altitude lighting.

[0157] Figure 3 The diagram shows a schematic of a microtower-based UAV take-off and landing and lighting control system 2 provided in an embodiment of this application. The microtower-based UAV take-off and landing and lighting control system 2 includes a UAV 201, a microtower, an edge controller 202 and a lighting module 203.

[0158] The micro-tower is used to support the UAV 201 and the lighting module 203;

[0159] Lighting module 203 is used to provide controlled lighting;

[0160] Unmanned aerial vehicle 201 is used to perform flight missions;

[0161] Edge controller 202 is located at the micro-tower and is connected to UAV 201 and lighting module 203 respectively, for the following purposes:

[0162] Receive drone flight missions, which must include at least the flight route information, take-off and landing point locations, and mission type.

[0163] Multi-dimensional compliance verification of flight missions should be conducted, including at least verification of light environment compliance.

[0164] If the verification passes, a phased lighting control strategy matching the entire mission cycle will be generated based on the flight mission, the light environment zone to which the micro-tower belongs, and the current time period. The phased lighting control strategy includes at least the takeoff phase strategy and the landing phase strategy.

[0165] Based on the phased lighting control strategy and the real-time status of the UAV, the corresponding phased strategy is invoked and executed during the corresponding task time period. The phased strategy is used to control the lighting module of the micro-tower.

[0166] Upon completion of drone landing, the system performs a reset of the micro-tower lighting status and data archiving.

[0167] Specifically, the micro-tower is a pole-shaped, multi-functional infrastructure that can be divided along its height into a bottom energy control area, a middle lighting and sensing area, and a top low-altitude operation area. The bottom energy control area houses the power distribution unit, backup power supply, and maintenance interfaces. The middle lighting and sensing area integrates a light environment sensor, a weather station, and mounting brackets for the lighting modules. The top low-altitude operation area houses the UAV pod and take-off and landing platform. As the physical support structure of the entire system, the micro-tower provides mounting points for all components. Simultaneously, its zoned design isolates the vibrations generated by the pod's take-off and landing from the electromagnetic interference generated by the lighting module's operation, reducing mutual interference between components.

[0168] The lighting module 203 is fixedly installed on the mounting bracket in the central lighting sensing area of ​​the micro-tower. It is divided into a main lighting unit facing the scene area below and a low-altitude directional lighting unit facing the top take-off and landing platform and the surrounding airspace. The low-altitude directional lighting unit is equipped with a light shield and an angle adjustment drive mechanism. The main lighting unit and the low-altitude directional lighting unit use independent power supply circuits and control interfaces. The lighting module is connected to the output of the edge controller through a signal cable and is controlled by the drive commands sent by the edge controller. The main lighting unit is used to provide daily road or scene floodlighting, and the low-altitude directional lighting unit is used to provide directional and precise supplementary lighting for the take-off and landing of the UAV. The independent power supply design ensures that the low-altitude directional lighting unit can still work independently when the main lighting unit is turned off.

[0169] The UAV 201 is an aerial work platform equipped with a flight control system, a visual recognition module, and a wireless communication module. When not performing a mission, it is parked in the nest at the top of the micro-tower. During mission execution, it maintains two-way data interaction with the edge controller through a wireless communication link, and transmits its own position coordinates, flight altitude, attitude angle, battery level, and mission progress information in real time. As the main body of the flight mission, the UAV provides the edge controller with the real-time status information required to call the segmented strategy.

[0170] The edge controller 202 can be encapsulated in the protective cavity of the energy control area at the bottom of the microtower or the lighting sensing area in the middle. It is electrically connected to the output terminals of the driver circuit of the lighting module, the controller of the UAV nest, and various environmental sensors through communication cables. At the same time, it is connected to the external low-altitude flight service platform and the microtower group coordination unit through wired or wireless communication links. As the control core of the entire system, the edge controller executes the full-process control logic specified by the UAV take-off and landing and lighting control method based on the microtower.

[0171] The beneficial effects of this application embodiment compared with the prior art are as follows: This application embodiment receives flight missions through an edge controller and performs unified verification of multi-dimensional conditions, including light environment compliance. Based on mission attributes, the light environment zone to which the micro-tower belongs, and the current time period, it dynamically generates phased lighting control strategies that match the entire cycle of takeoff, flight, and landing. Based on the real-time status of the UAV, it accurately calls and executes these strategies. Thus, while ensuring the visual recognition safety of the UAV at each stage of operation, it effectively limits the on-time, illumination range, and brightness limit of the lighting module, achieving a dynamic balance between flight safety and light environment protection.

[0172] like Figure 4 The diagram shown is a schematic of an edge controller provided in an embodiment of this application. The edge controller 3 may include a processor 301, a memory 302, and a computer program 303 stored in the memory 302 and executable on the processor 301, such as a microtower-based UAV takeoff and landing and lighting control program. When the processor 301 executes the computer program 303, it implements the steps in the various microtower-based UAV takeoff and landing and lighting control embodiments described above, for example... Figure 1 Steps S101 to S105 are shown.

[0173] A computer program can be divided into one or more modules / units. One or more modules / units are stored in memory 302 and executed by processor 301 to complete this application. One or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the edge controller.

[0174] The edge controller may include, but is not limited to, processor 301 and memory 302. Those skilled in the art will understand that... Figure 4 This is merely an example of an edge controller and does not constitute a limitation on the edge controller. It may include more or fewer components than illustrated, or combine certain components, or different components. For example, an edge controller may also include input / output devices, network access devices, buses, etc.

[0175] The processor 301 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0176] The memory 302 can be an internal storage unit of the edge controller, such as the hard drive or RAM of the edge controller. The memory 302 can also be an external storage device of the edge controller, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the edge controller. Furthermore, the memory 302 can include both internal and external storage units of the edge controller. The memory 302 is used to store computer programs and other programs and data required by the edge controller. The memory 302 can also be used to temporarily store data that has been output or will be output.

[0177] It should be noted that, for the sake of convenience and brevity, the structure of the edge controller described above can also be referred to the specific description of the structure in the method embodiment, which will not be repeated here.

[0178] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0179] This application also provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the steps in the above-described micro-tower-based UAV take-off and landing and lighting control method.

[0180] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps in the above-described micro-tower-based UAV take-off and landing and lighting control method.

[0181] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0182] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for various specific applications, but such implementations should not be considered beyond the scope of this application.

[0183] In the embodiments provided in this application, it should be understood that the disclosed devices / edge controllers and methods can be implemented in other ways. For example, the device / edge controller embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0184] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0185] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0186] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0187] The embodiments described above are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for UAV takeoff, landing, and lighting control based on a microtower, characterized in that, The method includes: Receive drone flight missions, which include at least route information, take-off and landing point locations, and mission type; The flight mission is subject to multi-dimensional compliance verification, which includes at least a light environment compliance verification. If the verification passes, a phased lighting control strategy matching the entire mission cycle is generated based on the flight mission, the light environment zone to which the micro-tower belongs, and the current time period. The phased lighting control strategy includes at least a takeoff phase strategy and a landing phase strategy. Based on the phased lighting control strategy and the real-time status of the UAV, the corresponding phased strategy is invoked and executed during the corresponding task time period. The phased strategy is used to control the lighting module of the micro-tower. Upon completion of drone landing, the system performs a reset of the micro-tower lighting status and data archiving.

2. The UAV takeoff and landing and lighting control method based on a microtower as described in claim 1, characterized in that, The multi-dimensional compliance verification of the flight mission includes: The light environment zone to which the micro-tower belongs, the current time period, and the priority of the flight mission are obtained. Based on the preset mapping relationship between the light environment zone, time period, and mission priority, the lighting constraint boundary is determined. The lighting constraint boundary includes at least the maximum allowable illuminance and the maximum uplight luminous flux ratio. Real-time light environment data around the micro-tower is collected. If the real-time light environment data does not exceed the lighting constraint boundary, the light environment is deemed compliant.

3. The UAV takeoff and landing and lighting control method based on a microtower as described in claim 2, characterized in that, After obtaining the light environment zone to which the micro-tower belongs, the current time period, and the priority of the flight mission, and determining the lighting constraint boundary according to the preset mapping relationship between the light environment zone, time period, and mission priority, the method further includes: Collect real-time light environment data around the micro-tower; If the real-time light environment data exceeds the lighting constraint boundary, the brightness or illumination angle of the lighting module is dynamically adjusted until it meets the lighting constraint boundary.

4. The UAV takeoff and landing and lighting control method based on a microtower as described in claim 1, characterized in that, The multi-dimensional compliance verification also includes other compliance verifications. The multi-dimensional compliance verification of the flight mission further includes: Extract the airspace information, nest identifier, meteorological characteristics of the operation area, and power supply and communication status of the microtower associated with the flight mission. Based on the preset airspace access rules, nest operation threshold, meteorological adaptation rules, power supply reliability standards, and communication link redundancy requirements, perform individual compliance judgments on airspace compliance, nest status, meteorological conditions, power supply status, and communication links to obtain the corresponding individual verification results. Cross-verification is performed based on the correlation between the individual verification results. If any individual verification fails or multiple verification results conflict, the compliance verification of other dimensions is deemed to have failed. If all individual checks pass without conflict, a preliminary conclusion is generated that compliance checks for other dimensions have passed. The preliminary conclusions are aligned and verified with the light environment compliance verification results. If both pass, the other dimensions of compliance verification are deemed to have passed and are considered as part of the multi-dimensional compliance verification.

5. The UAV takeoff and landing and lighting control method based on a microtower as described in claim 1, characterized in that, When the flight mission is a cross-tower flight mission, the method further includes: This microtower will send the cross-tower lighting request containing the aforementioned flight route information to the microtower group coordination unit; The micro-tower group coordination unit determines the target micro-towers along the route based on the flight information and distributes the cross-tower lighting requirements to the edge controllers of each target micro-tower. The edge controller of each target micro-tower controls the tower's lighting module to turn on before the drone enters the corresponding coverage area and turn off after the drone leaves.

6. The UAV takeoff and landing and lighting control method based on a microtower as described in claim 1, characterized in that, When the task type is hovering operation within the tower's neighborhood, the step of invoking and executing the corresponding segmentation strategy during the corresponding task time period includes: Before the drone enters the vicinity of the tower, the lighting module is controlled to adjust to a lighting state that matches the hovering operation; Maintain the lighting status during drone hovering operations; After the drone leaves the vicinity of the tower, control the lighting module to restore it to basic lighting status.

7. The UAV takeoff and landing and lighting control method based on a microtower as described in claim 1, characterized in that, The step of invoking and executing the corresponding segmentation strategy during the corresponding task time period includes: During takeoff, before the hatch opening operation is performed in the nest, the low-altitude directional lighting unit in the lighting module is turned on and the illumination range is adjusted to cover the takeoff and landing area. After the UAV leaves the ground, the lighting is maintained for the time required for safety confirmation. During the landing phase, upon receiving the UAV's return-to-home signal, the system predicts the time it will arrive at the tower's take-off and landing point based on the UAV's real-time position and controls the low-altitude directional lighting unit to turn on in advance to cover the return-to-home path and take-off and landing area until the UAV completes landing.

8. The UAV takeoff and landing and lighting control method based on a microtower as described in claim 1, characterized in that, The step of generating a phased lighting control strategy that matches the entire mission lifecycle, based on the flight mission, the light environment zone to which the micro-tower belongs, and the current time period, includes: The mission type, route information and mission priority are extracted from the flight mission. Combined with the light environment zoning and the current time period, the lighting requirements for each stage of the mission are determined. Each stage includes at least the takeoff stage and the landing stage. The lighting requirements include the lighting coverage area and minimum illuminance requirements corresponding to each stage. Based on the lighting requirements, and combined with the corresponding light environment zones and the predefined light environment constraint boundaries for the current time period, a set of lighting control logic is constructed, which includes the activation timing, illumination range, and brightness limit of lighting modules at each stage. The lighting control logic set is validated for compliance based on the task priority. If the task priority is an emergency priority, the brightness limit of the corresponding stage is allowed to be temporarily adjusted beyond the light environment constraint boundary. If the task priority is a non-emergency priority, the brightness limit is locked to not exceed the light environment constraint boundary, and the phased lighting control strategy is generated.

9. A UAV takeoff and landing and lighting control system based on a micro-tower, characterized in that, The system includes a drone, a micro-tower, an edge controller, and a lighting module; The micro-tower is used to support the drone and the lighting module; The lighting module is used to provide controlled lighting; The drone is used to perform flight missions; The edge controller is located on the micro-tower and is connected to both the drone and the lighting module, and is used for: Receive drone flight missions, which include at least route information, take-off and landing point locations, and mission type; The flight mission is subject to multi-dimensional compliance verification, which includes at least a light environment compliance verification. If the verification passes, a phased lighting control strategy matching the entire mission cycle is generated based on the flight mission, the light environment zone to which the micro-tower belongs, and the current time period. The phased lighting control strategy includes at least a takeoff phase strategy and a landing phase strategy. Based on the phased lighting control strategy and the real-time status of the UAV, the corresponding phased strategy is invoked and executed during the corresponding task time period. The phased strategy is used to control the lighting module of the micro-tower. Upon completion of drone landing, the system performs a reset of the micro-tower lighting status and data archiving.

10. An edge controller comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the microtower-based UAV takeoff and landing and lighting control method as described in any one of claims 1 to 8.

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