Multi-rotor unmanned aerial vehicle self-adaptive landing method and system

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle self-adaptive landing method and system. When an unmanned aerial vehicle takes off, a ground control station (such as a tablet computer, a cell phone or other control equipment) chooses an approximately proper area for the unmanned aerial vehicle to land in. When the unmanned aerial vehicle receives the order to land, it starts the landing mode and waits the landing action to take place. The landing face of the landing area is then checked to see if it is suitable for the unmanned aerial vehicle to land or not. If it is suitable, the unmanned aerial vehicle begins to land and the landing mode ends; if it is not suitable, the pose of the unmanned aerial vehicle is changed for continued landing. According to the invention, it is possible to realize safe and reliable self-landing of an unmanned aerial vehicle even at a place where the landform is complex.

Description

technical field [0001] The invention relates to an adaptive landing method and system for a multi-rotor UAV. Background technique [0002] At present, the Multi-Rotor Unmanned Aerial Vehicle is the most rapidly developing and widely used aircraft among the types of UAVs. Using various electronic devices on board, it can realize image shooting and transmission, air early warning , natural disaster monitoring, power line inspection, pesticide spraying and other functions; it can also be equipped with active operating devices (such as mechanical arms) to form an operating flying robot system. Multi-rotor drones have the advantages of low cost, simple structure, easy manipulation, high flexibility, no runway for take-off and landing, hover control, and ultra-low-altitude flight. [0003] However, in order to achieve more functions, multi-rotor drones need to be equipped with a variety of equipment. Some airborne equipment has the function of collecting and sending important inf...

AI Technical Summary

Problems solved by technology

[0004] 1. During the landing process, the operator needs to continuously adjust the position and attitude of the drone according to the actual situation on the ground until it lands smoothly. The whole process may take a long time to operate, which may easily cause eye fatigue or other discomfort reactions of the operator

[0005] 2. Manual operation increases the risk of landing. If you are not careful, you may collide with obstacles, and even cause crashes, explosions, etc.

However, there are three problems in this scheme: First, the UAV needs to continuously obtain flight status information and find the designated landing position point by image matching with the landing position mark (such as the "H" letter). Set up a landing flag (usually the letter "H"); secondly, the program does not provide a control algorithm or method for the coordination between the landing state and the normal flight state. The drone cannot land when it is forced to land and cannot find the scheduled landing point. Even if the drone detects the landing target point, it may crash at any time due to insufficient power during the flight to the landing target point; Three, this scheme does not provide a kind of reliable device for safe landing, especially when needing forced landing and ground environment is rough situation (as occasions such as disaster relief scene, mountain search), problem is more prominent

However, this solution has the following problems: the landing gear of the UAV is only suitable for the flat landing area on the ground, and its effect is limited in complex environments (such as rough landing areas with corners)

In addition, the scheme may lose its shock-absorbing effect due to gas leaks

[0009] In addition to the above two typical technical solutions, other issues aimed at the safe landing of UAVs are nothing more than improving the landing gear of UAVs to have a better buffering effect, or only adding some landing protection devices. These solutions are to a certain extent It increases the complexity of structural design, and its scope of application is limited

At present, there is still no safe, reliable and intelligent landing method or system for the normal landing and emergency landing of multi-rotor drones

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