CN111382971A - Unmanned aerial vehicle multipoint automatic distribution method and device - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle multipoint automatic distribution method and a device, wherein the method comprises the following steps: s1, arranging infrared beacons at each distribution point and arranging infrared image acquisition equipment on a distribution unmanned aerial vehicle; s2, controlling the unmanned distribution machines to fly among distribution points according to distribution instructions when the unmanned distribution machines receive the distribution instructions sent by the ground control end, and executing the step S3 when the unmanned distribution machines fly to the distribution points; s3, controlling the distribution unmanned aerial vehicle to start landing, starting an infrared image acquisition device to search and acquire an image of an infrared beacon in the landing process, and judging the position deviation degree of the distribution unmanned aerial vehicle according to the acquired image to adjust the course of the distribution unmanned aerial vehicle until the distribution unmanned aerial vehicle lands to a target landing point; and the distribution unmanned aerial vehicle controls to fly to the next distribution point after taking off from the target landing point. The invention can realize the multipoint automatic distribution of the unmanned aerial vehicle and has the advantages of high distribution efficiency and precision, low cost, strong flexibility and the like.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle distribution, in particular to an unmanned aerial vehicle multi-point automatic distribution method and device.
Background
Unmanned aerial vehicle has been carried out the delivery of goods by the wide application in each field gradually at present, in the logistics distribution field, utilizes unmanned aerial vehicle, what can be nimble be applicable to various delivery environment, very big sparingly delivery resource improves delivery efficiency. At present, the distribution of goods between two or more points is accomplished by using an automatic distribution system of unmanned aerial vehicles, for example, the distribution between two buildings at A, B is usually performed according to the following procedures:
(1) the wireless remote control requests the unmanned aerial vehicle to fly to a floor apron at the B position;
(2) controlling the unmanned aerial vehicle to take off from the landing apron at the floor A and fly to the landing initial point at the floor B according to a preset air route;
(3) the unmanned aerial vehicle lands on the floor B after reaching the landing starting point of the floor B;
(4) the worker at the position B places the goods into the unmanned aerial vehicle hangar and then controls the unmanned aerial vehicle to return, the unmanned aerial vehicle takes off from the landing apron at the position B and flies to the landing starting point at the position A according to a preset air route;
(5) after the unmanned aerial vehicle flies to land to the parking apron at the floor A, workers at the parking apron at the floor A take out required goods to complete delivery.
The mode of utilizing unmanned aerial vehicle to accomplish goods delivery between two or the multiple spot above-mentioned, delivery efficiency is high, ageing good and the security is high, can be applicable to in all kinds of delivery scenes such as long distance, complex environment in a flexible way.
However, in the prior art, the unmanned aerial vehicle needs to depend on accurate GPS signals for taking off and landing, especially during landing, accurate GPS signals must be ensured when the unmanned aerial vehicle is landed to a specified position accurately, while the general GPS positioning accuracy is generally about 2 to 3 meters, although the differential GPS accuracy is high and is in the centimeter level, the cost is high, the cost of a single module is very high, and the GPS accuracy is generally required to be ensured, the GPS module is generally vacant, when the unmanned aerial vehicle is automatically distributed in a building group with many buildings, because the distance between the buildings is short, the GPS signals are generally poor and unstable, the GPS coordinates are prone to drift, and some areas can not even acquire the GPS signals, therefore, when the unmanned aerial vehicle lands depending on the GPS signals, the unmanned aerial vehicle can cause unstable flight during landing, or the unmanned aerial vehicle lands inaccurately, and cannot land after the GPS signals are not found, even lead to unmanned aerial vehicle to cause the situation such as explode machine danger near from the barrier on periphery, just can't ensure to realize stable, accurate automatic delivery.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides the multipoint automatic distribution method and the multipoint automatic distribution device of the unmanned aerial vehicle, which have high distribution efficiency and precision, low cost and strong flexibility, and can realize multipoint efficient and accurate automatic distribution by utilizing the unmanned aerial vehicle.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
an unmanned aerial vehicle multipoint automatic distribution method comprises the following steps:
s1, arranging infrared beacons at each distribution point and arranging infrared image acquisition equipment on a distribution unmanned aerial vehicle;
s2, distribution control: when the distribution unmanned aerial vehicle receives a distribution instruction sent by a ground control end, controlling the distribution unmanned aerial vehicle to fly among distribution points according to the distribution instruction, and when the distribution unmanned aerial vehicle flies to the distribution points, executing the step S3;
s3, taking off and landing control: controlling the distribution unmanned aerial vehicle to start landing, starting the infrared image acquisition equipment to search and acquire the image of the infrared beacon in the landing process, and judging the position deviation degree of the distribution unmanned aerial vehicle according to the acquired image so as to adjust the course of the distribution unmanned aerial vehicle until the distribution unmanned aerial vehicle lands on a target landing point; and the distribution unmanned aerial vehicle controls to fly to the next distribution point after taking off from the target landing point.
Further, in step S1, specifically, a horizontal infrared beacon having a vertical radiation direction is arranged in the horizontal direction of each distribution point, and a vertical infrared beacon having a horizontal radiation direction is arranged in the vertical direction, during landing in step S3, the horizontal infrared beacon and the vertical infrared beacon are searched, and the deviation degree of the distribution unmanned aerial vehicle with respect to the horizontal infrared beacon and the vertical infrared beacon is determined, so as to determine the distance that the distribution unmanned aerial vehicle needs to be adjusted with respect to the horizontal infrared beacon and the vertical infrared beacon.
Further, in step S1, a first infrared image capturing device for capturing images in the horizontal direction and a second infrared image capturing device for capturing images in the vertical direction are respectively disposed at a designated position on the fuselage side of the distribution unmanned aerial vehicle, and are used for capturing images of the vertical infrared beacon and the horizontal infrared beacon to determine the offset degree of the distribution unmanned aerial vehicle relative to the horizontal infrared beacon and the vertical infrared beacon.
Further, in step S3, the vertical infrared beacon is first searched by the first infrared image capturing device, and if the vertical infrared beacon is found, it is determined whether an imaging position of the vertical infrared beacon in the first infrared image capturing device is in a central area, if not, the heading of the unmanned aerial vehicle is adjusted until the imaging position in the first infrared image capturing device is in the central area; and searching the horizontal infrared beacon through the second infrared image acquisition equipment, if the horizontal infrared beacon is searched, judging whether the image in the second infrared image acquisition equipment is in a central area, if not, adjusting the course of the unmanned aerial vehicle until the image in the second infrared image acquisition equipment is in the central area, and controlling the unmanned aerial vehicle to vertically descend to a target landing point.
The method further comprises the step of calibrating imaging of the infrared image acquisition equipment to obtain the relation between imaging data of the infrared beacon in the red tile image acquisition equipment and the distance of the infrared image acquisition equipment so as to adjust the navigation direction of the distribution unmanned aerial vehicle, and the closed loop is formed by the actual distance of the distribution unmanned aerial vehicle flying and the target distance for control according to the corresponding relation between the imaging data obtained by calibration and the distance of the infrared image acquisition equipment when the flight course of the distribution unmanned aerial vehicle is adjusted.
Further, in step S3, after the distribution unmanned aerial vehicle flies to the distribution point, if the infrared beacon cannot be found or the infrared beacon cannot be found for more than a preset time, the control unit sends a request to the ground control end to request landing to the previous landing point, flies to the previous landing point after receiving a response from the ground control end, and if there is no landing point suitable for landing at present, the control unit controls the distribution unmanned aerial vehicle to fly to the standby emergency landing point to land.
Further, the specific step of controlling the unmanned aerial vehicle to fly to the next distribution point after the unmanned aerial vehicle is delivered from the target landing point in the step S3 includes: and in the process of controlling the distribution unmanned aerial vehicle to take off from the landing point, starting the infrared image searching and collecting equipment to collect the image of the infrared beacon, judging the position deviation degree of the distribution unmanned aerial vehicle according to the collected image so as to adjust the course of the distribution unmanned aerial vehicle, and finishing taking off until the distribution unmanned aerial vehicle flies to the original landing starting point.
The utility model provides an unmanned aerial vehicle multiple spot automatic distribution device, includes ground control end and distribution unmanned aerial vehicle, the ground control end sends the delivery instruction to distribution unmanned aerial vehicle to and receive the flight status information that distribution unmanned aerial vehicle uploaded, still include:
the system comprises infrared beacons arranged at each distribution point and infrared image acquisition equipment arranged on the distribution unmanned aerial vehicle;
the distribution control module is used for controlling the unmanned distribution machine to fly among the distribution points according to the distribution instruction when the unmanned distribution machine receives the distribution instruction sent by the ground control end, and switching to the taking-off and landing execution control module when the unmanned distribution machine flies to a designated landing starting point near the distribution points;
the take-off and landing control module is used for controlling the distribution unmanned aerial vehicle to start landing, starting the infrared image acquisition equipment to search and acquire the image of the infrared beacon in the landing process, and judging the position deviation degree of the distribution unmanned aerial vehicle according to the acquired image so as to adjust the course of the distribution unmanned aerial vehicle until the distribution unmanned aerial vehicle lands on a target landing point; and the distribution unmanned aerial vehicle controls to fly to the next distribution point after taking off from the target landing point.
Further, infrared beacon includes that the horizontal direction arranges has the horizontal infrared beacon of vertical radiation direction and the vertical direction arranges has the vertical infrared beacon of horizontal radiation direction, through discerning among the control module of taking off and land horizontal infrared beacon, vertical infrared beacon judge that distribution unmanned aerial vehicle is respectively for the skew degree of horizontal infrared beacon, vertical infrared beacon to confirm respectively that distribution unmanned aerial vehicle need the distance size of adjustment on level, vertical direction.
Further, infrared image acquisition equipment includes the first infrared image acquisition equipment of the horizontal direction collection that arranges at distribution unmanned aerial vehicle fuselage side assigned position and the second infrared image acquisition equipment of the vertical direction collection that arranges at bottom assigned position for correspond the collection the position relation between infrared beacon and the distribution unmanned aerial vehicle is confirmed to the image of vertical infrared beacon, horizontal infrared beacon, exports for take off and land control module, take off and land control module basis the image that first infrared image acquisition equipment, second infrared image acquisition equipment gathered confirms distribution unmanned aerial vehicle distance size that needs the adjustment in level, vertical direction respectively.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, the infrared beacons are arranged at each distribution point, the infrared image acquisition equipment is arranged on the distribution unmanned aerial vehicle, the infrared beacons are used as position marks to control the distribution unmanned aerial vehicle to carry out multi-point distribution, when the distribution unmanned aerial vehicle flies to the distribution point and needs to land, the infrared image acquisition equipment is used for searching and acquiring images of the infrared beacons, the position deviation degree of the unmanned aerial vehicle is judged by the acquired images, the course of the distribution unmanned aerial vehicle is adjusted according to the deviation degree, so that the distribution unmanned aerial vehicle can be guided to accurately land to the landing point by using the infrared beacons, the distribution unmanned aerial vehicle does not need to rely on GPS signals in the landing process, and the distribution unmanned aerial vehicle can be suitable for realizing accurate multi-point automatic distribution in distribution environments such as building groups which are inconvenient to acquire GPS signals.
2. The invention further determines the deviation degree of the distribution unmanned aerial vehicle relative to the horizontal and vertical infrared beacons by arranging the horizontal and vertical infrared beacons and utilizing the imaging positions of the infrared beacons in the image acquisition equipment, and can quickly and accurately determine the distance to be adjusted relative to the horizontal and vertical infrared beacons in the landing process of the distribution unmanned aerial vehicle, thereby accurately controlling and adjusting the navigation direction of the unmanned aerial vehicle and further improving the landing control efficiency and precision.
3. In the landing control, the invention further carries out the flight control step by step along the X, Y, Z axes, determines the deviation degree of the unmanned aerial vehicle to be delivered and adjusts the course of the unmanned aerial vehicle according to the position relation between the vertical infrared beacon, the horizontal infrared beacon and the unmanned aerial vehicle during the flight process along each axis, and can conveniently and rapidly control the unmanned aerial vehicle to accurately land to the landing point by aligning the infrared beacon by utilizing the step control mode.
4. According to the invention, the unmanned aerial vehicle is guided to fly based on the GPS when the GPS signal is in a good environment, and the distribution unmanned aerial vehicle is guided to land and take-off control by the infrared beacon in the landing and taking-off processes with unstable GPS signal, so that the reliable stability of the distribution unmanned aerial vehicle in the whole distribution process can be ensured, and the reliable and accurate multi-point automatic distribution is realized.
Drawings
Fig. 1 is a schematic flow chart of an implementation of the unmanned aerial vehicle multipoint automatic distribution method in the embodiment.
Fig. 2 is a schematic diagram of a first infrared beacon arrangement in a specific application embodiment of the present invention.
Fig. 3 is a schematic diagram of a second infrared beacon arrangement (with an emergency drop point) in a specific application embodiment of the present invention.
Fig. 4 is a side view of the dispensing drone in this embodiment.
Fig. 5 is a bottom view of the dispensing drone in this embodiment.
Fig. 6 is a schematic flow chart of the implementation of the landing control in the present embodiment.
Fig. 7 is a specific flowchart for implementing the landing control in the present embodiment.
Fig. 8 is a detailed flow chart of the second (radar and infrared fusion control) implementation of landing control in the embodiment of the present invention.
Fig. 9 is a specific flowchart for implementing the takeoff control in the present embodiment.
Fig. 10 is a schematic flow chart of the interaction between the distribution drone and the ground end in this embodiment.
Fig. 11 is a schematic structural diagram of the distribution drone in the present embodiment.
Detailed Description
The invention is further described below with reference to the drawings of the specification and to specific preferred embodiments, without thereby limiting the scope of protection of the invention.
As shown in fig. 1, the method for multipoint automatic distribution by an unmanned aerial vehicle of the present embodiment includes the steps of:
s1, arranging infrared beacons at each distribution point and arranging infrared image acquisition equipment on a distribution unmanned aerial vehicle;
s2, distribution control: when the distribution unmanned aerial vehicle receives a distribution instruction sent by a ground control end, the distribution unmanned aerial vehicle is controlled to fly among distribution points according to the distribution instruction, and when the distribution unmanned aerial vehicle flies to the distribution points, the step S3 is executed;
s3, taking off and landing control: controlling the distribution unmanned aerial vehicle to start landing, starting an infrared image searching and collecting device to collect an image of an infrared beacon in the landing process, and judging the position deviation degree of the distribution unmanned aerial vehicle according to the collected image to adjust the course of the distribution unmanned aerial vehicle until the distribution unmanned aerial vehicle lands to a target landing point; and the distribution unmanned aerial vehicle controls to fly to the next distribution point after taking off from the target landing point.
This embodiment is through arranging infrared beacon and arranging infrared image acquisition equipment on distribution unmanned aerial vehicle at each delivery point, by infrared beacon as position sign, the in-process of control distribution unmanned aerial vehicle carrying out the multiple spot delivery, when distribution unmanned aerial vehicle flies to the delivery point and need descend, utilize infrared image acquisition equipment to seek and gather the image of infrared beacon, judge unmanned aerial vehicle's position offset degree by the image of gathering, adjust distribution unmanned aerial vehicle's course according to the offset degree, make and to utilize infrared beacon guide to distribute accurate descending to the landing point of unmanned aerial vehicle, the in-process of descending need not to rely on GPS signal, can be applicable to and be not convenient for to acquire accurate multiple spot automatic distribution in the distribution environment such as GPS signal or the unstable building crowd of GPS signal.
In step S1 of this embodiment, specifically, a horizontal infrared beacon having a vertical radiation direction is arranged in the horizontal direction and a vertical infrared beacon having a horizontal radiation direction is arranged in the vertical direction at each distribution point, and during the landing in step S3, the deviation degrees of the distribution unmanned aerial vehicles with respect to the horizontal infrared beacon and the vertical infrared beacon are determined by searching the horizontal infrared beacon and the vertical infrared beacon, so as to determine the deviation degrees of the distribution unmanned aerial vehicles with respect to the horizontal infrared beacon and the vertical infrared beacon.
In this embodiment, the horizontal infrared beacon is specifically configured in an "H" shape, the radiation direction is vertical upward, that is, the direction opposite to the gravity direction, the emission range is a cone having an opening angle of 135 degrees and taking the horizontal direction as a vertex, and the emission power of the infrared beacon is adjustable, so that the vertical height (that is, the gravity direction) required for the radiation to the unmanned aerial vehicle landing can be adjusted; the vertical infrared beacon is specifically configured into a V shape, the radiation direction is horizontally outward, the emission range is 135 degrees of field angle, a cone taking the vertical direction as a vertex is adopted, the emission power of the infrared beacon is adjustable, and the horizontal distance (namely the horizontal direction perpendicular to the gravity direction) required by the radiation of the infrared beacon to the landing of the unmanned aerial vehicle can be adjusted.
As shown in fig. 2, in this embodiment, specifically, the horizontal infrared beacons in the above "H" shape are horizontally arranged on each target building to be landed, the radiation direction is vertically upward, and the vertical infrared beacons in the above "V" shape are vertically arranged, the radiation direction is perpendicular to the building and outward, and when the unmanned aerial vehicle needs to land to a specified floor in the building, the unmanned aerial vehicle is guided to land by using the horizontal infrared beacons in the above "H" shape and the vertical infrared beacons in the above "V" shape as position references. It is further possible to arrange a horizontal infrared beacon in the shape of an "H" on the top floor of the building to simultaneously act as an emergency landing point, as shown in fig. 3. Horizontal infrared beacon can dispose wireless charging coil simultaneously to realize unmanned aerial vehicle's the function of charging.
The shapes of the horizontal infrared beacon and the vertical infrared beacon can be any other shapes which are convenient to identify and distinguish according to actual requirements. The infrared beacon can be configured to transmit and modulate in a specific modulation mode so as to distinguish the infrared signal in the background and ensure that the unmanned aerial vehicle can stably and effectively receive the infrared beacon signal.
In this embodiment, all the distribution points may be numbered in advance to uniquely determine each distribution point, and in the step S2, when the unmanned aerial vehicle is controlled to land to a distribution point in the distribution process, the ground control end of the unmanned aerial vehicle sends a landing instruction, where the landing instruction includes a distribution point number, a GPS coordinate of a landing start point of the corresponding distribution point, height information of the distribution point, and the like, and the unmanned aerial vehicle is controlled to start landing after flying to the designated landing start point.
In step S1 of this embodiment, a first infrared image capturing device for horizontally capturing images and a second infrared image capturing device for vertically capturing images are respectively disposed at a designated position on the side of the unmanned aerial vehicle, and a designated position on the bottom of the unmanned aerial vehicle, and are used to correspondingly capture images of the vertical infrared beacon and the horizontal infrared beacon, so as to determine the offset degree of the unmanned aerial vehicle for the vertical infrared beacon and the horizontal infrared beacon, and further determine the distance of the unmanned aerial vehicle for the horizontal infrared beacon and the vertical infrared beacon, which needs to be adjusted.
The above-mentioned image acquisition equipment of this embodiment specifically adopts infrared vision camera module, installs infrared vision camera module (looking sideways at infrared camera module, looking down infrared camera module) respectively in unmanned aerial vehicle fuselage side and bottom promptly, as shown in fig. 4, 5, has sensitization chip in the vision camera module, the cooperation takes the camera lens of specific wavelength filter. When the infrared vision camera module aims at the infrared beacon, the infrared beacon images on the photosensitive chip, the image definition of the infrared beacon can be adjusted by adjusting the distance between the infrared vision camera module and the infrared beacon, if the infrared vision camera module and the beacon are perpendicular to each other, when the distance is far away, the beacon on the photosensitive chip presents a spot with smaller quantization, and when the infrared vision camera module is slowly close to the infrared beacon, the photosensitive chip can slowly and clearly present the infrared beacon shape (H or V), and the adjustment of the image definition and the size can be realized by adjusting the imaging focal length of the lens of the infrared vision camera module. When the unmanned aerial vehicle lands on the horizontal infrared beacon, the focal length of a lens of the bottom vision camera module (downward-looking infrared camera module) is adjusted, so that the bottom vision camera module can clearly present an H shape on the photosensitive chip; the focal length of the lens of the body side visual camera module (side-looking infrared camera module) is adjusted according to the horizontal and vertical distances between the landing point and the vertical infrared beacon, so that the V-shaped photosensitive chip can be clearly displayed.
In step S3 of this embodiment, specifically, height information of the unmanned aerial vehicle is obtained first, and the vertical infrared beacon is searched through the first infrared image acquisition device (side-looking infrared camera module), and if the height information is conformed and the vertical infrared beacon is searched, it is determined whether an imaging position of the vertical infrared beacon in the first infrared image acquisition device (side-looking infrared camera module) is in the central area, if not, the heading of the unmanned aerial vehicle is adjusted until the imaging in the first infrared image acquisition device (side-looking infrared camera module) is in the central area; and searching a horizontal infrared beacon by second infrared image acquisition equipment (downward-looking infrared camera module), if the horizontal infrared beacon is searched, judging whether an image in the second infrared image acquisition equipment (downward-looking infrared camera module) is in a central area, if not, adjusting the course of the unmanned aerial vehicle until the image in the second infrared image acquisition equipment (downward-looking infrared camera module) is in the central area, and finally controlling the unmanned aerial vehicle to descend to a target landing point according to the acquired height information of the unmanned aerial vehicle.
When the infrared beacon and the light sensing chip in the visual camera module are just right to the time, the pixel point that the infrared beacon appears on the pixel is the biggest, the position is also just the position placed in the middle in the pixel matrix, if the formation of image of infrared beacon image in infrared image acquisition equipment is in central point, it indicates that distribution unmanned aerial vehicle has aimed at the infrared beacon promptly, if not in central point, then can adjust distribution unmanned aerial vehicle course according to the skew direction of formation of image position. The embodiment utilizes the imaging position of infrared beacon in infrared image acquisition equipment to judge the relation between unmanned aerial vehicle and the infrared beacon, is in central point by the imaging position of beacon and puts, can make things convenient for, whether quick judgement unmanned aerial vehicle squints to accurate control adjustment delivery unmanned aerial vehicle course can further improve control efficiency and precision.
In this embodiment, specifically, an obstacle avoidance radar is further arranged on the distribution unmanned aerial vehicle to realize distance measurement and obstacle avoidance functions, as shown in fig. 6, when the unmanned aerial vehicle flies to a designated course planning GPS coordinate point and a height point, the ground control end is notified to execute landing, the unmanned aerial vehicle is kept flying to the GPS coordinate point, the unmanned aerial vehicle starts to start to descend, the radar obstacle avoidance is started to acquire height information, the height is judged and a vertical infrared beacon is searched, and if the height does not conform to or is not searched, the heading of the unmanned aerial vehicle is adjusted until the height of the unmanned aerial vehicle conforms to and can search the vertical infrared beacon; then, the unmanned aerial vehicle flies towards the direction of the vertical beacon, the vertical infrared beacon is searched through the side-looking infrared camera module, the position of the vertical infrared beacon in the visual field of the camera is judged, corresponding compensation is carried out according to the offset position, if the vertical infrared beacon deviates from the left, the right compensation is carried out, if the vertical infrared beacon deviates from the right, the left compensation is carried out, if the vertical infrared beacon deviates from the left, the lower compensation is carried out, and if the vertical infrared beacon deviates from the right, the higher compensation is carried out until the imaging of the vertical infrared beacon is located in the; then judging that a horizontal infrared beacon is searched through the downward-looking infrared camera module, judging the position of the horizontal infrared beacon in the view field of the downward-looking infrared camera module, performing corresponding compensation according to the offset position, performing right compensation if the horizontal infrared beacon is deviated from the left, performing left compensation if the horizontal infrared beacon is deviated from the right, performing low compensation if the horizontal infrared beacon is deviated from the right, and performing high compensation if the horizontal infrared beacon is deviated from the right until the image of the horizontal infrared beacon is located in a central area; and finally, reading the height information of the unmanned aerial vehicle detected by the radar, controlling the unmanned aerial vehicle to vertically descend to the height of a target lowering point according to the height information, starting an obstacle avoidance function by the radar in the descending process until the unmanned aerial vehicle is lowered, and informing a ground control end after the unmanned aerial vehicle is lowered.
The landing control can be realized by X, Y, Z axle step-by-step control in the specific application embodiment, and the following two ways can be adopted.
The first method comprises the following steps: infrared guided step control
As shown in fig. 7, the specific steps of implementing the landing control in this manner are:
step 1, calculating distances X1, Y1 and Z1 of the unmanned aerial vehicle in the direction of an X, Y, Z axis, which need to fly, according to the position relation between a designated landing starting point and a target landing point, and controlling and adjusting the direction of the unmanned aerial vehicle to enable first infrared image acquisition equipment (a side-looking visual camera module) to face a target landing area;
controlling the unmanned aerial vehicle to fly for a distance of Y1 along the Y-axis direction, continuously judging whether an image in the first infrared image acquisition equipment (side-looking visual camera module) is on a vertical central line or not in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the first infrared image acquisition equipment (side-looking visual camera module) is on the vertical central line;
controlling the unmanned aerial vehicle to fly for a distance of X1 along the X-axis direction, continuously judging whether an image in the second infrared image acquisition equipment (downward-looking camera module) is in a vertical central area or not in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the second infrared image acquisition equipment (downward-looking camera module) is in the vertical central area;
and 4, controlling the unmanned aerial vehicle to fly for a Z1 distance along the Z-axis direction, continuously judging whether an image in the second infrared image acquisition equipment (downward-looking camera module) is in a vertical central area, and if not, adjusting the course of the unmanned aerial vehicle until the image in the second infrared image acquisition equipment (downward-looking camera module) is in the vertical central area so that the unmanned aerial vehicle vertically descends to a target landing point from above the horizontal infrared beacon.
This kind of mode is through carrying out flight control along X, Y, Z axle substeps, judges whether unmanned aerial vehicle position squints according to the position relation between perpendicular infrared beacon, horizontal infrared beacon and the unmanned aerial vehicle respectively along each axle flight in-process to adjustment unmanned aerial vehicle's course makes unmanned aerial vehicle finally can aim at the accurate descending of infrared beacon to the landing point, and substep control realizes simply, easily realizes the operation. The step control can be configured to fly along the X-axis direction, fly along the Y-axis direction, and fly along the Z-axis direction according to actual requirements, or even configured to other control sequences.
And the second method comprises the following steps: radar and infrared fusion guide step-by-step control
As shown in fig. 8, the specific steps of implementing the landing control in this manner are:
step 1, when the unmanned aerial vehicle flies to a landing starting point, starting a radar to measure distance in the direction X, Z, and controlling and adjusting the direction of the unmanned aerial vehicle to enable first infrared image acquisition equipment to face a target landing area;
step 2, obtaining distances X1 and Z1 which are required to fly by the unmanned aerial vehicle in the X, Z axis direction according to radar measurement;
controlling the unmanned aerial vehicle to fly along the Y-axis direction, continuously judging whether an image in the first infrared image acquisition equipment (the side-looking visual camera module) is on a vertical central line or not in the flying process, and adjusting the course of the unmanned aerial vehicle if the image in the first infrared image acquisition equipment (the side-looking visual camera module) is not on the vertical central line until the image in the first infrared image acquisition equipment (the side-looking visual camera module) is on the vertical central line;
step 4, controlling the unmanned aerial vehicle to fly for a distance of X1 along the X-axis direction, continuously judging whether an image in the second infrared image acquisition equipment (downward-looking camera module) is in a vertical central area or not in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the second infrared image acquisition equipment (downward-looking camera module) is in the vertical central area;
controlling the unmanned aerial vehicle to fly for a Z1 distance along the Z-axis direction, continuously judging whether an image in a second infrared image acquisition (downward-looking camera module) device is in a vertical central area or not in the flying process, and if not, adjusting the course of the unmanned aerial vehicle until the image in the second infrared image acquisition device (downward-looking camera module) is in the vertical central area so as to enable the unmanned aerial vehicle to vertically descend from the upper part of the horizontal infrared beacon;
and 6, controlling the radar to descend to a target landing point according to the distance relation between the unmanned aerial vehicle and the horizontal infrared beacon and the height information of the unmanned aerial vehicle acquired by the radar.
This kind of mode is through combining the radar to carry out the range finding, earlier tentatively determine the distance that unmanned aerial vehicle need fly in X, Z axle directions, at unmanned aerial vehicle along X, Y, Z axle direction flight in-process, the horizontal infrared coordinate of rethread discernment, the position of perpendicular infrared beacon, confirm the position relation between perpendicular infrared beacon and the unmanned aerial vehicle, can judge in real time whether the unmanned aerial vehicle position squints, adjust flight course when judging to taking place the skew, if the skew left then adjust unmanned aerial vehicle gesture left side and compensate, if the skew right then adjust unmanned aerial vehicle gesture right side and compensate, can fuse radar and infrared control unmanned aerial vehicle high efficiency, accurate descending is to the target landing point.
In another embodiment, the step S3 of landing control may also adopt a synthetic route method, which includes the following specific steps: and forming a synthetic route from the designated landing starting point to the target landing point according to the position relationship between the designated landing starting point and the target landing point, the position relationship between the horizontal infrared beacon and the unmanned aerial vehicle, the position relationship between the vertical infrared beacon and the unmanned aerial vehicle, and the height information of the unmanned aerial vehicle obtained by the radar, and controlling the unmanned aerial vehicle to fly to the target landing point according to the synthetic route.
In the embodiment, the method further comprises the step of calibrating imaging of the image acquisition equipment to obtain the relationship between imaging data of the infrared beacon in the image acquisition equipment and the distance of the image acquisition equipment so as to adjust the course of the distribution unmanned aerial vehicle, and the step of controlling the distribution unmanned aerial vehicle according to the corresponding relationship between the imaging data obtained by calibration and the distance of the image acquisition equipment when the distribution unmanned aerial vehicle flies in the course, and forming a closed loop by the actual distance of the unmanned aerial vehicle flying and the target distance to control. Through demarcating image acquisition equipment in advance, can establish the corresponding relation between imaging data and the image acquisition equipment distance, in control unmanned aerial vehicle flight process, can confirm the position relation between unmanned aerial vehicle and the infrared beacon based on among the calibration data after obtaining unmanned aerial vehicle real-time distance data to judge whether unmanned aerial vehicle position squints and the skew direction, form the course that control closed loop constantly adjusted unmanned aerial vehicle with actual distance, until adjusting to imaging data at central point, aim at infrared beacon promptly. In a specific application embodiment, the calibration data can be stored, the actual distance of the unmanned aerial vehicle is determined in a table look-up manner according to the real-time distance of the unmanned aerial vehicle in the flight process of the unmanned aerial vehicle, and then a control closed loop is formed by the actual distance of the unmanned aerial vehicle and the target distance (the image is formed in the central position, namely, no offset position) to control and adjust the course of the unmanned aerial vehicle.
In this embodiment, the specific steps for performing calibration are as follows: starting from a facing position where a pixel point is maximum and an imaging position is centered in a pixel matrix when an infrared beacon images in image acquisition equipment, keeping a facing position relation between the infrared beacon and the image acquisition equipment, retreating the image acquisition equipment or the infrared beacon at a constant speed, acquiring image data and a corresponding image acquisition equipment distance to obtain a corresponding relation between imaging data of the infrared beacon in the image acquisition equipment and the image acquisition equipment distance in a facing direction, taking the facing position as an acquisition starting point, respectively moving backwards after upwards, and obtaining the corresponding relation between the imaging data of the infrared beacons in the 4 directions and the distance of the image acquisition equipment and the corresponding relation between the imaging data and the deviation distance in the image acquisition equipment according to downward and upward movement, leftward and backward movement and rightward and backward movement.
In a specific application embodiment, the detailed calibration steps when the image acquisition equipment adopts the visual camera module are as follows:
step 1, calibrating the opposite direction: the camera module is aligned to the infrared beacon, the focal length of the lens is adjusted, the position of the infrared beacon is the largest, the position of the infrared beacon is just at the middle position in the pixel matrix, the visual camera is used for collecting pixel data, the alignment is kept, the visual camera or the beacon moves backwards at a constant speed (the speed slower than that of descending of an unmanned aerial vehicle can be specifically adopted), the pixel data is collected and stored, and the camera module stops after the pixel is collected until just one bright spot can be displayed.
Step 2, 4 direction calibration:
(1) and the vision camera module slowly moves upwards and backwards by taking the dead angle as an acquisition starting point, and provides data acquired by the computer until the infrared beacon spots cannot be seen in the upward direction.
(2) And the vision camera module slowly moves downwards and backwards by taking the opposite direction as a collection starting point, and provides computer collection data until the infrared beacon spots cannot be seen in the downward direction.
(3) And the vision camera module slowly moves leftwards and backwards by taking the dead angle as an acquisition starting point, and provides computer acquisition data until the infrared beacon spots cannot be seen in the left direction.
(4) And the vision camera shooting module slowly moves towards the right and backwards by taking the dead angle as an acquisition starting point, and provides computer acquisition data until the infrared beacon spots cannot be seen towards the right direction.
In the embodiment, the opposite direction and the data in 4 directions are collected, a one-to-one corresponding relationship between the imaging pixels and the distance is acquired from the opposite direction, and the other 4 pieces of direction information include a corresponding opposite distance relationship and a corresponding beacon imaging deviation relationship (deviation distance), so that the pixels can be divided into 4 intervals, and the course of the unmanned aerial vehicle can be adjusted based on the 4 intervals.
The above-mentioned at the in-process of data acquisition demarcation, every pixel map of simultaneous recording corresponds distance information, deposits the computer and forms the table, utilizes the look-up table contrast to realize the control to unmanned aerial vehicle partial deviation and distance during follow-up unmanned aerial vehicle descending control. The calibration process can of course acquire data in more directions according to actual requirements to further improve the precision.
In this embodiment distribution unmanned aerial vehicle delivery in-process, when being in the good environment of GPS signal, can directly combine guiding unmanned aerial vehicle flight such as IMU inertial navigation and altimeter based on GPS, when needs descend, adopt above-mentioned descending control method to guide unmanned aerial vehicle to descend, can ensure stability, the reliability of unmanned aerial vehicle in whole delivery in-process.
In step S3, in this embodiment, after the distribution unmanned aerial vehicle flies to the distribution point, if the infrared beacon cannot be found or the infrared beacon is found to exceed a preset time, the control unit sends a request to the ground control end to request landing to a previous landing point, flies to the previous landing point after receiving a response from the ground control end, and if there is no landing point suitable for landing at present, the control unit controls the distribution unmanned aerial vehicle to fly to a standby emergency landing point to land, so that distribution safety and reliability can be maintained in an abnormal or fault state of the landing point.
In step S3, the specific steps of controlling the unmanned aerial vehicle to fly to the next distribution point after taking off from the destination landing point in this embodiment include: the in-process that control distribution unmanned aerial vehicle took off from the landing point starts the image that infrared image looked for and collection equipment gathered infrared beacon, judges distribution unmanned aerial vehicle's offset degree according to the image of gathering in order to adjust distribution unmanned aerial vehicle course, accomplishes taking off until flying to former landing starting point after, combines above-mentioned descending control process, can realize the complete descending of distribution unmanned aerial vehicle, play flight automatic control.
During the takeoff control of the embodiment, the unmanned aerial vehicle is firstly navigated to a GPS signal by using the second infrared image acquisition equipment (downward-looking infrared camera module) or the radar, the unmanned aerial vehicle keeps the flight course, the X-direction displacement and the Y-direction displacement are ensured to be 0, the Z-direction displacement is kept vertically upward, the height measured by the radar altimeter is taken as a closed loop, meanwhile, the unmanned aerial vehicle detects the imaging position of a beacon on a photosensitive chip merchant by using the second infrared image acquisition equipment (downward-looking infrared camera module), the takeoff posture of the unmanned aerial vehicle is kept as the closed loop for the unmanned aerial vehicle in the middle (namely, the direction of the unmanned aerial vehicle is adjusted until the unmanned aerial vehicle is imaged in the middle position if the imaging position is not in the middle position), the height information corresponding to the size of the display pixel and the height measured by the radar altimeter are detected by using the photosensitive chip as the closed loop, starting GPS signal search, judging whether the current GPS coordinate is a GPS coordinate point of the starting landing point, if not, navigating to the starting landing GPS point, and finishing take-off.
Certainly, in the process of takeoff control of the unmanned aerial vehicle, after the unmanned aerial vehicle flies to the height of the original landing starting point, the unmanned aerial vehicle can fly for the distances of X1 and Y1 along the direction of the X, Y axis respectively in a mode opposite to the landing control until the unmanned aerial vehicle flies to the original landing starting point, and takeoff is completed. As shown in fig. 9, in the specific application embodiment, when the takeoff control is implemented, the unmanned aerial vehicle starts the infrared camera module after receiving a request for delivery to the next station, the unmanned aerial vehicle starts to ascend, in the process, the position of the horizontal infrared beacon in the downward-looking camera view field is determined, the heading of the unmanned aerial vehicle is adjusted according to the position of the image, if the heading is left, the attitude of the unmanned aerial vehicle is controlled to be adjusted to be right for compensation, until the image is in the central area (the error is within the preset range), whether the current height is reached is determined, if the current height is reached, the position of the vertical beacon in the downward-looking camera view field is determined, the heading of the unmanned aerial vehicle is adjusted according to the position of the image, and until the image is in the central area (the error is within the preset range), the unmanned aerial vehicle is kept to vertically; and searching a GPS signal after reaching the designated route planning point, judging the current height of the unmanned aerial vehicle, pulling up to the GPS coordinate point and the height point of the route planning designated by the unmanned aerial vehicle, flying to the next distribution point, and sending the state to the ground control end.
This embodiment is through the control command of distribution unmanned aerial vehicle real-time reception ground control end and upload flight status, realizes the automatic delivery of multiple spot, can also further realize the automatic function of charging through interacting with ground control end. As shown in fig. 10, the distribution unmanned aerial vehicle reports the state of the ground station when in a standby state, when receiving a ground control end or a wireless remote control distribution instruction, the control takes off, after the taking off is finished, the state is sent to the ground control end, the unmanned aerial vehicle flies according to a specified or preset air route of the ground control end, the unmanned aerial vehicle hovers firstly after flying to the next distribution point, the corresponding landing surface end is prepared, the landing is started, if the charging is needed after the landing is finished, the automatic charging is carried out, the unmanned aerial vehicle takes off and flies to the next distribution point after the charging is finished, the multipoint automatic distribution of the unmanned aerial vehicle is realized, and the taking off and landing of the unmanned aerial.
In order to realize the above distribution method, the multipoint automatic distribution device for the unmanned aerial vehicle of this embodiment includes a ground control end and a distribution unmanned aerial vehicle, the ground control end sends a distribution instruction to the distribution unmanned aerial vehicle, and receives flight status information uploaded by the distribution unmanned aerial vehicle, and the multipoint automatic distribution device further includes:
the system comprises infrared beacons arranged at each distribution point and infrared image acquisition equipment arranged on the distribution unmanned aerial vehicle;
the distribution control module is used for controlling the unmanned aerial vehicle to fly among the distribution points according to the distribution instruction when the unmanned aerial vehicle receives the distribution instruction sent by the ground control end, and when the unmanned aerial vehicle flies to a designated landing starting point near the distribution points, the unmanned aerial vehicle is shifted to the taking-off and landing execution control module;
the take-off and landing control module is used for controlling the distribution unmanned aerial vehicle to start landing, starting the infrared image acquisition equipment to search and acquire the image of the infrared beacon in the landing process, and judging the position deviation degree of the distribution unmanned aerial vehicle according to the acquired image so as to adjust the course of the distribution unmanned aerial vehicle until the distribution unmanned aerial vehicle lands on a target landing point; and the distribution unmanned aerial vehicle controls to fly to the next distribution point after taking off from the target landing point.
The distribution control module and the take-off and landing control module can be specifically embedded into a control system of the distribution unmanned aerial vehicle.
In this embodiment, the infrared beacons include horizontal infrared beacons having a vertical radiation direction and vertical infrared beacons having a horizontal radiation direction, the horizontal infrared beacons and the vertical infrared beacons are arranged in the horizontal direction, and the horizontal infrared beacons and the vertical infrared beacons are identified in the take-off and landing control module, so that the deviation degrees of the unmanned aerial vehicle for distribution relative to the horizontal infrared beacons and the vertical infrared beacons are determined, and the distances of the unmanned aerial vehicle for distribution in the horizontal direction and the vertical direction are determined, and are not described in detail herein.
In this embodiment, infrared image collection equipment includes the first infrared image collection equipment of the horizontal direction collection that arranges at distribution unmanned aerial vehicle fuselage side assigned position and the second infrared image collection equipment of the vertical direction collection that arranges at bottom assigned position, a position relation between image determination infrared beacon and the distribution unmanned aerial vehicle of horizontal infrared beacon, export to take off and land control module, the image that the control module of taking off and land was gathered according to first infrared image collection equipment, second infrared image collection equipment, confirm distribution unmanned aerial vehicle for horizontal infrared beacon respectively, the skew degree of vertical infrared beacon, thereby confirm distribution unmanned aerial vehicle for horizontal infrared beacon, the distance size that vertical infrared beacon needs the adjustment. As shown in fig. 11, this embodiment disposes host system and looks sideways at infrared camera module, look down infrared camera module, millimeter wave radar altimeter that are connected with host system respectively specifically in distribution unmanned aerial vehicle, still includes communication interface in order to realize data communication, by each module work of host system control.
In this embodiment, the distribution control module corresponds to the distribution control steps in the above-mentioned unmanned aerial vehicle multipoint automatic distribution method, and the lifting control module corresponds to the lifting control steps in the above-mentioned unmanned aerial vehicle multipoint automatic distribution method, which are not described in detail.
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (10)
1. An unmanned aerial vehicle multipoint automatic distribution method is characterized by comprising the following steps:
s1, arranging infrared beacons at each distribution point and arranging infrared image acquisition equipment on a distribution unmanned aerial vehicle;
s2, distribution control: when the distribution unmanned aerial vehicle receives a distribution instruction sent by a ground control end, the distribution unmanned aerial vehicle is controlled to fly among distribution points according to the distribution instruction, and when the distribution unmanned aerial vehicle flies to the distribution points, the step S3 is executed;
s3, taking off and landing control: controlling a distribution unmanned aerial vehicle to start landing, starting the infrared image acquisition equipment to search and acquire images of the infrared beacons in the landing process, and judging the position deviation degree of the distribution unmanned aerial vehicle according to the acquired images so as to adjust the course of the distribution unmanned aerial vehicle until the distribution unmanned aerial vehicle lands on a target landing point; and the distribution unmanned aerial vehicle controls to fly to the next distribution point after taking off from the target landing point.
2. The unmanned aerial vehicle multipoint automatic distribution method of claim 1, wherein in step S1, a horizontal infrared beacon having a vertical radiation direction and a vertical infrared beacon having a horizontal radiation direction are arranged in a horizontal direction and a vertical infrared beacon having a vertical radiation direction are arranged in a vertical direction of each distribution point, and during landing in step S3, the horizontal infrared beacon and the vertical infrared beacon are searched to determine the degree of deviation of the distribution unmanned aerial vehicle with respect to the horizontal infrared beacon and the vertical infrared beacon, respectively, so as to determine the distance of the distribution unmanned aerial vehicle with respect to the horizontal infrared beacon and the vertical infrared beacon, respectively, which needs to be adjusted.
3. The unmanned aerial vehicle multipoint automatic distribution method according to claim 2, wherein in step S1, a first infrared image capturing device for capturing images in a horizontal direction and a second infrared image capturing device for capturing images in a vertical direction are respectively disposed at a designated position on a side of a body of the distribution unmanned aerial vehicle, and are used for correspondingly capturing images of the vertical infrared beacon and the horizontal infrared beacon to determine a degree of deviation of the distribution unmanned aerial vehicle relative to the horizontal infrared beacon and the vertical infrared beacon.
4. The unmanned aerial vehicle multipoint automatic distribution method according to claim 3, wherein in step S3, the first infrared image capturing device searches for the vertical infrared beacon first, and if the vertical infrared beacon is found, it is determined whether an imaging position of the vertical infrared beacon in the first infrared image capturing device is in a central area, and if not, the heading of the unmanned aerial vehicle is adjusted until the imaging in the first infrared image capturing device is in the central area; and searching the horizontal infrared beacon through the second infrared image acquisition equipment, if the horizontal infrared beacon is searched, judging whether the image in the second infrared image acquisition equipment is in a central area, if not, adjusting the course of the unmanned aerial vehicle until the image in the second infrared image acquisition equipment is in the central area, and controlling the unmanned aerial vehicle to vertically descend to a target landing point.
5. The unmanned aerial vehicle multipoint automatic distribution method according to any one of claims 1 to 4, further comprising a step of calibrating imaging of the infrared image acquisition device to obtain a relationship between imaging data of the infrared beacon in the red tile image acquisition device and a distance of the infrared image acquisition device for adjusting the course of the distribution unmanned aerial vehicle, wherein the control is performed by forming a closed loop by an actual distance of flight of the distribution unmanned aerial vehicle and a target distance according to a corresponding relationship between the imaging data obtained by calibration and the distance of the infrared image acquisition device when the course of the distribution unmanned aerial vehicle is adjusted.
6. The unmanned aerial vehicle multipoint automatic distribution method according to any one of claims 1 to 4, wherein in step S3, after the distributed unmanned aerial vehicle flies to the distribution point, if the infrared beacon cannot be found or the infrared beacon is found to exceed a preset time period, the distributed unmanned aerial vehicle is controlled to send a request for landing to a previous landing point to the ground control end, the distributed unmanned aerial vehicle flies to the previous landing point after receiving a response from the ground control end, and if no landing point suitable for landing exists at present, the distributed unmanned aerial vehicle is controlled to fly to a standby emergency landing point for landing.
7. The unmanned aerial vehicle multipoint automatic distribution method of any one of claims 1 to 4, wherein the specific step of controlling the unmanned aerial vehicle to fly to the next distribution point after the unmanned aerial vehicle is launched from the destination landing point in step S3 includes: and in the process of controlling the distribution unmanned aerial vehicle to take off from the landing point, starting the infrared image searching and collecting equipment to collect the image of the infrared beacon, judging the position deviation degree of the distribution unmanned aerial vehicle according to the collected image so as to adjust the course of the distribution unmanned aerial vehicle, and finishing taking off until the distribution unmanned aerial vehicle flies to the original landing starting point.
8. The utility model provides an unmanned aerial vehicle multiple spot automatic distribution device, includes ground control end and distribution unmanned aerial vehicle, the ground control end sends the delivery instruction to distribution unmanned aerial vehicle to and receive the flight status information that distribution unmanned aerial vehicle uploaded, its characterized in that still includes:
the system comprises infrared beacons arranged at each distribution point and infrared image acquisition equipment arranged on the distribution unmanned aerial vehicle;
the distribution control module is used for controlling the unmanned distribution machine to fly among the distribution points according to the distribution instruction when the unmanned distribution machine receives the distribution instruction sent by the ground control end, and switching to the taking-off and landing execution control module when the unmanned distribution machine flies to a designated landing starting point near the distribution points;
the landing control module is used for controlling the distribution unmanned aerial vehicle to start landing, starting the infrared image acquisition equipment to search and acquire the image of the infrared beacon in the landing process, and judging the position deviation degree of the distribution unmanned aerial vehicle according to the acquired image so as to adjust the course of the distribution unmanned aerial vehicle until the distribution unmanned aerial vehicle lands at a target landing point; and the distribution unmanned aerial vehicle controls to fly to the next distribution point after taking off from the target landing point.
9. The unmanned aerial vehicle multipoint automatic distribution device of claim 8, wherein the infrared beacons include a horizontal infrared beacon with a vertical radiation direction arranged in a horizontal direction and a vertical infrared beacon with a horizontal radiation direction arranged in a vertical direction, and the take-off and landing control module determines the deviation degree of the distribution unmanned aerial vehicle relative to the horizontal infrared beacon and the vertical infrared beacon by identifying the horizontal infrared beacon and the vertical infrared beacon so as to determine the distance of the distribution unmanned aerial vehicle in the horizontal direction and the vertical direction respectively.
10. The multipoint automatic distribution device of the unmanned aerial vehicle according to claim 8 or 9, wherein the infrared image collecting devices comprise a first infrared image collecting device which is arranged at a designated position on the side of the unmanned aerial vehicle body and used for collecting images of the vertical infrared beacon and the horizontal infrared beacon, a second infrared image collecting device which is arranged at a designated position on the bottom and used for collecting images of the vertical infrared beacon and the horizontal infrared beacon, the position relationship between the infrared beacon and the unmanned aerial vehicle is determined, the images are output to the take-off and landing control module, and the take-off and landing control module determines the distance of the unmanned aerial vehicle to be adjusted in the horizontal direction and the vertical direction according to the images collected by the first infrared image collecting device and the second infrared image collecting device.
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