阅读说明：本技术 一种垂直起降无人机着舰系统及着舰方法 (Carrier landing system and method for vertical take-off and landing unmanned aerial vehicle ) 是由 闫志安 杨云志 徐亮 何孝游 赵健 李蒙 聂禾玮 于 2019-12-02 设计创作，主要内容包括：本发明公开了一种垂直起降无人机着舰系统,包括无人机和舰载微波天线；无人机装载有机载接收机、摄像头；无人机会先根据舰载微波天线发送的微波信号的引导至距离目标舰艇第二距离范围内；在第二距离范围内时会通过摄像头识别目标舰艇的视觉导航图像,然后根据视觉导航图像引导至目标坚挺上空并完成着舰。由于在整个着舰过程中不需要通过卫星定位,不会受到舰船设备的干扰,从而可以实现无人机的安全着舰。本发明还提供了一种垂直起降无人机着舰方法,同样具有上述有益效果。(The invention discloses a landing system of a vertical take-off and landing unmanned aerial vehicle, which comprises an unmanned aerial vehicle and a carrier-based microwave antenna; the unmanned aerial vehicle is loaded with an airborne receiver and a camera; leading the unmanned plane to be within a second distance range from a target ship according to microwave signals sent by a ship-based microwave antenna; and when the distance is within the second distance range, the visual navigation image of the target naval vessel is identified through the camera, and then the target is guided to be in the air and finish the landing according to the visual navigation image. Because satellite positioning is not needed in the whole carrier landing process, interference of ship equipment is avoided, and therefore safe carrier landing of the unmanned aerial vehicle can be achieved. The invention also provides a method for landing the unmanned aerial vehicle on the ship in vertical take-off and landing, and the method has the beneficial effects.)

1. A landing system of a vertical take-off and landing unmanned aerial vehicle is characterized by comprising an unmanned aerial vehicle and a carrier-based microwave antenna; the unmanned aerial vehicle is loaded with an airborne receiver and a camera;

the shipboard microwave antenna is used for transmitting a microwave signal to the unmanned aerial vehicle when the distance between the unmanned aerial vehicle and a target ship is within a first distance range;

the unmanned aerial vehicle is used for:

when the airborne receiver receives the microwave signal, flying to a second distance range from the target vessel according to the microwave signal;

when the distance between the unmanned aerial vehicle and the target naval vessel is within the second distance range, acquiring a visual navigation image of the target naval vessel through the camera;

determining the target naval vessel according to the visual navigation image, and flying to the sky above the target naval vessel;

and descending to a preset landing point on the surface of the target vessel deck to finish the landing of the unmanned aerial vehicle.

2. The system of claim 1, wherein the lower surface of the unmanned aerial vehicle is provided with an airborne locking joint, and the landing point of the target vessel is provided with a ground locking device;

the unmanned aerial vehicle is also used for:

and after the unmanned aerial vehicle descends to a preset landing point on the surface of the target vessel deck, fixing the airborne locking joint through the ground locking device so as to fix the unmanned aerial vehicle on the landing point.

3. The system of claim 1, wherein the touchdown point is provided with a ground two-dimensional image, the drone being specifically configured to:

acquiring the ground two-dimensional image through the camera;

and aligning the ground two-dimensional image with the landing point above the target vessel.

4. The system of claim 3, wherein the drone is further loaded with millimeter wave radar; the unmanned aerial vehicle is specifically used for:

after the target naval vessel is determined according to the visual navigation image, acquiring a distance parameter between the unmanned aerial vehicle and the target naval vessel through the millimeter wave radar;

and flying to the sky above the target vessel according to the distance parameters.

5. The system of claim 4, wherein the drone is further loaded with a processor, the drone being provided with a navigation flight control module;

the processor is configured to:

identifying the target vessel from the visual navigation image, and determining a first orientation parameter between the unmanned aerial vehicle and the target vessel from the visual navigation image;

the navigation flight control module is used for:

and adjusting the posture of the unmanned aerial vehicle according to the first orientation parameter so as to align the target naval vessel.

6. The system of claim 5, wherein the processor is further configured to:

identifying the landing point from the ground two-dimensional image, and determining a second orientation parameter between the unmanned aerial vehicle and the landing point from the ground two-dimensional image;

the navigation flight control module is further configured to:

and adjusting the posture of the unmanned aerial vehicle according to the second orientation parameter so as to align the landing point.

7. The system of claim 1, wherein the camera is a binocular camera.

8. The system of claim 1, wherein the drone is provided with a satellite antenna;

the unmanned aerial vehicle is also used for:

and when the satellite antenna receives a satellite signal, the distance from the satellite antenna to the target vessel is within the first distance range.

9. The system of claim 1, wherein the first distance range is 500m to 25km, inclusive; the second distance ranges from 0m to 500m, inclusive.

10. A landing method of a vertical take-off and landing unmanned aerial vehicle is applied to the unmanned aerial vehicle, and is characterized by comprising the following steps:

when the distance between the unmanned aerial vehicle and the target ship is within a first distance range, receiving a microwave signal sent by a ship-borne microwave antenna through an airborne receiver; the unmanned aerial vehicle is loaded with an airborne receiver and a camera;

flying to a second distance range from the target vessel according to the microwave signal;

when the distance between the unmanned aerial vehicle and the target naval vessel is within the second distance range, acquiring a visual navigation image of the target naval vessel through the camera;

determining the target naval vessel according to the visual navigation image, and flying to the sky above the target naval vessel;

and descending to a preset landing point on the surface of the target vessel deck to finish the landing of the unmanned aerial vehicle.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a landing system and a landing method of a vertical take-off and landing unmanned aerial vehicle.

Background

The existing small and medium-sized naval vessels are small in size, limited in the place where the unmanned aerial vehicle can take off and land, and generally only enough for the unmanned aerial vehicle to take off and land vertically, so that the fixed-wing unmanned aerial vehicle cannot take off and land on the naval vessel, and meanwhile, a suitable accurate naval vessel landing system is lacked, and the vertical take-off and landing unmanned aerial vehicle is difficult to take off and land on the naval vessel, so that the vertical take-off and landing unmanned aerial vehicle is rarely equipped on the naval vessel. The cases of taking off and landing of vertical take-off and landing unmanned aerial vehicles on ships reported at home and abroad are basically the RTK satellite guidance landing scheme, but the satellite guidance scheme is easily interfered by ship equipment and other equipment, and satellite signals are seriously interfered when the ship-borne radar and the equipment are started, so that the use requirements can not be basically met, and thus no mature accurate landing system of the vertical take-off and landing unmanned aerial vehicle suitable for small and medium-sized ships exists at present. Therefore, how to provide a vertical take-off and landing unmanned aerial vehicle carrier landing system is an urgent problem to be solved by technical personnel in the field.

Disclosure of Invention

The invention aims to provide a landing system of a vertical take-off and landing unmanned aerial vehicle, which can realize the safe landing of the unmanned aerial vehicle; the invention also provides a landing method of the vertical take-off and landing unmanned aerial vehicle, which can realize the safe landing of the unmanned aerial vehicle.

In order to solve the technical problem, the invention provides a landing system of a vertical take-off and landing unmanned aerial vehicle, which comprises an unmanned aerial vehicle and a carrier-based microwave antenna; the unmanned aerial vehicle is loaded with an airborne receiver and a camera;

the shipboard microwave antenna is used for transmitting a microwave signal to the unmanned aerial vehicle when the distance between the unmanned aerial vehicle and a target ship is within a first distance range;

the unmanned aerial vehicle is used for:

when the airborne receiver receives the microwave signal, flying to a second distance range from the target vessel according to the microwave signal;

when the distance between the unmanned aerial vehicle and the target naval vessel is within the second distance range, acquiring a visual navigation image of the target naval vessel through the camera;

determining the target naval vessel according to the visual navigation image, and flying to the sky above the target naval vessel;

and descending to a preset landing point on the surface of the target vessel deck to finish the landing of the unmanned aerial vehicle.

Optionally, an airborne locking joint is arranged on the lower surface of the unmanned aerial vehicle, and a ground locking device is arranged at a landing point of the target vessel;

the unmanned aerial vehicle is also used for:

and after the unmanned aerial vehicle descends to a preset landing point on the surface of the target vessel deck, fixing the airborne locking joint through the ground locking device so as to fix the unmanned aerial vehicle on the landing point.

Optionally, the landing point is provided with a ground two-dimensional image, and the unmanned aerial vehicle is specifically configured to:

acquiring the ground two-dimensional image through the camera;

and aligning the ground two-dimensional image with the landing point above the target vessel.

Optionally, the unmanned aerial vehicle is further loaded with a millimeter wave radar; the unmanned aerial vehicle is specifically used for:

after the target naval vessel is determined according to the visual navigation image, acquiring a distance parameter between the unmanned aerial vehicle and the target naval vessel through the millimeter wave radar;

and flying to the sky above the target vessel according to the distance parameters.

Optionally, the unmanned aerial vehicle is further loaded with a processor, and the unmanned aerial vehicle is provided with a navigation flight control module;

the processor is configured to:

identifying the target vessel from the visual navigation image, and determining a first orientation parameter between the unmanned aerial vehicle and the target vessel from the visual navigation image;

the navigation flight control module is used for:

and adjusting the posture of the unmanned aerial vehicle according to the first orientation parameter so as to align the target naval vessel.

Optionally, the processor is further configured to:

identifying the landing point from the ground two-dimensional image, and determining a second orientation parameter between the unmanned aerial vehicle and the landing point from the ground two-dimensional image;

the navigation flight control module is further configured to:

and adjusting the posture of the unmanned aerial vehicle according to the second orientation parameter so as to align the landing point.

Optionally, the camera is a binocular camera.

Optionally, the unmanned aerial vehicle is provided with a satellite antenna;

the unmanned aerial vehicle is also used for:

and when the satellite antenna receives a satellite signal, the distance from the satellite antenna to the target vessel is within the first distance range.

Optionally, the first distance range is 500m to 25km, inclusive; the second distance ranges from 0m to 500m, inclusive.

The invention also provides a landing method of the vertical take-off and landing unmanned aerial vehicle, which is applied to the unmanned aerial vehicle and comprises the following steps:

when the distance between the unmanned aerial vehicle and the target ship is within a first distance range, receiving a microwave signal sent by a ship-borne microwave antenna through an airborne receiver; the unmanned aerial vehicle is loaded with an airborne receiver and a camera;

flying to a second distance range from the target vessel according to the microwave signal;

when the distance between the unmanned aerial vehicle and the target naval vessel is within the second distance range, acquiring a visual navigation image of the target naval vessel through the camera;

determining the target naval vessel according to the visual navigation image, and flying to the sky above the target naval vessel;

and descending to a preset landing point on the surface of the target vessel deck to finish the landing of the unmanned aerial vehicle.

The invention provides a landing system of a vertical take-off and landing unmanned aerial vehicle, which comprises an unmanned aerial vehicle and a carrier-based microwave antenna; the unmanned aerial vehicle is loaded with an airborne receiver and a camera; leading the unmanned plane to be within a second distance range from a target ship according to microwave signals sent by a ship-based microwave antenna; and when the distance is within the second distance range, the visual navigation image of the target naval vessel is identified through the camera, and then the target is guided to be in the air and finish the landing according to the visual navigation image. Because satellite positioning is not needed in the whole carrier landing process, interference of ship equipment is avoided, and therefore safe carrier landing of the unmanned aerial vehicle can be achieved.

The invention also provides a method for landing the unmanned aerial vehicle on the ship in the vertical take-off and landing manner, which has the beneficial effects and is not repeated herein.

Drawings

In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a landing system of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a landing system of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention;

fig. 3 is a flowchart of a method for landing a vertical take-off and landing unmanned aerial vehicle on a ship according to an embodiment of the present invention.

In the figure: 1. the system comprises an unmanned aerial vehicle, 2. an airborne locking joint, 11. a navigation flight control module, 12. a camera, 13. a processor, 14. a millimeter wave radar, 15. an airborne receiver, 16. a carrier-borne microwave antenna, 17. a satellite antenna and 18. a ground station.

Detailed Description

The core of the invention is to provide a carrier landing system of a vertical take-off and landing unmanned aerial vehicle. In the prior art, landing of unmanned aerial vehicles is basically an RTK satellite guidance landing scheme, but the satellite guidance scheme is easily interfered by ship equipment and other equipment, and satellite signals are seriously interfered when the ship-based radar and the equipment are started, so that the use requirement can not be basically met.

The landing system of the vertical take-off and landing unmanned aerial vehicle comprises the unmanned aerial vehicle and a carrier-based microwave antenna; the unmanned aerial vehicle is loaded with an airborne receiver and a camera; leading the unmanned plane to be within a second distance range from a target ship according to microwave signals sent by a ship-based microwave antenna; and when the distance is within the second distance range, the visual navigation image of the target naval vessel is identified through the camera, and then the target is guided to be in the air and finish the landing according to the visual navigation image. Because satellite positioning is not needed in the whole carrier landing process, interference of ship equipment is avoided, and therefore safe carrier landing of the unmanned aerial vehicle can be achieved.

In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a landing system of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention.

Referring to fig. 1, in the embodiment of the present invention, the landing system of the vertical take-off and landing unmanned aerial vehicle includes an unmanned aerial vehicle 1 and a carrier-based microwave antenna 16; the unmanned aerial vehicle 1 is loaded with an airborne receiver 15 and a camera 12; the shipboard microwave antenna 16 is used for transmitting a microwave signal to the unmanned aerial vehicle 1 when the distance between the unmanned aerial vehicle 1 and a target ship is within a first distance range; the unmanned aerial vehicle 1 is used for: when the airborne receiver 15 receives the microwave signal, flying to a second distance range from the target vessel according to the microwave signal; when the distance between the unmanned aerial vehicle 1 and the target vessel is within the second distance range, acquiring a visual navigation image of the target vessel through the camera 12; determining the target naval vessel according to the visual navigation image, and flying to the sky above the target naval vessel; and descending to a preset landing point on the surface of the target vessel deck to finish the landing of the unmanned aerial vehicle 1.

The carrier-based microwave antenna 16 is disposed in the target vessel and configured to transmit a microwave signal to the unmanned aerial vehicle 1. Specifically, in the embodiment of the present invention, the carrier-based microwave antenna 16 is configured to transmit a microwave signal to the drone 1 when the distance between the drone 1 and the target vessel is within a first distance range. It should be noted that the first distance range is usually an interval, and when the drone 1 is located in the interval, and usually, the distance between the drone 1 and the target vessel is within a medium distance, the carrier-based microwave antenna 16 may transmit a microwave signal to the drone 1. Typically, a ground station 18 is provided in the target vessel, and the ground station 18 typically controls the on-board microwave antenna 16 to transmit microwave signals.

The unmanned aerial vehicle 1 is provided with the airborne receiver 15 and the camera 12, wherein the airborne receiver 15 is used for receiving microwave signals sent by the shipboard microwave antenna 16, and the unmanned aerial vehicle 1 can move to a target vessel according to the guidance of the microwave signals and move to a second distance range from the target vessel. Specifically, the shipboard microwave antenna 16, the airborne receiver 15 and the related devices are usually arranged according to an MLS (microwave landing system), that is, in the embodiment of the present invention, the unmanned aerial vehicle 1 may be specifically guided to approach the target vessel under a non-GPS signal through the MLS. For the details of MLS, reference may be made to the prior art, and further description is omitted here.

When the unmanned aerial vehicle 1 moves from the first distance range to the second distance range from the target vessel, the unmanned aerial vehicle 1 may acquire a visual navigation image of the target vessel through the camera 12, where the visual navigation image generally includes identification information of the target vessel on which the unmanned aerial vehicle 1 needs to land, so that the unmanned aerial vehicle 1 identifies the target vessel from the visual navigation image according to an image identification technology. In the embodiment of the invention, the unmanned aerial vehicle 1 can determine the target vessel according to the image recognition and fly to the sky above the target vessel. The details of the unmanned aerial vehicle 1 flying to the sky of the target vessel will be described in detail in the following embodiments of the invention, and will not be described herein again. The specific content of the visual navigation image may be set according to the actual situation, and is not limited in this respect.

When the unmanned aerial vehicle 1 flies to the sky above a target vessel, the unmanned aerial vehicle can descend to a preset landing point on the surface of a target vessel deck so as to finish landing of the unmanned aerial vehicle 1. Specifically, in the embodiment of the present invention, the lower surface of the unmanned aerial vehicle 1 may be provided with an airborne locking joint 2, and the landing point of the target vessel may be provided with a ground locking device. The airborne locking joint 2 and the ground locking device need to correspond to each other, and the ground locking device can lock the airborne locking joint 2 to be fixedly connected. Above-mentioned unmanned aerial vehicle 1 still can be used for: and after the unmanned aerial vehicle descends to a preset landing point on the surface of the target vessel deck, fixing the airborne locking joint 2 through the ground locking device so as to fix the unmanned aerial vehicle 1 on the landing point. After face locking device locking machine carried locking joint 2, can fix unmanned aerial vehicle 1 at the landing point to prevent that unmanned aerial vehicle 1 from removing on the deck surface.

Specifically, in the embodiment of the present invention, the landing point is provided with a ground two-dimensional image, and the unmanned aerial vehicle 1 is specifically configured to: acquiring the ground two-dimensional image through the camera 12; and aligning the ground two-dimensional image with the landing point above the target vessel. A ground two-dimensional image is typically provided at the touchdown point, which typically includes orientation information. When unmanned aerial vehicle 1 flies to the target naval vessel when empty, can catch this ground two-dimensional image through camera 12, and then unmanned aerial vehicle 1 can be according to this ground two-dimensional image, the position information that includes in the two-dimensional image is analyzed based on image recognition, and then unmanned aerial vehicle 1 can adjust unmanned aerial vehicle 1's gesture according to this position information, it flies the gesture that control module 11 according to this position information adjustment unmanned aerial vehicle 1 to the navigation that sets up in unmanned aerial vehicle 1 usually, with aim at the landing point, and then follow-up unmanned aerial vehicle 1 of being convenient for descends. It should be noted that the space above the target vessel is not only directly above the target vessel, and the range in which the camera 12 mounted in the unmanned aerial vehicle 1 can acquire the two-dimensional image of the ground generally belongs to the space above the target vessel.

The landing system of the vertical take-off and landing unmanned aerial vehicle provided by the embodiment of the invention comprises an unmanned aerial vehicle 1 and a carrier-based microwave antenna 16; the unmanned aerial vehicle 1 is loaded with an airborne receiver 15 and a camera 12; the unmanned aerial vehicle 1 firstly guides the microwave signal sent by the carrier-based microwave antenna 16 to a second distance range from a target ship; and in the second distance range, the visual navigation image of the target naval vessel is identified through the camera 12, and then the target is guided to be in the air and finish the landing according to the visual navigation image. Because satellite positioning is not needed in the whole carrier landing process, interference of ship equipment is avoided, and therefore safe carrier landing of the unmanned aerial vehicle 1 can be achieved.

The specific content of the landing system of the vtol unmanned aerial vehicle provided by the invention will be described in detail in the following embodiments of the invention.

Referring to fig. 2, fig. 2 is a schematic structural diagram of a landing system of a vertical take-off and landing unmanned aerial vehicle according to an embodiment of the present invention.

Different from the above embodiment of the invention, the embodiment of the invention further specifically limits the structure of the external field antenna test system on the basis of the above embodiment of the invention. The rest of the contents are already described in detail in the above embodiments of the present invention, and are not described herein again.

Referring to fig. 2, in the embodiment of the present invention, the unmanned aerial vehicle 1 is further loaded with a millimeter wave radar 14; unmanned aerial vehicle 1 specifically is used for: after the target vessel is determined according to the visual navigation image, acquiring a distance parameter between the unmanned aerial vehicle 1 and the target vessel through the millimeter wave radar 14; and flying to the sky above the target vessel according to the distance parameters.

The millimeter wave radar 14 loaded on the unmanned aerial vehicle 1 can emit millimeter waves outwards, and the distance parameter between the unmanned aerial vehicle 1 and the target ship can be measured according to the returned millimeter waves. Specifically, after the unmanned aerial vehicle 1 determines a target ship according to the visual navigation image, a distance parameter between the unmanned aerial vehicle 1 and the target ship is obtained through the loaded millimeter wave radar 14; then, the drone 1, typically a navigation flight control module 11 provided in the drone 1, flies above the target vessel according to the distance parameter.

Specifically, in the embodiment of the present invention, the unmanned aerial vehicle 1 is further provided with a processor 13, and the unmanned aerial vehicle 1 is provided with a navigation flight control module 11; the processor 13 is configured to: identifying the target vessel from the visual navigation image, and determining a first orientation parameter between the unmanned aerial vehicle 1 and the target vessel from the visual navigation image; the navigation flight control module 11 is configured to: and adjusting the posture of the unmanned aerial vehicle 1 according to the first orientation parameter so as to align the target naval vessel.

Besides the navigation flight control module 11, the unmanned aerial vehicle 1 is also loaded with a processor 13 for processing images acquired by the camera 12. The processor 13 may identify the target vessel from the visual navigation image according to the image identification, and determine a first orientation parameter between the drone 1 and the target vessel, such as an orientation angle, a pitch angle, and the like of the target vessel and the drone 1, from the visual navigation image, and the processor 13 generally sends the first orientation parameter to the navigation flight control module 11. The navigation flight control module 11 is specifically configured to adjust the attitude of the unmanned aerial vehicle 1 according to the first orientation parameter so as to align with a target vessel. After the unmanned aerial vehicle 1 is aligned to the target vessel, the unmanned aerial vehicle 1 may obtain a distance parameter between the unmanned aerial vehicle 1 and the target vessel through a millimeter wave signal obtained by the loaded millimeter wave radar 14 of the processor 13, and send the distance parameter to the navigation flight control module 11. And then the navigation flight control module 11 can control the unmanned aerial vehicle 1 to fly to the sky above the target naval vessel according to the distance parameter and the first orientation parameter.

Specifically, in this embodiment of the present invention, the processor 13 is further configured to: identifying the landing point from the ground two-dimensional image, and determining a second orientation parameter between the unmanned aerial vehicle 1 and the landing point from the ground two-dimensional image; the navigation flight control module 11 is further configured to: and adjusting the posture of the unmanned aerial vehicle 1 according to the second orientation parameter so as to align the landing point.

After the unmanned aerial vehicle 1 flies above the target vessel, the processor 13 loaded on the unmanned aerial vehicle 1 may also be used to identify a landing point from the ground two-dimensional image, and determine a second orientation parameter between the unmanned aerial vehicle 1 and the landing point, such as a direction angle, a pitch angle, and the like between the unmanned aerial vehicle 1 and the landing point from the ground two-dimensional image, and the processor 13 generally sends the second orientation parameter to the navigation flight control module 11. And the navigation flight control module 11 is specifically configured to adjust the attitude of the unmanned aerial vehicle 1 according to the second orientation parameter so as to align with the eye landing point. Then, the navigation flight control module 11 controls the unmanned aerial vehicle 1 to land to the landing point, so as to complete landing of the unmanned aerial vehicle 1.

Preferably, in the embodiment of the present invention, the camera 12 is a binocular camera 12. The binocular camera 12, that is, the depth camera based on binocular stereoscopic vision is similar to the eyes of a human being, and the depth can be calculated by completely depending on two photographed pictures, so that the orientation parameters between the unmanned aerial vehicle 1 and the target naval vessel can be calculated more accurately from the image acquired by the camera 12.

In the embodiment of the present invention, the unmanned aerial vehicle 1 may further be provided with a satellite antenna 17; the drone 1 is also configured to: when the satellite antenna 17 receives the satellite signal, the distance from the satellite signal to the target vessel is within the first distance range.

The above-mentioned unmanned aerial vehicle 1 is usually provided with a satellite antenna 17, and when the unmanned aerial vehicle 1 flies outside the first distance range from the target vessel, the unmanned aerial vehicle 1 can obtain a satellite signal, usually a GPS signal, through the satellite antenna 17. The unmanned aerial vehicle 1 is configured to be guided by the satellite signal when the satellite antenna 17 receives the satellite signal, and fly to a first distance range from a target vessel according to the satellite signal. Specifically, the navigation flight control module 11 arranged in the unmanned aerial vehicle 1 is generally connected with the satellite antenna 17, and when the navigation flight control module 11 receives the satellite signal, the navigation flight control module is guided by the satellite signal, and the distance from the unmanned aerial vehicle 1 to a target vessel is controlled to be within a first distance range according to the satellite signal. In an embodiment of the present invention, the first distance range is 500m to 25km, inclusive; the second distance ranges from 0m to 500m, inclusive. That is, in the embodiment of the present invention, when the distance between the drone 1 and the target vessel exceeds 25km, the drone generally moves towards the target vessel according to the guidance of the satellite signal; when the target vessel moves to within 25km, the target vessel continues to move according to the guidance of the microwave signals; when the unmanned aerial vehicle 1 moves to within 500m, visual guidance is achieved according to the image acquired by the camera 12 and an image recognition technology, and carrier landing of the unmanned aerial vehicle 1 is finally achieved.

It should be noted that, in the embodiment of the present invention, besides the navigation flight control module 11, the above-mentioned unmanned aerial vehicle 1 is also generally provided with other modules for implementing the flight of the unmanned aerial vehicle 1, such as a power module, an electrical module, and the like, and the specific structure of the unmanned aerial vehicle 1 is not specifically limited in the embodiment of the present invention. The ground station 18 disposed in the target vessel generally needs to communicate with the navigation flight control module 11 disposed in the unmanned aerial vehicle 1 in real time to transmit parameters such as position information and attitude information of the target vessel to the unmanned aerial vehicle 1, so that the unmanned aerial vehicle 1 can navigate according to the parameters such as position information and attitude information of the target vessel.

According to the landing system of the vertical take-off and landing unmanned aerial vehicle, provided by the embodiment of the invention, the accurate measurement of the distance between the unmanned aerial vehicle 1 and a target ship within a second distance range can be completed by loading the millimeter wave radar 14 in the unmanned aerial vehicle 1; the drone 1 can be navigated at a distance from the target vessel by providing a satellite antenna 17 in the drone 1.

The landing method of the vertical take-off and landing unmanned aerial vehicle provided by the invention is introduced below, and the landing method of the vertical take-off and landing unmanned aerial vehicle described below and the landing system of the vertical take-off and landing unmanned aerial vehicle described above can be referred to correspondingly.

Referring to fig. 3, fig. 3 is a flowchart of a method for landing a vertical take-off and landing unmanned aerial vehicle on a ship according to an embodiment of the present invention.

The method for landing a carrier by using a vertical take-off and landing unmanned aerial vehicle provided by the embodiment of the invention is specifically applied to an unmanned aerial vehicle in a landing system of a vertical take-off and landing unmanned aerial vehicle, and the specific structure of the landing system of the vertical take-off and landing unmanned aerial vehicle is described in detail in the embodiment of the invention, and is not described again here.

Referring to fig. 3, in the embodiment of the present invention, a method for landing a vertical take-off and landing unmanned aerial vehicle on a ship includes:

s101: and when the distance between the unmanned aerial vehicle and the target ship is within a first distance range, receiving a microwave signal sent by the ship-based microwave antenna through the airborne receiver.

In an embodiment of the invention, the drone is loaded with an onboard receiver and a camera. The detailed structure of the unmanned aerial vehicle is described in detail in the above embodiments of the invention, and is not described herein again.

Before the step, when the distance between the unmanned aerial vehicle and the target vessel is greater than a first distance range, usually when the distance between the unmanned aerial vehicle and the target vessel is greater than 25km, a satellite signal is usually acquired through a satellite antenna arranged in the unmanned aerial vehicle, and then the unmanned aerial vehicle flies to the position where the distance between the unmanned aerial vehicle and the target vessel is within the first distance range according to the guidance of the satellite signal.

In the step, the unmanned aerial vehicle receives the microwave signal sent by the carrier-based microwave antenna through the airborne receiver so as to fly to the vicinity of the target vessel through the microwave signal in the subsequent step.

S102: and flying to a second distance range from the target vessel according to the microwave signal.

In this step, the unmanned aerial vehicle may continue to approach the target vessel to a second distance range from the target vessel according to the microwave signal acquired in S101, so as to complete guidance in the microblog navigation stage. This second distance range is typically 0m to 500m, inclusive, in embodiments of the invention.

S103: and when the distance between the unmanned aerial vehicle and the target naval vessel is within a second distance range, acquiring a visual navigation image of the target naval vessel through the camera.

The details of the visual navigation image are described in detail in the above embodiments of the invention, and are not described herein again.

In the step, the visual navigation image of the target naval vessel is acquired through the camera loaded in the unmanned aerial vehicle, so that the target naval vessel is identified from the visual navigation image based on an image identification technology in the subsequent step.

S104: and determining a target vessel according to the visual navigation image, and flying to the sky above the target vessel.

In this step, the target vessel is generally identified from the visual navigation image based on an image identification technology, and the target vessel is guided to fly above the target vessel based on vision. The details of the visual navigation image are described in detail in the above embodiments of the invention, and are not described herein again.

S105: and descending to a preset landing point on the surface of the target vessel deck to finish the landing of the unmanned aerial vehicle.

In the step, the unmanned plane can descend from the sky above the target vessel to a preset landing point on the surface of a deck of the target vessel, so that landing of the unmanned plane is completed. In the descending process, a ground two-position image set by a landing point is generally required to be acquired and identified through a camera so as to realize the accurate positioning of the unmanned aerial vehicle and the landing point.

According to the landing method of the vertical take-off and landing unmanned aerial vehicle, which is provided by the embodiment of the invention, the unmanned aerial vehicle can be guided to a second distance range from a target ship according to a microwave signal sent by a ship-based microwave antenna; and when the distance is within the second distance range, the visual navigation image of the target naval vessel is identified through the camera, and then the target is guided to be in the air and finish the landing according to the visual navigation image. Because satellite positioning is not needed in the whole carrier landing process, interference of ship equipment is avoided, and therefore safe carrier landing of the unmanned aerial vehicle can be achieved.

The landing method of the vertical take-off and landing unmanned aerial vehicle is implemented based on the landing system of the vertical take-off and landing unmanned aerial vehicle, so that the specific implementation manner of the landing method of the vertical take-off and landing unmanned aerial vehicle can be found in the embodiment section of the landing system of the vertical take-off and landing unmanned aerial vehicle in the foregoing, so that the specific implementation manner of the landing method of the vertical take-off and landing unmanned aerial vehicle can refer to the description of the corresponding embodiments of each section, and is not described herein again.

The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The landing system and the landing method of the vertical take-off and landing unmanned aerial vehicle provided by the invention are introduced in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.