Method an apparatus for controlling unmanned aerial vehicle to land on landing platform

Abstract

A method and an apparatus for controlling an unmanned aerial vehicle (UAV) to land on a landing platform are provided. The method includes: receiving a landing preparatory signal instructing the UAV to enter into a landing preparatory state; monitoring the landing platform to generate a monitoring signal in response to the landing preparatory signal; and determining whether to control the UAV to enter into a landing mode based on the monitoring signal.

What is claimed is: 
     
         1 . A method for controlling an unmanned aerial vehicle (UAV) to land on a landing platform, comprising:
 receiving a landing preparatory signal instructing the UAV to enter into a landing preparatory state;   monitoring the landing platform to generate a monitoring signal in response to the landing preparatory signal; and   determining whether to control the UAV to enter into a landing mode based on the monitoring signal.   
     
     
         2 . The method of  claim 1 , wherein the monitoring signal indicates a vertical distance between the UAV and the landing platform; and the method further comprises:
 controlling the UAV to enter into the landing mode when the vertical distance between the UAV and the landing platform is smaller than or equal to a preset threshold distance.   
     
     
         3 . The method of  claim 2 , wherein the UAV comprises at least one rotor, and controlling the UAV to enter into the landing mode further comprises:
 controlling the at least one rotor of the UAV to stop rotating, such that the UAV lands on the landing platform in a free-fall manner.   
     
     
         4 . The method of  claim 2 , wherein the UAV comprises at least one rotor, and controlling the UAV to enter into the landing mode further comprises:
 controlling the at least one rotor of the UAV to rotate at a smaller rotation speed, such that the UAV lands on the landing platform at a predetermined speed.   
     
     
         5 . The method of  claim 1 , wherein the monitoring signal indicates a speed variation of the UAV with respect to the landing platform, the UAV comprises at least one rotor, and the method further comprises:
 controlling the at least one rotor of the UAV to stop rotating when the speed variation of the UAV with respect to the landing platform is greater than a preset speed variation threshold.   
     
     
         6 . The method of  claim 2 , wherein, after the UAV enters into the landing mode, the method further comprises:
 continuing to monitor the vertical distance between the UAV and the landing platform; and   controlling the UAV to return to a hovering mode or a flying mode when the vertical distance between the UAV and the landing platform is greater than the preset threshold distance.   
     
     
         7 . The method of  claim 2 , wherein, after the UAV enters into the landing mode, the method further comprises:
 monitoring a tilting angle of the UAV; and   controlling the UAV to return to a hovering mode or a flying mode when the tilting angle of the UAV is greater than a preset threshold angle.   
     
     
         8 . The method of  claim 1 , wherein, after receiving the landing preparatory signal and before monitoring the landing platform, the method further comprises:
 obtaining a current height of the UAV;   controlling the UAV to fly to a first preset height at a first descending speed when the current height of the UAV is greater than the first preset height; or   controlling the UAV to fly to a second preset height at a second descending speed when the current height of the UAV is smaller than or equal to the first preset height but is greater than the second preset height, wherein the second descending speed is smaller than the first descending speed.   
     
     
         9 . The method of  claim 8 , wherein the determining step further comprises:
 based on the monitoring signal, controlling the UAV to enter into the landing mode during controlling the UAV to fly to the second preset height at the second descending speed.   
     
     
         10 . The method of  claim 8 , wherein the determining step further comprises:
 based on the monitoring signal, controlling the UAV to enter into the landing mode when the current height of the UAV is smaller than or equal to the second preset height.   
     
     
         11 . The method of  claim 10 , wherein the UAV is controlled to descend at a third descending speed during the landing mode. 
     
     
         12 . The method of  claim 8 , wherein, when controlling the UAV to fly to the first preset height at the first descending speed, the method further comprises:
 sending a landing reminder signal to a user, wherein the landing reminder signal is used to remind the user to prepare the landing platform.   
     
     
         13 . An apparatus for controlling an unmanned aerial vehicle (UAV) to land on a landing platform, comprising:
 a processor; and   a memory for storing instructions executable by the processor,   wherein, when executing the instruction, the processor is configured to:
 receive a landing preparatory signal instructing the UAV to enter into a landing preparatory state; 
 monitor the landing platform to generate a monitoring signal in response to the landing preparatory signal; and 
 determine whether to control the UAV to enter into a landing mode based on the monitoring signal. 
   
     
     
         14 . The apparatus of  claim 13 , wherein the processor is further configured to control the UAV to enter into the landing mode, when the monitoring signal indicates a vertical distance between the UAV and the landing platform, and the vertical distance between the UAV and the landing platform is smaller than or equal to a preset threshold distance. 
     
     
         15 . The apparatus of  claim 14 , wherein the UAV comprises at least one rotor, and
 the processor is further configured to control the at least one rotor of the UAV to stop rotating, such that the UAV lands on the landing platform in a free-fall manner.   
     
     
         16 . The apparatus of  claim 14 , wherein the UAV comprises at least one rotor, and
 the processor is further configured to control the at least one rotor of the UAV to rotate at a smaller rotation speed, such that the UAV lands on the landing platform at a predetermined speed.   
     
     
         17 . The apparatus of  claim 13 , wherein the UAV comprises at least one rotor, and
 the processor is further configured to control the at least one rotor of the UAV to stop rotating when the monitoring signal indicates a speed variation of the UAV with respect to the landing platform and the speed variation of the UAV is greater than a preset speed variation threshold.   
     
     
         18 . The apparatus of  claim 14 , wherein, after the UAV enters into the landing mode, the processor is further configured to:
 continue to monitor the vertical distance between the UAV and the landing platform, and   control the UAV to return to a hovering mode or a flying mode when the vertical distance between the UAV and the landing platform is greater than the preset threshold distance.   
     
     
         19 . The apparatus of  claim 14 , wherein, after the UAV enters into the landing mode, the processor is further configured to:
 monitor a tilting angle of the UAV, and   control the UAV to return to a hovering mode or a flying mode when the tilting angle of the UAV is greater than a preset threshold angle.   
     
     
         20 . The apparatus of  claim 13 , wherein, after receiving the landing preparatory signal and before monitoring the landing platform, the processor is further configured to:
 obtain a current height of the UAV;   control the UAV to fly to a first preset height at a first descending speed when the current height of the UAV is greater than the first preset height; and   control the UAV to fly to a second preset height at a second descending speed when the current height of the UAV is smaller than or equal to the first preset height, but is greater than the second preset height, wherein the second descending speed is smaller than the first descending speed.   
     
     
         21 . The apparatus of  claim 20 , wherein the processor is further configured to control the UAV to enter into the landing mode based on the monitoring signal, during controlling the UAV to fly to the second preset height at the second descending speed. 
     
     
         22 . The apparatus of  claim 20 , wherein the processor is further configured to control the UAV to enter into the landing mode based on the monitoring signal, when the current height of the UAV is smaller than or equal to the second preset height. 
     
     
         23 . The apparatus of  claim 22 , wherein the processor is further configured to control the UAV to descend at a third descending speed during the landing mode. 
     
     
         24 . The apparatus of  claim 20 , wherein, when controlling the UAV to fly to a first preset height at a first descending speed, the processor is further configured to:
 send a landing reminder signal to a user, wherein the landing reminder signal is used to remind the user to prepare the landing platform.