Relay type unmanned aerial vehicle apron and control method thereof

Abstract

The application relates to the technical field of unmanned aerial vehicle (UAV) landing infrastructure, and discloses a relay type UAV landing apron and a control method thereof. The landing apron comprises a lower base, a rotating landing platform arranged above the base, and a fixed support frame surrounding the rotating platform, and a plurality of sets of positioning and fixing mechanisms are arranged on the frame in the circumferential direction. The rotating platform is configured to automatically rotate to calibrate the direction of the UAV after the UAV lands according to the recognized body direction. Each set of positioning and fixing mechanisms comprises a first driving member for vertical direction driving and a second driving member for horizontal direction driving. Through the design of the rotating landing platform and the positioning and fixing mechanisms, the UAV can be subjected to automatic identification control for direction calibration, position alignment, the problems that the existing landing apron lacks emergency landing preparedness, cannot calibrate the body direction and fix the body, and the like are effectively solved, and the UAV in flight can be provided with safe, emergency landing prepared, accurate calibration, lossless fixing and efficient services.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) take-off and landing infrastructure technology, and specifically relates to a relay-type UAV landing pad and its control method. Background Technology

[0002] With the rapid development of drone technology, its application in fields such as power line inspection, security patrol, logistics transportation, and emergency rescue is becoming increasingly widespread. However, drone operations generally face the problem of limited endurance, with a single flight time typically only about 20-30 minutes. The flight distance is strictly limited by battery capacity. In addition, drones may encounter severe weather such as heavy rain and strong winds during flight, which increases the risk of returning to base and may even lead to the drone crashing.

[0003] To address the aforementioned issues, various drone landing pad or hangar solutions have emerged in the existing technology; however, these drone landing pads still have the following shortcomings: Lack of targeted design for emergency landing scenarios: Existing helipads are mostly fixed deployments or vehicle-mounted mobile helipads, mainly used for planned take-off and landing operations. There is a lack of specific design for emergency landing scenarios when drones encounter insufficient power or severe weather during flight. The current method of securing the drone after landing has limitations: existing clamping and securing mechanisms mostly clamp from all sides of the drone, which is complex and requires the drone to land precisely in a specific position. For emergency landing scenarios, the drone's landing attitude may be deviated, and the existing securing methods are difficult to adapt effectively. Lack of fuselage pointing calibration function: Most existing helipads are designed with a fixed orientation. If the fuselage pointing is inconsistent with the preset direction after the drone lands, it cannot be automatically adjusted. Although some solutions can achieve charging position adaptation through movable coils, they have not solved the fuselage pointing calibration problem. The integration of windproof fixation and charging functions is insufficient: existing windproof solutions mainly address wind disturbance during landing, and the continuous fixation function after landing is weak; while solutions with clamping fixation function often do not fully consider the fixation reliability in strong wind environments.

[0004] In conclusion, there is an urgent need in this field for an innovative drone landing pad. Summary of the Invention

[0005] In response to the aforementioned technical problems of existing helipads, such as lack of targeted design for emergency landing scenarios, insufficient fuselage calibration, outdated fixing methods, and poor fixing stability, this invention provides an innovative UAV helipad and its control method, which will effectively improve the above problems.

[0006] To achieve the above objectives, this invention provides the following technical solution: This invention provides a relay-type drone landing pad, including a lower base and further comprising: A rotating take-off and landing platform is located above the lower base and is used to carry the UAV; A fixed support frame is disposed above the lower base and surrounds the rotating lifting platform; At least two sets of positioning and fixing mechanisms are arranged at intervals along the circumference on the fixed support frame; The rotating take-off and landing platform is configured to rotate according to the direction of the drone's fuselage after the drone lands, so as to calibrate the direction of the drone's fuselage. Each of the positioning and fixing mechanisms includes a first driving member and a second driving member. The first driving member is used to drive the positioning and fixing mechanism to move along a first direction, and the second driving member is used to drive the positioning and fixing mechanism to move along a second direction. Wherein, the first direction is the vertical direction, and the second direction is the horizontal direction.

[0007] Preferably, it also includes a visual sensor and a controller, wherein the visual sensor is disposed above the fixed support frame and is used to identify the fuselage orientation and / or altitude information of the UAV landing on the rotary take-off and landing platform; The controller is located above the lower base and is electrically connected to the vision sensor, the first drive unit, and the second drive unit.

[0008] Preferably, a slewing support bearing and a drive motor are provided between the lower base and the rotary lifting platform. The drive motor is used to drive the rotary lifting platform to rotate, and the controller is electrically connected to the drive motor.

[0009] Preferably, the fixed support frame has a through hole at its center, the rotating lifting platform is located in the through hole, and the upper surface of the rotating lifting platform is not higher than the upper surface of the fixed support frame.

[0010] Preferably, the end of the positioning and fixing mechanism is provided with a flexible abutment part.

[0011] Preferably, the lower base is provided with multiple shock-absorbing structures.

[0012] Preferably, a wireless charging coil is provided inside the rotating take-off and landing platform.

[0013] This invention also provides a control method for a relay-type UAV landing pad, applied to the relay-type UAV landing pad described above, the method comprising: After the drone lands on the rotating take-off and landing platform, the drone's orientation and altitude information are identified; Based on the identified fuselage orientation, the rotating take-off and landing platform is driven to rotate in order to calibrate the fuselage orientation of the UAV; After completing the fuselage pointing calibration, based on the identified altitude information, control at least two sets of positioning and fixing mechanisms set on the fixed support frame to move, so that the positioning and fixing mechanisms abut against and push the UAV from the side, so that the UAV moves to the predetermined position on the rotating take-off and landing platform.

[0014] Preferably, the step of controlling the action of at least two sets of positioning and fixing mechanisms includes: First, control the positioning and fixing mechanism to move along the first direction to a height that matches the drone body; Then control the positioning and fixing mechanism to move along the second direction to push the drone from the side.

[0015] Preferably, after moving the drone to the predetermined location, the method further includes: The wireless charging coil embedded in the rotating take-off and landing platform is activated to charge the drone.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention solves the problem of random orientation during emergency landings by setting up an independently rotatable take-off and landing platform. After the UAV lands, it automatically adjusts the orientation of the aircraft based on visual recognition results and corrects it to the preset flight direction. This ensures that the UAV meets the requirements of tasks with strict orientation requirements, such as take-off again, inspection alignment, or camera angle.

[0017] 2. The present invention adopts a combined positioning and fixing mechanism. First, the first driving component accurately lifts the drone to a suitable position on the side of the fuselage, and then the second driving component pushes the drone to center it, so that it can adapt to drones of different sizes and heights, and achieves wide compatibility with different models.

[0018] 3. Through the combined action of the positioning and fixing mechanism and the flexible abutment part, the present invention can provide appropriate holding force through the positioning and fixing mechanism, and tightly fit the fuselage through the elastic action of the flexible abutment part, thereby increasing static friction. At the same time, it can effectively avoid damage to the precision structure and shell of the UAV by rigid clamping, and ensure the reliability of the UAV in strong wind environment.

[0019] 4. This invention integrates pointing calibration, position alignment, and wireless charging functions by adopting a split structure of a rotating take-off and landing platform with an embedded wireless charging coil and a positioning and fixing mechanism. Under the timing scheduling of the controller, they work together without interfering with each other. They can be deployed along the flight path to provide reliable emergency landing points and energy replenishment stations for drones that cannot continue flying due to insufficient power or sudden severe weather. Drones can obtain shelter and charging without having to risk returning to the take-off point, which greatly reduces the risk of crashes caused by insufficient power or weather.

[0020] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims, and drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the drone landing pad provided by the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the drone landing pad provided by the present invention. Figure 2 ; Figure 3 This is a schematic diagram of the control method for the drone landing pad provided by the present invention.

[0023] In the figure: 1. Flexible contact part; 2. Second driving component; 3. Rotary lifting platform; 4. Wireless charging coil; 5. Fixed support frame; 6. First driving component; 7. Lower base; 8. Shock absorption structure; 9. Rotary support bearing; 10. Drive motor. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] The same reference numerals in the accompanying drawings denote the same or similar elements, components, or parts, and therefore, repeated descriptions of the same or similar elements, components, or parts may be omitted below. It should also be understood that although terms such as first, second, third, etc., indicating numbers may be used herein to describe various devices, elements, components, or parts, these devices, elements, components, or parts should not be limited by these terms. That is, these terms are only used to distinguish one from another. For example, a first device may also be referred to as a second device, without departing from the essential technical solution of the invention. Furthermore, the terms "and / or" and "and / or" refer to all combinations including any one or more of the listed items.

[0026] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0027] This invention provides a relay-type drone landing pad.

[0028] like Figure 1 As shown, the relay-type drone landing pad includes a lower base 7, a rotating take-off and landing platform 3, a fixed support frame 5, and at least two sets of positioning and fixing mechanisms. The rotating take-off and landing platform 3 is located above the lower base 7, and a wireless charging coil 4 is installed inside the rotating take-off and landing platform 3. Multiple shock-absorbing structures 8 are installed at the bottom of the lower base 7. In this embodiment, the lower base 7 can be placed on the ground during use. The lower base 7 serves as the mechanical and electrical foundation of the entire helipad, providing stable support for all moving parts on the upper level. Multiple sets of shock-absorbing structures 8 are installed at the four corners of its bottom. The shock-absorbing structure 8 can be configured as a damping shock absorber containing a compression spring inside, as shown in the figure. The rotating take-off and landing platform 3 is used to carry the drone. The wireless charging coil 4 is fixedly embedded in the center of the upper surface of the rotating take-off and landing platform 3, which can charge the drone without contact. When the drone lands on the rotating take-off and landing platform 3, the vertical impact force generated is transmitted to the lower base 7 through the rotating take-off and landing platform 3. At this time, the shock absorption structure 8 can convert the impact kinetic energy brought by the drone into the elastic potential energy of the spring and the heat energy consumed by the damping material, thereby absorbing and dissipating most of the landing impact energy and avoiding energy accumulation that could cause resonance.

[0029] Furthermore, the fixed support frame 5 is disposed above the lower base 7 and surrounds the rotating lifting platform 3. The fixed support frame 5 has a through hole at its center, the rotating lifting platform 3 is located in the through hole, and the upper surface of the rotating lifting platform 3 is not higher than the upper surface of the fixed support frame 5. At least two sets of positioning and fixing mechanisms are arranged circumferentially on the fixed support frame 5. In this embodiment, the fixed support frame 5 is fixed to the lower base 7 by support columns, and it remains absolutely stationary, providing a stable installation base for the positioning and fixing mechanism installed on it. A through hole is provided at the top center of the fixed support frame 5 to accommodate the rotating lifting platform 3. The fixed support frame 5 and the rotating lifting platform 3 are physically isolated from each other through the through hole and the small gap between the platform and the outer edge of the platform, without mechanical connection, ensuring that the fixed support frame 5 does not interfere with the rotational movement of the rotating lifting platform 3.

[0030] Furthermore, the relay-type UAV landing pad also includes a visual sensor and a controller. The visual sensor is located above the fixed support frame 5 and is used to identify the fuselage orientation and / or altitude information of the UAV landing on the rotating take-off and landing platform 3. The controller is located above the lower base 7 and is electrically connected to the visual sensor. In this embodiment, the visual sensor can be mounted on the corner or side bracket of the fixed support frame 5 via a support rod (not shown in the figure). It is necessary to ensure that the camera lens of the visual sensor faces downward so that it can overlook the entire rotating take-off and landing platform 3, which is convenient for acquiring images of the entire rotating take-off and landing platform 3 and the UAV on it. After the images are acquired, the nose / tail direction of the UAV is determined by the recognition algorithm. At the same time, it is necessary to identify and obtain the height information of key UAV components (such as the arm connection, the main body of the fuselage, etc.) relative to the landing pad plane, or identify the UAV model / outline to obtain the key structural dimension information of the UAV. The visual sensor transmits the identified angle deviation, height information and other data to the controller in the form of electrical signals, providing the necessary real-time environmental perception information for the automated control of the entire UAV landing pad. In this embodiment, the controller has pre-set control logic and timing. It is installed on top of the lower base 7 and below the fixed support frame 5 (not shown in the figure). There is ample space between the lower base 7 and the fixed support frame 5, which facilitates wiring and maintenance. The controller receives signals from the vision sensor, including pointing and fuselage height, and can also receive other status signals from the UAV or the landing pad itself (such as landing completion signal). It is used to determine whether the UAV has stopped, whether the fuselage pointing deviation needs to be calibrated, the target lifting height of the positioning and fixing mechanism, and whether the UAV has been pushed to the center. When the controller receives information and completes the logic judgment, it further generates control commands and sends precise control commands to each component in strict accordance with the timing.

[0031] like Figure 2As shown, a slewing support bearing 9 and a drive motor 10 are provided between the lower base 7 and the rotary take-off and landing platform 3. The drive motor 10 is used to drive the rotary take-off and landing platform 3 to rotate. The controller is electrically connected to the drive motor 10. The rotary take-off and landing platform 3 is configured to: after the UAV lands, drive the rotary take-off and landing platform 3 to rotate according to the UAV's fuselage orientation in order to calibrate the UAV's fuselage orientation. In this embodiment, the slewing support bearing 9 is installed between the lower base 7 and the rotary landing platform 3. Its inner ring (or outer ring) is fixed to the lower base 7, and its outer ring (or inner ring) is fixed to the rotary landing platform 3. The raceway and rolling elements (steel balls or rollers) inside it transform the sliding friction between the rotary landing platform 3 and the lower base 7 into rolling friction, thereby allowing the rotary landing platform 3 to be driven by the drive motor 10 to rotate smoothly and steadily with relatively small torque when carrying heavy objects (UAVs). After the drone lands, the vision sensor mounted on the fixed support frame 5 identifies the current pointing of the drone's nose / tail and transmits this information to the controller. The controller compares the received current pointing with the target pointing of the drone's preset flight path, calculates the required rotation angle difference, and then generates corresponding control commands, which are sent to the drive motor 10 via electrical signals. The drive motor 10 can be configured as a servo motor or a stepper motor. After receiving the electrical signals from the controller, it precisely rotates the corresponding angle, driving the transmission pair directly connected to the outer (or inner) ring of the slewing support bearing 9 through its output shaft, thereby driving the rotation of the entire rotating take-off and landing platform 3 and the drone on the platform. The wireless charging coil 4 embedded in the center of the platform also rotates with the platform, but its relative position to the receiving coil at the bottom of the drone remains unchanged before and after rotation. When the rotation angle reaches the target value set by the controller, the drive motor 10 stops, thus completing the automatic calibration of the drone's pointing.

[0032] like Figure 1 As shown, at least two sets of positioning and fixing mechanisms are arranged circumferentially on the fixed support frame 5. Each set of positioning and fixing mechanisms includes a first driving member 6 and a second driving member 2. The first driving member 6 is used to drive the positioning and fixing mechanism to move along a first direction, and the second driving member 2 is used to drive the positioning and fixing mechanism to move along a second direction. The first direction is a vertical direction, and the second direction is a horizontal direction. The end of the positioning and fixing mechanism is provided with a flexible abutment part 1. In this embodiment, the first driving member 6 is mounted on the fixed support frame 5, and its end is connected to the second driving member 2 to drive the second driving member 2 to move in the vertical direction. The end of the second driving member 2 is connected to the flexible abutment part 1 to drive the flexible abutment part 1 to move in the horizontal direction. Since the fixed support frame 5 is fixed, the ends of the positioning and fixing mechanisms evenly distributed along its circumference all point to the center of the helipad platform, and the flexible abutment parts 1 also all point to the center of the helipad platform. The first driving member 6 and the second driving member 2 can be configured as electric push rods / telescopic rods, or as other driving members with reciprocating motion functions.

[0033] Furthermore, the upper surface of the rotating lifting platform 3 is not higher than the upper surface of the fixed support frame 5, and the controller is electrically connected to the first drive component 6 and the second drive component 2; In this embodiment, the upper surface of the rotating take-off and landing platform 3 is not higher than the upper surface of the fixed support frame 5. This is to ensure that when the second drive member 2 is stationary, the flexible abutment part 1 at its end is located above the side of the rotating take-off and landing platform 3. When the second drive member 2 extends and pushes, the movement trajectory of the flexible abutment part 1 is horizontal, and it can directly and horizontally abut against the side of the UAV fuselage, rather than hitting the edge of the rotating take-off and landing platform 3 first or being blocked by it, so as to ensure the smooth execution of the horizontal pushing action. After the rotating take-off and landing platform 3 completes the calibration of the UAV's fuselage orientation, the controller calculates the height that the end of the positioning control mechanism needs to be raised based on the UAV's fuselage height information received from the visual sensor. Then, it sends control commands to each of the first drive components 6. At this time, the first drive component 6 is activated, and its end extends vertically, thereby driving the entire second drive component 2 and its end-connected flexible abutment part 1 to be raised vertically as a whole. The lifting action continues until the flexible abutment part 1 reaches the target height position that is compatible with the side of the UAV fuselage, ensuring that the subsequent horizontal thrust can act on the stable parts of the fuselage. Once the first drive unit 6 is raised to its position, the controller immediately sends a synchronous control command to each of the second drive units 2. At this time, the second drive units 2 are activated, and their ends extend synchronously in the horizontal direction. Since the ends of the second drive units 2 are fixedly connected to the flexible abutment part 1, the horizontal extension movement of the ends of the second drive units 2 is directly converted into the movement of the flexible abutment part 1 pushing horizontally from all sides towards the center of the landing pad. After the flexible abutment part 1 contacts the side of the UAV fuselage, under the continuous thrust provided by the second drive units 2, the UAV is gradually pushed towards the center of the rotating take-off and landing platform 3 from multiple directions. The controller determines that the UAV has been pushed to the center position according to the preset program (such as extending a specific stroke) or the current feedback of the motor (judging that the resistance has increased), and then instructs the second drive units 2 to maintain the thrust to ensure that the UAV is stably placed in the center of the landing pad. In this embodiment, the flexible abutment part 1 is a rod-shaped structure made of elastic material. During the entire pushing and final fixing process, the flexible abutment part 1 will undergo compression deformation due to the elasticity of its material. On the one hand, it absorbs impact energy at the moment of contact, protecting the surface of the drone. On the other hand, its elastic restoring force allows it to adapt to fit the drone body with different cross-sectional shapes (circular or square arms), increasing the contact area, providing uniform pressure and greater static friction, ensuring that the drone is firmly clamped in harsh environments such as strong winds, is not easy to slip or overturn, and will not produce indentations or structural damage.

[0034] By positioning the fixed mechanism, the adaptation problem of drones at different altitudes and the correction problem of landing positions at different levels are solved. This makes the landing pad compatible with drones of various models and sizes, eliminating the need to customize clamps for each model and greatly improving the equipment's versatility and deployment value. At the same time, the charging receiving coil on the bottom of the drone and the wireless charging coil 4 embedded in the rotating take-off and landing platform 3 can achieve the highest precision alignment, thereby maximizing the transmission efficiency of wireless charging, shortening charging time, and achieving efficient energy replenishment.

[0035] like Figure 3 As shown, the present invention also provides a control method for a relay-type UAV landing pad, applied to the relay-type UAV landing pad described above, the method comprising: S1: After the UAV lands on the rotating take-off and landing platform 3, identify the UAV's fuselage orientation and height; Specifically, after the drone lands on the rotating take-off and landing platform 3 and comes to a stop, the visual sensor collects images of the platform and the drone. Through the built-in image processing algorithm, the direction of the drone's nose / tail and its height are identified and transmitted to the controller.

[0036] S2: Based on the identified fuselage orientation, drive the rotating take-off and landing platform 3 to rotate in order to calibrate the fuselage orientation of the UAV; Specifically, the controller receives information from the vision sensor, including the drone's pointing direction and altitude, calculates the deviation between the drone's pointing direction and the target pointing direction, and then controls the drive motor 10 to rotate the rotating take-off and landing platform 3 by the corresponding deviation angle. After the rotation is completed, the drone's pointing direction is calibrated to the preset target direction.

[0037] S3: After completing the fuselage pointing calibration, control the operation of at least two sets of positioning and fixing mechanisms set on the fixed support frame 5, so that the positioning and fixing mechanisms abut against and push the UAV from the side, so that the UAV moves to the predetermined position on the rotating take-off and landing platform 3. In this embodiment, the predetermined position is the center position, which is achieved by using the positioning and fixing mechanism to push the drone to the center position on the rotating take-off and landing platform 3. The steps for controlling the movement of at least two sets of positioning and fixing mechanisms specifically include: S3-1: First, control the positioning and fixing mechanism to move along the first direction to a height that is compatible with the drone body; Specifically, after the pointing calibration is completed, the controller sends a command to the first drive unit 6 of each positioning and fixing mechanism based on the drone altitude information obtained by the visual sensor. The first drive unit 6 starts and raises the second drive unit 2 and the flexible abutment part 1 at the end of it in the vertical direction until the flexible abutment part 1 reaches the target height that matches the side of the drone fuselage (such as the arm), so as to ensure that the subsequent pushing action is in a reasonable position on the fuselage. S3-2: Then control the positioning and fixing mechanism to move along the second direction to push the drone from the side; Specifically, once all the flexible abutment parts 1 are raised into place, the controller sends a synchronous extension command to each of the second drive components 2. The second drive components 2 drive the flexible abutment parts 1 to push synchronously from all sides towards the center of the landing pad in the horizontal direction. The flexible abutment parts 1 contact the fuselage and, under continuous thrust, gradually push the UAV to the center position of the rotating take-off and landing platform 3.

[0038] S4: After moving the drone to the predetermined position, the method further includes: activating the wireless charging coil 4 embedded in the rotating take-off and landing platform 3 to charge the drone; Specifically, after the drone is precisely aligned and fixed in the center position, the receiving coil at the bottom of the drone and the wireless charging coil 4 embedded in the center of the rotating take-off and landing platform 3 are optimally aligned. At this time, the controller issues a command to activate the wireless charging coil 4, which provides non-contact energy replenishment to the drone through the principle of electromagnetic induction.

[0039] This invention completely separates the pointing calibration and position alignment actions in time and executes them sequentially through the above method, avoiding interference from hardware actions, ensuring compatibility with different drone models at different altitudes and the safety of the propulsion process, forming an orderly and coordinated automatic control process, eliminating the uncertainty of manual operation, and improving the reliability of the entire drone landing pad and the user experience.

[0040] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A relay-type UAV landing pad, comprising a lower base (7), characterized in that, Also includes: A rotating take-off and landing platform (3) is set above the lower base (7) and is used to carry the UAV; A fixed support frame (5) is set above the lower base (7) and surrounds the rotating landing platform (3); At least two sets of positioning and fixing mechanisms are arranged at intervals along the circumference on the fixed support frame (5); The rotating take-off and landing platform (3) is configured to: after the UAV lands, drive the rotating take-off and landing platform (3) to rotate according to the UAV's fuselage orientation in order to calibrate the UAV's fuselage orientation; Each of the positioning and fixing mechanisms includes a first driving member (6) and a second driving member (2). The first driving member (6) is used to drive the positioning and fixing mechanism to move along a first direction, and the second driving member (2) is used to drive the positioning and fixing mechanism to move along a second direction. Wherein, the first direction is the vertical direction, and the second direction is the horizontal direction.

2. The relay-type UAV landing pad according to claim 1, characterized in that, It also includes a visual sensor and a controller, wherein the visual sensor is disposed above the fixed support frame (5) and is used to identify the fuselage orientation and / or altitude information of the UAV landing on the rotary take-off and landing platform (3); The controller is located above the lower base (7) and is electrically connected to the vision sensor, the first drive unit (6) and the second drive unit (2).

3. The relay-type UAV landing pad according to claim 2, characterized in that, A slewing support bearing (9) and a drive motor (10) are provided between the lower base (7) and the rotary lifting platform (3). The drive motor (10) is used to drive the rotary lifting platform (3) to rotate. The controller is electrically connected to the drive motor (10).

4. A relay-type UAV landing pad according to claim 2, characterized in that, The fixed support frame (5) has a through hole at its center, the rotating lifting platform (3) is located in the through hole, and the upper surface of the rotating lifting platform (3) is not higher than the upper surface of the fixed support frame (5).

5. A relay-type UAV landing pad according to claim 1, characterized in that, The end of the positioning and fixing mechanism is provided with a flexible abutment part (1).

6. A relay-type UAV landing pad according to claim 1, characterized in that, The lower base (7) is provided with multiple shock-absorbing structures (8).

7. A relay-type UAV landing pad according to claim 1, characterized in that, The rotating take-off and landing platform (3) is equipped with a wireless charging coil (4).

8. A control method for a relay-type UAV landing pad, applied to the relay-type UAV landing pad as described in any one of claims 1-7, characterized in that, The method includes: After the UAV lands on the rotating take-off and landing platform (3), the UAV's fuselage orientation and altitude information are identified; Based on the identified fuselage orientation, the rotating take-off and landing platform (3) is driven to rotate to calibrate the fuselage orientation of the UAV; After the fuselage pointing calibration is completed, based on the identified altitude information, at least two sets of positioning and fixing mechanisms set on the fixed support frame (5) are controlled to move, so that the positioning and fixing mechanisms abut against and push the UAV from the side, so that the UAV moves to the predetermined position on the rotating take-off and landing platform (3).

9. The control method for a relay-type UAV landing pad according to claim 8, characterized in that, The steps for controlling the actions of at least two sets of positioning and fixing mechanisms include: First, control the positioning and fixing mechanism to move along the first direction to a height that matches the drone's fuselage; Then control the positioning and fixing mechanism to move along the second direction to push the drone from the side.

10. The control method for a relay-type UAV landing pad according to claim 8, characterized in that, After moving the drone to the predetermined location, the process also includes: The wireless charging coil (4) embedded in the rotating take-off and landing platform (3) is activated to charge the drone.

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