UAV fixed-point landing control method, device and system, and docking station

Abstract

The present application provides a method, device and system for controlling the fixed-point landing of a drone, as well as a docking station, which solves the problem of low reliability of the fixed-point landing of drones in the prior art. Among them, the drone docking station is provided with a target position for the landing of the drone, and a plurality of wind sensing devices are provided around the target position, and the plurality of wind sensing devices are respectively located in different directions of the target position. The control method includes the drone docking station determining the deviation data of the drone relative to the target position based on the current wind parameters detected by the plurality of wind sensing devices when the drone lands, the current wind parameters including the current wind direction and / or the current wind speed; the drone docking station sends the deviation data to the drone; the drone adjusts its own flight parameters based on the deviation data to land at the target position.

Description

Technical Field

[0001] The present application relates to the field of UAV technology, and in particular to a method, device and system for controlling a fixed-point landing of an UAV, as well as a UAV docking station and a storage medium. Background Art

[0002] After the operation is completed, the drone needs to return to the drone docking station and land precisely at a specific location at the drone docking station. The current way to achieve precise point landing is that the drone relies on its onboard camera and positioning module, using visual positioning technology and satellite positioning technology to achieve precise landing. However, the reliability of visual positioning is greatly reduced in an environment with insufficient light, and satellite signals may also be lost, so the reliability of point landing is low. Summary of the invention

[0003] In view of this, the embodiments of the present application provide a method, device and system for controlling the fixed-point landing of a UAV, as well as a UAV docking station and a storage medium, to solve the problem of low reliability of the fixed-point landing of UAVs in the prior art.

[0004] The first aspect of the present application provides a method for controlling a drone to land at a fixed point, wherein a drone docking station is provided with a target position for the drone to land, and a plurality of wind sensing devices are provided around the target position, and the plurality of wind sensing devices are respectively located in different directions of the target position. The control method comprises: when the drone lands, the drone docking station determines the deviation data of the drone relative to the target position based on the current wind parameters detected by the plurality of wind sensing devices, and the current wind parameters include the current wind direction and / or the current wind speed; the drone docking station sends the deviation data to the drone; and the drone adjusts its own flight parameters based on the deviation data to land at the target position.

[0005] In one embodiment, the target position is located at the center of the plurality of wind sensing devices, the current wind parameter is the current wind direction, and the deviation data includes the deviation direction. When the drone is landing, the drone docking station determines the deviation data of the drone relative to the target position based on the current wind parameters detected by the plurality of wind sensing devices, including: the drone docking station matches the current wind directions detected by the plurality of wind sensing devices with their respective corresponding theoretical wind directions, the theoretical wind directions being directed from the target position to the wind sensing device; based on the matching result, combined with the pre-stored correspondence between the current wind direction and the deviation direction, the deviation direction is determined.

[0006] In one embodiment, the deviation data also includes a deviation distance. The control method also includes: the drone docking station determines a deviation angle between current wind directions detected by multiple wind sensing devices and respective corresponding theoretical wind directions, where the theoretical wind direction points from the target position to the wind sensing device; based on the deviation angle, combined with a pre-stored correspondence between the deviation angle and the deviation distance, the deviation distance is determined.

[0007] In one embodiment, the target position is located at the center of the multiple wind sensing devices, and the current wind parameter is the current wind speed. When the drone lands, the drone docking station determines the deviation data of the drone relative to the target position based on the current wind parameters detected by the multiple wind sensing devices, including: when the current wind speeds detected by the multiple wind sensing devices are not all equal, based on the current wind speed, combined with the pre-stored relationship between the current wind speeds and the corresponding relationship between the deviation directions, determining the deviation direction; and / or based on the current wind speed, combined with the pre-stored difference between the current wind speeds and the corresponding relationship between the deviation distances, determining the deviation distance.

[0008] In one embodiment, the current wind parameter is the current wind speed. The control method further includes: determining the ambient wind speed and ambient wind direction before the drone lands; and determining a compensation strategy based on the ambient wind speed and ambient wind direction. Determining the deviation data of the drone relative to the target position based on the current wind parameters detected by multiple wind sensing devices includes: compensating the current wind speed detected by the multiple wind sensing devices based on the compensation strategy, and determining the deviation data of the drone relative to the target position based on the compensated current wind speed.

[0009] In one embodiment, a wind guide mechanism is provided corresponding to each wind sensing device, and the wind guide mechanism is used to guide the wind in a predetermined direction into the wind guide mechanism. Before the drone lands, the multiple wind sensing devices are respectively located in the corresponding wind guide mechanisms. Determining the ambient wind speed and ambient wind direction includes: determining the ambient wind speed and ambient wind direction based on the wind speeds detected by the multiple wind sensing devices.

[0010] In one embodiment, determining the ambient wind speed and ambient wind direction based on wind speeds detected by multiple wind sensing devices includes: determining the maximum value of the wind speeds detected by the multiple wind sensing devices as the ambient wind speed; and determining the predetermined direction corresponding to the wind guide structure where the wind sensing device that detects the maximum value is located as the ambient wind direction.

[0011] In one embodiment, determining the compensation strategy based on the ambient wind speed and the ambient wind direction includes: determining a wind sensing device to be compensated based on the ambient wind direction; and determining the compensation strategy to compensate the current wind speed detected by the wind sensing device to be compensated using the ambient wind speed.

[0012] In one embodiment, determining the wind sensing device to be compensated based on the ambient wind direction includes: determining the wind sensing device in the ambient wind direction as the wind sensing device to be compensated.

[0013] In one embodiment, a moving mechanism connected to each wind sensing device is further provided. The control method further comprises: before the drone lands, controlling the moving mechanism to drive the wind sensing device to move into the wind guide mechanism; and / or when the drone lands, controlling the moving mechanism to drive the wind sensing device to move out of the wind guide mechanism.

[0014] The second aspect of the present application provides a drone fixed-point landing control device, wherein a drone docking station is provided with a target position for the drone to land, and multiple wind sensing devices are provided around the target position, and the multiple wind sensing devices are respectively located in different directions of the target position. The control device includes: a determination module, which is used for the drone docking station to determine the deviation data of the drone relative to the target position based on the current wind parameters detected by the multiple wind sensing devices when the drone lands, and the current wind parameters include the current wind direction and / or the current wind speed; a communication module, which is used for the drone docking station to send the deviation data to the drone; and an adjustment module, which is used for the drone to adjust its own flight parameters based on the deviation data so as to land at the target position.

[0015] A third aspect of the present application provides a drone docking station, comprising: a parking platform having a target position; a plurality of wind sensing devices, respectively arranged in different directions of the target position; and a processor, for determining the deviation data of the drone relative to the target position based on current wind parameters detected by the plurality of wind sensing devices when the drone lands, the current wind parameters including current wind direction and / or current wind speed.

[0016] In one embodiment, the drone docking station also includes multiple wind-guiding mechanisms and multiple mobile mechanisms, and the multiple wind-guiding mechanisms, multiple mobile mechanisms and multiple wind sensing devices correspond one to one; the processor is also used to control the multiple mobile mechanisms to drive their respective corresponding wind sensing devices to move into the wind-guiding mechanisms before the drone lands; and determine the ambient wind speed and ambient wind direction based on the wind speed detected by the multiple wind sensing devices.

[0017] In one embodiment, the drone docking station also includes a parking cabin, and the parking platform is arranged in the parking cabin; the multiple air guide mechanisms are implemented as multiple concave areas on the outer wall of the parking cabin.

[0018] In one embodiment, the parking cabin includes a sliding door, and a plurality of through holes are provided on the sliding door, and the plurality of through holes are respectively located on the moving paths of the plurality of moving mechanisms.

[0019] The fourth aspect of the present application provides a drone fixed-point landing control system, comprising: a drone docking station provided by any of the above embodiments, the drone docking station also comprising a first communication module; and a drone, comprising a second communication module and a flight control module. The deviation data is sent to the second communication module via the first communication module, and the second communication module uploads the deviation data to the flight control module, and the flight control module is used to adjust the flight parameters of the drone based on the deviation data so that the drone lands at the target location.

[0020] A fifth aspect of the present application provides a computer-readable storage medium on which a computer program is stored, characterized in that when the computer program is executed by a processor, the steps of the drone fixed-point landing control method provided in any of the above embodiments are implemented.

[0021] According to the drone fixed-point landing control method, device and system, as well as the drone docking station and storage medium provided in the embodiments of the present application, wind sensing devices are respectively set in multiple different directions of the target location of the drone landing. During the drone landing process, the current wind parameters detected by the wind sensing device are used to determine the deviation data of the drone relative to the target location, and the flight parameters of the drone are adjusted based on the deviation data to ensure that the drone accurately lands at the target location. Compared with the conventional landing method mentioned in the background technology, visual positioning technology is not required, so it is not affected by lighting conditions; satellite positioning is not required, so it is not affected by the reliability of satellite signals, thereby having higher reliability of fixed-point landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of a drone fixed-point landing control system provided in one embodiment of the present application.

[0023] Figure 2 This is a flow chart of the drone fixed-point landing control method provided in the first embodiment of the present application.

[0024] Figure 3 A schematic diagram of the execution process of step S110 provided in the first embodiment of the present application.

[0025] Figure 4 A schematic diagram of theoretical wind direction when a UAV accurately lands at a target location provided in an embodiment of the present application.

[0026] Figure 5 A schematic diagram of the current wind direction when a drone deviates from a target position and lands according to an embodiment of the present application.

[0027] Figure 6 This is a flow chart of the drone fixed-point landing control method provided in the second embodiment of the present application.

[0028] Figure 7 This is a flow chart of a drone fixed-point landing control method provided in the third embodiment of the present application.

[0029] Figure 8 A schematic diagram of wind direction during the landing of a drone provided in one embodiment of the present application.

[0030] Fig. 9 This is a flow chart of the drone fixed-point landing control method provided in the fourth embodiment of the present application.

[0031] Fig.10 Shown is a structural block diagram of a UAV fixed-point landing control device provided in the first embodiment of the present application.

[0032] Fig.11Shown is a structural block diagram of a UAV fixed-point landing control device provided in the second embodiment of the present application.

[0033] Fig.12 Shown is a structural block diagram of a UAV fixed-point landing control device provided in the third embodiment of the present application.

[0034] Fig.13 This is an architectural diagram of a drone fixed-point landing control system provided in one embodiment of the present application. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] Figure 1 This is a schematic diagram of a drone fixed-point landing control system provided by an embodiment of the present application. Figure 1 As shown, the drone fixed-point landing control system includes a drone docking station 10 and a drone 20.

[0037] Regarding the application scenario of the drone fixed-point landing control method provided in an embodiment of the present application, please refer to Figure 1 .like Figure 1 As shown, the application scenario includes a drone docking station 10 and a drone 20. The drone docking station 10 includes a parking platform 11. The parking platform 11 is used to provide a plane for the drone 20 to land and dock, which can be a lifting platform or a fixed platform. A target position Q is set on the parking platform 11, and the target position Q can be, for example, an area circled at the center of the parking platform 11. The drone docking station 10 is equipped with a drone fixed-point landing control device ( Figure 1 The control device may execute the method for controlling the fixed-point landing of the drone provided in the embodiment of the present application to control the drone 20 to accurately land at the target position Q.

[0038] Specifically, the drone docking station 10 further includes a plurality of wind sensing devices 12, which are respectively arranged in different directions of the target position Q. The wind sensing devices 12 are used to detect the current wind direction and / or current wind speed when the drone 20 lands, and the control device controls or helps the drone 20 land at the target position Q based on the current wind direction and / or current wind speed.

[0039] For example, in the first implementation, the wind sensing device 12 is a wind direction detection device. During the landing process of the drone 20, the wind direction detection device detects the current wind direction, and the control device controls or helps the drone 20 to land at the target position Q based on the current wind direction.

[0040] In a second implementation, the wind sensing device 12 is a wind speed detection device. During the landing process of the drone 20, the wind speed detection device detects wind speed data, and the control device controls or helps the drone 20 to land at the target position Q based on the wind speed data.

[0041] Considering that the wind field of the drone 20 can suppress the ambient wind, when the wind sensing device 12 is a wind direction detection device, the wind direction detected by the wind direction detection device is the wind direction generated by the drone 20, and will not be affected by the ambient wind. When the wind sensing device 12 is a wind speed detection device, the wind speed detected by the wind speed detection device will be affected by the ambient wind speed. In other words, when the ambient wind speed cannot be ignored, when controlling or helping the drone 20 to land at a fixed point according to the second embodiment described above, the landing accuracy will be affected.

[0042] Therefore, in the third implementation, the wind sensing device 12 can detect the wind direction and wind speed at the same time. Specifically, before the UAV 12 lands, the wind sensing device 12 detects the ambient wind direction and ambient wind speed in real time; when the UAV 12 lands, the wind sensing device 12 detects the current wind speed. The control device can determine a compensation strategy based on the ambient wind direction and ambient wind speed, and the compensation strategy indicates which current wind speed detected by the wind sensing device 12 is to be compensated, as well as the compensation amount. And based on the compensated current wind speed, the UAV 20 is controlled or helped to land at the target position Q. Of course, a separate ambient wind sensing device can also be provided, and the ambient wind sensing device is used to detect the ambient wind direction and ambient wind speed. In this case, the wind sensing device 12 is only used to detect the current wind speed during the landing of the UAV 20, so the wind sensing device 12 can be a wind speed detection device.

[0043] Considering that the wind sensing device 12 that can directly measure the wind direction is relatively expensive, in order to save costs, in the fourth implementation, the wind sensing device 12 uses a wind speed detection device. The wind speed detection device is used to determine the current wind speed of the drone 20 during the landing process. At the same time, through the innovative structural setting, the wind speed detection device can simultaneously detect the ambient wind direction and ambient wind speed.

[0044] Specifically, if Figure 1As shown, the wind sensing device 12 is a wind speed detection device. The wind speed detection device can be a probe that realizes wind speed measurement based on various principles, such as a thermal-sensitive thin-film wind speed probe. The drone docking station 10 also includes a plurality of wind-guiding mechanisms 13 and a plurality of moving mechanisms 14. The plurality of wind-guiding mechanisms 13, the plurality of wind-sensing devices 12 and the plurality of moving mechanisms 14 correspond one to one. For the mutually corresponding wind-guiding mechanisms 13, the wind-sensing devices 12 and the moving mechanisms 14, the wind-guiding mechanism 13 is used to guide the ambient wind in a predetermined direction into the wind-guiding mechanism 13. The predetermined direction mentioned here is, for example, the direction of the wind-sensing device 12 relative to the target position Q, that is, the direction in which the wind-sensing device 12 is located at the target position Q is the predetermined direction. The moving mechanism 14 is used to move the wind-sensing device 12 into the wind-guiding mechanism 13 or out of the wind-guiding mechanism 13. When the wind sensing device 12 is located inside the wind guide mechanism 13 , the ambient wind direction and ambient wind speed can be determined based on the wind speeds detected by multiple wind sensing devices 12 ; when the wind sensing device 12 is located outside the wind guide mechanism 13 , the current wind speed can be detected based on multiple wind sensing devices 12 .

[0045] For example, the drone docking station 10 includes a parking cabin 15, and the shape of the parking cabin 15 can be reasonably set according to actual needs, such as a square. The top of the parking cabin 15 has a sliding cabin door 151, such as a double-opening sliding cabin door. The parking platform 11 is arranged in the parking cabin 15 and is implemented as a lifting parking platform. By controlling the parking platform 11 to rise, the parking platform 11 can be lifted to the height outside the cabin door; by controlling the parking platform 11 to descend, the parking platform 11 can be moved into the parking cabin 15. A plurality of concave areas are arranged on the outer wall of the parking cabin 15, and the plurality of concave areas correspond to a plurality of wind speed detection devices one by one. The concave area serves as a wind guide mechanism 13, and the inner wall of the concave area is equivalent to a retaining wall, which can guide the ambient wind in its direction into the concave area 2. A telescopic mechanism is arranged in the concave area, and the telescopic mechanism serves as a moving mechanism 14, and the wind speed detection device is located at the free end of the telescopic mechanism. Before the drone 20 lands, the telescopic mechanism is retracted, the wind speed detection device is located in the concave area, and the wind speed detection device detects the ambient wind speed; when the drone 20 lands, the telescopic mechanism is extended, the wind speed detection device is located outside the concave area, and the wind speed detection device detects the current wind speed. The control device can determine the ambient wind speed and ambient wind direction based on the numerical relationship of the ambient wind speeds detected by multiple wind speed detection devices, and determine a compensation strategy based on the ambient wind speed and ambient wind direction, the compensation strategy indicates which wind sensing device 12 detects the current wind speed to compensate, and the compensation amount. The drone 20 is controlled to land at the target position Q based on the compensated current wind speed.

[0046] In one embodiment, the drone docking station can automatically open the hatch when it determines that the drone is about to land, and can raise the parking platform to the hatch plane to prevent the lifting platform from forming a groove at a low position, disrupting the wind field of the drone and affecting the detection accuracy of the wind sensing device.

[0047] In order to prevent the sliding door 151 from blocking the telescopic path of the telescopic mechanism, a through hole may be provided on the sliding door 151 at a position corresponding to the telescopic path to ensure that the telescopic mechanism and the wind speed detection device can pass through.

[0048] Figure 2 The flowchart of the drone fixed-point landing control method provided by the first embodiment of the present application. A plurality of wind sensing devices 12 are respectively arranged in a plurality of different directions of the target position Q where the drone is to land. The drone fixed-point landing control method 100 can be Figure 1 The control device in is executed. Figure 2 As shown, the UAV fixed-point landing control method 100 includes:

[0049] Step S110, when the drone lands, the drone docking station determines the deviation data of the drone 20 relative to the target position Q based on the current wind parameters detected by the multiple wind sensing devices 12. The current wind parameters include the current wind direction and / or the current wind speed. The deviation data includes the deviation direction and / or the deviation distance.

[0050] Step S120: The drone docking station sends the deviation data to the drone.

[0051] In step S130 , the UAV adjusts its flight parameters based on the deviation data to land at the target position Q.

[0052] After the deviation data of the drone 20 relative to the target position Q is determined according to step S110, the flight parameters of the drone 20 can be adjusted through the flight control module so that the drone 20 lands at the target position Q. The specific execution process of the flight control module can be implemented in a conventional manner, and the specific execution process does not involve the invention of the present application, so it will not be described in detail here.

[0053] It should be noted that the deviation data can be 0 or any value greater than 0. When the deviation data is 0, it indicates that the drone 20 has not deviated, that is, the drone 20 has landed accurately in the vertical direction perpendicular to the target position Q. At this time, the operation of adjusting the flight parameters of the drone 20 according to the deviation data will not have a substantial impact on the flight parameters, and the drone still flies according to the current flight parameters. When the deviation data is greater than 0, it indicates that the drone 20 has deviated, that is, the drone 20 has deviated from the vertical direction perpendicular to the target position Q. At this time, after adjusting the flight parameters of the drone 20 according to the deviation data, the flight parameters of the drone 20 will be changed to adjust the drone 20 to the vertical direction of the target position Q, thereby ensuring that the drone accurately lands at the target position Q.

[0054] According to different types of current wind parameters, ie, current wind direction or current wind speed, the execution process of step S110 is different, which will be described in detail below in conjunction with specific embodiments.

[0055] Figure 3 The following is a schematic diagram of the execution process of step S110 provided in the first embodiment of the present application. In this embodiment, the current wind parameter is the current wind direction. The target position Q is located at the center of the plurality of wind sensing devices 12. In one embodiment, the drone docking station may have the following features: Figure 4 The square parking platform shown in FIG. 1 may be provided with four wind sensing devices at the four corners of the square platform, and the target position Q may be located at the geometric center of the quadrilateral formed by the four wind sensing devices. Figure 3 As shown, step S110 is performed by the drone docking station, and specifically includes:

[0056] Step S1111, matching the current wind directions detected by the multiple wind sensing devices 12 with their corresponding theoretical wind directions, where the theoretical wind directions point from the target position to the wind sensing devices.

[0057] Each wind sensing device 12 has a theoretical wind direction. The theoretical wind direction refers to the wind direction detected by the wind sensing device 12 when the drone lands accurately at the target position Q. The rotation of the drone 20 rotor generates a wind field, and the drone 20 itself is equivalent to the wind source. If the drone 20 lands along the vertical line where the target position Q is located, the theoretical wind direction should be the direction where the target position Q points to the wind sensing device 12. For example, Figure 4 A schematic diagram of the theoretical wind direction when a drone accurately lands at the target position Q provided in an embodiment of the present application. Figure 4 As shown, taking four wind sensing devices 12 as an example, the target position Q is located at the center of the four wind sensing devices 12. The four wind sensing devices 12 are respectively recorded as a first wind sensing device 121, a second wind sensing device 122, a third wind sensing device 123 and a fourth wind sensing device 124. The first wind sensing device 121 is located in the southwest direction of the target position Q, the second wind sensing device 122 is located in the southeast direction of the target position Q, the third wind sensing device 123 is located in the northeast direction of the target position Q, and the fourth wind sensing device 124 is located in the northwest direction of the target position Q. When the drone lands accurately at the target position Q, the theoretical wind direction detected by the first wind sensing device 121 is the northeast direction, the theoretical wind direction detected by the second wind sensing device 122 is the northwest direction, the theoretical wind direction detected by the third wind sensing device 123 is the southwest direction, and the theoretical wind direction detected by the fourth wind sensing device 124 is the southeast direction.

[0058] Figure 5 A schematic diagram of the current wind direction when a drone deviates from the target position Q and lands according to an embodiment of the present application. Figure 5As shown, taking the drone 20 deviating to the southwest direction relative to the target position Q as an example, at this time, the wind direction detected by each wind sensing device 12 should be the direction in which the drone 20 points to the wind sensing device 12. Specifically, the current wind direction detected by the first wind sensing device 121 is the northeast direction, which is the same as the theoretical wind direction, that is, the northeast direction. The current wind direction detected by the second wind sensing device 122 is the northwest-northwest direction, which is different from the theoretical wind direction, that is, the northwest direction. The current wind direction detected by the third wind sensing device 123 is the southwest direction, which is the same as the theoretical wind direction, that is, the southwest direction. The current wind direction detected by the fourth wind sensing device 124 is the southeast-east direction, which is different from the theoretical wind direction, that is, the southeast direction. Because the current wind directions detected by the second wind sensing device 122 and the fourth wind sensing device 124 are different from their respective theoretical wind directions.

[0059] Step 1112, based on the matching result and in combination with the pre-stored correspondence between the matching result and the deviation direction, determine the deviation direction.

[0060] When the current wind directions detected by the multiple wind sensing devices 12 match the corresponding theoretical wind directions, it indicates that the UAV has not deviated from the target position Q, and the deviation direction is determined to be 0.

[0061] When the current wind direction detected by at least one wind sensing device 12 does not match the corresponding theoretical wind direction, it indicates that the UAV deviates from the target position Q. At this time, the deviation direction can be determined according to the correspondence between the pre-stored matching result and the deviation direction.

[0062] Specifically, the corresponding relationship between the matching result and the deviation direction can be obtained through previous experiments. Figure 4 As shown, when the current wind direction detected by the first wind sensing device 111 is the same as its theoretical wind direction, the current wind direction detected by the second wind sensing device 112 is different from its theoretical wind direction, the current wind direction detected by the third wind sensing device 113 is the same as its theoretical wind direction, and the current wind direction detected by the fourth wind sensing device 114 is different from its theoretical wind direction, the deviation direction of the drone 20 relative to the target position Q is southwest.

[0063] Step S1113, determining the deviation angles between the current wind directions detected by the plurality of wind sensing devices 12 and the corresponding theoretical wind directions; determining the deviation distances based on the deviation angles and the pre-stored correspondence between the deviation angles and the deviation distances.

[0064] For any wind sensing device 12, the deviation angle between the current wind direction detected by the device and the corresponding theoretical wind direction is the angle between the current wind direction and the theoretical wind direction. The corresponding relationship between the deviation angle and the deviation distance can be a linear relationship, and the larger the deviation angle, the larger the deviation distance. In this case, a proportional value can be pre-stored as the corresponding relationship between the deviation angle and the deviation distance, and the product of the deviation angle and the proportional value is the deviation distance.

[0065] According to the drone fixed-point landing control method provided in the embodiment of the present application, the current wind direction of the drone when landing detected by multiple wind sensing devices 12 is used as the data basis, combined with the theoretical directions and predetermined strategies corresponding to each of the multiple pre-stored wind sensing devices, to determine the deviation data of the drone.

[0066] Figure 6 Flow chart of the drone fixed-point landing control method provided in the second embodiment of the present application. In this embodiment, the current wind parameter is the current wind speed. The target position Q is located at the center of the multiple wind sensing devices 12. Figure 6 As shown, step S110 is performed as follows:

[0067] Step S1121, determine whether the current wind speeds detected by the multiple wind sensing devices 12 are equal. When the current wind speeds detected by the multiple wind sensing devices 12 are equal, it indicates that the drone has not deviated from the target position Q, and the process returns to step S1121. When the current wind speeds detected by the multiple wind sensing devices are not all equal, it indicates that the drone has deviated from the target position Q, and the process proceeds to step S1122.

[0068] See also Figure 4 When the drone 20 does not deviate during landing, the drone lands from the exact center of the four wind sensing devices 12, and the current wind speeds detected by the four wind sensing devices 12 are equal. When the position of the drone 12 deviates, the current wind speeds detected by the four wind sensing devices 12 will differ. The larger the current wind speed value, the closer the drone 20 is to the wind sensing device 12; conversely, the smaller the current wind speed value, the farther the drone 20 is from the wind sensing device 12. Therefore, by comparing the differences in the current wind speeds detected by the four wind sensing devices 12 at the same time, it is possible to determine whether the landing process of the drone 20 has deviated.

[0069] It should be noted that the equality or incomplete equality mentioned in step S1121 is not absolute, and equality within the preset numerical range also belongs to the category of equality mentioned here. For example, the preset numerical range is 0.2m / s, and the current wind speeds detected by the four wind sensing devices are 4.1m / s, 4m / s, 4.2m / s, and 4.2m / s, respectively. At this time, since the difference between the current wind speeds detected by any two wind sensing devices 12 is less than or equal to 0.2m / s, it is determined that the current wind speeds detected by the four wind sensing devices 12 are equal. For another example, the preset numerical range is still 0.2m / s, and the current wind speeds detected by the four wind sensing devices are 4.1m / s, 4m / s, 4.2m / s, and 4.3m / s, respectively. At this time, since the difference between 4.3m / s and 4m / s is greater than 0.2m / s, it is determined that the current wind speeds detected by the four wind sensing devices 12 are not completely equal.

[0070] Step S1122, based on the current wind speeds detected by the multiple wind sensing devices, combined with the pre-stored relationship between the current wind speeds and the corresponding relationship between the deviation directions, determine the deviation direction.

[0071] The relationship between the current wind speed and the corresponding relationship between the deviation direction can be determined by preliminary experiments. For example, see Figure 5 , when the drone 20 deviates to the southwest relative to the target position Q, the relationship between the current wind speeds detected by the four wind sensing devices 12 is: V1>V2=V4>V3, where V1 represents the current wind speed detected by the first wind sensing device 121, V2 represents the current wind speed detected by the second wind sensing device 122, V3 represents the current wind speed detected by the third wind sensing device 123, and V4 represents the current wind speed detected by the fourth wind sensing device 124. For another example, when the drone 20 deviates to the south relative to the target position Q, the relationship between the current wind speeds detected by the four wind sensing devices 12 is: V1=V2>V4=V3.

[0072] Step S1123, determining the deviation distance based on the current wind speeds detected by the multiple wind sensing devices and the pre-stored correspondence between the difference between the current wind speeds and the deviation distances.

[0073] The difference between the current wind speeds and the deviation distance are linearly related. The greater the difference between the current wind speed values ​​detected by the multiple wind sensing devices 12, the farther the drone 20 deviates from the distance. In this case, a proportional value can be pre-stored as the corresponding relationship between the difference between the current wind speeds and the deviation distance, and the product of the difference between the current wind speeds and the proportional value is the deviation distance.

[0074] According to the drone fixed-point landing control method provided in the embodiment of the present application, the current wind speed of the drone when landing detected by multiple wind sensing devices 12 is used as data basis, combined with a predetermined strategy, to determine the deviation data of the drone.

[0075] Figure 7 Flow chart of the method for controlling the fixed-point landing of a drone provided in the third embodiment of the present application. In this embodiment, the current wind parameter is the current wind speed. According to the control method 200 provided in this embodiment, compared with Figure 2 and Figure 6 The control method shown also includes:

[0076] Step S210, before the UAV lands, determine the ambient wind speed and ambient wind direction.

[0077] For example, the wind sensing device 12 can detect the wind direction and wind speed at the same time. Before the drone 20 lands, the wind sensing device 12 is used to detect the ambient wind direction and ambient wind speed. For another example, a separate ambient wind sensing device is provided, and the ambient wind sensing device is used to detect the ambient wind direction and ambient wind speed. The wind sensing device is used to sense the ambient wind parameters, thereby playing the role of a weather station to a certain extent, and the cost is lower than that of an independent weather station.

[0078] Figure 8 A schematic diagram of wind direction during the landing of a drone provided in an embodiment of the present application. Figure 8 As shown, when the UAV landed, the determined environmental wind direction was northeast and the environmental wind speed was 1m / s.

[0079] Step S220: determining a compensation strategy based on the ambient wind speed and the ambient wind direction.

[0080] Specifically, in this embodiment, step S220 can be specifically performed as follows: determine the wind sensing device 12 to be compensated based on the ambient wind direction; the ambient wind speed is the compensation value; determine the compensation strategy to use the ambient wind speed to compensate the current wind speed detected by the wind sensing device to be compensated.

[0081] See also Figure 8 During the landing of the drone, in the ambient wind direction of the target area Q, the drone wind field will collide with the ambient wind field, so the ambient wind speed will affect the wind speed detected by the wind sensing device 12 in the ambient wind direction. Figure 8 In the example, if the ambient wind direction is northeast, the wind speed detected by the third wind sensing device 123 located in the northeast direction of the target area Q will be affected by the ambient wind speed and needs to be compensated. For example, the wind speed measured by the third wind sensing device 123 is 4 m / s, which is 5 m / s after compensation.

[0082] The current wind speed detected by the first wind sensing device 12, the second wind sensing device 13 and the fourth wind sensing device 14 does not need to be compensated. This is because the wind field generated by the drone offsets the environmental wind field, and the environmental wind will not blow to the first wind sensing device 12. Due to their own structures, the northeast wind of the second wind sensing device 13 and the fourth wind sensing device 14 is a wind blowing from the side, and the impact of the environmental wind on the second wind sensing device 13 and the fourth wind sensing device 14 is very limited and can be ignored.

[0083] In this case, step S110 may be performed as follows:

[0084] Step S230 , compensating the current wind speed detected by the plurality of wind sensing devices 12 based on the compensation strategy.

[0085] Step S240, based on the compensated current wind speed, determine the deviation data of the drone 20 relative to the target position Q. The specific execution process of step S104 refers to the execution process of step S110, which will not be repeated here.

[0086] Then, by executing step S120 and step S130, the UAV can be controlled to land accurately at the target position Q.

[0087] According to the UAV fixed-point landing control method provided in the embodiment of the present application, the ambient wind speed is used to compensate for the current wind speed of the UAV landing process, thereby improving the accuracy of the UAV fixed-point landing.

[0088] Fig. 9 This is a flowchart of a method for controlling a drone's fixed-point landing provided in the fourth embodiment of the present application. Figure 1 As shown, the wind sensing device 12 is a wind speed detection device. The drone docking station 10 also includes a plurality of wind guide mechanisms 13 and a plurality of moving mechanisms 14. The plurality of wind guide mechanisms 13, the plurality of wind sensing devices 12, and the plurality of moving mechanisms 14 correspond to each other. For the corresponding wind guide mechanisms 13, the wind sensing devices 12, and the moving mechanisms 14, the wind guide mechanism 13 is used to guide the ambient wind in a predetermined direction into the wind guide mechanism 13. For example, in combination with Figure 1 and Fig. 9 As shown, the wind guide mechanism 13 corresponding to the first wind sensing device 121 can guide the ambient wind in the southwest direction into the wind guide mechanism 13. The moving mechanism 14 is used to move the wind sensing device 12 into the wind guide mechanism 13 or out of the wind guide mechanism 13. For specific structural settings, please refer to Figure 1 The embodiments shown will not be described in detail here.

[0089] In this case, if Fig. 9 As shown, step S210 is specifically performed as follows:

[0090] Step 211, before the drone lands, control multiple wind sensing devices 12 to move to the corresponding wind guide mechanism 13. At this time, the wind speed detected by the wind sensing device 12 is the wind speed in the predetermined direction corresponding to the wind guide mechanism 13 where it is located. The ambient wind speed introduced from different directions is different, and the predetermined direction corresponding to the maximum ambient wind speed is the ambient wind direction. In this way, the ambient wind speed and ambient wind direction can be confirmed based on the wind speed data detected by multiple wind sensing devices 12.

[0091] Step S212 , determining the ambient wind speed and ambient wind direction based on the wind speeds detected by the plurality of wind sensing devices 12 .

[0092] Specifically, the maximum value of the wind speed detected by the plurality of wind sensing devices 12 is determined as the ambient wind speed, and the predetermined direction corresponding to the wind guide structure where the wind sensing device that detects the maximum value is located is the ambient wind direction.

[0093] According to the drone fixed-point landing control method provided by this embodiment, the wind speed detection device is used to determine the ambient wind speed and ambient wind direction, thereby realizing compensation for the current wind speed during the drone landing process. Since the wind speed detection device is cheaper than the wind direction detection device, the production cost can be reduced.

[0094] The present application also provides a UAV fixed-point landing control device. Fig.10 The figure shows a structural block diagram of a UAV fixed-point landing control device provided in the first embodiment of the present application. A plurality of wind sensing devices are arranged around the target location where the UAV lands, and the plurality of wind sensing devices are respectively located in different directions of the target location. Figure 1 and Fig.10 As shown, the control device 30 includes: a determination module 31, a communication module 32 and an adjustment module 33. The determination module 31 is used by the drone docking station to determine the deviation data of the drone relative to the target position based on the current wind parameters detected by multiple wind sensing devices when the drone lands. The current wind parameters include the current wind direction or the current wind speed. The communication module 32 is used by the drone docking station to send the deviation data to the drone 20. The adjustment module 33 is used by the drone 20 to adjust its own flight parameters based on the deviation data so as to land at the target position.

[0095] In one embodiment, the target position is located at the center of multiple wind sensing devices, and the current wind parameter is the current wind direction. In this case, the determination module 31 is specifically used to: match the current wind direction detected by multiple wind sensing devices with the corresponding theoretical wind direction, and the theoretical wind direction is directed from the target position to the wind sensing device; based on the matching result, combined with the pre-stored matching result and the correspondence between the deviation direction, determine the deviation direction; and / or the drone docking station determines the deviation angle between the current wind direction detected by multiple wind sensing devices and the corresponding theoretical wind direction; based on the deviation angle, combined with the pre-stored correspondence between the deviation angle and the deviation distance, determine the deviation distance. According to the control method for fixed-point landing of a drone provided in an embodiment of the present application, the current wind direction detected by multiple wind sensing devices 12 when the drone 20 lands is used as the data basis, combined with the pre-stored theoretical directions corresponding to each of the multiple wind sensing devices 12 and the predetermined strategy, the deviation data of the drone 20 is determined.

[0096] In one embodiment, the target position is located at the center of multiple wind sensing devices, and the current wind parameter is the current wind speed. In this case, the determination module 31 is specifically used to: when the current wind speeds detected by multiple wind sensing devices are not all equal, based on the current wind speed, combined with the pre-stored relationship between the current wind speeds and the corresponding relationship between the deviation directions, determine the deviation direction; and / or based on the current wind speed, determine the deviation distance corresponding to the difference in the current wind speed. According to the control method for fixed-point landing of the drone 20 provided in the embodiment of the present application, the current wind speed of the drone 20 detected by multiple wind sensing devices 12 when landing is used as the data basis, combined with a predetermined strategy, to determine the deviation data of the drone 20.

[0097] Fig.11 The structure block diagram of the drone fixed-point landing control device provided by the second embodiment of the present application is shown. In this embodiment, the control device 40 includes: a determination module 41, a communication module 42, an adjustment module 43 and a compensation module 44. The target position is located at the center of multiple wind sensing devices, and the current wind parameter is the current wind speed. The determination module 41 is used for the drone docking station to determine the ambient wind speed and ambient wind direction before the drone lands; when the drone lands, the deviation data of the drone relative to the target position is determined based on the current wind speed detected by multiple wind sensing devices. The compensation module 44 is used to determine the compensation strategy using the ambient wind speed and ambient wind direction, and compensate the current wind speed detected by multiple wind sensing devices 12 based on the compensation strategy. The determination module 41 is also used to determine the deviation data of the drone 20 relative to the target position based on the compensated current wind speed. The communication module 42 is used for the drone docking station to send the deviation data to the drone 20. The adjustment module 43 is used for the drone 20 to adjust its own flight parameters based on the deviation data to land at the target position.

[0098] According to the control method for fixed-point landing of the drone 20 provided in the embodiment of the present application, the current wind speed of the drone 20 during the landing process is compensated by the ambient wind speed, thereby improving the accuracy of the fixed-point landing of the drone 20.

[0099] Fig.12 The figure shows a block diagram of the structure of the UAV fixed-point landing control device provided in the third embodiment of the present application. Fig.12 The control device 50 shown is compared to Fig.11 The difference between the control device 40 shown in the figure is that, in this embodiment, the wind sensing device 12 is a wind speed detection device. Figure 1 and Fig.12 As shown, the docking station of the drone 20 also includes multiple wind guide mechanisms and multiple moving mechanisms. The multiple wind guide mechanisms, the multiple wind sensing devices 12 and the multiple moving mechanisms correspond to each other. For the corresponding wind guide mechanisms, wind sensing devices 12 and moving mechanisms, the wind guide mechanisms are used to guide the ambient wind in a predetermined direction into the wind guide mechanisms. The moving mechanism 14 is used to move the wind sensing device 12 into the wind guide mechanism 13 or out of the wind guide mechanism 13.

[0100] In this case, the control device 50 further includes a moving module 51, which is used for the drone docking station to control the multiple wind sensing devices 12 to move to the corresponding wind guide mechanisms before the drone 20 lands. The determination module 41 is specifically used for the drone docking station to determine the ambient wind speed and ambient wind direction based on the wind speed detected by the multiple wind sensing devices 12 before the drone lands.

[0101] According to the control method for fixed-point landing of the drone 20 provided in this embodiment, the wind speed detection device is used to determine the ambient wind speed and ambient wind direction, thereby compensating for the current wind speed during the landing of the drone 20. Since the wind speed detection device is cheaper than the wind direction detection device, the production cost can be reduced.

[0102] This application also provides a drone docking station. Figure 1 As shown, the drone docking station 10 includes: a parking platform 11, a plurality of wind sensing devices 12 and a processor 16. Among them, the parking platform 11 has a target position. The plurality of wind sensing devices 12 are respectively arranged in different directions of the target position. The processor (not shown in the figure) is used to execute the execution steps of the determination module 31 in the control device provided in any of the above embodiments, that is, when the drone lands, based on the current wind parameters detected by the plurality of wind sensing devices, combined with a predetermined strategy, determine the deviation data of the drone relative to the target position, and the current wind parameters include the current wind direction or the current wind speed.

[0103] In one embodiment, Figure 1As shown, the drone docking station 10 also includes a plurality of wind guide mechanisms 13 and a plurality of mobile mechanisms 14, and the plurality of wind guide mechanisms 13, the plurality of mobile mechanisms 14 and the plurality of wind sensing devices 12 correspond to each other. The processor is also used to control the plurality of mobile mechanisms 147 to respectively drive the corresponding wind sensing devices 12 to move into the wind guide mechanism 13 before the drone lands; and determine the ambient wind speed and ambient wind direction based on the wind speed detected by the plurality of wind sensing devices 12.

[0104] In one embodiment, Figure 1 As shown, the drone docking station 10 also includes a parking cabin 15, and the parking platform 11 is arranged in the parking cabin 15; the multiple air guide mechanisms 13 are implemented as multiple concave areas on the outer wall of the parking cabin 15.

[0105] In one embodiment, Figure 1 As shown, the parking cabin 15 includes a sliding door 151 , and a plurality of through holes are provided on the sliding door 151 , and the plurality of through holes are respectively located on the moving paths of the plurality of moving mechanisms 14 .

[0106] For specific technical details of the drone docking station provided in any of the above embodiments, please refer to Figure 1 The detailed description of the illustrated embodiment will not be repeated here.

[0107] The present application also provides a UAV fixed-point landing control system. Fig.13 This is a diagram of the architecture of a drone fixed-point landing control system provided in one embodiment of the present application. Figure 1 and Fig.13 As shown, the drone fixed-point landing control system includes: the drone docking station 10 and the drone 20 provided in any of the above embodiments. The drone docking station 10 also includes a first communication module 16, and the drone 20 includes a second communication module 21 and a flight control module 22. The deviation data obtained by the drone docking station 10 is sent to the second communication module 21 through the first communication module 16, and the second communication module 21 uploads the deviation data to the flight control module 22, and the flight control module 22 is used to adjust the flight parameters of the drone 20 based on the deviation data so that the drone 20 lands at the target position Q.

[0108] In the drone fixed-point landing control system provided in this embodiment, the landing process of the drone 20 may include:

[0109] a. Before the drone 20 lands, the multiple wind sensing devices 12 of the drone docking station 10 detect the ambient wind speed and ambient wind direction in real time.

[0110] b. When the drone 20 flies to the vicinity of the drone docking station 10 , it sends a landing command signal to the drone docking station 10 .

[0111] c. After receiving the landing command signal, the UAV docking station 10 opens the door of the parking cabin 15, raises the parking platform 12, and simultaneously raises the multiple wind sensing devices 12.

[0112] d. Multiple wind sensing devices detect the current wind speed, and the processor in the drone docking station 10 determines the deviation data of the drone 20 based on the current wind speed, ambient wind speed and ambient wind direction, and a pre-stored strategy, and sends the deviation data to the drone 20.

[0113] e. After receiving the deviation data, the UAV 20 adjusts the flight parameters to ensure landing at the target position Q.

[0114] f. After the drone 20 is determined to be docked according to the current wind parameters, the drone docking station 10 retracts the multiple wind sensing devices 12 to detect the ambient wind speed and ambient wind direction.

[0115] The present application also provides a storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the drone fixed-point landing control method provided in any embodiment of the present specification.

[0116] The storage medium can be a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0117] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0118] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present application to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for controlling a drone's fixed-point landing, characterized in that: A target position for the drone to land is arranged on the drone docking station, and a plurality of wind sensing devices are arranged around the target position, and the plurality of wind sensing devices are respectively located in different directions of the target position; The control method comprises: The drone docking station determines the deviation data of the drone relative to the target position based on the current wind parameters detected by the multiple wind sensing devices when the drone lands, wherein the current wind parameters include the current wind direction and / or the current wind speed; The drone docking station sends the deviation data to the drone; The UAV adjusts its own flight parameters based on the deviation data so as to land at the target location.

2. The method for controlling the fixed-point landing of an unmanned aerial vehicle according to claim 1, characterized in that: The target position is located at the center of the multiple wind sensing devices, the current wind parameter is the current wind direction, and the deviation data includes the deviation direction; when the drone lands, the drone docking station determines the deviation data of the drone relative to the target position based on the current wind parameters detected by the multiple wind sensing devices, including: The drone docking station matches the current wind directions detected by the multiple wind sensing devices with the corresponding theoretical wind directions, where the theoretical wind directions point from the target position to the wind sensing devices; Based on the matching result, the deviation direction is determined in combination with the pre-stored correspondence between the matching result and the deviation direction.

3. The method for controlling the fixed-point landing of an unmanned aerial vehicle according to claim 2, characterized in that: The deviation data also includes a deviation distance, and the method further includes: The drone docking station determines the deviation angle between the current wind direction detected by the multiple wind sensing devices and the corresponding theoretical wind direction, and the theoretical wind direction is from the target position to the wind sensing device; Based on the deviation angle, combined with a pre-stored correspondence between the deviation angle and the deviation distance, the deviation distance is determined.

4. The control method according to claim 1, characterized in that: The target position is located at the center of the multiple wind sensing devices, and the current wind parameter is the current wind speed; when the drone lands, the drone docking station determines the deviation data of the drone relative to the target position based on the current wind parameters detected by the multiple wind sensing devices, including: When the current wind speeds detected by the plurality of wind sensing devices are not all equal, determining the deviation direction based on the current wind speed and in combination with a pre-stored correspondence between the current wind speeds and the deviation directions; and / or The deviation distance is determined based on the current wind speed and in combination with a pre-stored correspondence between the difference between the current wind speeds and the deviation distance.

5. The control method according to claim 1, characterized in that: The current wind parameter is the current wind speed; the method further comprises: Before landing the drone, determine the ambient wind speed and direction; Determining a compensation strategy based on the ambient wind speed and the ambient wind direction; Determining the deviation data of the UAV relative to the target position based on the current wind parameters detected by the multiple wind sensing devices includes: The current wind speed detected by the plurality of wind sensing devices is compensated based on the compensation strategy, and the deviation data of the UAV relative to the target position is determined based on the compensated current wind speed.

6. The control method according to claim 5, characterized in that: A wind guide mechanism is provided corresponding to each wind sensing device, and the wind guide mechanism is used to guide the wind in a predetermined direction into the wind guide mechanism; before the UAV lands, the multiple wind sensing devices are respectively located in the corresponding wind guide mechanisms; Determining the ambient wind speed and ambient wind direction comprises: The ambient wind speed and the ambient wind direction are determined based on the wind speeds detected by the plurality of wind sensing devices.

7. The control method according to claim 6, characterized in that: The determining the ambient wind speed and the ambient wind direction based on the wind speeds detected by the plurality of wind sensing devices comprises: Determining the maximum value of the wind speeds detected by the plurality of wind sensing devices as the ambient wind speed; The predetermined direction corresponding to the wind guide structure where the wind sensing device that detects the maximum value is located is determined as the ambient wind direction.

8. The control method according to claim 5, characterized in that: The determining of the compensation strategy based on the ambient wind speed and the ambient wind direction comprises: Determining a wind sensing device to be compensated based on the ambient wind direction; The compensation strategy is determined to utilize the ambient wind speed to compensate for the current wind speed detected by the wind sensing device to be compensated.

9. The control method according to claim 6, characterized in that: The wind sensing device to be compensated based on the ambient wind direction comprises: The wind sensing device in the ambient wind direction is determined as the wind sensing device to be compensated.

10. The control method according to claim 6, characterized in that: A moving mechanism connected to each wind sensing device is also provided corresponding to each wind sensing device; the control method further includes: Before the UAV lands, the moving mechanism is controlled to drive the wind sensing device to move into the wind guide mechanism; and / or When the UAV lands, the moving mechanism is controlled to drive the wind sensing device to move outside the wind guide mechanism.

11. A UAV fixed-point landing control device, characterized in that: The drone docking station is provided with a target position for the drone to land, and a plurality of wind sensing devices are provided around the target position, and the plurality of wind sensing devices are respectively located in different directions of the target position; the control device comprises: A determination module, configured to determine, at the drone docking station when the drone lands, deviation data of the drone relative to the target position based on current wind parameters detected by the multiple wind sensing devices, wherein the current wind parameters include current wind direction and / or current wind speed; A communication module, used for the drone docking station to send the deviation data to the drone; The adjustment module is used for the UAV to adjust its own flight parameters based on the deviation data so that the UAV can land at the target location.

12. A drone docking station, characterized in that: include: A parking platform having a target position; A plurality of wind sensing devices are respectively arranged in different directions of the target location; and The processor is used to determine the deviation data of the drone relative to the target position based on the current wind parameters detected by the multiple wind sensing devices when the drone lands, and the current wind parameters include the current wind direction and / or the current wind speed.

13. The drone docking station according to claim 12, characterized in that: It also includes a plurality of wind guide mechanisms and a plurality of moving mechanisms, wherein the plurality of wind guide mechanisms, the plurality of moving mechanisms and the plurality of wind sensing devices correspond to each other one by one; The processor is also used to control the multiple moving mechanisms to drive their corresponding wind sensing devices to move into the wind guide mechanism before the drone lands; and determine the ambient wind speed and ambient wind direction based on the wind speed detected by the multiple wind sensing devices.

14. The drone docking station according to claim 13, characterized in that: It also includes a parking cabin, in which the parking platform is arranged; and the multiple wind guide mechanisms are implemented as multiple concave areas on the outer wall of the parking cabin.

15. The drone docking station according to claim 14, characterized in that: The parking cabin comprises a sliding door, and a plurality of through holes are arranged on the sliding door. The plurality of through holes are respectively located on the moving paths of the plurality of moving mechanisms.

16. A UAV fixed-point landing control system, characterized in that: include: The drone docking station according to any one of claims 11 to 15, wherein the drone docking station further comprises a first communication module; and A drone, including a second communication module and a flight control module; The deviation data is sent to the second communication module through the first communication module, and the second communication module uploads the deviation data to the flight control module. The flight control module is used to adjust the flight parameters of the UAV based on the deviation data so that the UAV lands at the target location.

17. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the drone fixed-point landing control method as described in any one of claims 1 to 10 are implemented.

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