A control method, device and equipment suitable for multi-model unmanned aerial vehicle airport

Abstract

The application relates to the technical field of power transmission line operation maintenance, and provides a control method, device and equipment suitable for multiple unmanned aerial vehicle (UAV) airports, the method comprising the following steps: after receiving a UAV connection instruction, a main control module is connected with a remote control module, and a core interface pool embedded with a registration mechanism is loaded and set; the remote control module and the main control module interact through a registration mode, and a correct core interface is selected; the main control module calls the registered core interface, executes a UAV inspection operation after loading corresponding regulation and control logic; the main control module can efficiently obtain the model of the UAV from the remote control module through the embedded registration mechanism, and the corresponding core interface is loaded to realize communication connection, the universality of the UAV airport is improved, and the efficiency of core interface selection is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) inspection technology, and in particular to a control method, device, and equipment adapted to airports for multiple UAV models. Background Technology

[0002] Unmanned aerial vehicle (UAV) airports are an important means of realizing automatic inspection of UAVs. As the central hub for communication between UAVs and the control system, UAV airports can perform functions such as sending flight route data to UAVs, receiving UAV flight status information and video streaming from airborne cameras, uploading and downloading inspection data, and receiving flight route tasks.

[0003] However, currently commonly used drone airports use hardware that supports only a single drone model in order to ensure the charging and battery swapping of drones. This results in a very high degree of coupling between the airport and the drones, and does not take into account compatibility with multiple drone models. Consequently, the universality of drone airports is low, and the cost of drone inspection is increased. Summary of the Invention

[0004] This invention provides a control method for adapting to multiple drone models at airports, which solves the problem that existing drone airports support only one type of drone and cannot be compatible with multiple drone models.

[0005] The first aspect of this invention provides a control method for airports adapted to multiple UAV models, comprising:

[0006] Upon receiving the drone connection command, the main control module establishes a connection with the remote control module and loads and sets the core interface pool with the embedded registration mechanism. The main control module selects the first core interface from the core interface pool and sends the corresponding first registration information to the remote control module.

[0007] After receiving the first registration information, the remote control module determines whether the first registration information is consistent with the drone model. If so, the remote control module sends a registration success message to the main control module; otherwise, the remote control module sends a registration failure message and drone model information to the main control module. After receiving the registration failure message, the main control module selects the corresponding second core interface from the core interface pool according to the drone model information and sends the second registration information corresponding to the second core interface to the remote control module.

[0008] The main control module calls the core interface that has been successfully registered, loads the corresponding control logic, and then executes the drone inspection operation.

[0009] Optionally, selecting the corresponding second core interface from the core interface pool based on the UAV model information specifically includes:

[0010] The system determines whether a core interface corresponding to the drone model information exists in the core interface pool. If not, the main control module reports the drone model information to the management system through the network module and issues an alarm. If so, the core interface corresponding to the drone model information is selected as the second core interface.

[0011] Optionally, after the main control module reports the UAV model information to the management and control system via the network module, it further includes:

[0012] Obtain the core interface corresponding to the drone model information from the management and control system, and update the core interface pool.

[0013] Optionally, the specific steps of performing the drone inspection operation are as follows:

[0014] The main control module controls the drone to perform inspections via a remote control box, based on the inspection tasks or flight path data sent by the control system.

[0015] Optionally, the drone inspection operation also includes: the main control module obtains the internal and external conditions of the drone airport through the monitoring module, and judges the flight suitability based on the airport status information and meteorological monitoring data pushed by the control system.

[0016] Optionally, the execution of the drone inspection operation also includes:

[0017] The main control module provides data transmission and preprocessing services as well as intelligent multi-channel video streaming services. After receiving the flight path task from the control platform, it parses the task into a binary file that the UAV flight controller can recognize and transmits it into the remote control box through the core interface. It can also encode, compress, and transmit multiple video streams, such as the UAV main camera image transmission and airport external environment monitoring cameras.

[0018] The second aspect of this application provides a control device adapted to airports with multiple drone models, including:

[0019] The main control module, connected to the remote control module, is used to establish a connection with the remote control module after receiving the UAV connection command, and load and set the core interface pool with the embedded registration mechanism; select the first core interface from the core interface pool, and send the corresponding first registration information to the remote control module;

[0020] After receiving the registration failure message, select the corresponding second core interface from the core interface pool according to the drone model information, and send the second registration information corresponding to the second core interface to the remote control module.

[0021] After successfully registering, the core interface is called, the corresponding control logic is loaded, and the drone inspection operation is executed.

[0022] The remote control module receives the first registration information and determines whether the first registration information matches the drone model. If it does, it sends a registration success message to the main control module; otherwise, it sends a registration failure message and drone model information to the main control module.

[0023] Optionally, in the main control module, selecting the corresponding second core interface from the core interface pool based on the UAV model information specifically includes:

[0024] The system determines whether a core interface corresponding to the drone model information exists in the core interface pool. If not, the main control module reports the drone model information to the management system through the network module and issues an alarm. If so, the core interface corresponding to the drone model information is selected as the second core interface.

[0025] Optionally, after reporting the UAV model information to the management and control system through the network module, the main control module further includes: obtaining the core interface corresponding to the UAV model information from the management and control system, and updating the core interface pool.

[0026] A third aspect of this application provides a control device adapted to airports for multiple types of unmanned aerial vehicles (UAVs), the device including a processor and a memory:

[0027] The memory is used to store program code and transmit the program code to the processor;

[0028] The processor is used to execute the control method for adapting multi-model UAV airports according to any one of the first aspects of the present invention, based on the instructions in the program code.

[0029] As can be seen from the above technical solution, the present invention has the following advantages: After receiving the UAV connection command, the main control module establishes a connection with the remote control module and loads and sets the core interface pool with the embedded registration mechanism; the main control module selects a first core interface from the core interface pool and sends the corresponding first registration information to the remote control module; after receiving the first registration information, the remote control module determines whether the first registration information is consistent with the UAV model. If so, the remote control module sends a registration success message to the main control module; if not, the remote control module sends a registration failure message and UAV model information to the main control module; after receiving the registration failure message, the main control module selects the corresponding second core interface from the core interface pool according to the UAV model information and sends the second registration information corresponding to the second core interface to the remote control module; the main control module calls the successfully registered core interface, loads the corresponding control logic, and executes the UAV inspection operation; this allows the main control module to efficiently obtain the UAV model from the remote control module through the embedded registration mechanism and load the corresponding core interface to achieve communication connection, improving the universality of UAV airports and the efficiency of core interface selection. Attached Figure Description

[0030] 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 The first flowchart for the control method of airports adapted to multiple drone models;

[0032] Figure 2 The second flowchart for the control method of airports adapted to multiple drone models;

[0033] Figure 3 The third flowchart for the control method of airports adapted to multiple drone models;

[0034] Figure 4 Diagram of control device for airports adapted to multiple drone models. Detailed Implementation

[0035] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0036] This invention provides a control method for adapting to multiple drone models at airports, which solves the problem that existing drone airports support only one type of drone and cannot be compatible with multiple drone models.

[0037] Please see Figure 1 , Figure 1 The first flowchart is a control method for adapting to airports of multiple UAV models provided in an embodiment of the present invention.

[0038] S100: After receiving the UAV connection command, the main control module establishes a connection with the remote control module and loads and sets the core interface pool with the embedded registration mechanism; the main control module selects the first core interface from the core interface pool and sends the corresponding first registration information to the remote control module.

[0039] It should be noted that in order to control the drone for inspection operations via the drone airport, the inspection personnel must first bring the drone and the drone remote controller to the drone airport and set the drone remote controller in the remote control module. The inspection personnel then issue a drone connection command to the main control module. Only then can the main control module communicate and control the drone through the drone remote controller. The remote control module cannot establish a connection with the main control module without setting the drone remote controller.

[0040] The core interface pool pre-sets core interfaces for various types of drones. It adopts an embedded registration mechanism and encapsulates each core interface in a component-based manner. When called, it can be directly accessed. The core interfaces specifically include various control commands and data transmission methods such as waypoint actions, flight modes, parameter feedback, status feedback, image transmission, album traversal, mode switching, and emergency strategies. Different types of drones implement the above methods differently. Therefore, only by calling the core interface corresponding to the correct drone model can the drone inspection operation be performed.

[0041] It is understandable that when the drone remote controller is set in the remote control module, it will not actively report the drone model to the drone airport. Therefore, by setting up a core interface pool with an embedded registration mechanism, the main control module conducts initial information interaction with the remote control module in the form of core interface registration. The first core interface is a preset core interface, which can be set as the most commonly used core interface according to the actual situation of the drone airport, or it can be randomly selected from the core interface pool. After selecting the first core interface, the corresponding registration information is generated according to the corresponding drone type, and then sent to the remote control module by the main control module for registration.

[0042] S200: After receiving the first registration information, the remote control module determines whether the first registration information is consistent with the drone model. If so, the remote control module sends a registration success message to the main control module; otherwise, the remote control module sends a registration failure message and drone model information to the main control module. After receiving the registration failure message, the main control module selects the corresponding second core interface from the core interface pool according to the drone model information and sends the second registration information corresponding to the second core interface to the remote control module.

[0043] It should be noted that the remote control module can compare the received first registration information with the drone model controlled by the drone remote controller, and report the drone model by returning the registration result to the main control module. When a registration success message is sent, the drone model received by the main control module is the model corresponding to the first core interface. When a registration failure message is sent, the drone model received by the main control module is the correct drone model obtained by the remote control module. At this time, the main control module selects the corresponding second core interface based on the correct drone model, which will inevitably be the correct core interface. After sending the second registration information, it does not need to wait for the registration result from the remote control module, and can proceed to the subsequent steps of calling the core interface.

[0044] If the registration information of the first core interface selected before communication is successful, there is no need to send the registration information of the second core interface to the remote control module a second time, which can improve the efficiency of selecting core interfaces to a certain extent.

[0045] The S300 main control module calls the core interface that has been successfully registered, loads the corresponding control logic, and then executes the UAV inspection operation.

[0046] It should be noted that the registration mechanism adopts a component-based approach, encapsulating the core interfaces of each aircraft model according to airport common business procedures. The core interfaces that the main control module calls after successful registration are specifically airport common business interfaces such as route tasks, parameter feedback, status feedback, video decoding, and media download. After the main control module loads the corresponding control logic of the successfully registered core interfaces, it can obtain the common business interfaces that can be used to perform UAV inspection operations. The UAV airport controls the UAV to perform inspection operations through the common business interfaces.

[0047] In this embodiment, upon receiving a UAV connection command, the main control module establishes a connection with the remote control module and loads and sets up a core interface pool with an embedded registration mechanism. The main control module selects a first core interface from the core interface pool and sends the corresponding first registration information to the remote control module. After receiving the first registration information, the remote control module determines whether the first registration information matches the UAV model. If so, the remote control module sends a registration success message to the main control module; otherwise, the remote control module sends a registration failure message and UAV model information to the main control module. Upon receiving the registration failure message, the main control module selects a corresponding second core interface from the core interface pool based on the UAV model information and sends the second registration information corresponding to the second core interface to the remote control module. The main control module calls the successfully registered core interface, loads the corresponding control logic, and executes the UAV inspection operation. This allows the main control module to efficiently obtain the UAV model from the remote control module through the embedded registration mechanism and load the corresponding core interface to achieve communication connection, improving the universality of UAV airports and increasing the efficiency of core interface selection.

[0048] The above is a detailed description of the first embodiment of the control method for adapting to multi-type UAV airports provided in this application. The following is a detailed description of the second embodiment of the control method for adapting to multi-type UAV airports provided in this application.

[0049] Reference Figure 2 , Figure 2 The second flowchart for the control method adapted to multi-model UAV airports; in step S200 of the aforementioned embodiment, steps S201-S205 are specifically included:

[0050] S201, After receiving the first registration information, the remote control module determines whether the first registration information is consistent with the drone model. If yes, proceed to step S202; otherwise, proceed to step S203.

[0051] It should be noted that without an embedded registration mechanism, the main control module needs to load the core interfaces of each model sequentially to determine whether they are consistent based on whether they can communicate normally, which is inefficient and slow. However, with an embedded registration mechanism, the correct selection of core interfaces can be achieved within a maximum of two core interface registration operations.

[0052] S202, the remote control module sends a registration success message to the main control module;

[0053] S203, the remote control module sends registration failure information and drone model information to the main control module; after receiving the registration failure information, the main control module determines whether there is a core interface corresponding to the drone model information in the core interface pool. If not, proceed to step S204; if yes, proceed to step S205.

[0054] It should be noted that if the core interface pool is not updated for a long time or there is data loss, it may be impossible to find the core interface corresponding to the drone model, or the core interface version may be outdated. The drone airport will not be able to perform inspection and control of the drone, which may lead to inspection operation errors.

[0055] S204, the main control module reports the UAV model information to the management and control system through the network module and issues an alarm;

[0056] It should be noted that the main control module connects to the backend management and control system via the network module. The management and control system is the control terminal for all airports that are compatible with multiple drone models. If the core interface corresponding to the drone model information is not found in the core interface pool, an alarm needs to be sent to the management and control system to remind the management personnel to handle the situation. The management personnel can then make further arrangements for subsequent inspections based on the drone model information. Furthermore, the management and control system distributes the corresponding core interface to the network module based on the drone model information to update the core interface pool of the main control module, ensuring the execution of drone inspection operations.

[0057] S205 selects the core interface corresponding to the UAV model information as the second core interface and sends the corresponding second registration information to the remote control module.

[0058] It should be noted that, based on the embedded registration mechanism, each core interface is encapsulated and configured separately. When the main control module reloads the second core interface from the first core interface, it can directly replace the encapsulated core interface, thereby improving loading efficiency.

[0059] In this embodiment, the main control module selects the correct core interface to load based on the reported UAV model information. When the core interface pool cannot meet the needs of the UAV models, it reports to the management and control system to download the required core interface in a timely manner, thereby improving the adaptability of the UAV airport to more models.

[0060] The above is a detailed description of the second embodiment of the control method for adapting to multi-type UAV airports provided in this application. The following is a detailed description of the third embodiment of the control method for adapting to multi-type UAV airports provided in this application.

[0061] Reference Figure 3 , Figure 3 The third flowchart for the control method of multi-model UAV airports; in the aforementioned embodiment, step S300 specifically includes steps S301-S303:

[0062] S301, the main control module calls the core interface that has been successfully registered and loads the corresponding control logic;

[0063] S302: The main control module sends control commands from the core interface to the remote control box according to the inspection task content and control instructions, so as to control the drone to perform inspection and data transmission.

[0064] It should be noted that the airport serves as the central hub for communication between the drone and the control system. The main control module can control the drone to conduct inspections via a remote control box based on the inspection tasks or flight route data sent by the control system. Alternatively, the drone can be controlled by the inspection personnel directly operating the main control module at the drone airport.

[0065] Furthermore, the main control module can acquire the internal and external conditions of the UAV airport through the monitoring module, and determine the flight suitability based on the airport status information and meteorological monitoring data pushed by the control system. The main control module uses a precise landing control algorithm to control the UAV's take-off and landing at the UAV airport, so that the UAV can automatically and accurately land at the designated location after the flight mission is completed. The main control module can also provide data transmission and preprocessing services and intelligent multi-channel video streaming services. After receiving the flight route mission from the control platform, it parses the mission into a binary file that the UAV flight controller can recognize, and transmits it to the remote control box through the core interface. It can also encode, compress, and transmit multiple video streams, such as the UAV main camera image transmission and the airport external environment monitoring camera.

[0066] Furthermore, the main control module is specifically divided into a hardware layer, a service layer, and a presentation layer. The hardware layer is an industrial control computer with a screen running the Android system, providing the operating environment for the APP; the service layer integrates the UAV's automatic flight control logic and interface, the management system communication interface, the precise landing control algorithm, data transmission and preprocessing services, and intelligent multi-channel video streaming services; the presentation layer provides users with parameter settings and status display interfaces.

[0067] In this embodiment, the main control module sends instructions to the remote control box according to the inspection task, controls the drone to fly according to the flight path data, and transmits multiple video stream data during the inspection to complete the inspection task, realizing the drone airport as the central hub of the control system for drone communication connection.

[0068] The above is a detailed description of the second embodiment of a control method for an adaptable multi-model UAV airport provided by this application. The following is a detailed description of a UAV airport device provided by the second aspect of this application.

[0069] Please see Figure 4 , Figure 4 This is a diagram of a drone airport device. This embodiment provides a drone airport device, including:

[0070] The main control module 10 is connected to the remote control module 20. After receiving the UAV connection command, it establishes a connection with the remote control module and loads and sets the core interface pool with the embedded registration mechanism; it selects the first core interface from the core interface pool and sends the corresponding first registration information to the remote control module.

[0071] After receiving the registration failure message, select the corresponding second core interface from the core interface pool according to the drone model information, and send the second registration information corresponding to the second core interface to the remote control module.

[0072] After successfully registering, the core interface is called, the corresponding control logic is loaded, and the drone inspection operation is executed.

[0073] The remote control module 20 is used to receive the first registration information and determine whether the first registration information is consistent with the drone model. If it is, it sends a registration success message to the main control module; otherwise, it sends a registration failure message and drone model information to the main control module.

[0074] Furthermore, in the main control module, selecting the corresponding second core interface from the core interface pool based on the UAV model information specifically includes:

[0075] The system determines whether a core interface corresponding to the drone model information exists in the core interface pool. If not, the main control module reports the drone model information to the management system through the network module and issues an alarm. If so, the core interface corresponding to the drone model information is selected as the second core interface.

[0076] Furthermore, after reporting the UAV model information to the management and control system through the network module, the main control module also includes: obtaining the core interface corresponding to the UAV model information from the management and control system, and updating the core interface pool.

[0077] A third aspect of this application also provides a drone airport device, including a processor and a memory: wherein the memory is used to store program code and transmit the program code to the processor; the processor is used to execute the control method for adapting multi-model drone airports described in the first aspect according to the instructions in the program code.

[0078] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the above-described apparatus and equipment can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0079] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0080] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0081] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0082] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0083] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. 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. Such 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 control method for an airport adaptable to multiple UAV models, characterized in that, include: Upon receiving the drone connection command, the main control module establishes a connection with the remote control module and loads and sets the core interface pool with the embedded registration mechanism. The main control module selects the first core interface from the core interface pool and sends the corresponding first registration information to the remote control module. The first core interface is a preset core interface, which is set as the most commonly used core interface or randomly selected from the core interface pool according to the actual situation of the UAV airport. After receiving the first registration information, the remote control module determines whether the first registration information is consistent with the drone model. If so, the remote control module sends a registration success message to the main control module; otherwise, the remote control module sends a registration failure message and drone model information to the main control module. After receiving the registration failure message, the main control module selects the corresponding second core interface from the core interface pool according to the drone model information and sends the second registration information corresponding to the second core interface to the remote control module. The main control module calls the core interface that has been successfully registered, loads the corresponding control logic, and then executes the drone inspection operation.

2. The control method for adapting to multi-model UAV airports according to claim 1, characterized in that, The step of selecting the corresponding second core interface from the core interface pool based on the UAV model information specifically includes: The system determines whether a core interface corresponding to the drone model information exists in the core interface pool. If not, the main control module reports the drone model information to the management system through the network module and issues an alarm. If so, the core interface corresponding to the drone model information is selected as the second core interface.

3. The control method for adapting to multi-model UAV airports according to claim 2, characterized in that, After the main control module reports the UAV model information to the management and control system via the network module, it also includes: Obtain the core interface corresponding to the drone model information from the management and control system, and update the core interface pool.

4. The control method for adapting to multi-model UAV airports according to claim 1, characterized in that, The specific details of performing drone inspection operations are as follows: The main control module controls the drone to perform inspections via a remote control box, based on the inspection tasks or flight path data sent by the control system.

5. The control method for adapting to multi-model UAV airports according to claim 4, characterized in that, The drone inspection operation also includes: the main control module obtains the internal and external conditions of the drone airport through the monitoring module, and judges the flight suitability based on the airport status information and meteorological monitoring data pushed by the control system.

6. The control method for adapting to multi-model UAV airports according to claim 4, characterized in that, The execution of drone inspection operations also includes: The main control module provides data transmission and preprocessing services as well as intelligent multi-channel video streaming services. After receiving the flight path task from the control platform, it parses the task into a binary file that the UAV flight controller can recognize and transmits it into the remote control box through the core interface. It can also encode, compress, and transmit multiple video streams, such as the UAV main camera image transmission and airport external environment monitoring cameras.

7. A control device for airports adapted to multiple UAV models, characterized in that, include: The main control module, connected to the remote control module, is used to establish a connection with the remote control module after receiving the UAV connection command, and to load and set the core interface pool with the embedded registration mechanism. Select the first core interface from the core interface pool and send the corresponding first registration information to the remote control module; the first core interface is a preset core interface, which is set as the most commonly used core interface according to the actual situation of the UAV airport or randomly selected from the core interface pool; After receiving the registration failure message, select the corresponding second core interface from the core interface pool according to the drone model information, and send the second registration information corresponding to the second core interface to the remote control module. After successfully registering, the core interface is called, the corresponding control logic is loaded, and the drone inspection operation is executed. The remote control module receives the first registration information and determines whether the first registration information matches the drone model. If it does, it sends a registration success message to the main control module; otherwise, it sends a registration failure message and drone model information to the main control module.

8. The control device for adapting to multi-model UAV airports according to claim 7, characterized in that, In the main control module, selecting the corresponding second core interface from the core interface pool based on the UAV model information specifically includes: The system determines whether a core interface corresponding to the drone model information exists in the core interface pool. If not, the main control module reports the drone model information to the management system through the network module and issues an alarm. If so, the core interface corresponding to the drone model information is selected as the second core interface.

9. The control device for adapting to multi-model UAV airports according to claim 8, characterized in that, The main control module, after reporting the UAV model information to the management and control system through the network module, also includes: obtaining the core interface corresponding to the UAV model information from the management and control system, and updating the core interface pool.

10. A control device for airports adapted to multiple UAV models, characterized in that, The device includes a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the control method for adapting to multi-model UAV airports according to any one of the claims 1-6, based on the instructions in the program code.

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