A method and apparatus for pushing a drone

Abstract

The present specification discloses a method and device for aligning a UAV. First, light curtain sensor data of the landing gear column of the UAV parked in the parking area collected by the light curtain sensor is acquired. Second, the corresponding position coordinates of the landing gear column of the UAV in the parking area are determined according to the light curtain sensor data. Finally, the push rod assembly is controlled to align the UAV in the parking area according to the position coordinates. The method can determine the corresponding position coordinates of the landing gear column of the UAV in advance, control each push rod assembly to apply a pushing force to the UAV at the same time, and improve the efficiency of aligning the UAV.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of computer technology, and particularly relates to a method and device for pushing a UAV. BACKGROUND

[0002] At present, in the process of executing a business by a UAV, the UAV needs to be pushed and positioned due to the deviation of the landing angle of the UAV, and then the UAV is operated for automatic loading and unloading of goods, automatic replacement of batteries, automatic charging and the like. In the process of pushing and positioning the UAV, the push rod assembly corresponds to a fixed movement track and a fixed speed. Since the position coordinates of the landing of the UAV cannot be determined, each push rod assembly may come into contact with the UAV at different times, and the push rod assembly cannot simultaneously apply a pushing force to the UAV, resulting in low efficiency of pushing and positioning the UAV.

[0003] Therefore, how to improve the efficiency of pushing and positioning the UAV is a problem to be solved. SUMMARY

[0004] The present specification provides a method and device for pushing and positioning a UAV to partially solve the above problems existing in the prior art.

[0005] The present specification adopts the following technical solutions:

[0006] The present specification provides a method for pushing and positioning a UAV, which is used for pushing and positioning a UAV landed on a UAV landing device, and the UAV landing device comprises a landing platform, a landing area provided with a light curtain sensor in the landing platform, and a plurality of push rod assemblies, comprising:

[0007] Obtaining light curtain sensor data of the landing gear column of the UAV landed in the landing area collected by the light curtain sensor;

[0008] According to the light curtain sensor data, determining the corresponding position coordinates of the landing gear column of the UAV in the landing area;

[0009] According to the position coordinates, controlling the push rod assembly to push and position the UAV in the landing area.

[0010] Optionally, the light curtain sensor comprises a horizontal light curtain emitting end, a horizontal light curtain receiving end, a vertical light curtain emitting end and a vertical light curtain receiving end.

[0011] Obtaining light curtain sensor data of the landing gear column of the UAV landed in the landing area collected by the light curtain sensor, specifically comprising:

[0012] acquire infrared rays emitted by the lateral light curtain transmitting end and received by the lateral light curtain receiving end, and infrared rays emitted by the longitudinal light curtain transmitting end and received by the longitudinal light curtain receiving end;

[0013] coordinate of a position where no infrared ray is received by the lateral light curtain receiving end, and coordinate of a position where no infrared ray is received by the longitudinal light curtain receiving end as light curtain sensor data.

[0014] Optionally, according to the light curtain sensor data, a corresponding position coordinate of a landing gear column of the UAV in the parking area is determined, specifically including:

[0015] acquire a distance between each landing gear column of the UAV;

[0016] According to the distance between each landing gear column of the UAV and the light curtain sensor data, a corresponding position coordinate of each landing gear column of the UAV in the parking area is determined.

[0017] Optionally, according to the position coordinate, the push rod assembly is controlled to correct the UAV in the parking area, specifically including:

[0018] According to the position coordinate, a deflection angle of the UAV in the parking area is determined;

[0019] According to the position coordinate and the deflection angle, a corresponding control parameter of the push rod assembly is determined;

[0020] According to the corresponding control parameter of the push rod assembly, the push rod assembly is controlled to correct the UAV in the parking area.

[0021] Optionally, according to the position coordinate and the deflection angle, a corresponding control parameter of the push rod assembly is determined, specifically including:

[0022] According to the position coordinate, a landing gear type of the UAV is determined;

[0023] If it is determined that the landing gear type of the UAV is a rectangular landing gear, it is judged whether the deflection angle is less than a determined deflection angle threshold corresponding to the UAV, to obtain a judgment result, wherein the rectangular landing gear includes a long-side landing gear and a short-side landing gear, and a distance between two landing gear columns of the long-side landing gear is greater than a distance between two landing gear columns of the short-side landing gear;

[0024] According to the judgment result, a corresponding control parameter of the push rod assembly is determined.

[0025] Optionally, according to the judgment result, a corresponding control parameter of the push rod assembly is determined, specifically including:

[0026] If it is determined that the deflection angle is not less than the deflection angle threshold, determining a control parameter corresponding to a push rod assembly of a long-side landing gear in contact with the UAV as a long-side control parameter, and determining a control parameter corresponding to a push rod assembly of a short-side landing gear in contact with the UAV as a short-side control parameter;

[0027] According to the control parameter corresponding to the push rod assembly, the push rod assembly is controlled to align the UAV in the parking area, specifically including:

[0028] Through the long-side control parameter, the push rod assembly in contact with the long-side landing gear is controlled to first push the long-side landing gear, and through the short-side control parameter, the push rod assembly in contact with the short-side landing gear is controlled to push the short-side landing gear, so as to align the UAV.

[0029] Optionally, through the long-side control parameter, the push rod assembly in contact with the long-side landing gear is controlled to first push the long-side landing gear, and through the short-side control parameter, the push rod assembly in contact with the short-side landing gear is controlled to push the short-side landing gear, so as to align the UAV, specifically including:

[0030] Through the long-side control parameter, the push rod assembly in contact with the long-side landing gear is controlled to first push the long-side landing gear, and when it is determined that the deflection angle of the UAV is less than the deflection angle threshold after the push of the push rod assembly in contact with the long-side landing gear, through the short-side control parameter and the long-side control parameter, the push rod assembly in contact with the short-side landing gear and the push rod assembly in contact with the long-side landing gear are controlled to simultaneously push the landing gear column of the UAV, so as to align the UAV.

[0031] Optionally, according to the judgment result, the control parameter corresponding to the push rod assembly is determined, specifically including:

[0032] If it is determined that the deflection angle is less than the deflection angle threshold, a control parameter for simultaneously pushing the landing gear column of the UAV by the push rod assembly is determined.

[0033] Optionally, the method further includes:

[0034] If it is determined that the type of the landing gear of the UAV is a square landing gear, a control parameter for simultaneously pushing the landing gear column of the UAV by the push rod assembly is determined, wherein the spacing between the four landing gear columns of the square landing gear is equal.

[0035] Optionally, the control parameter includes a first control speed and a second control speed, and the first control speed is greater than the second control speed.

[0036] According to the control parameter corresponding to the push rod assembly, the push rod assembly is controlled to correct the UAV in the parking area, specifically including:

[0037] According to the control parameter corresponding to the push rod assembly, the push rod assembly is controlled to move to the landing gear column at the first control speed, and after it is determined that the push rod assembly contacts the landing gear column, the push rod assembly is controlled to push the landing gear column at the second control speed to correct the UAV.

[0038] Optionally, the deflection angle threshold corresponding to the UAV is determined, specifically including:

[0039] The correction parameter corresponding to the UAV and the thrust corresponding to the push rod assembly are obtained, and the correction parameter includes: the UAV parameter of the UAV, the friction coefficient between the landing gear column of the UAV and the push rod assembly, and the friction coefficient between the landing gear column of the UAV and the parking platform.

[0040] According to the correction parameter and the thrust corresponding to the push rod assembly, the torque corresponding to the push rod assembly is determined.

[0041] According to the torque corresponding to the push rod assembly, the deflection angle threshold corresponding to the UAV is determined.

[0042] The present specification provides a device for correcting a UAV, which is used to correct a UAV parked on a UAV parking device, and the UAV parking device includes: a parking platform, a light curtain sensor arranged in a parking area in the parking platform, and a plurality of push rod assemblies, including:

[0043] The acquisition module is used to acquire the light curtain sensor data of the landing gear column of the UAV parked in the parking area collected by the light curtain sensor.

[0044] The determination module is used to determine the position coordinates corresponding to the landing gear column of the UAV in the parking area according to the light curtain sensor data.

[0045] The correction module is used to control the push rod assembly to correct the UAV in the parking area according to the position coordinates.

[0046] Optionally, the push rod assembly is composed of a push rod, a servo motor, a transmission shaft and a sliding assembly, the transmission shaft is connected with the sliding assembly, the servo motor drives the sliding assembly to work through the transmission shaft, so that the push rod slides on the sliding assembly.

[0047] The specification provides a computer readable storage medium, the storage medium stores a computer program, the computer program is executed by a processor to realize the method for pushing the unmanned aerial vehicle.

[0048] The specification provides an unmanned aerial vehicle parking device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to realize the method for pushing the unmanned aerial vehicle.

[0049] The above at least one technical solution adopted by the specification can achieve the following beneficial effects:

[0050] In the method for pushing the unmanned aerial vehicle provided by the specification, first, the light curtain sensor data of the landing gear column of the unmanned aerial vehicle parked in the parking area collected by the light curtain sensor is acquired. Second, the corresponding position coordinates of the landing gear column of the unmanned aerial vehicle in the parking area are determined according to the light curtain sensor data. Finally, the push rod assembly is controlled to push the unmanned aerial vehicle in the parking area according to the position coordinates.

[0051] As can be seen from the above method, the method can determine the position coordinates of the landing gear column of the unmanned aerial vehicle through the light curtain sensor data collected by the light curtain sensor. The method can determine the corresponding position coordinates of the landing gear column of the unmanned aerial vehicle in advance, control each push rod assembly to apply a pushing force to the unmanned aerial vehicle at the same time, and improve the efficiency of pushing the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0052] The drawings described herein are used to provide further understanding of the specification, constitute a part of the specification, the illustrative embodiments of the specification and the description thereof are used to explain the specification, and do not constitute an improper limitation on the specification. In the drawings:

[0053] Figure 1 It is a flowchart of the method for pushing the unmanned aerial vehicle in the specification;

[0054] Figure 2 It is a structural schematic diagram of the unmanned aerial vehicle parking device provided by the embodiment of the specification;

[0055] Figure 3 It is a structural schematic diagram of the push rod assembly provided by the embodiment of the specification;

[0056] Figure 4 It is a schematic diagram of determining the light curtain sensor data provided by the embodiment of the specification;

[0057] Figure 5 It is a schematic diagram of force analysis of the landing gear column provided by the embodiment of the specification;

[0058] Figure 6This is a schematic diagram of the torque versus deflection angle curve provided in the embodiments of this specification;

[0059] Figure 7 This is a schematic diagram of the torque versus deflection angle curve provided in the embodiments of this specification;

[0060] Figure 8 This is a schematic diagram of a device for correcting an unmanned aerial vehicle (UAV) as provided in this specification.

[0061] Figure 9 This specification provides a corresponding Figure 1 A schematic diagram of the drone docking equipment. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0063] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0064] Figure 1 This is a flowchart illustrating a method for correcting a drone as described in this specification, including the following steps:

[0065] S100: Acquire the light curtain sensor data of the landing gear column of the UAV parked in the parking area, collected by the light curtain sensor.

[0066] In the embodiments of this specification, the execution subject of the method for correcting a drone described herein can be a drone docking device. For ease of description, the method for correcting a drone provided in this specification will be described below using only the drone docking device as the execution subject. The drone docking device mentioned here includes: a docking platform, a light curtain sensor installed in the docking area within the docking platform, and several push rod assemblies. Specifically, as follows... Figure 2 As shown.

[0067] Figure 2 This is a structural schematic diagram of the drone docking equipment provided in the embodiments of this specification.

[0068] exist Figure 2In this drone docking equipment, the light curtain sensor within the docking platform includes: a horizontal light curtain transmitter, a horizontal light curtain receiver, a vertical light curtain transmitter, and a vertical light curtain receiver. The docking area is located at the center of the docking platform. The docking platform contains four push rod assemblies: push rod assembly 1, push rod assembly 2, push rod assembly 3, and push rod assembly 4. Push rod assembly 1 and push rod assembly 3 are a pair of horizontal push rod assemblies, and their heights are the same. Push rod assembly 2 and push rod assembly 4 are a pair of vertical push rod assemblies, and their heights are the same.

[0069] In the embodiments described in this specification, the push rod assembly consists of a push rod, a servo motor, a drive shaft, and a sliding assembly. The drive shaft is connected to the sliding assembly, and the servo motor drives the sliding assembly through the drive shaft, causing the push rod to slide on the sliding assembly. The specific structure of the push rod assembly is as follows: Figure 3 As shown.

[0070] Figure 3 This is a schematic diagram of the push rod assembly provided in the embodiments of this specification.

[0071] exist Figure 3 In this drone docking device, the push rod assembly consists of a push rod, a servo motor, a drive shaft, and a sliding assembly. The sliding assembly can be composed of a synchronous belt linear module and a slider. The servo motor drives the synchronous belts in two symmetrically arranged synchronous belt linear modules via the drive shaft. Sliders are fixed on the synchronous belts, and the push rod is fixed to the slider. When the synchronous belts move, they drive the sliders to move, and the sliders drive the push rods, thus achieving translation of the push rods along a fixed direction. The servo motor and drive shaft, and the drive shaft and synchronous belt linear modules, can be fixed together using couplings. The slider and push rod of the synchronous belt linear module are fixed together using an adapter bracket.

[0072] It should be noted that the sliding component in the drone docking equipment can have various structures, such as a linear actuator or a lifting column. For example, the sliding component can consist of a lifting column and a slider, with the slider connected to the lifting column. As the lifting column rises and falls, it moves the slider, which in turn moves a push rod, causing the push rod to translate along a fixed direction. This specification does not limit the structure of the sliding component.

[0073] In the embodiments described in this specification, the drone docking device can acquire light curtain sensor data collected by the light curtain sensor from the landing gear masts of drones docked within the docking area. The drone docking device includes a computing control unit, in which the light curtain sensor data collected by the light curtain sensor is stored.

[0074] Specifically, the unmanned aerial vehicle parking device can obtain infrared rays emitted by the horizontal curtain emitting end and received by the horizontal curtain receiving end, and infrared rays emitted by the vertical curtain emitting end and received by the vertical curtain receiving end. Then, coordinates of positions where the horizontal curtain receiving end does not receive infrared rays and coordinates of positions where the vertical curtain receiving end does not receive infrared rays are taken as the curtain sensing data. Specifically, as shown in Figure 4 .

[0075] Figure 4 A schematic diagram for determining the curtain sensing data provided in the embodiments of the present specification.

[0076] In Figure 4 , the horizontal curtain emitting end is installed with a plurality of infrared emitting tubes at equal intervals, and the horizontal curtain receiving end is installed with the same number of infrared receiving tubes at equal intervals. Each infrared emitting tube corresponds to a corresponding infrared receiving tube and is installed on the same straight line. When there is an obstacle between the infrared emitting tube and the infrared receiving tube on the same straight line, the modulated signal (light signal) emitted by the infrared emitting tube cannot reach the infrared receiving tube smoothly. Based on this, the unmanned aerial vehicle parking device obtains the coordinates of the blocked part. The coordinates of the four landing gear columns of the unmanned aerial vehicle are set as A(x A , y A ), B(x B , y B ), C(x C , y C ), and D(x D , y D ). The unmanned aerial vehicle parking device can obtain the coordinates of x B and x D .

[0077] Similarly, the vertical curtain emitting end is installed with a plurality of infrared emitting tubes at equal intervals, and the vertical curtain receiving end is installed with the same number of infrared receiving tubes at equal intervals. Therefore, the unmanned aerial vehicle parking device can obtain the coordinates of y A and y C .

[0078] In the present specification, the unmanned aerial vehicle applying the method for correcting the unmanned aerial vehicle provided in the present specification can be used to perform a delivery task in the delivery field, such as a business scenario of using the unmanned aerial vehicle to deliver express, logistics, take-out, etc.

[0079] S102: According to the curtain sensor data, determine the corresponding position coordinates of the landing gear column of the unmanned aerial vehicle in the parking area.

[0080] In the embodiments of the present specification, the unmanned aerial vehicle parking device can determine the corresponding position coordinates of the landing gear column of the unmanned aerial vehicle in the parking area according to the curtain sensor data.

[0081] Specifically, the unmanned aerial vehicle parking device can obtain the distance between each landing gear column of the unmanned aerial vehicle. Then, according to the distance between each landing gear column of the unmanned aerial vehicle and the light curtain sensor data, the corresponding position coordinates of each landing gear column of the unmanned aerial vehicle in the parking area are determined.

[0082] In Figure 4 , a plane rectangular coordinate system is established based on the parking platform of the unmanned aerial vehicle. Since the lengths of the distances AB, BC, CD and DA between the four landing gear columns of the unmanned aerial vehicle are known, and the coordinates of y A , y C , x B , x D are known, the unmanned aerial vehicle parking device can calculate x A , y B , x C , y D to obtain the position coordinates of the four landing gear columns of the unmanned aerial vehicle as A(x A , y A ), B(x B , y B ), C(x C , y C ) and D(x D , y D ). The specific formula is as follows:

[0083] (x A -x B ) 2 +(y A -y B ) 2 = AB 2

[0084] (x B -x C ) 2 +(y B -y C ) 2 = BC 2

[0085] (x c -x D ) 2 +(y C -y D ) 2 = CD 2

[0086] (x D -x A ) 2 +(y D -y A )2 = DA 2

[0087] Through the above formula, the UAV landing device can calculate x A , y B , x C , y D by the calculation control unit to obtain the position coordinates of the four landing gear columns of the UAV as A(x A , y A ), B(x B , y B ), C(x C , y C ), and D(x D , y D ).

[0088] S104: According to the position coordinates, the push rod assembly is controlled to push the UAV in the landing area.

[0089] In actual application, since the position coordinates of the UAV landing cannot be determined, each push rod assembly can contact the UAV at different times, and cannot simultaneously apply a pushing force to the UAV, resulting in low efficiency of pushing the UAV.

[0090] In the embodiments of the present application, the UAV landing device can control the push rod assembly to push the UAV in the landing area according to the position coordinates, so that each push rod assembly simultaneously applies a pushing force to the UAV, thereby improving the efficiency of pushing the UAV.

[0091] Further, the UAV landing device can determine the deflection angle of the UAV in the landing area according to the position coordinates. Since the position coordinates of the four landing gear columns of the UAV are known, the UAV landing device can calculate the deflection angle of the UAV in the landing area by using trigonometric functions and the like. Secondly, the control parameters corresponding to the push rod assembly are determined according to the position coordinates and the deflection angle. Finally, the push rod assembly is controlled to push the UAV in the landing area according to the control parameters corresponding to the push rod assembly.

[0092] It should be noted that the deflection angle corresponding to the UAV and the control parameters corresponding to the push rod assembly are both calculated by the calculation control unit in the UAV landing device.

[0093] In actual application, when the landing deviation of the UAV landing into the parking area is large, in the pushing process, due to the different deflection angles of the UAV, the torque generated by the push rod assembly on the UAV is also different, and the simultaneous application of the push force of each push rod assembly on the UAV may cause the phenomenon of jamming between the UAV parking device and the UAV, and the UAV cannot be pushed. Based on this, the UAV parking device needs to determine the torque generated by the push rod assembly when the push force is applied to the UAV with different deflection angles, and then determine the deflection angle of the UAV when the torque generated by the push rod assembly when the push force is applied to the UAV with different deflection angles is zero, and determine the corresponding control parameters of each push rod assembly.

[0094] In the embodiments of the present application, the UAV parking device can obtain the pushing parameters corresponding to the UAV and the pushing force corresponding to the push rod assembly. The pushing parameters include: the UAV parameters of the UAV, the friction coefficient between the landing gear column of the UAV and the push rod assembly, and the friction coefficient between the landing gear column of the UAV and the parking platform. The UAV parameters of the UAV mentioned here include: the mass geometric center of the UAV, the weight of the UAV, the length of the UAV, the width of the UAV, the angle corresponding to the triangle composed of the landing gear column of the UAV, etc.

[0095] Secondly, the UAV parking device can determine the corresponding torque of the push rod assembly according to the pushing parameters and the corresponding pushing force of the push rod assembly. The UAV parking device can analyze the force of the four landing gear columns of the UAV to determine the corresponding torque of the push rod assembly. As shown in Figure 5 .

[0096] Figure 5 The force analysis diagram of the landing gear column provided by the embodiments of the present application.

[0097] In Figure 5 , the landing gear type of the UAV is a rectangular landing gear. The rectangular landing gear mentioned here includes a long side landing gear and a short side landing gear, and the distance between the two landing gear columns of the long side landing gear is greater than the distance between the two landing gear columns of the short side landing gear. A point, B point, C point, D point are the landing gear columns of the UAV. The dashed line is an auxiliary line. If the landing gear column of the UAV is in contact with the push rod assembly, the deflection angle corresponding to the UAV is ∠a, and P point is the mass geometric center of the UAV. When the UAV is determined, the values of ∠a, ∠b, AB, BC, ∠y, ∠z, AP, and BP can be determined. The weight of the UAV is m, the friction coefficient between the landing gear column of the UAV and the push rod assembly is μ1, the friction coefficient between the landing gear column of the UAV and the parking platform is μ2, and the output rated push force of the servo motor to each push rod assembly is F.

[0098] Since the force analysis method of A point, B point, C point and D point is the same, the force of B point and D point is symmetrical (equal in size and opposite in direction), so only the force of B point is analyzed, and the force of A point and C point is analyzed in the same way.

[0099] Specifically, the thrust of the push rod assembly 2 on the unmanned aerial vehicle is F1=F. The friction of the push rod assembly 2 on the landing gear column B point of the unmanned aerial vehicle is F2=F1xμ1, and the friction direction is parallel to the push rod assembly and opposite to the movement trend. The friction between the landing gear column of the unmanned aerial vehicle and the landing platform is F3=F2xμ2, and the friction direction is opposite to the movement trend of the unmanned aerial vehicle. The friction direction is opposite to the instantaneous movement trend of the unmanned aerial vehicle. Based on this, the torque generated by the push rod assembly 2 and the push rod assembly 4 when exerting thrust on the unmanned aerial vehicle is M P1 =2×(F1×BP×sin y-F2×BP×cos y-F3×BP).

[0100] Similarly, the thrust of the push rod assembly 1 on the unmanned aerial vehicle is F4=F. The friction of the push rod assembly 2 on the landing gear column B point of the unmanned aerial vehicle is F5=F1xμ1, and the friction direction is parallel to the push rod assembly and opposite to the movement trend. The friction between the landing gear column of the unmanned aerial vehicle and the landing platform is F6=F5xμ2, and the friction direction is opposite to the movement trend of the unmanned aerial vehicle. The friction direction is opposite to the instantaneous movement trend of the unmanned aerial vehicle. Based on this, the torque generated by the push rod assembly 1 and the push rod assembly 3 when exerting thrust on the unmanned aerial vehicle is M P2 =2×(F1×AP×sin z-F2×AP×cos z-F3×AP).

[0101] Further, the torque generated by the four push rod assemblies when exerting thrust on the four landing gear columns of the unmanned aerial vehicle is M P =M P1 +M P2 . It can be seen from the above formula that the larger the deflection angle of the unmanned aerial vehicle, the smaller the corresponding torque of the push rod assembly.

[0102] It should be noted that if the type of the landing gear of the unmanned aerial vehicle is a square landing gear. Here, the distance between the four landing gear columns of the square landing gear is equal, and the angles of ∠y and ∠z are the same, that is, M P1 =M P2 . The torque generated by the four push rod assemblies when exerting thrust on the four landing gear columns of the unmanned aerial vehicle is M P =2×M P1 .

[0103] Finally, the unmanned aerial vehicle landing device can determine the corresponding deflection angle threshold of the unmanned aerial vehicle according to the corresponding torque of the push rod assembly.

[0104] Specifically, if the type of the landing gear of the UAV is a rectangular landing gear, a change curve between the torque corresponding to each push rod assembly and the deflection angle corresponding to the UAV is determined. Specifically, as shown in Figure 6

[0105] Figure 6 A schematic diagram of the change curve between the torque and the deflection angle provided by the embodiments of the present specification.

[0106] In Figure 6 , the type of the landing gear of the UAV is a rectangular landing gear. M P1 , the change curve between the torque and the deflection angle corresponding to the push rod assembly of the short-side landing gear. M P2 , the change curve between the torque and the deflection angle corresponding to the push rod assembly of the long-side landing gear. M P , the change curve between the torque and the deflection angle corresponding to the push rod assembly of the long-side landing gear. From Figure 6 , it can be seen that when the deflection angle corresponding to the UAV is less than a1, the torque generated by each push rod assembly pushing the landing gear column of the UAV simultaneously is greater than the torque generated by the push rod assembly of the short-side landing gear or the push rod assembly of the long-side landing gear pushing the landing gear column of the UAV. When the deflection angle corresponding to the UAV is greater than a1, the torque generated by each push rod assembly pushing the landing gear column of the UAV simultaneously is less than the torque generated by the push rod assembly of the long-side landing gear pushing the landing gear column of the UAV. Therefore, a1 is the deflection angle threshold corresponding to the type of the landing gear of the UAV being a rectangular landing gear.

[0107] Similarly, if the type of the landing gear of the UAV is a square landing gear, a change curve between the torque corresponding to each push rod assembly and the deflection angle corresponding to the UAV is determined. Specifically, as shown in Figure 7

[0108] Figure 7 A schematic diagram of the change curve between the torque and the deflection angle provided by the embodiments of the present specification.

[0109] In Figure 7 , the type of the landing gear of the UAV is a square landing gear. M P1 , M P2 , the change curve between the torque and the deflection angle corresponding to the push rod assembly. M P , the change curve between the torque and the deflection angle corresponding to the push rod assembly of the long-side landing gear. From Figure 7 ​​It can be seen that when the corresponding deflection angle of the UAV is less than a2, the torque generated by each push rod assembly simultaneously pushing the landing gear column of the UAV is greater than the torque generated by the unilateral push rod assembly pushing the landing gear column of the UAV. When the corresponding deflection angle of the UAV is not less than a2, each push rod assembly cannot push the landing gear column of the UAV, and the UAV parking device can send an alarm to enable a worker to manually adjust. Therefore, at any angle, each push rod assembly simultaneously pushing the landing gear column of the UAV is the optimal choice.

[0110] It should be noted that when the type of the landing gear of the UAV is a square landing gear, the range of the corresponding deflection angle of the UAV is 0 degrees to 45 degrees. For example, when the corresponding deflection angle of the UAV is 60 degrees, the corresponding deflection angle of the UAV in the other direction is actually 30 degrees.

[0111] In actual application, if the deflection angle of the UAV is large, the torque generated by part of the push rod assemblies on the UAV can be negative, and the torque generated by each push rod assembly simultaneously applying a pushing force to the UAV can be zero or negative, which can cause the UAV parking device and the UAV to be stuck, and the UAV cannot be pushed to the correct position. Based on this, the UAV parking device can determine the corresponding control parameters of each push rod assembly according to the deflection angle of the UAV.

[0112] In the embodiments of the present application, the UAV parking device can determine the type of the landing gear of the UAV according to the position coordinates. Of course, the UAV parking device can also obtain the type of the landing gear sent by the UAV through data transmission. If it is determined that the type of the landing gear of the UAV is a rectangular landing gear, it is determined whether the deflection angle is less than the determined corresponding deflection angle threshold of the UAV, and a judgment result is obtained. According to the judgment result, the corresponding control parameters of the push rod assembly are determined.

[0113] In Figure 6 It can be seen that when the corresponding deflection angle of the UAV is less than a1, the torque generated by each push rod assembly simultaneously pushing the landing gear column of the UAV is greater than the torque generated by the push rod assembly corresponding to the short side landing gear or the push rod assembly corresponding to the long side landing gear pushing the landing gear column of the UAV. Based on this, if it is determined that the deflection angle is less than the deflection angle threshold, the UAV parking device can determine the control parameters for simultaneously pushing the landing gear column of the UAV by the push rod assembly.

[0114] When the corresponding deflection angle of the UAV is greater than a1, the torque generated by the simultaneous pushing of the landing gear columns of the UAV by the push rod assemblies is less than the torque generated by the pushing of the landing gear columns of the UAV by the push rod assemblies corresponding to the long-side landing gear. Based on this, if it is determined that the deflection angle is not less than the deflection angle threshold, the UAV parking device can determine the control parameter corresponding to the push rod assembly that contacts the long-side landing gear of the UAV as the long-side control parameter, and determine the control parameter corresponding to the push rod assembly that contacts the short-side landing gear of the UAV as the short-side control parameter. Then, the push rod assembly that contacts the long-side landing gear is controlled to first push the long-side landing gear through the long-side control parameter, and the push rod assembly that contacts the short-side landing gear is controlled to push the short-side landing gear through the short-side control parameter, so as to correct the UAV.

[0115] Further, the push rod assembly of the long-side landing gear will cause the corresponding deflection angle of the UAV to decrease during the pushing of the long-side landing gear. Based on this, the UAV parking device can control the push rod assembly that contacts the long-side landing gear to first push the long-side landing gear through the long-side control parameter, and when it is determined that the deflection angle of the UAV is less than the deflection angle threshold after the pushing of the long-side landing gear by the push rod assembly that contacts the long-side landing gear, control the push rod assembly that contacts the short-side landing gear and the push rod assembly that contacts the long-side landing gear to simultaneously push the landing gear columns of the UAV through the short-side control parameter and the long-side control parameter, so as to correct the UAV.

[0116] It should be noted that in an extreme case, the push rod assembly of the long-side landing gear may not be able to push the landing gear columns of the UAV, and the UAV parking device can send an alarm to enable a worker to manually adjust. In actual applications, the landing process of the UAV is generally controllable, so that the deflection angle of the UAV after landing is small, and the push rod assembly of the long-side landing gear rarely fails to push the landing gear columns of the UAV.

[0117] In the embodiments of the present specification, if it is determined that the landing gear type of the UAV is a square landing gear, the UAV parking device can determine the control parameter for simultaneously pushing the landing gear columns of the UAV by the push rod assemblies.

[0118] In Figure 7 It can be seen in the above table that at any angle, simultaneously pushing the landing gear columns of the UAV by the push rod assemblies is the optimal choice. Based on this, if it is determined that the landing gear type of the UAV is a square, the UAV parking device does not need to determine the corresponding deflection angle of the UAV, and directly controls the push rod assemblies to simultaneously push the landing gear columns of the UAV, so as to correct the UAV.

[0119] It should be noted that in an extreme case, the push rod assemblies cannot push the landing gear column of the UAV, and the UAV docking device can send an alarm to enable a worker to manually adjust. The extreme case mentioned here can refer to a corresponding deflection angle of the UAV being 45 degrees, and the thrust of the four push rod assemblies being balanced with each other.

[0120] In actual applications, the moving speed of the push rod assemblies is the same during the process of pushing the UAV with different landing deviations. If the moving speed of the push rod assemblies is fast, the collision between the push rod assemblies and the UAV will be more violent, and the UAV will be more worn. If the moving speed of the push rod assemblies is slow, the efficiency of pushing the UAV will be low. Based on this, the UAV docking device can control the push rod assemblies to move fast before the push rod assemblies contact the landing gear column of the UAV, and control the push rod assemblies to move slowly when the push rod assemblies contact the landing gear column of the UAV, so as to ensure the efficiency of pushing the UAV and avoid the UAV being worn too much.

[0121] In the embodiments of the present application, the control parameters include a first control speed and a second control speed, and the first control speed is greater than the second control speed. The UAV docking device can control the push rod assemblies to move to the landing gear column at the first control speed according to the control parameters corresponding to the push rod assemblies, and control the push rod assemblies to push the landing gear column at the second control speed after determining that the push rod assemblies contact the landing gear column, so as to push the UAV.

[0122] As can be seen from the above process, the present method can determine the position coordinates of the landing gear column of the UAV through the light curtain sensor data collected by the light curtain sensor, control the push rod assemblies to move fast before the push rod assemblies contact the landing gear column of the UAV, and control the push rod assemblies to move slowly when the push rod assemblies contact the landing gear column of the UAV, so as to ensure the efficiency of pushing the UAV and avoid the UAV being worn too much. Further, the corresponding deflection angle of the UAV is determined according to the position coordinates of the landing gear column of the UAV. If the deflection angle of the UAV is less than the deflection angle threshold, the long-side landing gear is pushed first, and then when it is determined that the push rod assemblies contacting the long-side landing gear are pushed, the deflection angle of the UAV is less than the deflection angle threshold, the push rod assemblies contacting the short-side landing gear and the push rod assemblies contacting the long-side landing gear are controlled to push the landing gear column of the UAV at the same time through the short-side control parameters and the long-side control parameters, so as to avoid the UAV docking device and the UAV from being stuck.

[0123] The above is the method for pushing the UAV provided by one or more embodiments of the present application, based on the same idea, the present application also provides a corresponding device for pushing the UAV, as shown in Figure 8 .

[0124] Figure 8 A device for aligning a UAV is provided in the present specification, and the device is used for aligning a UAV which is parked on a UAV parking device, and the UAV parking device comprises: a parking platform, a light curtain sensor arranged in a parking area in the parking platform, and a plurality of push rod assemblies, comprising:

[0125] An acquisition module 800 is configured to acquire light curtain sensor data of landing gear columns of a UAV parked in the parking area collected by the light curtain sensor;

[0126] A determination module 802 is configured to determine corresponding position coordinates of the landing gear columns of the UAV in the parking area according to the light curtain sensor data.

[0127] An alignment module 804 is configured to control the push rod assemblies to align the UAV in the parking area according to the position coordinates.

[0128] Optionally, the light curtain sensor comprises: a horizontal light curtain emitting end, a horizontal light curtain receiving end, a vertical light curtain emitting end, and a vertical light curtain receiving end.

[0129] The acquisition module 800 is specifically configured to acquire infrared rays emitted by the horizontal light curtain emitting end and received by the horizontal light curtain receiving end, and infrared rays emitted by the vertical light curtain emitting end and received by the vertical light curtain receiving end, and take position coordinates of positions where the horizontal light curtain receiving end does not receive infrared rays and position coordinates of positions where the vertical light curtain receiving end does not receive infrared rays as light curtain sensor data.

[0130] Optionally, the determination module 802 is specifically configured to acquire a spacing between each landing gear column of the UAV, and determine corresponding position coordinates of each landing gear column of the UAV in the parking area according to the spacing between each landing gear column of the UAV and the light curtain sensor data.

[0131] Optionally, the alignment module 804 is specifically configured to determine a deflection angle of the UAV in the parking area according to the position coordinates, determine corresponding control parameters of the push rod assemblies according to the position coordinates and the deflection angle, and control the push rod assemblies to align the UAV in the parking area according to the corresponding control parameters of the push rod assemblies.

[0132] Optionally, the pushing module 804 is specifically configured to determine the type of the landing gear of the UAV according to the position coordinates, determine whether the deflection angle is less than a deflection angle threshold corresponding to the UAV if the type of the landing gear of the UAV is determined to be a rectangular landing gear, obtain a determination result, wherein the rectangular landing gear includes a long-side landing gear and a short-side landing gear, the distance between two landing gear columns of the long-side landing gear is greater than the distance between two landing gear columns of the short-side landing gear, and determine the control parameter corresponding to the push rod assembly according to the determination result.

[0133] Optionally, the pushing module 804 is specifically configured to determine the control parameter corresponding to the push rod assembly contacting the long-side landing gear of the UAV as a long-side control parameter and determine the control parameter corresponding to the push rod assembly contacting the short-side landing gear of the UAV as a short-side control parameter if the deflection angle is determined to be not less than the deflection angle threshold, control the push rod assembly contacting the long-side landing gear to first push the long-side landing gear through the long-side control parameter, and control the push rod assembly contacting the short-side landing gear to push the short-side landing gear through the short-side control parameter, so as to push the UAV.

[0134] Optionally, the pushing module 804 is specifically configured to control the push rod assembly contacting the long-side landing gear to first push the long-side landing gear through the long-side control parameter, and control the push rod assembly contacting the short-side landing gear and the push rod assembly contacting the long-side landing gear to simultaneously push the landing gear column of the UAV through the short-side control parameter and the long-side control parameter if the deflection angle of the UAV is determined to be less than the deflection angle threshold after the push of the push rod assembly contacting the long-side landing gear, so as to push the UAV.

[0135] Optionally, the pushing module 804 is specifically configured to determine the control parameter for simultaneously pushing the landing gear column of the UAV by the push rod assembly if the deflection angle is determined to be less than the deflection angle threshold.

[0136] Optionally, the pushing module 804 is specifically configured to determine the control parameter for simultaneously pushing the landing gear column of the UAV by the push rod assembly if the type of the landing gear of the UAV is determined to be a square landing gear, wherein the distances between the four landing gear columns of the square landing gear are equal.

[0137] Optionally, the control parameter includes a first control speed and a second control speed, and the first control speed is greater than the second control speed.

[0138] The pushing module 804 is specifically configured to control the push rod assembly to move towards the landing gear column at the first control speed according to the control parameter corresponding to the push rod assembly, and after determining that the push rod assembly contacts the landing gear column, control the push rod assembly to push the landing gear column at the second control speed to push the UAV.

[0139] Optionally, the pushing module 804 is specifically configured to obtain a pushing parameter corresponding to the UAV and a pushing force corresponding to the push rod assembly, the pushing parameter including a UAV parameter of the UAV, a friction coefficient between the landing gear column of the UAV and the push rod assembly, and a friction coefficient between the landing gear column of the UAV and the landing platform, determine a torque corresponding to the push rod assembly according to the pushing parameter and the pushing force corresponding to the push rod assembly, and determine a deflection angle threshold corresponding to the UAV according to the torque corresponding to the push rod assembly.

[0140] Optionally, the push rod assembly module is composed of a push rod, a servo motor, a transmission shaft and a sliding assembly, the transmission shaft is connected with the sliding assembly, and the servo motor drives the sliding assembly to work through the transmission shaft, so that the push rod slides on the sliding assembly.

[0141] The specification also provides a computer readable storage medium storing a computer program, and the computer program can be used to execute the above Figure 1 The specification provides a method for pushing a UAV.

[0142] The specification also provides Figure 9 The specification provides a schematic structural diagram of a landing device corresponding to Figure 1 a UAV as shown in the specification. As Figure 9 described above, at the hardware level, the landing device of the UAV includes a processor, an internal bus, a network interface, a memory and a non-volatile memory, and of course, other hardware required by the business. The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs to implement the above Figure 1 described method for pushing a UAV. Of course, in addition to the software implementation, the specification does not exclude other implementation manners, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0143] In the 1990s, it was quite obvious to distinguish whether an improvement in a technology was in hardware (e.g., improvement in circuit structures of diodes, transistors, switches, etc.) or in software (improvement in method flow). However, as technology has evolved, many improvements in method flow today can be considered as direct improvements in hardware circuit structures. Designers almost always obtain the corresponding hardware circuit structures by programming the improved method flow into hardware circuits. Therefore, it cannot be said that an improvement in a method flow cannot be implemented by hardware entity modules. For example, a programmable logic device (PLD) (e.g., a field programmable gate array (FPGA)) is an integrated circuit whose logic function is determined by user programming of the device. A digital system is "integrated" on a PLD by the designer programming it, rather than by asking a chip manufacturer to design and fabricate a custom integrated circuit chip. Moreover, instead of manually fabricating integrated circuit chips, this programming is now mostly implemented by "logic compiler" software, which is similar to software compilers used in program development, and the original code to be compiled is written in a specific programming language, which is called a hardware description language (HDL), and there are many such languages, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc., and the most commonly used are VHDL (Very-High-Speed Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should be aware that, as long as the method flow is logically programmed in the above-mentioned hardware description languages and programmed into an integrated circuit, a hardware circuit implementing the logical method flow can be easily obtained.

[0144] The controller can be implemented in any suitable way, for example, the controller can take the form of a microprocessor or processor and a computer readable medium storing computer readable program code, such as software or firmware, executable by the (micro)processor, logic gates, switches, an application specific integrated circuit (ASIC), a programmable logic controller and an embedded microcontroller, examples of which include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also know that, in addition to being implemented in pure computer readable program code, the controller can equally well be implemented to perform the same functions using logic gates, switches, an application specific integrated circuit, a programmable logic controller and an embedded microcontroller, etc. by means of a logical programming of the method steps. The controller can thus be considered as a hardware component, and the means comprised therein for performing the various functions can be considered as structures within the hardware component. Alternatively, the means for performing the various functions can even be considered as both a software module implementing the method and a structure within the hardware component.

[0145] The systems, apparatuses, modules or units illustrated by the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer can be a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0146] For the sake of description, the above apparatuses are described in various units by functions respectively. Of course, the functions of each unit can be implemented in one or more software and / or hardware in implementing the present specification.

[0147] Those skilled in the art will understand that the embodiments of the present specification can be provided as a method, a system or a computer program product. Therefore, the present specification can take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware aspects. Moreover, the present specification can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0148] The specification is presented with reference to flow diagrams and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the specification. It will be understood that each block of the flow diagrams and / or block diagrams, and combinations of blocks in the flow diagrams and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing element or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks. Figure 1 one or more flow or multiple flows and / or blocks Figure 1 one or more flow or multiple flows and / or blocks

[0149] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flow diagrams and / or block diagrams block or blocks. Figure 1 one or more flow or multiple flows and / or blocks Figure 1 one or more flow or multiple flows and / or blocks

[0150] The computer program instructions can also be loaded into a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow diagrams and / or block diagrams block or blocks. Figure 1 one or more flow or multiple flows and / or blocks ​ one or more flow or multiple flows and / or blocks

[0151] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0152] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, non-volatile memory, such as read-only memory (ROM), EPROM, and / or flash memory, etc. The memory is an example of computer readable media.

[0153] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0154] It should also be noted that the terms "comprising", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a list of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0155] Those skilled in the art will appreciate that embodiments of the present specification can be provided as methods, systems or computer program products. Therefore, the present specification can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Moreover, the present specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0156] The present specification can be described in the general context of computer-executable instructions, such as program modules, executed by computers. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The present specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in both local and remote computer storage media, including storage devices.

[0157] The various embodiments described in this specification are described using a numbering of embodiments approach: these are each individually integrated contributions pertaining to different aspects of the description. For each embodiment, the description focuses on the differences from the other embodiments. In particular, the description of the system embodiments is relatively brief, as the system embodiments are largely analogous to the method embodiments. The relevant parts of the description of the method embodiments are therefore referred to.

[0158] The above only describes the embodiments of the present specification and is not intended to limit the present specification. The present specification can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present specification shall be included in the scope of claims of the present specification.

Claims

1. A method of pushing a drone, the method comprising: The method is used for pushing the unmanned aerial vehicle parked on the unmanned aerial vehicle parking device, and the unmanned aerial vehicle parking device comprises a parking platform, a parking area provided with a light curtain sensor in the parking platform, and a plurality of push rod assemblies, comprising: Obtaining the light curtain sensor data of the landing gear column of the unmanned aerial vehicle parked in the parking area collected by the light curtain sensor; According to the light curtain sensor data, the corresponding position coordinates of the landing gear column of the unmanned aerial vehicle in the parking area are determined; According to the position coordinates, the push rod assembly is controlled to push the unmanned aerial vehicle in the parking area; According to the position coordinates, the push rod assembly is controlled to push the unmanned aerial vehicle in the parking area, specifically comprising: According to the position coordinates, the deflection angle of the unmanned aerial vehicle in the parking area is determined; According to the position coordinates and the deflection angle, the corresponding control parameters of the push rod assembly are determined; According to the corresponding control parameters of the push rod assembly, the push rod assembly is controlled to push the unmanned aerial vehicle in the parking area; According to the position coordinates and the deflection angle, the corresponding control parameters of the push rod assembly are determined, specifically comprising: According to the position coordinates, the type of the landing gear of the unmanned aerial vehicle is determined; If it is determined that the type of the landing gear of the unmanned aerial vehicle is a rectangular landing gear, it is judged whether the deflection angle is less than the determined deflection angle threshold of the unmanned aerial vehicle, and a judgment result is obtained, wherein the rectangular landing gear includes a long side landing gear and a short side landing gear, and the distance between the two landing gear columns of the long side landing gear is greater than the distance between the two landing gear columns of the short side landing gear; According to the judgment result, the corresponding control parameters of the push rod assembly are determined.

2. The method of claim 1, wherein, The light curtain sensor comprises a horizontal light curtain emitting end, a horizontal light curtain receiving end, a vertical light curtain emitting end and a vertical light curtain receiving end; Obtaining the light curtain sensor data of the landing gear column of the unmanned aerial vehicle parked in the parking area collected by the light curtain sensor, specifically comprising: Obtaining the infrared rays emitted by the horizontal light curtain emitting end received by the horizontal light curtain receiving end and the infrared rays emitted by the vertical light curtain emitting end received by the vertical light curtain receiving end; The position coordinates of the position where the horizontal light curtain receiving end does not receive infrared rays and the position coordinates of the position where the vertical light curtain receiving end does not receive infrared rays are taken as the light curtain sensing data.

3. The method of claim 1, wherein, According to the light curtain sensor data, the corresponding position coordinates of the landing gear column of the unmanned aerial vehicle in the parking area are determined, specifically comprising: Obtaining the distance between each landing gear column of the unmanned aerial vehicle; According to the distance between each landing gear column of the unmanned aerial vehicle and the light curtain sensor data, the corresponding position coordinates of each landing gear column of the unmanned aerial vehicle in the parking area are determined.

4. The method of claim 1, wherein, According to the judgment result, the corresponding control parameters of the push rod assembly are determined, specifically comprising: If it is determined that the deflection angle is not less than the deflection angle threshold, a control parameter corresponding to a push rod assembly of a long-side landing gear in contact with the UAV is determined as a long-side control parameter, and a control parameter corresponding to a push rod assembly of a short-side landing gear in contact with the UAV is determined as a short-side control parameter; According to the control parameter corresponding to the push rod assembly, the push rod assembly is controlled to correct the UAV in the parking area, specifically including: According to the long-side control parameter, the push rod assembly in contact with the long-side landing gear is controlled to first push the long-side landing gear, and then according to the short-side control parameter, the push rod assembly in contact with the short-side landing gear is controlled to push the short-side landing gear, so as to correct the UAV.

5. The method of claim 4, wherein, According to the long-side control parameter, the push rod assembly in contact with the long-side landing gear is controlled to first push the long-side landing gear, and then according to the short-side control parameter, the push rod assembly in contact with the short-side landing gear is controlled to push the short-side landing gear, so as to correct the UAV. According to the long-side control parameter, the push rod assembly in contact with the long-side landing gear is controlled to first push the long-side landing gear, and then according to the short-side control parameter, the push rod assembly in contact with the short-side landing gear is controlled to push the short-side landing gear, so as to correct the UAV.

6. The method of claim 1, wherein, According to the long-side control parameter, the push rod assembly in contact with the long-side landing gear is controlled to first push the long-side landing gear, and then according to the short-side control parameter, the push rod assembly in contact with the short-side landing gear is controlled to push the short-side landing gear, so as to correct the UAV. According to the control parameter corresponding to the push rod assembly, the push rod assembly is controlled to correct the UAV in the parking area, specifically including:

7. The method of claim 1, wherein, If it is determined that the deflection angle is less than the deflection angle threshold, a control parameter for simultaneously pushing the landing gear column of the UAV by the push rod assembly is determined. The method further includes:

8. The method according to any one of claims 4 to 7, wherein, If it is determined that the landing gear type of the UAV is a square landing gear, a control parameter for simultaneously pushing the landing gear column of the UAV by the push rod assembly is determined, wherein the spacing between the four landing gear columns of the square landing gear is equal. The control parameter includes a first control speed and a second control speed, and the first control speed is greater than the second control speed; According to the control parameter corresponding to the push rod assembly, the push rod assembly is controlled to correct the UAV in the parking area, specifically including:

9. The method of claim 1, wherein, According to the control parameter corresponding to the push rod assembly, the push rod assembly is controlled to move to the landing gear column at the first control speed, and after it is determined that the push rod assembly contacts the landing gear column, the push rod assembly is controlled to push the landing gear column at the second control speed, so as to correct the UAV. A deflection angle threshold corresponding to the UAV is determined, specifically including: A correction parameter corresponding to the UAV and a thrust corresponding to the push rod assembly are obtained, and the correction parameter includes: a UAV parameter of the UAV, a friction coefficient between the landing gear column of the UAV and the push rod assembly, and a friction coefficient between the landing gear column of the UAV and the parking platform; determining a torque corresponding to the push rod assembly according to the push parameter and a push force corresponding to the push rod assembly; determining a deflection angle threshold corresponding to the unmanned aerial vehicle according to the torque corresponding to the push rod assembly.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is executed by the processor to implement the method in any one of claims 1-9.

11. A landing device for a drone, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the method in any one of claims 1-9.

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