Coaxial twin-rotor UAV take-off and landing method and airport

Abstract

The present application provides a method for taking off and landing a coaxial twin-rotor drone, wherein the airfield of the coaxial twin-rotor drone in the method comprises an inclined plane, and the landing method in the method comprises: when the coaxial twin-rotor drone descends to the upper surface of the inclined plane contacting the airfield, the power is reduced but maintained to ensure that the drone is in an upright, self-balancing flight state; the coaxial twin-rotor drone slides down the inclined plane to a horizontal platform under the action of its own gravity and the lift provided by the propeller; then, the propeller of the coaxial twin-rotor drone stops rotating; the coaxial twin-rotor drone descends with the platform, and the propeller folds upward, and the drone slides into the cylinder where the platform is located, completes landing, and is stored in the cylinder. This solves the problem of inconvenient takeoff, landing, and storage of such drones. The present application also provides an airfield for a coaxial twin-rotor drone based on the same inventive concept.

Description

Technical Field

[0001] The present invention relates to the technical field of take-off and landing methods and devices for cooperating with unmanned aerial vehicles (UAVs), and in particular to a take-off and landing method and an airport for a coaxial twin-rotor UAV. Background Art

[0002] An unmanned aerial vehicle (UAV), also known as a drone, is an unmanned aircraft controlled by a radio remote control and a self-contained programmable controller, or operated completely or intermittently autonomously by an onboard computer. There are many types of UAVs, with coaxial twin-rotor aircraft being a prominent example.

[0003] In the existing technology, drones can only be used in open areas or locations with relatively ample space due to the limitation of take-off and landing airports and storage volume. Therefore, the usage scenarios are limited. Especially when mounted in a vehicle, there are many problems such as taking off and landing the drone and folding it up for storage.

[0004] Although the propeller size of the coaxial twin-rotor drone is large, its special appearance makes it more important to use practical design to solve the problem of how the coaxial twin-rotor drone can take off, land and be stored in the smallest possible site or space. Summary of the Invention

[0005] The purpose of the present invention is to provide a take-off and landing method and airport for a coaxial twin-rotor UAV, so as to solve the problems of take-off and landing, storage and transportation of such UAVs in a narrow space.

[0006] To achieve the above objectives, the present invention provides the following technical solutions.

[0007] A take-off and landing method for a coaxial twin-rotor UAV, wherein the airport of the coaxial twin-rotor UAV includes an inclined plane, and the landing method in the take-off and landing method includes:

[0008] The coaxial twin-rotor UAV reduces but still maintains its power when descending to contact the upper surface of the slope of the airport;

[0009] The coaxial twin-rotor UAV slides down the slope of the airport to the horizontal platform under the action of its own gravity and the lift provided by the propeller;

[0010] The propellers of the coaxial twin-rotor drone stopped rotating;

[0011] The coaxial twin-rotor UAV descends along with the platform, while the propellers are folded upwards.

[0012] In one embodiment, when the coaxial twin-rotor drone glides down the slope of the airport to the platform under the action of its own gravity and the lift provided by the propeller:

[0013] The lift provided by the propeller is less than the gravity of the coaxial twin-rotor UAV.

[0014] In one embodiment, when the coaxial twin-rotor drone slides down the slope to the platform under the action of its own gravity and the lift provided by the propeller:

[0015] The axes of the propellers of the coaxial twin-rotor UAV are vertical.

[0016] In one embodiment, before the coaxial twin-rotor drone descends to contact the slope of the airport, the landing method further comprises:

[0017] The coaxial twin-rotor UAV receives the location and motion parameters of the airport;

[0018] The coaxial twin-rotor UAV moves to the airspace above the airport.

[0019] In one embodiment, the platform is located in a cylinder, the slope of the airport is formed by extending from the upper edge of the cylinder, and the power for the propeller to fold upward depends on the thrust of the upper edge of the cylinder on the propeller during the descent of the platform.

[0020] In one embodiment, the take-off method in the take-off and landing method includes:

[0021] The coaxial twin-rotor UAV rises along with the platform, and during the ascent, the propellers of the coaxial twin-rotor UAV are unfolded to a horizontal position by gravity;

[0022] The coaxial twin-rotor drone takes off after its propellers are unfolded to horizontal level.

[0023] The present application also provides an airport for a coaxial twin-rotor UAV, comprising:

[0024] The cylinder is vertical;

[0025] an inclined surface, wherein a lower edge of the inclined surface is connected to an upper edge of the cylinder;

[0026] a platform, horizontally arranged in the cylinder;

[0027] A lifting device, provided in the cylinder, for driving the platform to rise or fall;

[0028] The coaxial twin-rotor UAV takes off or lands in the airport according to the above-mentioned take-off and landing method.

[0029] In one embodiment, the lifting device comprises:

[0030] A plurality of air bags, the air bags are connected and communicated with each other in sequence;

[0031] an air pump, connected to the air bag at the bottom;

[0032] After the gas in the airbag is released, the airbag is stacked on the bottom surface of the cylinder;

[0033] After the airbag is inflated, the platform is pushed to a height where the propeller of the drone can rotate freely.

[0034] In one embodiment, the inner diameter of the cylinder is the maximum outer contour dimension of the coaxial twin-rotor drone in the horizontal direction after the propellers are folded upward.

[0035] In one embodiment, the height of the cylinder is retractable. In the take-off and landing method of the coaxial twin-rotor UAV provided in this application, the airport of the coaxial twin-rotor UAV includes an inclined plane, and the landing method in the take-off and landing method includes:

[0036] When the coaxial twin-rotor UAV descends and contacts the upper surface of the slope of the airport, the power is reduced but still maintained, ensuring that the UAV is in an upright self-balancing flight state;

[0037] The coaxial twin-rotor drone slides down the slope of the airport to the horizontal platform under the action of its own gravity and the lift provided by the propeller. The drone slides toward the central platform by relying on its own gravity, and during this process, the bottom of the drone maintains sliding contact with the slope.

[0038] The coaxial twin-rotor drone's propellers then stop rotating, and the drone descends with the platform, with the propellers folding upward. The drone then slides into the platform's cylinder, completes its landing, and is stored within the cylinder. This solves the inconvenience of coaxial twin-rotor drones in terms of takeoff, landing, and storage.

[0039] Under the same inventive concept, this application also provides an airport for a coaxial twin-rotor drone, comprising: a vertical cylinder; an inclined plane, the lower edge of which is connected to the upper edge of the cylinder; a platform horizontally located within the cylinder; and a lifting device disposed within the cylinder for raising or lowering the platform; a coaxial twin-rotor drone can take off or land on the airport according to the aforementioned take-off and landing method. The cylinder can be used on the ground or on a motor vehicle, providing a take-off and landing airport while facilitating the storage and transportation of coaxial twin-rotor drones, thereby resolving the challenges of taking off, landing, storing, and transporting such drones in confined spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Those skilled in the art will appreciate that the accompanying drawings are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention.

[0041] Figure 1 This is a sequence diagram of the implementation of the landing process in the take-off and landing method of a coaxial dual-rotor UAV provided in Example 1 of the present invention;

[0042] Figures 2a) to 2d) A schematic diagram of the landing process of a coaxial twin-rotor UAV provided in Example 1 of the present invention;

[0043] Figure 3 This is a sequence diagram of the implementation of the take-off process in a take-off and landing method for a coaxial dual-rotor UAV provided in Example 1 of the present invention;

[0044] Figure 4 A schematic diagram of the take-off process in a take-off and landing method for a coaxial twin-rotor UAV provided in Example 1 of the present invention;

[0045] Figure 5 This is a structural schematic diagram of an unmanned airport with coaxial twin rotors provided in the second embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose, advantages and features of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions for the implementation of the present invention. Any modification of the structure, change in the proportional relationship or adjustment of the size, under the condition that the effect produced by the present invention and the purpose that can be achieved are the same or similar, should still fall within the scope of the technical content disclosed by the present invention.

[0047] As used herein, the singular forms "a," "an," and "the" include plural referents unless the context clearly indicates otherwise. As used herein, the term "several" is generally used to include "at least one" unless the context clearly indicates otherwise.

[0048] In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or communication connections; direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0049] Example 1

[0050] UAVs, including multi-rotor UAVs or coaxial dual-rotor UAVs, need to communicate with the ground airport to determine the landing position when landing. The take-off and landing scheme of the coaxial dual-rotor UAV provided in this embodiment is the same.

[0051] This embodiment provides a method for taking off and landing a coaxial twin-rotor UAV. The airport of the coaxial twin-rotor UAV 100 includes a slope 200, such as Figure 2a) 、 2b) and 2c), the following description of the landing process of the coaxial dual-rotor drone 100 will also be combined Figure 2a) 、 2b) and 2c).

[0052] like Figure 1 As shown, the landing method in the take-off and landing method includes the following steps after determining the landing position:

[0053] D1) The coaxial twin-rotor UAV 100 decreases but maintains its power when descending and contacts the upper surface of the slope 200 of the airport;

[0054] When the coaxial twin-rotor drone 100 contacts the inclined surface 200 , the power of the coaxial twin-rotor drone 100 can be reduced by detecting the results of the photoelectric sensor and the distance sensor.

[0055] The position where the coaxial dual-rotor UAV 100 contacts the inclined plane 200 can be the top of the inclined plane 200, or it can be as follows: Figure 2a ) is at a position between the top and bottom of the inclined surface 200 shown in FIG. 1 or at the bottom of the inclined surface 200.

[0056] The coaxial twin-rotor drone 100 reduces but maintains power, which means that the propeller 101 of the coaxial twin-rotor drone 100 still rotates to provide lift for the coaxial twin-rotor drone and the rotating shaft of the propeller 101 is vertical. At the same time, the inclined surface 200 also provides upward support for the coaxial twin-rotor drone 100.

[0057] D2) The coaxial twin-rotor drone 100 slides down the slope 200 of the airport to the platform 300 under the action of its own gravity and the lift provided by the propeller 101. Figure 2b )

[0058] The inclined plane 300 always provides support for the coaxial twin-rotor UAV 100 during the process of sliding down to the platform 300. During this process, due to the contact between the two, the inclined plane 300 also provides guidance for the UAV, especially in the vertical direction.

[0059] In one embodiment, during the process of sliding down the slope 200 of the airport to the platform 300, the lift provided by the propeller 101 to the coaxial twin-rotor drone 100 can gradually decrease, and the lift can be reduced to 0 after sliding onto the platform 300.

[0060] During the process of the coaxial twin-rotor drone 100 sliding up and down the slope 200, the non-interference between the propeller 101 and the slope 200 is one of the considerations for determining the size of the slope 200 (length, tilt angle, and whether the tilt angle changes during the descent of the coaxial twin-rotor drone 100).

[0061] D3) the propeller 101 of the coaxial twin-rotor UAV 100 stops rotating;

[0062] The coaxial twin-rotor UAV 100 stops and loses lift, and the platform 300 provides support for it.

[0063] D4) The coaxial twin-rotor drone 100 descends along with the platform 300, and the propellers 101 fold upwards, as shown in FIG. Figure 2c ) as shown in ).

[0064] The coaxial dual-rotor drone 100 can be finally stored in a cylinder connected to the inclined plane 200. Figure 2d ) as shown.

[0065] D2) The coaxial dual-rotor UAV 100 performs the action described in D3) immediately or after a period of time after it slides down the slope 200 onto the platform 300.

[0066] D4) is performed immediately or after a period of time after the propeller 101 stops rotating in D3).

[0067] In one embodiment, D2) the propellers 101 of the coaxial twin-rotor drone 100 slowly fold upwards as it slides down the slope 200 to the platform 300, and are completely folded upwards or in the process of folding after reaching the platform 300.

[0068] In one embodiment, in D2), while the coaxial twin-rotor drone 100 slides down the slope 200 of the airport onto the platform 300 under the action of its own gravity and the lift provided by the propeller 101:

[0069] The lift provided by the propeller 101 is smaller than the gravity of the coaxial twin-rotor UAV 100 , and the inclined surface 300 provides a vertical guidance function for the coaxial twin-rotor UAV 100 .

[0070] In one embodiment, in D2), the axes of the propellers 101 of the coaxial twin-rotor drone 100 are vertical. This prevents interference between the propellers 101 and the inclined plane 200 or the platform 300, facilitates lift control of the coaxial twin-rotor drone 100, and ensures that the inclined plane 200 supports and / or guides the coaxial twin-rotor drone 100.

[0071] D4) The propellers 101 of the coaxial twin-rotor drone 100 are folded upwards, so that the coaxial twin-rotor drone 100 can be safely landed and folded up, and the propellers can be automatically kept straight before takeoff.

[0072] As shown at the beginning of this embodiment, before the coaxial dual-rotor drone 100 descends to contact the slope 200 of the airport, the landing method further includes:

[0073] D0) The coaxial twin-rotor UAV receives the location and motion parameters of the airport; and the coaxial twin-rotor UAV moves to the airspace above the airport.

[0074] When the coaxial twin-rotor drone is preparing to land, the airport can be in a stationary or moving state. The coaxial twin-rotor drone receives the precise position coordinates of the center point of the current airport; the coaxial twin-rotor drone executes the return command and flies directly above the airport; during the landing process, the coaxial twin-rotor drone adjusts the approach to the target coordinates through the flight control; the coaxial twin-rotor drone gradually lowers its altitude and prepares to land on the airport.

[0075] In a preferred embodiment, the platform 300 is located on the cylinder ( Figure 2a) to Figure 2c) (not shown in the figure), the slope 200 of the airport is extended from the upper edge of the cylinder, and the power for the propeller 101 to fold upward relies on the thrust of the upper edge of the cylinder on the propeller 101 during the descent of the platform 300. The size and position of the cylinder are utilized to achieve the upward folding of the propeller 101, which simplifies the mechanical structure control method of the coaxial twin-rotor UAV 100 and saves the communication process required for this process.

[0076] like Figure 3 As shown, the take-off method in the take-off and landing method includes:

[0077] U1) The coaxial twin-rotor UAV ascends along with the platform, and during the ascent, the propellers of the coaxial twin-rotor UAV are unfolded to a horizontal position by gravity;

[0078] By utilizing the size and position of the cylinder, the propeller 101 can be folded upward, which simplifies the mechanical structure control method of the coaxial twin-rotor drone 100 and saves the communication process required for this process.

[0079] The platform can be raised and lowered by a lifting device.

[0080] U2) The coaxial twin-rotor UAV takes off after its propellers are unfolded to a horizontal level; specifically, the coaxial twin-rotor UAV accelerates into the air by relying on the propeller power, separates from the platform 300 and maintains a self-stabilized flight state.

[0081] After the coaxial twin-rotor drone reaches a certain height, it switches to vehicle following mode or performs a flight mission.

[0082] Combine Figure 4 The coaxial twin-rotor UAV can be stored in a cylinder connected to the slope 200, and executes U1 during takeoff preparation and U2 during takeoff.

[0083] In this embodiment, the size of the inclined airport does not need to be excessively large; it can be determined based on the takeoff and landing positioning accuracy of the coaxial twin-rotor drone 100, thus resolving the inconvenience of taking off, landing, and stowing the coaxial twin-rotor drone 100 during operation. The size of the airport's inclined surface 200 is determined based on the coaxial twin-rotor drone's takeoff and landing positioning accuracy, which is one of the principles for determining the size of the inclined surface. In fact, the inclined airport provides support for the coaxial twin-rotor drone 100 during landing, which is its important technical effect.

[0084] Example 2

[0085] This embodiment provides an airport for a coaxial twin-rotor UAV, referring to Figure 2a ), Figure 4 and Figure 5 , the airport includes:

[0086] The cylinder 400 is in a vertical position; the cylinder 400 being in a vertical position means that the cylinder 400 is in a vertical position before or during the landing of the coaxial twin-rotor drone;

[0087] An inclined surface 200 , wherein the lower edge of the inclined surface 200 is connected to the upper edge of the cylinder 400 ;

[0088] The platform 300 is horizontally arranged in the cylinder 400;

[0089] The lifting device 500 is provided in the cylinder 400 and is used to drive the platform 300 to rise or fall;

[0090] The coaxial twin-rotor UAV takes off or lands at the airport according to the take-off and landing method described in Example 1.

[0091] The inner side of the inclined surface 200 is a smooth inclined surface.

[0092] In a preferred embodiment, the lifting device 500 comprises:

[0093] Several disc-shaped airbags 501 are connected in sequence and communicate with each other in sequence. The airbags 501 are connected in sequence and communicate with each other in sequence, which means that several airbags are connected at the end and communicate with each other at the connection. When the airbag 501 at one end is inflated, gas also enters the next airbag 501 connected to it, until gas can be passed into the airbag 501 at the other end. The same applies when deflating. In order to drive the platform 300 to rise or fall, the airbag 501 is placed in the vertical direction in the cylinder 400, that is, several airbags 501 are stacked up and down in the cylinder 400. The airbags 501 can be connected by heat sealing.

[0094] An air pump, connected to the air bag 501 at the bottom;

[0095] After the gas in the airbag 501 is released, the airbag 501 is stacked on the bottom surface of the cylinder 400;

[0096] After the airbag 501 is inflated, the platform 300 is pushed to a height where the propeller of the drone can rotate freely, for example, the platform 300 can be pushed to a height where the lower edge of the inclined surface 200 is in contact with the platform 300 .

[0097] The cylinder 400 can be mounted on a fixed structure, such as the ground or a roof, or on a movable structure, such as the side or rear of a motor vehicle.

[0098] In one embodiment, the cylinder 400 and the base structure to which it is fixed can be rotatably connected, so that the cylinder 400 can have different postures relative to the base structure at different times. For example, when a coaxial twin-rotor drone needs to take off and land, the cylinder 400 is in a vertical position to facilitate the coaxial twin-rotor drone's takeoff and landing. At other times, the cylinder 400 can be lowered by rotating its bottom to move closer to the base structure to which it is fixed. This embodiment is particularly suitable for scenarios where the cylinder 400 is installed at the rear of a vehicle.

[0099] In one embodiment, the height of the cylinder 400 is retractable. The minimum height of the cylinder 400 is sufficient to accommodate the airbag 501 stacked on its bottom surface, and the maximum height of the cylinder 400 is sufficient to accommodate a coaxial twin-rotor drone with its propellers folded upward. When the coaxial twin-rotor drone is stored within the cylinder 400, the cylinder 400 is in an expanded state, accommodating the coaxial twin-rotor drone with its propellers folded upward. At other times, the cylinder 400 contracts to accommodate the airbag 501 stacked on its bottom surface, lowering the height of the cylinder 400. This embodiment is particularly suitable for scenarios where the cylinder 400 is mounted on the roof of a motor vehicle.

[0100] The cylinder 400 and the basic structure to which it is fixed are detachably connected, thereby increasing the portability and maneuverability of the airport provided by this embodiment.

[0101] The inner diameter of cylinder 400 represents the maximum horizontal dimension of the coaxial twin-rotor drone when the propellers are retracted. Cylinder 400 is capable of accommodating the coaxial twin-rotor drone. The outer diameter of the coaxial twin-rotor drone is comparable to the inner diameter of cylinder 400, allowing for easy up and down sliding. Furthermore, during the lifting process, the coaxial twin-rotor drone maintains an upright position due to the tight fit between the drone and the cylinder. When the coaxial twin-rotor drone is housed within cylinder 400, the drone's outer diameter closely matches the inner diameter of cylinder 400, protecting it from impact and vibration during transportation. The protective cover on top of cylinder 400 facilitates storage and transportation of the drone.

[0102] The airbag is inflated and deflated as the lifting device and lifting power. When the airbag is not inflated, it is a stacked structure, which is neatly stored and takes up little space. The cylinder 400 is cylindrical in shape, and the airbag 501 is fixed to the bottom of the cylinder 400. The external air pipe is connected to an external air pump.

[0103] The airport for the coaxial twin-rotor UAV provided in this embodiment solves the problem of automatic take-off and landing and inconvenient storage of coaxial twin-rotor UAVs when mounted on a vehicle or on the ground, and realizes the storage, transportation, launch and recovery functions of such UAVs. What's better is that such UAVs can be stored and transported in a small space, take off quickly without human intervention, and achieve autonomous landing and recovery, which greatly improves the application convenience of such UAVs.

[0104] The airport of the coaxial twin-rotor UAV provided in this embodiment may further include a control device and a fixed structure.

[0105] The control device integrates several controllers to achieve remote control of the airport, realize airport positioning, communication with the RTK positioning device and calculation of the data returned by the RTK positioning device, control of the air pump to achieve airbag inflation and deflation control, acquisition of meteorological data and vehicle attitude data, etc., and cooperates with ground control software to achieve remote control of the takeoff and landing of the coaxial twin-rotor UAV. Among them, the RTK positioning device can be installed on a motor vehicle to support the airport positioning of multiple coaxial twin-rotor UAVs.

[0106] The control device realizes landing position calculation and precise landing control, specifically:

[0107] 1. The drone calculates the landing position offset based on the airport location information and confirms that the airport meets the landing conditions; the drone plans the landing route based on the precise GPS location information of the airport landing point;

[0108] 2. Before flying into the airport, the drone will hover briefly above the airport, adjust its direction, and slowly land on top of the airport.

[0109] 3. The drone uses vision or other auxiliary features to confirm the landing position and automatically adjust its attitude;

[0110] 4. The drone slowly lowers its altitude and adjusts its attitude to the landing position;

[0111] 5. The drone lands on the airport (including the slope 200 and the platform 300), relies on its own power to maintain balance, and slowly slides onto the platform 300;

[0112] 6. After the propeller stops, the drone is safely locked, the airbag is deflated, and the drone slowly slides down to the cylinder 400 to complete the entire landing process.

[0113] The fixing structure is used to secure the airport to the ground or a vehicle. Specifically, it may include a frame 600 and a flange. The frame 600 is locked to the cylinder 400 via a clamp, and the bottom of the frame 600 is firmly connected to the ground or the vehicle via the flange, achieving a stable connection when fixed to a foundation or mounted on a vehicle.

[0114] The above description is merely a description of preferred embodiments of the present invention and does not limit the scope of the present invention. Any changes or modifications made by persons skilled in the art based on the above disclosure are within the scope of protection of the present invention. Obviously, various modifications and variations may be made by persons skilled in the art without departing from the spirit and scope of the present invention. Thus, if such modifications and variations fall within the scope of the present invention and its equivalents, the present invention is intended to include such modifications and variations.

Claims

1. A method for taking off and landing a coaxial twin-rotor UAV, characterized in that: The airport of the coaxial twin-rotor UAV includes an inclined plane, and the landing method in the take-off and landing method includes: The coaxial twin-rotor UAV reduces but still maintains its power when descending to contact the upper surface of the slope of the airport; The coaxial twin-rotor UAV slides down the slope of the airport to the horizontal platform under the action of its own gravity and the lift provided by the propeller; The propellers of the coaxial twin-rotor drone stopped rotating; The coaxial twin-rotor drone descends along with the platform, while the propellers fold upwards; When the coaxial twin-rotor drone slides down the slope to the platform under the action of its own gravity and the lift provided by the propeller: The axis of the propeller of the coaxial twin-rotor UAV is vertical; The platform is located in the cylinder, the slope of the airport is formed by extending from the upper edge of the cylinder, and the power for the propeller to fold upward depends on the thrust of the upper edge of the cylinder on the propeller during the descent of the platform.

2. The take-off and landing method according to claim 1, characterized in that: During the process of the coaxial twin-rotor UAV sliding down the slope of the airport to the platform under the action of its own gravity and the lift provided by the propeller: The lift provided by the propeller is less than the gravity of the coaxial twin-rotor UAV.

3. The take-off and landing method according to claim 1, characterized in that: Before the coaxial twin-rotor drone descends to contact the slope of the airport, the landing method further includes: The coaxial twin-rotor UAV receives the location and motion parameters of the airport; The coaxial twin-rotor UAV moves to the airspace above the airport.

4. The take-off and landing method according to claim 1, characterized in that: The take-off method in the take-off and landing method includes: The coaxial twin-rotor UAV rises along with the platform, and during the ascent, the propellers of the coaxial twin-rotor UAV are unfolded to a horizontal position by gravity; The coaxial twin-rotor drone takes off after its propellers are unfolded to horizontal level.

5. The airport of the coaxial twin-rotor UAV is characterized by: Include: The cylinder is vertical; an inclined surface, wherein a lower edge of the inclined surface is connected to an upper edge of the cylinder; a platform, horizontally arranged in the cylinder; A lifting device, provided in the cylinder, for driving the platform to rise or fall; The coaxial twin-rotor UAV takes off or lands at the airport according to the take-off and landing method according to any one of claims 1 to 4.

6. The airport according to claim 5, characterized in that The lifting device comprises: A plurality of air bags, the air bags are connected and communicated with each other in sequence; an air pump, connected to the air bag at the bottom; After the gas in the airbag is released, the airbag is stacked on the bottom surface of the cylinder; After the airbag is inflated, the platform is pushed to a height where the propeller of the drone can rotate freely.

7. The airport according to claim 5, characterized in that The inner diameter of the cylinder is the maximum outer contour dimension of the coaxial twin-rotor UAV in the horizontal direction after the propellers are retracted upwards.

8. The airport according to claim 6, characterized in that The height of the cylinder is retractable.

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