A take-off and landing platform, a method and device for adjusting the docking attitude of an unmanned aerial vehicle (UAV).

Abstract

This specification discloses a take-off and landing platform, a method and apparatus for adjusting the docking attitude of a UAV. When the UAV is determined to dock on the take-off and landing platform, the movement of each push rod assembly is controlled. Based on the load of the drive mechanism connected to each push rod assembly during its movement, the initial attitude of the UAV is determined. Then, based on the deviation between the initial attitude and a preset standard docking attitude, the push rod assemblies are controlled to push the UAV to the standard docking attitude. This solution determines the initial attitude of the UAV by assessing the load of the drive mechanism connected to each push rod assembly during its movement. It can accurately adjust the UAV's docking attitude based on the difference between the initial attitude and the standard docking attitude, thus improving the efficiency of UAV docking attitude adjustment.

Description

Technical Field

[0001] This specification relates to the field of computer technology, and in particular to a take-off and landing platform, a method and device for adjusting the docking posture of an unmanned aerial vehicle (UAV). Background Technology

[0002] Currently, with technological advancements and the maturity of autonomous driving technology, drones have been successfully applied in the delivery field, commonly used in scenarios such as food delivery and express delivery. However, during the execution of missions, drones typically need to land on a take-off and landing platform to perform tasks such as battery swapping, placing delivery items, and assembling delivery items.

[0003] Since the aforementioned tasks such as battery swapping and delivery are all performed by automated equipment on the take-off and landing platform, the prerequisite for the automated equipment to perform these steps is that the drone's attitude matches the attitude of the task to be performed. Therefore, it is necessary to adjust the drone's docking attitude. Summary of the Invention

[0004] This specification provides a take-off and landing platform, a method and apparatus for adjusting the docking posture of an unmanned aerial vehicle (UAV), in order to partially solve the aforementioned problems existing in the prior art.

[0005] The following technical solution is adopted in this specification:

[0006] This specification provides a method for adjusting the docking attitude of a UAV. The takeoff and landing platform is equipped with multiple push rod assemblies arranged in a rectangle. Each push rod assembly is connected to a different drive mechanism, and the starting position and direction of movement of each push rod assembly are different, including:

[0007] Once the drone has docked at the take-off and landing platform, control the movement of each push rod assembly;

[0008] For each push rod assembly, when the load on the drive mechanism connected to the push rod assembly exceeds a preset load threshold, the push rod assembly is controlled to stop moving;

[0009] The initial pose of the UAV is determined based on the stopping position of each push rod assembly;

[0010] Based on the deviation between the initial pose and the preset standard docking pose, the push rod assemblies are controlled to push the UAV to adjust the UAV's pose.

[0011] Optionally, the initial pose of the UAV is determined based on the stopping positions of each push rod assembly, specifically including:

[0012] Based on the stopping position of each push rod assembly, the area enclosed by each push rod assembly is determined as the initial range of the UAV, and the initial range is connected to the landing gear of the UAV.

[0013] The docking position of the UAV is determined based on the center position of the initial range;

[0014] The shape mapped onto the take-off and landing platform by the UAV landing gear, and the initial range, determine the orientation of the UAV as the UAV's docking attitude. The shape mapped onto the take-off and landing platform by the UAV landing gear is the shape enclosed by the contact points between the UAV landing gear and the take-off and landing platform.

[0015] The docking position and the docking attitude are used as the initial pose of the UAV.

[0016] Optionally, determining the deviation between the initial pose and the standard docking pose specifically includes:

[0017] Determine the target position and target attitude contained in the standard docking pose, respectively;

[0018] The position deviation of the UAV is determined based on the difference between the target position and the docking position;

[0019] The angle deviation of the UAV is determined based on the difference between the target attitude and the docking attitude;

[0020] The deviation between the initial pose and the standard docking pose is determined based on the position deviation and the angle deviation.

[0021] Optionally, controlling each push rod assembly to push the drone specifically includes:

[0022] Determine whether the positional deviation is greater than a preset first deviation threshold;

[0023] When the positional deviation is not greater than the first deviation threshold, the spacing between two sets of mutually parallel push rod assemblies in each push rod assembly is determined to obtain the first spacing and the second spacing.

[0024] When the angle deviation is greater than the preset second deviation threshold, and the first spacing and the second spacing are not equal, a set of push rod components with a smaller spacing between the first spacing and the second spacing is determined, and the determined set of push rod components is controlled to push the drone, and the angle deviation is re-determined until the re-determined angle deviation is not greater than the second deviation threshold. Then, each push rod component is controlled to push the drone until the drone is straightened.

[0025] When the angular deviation is not greater than the second deviation threshold, or when the first spacing and the second spacing are equal, control each push rod assembly to push the drone until the drone is upright.

[0026] Optionally, the standard docking position can be determined, specifically including:

[0027] The service to be performed by the UAV when docked on the take-off and landing platform is determined. There are multiple services to be performed on the take-off and landing platform, and each service corresponds to a different standard docking posture.

[0028] Based on the service identifier of the service, the standard docking pose corresponding to the service is determined from the pre-stored correspondence between each service identifier and each standard docking pose, and is used as the standard docking pose of the UAV.

[0029] Optionally, determining the graphic representation of the UAV landing gear mapped onto the takeoff and landing platform specifically includes:

[0030] Receive the landing completion command sent by the drone, and determine the model of the drone by the drone identifier carried in the landing completion command;

[0031] Based on the model number, the corresponding mapping pattern for that model number is determined from the pre-stored correspondence between each model number and each pattern mapped by the UAV on the take-off and landing platform, and is used as the mapping pattern of the UAV landing gear on the take-off and landing platform.

[0032] This specification provides a take-off and landing platform, which includes a control unit, multiple drive mechanisms, and multiple push rod assemblies arranged in a rectangle. Each push rod assembly is connected to a different drive mechanism, and the starting position and direction of movement of each push rod assembly are different. Each drive mechanism communicates bidirectionally with the control unit, wherein:

[0033] The control unit determines when the UAV docks on the take-off and landing platform, sends drive commands to each drive mechanism, and sends a stop command to each drive mechanism when the load of the drive mechanism is detected to be greater than a preset load threshold; determines the initial pose of the UAV based on the stop position of each push rod assembly; and sends drive commands to each drive mechanism to control each push rod assembly to push the UAV based on the deviation between the initial pose and the preset standard docking pose.

[0034] The drive mechanism moves according to a received drive command and stops moving according to a received stop command.

[0035] This specification provides a drone docking attitude adjustment device. A landing platform is equipped with multiple push rod assemblies arranged in a rectangle. Each push rod assembly is connected to a different drive mechanism, and the starting position and direction of movement of each push rod assembly are different, including:

[0036] The movement module is used to control the movement of each push rod assembly when the UAV docks at the take-off and landing platform;

[0037] The stop module is used to control each push rod assembly to stop moving when the load of the drive mechanism connected to the push rod assembly exceeds a preset load threshold.

[0038] The pose determination module is used to determine the initial pose of the UAV based on the stopping position of each push rod assembly;

[0039] The adjustment module is used to control each push rod assembly to push the UAV according to the deviation between the initial pose and the preset standard docking pose, so as to adjust the pose of the UAV.

[0040] This specification provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described UAV docking attitude adjustment method.

[0041] This specification provides a drone docking device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the aforementioned drone docking attitude adjustment method.

[0042] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects:

[0043] In the UAV docking attitude adjustment method provided in this manual, when the UAV is determined to dock on the take-off and landing platform, the movement of each push rod assembly is controlled, and the initial attitude of the UAV is determined according to the load of the drive mechanism connected to each push rod assembly during the movement. Then, based on the deviation between the initial attitude and the preset standard docking attitude, the push rod assembly is controlled to push the UAV to the standard docking attitude.

[0044] As can be seen from the above method, this solution determines the initial pose of the UAV by measuring the load of the drive mechanism connected to each push rod assembly during its movement. It can accurately adjust the UAV's docking attitude based on the difference between the initial pose and the standard docking pose, thereby improving the efficiency of UAV docking attitude adjustment. Attached Figure Description

[0045] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings:

[0046] Figure 1 This is a flowchart illustrating the drone docking posture adjustment method provided in this manual.

[0047] Figure 2 This is a structural diagram of the take-off and landing platform provided in this manual;

[0048] Figure 3 This is a schematic diagram illustrating the determination of the initial pose of the UAV as provided in this specification.

[0049] Figure 4A This is a schematic diagram of the force analysis of the landing gear provided in this manual;

[0050] Figure 4B This is a schematic diagram of the force analysis of landing gear support point B provided in this manual;

[0051] Figure 4C This is a schematic diagram of the force analysis of landing gear support point A provided in this manual;

[0052] Figure 5 This is a schematic diagram of the torque versus angle deviation curve provided in this manual.

[0053] Figure 6 This is a schematic diagram of the torque versus angle deviation curve provided in this manual.

[0054] Figure 7 A schematic diagram of the take-off and landing platform provided in this manual;

[0055] Figure 8 This is a schematic diagram showing the connection between the moving component and the push rod assembly provided in this manual;

[0056] Figure 9 This is a schematic diagram of the UAV docking attitude adjustment device provided in this manual.

[0057] Figure 10 The corresponding information provided in this specification Figure 1 A schematic diagram of the take-off and landing platform. Detailed Implementation

[0058] 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.

[0059] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0060] Currently, unmanned technology is becoming increasingly important in people's lives, such as unmanned delivery and unmanned battery swapping. However, automated equipment that performs tasks such as battery swapping and loading can only perform the corresponding tasks when the drone's pose matches the standard docking pose. Otherwise, the task may fail because the drone's pose cannot be determined, reducing the efficiency of drones in performing delivery tasks.

[0061] Based on this, after the drone lands on the take-off and landing platform, its docking posture can be adjusted to the platform's standard docking posture. This standard docking posture is the posture corresponding to the drone's operational capabilities on that platform and is typically pre-set.

[0062] In existing technologies, a common method for determining the docking posture of a drone is based on push-stick assemblies. Specifically, multiple push-stick assemblies are installed on the drone's take-off and landing platform. Each push-stick assembly has a preset movement trajectory, movement speed, and designated position. When the drone docks on the take-off and landing platform, the platform can control each push-stick assembly to move along the preset movement trajectory at the preset movement speed, contact the landing gear of the drone supported on the platform, and push the landing gear to adjust the drone's posture until the push-stick assembly reaches the preset designated position.

[0063] However, since the existing technology only adjusts the docking attitude of the drone based on the movement of each push rod assembly to a designated position, and does not determine the attitude of the drone after it lands on the landing platform, the time when each push rod assembly contacts the drone's landing gear may be different, and the time for adjusting the drone's attitude will also be different, making the existing technology less efficient in adjusting the drone's docking attitude.

[0064] In addition, when the push rod components move, improper pushing may cause the drone's docking posture to be unable to be adjusted, and the push rod components may also be unable to move forward, resulting in severe wear on the push rod components and / or the drone, thus reducing the utilization rate of the push rod components and the drone.

[0065] Based on this, this specification provides a new method for adjusting the docking posture of a drone.

[0066] Figure 1 This is a flowchart illustrating a method for adjusting the docking posture of a UAV as described in this specification, including the following steps:

[0067] S100: When the UAV docks at the take-off and landing platform, control the movement of each push rod assembly.

[0068] Unlike existing technologies that pre-set the movement trajectory and designated position of the push rod components on the take-off and landing platform, this method controls the push rod components to move to the designated position according to a preset trajectory when the UAV docks on the platform, adjusting the UAV's docking posture. However, each push rod component cannot adjust the UAV's posture simultaneously, resulting in low efficiency. This specification provides a new method for adjusting the UAV's docking posture. By controlling the movement of each push rod component and determining the UAV's docking posture based on the load of the drive mechanism connected to each push rod component during its movement, this method then controls the push rod components to adjust the UAV's docking posture. This ensures that the push rod components can quickly adjust the UAV's docking posture to a standard docking posture, improving the efficiency of the UAV's docking posture adjustment.

[0069] In one or more embodiments provided in this specification, the UAV docking attitude adjustment method can be executed by a take-off and landing platform. Alternatively, the server can send an adjustment request to the take-off and landing platform after the UAV lands. The take-off and landing platform determines the load status of the drive mechanisms connected to each push rod assembly during the movement of each push rod assembly based on the adjustment request sent by the server, and returns the load status to the server. The server determines the motion strategy for each push rod assembly based on the received data and sends the motion strategy to the take-off and landing platform. The take-off and landing platform controls the movement of each push rod assembly according to the motion strategy, and propels the UAV to adjust its attitude to a standard docking posture. For ease of description, the following explanation only uses the execution of the UAV docking attitude adjustment method provided in this specification by a take-off and landing platform as an example.

[0070] The take-off and landing platform is equipped with four push rod assemblies, each with a different starting position and direction of movement. For example... Figure 2 As shown.

[0071] Figure 2 This is a schematic diagram of the take-off and landing platform provided in this manual. In the diagram, the platform has four push rod assemblies with different directions of movement and starting positions: push rod assembly 1, push rod assembly 2, push rod assembly 3, and push rod assembly 4. The gray areas below each push rod assembly represent its movable areas; that is, for each push rod assembly, movement is possible within the gray area below that push rod assembly. Push rod assembly 1 and push rod assembly 3 are parallel, and push rod assembly 2 and push rod assembly 4 are parallel.

[0072] After the UAV docks on the take-off and landing platform, the platform can control each push rod assembly to move in a preset direction. Push rod assembly 1 and push rod assembly 3 move in opposite directions, as do push rod assembly 2 and push rod assembly 3. The heights of each push rod assembly can be the same or different, depending on the settings; this manual does not impose any restrictions on this.

[0073] In this specification, the drones using the drone docking posture adjustment method provided herein can be used to perform delivery tasks in the delivery field, such as business scenarios where drones are used for express delivery, logistics, and food delivery.

[0074] S102: For each push rod assembly, when the load of the drive mechanism connected to the push rod assembly exceeds a preset load threshold, control the push rod assembly to stop moving.

[0075] In one or more embodiments provided in this specification, depending on the mechanical characteristics of the device, if the drag torque of the object increases, the driving torque increases and the speed decreases. Therefore, during the movement of the push rod assembly, it is recommended that the output power and load of the drive mechanism driving the push rod assembly differ depending on whether the assembly is in contact with the drone or not.

[0076] Based on this, the landing platform can determine the landing gear position of the push rod assembly according to the load of the drive mechanism connected to each push rod assembly during the movement of the push rod assembly.

[0077] Specifically, the take-off and landing platform can monitor the load of the drive mechanism connected to each push rod assembly.

[0078] Then, the monitored load is compared with the preset load threshold to determine whether the load on the drive mechanism is greater than the preset load threshold.

[0079] Finally, when the load on the drive mechanism is not greater than a preset load threshold, the take-off and landing platform can determine that the push rod assembly connected to the drive mechanism has not yet contacted the drone, and can control the push rod assembly to continue moving. When the load on the drive mechanism is greater than the preset load threshold, it can determine that the push rod assembly connected to the drive mechanism has contacted the drone, and the take-off and landing platform can control the push rod assembly to stop moving.

[0080] Furthermore, since drones are generally docked on a landing platform via landing gear, whether the push rod assembly on the landing platform contacts the drone or pushes the drone to adjust its attitude, it is usually achieved by pushing the drone's landing gear.

[0081] Furthermore, to avoid situations where multiple push rod assemblies cannot simultaneously push the drone, resulting in low efficiency, as is the case in existing technologies, the take-off and landing platform can control the push rod assemblies to stop moving upon determining contact with the drone.

[0082] S104: Determine the initial pose of the UAV based on the stopping positions of each push rod assembly.

[0083] In one or more embodiments provided in this specification, the area enclosed by the push rod assembly is a rectangular area. For each rectangle, if the shape and size of the inscribed rectangle corresponding to the rectangle are given, the pose of the inscribed rectangle corresponding to the rectangle can be determined. Then, the take-off and landing platform can determine the initial position of the UAV based on the stopping position of each push rod assembly.

[0084] Based on this, the take-off and landing platform can first determine the stopping position of each push rod assembly.

[0085] Specifically, for each push rod assembly, the lifting platform can determine the starting position of the push rod assembly and the movement trajectory of the push rod assembly from the starting position to the stopping position.

[0086] Then, the lifting platform can determine the stopping position of the push rod assembly based on the starting position and movement trajectory of the push rod assembly.

[0087] Finally, the take-off and landing platform can determine the rectangular area enclosed by each push rod assembly based on the stopping position of each push rod assembly, which serves as the initial range of the UAV.

[0088] Furthermore, as mentioned earlier, given the shape and size of the inscribed rectangle corresponding to the rectangle, the pose of the inscribed rectangle can be determined. Since the center of the rectangle and its inscribed rectangle are at the same location, the take-off and landing platform can determine the pose of the UAV based on the graphic mapped onto the platform by the UAV landing gear and the aforementioned initial range.

[0089] Specifically, the take-off and landing platform can first determine the center position of the initial range as the center position of the drone.

[0090] Then, using this initial range as the center, a rectangle inscribed within the initial range is determined based on the pattern mapped onto the landing platform by the UAV landing gear. The pattern mapped onto the landing platform by the UAV landing gear is the shape enclosed by the contact points between the UAV landing gear and the landing platform.

[0091] Finally, based on the determined pose of the rectangle, the pose of the drone is determined. For example... Figure 3 As shown.

[0092] Figure 3 This diagram illustrates the determination of the initial pose of the UAV as provided in this specification. In the diagram, the rectangle enclosed by the four push rod assemblies on the landing platform represents the area where the UAV is located. Based on the size and dimensions of the shape mapped onto the landing platform by the UAV's landing gear, the rectangles shown by the dashed and gray lines in the diagram can be determined.

[0093] The two drone docking postures shown in the figure can be determined. However, the two postures are in the same position and the angular deviation between their orientation and the standard docking posture is also the same. Therefore, when the control push rod assembly pushes the drone's landing gear to adjust the drone's docking posture, the pushing strategy is the same. Therefore, the two postures can be regarded as the same posture.

[0094] In addition, the shape and size of the images mapped onto the landing platform may differ for different drone models. Therefore, in order to accurately determine the drone's docking position and attitude, the landing platform can determine the image mapped onto the drone's landing gear.

[0095] Specifically, the take-off and landing platform can receive the landing completion command sent by the UAV and determine the model of the UAV based on the UAV's identifier carried in the landing completion command.

[0096] Then, the take-off and landing platform can determine the corresponding mapping pattern for the model based on the correspondence between the various models and the patterns mapped on the take-off and landing platform.

[0097] Finally, the landing platform can use the determined mapping pattern as the mapping pattern of the UAV landing gear on the landing platform.

[0098] Of course, the identification or model of the drone docked on the take-off and landing platform can also be determined by obtaining it from the server and other methods. The specific methods for obtaining the drone model or drone identification are already relatively mature in the existing technology, and this manual will not elaborate on them.

[0099] S106: Based on the deviation between the initial pose and the preset standard docking pose, control each push rod assembly to push the UAV to adjust the UAV to the standard docking pose.

[0100] In one or more embodiments provided in this specification, the purpose of the UAV docking attitude adjustment method is to adjust the UAV's attitude to a standard docking attitude. When adjusting the UAV's attitude, the method specifically adjusts the UAV's attitude based on the deviation between the initial attitude and the standard docking attitude, thereby improving the efficiency of the UAV docking attitude adjustment.

[0101] Based on this, the take-off and landing platform can determine the deviation between the initial pose and the preset standard docking pose according to the determined initial pose and the preset standard docking pose. Specifically, the landing gear of the UAV corresponds to a rectangle on the take-off and landing platform, and the standard docking pose also corresponds to a rectangle. By adjusting the two rectangles to coincide, the UAV can be adjusted to the standard docking pose.

[0102] It should be noted that adjusting the drone to the standard docking posture includes not only the case where the shape of the drone's landing gear mapped on the take-off and landing platform coincides with the rectangle corresponding to the standard docking posture, but also the case where the difference between the rectangle corresponding to the shape of the landing gear mapped and the rectangle of the standard docking posture is less than a preset error threshold.

[0103] Specifically, the take-off and landing platform can be configured with a standard docking posture. That is, the UAV must be adjusted to this standard docking posture before it can perform operations on the platform. The standard docking posture includes the target position and the target attitude. Therefore, the take-off and landing platform can determine the target position and the target attitude contained in the standard docking posture.

[0104] Subsequently, the take-off and landing platform can determine the positional deviation of the UAV based on the difference between the target position and the docking position, and determine the angular deviation of the UAV based on the difference between the target attitude and the docking attitude.

[0105] Finally, the take-off and landing platform can determine the deviation between the initial position and the standard docking position based on the position deviation and the angle deviation.

[0106] Furthermore, the drone can perform various tasks on this take-off and landing platform, each with its own characteristics. For example, when placing deliveries, the deliveries need to be placed on one side of the platform for easy retrieval. When swapping batteries for the drone, it needs to land in the center of the platform to secure it. Therefore, for each task, a standard docking position can be preset based on its specific characteristics.

[0107] Therefore, after the drone lands on the take-off and landing platform, the platform needs to determine the business that the drone needs to perform.

[0108] Specifically, the take-off and landing platform can receive the landing completion command sent by the drone and determine the service that the drone needs to perform based on the drone's identifier carried in the landing completion command.

[0109] Then, the take-off and landing platform can determine the standard docking position corresponding to the service based on the service identifier of the service and from the pre-stored correspondence between each service identifier and each standard docking position.

[0110] Finally, the take-off and landing platform can determine the deviation between the standard docking pose and the initial pose of the UAV based on the standard docking pose and the initial pose of the UAV, and perform subsequent steps based on the deviation.

[0111] Of course, the services that the drone needs to perform when docked on the take-off and landing platform can also be determined by obtaining them from the server, etc. The specific methods for obtaining the services that the drone needs to perform on the take-off and landing platform are already relatively mature methods in the existing technology, and this manual will not elaborate on them.

[0112] Furthermore, after identifying the deviation, the server can accurately determine the motion strategy for each push rod assembly based on the deviation. Therefore, after identifying the deviation, the take-off and landing platform can control the push rod assemblies to adjust the UAV's attitude to the standard docking position based on the determined deviation.

[0113] Specifically, the take-off and landing platform can first determine the first motion strategy corresponding to each push rod component based on the angle deviation of the UAV, and control each push rod component to move according to each first motion strategy to adjust the attitude of the UAV to the target attitude.

[0114] Then, after the drone's attitude is adjusted to the target attitude, the take-off and landing platform can determine the second motion strategy corresponding to each push rod assembly to adjust the drone's position to the target position.

[0115] Finally, the take-off and landing platform can control each push rod assembly to move according to each second motion strategy until the UAV's position is adjusted to the target position.

[0116] In addition, to avoid a sudden change in the orientation of the drone after it has been adjusted to the target position during the process of adjusting the drone's position to the target position, the take-off and landing platform can adjust the drone's position first and then adjust the drone's attitude after the deviation is determined.

[0117] Specifically, the take-off and landing platform can first determine whether the position deviation is greater than a preset first deviation threshold.

[0118] If so, the take-off and landing platform can control each pusher assembly to push the drone until it reaches the target position, and then control the pusher assembly to straighten the drone, that is, adjust the drone's attitude to the standard docking attitude. The position threshold can be set as needed; for example, it can be zero, or other thresholds that ensure the drone's position difference does not exceed the position threshold without affecting its ability to perform tasks related to loading / unloading cargo, recharging energy, etc.

[0119] Among them, "pushing" means pushing the drone so that its attitude is consistent with the standard docking posture of the take-off and landing platform.

[0120] If not, the take-off and landing platform can directly control each push rod assembly to adjust the UAV to the standard docking position based on the determined angle deviation.

[0121] Furthermore, since adjusting the drone's attitude before its position takes too much time, the landing platform can simultaneously adjust the drone's docking attitude to ensure efficient adjustment. Given the known position and angle deviations, the platform can determine the control parameters for each push rod assembly using the required adjustment algorithm, and then control the movement of each push rod assembly based on these parameters.

[0122] Specifically, the lifting platform can use position and angle deviations as inputs, input a preset adjustment algorithm, and determine the corresponding control parameters for each push rod assembly. These control parameters may include output torque, travel speed, etc., and can be set as needed; this manual does not impose any restrictions on them.

[0123] based on Figure 1 The proposed method for adjusting the docking attitude of a drone involves controlling the movement of each push rod assembly when the drone is positioned on the take-off and landing platform. The initial attitude of the drone is determined based on the load on the drive mechanism connected to each push rod assembly during its movement. Then, based on the deviation between the initial attitude and a preset standard docking attitude, the push rod assemblies are controlled to propel the drone to the standard docking attitude. This solution determines the initial attitude of the drone by assessing the load on the drive mechanism connected to each push rod assembly during its movement. This allows for accurate adjustment of the drone's docking attitude based on the difference between the initial attitude and the standard docking attitude, thus improving the efficiency of drone docking attitude adjustment.

[0124] Furthermore, the faster the drone's attitude is adjusted to a standard docking position, the higher the adjustment efficiency. The greater the torque on each leg of the drone's landing gear, the faster its rotation speed. Therefore, to ensure the efficiency of drone docking attitude adjustment, the torque corresponding to each leg of the drone's landing gear can be determined during the attitude adjustment process. Specifically... Figure 4A , Figure 4B and Figure 4C As shown.

[0125] Figure 4A This diagram illustrates the force analysis of a landing gear as provided in this specification. Points A, B, C, and D are the fulcrums of the UAV's landing gear. The dashed lines AC and BD are diagonals, indicating that point P is the midpoint of the UAV's landing gear. Push rod assemblies 1 and 3 are used to push landing gear pointers A and C, while push rod assemblies 2 and 4 are used to push landing gear pointers B and D. The angular deviation between the landing gear and the standard docking posture is ∠a. Based on the preset shape and size of the image mapped onto the landing platform, the values ​​of AB, BC, AP, BP, ∠a, ∠b, ∠y, and ∠z can be determined.

[0126] Taking the rated thrust F of each push rod assembly of the UAV as an example, the forces on landing gear pivot points A and C are symmetrical (equal in magnitude but opposite in direction), and the forces on landing gear pivot points B and D are also symmetrical. Therefore, the following analysis only considers the forces on landing gear pivot points A and B. Specifically... Figure 4B and Figure 4C As shown.

[0127] Figure 4B This is a schematic diagram of the force analysis at landing gear pivot point B. In the diagram, it is assumed that the weight of the UAV is m, the coefficient of friction between the UAV's landing gear pivot point and the push rod assembly is μ1, and the coefficient of friction between the UAV's landing gear pivot point and the takeoff and landing platform is μ2.

[0128] For landing gear pivot point B, the thrust exerted by push rod assembly 2 on the UAV can be determined as F1 = F. The frictional force exerted by push rod assembly 2 on landing gear pivot point B of the UAV is F2 = F1 × μ1, and the direction of F2 is parallel to the push rod assembly, opposite to the instantaneous motion tendency of point B perpendicular to the thrust direction. The frictional force between landing gear pivot point B of the UAV and the landing platform is... Furthermore, the direction of F3 is opposite to the instantaneous motion trend of point B in the direction perpendicular to BP. Based on this, the torque generated when push rod assembly 2 and push rod assembly 4 apply thrust to the UAV is M. P1 = 2×(F1×BP×siny-F2×BP×cosy-F3×BP).

[0129] Figure 4C This is a schematic diagram of the force analysis at landing gear fulcrum A. Figure 4B Similarly, in the figure, we assume that the weight of the drone is m, the coefficient of friction between the drone's landing gear pivot and the push rod assembly is μ1, and the coefficient of friction between the drone's landing gear pivot and the take-off and landing platform is μ2.

[0130] For landing gear pivot point A, the thrust exerted by push rod assembly 1 on the UAV is F4 = F. The frictional force exerted by push rod assembly 1 on landing gear pivot point A of the UAV is F5 = F1 × μ1, and the direction of F5 is parallel to push rod assembly 1, opposite to the instantaneous motion tendency of point A perpendicular to the thrust direction. The frictional force between the UAV's landing gear pivot point and the landing platform is... Furthermore, the direction of F6 is opposite to the instantaneous motion trend of point A in the direction perpendicular to AP. Based on this, the torque generated when push rod assembly 1 and push rod assembly 3 apply thrust to the drone is M. P2 =2×(F1×AP×sinz-F2×AP×cosz-F3×AP).

[0131] Furthermore, the total torque generated when the four push rod assemblies simultaneously apply thrust to the four landing gear pivots of the UAV is M.P =M P1 +M P2 As can be seen from the above formula, the greater the drone's attitude deviation, the smaller the torque corresponding to the push rod assembly, and the longer the time required for propulsion.

[0132] It should be noted that if the rectangle corresponding to the drone's landing gear is a square, and ∠y and ∠z are equal, then M... P1 =M P2 The total torque generated when the four push rod assemblies simultaneously apply thrust to the four landing gear pivots of the UAV is M. P =2×M P1 .

[0133] Furthermore, since images can more intuitively illustrate the relationship between torque and the UAV's pose deviation, the relationship between torque and pose deviation can be determined based on the aforementioned torque formula. Figure 5 and Figure 6 As shown.

[0134] Figure 5 This is a schematic diagram of the torque versus angle deviation curve provided in this specification. Figure 5 In the diagram, the rectangle corresponding to the drone's landing gear is a rectangle. (Black dashed line M) P1 The curve showing the variation between torque and angular deviation when the drone is in its standard docking position, corresponding to the short side of the landing gear push rod assembly, as the drone is propelled. (Black solid line M) P2 This plot shows the curves depicting the changes in torque and angular deviation when the drone is in its standard docking position, as the push rod assembly corresponding to the long side of the landing gear pushes the drone. The distance between any two parallel push rod assemblies differs when they contact the drone's landing gear. (Gray solid line M) P The figure shows the relationship between the torque and angular deviation of each push rod assembly simultaneously driving the drone's landing gear. In the figure, when the angular deviation corresponding to the drone is less than a1, the torque of each push rod assembly simultaneously driving the drone's landing gear is greater than the torque of the push rod assembly corresponding to the short-side landing gear or the push rod assembly corresponding to the long-side landing gear. When the angular deviation corresponding to the drone is greater than a1, the torque of the long-side push rod assembly driving the drone's landing gear is the largest. Therefore, a1 is the angular threshold.

[0135] Furthermore, this manual applies to situations where the angular deviation of the UAV is less than a risk threshold. This risk threshold indicates that when the angular deviation of the UAV is at the risk threshold, even if the UAV is corrected, its attitude will not change. Specifically, it can be seen as follows... Figure 5 The angle deviations corresponding to the intersection points of each variation curve and the line segment where the torque is 0 are shown in the diagram. The solid black line M represents this. P2Taking the intersection point a3 of the line segment corresponding to zero torque as an example, when the angle difference corresponding to the drone is determined to be greater than a1 and less than a3, the long-side push rod assembly can be controlled to push the drone. When the angle difference corresponding to the drone is not less than a3, the torque is negative and the drone cannot be pushed, then the take-off and landing platform can send an alarm.

[0136] Figure 6 This is a schematic diagram of the torque versus angle deviation curve provided in this specification. Figure 6 In the image, the rectangle corresponding to the drone's landing gear is a square, indicated by the solid black line M. P1 M P2 This shows the curves relating torque and angular deviation for each push rod assembly. When a push rod assembly contacts the UAV's landing gear, the distance between any two parallel push rod assemblies is equal. (Gray solid line M) P The figure shows the relationship between the torque and angular deviation of each push rod assembly simultaneously driving the drone's landing gear. In the figure, when the angular deviation of the drone is less than a2, the torque of each push rod assembly simultaneously driving the drone is greater than the torque of any single parallel push rod assembly. Therefore, when the angular deviation is less than a2, controlling each push rod assembly to simultaneously drive the drone's landing gear column is the optimal choice.

[0137] Similarly, based on Figure 6 It can be determined that when the angular deviation of the drone is greater than a2, the push rod components cannot push the drone's landing gear column, and the drone docking equipment can send an alarm so that the staff can make manual adjustments.

[0138] Based on this, in one or more embodiments of this specification, when the take-off and landing device determines that the position deviation is less than a preset first deviation threshold and corrects the drone based solely on the angle deviation, it can determine the distance between two sets of parallel push rod assemblies in the push rod assembly to obtain a first distance and a second distance. When the angle deviation is greater than the determined angle threshold, i.e., the second deviation threshold, and the first distance is not equal to the second distance, i.e., the rectangle is rectangular, the take-off and landing device can determine the push rod assembly with the smaller distance between the first distance and the second distance, control the determined push rod assembly with the smaller distance to push the drone, redetermine the angle deviation, until the redetermined angle deviation is not greater than the angle threshold, and then control each push rod assembly of the push rod assembly to push the drone until the drone is corrected.

[0139] When the angular deviation is not greater than the preset angular threshold, or when the first spacing is equal to the second spacing, the push rod assembly in the control of the take-off and landing platform pushes the drone until the drone is upright.

[0140] That is, when the rectangle corresponding to the drone is a rectangle and the angular deviation of the drone is not greater than the angular threshold, the take-off and landing equipment can control all push rod components to push the drone until the drone is straightened.

[0141] Alternatively, when the first spacing equals the second spacing (i.e., the rectangle corresponding to the drone is a square), and the angular deviation is not greater than the angular threshold, the take-off and landing equipment can control all push rod assemblies to push the drone until it is upright. Of course, the angular threshold may differ when the rectangle corresponding to the drone is a square versus when it is a rectangle.

[0142] The above describes the method for adjusting the docking attitude of a UAV as provided in this manual. Based on the same idea, this manual provides a new take-off and landing platform, such as... Figure 7 As shown.

[0143] Figure 7 This is a schematic diagram of the take-off and landing platform provided in this specification. The platform includes a control unit, multiple drive mechanisms, and multiple push rod assemblies arranged in a rectangle. Each push rod assembly is connected to a different drive mechanism, and each push rod assembly has a different starting position and direction of movement. Each drive mechanism communicates bidirectionally with the control unit. The diagram illustrates four drive mechanisms and four push rod assemblies as an example; each of the four drive mechanisms and the control unit can communicate bidirectionally. The drive mechanisms may include motors and motor drivers.

[0144] This control unit can determine when the drone has docked at the take-off and landing platform and send drive commands to each drive mechanism.

[0145] Each drive mechanism can control the movement of its connected push rod assembly according to the received drive commands.

[0146] This control unit can monitor the load of each drive mechanism and send a stop command to the drive mechanism when the load of the drive mechanism exceeds a preset threshold.

[0147] This drive mechanism can control the push rod assembly connected to it to stop moving based on the received stop command.

[0148] The control unit can determine the initial pose of the drone based on the stopping position of each push rod assembly, and send drive commands to each drive mechanism based on the deviation between the initial pose and the preset standard docking pose, thereby controlling each push rod assembly to push the drone.

[0149] This drive mechanism can control the push rod assembly connected to it to move according to the received drive commands until the drone is adjusted to a standard docking position.

[0150] For a detailed description of the control unit and drive mechanism, please refer to the description of the take-off and landing platform in steps S100 to S106 above. The drive mechanism is the same as the drive mechanism described above, and will not be repeated here.

[0151] In one or more embodiments of this specification, the motor used in the lifting platform can be configured as needed, for example, a servo motor can be used. Of course, other motors can also be selected as needed, and the specific configuration can be made according to requirements. Furthermore, the drive mechanism in this specification can also be a device powered by other energy sources such as a diesel engine or a gasoline engine. The specific type of drive mechanism can be configured as needed, and this specification does not limit this.

[0152] Furthermore, since each push rod assembly needs to move to propel the drone or return it to its original position after being righted, each push rod assembly can be connected to the take-off and landing platform via a movable component. This movable component may include a first movable component and a second movable component. The first movable component is connected to the take-off and landing platform, and the second movable component is connected to both the first movable component and the push rod assembly.

[0153] Figure 8 This diagram illustrates the connection between a movable component and a push rod assembly, as provided in this specification. The diagram uses a single push rod assembly as an example. As shown, the drive mechanism is connected to the first movable component via a transmission shaft. The second movable component is connected to both the first movable component and the push rod assembly. When the push rod assembly is in operation, the drive mechanism drives the two symmetrically arranged first movable components via the transmission shaft. The first movable components then drive the second movable component, which in turn drives the push rod assembly, enabling the push rod to move parallel to the ground.

[0154] The first moving component can be a component consisting of a timing belt and pulleys, or other components capable of driving the push rod to move. The second moving component and the push rod assembly can be connected via an adapter bracket. The transmission shaft can be fixedly connected to one of the pulleys in the first moving component via a coupling. Of course, how the first moving component drives the second moving component, how the second moving component connects to the push rod assembly, and how the transmission shaft drives the first moving component can be set as needed, and this specification does not impose any restrictions on this.

[0155] Figure 9 This is a schematic diagram of a UAV docking attitude adjustment device provided in this specification. The take-off and landing platform is equipped with multiple push rod assemblies arranged in a rectangle. Each push rod assembly is connected to a different drive mechanism, and the starting position and direction of movement of each push rod assembly are different, including:

[0156] The moving module 200 is used to control the movement of each push rod assembly when the UAV docks at the take-off and landing platform.

[0157] The stop module 202 is used to control the push rod assembly to stop moving when the load of the drive mechanism connected to the push rod assembly exceeds a preset load threshold.

[0158] The pose determination module 204 is used to determine the initial pose of the UAV based on the stop position of each push rod assembly.

[0159] The adjustment module 206 is used to control each push rod assembly to push the UAV according to the deviation between the initial pose and the preset standard docking pose, so as to adjust the pose of the UAV.

[0160] Optionally, the pose determination module 204 is used to determine the area enclosed by each push rod assembly as the initial range of the UAV based on the stopping position of each push rod assembly. The initial range is circumscribed by the landing gear of the UAV. The docking position of the UAV is determined based on the center position of the initial range. The UAV landing gear is mapped onto the landing platform, and the initial range is used to determine the orientation of the UAV as the docking attitude. The UAV landing gear is mapped onto the landing platform as the shape enclosed by the contact points between the UAV landing gear and the landing platform. The docking position and the docking attitude are used as the initial pose of the UAV.

[0161] Optionally, the adjustment module 206 is used to determine the target position and target attitude included in the standard docking pose, determine the position deviation of the UAV based on the difference between the target position and the docking position, determine the angle deviation of the UAV based on the difference between the target attitude and the docking attitude, and determine the deviation between the initial pose and the standard docking pose based on the position deviation and the angle deviation.

[0162] Optionally, the adjustment module 206 is used to determine whether the position deviation is greater than a preset deviation threshold. When the position deviation is not greater than the deviation threshold, the spacing between two sets of parallel push rod assemblies in each push rod assembly is determined to obtain a first spacing and a second spacing. When the angle deviation is greater than the preset second deviation threshold and the first spacing and the second spacing are not equal, the push rod assembly with the smaller spacing between the first spacing and the second spacing is determined, and the determined push rod assembly is controlled to push the drone, and the angle deviation is re-determined until the re-determined angle deviation is not greater than the second deviation threshold. Then, the push rod assemblies are controlled to push the drone until the drone is upright. When the angle deviation is not greater than the second deviation threshold, or the first spacing and the second spacing are equal, the push rod assemblies are controlled to push the drone until the drone is upright.

[0163] Optionally, the adjustment module 206 is used to determine the service that the UAV needs to perform when docking on the take-off and landing platform. There are multiple services performed on the take-off and landing platform, and each service corresponds to a different standard docking pose. Based on the service identifier of the service, the standard docking pose corresponding to the service is determined from the pre-stored correspondence between each service identifier and each standard docking pose, and used as the standard docking pose of the UAV.

[0164] Optionally, the pose determination module 204 is used to receive the landing completion command sent by the UAV, and determine the model corresponding to the UAV through the UAV identifier carried in the landing completion command. Based on the model, it determines the mapped graphic corresponding to the model from the pre-stored correspondence between each model and each graphic mapped by the UAV on the take-off and landing platform, and uses it as the graphic mapped by the UAV landing gear on the take-off and landing platform.

[0165] This specification also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... Figure 1 A method for adjusting the docking posture of a drone is provided.

[0166] This instruction manual also provides Figure 10 The one shown corresponds to Figure 1 A schematic structural diagram of the take-off and landing platform. (See attached diagram.) Figure 10 At the hardware level, the takeoff and landing platform includes a processor, internal bus, network interface, memory, and non-volatile memory, and may also include other hardware required for various operations. The processor reads the corresponding computer program from the non-volatile memory into memory and then executes it to achieve the above-mentioned functions. Figure 1 The method for adjusting the docking posture of the UAV described above. Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software, etc. In other words, the execution subject of the following processing flow is not limited to individual logic units, but can also be hardware or logic devices.

[0167] In the 1990s, improvements to a technology could be clearly distinguished as either hardware improvements (e.g., improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the methodology). However, with technological advancements, many methodological improvements today can be considered direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved methodology into the hardware circuit. Therefore, it cannot be said that a methodological improvement cannot be implemented using hardware physical modules. For example, a Programmable Logic Device (PLD) (such as a Field Programmable Gate Array (FPGA)) is such an integrated circuit whose logic function is determined by the user programming the device. Designers can program and "integrate" a digital system onto a PLD themselves, without needing chip manufacturers to design and manufacture dedicated integrated circuit chips. Furthermore, nowadays, instead of manually manufacturing integrated circuit chips, this programming is mostly implemented using "logic compiler" software. Similar to the software compiler used in program development, the original code before compilation must be written in a specific programming language, called a Hardware Description Language (HDL). There are many HDLs, 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, and RHDL (Ruby Hardware Description Language). Currently, the most commonly used are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should understand that by simply performing some logic programming on the method flow using one of these hardware description languages ​​and programming it into an integrated circuit, the hardware circuit implementing the logical method flow can be easily obtained.

[0168] The controller can be implemented in any suitable manner. For example, it can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicon Labs C8051F320. A memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art will also recognize that, in addition to implementing the controller in purely computer-readable program code form, the same functionality can be achieved by logically programming the method steps to make the controller take the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, such a controller can be considered a hardware component, and the means included therein for implementing various functions can also be considered as structures within the hardware component. Alternatively, the means for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0169] The systems, devices, modules, or units described in 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, a computer can be, for example, a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or any combination of these devices.

[0170] For ease of description, the above devices are described in terms of function, divided into various units. Of course, in implementing this specification, the functions of each unit can be implemented in one or more software and / or hardware components.

[0171] Those skilled in the art will understand that embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0172] This specification is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this specification. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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 processor, 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 a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0173] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0174] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0175] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0176] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0177] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0178] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0179] Those skilled in the art will understand that the embodiments of this specification can be provided as methods, systems, or computer program products. Therefore, this specification may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this specification may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0180] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0181] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0182] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A method for adjusting the docking posture of an unmanned aerial vehicle (UAV), characterized in that, The take-off and landing platform is equipped with multiple push rod assemblies arranged in a rectangle. Each push rod assembly is connected to a different drive mechanism, and the starting position and direction of movement of each push rod assembly are different, including: Once the drone has docked at the take-off and landing platform, control the movement of each push rod assembly; For each push rod assembly, when the load on the drive mechanism connected to the push rod assembly exceeds a preset load threshold, the push rod assembly is controlled to stop moving; The initial pose of the UAV is determined based on the stopping positions of each push rod assembly; Based on the deviation between the initial pose and the preset standard docking pose, control each push rod assembly to push the UAV to adjust the UAV to the standard docking pose; The step of determining the initial pose of the UAV based on the stopping positions of each push rod assembly includes: Determine the stop position of each push rod assembly; Based on the stopping position of each push rod assembly, the rectangular area enclosed by each push rod assembly is determined as the initial range of the UAV. Based on the pattern mapped onto the take-off and landing platform by the UAV landing gear, a rectangle inscribed within the initial range is determined, wherein the pattern is the shape enclosed by the contact points between the UAV landing gear and the take-off and landing platform. The initial pose of the UAV is determined based on the pose of the determined rectangle.

2. The method as described in claim 1, characterized in that, The initial pose of the UAV is determined based on the stopping positions of each push rod assembly, specifically including: Based on the stopping position of each push rod assembly, the area enclosed by each push rod assembly is determined as the initial range of the UAV, and the initial range is connected to the landing gear of the UAV. The docking position of the UAV is determined based on the center position of the initial range; Based on the pattern mapped onto the take-off and landing platform by the UAV landing gear and the initial range, the orientation of the UAV is determined as the parking attitude of the UAV. The pattern mapped onto the take-off and landing platform by the UAV landing gear is the pattern enclosed by the contact points between the UAV landing gear and the take-off and landing platform. The docking position and the docking attitude are used as the initial pose of the UAV.

3. The method as described in claim 2, characterized in that, Determining the deviation between the initial pose and the standard docking pose specifically includes: Determine the target position and target attitude contained in the standard docking pose, respectively; The position deviation of the UAV is determined based on the difference between the target position and the docking position; The angle deviation of the UAV is determined based on the difference between the target attitude and the docking attitude; The deviation between the initial pose and the standard docking pose is determined based on the position deviation and the angle deviation.

4. The method as described in claim 3, characterized in that, Controlling each push rod assembly to push the drone specifically includes: Determine whether the positional deviation is greater than a preset first deviation threshold; When the positional deviation is not greater than the first deviation threshold, the spacing between two sets of mutually parallel push rod assemblies in each push rod assembly is determined to obtain the first spacing and the second spacing. When the angle deviation is greater than the preset second deviation threshold, and the first spacing and the second spacing are not equal, a set of push rod components with a smaller spacing between the first spacing and the second spacing is determined, and the determined set of push rod components is controlled to push the drone, and the angle deviation is re-determined until the re-determined angle deviation is not greater than the second deviation threshold. Then, each push rod component is controlled to push the drone until the drone is straightened. When the angular deviation is not greater than the second deviation threshold, or when the first spacing and the second spacing are equal, control each push rod assembly to push the drone until the drone is upright.

5. The method as described in claim 1, characterized in that, Determining the standard docking position specifically includes: The service to be performed by the UAV when docked on the take-off and landing platform is determined. There are multiple services to be performed on the take-off and landing platform, and each service corresponds to a different standard docking posture. Based on the service identifier of the service, the standard docking pose corresponding to the service is determined from the pre-stored correspondence between each service identifier and each standard docking pose, and is used as the standard docking pose of the UAV.

6. The method as described in claim 2, characterized in that, Determining the graphic mapping of the UAV landing gear on the take-off and landing platform specifically includes: Receive the landing completion command sent by the drone, and determine the model of the drone by the drone identifier carried in the landing completion command; Based on the model number, the corresponding mapping pattern for that model number is determined from the pre-stored correspondence between each model number and each pattern mapped by the UAV on the take-off and landing platform, and is used as the mapping pattern of the UAV landing gear on the take-off and landing platform.

7. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method described in any one of claims 1 to 6.

8. A take-off and landing platform, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the method described in any one of claims 1 to 6.

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