Unmanned aerial vehicle parking system and method

Abstract

The invention relates to the technical field of unmanned aerial vehicle strong wind parking, and discloses an unmanned aerial vehicle parking system and method.The unmanned aerial vehicle parking system comprises an acquisition unit, a judgment unit, a center unit, a correction unit, an image unit and a manual unit; the judgment unit receives data collected by the collection unit and calculates a judgment value P. When the center unit receives a transfer instruction, the image unit collects images around a site, the center unit receives a parking instruction to control the unmanned aerial vehicle to be parked in strong wind, and the manual unit controls the unmanned aerial vehicle to go to a preset destination. Whether the unmanned aerial vehicle can be parked in the strong wind weather or not is judged, the unmanned aerial vehicle is prevented from being damaged due to forced parking in the weather with too large wind power, the unmanned aerial vehicle is controlled to fly and move in the strong wind weather without parking, damage is avoided, the unmanned aerial vehicle can be parked in the strong wind weather, and the unmanned aerial vehicle can be intelligently adjusted and kept in the parking state.

Description

Technical Field

[0001] The present invention relates to the technical field of strong wind parking of unmanned aerial vehicles (UAVs), and more particularly to a parking system and method for unmanned aerial vehicles (UAVs). Background Art

[0002] A drone is an unmanned aircraft controlled by a radio remote control device and a self-contained program control device, or operated completely or intermittently autonomously by an onboard computer. The application of drones in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, etc., has greatly expanded the use of drones themselves;

[0003] When a drone is in use, it often needs to be parked in the air to complete its work tasks. When the drone is in a parked state, it is convenient for it to collect various data. When the drone is landing, it is generally in a vertical descent mode. Therefore, it needs to maintain the parked state first, and then slowly descend to finally complete the landing of the drone. Therefore, maintaining the parked state of the drone plays an important role;

[0004] Today's drones are affected by the surrounding environment when they are parked, and are particularly susceptible to external winds. When a drone encounters strong winds, it will shake under the action of the wind or even be blown away. At this time, it is impossible to collect data normally. Moreover, under the action of strong winds, when it lands, it cannot maintain a stable state and will collide with the parking platform, which can easily cause damage to the drone itself. Summary of the invention

[0005] In order to overcome the above-mentioned defects of the prior art, the implementation regulations of the present invention provide a drone parking system and method to solve the technical problems raised in the background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a drone parking system, comprising a collection unit, a judgment unit, a central unit, a correction unit, an image unit and a manual unit, wherein the collection unit collects wind data information in the environment when the drone is flying, the judgment unit receives the data collected by the collection unit and calculates a judgment value P, and the judgment unit compares the judgment value P with its internal parking threshold TY and then sends a transfer instruction and a parking instruction to the central unit, when the central unit receives the transfer instruction, the image unit collects images around the scene, and the central unit receives the images collected by the image unit to control the drone to move, the central unit receives the parking instruction to control the drone to park in strong wind, and the manual unit controls the drone to go to a preset destination;

[0007] The collection unit collects wind force data information FL, wind speed data information FS and wind direction data information FX at the anchorage, and the collection unit collects wind direction change angle data JD at the anchorage every five seconds. The collection unit sends all the collected data information to the determination unit, and the determination unit receives the data sent by the collection unit and calculates the determination value P. The calculation formula of the determination value P is In the formula, k1 and k2 are both weights, and 0≤k1≤1, 0≤k2≤1.

[0008] In a preferred embodiment, the determination unit compares the calculated determination value P with its internal parking threshold TY. When the determination value P>parking threshold TY, the determination unit sends a transfer instruction to the central unit. When the determination value P≤parking threshold TY, the determination unit sends a parking instruction to the central unit, and the collection unit synchronously sends the collected data to the central unit.

[0009] In a preferred embodiment, the central unit receives the parking instruction and the data sent by the collection unit, and the central unit first receives the wind direction data information FX, and the central unit controls the forward direction of the UAV to be in the opposite direction of the wind direction data information FX, and the central unit receives the wind direction change angle data JD, and the central unit controls the forward direction of the UAV to be adjusted in the opposite direction of the wind direction change angle data JD.

[0010] In a preferred embodiment, the central unit calculates the initial flight power DL required for the drone to park. The calculation formula for the initial flight power DL is: Wherein BZ is the power required for the drone to hover under windless conditions, C is a constant correction coefficient, and the central unit uses the calculated initial flight power DL to control the drone to be in a parked state.

[0011] In a preferred embodiment, the central unit sends the calculated initial flight power DL to the correction unit, the correction unit collects and receives the initial flight power DL and collects the initial position information of the UAV when it is parked, and the correction unit collects the distance difference data JL between the current position and the initial position of the UAV every second.

[0012] In a preferred embodiment, the correction unit calculates the corrected flight power XD, and the calculation formula of the corrected flight power XD is XZ=DL±CS×JL, wherein CS is the power parameter required for the flight distance difference data JL, and the product of the power parameter CS and the flight distance difference data JL is the power required for flight JL, the distance difference data JL is a positive number when it is in the same direction as the wind direction, and the distance difference data JL is a negative number when it is in opposite directions, and the correction unit replaces the initial flight power DL with the corrected flight power XD to control the drone to park.

[0013] In a preferred embodiment, before the central unit receives the transfer instruction and controls the movement of the drone, the central unit sends an identification instruction to the image unit, the image unit receives the identification instruction and performs image recognition on the surroundings of the drone, the image unit sends the direction data with the least objects to the central unit, the central unit receives the direction data sent by the image unit and controls the drone to move in that direction, and when the manual unit directly controls the flight direction of the drone, the priority of the manual unit is higher than that of the central unit.

[0014] In a preferred embodiment, when the central unit controls the UAV to move, the collection unit is in a real-time collection state, the determination unit receives the data collected by the collection unit in real time and calculates the determination value P, when the determination value P calculated by the determination unit is ≤ the parking threshold TY, the determination unit sends a parking instruction to the central unit, when the determination value P calculated by the determination unit is > the parking threshold TY, the central unit controls the UAV to continue flying until the determination value P calculated by the determination unit is ≤ the parking threshold TY.

[0015] A method for parking a drone comprises the following steps:

[0016] Step S1, the collection unit collects wind force data information FL, wind speed data information FS, wind direction data information FX and wind direction change angle data JD at the anchorage;

[0017] Step S2, the judgment unit receives all the data collected by the collection unit and calculates the judgment value P. When the judgment value P> the parking threshold TY, the judgment unit sends a transfer instruction to the central unit. When the judgment value P≤ the parking threshold TY, the judgment unit sends a parking instruction to the central unit.

[0018] Step S3: The central unit receives the transfer instruction and sends a recognition instruction to the image unit. The image unit receives the recognition instruction and performs image recognition on the surrounding areas.

[0019] Step S4: The central unit controls the drone to move in the direction with the least objects;

[0020] Step S5, the central unit receives the parking instruction, controls the forward direction of the UAV to be the opposite direction of the wind direction data information FX, and the forward direction of the UAV is adjusted in the opposite direction of the wind direction change angle data JD;

[0021] Step S6: The central unit controls the UAV to park with the initial flight power DL, and the correction unit controls the UAV to park with the corrected flight power XD instead of the initial flight power DL.

[0022] Technical effects and advantages of the present invention:

[0023] 1. The present invention determines whether the drone can be parked in strong wind weather to avoid damage to the drone due to forced parking in windy weather. In strong wind weather where the drone cannot be parked, the drone can be controlled to fly and move to avoid being in the dangerous strong wind air for a long time and causing the drone to fall and be damaged. The drone can be parked in strong wind weather, and the drone can be adjusted intelligently to maintain the parked state.

[0024] 2. The present invention collects wind force data information FL, wind speed data information FS and wind direction data information FX, and collects wind direction change angle data JD. The calculated judgment value P can accurately reflect the current external wind conditions. When the judgment value P> the parking threshold TY, it means that the current external wind conditions exceed the parking adjustment limit of the drone. At this time, the drone is controlled to transfer to avoid problems with the drone. When the judgment value P≤ the parking threshold TY, the drone can be parked to avoid accidents caused by parking under strong wind conditions exceeding the limit.

[0025] 3. The present invention understands the wind direction data information FX, adjusts its own forward direction to the opposite direction of the central unit wind direction data information FX, and improves the adjustment speed of the UAV. The calculated initial flight power DL will be automatically adjusted according to the changes in the external wind, thereby ensuring that the UAV is dynamically adjusted and always remains relatively stable when parked. After the initial flight power DL is used to control the UAV for initial parking, the modified flight power XD is subsequently used to control the UAV for parking, ensuring that the UAV is always in an adjustment state, making it more stable when parked, and avoiding continuous deviation after being parked for a period of time in the wind. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall system composition of the present invention.

[0027] Figure 2 The figure is a schematic diagram of the flow of the UAV parking method of the present invention. DETAILED DESCRIPTION

[0028] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. In addition, the forms of the various structures recorded in the following embodiments are merely illustrative. The drone parking system and method involved in the present invention are not limited to the various structures recorded in the following embodiments. All other implementations obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] Reference Figure 1The present invention provides a drone parking system, including a collection unit, a judgment unit, a central unit, a correction unit and an image unit, wherein the collection unit collects wind data information in the environment when the drone is flying, the judgment unit receives the data collected by the collection unit and calculates a judgment value P, and the judgment unit compares the judgment value P with its internal parking threshold TY and then sends a transfer instruction and a parking instruction to the central unit, when the central unit receives the transfer instruction, the image unit collects images around the scene, and the central unit receives the images collected by the image unit to control the drone to move, the central unit receives the parking instruction to control the drone to park in strong wind, and the manual unit controls the drone to go to a preset destination.

[0030] In an embodiment of the present application, when the drone of the present application is to be parked in strong wind weather, it is first determined whether it is possible to park in the strong wind weather to avoid damage to the drone due to forced parking in windy weather. In strong wind weather where it is impossible to park, the drone will be controlled to fly and move to avoid being in the dangerous strong wind air for a long time and causing the drone to fall and be damaged. If the drone can be parked in the strong wind weather, the drone will be kept in the parked state to avoid damage to the drone.

[0031] Furthermore, the collection unit collects wind force data information FL, wind speed data information FS and wind direction data information FX at the anchorage, and the collection unit collects wind direction change angle data JD at the anchorage every five seconds. The collection unit sends all the collected data information to the determination unit, and the determination unit receives the data sent by the collection unit and calculates the determination value P. The calculation formula of the determination value P is Wherein k1 and k2 are both weights, and 0≤k1≤1, 0≤k2≤1. The determination unit compares the calculated determination value P with its internal parking threshold TY. When the determination value P>parking threshold TY, the determination unit sends a transfer instruction to the central unit. When the determination value P≤parking threshold TY, the determination unit sends a parking instruction to the central unit, and the collection unit synchronously sends the collected data to the central unit.

[0032] In the embodiment of the present application, when the drone needs to park, firstly, the wind force data information FL, wind speed data information FS and wind direction data information FX are collected, and the wind direction change angle data JD is collected. The wind force data information FL and wind speed data information FS can be used to understand the wind conditions of the environment, and the wind direction change angle data JD can be used to understand the degree of change of the wind direction. If the wind force data information FL and the wind speed data information FS are large and exceed the limit of the drone, the drone cannot be parked. When the wind direction change angle data JD changes at a high frequency, the drone cannot be adjusted quickly, causing the drone to park in the wind and fall. Therefore, the present application adopts the wind force data information FL, wind speed data information FS and wind direction change angle data. The judgment value P calculated from the three types of angle data JD can accurately reflect the current external wind conditions. When the judgment value P>parking threshold TY, it means that the current external wind conditions exceed the adjustment limit of the drone's parking. At this time, the drone is controlled to transfer to avoid problems with the drone. When the judgment value P≤parking threshold TY, the drone can be parked. Therefore, the present application first analyzes the external wind environment so that the drone can be parked when external conditions permit, avoiding accidents caused by parking under strong wind conditions that exceed the limit. In the calculation formula of the judgment value P, the wind direction change angle data JD takes its absolute value for calculation, because when the wind direction changes, the change in any direction has the same impact on the drone.

[0033] Further, the central unit receives the parking instruction and the data sent by the acquisition unit, and the central unit first receives the wind direction data information FX, and the central unit controls the forward direction of the UAV to be the opposite direction of the wind direction data information FX, and the central unit receives the wind direction change angle data JD, and the central unit controls the forward direction of the UAV to be adjusted in the opposite direction of the wind direction change angle data JD, and the central unit calculates the initial flight power DL required for the UAV to park, and the calculation formula of the initial flight power DL is: Wherein BZ is the power required for the drone to hover under windless conditions, C is a constant correction coefficient, and the central unit uses the calculated initial flight power DL to control the drone to be in a parked state.

[0034] In the embodiment of the present application, the central unit first receives the wind direction data information FX. When the drone is in a parked state, it will move with the wind direction under the influence of the wind direction. Therefore, the present application first understands the wind direction data information FX. The drone can first adjust its own forward direction to the opposite direction of the wind direction data information FX of the central unit to improve the adjustment speed of the drone, which is conducive to ensuring the stability of the drone when parked. When the drone is adjusted under the wind, the initial flight power DL is used to calculate the power it needs. When calculating the initial flight power DL, cosJD is used in the denominator because the cos function outputs the angle value. Within the range of one hundred and eighty degrees, the smaller the angle, the larger the output value. Within the range of negative one hundred and eighty degrees, the closer the angle is to zero, the larger the output value. The positive and negative respectively represent the two directions of wind direction change. At this time, the larger the angle of change, the smaller the value output by the cos function. Therefore, the larger the final calculated initial flight power DL is, which can ensure the stability of the UAV when parked. Adding 2 after cosJD prevents the cos function from outputting zero and making it impossible to calculate. Therefore, the initial flight power DL calculated in this application will automatically adjust according to changes in the external wind, thereby ensuring that the UAV is dynamically adjusted and always remains relatively stable when parked.

[0035] Further, the central unit sends the calculated initial flight power DL to the correction unit, the correction unit collects and receives the initial flight power DL and collects the initial position information of the UAV when it is parked, the correction unit collects the distance difference data JL between the current position and the initial position of the UAV every second, and the correction unit calculates the corrected flight power XD. The calculation formula of the corrected flight power XD is XZ=DL±CS×JL, where CS is the power parameter required for the flight distance difference data JL, and the product of the power parameter CS and the flight distance difference data JL is the power required for the flight JL, the distance difference data JL is a positive number when it is in the same direction as the wind direction, and is a negative number when it is in the opposite direction to the wind direction, and the correction unit replaces the initial flight power DL with the corrected flight power XD to control the UAV to park.

[0036] In the embodiment of the present application, the initial flight power DL is the power of the drone during the initial parking. After the drone is parked, a certain degree of error will occur. Therefore, the present application will collect the error caused by the parking of the drone, that is, the distance difference data JL between the current position and the initial position of the drone, and when the distance difference data JL between the current position and the initial position of the drone is in the same direction as the direction, it means that the power given by the drone at this time is small, and the power of the drone cannot offset the wind force, so more power is needed. At this time, the distance difference data JL is taken as a positive number, so that the value calculated by the corrected flight power XD becomes larger, thereby ensuring the stability of the drone during parking. When the distance difference data JL between the current position and the initial position of the drone is in a different direction from the direction, it means that the power given by the drone at this time is too large, and the distance difference data JL is taken as a negative number. After the present application controls the drone for initial parking through the initial flight power DL, the corrected flight power XD is subsequently used to control the drone for parking, thereby ensuring that the drone is always in an adjustment state, making it more stable when parking, and avoiding the continuous deviation after it has been parked in the wind for a period of time.

[0037] Furthermore, before the central unit receives the transfer instruction and controls the movement of the drone, the central unit sends an identification instruction to the image unit, the image unit receives the identification instruction and performs image recognition on the surroundings of the drone, the image unit sends the direction data with the least objects to the central unit, the central unit receives the direction data sent by the image unit and controls the drone to move along the direction, when the manual unit directly controls the flight direction of the drone, the priority of the manual unit is higher than the priority of the central unit, when the central unit controls the drone to move, the collection unit is in a real-time collection state, the determination unit receives the data collected by the collection unit in real time and calculates the determination value P, when the determination value P calculated by the determination unit is ≤ the parking threshold TY, the determination unit sends a parking instruction to the central unit, when the determination value P calculated by the determination unit is > the parking threshold TY, the central unit controls the drone to continue flying until the determination value P calculated by the determination unit is ≤ the parking threshold TY.

[0038] In the embodiment of the present application, when the drone is unable to park at this time, it means that the drone is in a relatively dangerous state in the air. At this time, the image unit performs image recognition on the surroundings of the drone's location. In a strong wind environment, when the drone encounters a building, the possibility of collision with the building will increase. Therefore, the present application will automatically identify the direction with fewer buildings and control the drone to move in that direction. However, when the owner of the drone wants to control the drone to a certain location at this time, the priority of the manual unit is higher than that of the central unit, and the drone will be directly controlled to go to the destination. When the drone is moving, the collection unit is in a real-time collection state, so that the drone automatically selects a suitable position. When a suitable position is selected, that is, when the judgment value P calculated by the judgment unit is ≤ the parking threshold TY, it can be chosen whether to park, which makes the drone of the present application more flexible when parking.

[0039] Reference Figure 2 , a drone parking method, comprising the following steps:

[0040] Step S1, the collection unit collects wind force data information FL, wind speed data information FS, wind direction data information FX and wind direction change angle data JD at the anchorage;

[0041] Step S2, the judgment unit receives all the data collected by the collection unit and calculates the judgment value P. When the judgment value P> the parking threshold TY, the judgment unit sends a transfer instruction to the central unit. When the judgment value P≤ the parking threshold TY, the judgment unit sends a parking instruction to the central unit.

[0042] Step S3: The central unit receives the transfer instruction and sends a recognition instruction to the image unit. The image unit receives the recognition instruction and performs image recognition on the surrounding areas.

[0043] Step S4: The central unit controls the drone to move in the direction with the least objects;

[0044] Step S5, the central unit receives the parking instruction, controls the forward direction of the UAV to be the opposite direction of the wind direction data information FX, and the forward direction of the UAV is adjusted in the opposite direction of the wind direction change angle data JD;

[0045] Step S6: The central unit controls the UAV to park with the initial flight power DL, and the correction unit controls the UAV to park with the corrected flight power XD instead of the initial flight power DL.

[0046] In the embodiment of the present application, when the present application controls the drone to park, the external environment is first considered to determine whether parking is possible under the current environment to avoid accidents caused by forced parking of the drone. When parking, the direction is automatically adjusted according to the wind direction, and the power during parking is adjusted to ensure the stability of the drone when parked.

[0047] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The units and algorithm steps of each example described in the embodiments can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0048] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0049] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0050] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A drone parking system, characterized in that: It includes a collection unit, a judgment unit, a central unit, a correction unit, an image unit and a manual unit. The collection unit collects wind data information in the environment when the drone is flying. The judgment unit receives the data collected by the collection unit and calculates a judgment value P. The judgment unit compares the judgment value P with its internal parking threshold TY and sends a transfer instruction and a parking instruction to the central unit. When the central unit receives the transfer instruction, the image unit collects images around the scene, and the central unit receives the images collected by the image unit to control the drone to move. The central unit receives the parking instruction to control the drone to park in strong winds, and the manual unit controls the drone to go to a preset destination. The collection unit collects wind force data information FL, wind speed data information FS and wind direction data information FX at the anchorage, and the collection unit collects wind direction change angle data JD at the anchorage every five seconds. The collection unit sends all the collected data information to the determination unit, and the determination unit receives the data sent by the collection unit and calculates the determination value P. The calculation formula of the determination value P is In the formula, k1 and k2 are both weights, and 0≤k1≤1, 0≤k2≤1.

2. The drone parking system according to claim 1, characterized in that: The determination unit compares the calculated determination value P with its internal parking threshold TY. When the determination value P>parking threshold TY, the determination unit sends a transfer instruction to the central unit. When the determination value P≤parking threshold TY, the determination unit sends a parking instruction to the central unit, and the collection unit synchronously sends the collected data to the central unit.

3. The drone parking system according to claim 2, characterized in that: The central unit receives the parking instruction and the data sent by the collection unit, and the central unit first receives the wind direction data information FX, and the central unit controls the forward direction of the UAV to be in the opposite direction of the wind direction data information FX, and the central unit receives the wind direction change angle data JD, and the central unit controls the forward direction of the UAV to be adjusted in the opposite direction of the wind direction change angle data JD.

4. The drone parking system according to claim 3, characterized in that: The central unit calculates the initial flight power DL required for the drone to park. The calculation formula for the initial flight power DL is: Wherein BZ is the power required for the drone to hover under windless conditions, C is a constant correction coefficient, and the central unit uses the calculated initial flight power DL to control the drone to be in a parked state.

5. The drone parking system according to claim 4, characterized in that: The central unit sends the calculated initial flight power DL to the correction unit, and the correction unit collects and receives the initial flight power DL and the initial position information of the drone when it is parked. The correction unit collects the distance difference data JL between the current position and the initial position of the drone every second.

6. The drone parking system according to claim 5, characterized in that: The correction unit calculates a corrected flight power XD, and the calculation formula of the corrected flight power XD is XZ=DL±CS×JL, wherein CS is a power parameter required for the flight distance difference data JL, and the product of the power parameter CS and the flight distance difference data JL is the power required for the flight JL, the distance difference data JL is a positive number when the wind direction is in the same direction, and the distance difference data JL is a negative number when the wind direction is in different directions, and the correction unit replaces the initial flight power DL with the corrected flight power XD to control the UAV to park.

7. The drone parking system according to claim 1, characterized in that: Before the central unit receives the transfer instruction and controls the movement of the drone, the central unit sends an identification instruction to the image unit, the image unit receives the identification instruction and performs image recognition on the surroundings of the drone, the image unit sends the direction data with the least objects to the central unit, the central unit receives the direction data sent by the image unit and controls the drone to move in that direction, and when the manual unit directly controls the flight direction of the drone, the priority of the manual unit is higher than that of the central unit.

8. The drone parking system according to claim 7, characterized in that: When the central unit controls the drone to move, the collection unit is in a real-time collection state, the determination unit receives the data collected by the collection unit in real time and calculates the determination value P, when the determination value P calculated by the determination unit is ≤ the parking threshold TY, the determination unit sends a parking instruction to the central unit, when the determination value P calculated by the determination unit is > the parking threshold TY, the central unit controls the drone to continue flying until the determination value P calculated by the determination unit is ≤ the parking threshold TY.

9. A drone parking method, using a drone parking system as described in any one of claims 1 to 8, characterized in that: The following steps are involved: Step S1, the collection unit collects wind force data information FL, wind speed data information FS, wind direction data information FX and wind direction change angle data JD at the anchorage; Step S2, the judgment unit receives all the data collected by the collection unit and calculates the judgment value P. When the judgment value P> the parking threshold TY, the judgment unit sends a transfer instruction to the central unit. When the judgment value P≤ the parking threshold TY, the judgment unit sends a parking instruction to the central unit. Step S3: The central unit receives the transfer instruction and sends a recognition instruction to the image unit. The image unit receives the recognition instruction and performs image recognition on the surrounding areas. Step S4: The central unit controls the drone to move in the direction with the least objects; Step S5, the central unit receives the parking instruction, controls the forward direction of the UAV to be the opposite direction of the wind direction data information FX, and the forward direction of the UAV is adjusted in the opposite direction of the wind direction change angle data JD; Step S6: The central unit controls the UAV to park with the initial flight power DL, and the correction unit controls the UAV to park with the corrected flight power XD instead of the initial flight power DL.

Images