Parking position planning method, landing platform, aircraft control method, equipment, system and medium

Abstract

A method for planning a landing preparation position of an aircraft includes acquiring a landing preparation position setting instruction, the landing preparation position setting instruction being used for configuring another landing preparation position except a main landing position of the aircraft (100), and determining a current parking position of the aircraft (100) as the landing preparation position according to the landing preparation position setting instruction. A control method of a landing platform includes acquiring azimuth information of a blade (122) of an aircraft (100) parked on the landing platform (200), generating a control instruction based on the azimuth information of the blade (122), the control instruction being used for controlling the blade (122) to stop rotating within a preset area. A control method of an aircraft includes acquiring azimuth information of blades (122) of the aircraft (100) after the aircraft (100) is parked on a landing platform (200), and controlling the blades (122) to stop rotating within a preset area based on the azimuth information of the blades (122) to cooperate with storage of the aircraft (100) by the landing platform (200). A control device for planning a landing preparation position of an aircraft, comprising one or more processors (501), working individually or jointly, for performing the steps of: obtaining a landing preparation position setting instruction for configuring another landing preparation position other than a main landing position of the aircraft (100), and according to the landing preparation position setting instruction, determining a landing preparation position of the aircraft (100); and determining the current parking position of the aircraft (100) as a landing preparation position. A control device for a landing platform, comprising one or more processors (501), working individually or jointly, for performing the following steps: collecting azimuth information of a blade (122) of an aircraft (100) parked on the landing platform (200), generating a control instruction based on the azimuth information of the blade (122), the control instruction being used to control the blade (122) to stop rotating within a preset area. A control device for an aircraft, comprising one or more processors (501), working independently or jointly, for performing the steps of: after the aircraft (100) is parked on a landing platform (200), acquiring azimuth information of a blade (122) of the aircraft (100), and based on the azimuth information of the blade (122), controlling the blade (122) to stop rotating within a preset area to cooperate with the accommodation of the aircraft (100) by the landing platform (200). A control system comprises the control device. A computer readable storage medium stores a computer program, and the control method is realized when the computer program is executed by a processor. Through the arrangement, operation is easy and convenient, and it can be ensured that the landing preparation position is suitable for safe landing of the aircraft.

Description

Alternate landing location planning method, landing platform and aircraft control method, equipment, system and medium Technical Field

[0001] The present application relates to the field of aircraft, and in particular to a method for planning an aircraft alternate landing position, a method for controlling a landing platform, a method for controlling an aircraft, a control device, a control system, and a storage medium. Background Art

[0002] In unmanned aerial vehicle (UAV) applications, continuous autonomous operation requires the ability for drones to autonomously land at a base station for tasks such as refueling and battery replacement, and then take off again to resume operations. However, due to insufficient control capabilities or limited landing scenarios, drones lack a safe landing guarantee, often leading to landing failures and frequent safety incidents.

[0003] Summary of the Invention

[0004] Based on this, the embodiments of the present application provide a method for planning an aircraft alternate landing position, a method for controlling a landing platform, a method for controlling an aircraft, a control device, a control system and a storage medium, aiming to solve the technical problem of ensuring the landing safety of an aircraft.

[0005] In a first aspect, an embodiment of the present application provides a method for planning an aircraft alternate landing location, the method comprising:

[0006] Obtain an alternate landing position setting instruction, which is used to configure an alternate landing position other than the primary landing position of the aircraft;

[0007] According to the alternate landing position setting instruction, the current parking position of the aircraft is determined as the alternate landing position.

[0008] In a second aspect, an embodiment of the present application provides a method for controlling a landing platform, the method comprising:

[0009] Collect blade orientation information of the aircraft parked on the landing platform;

[0010] A control instruction is generated based on the blade orientation information, and the control instruction is used to control the blade to stop rotating within a preset area.

[0011] In a third aspect, an embodiment of the present application provides a method for controlling an aircraft, the method comprising:

[0012] After the aircraft is parked on the landing platform, obtain the aircraft's blade orientation information;

[0013] Based on the blade orientation information, the blades are controlled to stop rotating within a preset area to cooperate with the landing platform to store the aircraft.

[0014] In a fourth aspect, an embodiment of the present application provides a control device for planning an alternate landing position for an aircraft, comprising one or more processors that work individually or collectively to perform the following steps:

[0015] Obtain an alternate landing position setting instruction, which is used to configure an alternate landing position other than the primary landing position of the aircraft;

[0016] According to the alternate landing position setting instruction, the current parking position of the aircraft is determined as the alternate landing position.

[0017] In a fifth aspect, an embodiment of the present application provides a control device for a landing platform, comprising one or more processors, which work individually or collectively to perform the following steps:

[0018] Collect blade orientation information of the aircraft parked on the landing platform;

[0019] A control instruction is generated based on the blade orientation information, and the control instruction is used to control the blade to stop rotating within a preset area.

[0020] In a sixth aspect, embodiments of the present application provide an aircraft control device, comprising one or more processors, which operate individually or collectively to perform the following steps:

[0021] After the aircraft is parked on the landing platform, obtain the aircraft's blade orientation information;

[0022] Based on the blade orientation information, the blades are controlled to stop rotating within a preset area to cooperate with the landing platform to store the aircraft.

[0023] In a seventh aspect, an embodiment of the present application provides a control system, which includes the control device of any embodiment of the present application specification.

[0024] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the method of any embodiment of the present application specification are implemented.

[0025] Embodiments of the present application provide a method for planning an alternate landing position for an aircraft, a method for controlling a landing platform, a method for controlling an aircraft, a control device, a control system, and a storage medium. The method includes: obtaining an alternate landing position setting instruction, the alternate landing position setting instruction being used to configure an alternate landing position other than the primary landing position of the aircraft; and determining the aircraft's current parking position as the alternate landing position based on the alternate landing position setting instruction. In the embodiments of the present application, setting the aircraft's alternate landing position is simple and quick, ensuring that the alternate landing position is suitable for a safe landing of the aircraft.

[0026] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory and do not limit the disclosure of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] FIG1 is a schematic diagram of an application scenario of a method for planning an aircraft alternate landing position provided by an embodiment of the present application;

[0029] FIG2 is a flowchart of a method for planning an aircraft alternate landing position according to an embodiment of the present application;

[0030] FIG3 is a schematic diagram of a control interface of an aircraft provided in an embodiment of the present application;

[0031] FIG4 is a schematic diagram of a scenario for determining an alternate landing position of an aircraft provided in an embodiment of the present application;

[0032] FIG5 is a schematic diagram of a control interface of another aircraft provided in an embodiment of the present application;

[0033] FIG6 is a schematic diagram of a control interface of another aircraft provided in an embodiment of the present application;

[0034] FIG7 is a schematic diagram of a height parameter setting provided in an embodiment of the present application;

[0035] FIG8 is a flowchart of planning an aircraft alternate landing position according to an embodiment of the present application;

[0036] FIG9 is a flowchart of a method for controlling a landing platform according to an embodiment of the present application;

[0037] FIG10A is a schematic diagram of a blade orientation not being within a preset area provided by an embodiment of the present application;

[0038] 10B to 10F are schematic diagrams of various blade orientations in a preset area provided by an embodiment of the present application;

[0039] FIG11 is a flow chart of a method for controlling a landing platform provided in an embodiment of the present application;

[0040] FIG12 is a flowchart of a method for controlling an aircraft according to an embodiment of the present application;

[0041] FIG13 is a flow chart of a method for landing an aircraft provided in an embodiment of the present application;

[0042] FIG14 is a schematic block diagram of the structure of a control device provided in an embodiment of the present application.

[0043] Reference numerals:

[0044] Aircraft 100, fuselage 110, power system 120, propeller seat 121, propeller blade 122, positioning sensor 130, aircraft arm 140, landing platform 200, canopy 210, carrying platform 220, external positioning sensor 230, main landing position point A, alternate landing position point B, main landing position area 300, alternate landing position area 400, control device 500, processor 501, memory 502, bus 503 DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0046] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0048] In addition, the directional terms such as up, down, front, and back that appear in this embodiment are based on the normal operating posture of the aircraft and should not be considered as restrictive.

[0049] The following embodiments of the present invention are described in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments may be combined with each other.

[0050] The use of drones is becoming increasingly widespread, encompassing a wide range of applications, including surveying and mapping, security, inspection, energy, emergency response, electricity, forestry, and agriculture. However, in unmanned scenarios, autonomous landing can lead to landing failures due to the volatile operating environment. For example, the landing point may be abnormal and unable to support landing, the drone may fall due to low battery, or it may land in an inappropriate location, resulting in significant damage.

[0051] In order to solve the above-mentioned technical problems, the embodiments of the present application provide a method for planning an aircraft alternate landing position, a method for controlling a landing platform, a method for controlling an aircraft, a control device, a control system and a storage medium, aiming to solve the technical problem of ensuring that the alternate landing position is suitable for the safe landing of the aircraft.

[0052] It should be noted that the methods provided in the embodiments of this application are applied to aircraft. Aircraft may include rotary-wing drones, such as quad-rotor drones, hexacopter drones, and octo-rotor drones, fixed-wing drones, or a combination of rotary-wing and fixed-wing drones. Aircraft may include, but are not limited to, manned aircraft, logistics aircraft, aerial photography aircraft, and agricultural plant protection aircraft. The embodiments of this application do not specifically limit the type of aircraft.

[0053] Please refer to FIG1 , which is a schematic diagram of an application scenario of a method for planning an alternate landing position of an aircraft 100 provided in an embodiment of the present application. The application scenario may include an aircraft 100 and a landing platform 200 .

[0054] The aircraft 100 may include a fuselage 110, a power system 120, a camera, and a control device (not shown in FIG1 ). The fuselage 110 may include a nose. In certain embodiments, the aircraft 100 further includes an arm 140, wherein the arm 140 is connected to the fuselage 110 and is used to mount the power system 120. In certain embodiments, the power system 120 may be mounted directly on the fuselage 110. The power system 120 is used to provide flight power for the aircraft 100. The power system 120 may include a motor and a propeller mounted on and driven by the motor. The propeller may include a propeller seat 121 and blades 122. The power system 120 may drive the fuselage 110 of the aircraft 100 to rotate about one or more rotation axes.

[0055] The landing platform 200 is used to receive the landing aircraft 100. It is understandable that the landing platform 200 can have different forms in different application scenarios. In some embodiments, the landing platform 200 can be a fixed platform. In other embodiments, the landing platform 200 can be a platform in any of the following application scenarios: a moving platform such as a ship, a car, or a train. The landing platform 200 can be configured with a cabin, which has functions such as charging and a base station. The base station can provide space for accommodating the aircraft 100 and for the aircraft 100 to take off and land. After the aircraft 100 lands in the cabin, it can perform tasks such as energy replenishment, battery replacement, and load replacement. After completing the task, it can continue to take off and perform cluster operations.

[0056] In some embodiments, landing platform 200 includes one or more of a carrying platform 220, a hatch 210, and an actuator. Optionally, carrying platform 220 can be used for takeoff and landing of aircraft 100. Optionally, carrying platform 220 can provide a primary landing position for landing of aircraft 100. Optionally, landing platform 200 also includes a push rod assembly connected to carrying platform 220. When opened, the push rod assembly pushes carrying platform 220 to a preset position for takeoff of aircraft 100, and when closed, retracts carrying platform 220 from the preset position to close hatch 210. Optionally, hatch 210 provides a storage space for aircraft 100. When hatch 210 is closed, the storage space is sealed at least at the top, shielding aircraft 100. When hatch 210 is opened, the storage space is open, allowing aircraft 100 to fly out. Optionally, after the operation of the aircraft 100 is completed, the actuator can adjust the posture information of the aircraft 100 and the space occupied by the aircraft 100 to complete the storage of the aircraft 100.

[0057] In some embodiments, the landing platform 200 may also be equipped with one or more sensors, such as a positioning sensor 130, a visual sensor, a wind speed / direction sensor, a raindrop sensor, etc., for obtaining status information of the landing platform 200 and / or the aircraft 100 parked on the landing platform 200 and environmental information of the location.

[0058] Under ideal conditions, the aircraft 100 would land using the landing platform 200 as its home point. However, the inventors of this application have discovered that in real-world operating scenarios for the aircraft 100, due to the complexity and variability of the working environment, under certain abnormal circumstances, the aircraft 100 may be unable to complete landing on the landing platform 200. In this case, if the aircraft 100 continues to wait for the abnormal condition to resolve, it may fall directly due to a severe lack of power. Alternatively, if the aircraft 100 makes an emergency landing near the landing platform 200, the aircraft 100 may be damaged or lost because the forced landing location is unsuitable for landing. To ensure the safe landing of the drone, in addition to the primary landing location provided by the landing platform 200, this application also plans an alternate landing location for the aircraft 100 suitable for landing before the aircraft 100 automatically operates. In the event of an abnormality in one or more of the aircraft 100, the landing platform 200, or the environment surrounding the aircraft 100, the aircraft 100 can fly to this alternate landing location to ensure safety.

[0059] Please refer to FIG. 2 , which is a flowchart of a method for planning an alternate landing position for an aircraft 100 according to an embodiment of the present application. The method includes steps S101 to S102 .

[0060] Step S101: Acquire an alternate landing position setting instruction, where the alternate landing position setting instruction is used to configure another alternate landing position other than the primary landing position of the aircraft 100.

[0061] In some embodiments, refer to Figure 3, which is a schematic diagram of a control interface of an aircraft 100 provided in an embodiment of the present application. Optionally, the method further includes outputting a prompt message to prompt the user to place the aircraft 100 in a designated area to set an alternate landing location. The designated area may be an area other than the primary landing location.

[0062] For example, the user is prompted to place the aircraft 100 at a safe landing location within 5 to 100 meters of the primary landing point. If the aircraft 100 is unable to land at the primary landing location, it will land at the alternate landing location. Optionally, the method further includes obtaining distribution information of alternate landing locations around the primary landing location; if the distribution information of the alternate landing locations does not meet the preset alternate landing location distribution conditions, outputting a prompt message.

[0063] In some embodiments, the alternate point distribution conditions include the locations of the alternate points meeting certain conditions, and the number of alternate points meeting certain conditions. For example, first, the aircraft 100 is powered on, and the aircraft 100 is controlled to pair with the landing platform 200. After pairing, the alternate points are checked to see if they have been set. Furthermore, the distribution information of the alternate points is obtained.

[0064] Optionally, the method further includes: displaying an identifier of the current location of the aircraft 100 on the control interface of the aircraft 100; and the alternate landing position setting instruction is generated based on the user's confirmation operation on the control interface.

[0065] Optionally, the method further includes: generating an alternate landing position setting instruction based on a user confirmation operation on a control interface. Exemplarily, the control interface may be a control interface of a control terminal of the aircraft 100 or a control interface of a control terminal of the landing platform 200.

[0066] It is worth noting that in the embodiment of the present application, the user's operation can be performed on-site using a control terminal such as a remote control, or it can be a remote operation instruction issued by the user through the cloud.

[0067] Referring to FIG3 , on the control interface of aircraft 100, such as in the area where marker 4 is located, icons indicating landing platform 200 position C, alternate landing position D, and aircraft 100 position E can be displayed. A map displayed above the control interface can also display landing platform 200 position C, alternate landing position D, and aircraft 100 position E at the current moment, facilitating intuitive user perception and enabling easier setting of alternate landing positions. For example, clicking landing platform 200 position C on the map will center the map on landing platform 200; clicking alternate landing position D on the map will center the map on landing platform 200, and the zoomed map interface will display alternate landing position D. If no alternate landing position has been set, a toast message will appear stating "No alternate landing position set." Clicking aircraft 100 position E on the map will center the map on landing platform 200, and the zoomed map interface will display aircraft 100 position E. If no aircraft 100 is located, a toast message will appear stating "Unable to obtain aircraft 100 position. Please move aircraft 100 to an open area."

[0068] After the user confirms the operation on the control interface, an alternate position setting instruction is generated. For example, the control interface prompts "Click the button below to complete the setting of the alternate position", and the user can generate an alternate position setting instruction by clicking the "Set alternate position" icon or confirmation control set below. The alternate position setting instruction is used to configure another alternate position other than the main landing position of the aircraft 100. Optionally, after the alternate position is set successfully, the aircraft 100 position icon E is transformed into the alternate position icon E and updated on the control interface. Optionally, a toast prompts "The alternate position is set successfully".

[0069] Optionally, before the aircraft 100 performs a flight operation, the control interface of the aircraft 100 will generate user guidance information to guide the user to set an alternate landing position. If the alternate landing position has already been set, it can be skipped. Optionally, when it is detected that the user confirms to skip setting the alternate landing position, the control interface pops up a prompt "If the alternate landing position is not set, the route mission below the clouds cannot be performed. Do you want to skip the setting of the alternate landing position?". If the user chooses to cancel, the user will remain in the current control interface; if the user chooses to skip, the user will proceed to the next step. In some embodiments, if the alternate landing position is not set and / or the alternate landing position is not updated, the alternate landing position setting instruction is obtained.

[0070] In some embodiments, the method further includes: outputting user guidance information for the alternate landing position; wherein the user guidance information includes a description of the parking position of the aircraft 100. This allows the user to park the aircraft 100 in a position that is conducive to a safe landing during the alternate landing process according to the user guidance information, thereby improving the efficiency of the alternate landing position setting operation process. For example, the description information may include one or more of the following information: a description of the conditions for setting the alternate landing position, such as the need to set a conspicuous sign at the alternate landing position and reserve a safe landing distance for the aircraft 100, and illustratively, the safety distance may be set to be greater than or equal to 5 meters; a description of the distance conditions between the alternate landing position and the primary landing position, such as the distance being within the range of 5 meters to 500 meters; a description of the conditions of the environment surrounding the alternate landing position, such as the height of the nearest obstacle or the distance to the obstacle; a description of the conditions for the flatness of the area where the alternate landing position is located, such as the need to ensure that the ground has no obvious protrusions or depressions; a description of the type of area where the alternate landing position is located, such as the surface material type of the area, whether the area is located on a movable object, etc.

[0071] In some embodiments, the main landing position or the alternate landing position can be a position point. For example, the main landing position can be the position point occupied by the aircraft 100 parked on the carrying platform 220 of the landing platform 200, for example, the main landing position can be the main landing position point A as shown in Figure 1; the alternate landing position can be the position point occupied by the aircraft 100 parked at the alternate landing position, for example, the alternate landing position can be the alternate landing position point B as shown in Figure 1.

[0072] In some embodiments, the main landing position or the alternate landing position may be a location area, which may be a two-dimensional plane or a three-dimensional space. In addition, the size of the area may be determined based on the structure of the aircraft 100 or may be specified based on user operational requirements. For example, the main landing position may be the location area of ​​the carrier platform 220 occupied by the aircraft 100 when parked on the landing platform 200, for example, the main landing position may be the main landing position area 300 as shown in FIG1 ; the alternate landing position may be the surrounding environment area occupied by the aircraft 100 when parked at the alternate landing position, for example, the alternate landing position may be the alternate landing position area 400 as shown in FIG1 .

[0073] Step S102: According to the alternate landing position setting instruction, the current parking position of the aircraft 100 is determined as the alternate landing position.

[0074] Setting an alternate landing location requires finding a location suitable for the aircraft 100 to land and being able to accurately locate the location so that the aircraft 100 can ensure sufficient safety when making an alternate landing. Among the solutions in the prior art, one solution includes recording the ground location detected as an alternate landing location during the drone's return landing process. If the aircraft 100 cannot land normally, the user is allowed to select or automatically fly to the recorded location; another solution includes a solution in which the user clicks on a map to select an alternate landing location. Both solutions have some problems in their specific implementation. For example, after the aircraft 100 is already in flight or operation, it is forced to select an alternate landing location and then land. Due to environmental force majeure factors or poor sensor recognition accuracy, low map accuracy, etc., it is not possible to ensure that an alternate landing location suitable for the aircraft 100 is found, and the accuracy of the location cannot be guaranteed. If further improvement is needed, the accuracy of the location obtained by clicking on the map can be improved by improving the accuracy of the map, thereby more accurately controlling the landing location of the aircraft.

[0075] In some embodiments, please refer to FIG4 , which is a schematic diagram of a scenario for determining an alternate landing position for an aircraft 100 provided by an embodiment of the present application. According to the alternate landing position setting instruction, the current parking position of the aircraft 100 is determined as the alternate landing position. This allows for simulating in advance the scenario of the aircraft 100 making an alternate landing at the parking position in the future before the aircraft 100 performs a flight operation, thereby ensuring the safety of the aircraft 100 landing at the alternate landing position in the future. When planning the alternate landing position for the aircraft 100, the present application can simulate in advance the size of the spatial area that the aircraft 100 will occupy when landing at the alternate landing position in the future, obtain information on the flatness of the alternate landing position, information on surrounding obstacles, the possibility of collision with the aircraft 100 fuselage 110 and / or onboard sensors, and so on, to ensure that the alternate landing position is suitable for the safe landing of the aircraft 100.

[0076] In some embodiments, determining the current parking position of the aircraft 100 as the alternate landing position includes: determining the alternate landing position based on information sensed by the positioning sensor 130 and / or the external positioning sensor 230130 of the aircraft 100, wherein the external positioning sensor 230130 is mounted on the landing platform 200, and the landing platform 200 includes a supporting platform 220 for providing a main landing position.

[0077] Existing aircraft 100 alternate landing location planning technologies have the following disadvantages: 1) inaccurate alternate landing point locations; 2) complex operations; and 3) a large number of auxiliary equipment required. The aircraft 100 alternate landing location planning solution provided in the embodiments of the present application determines the current parking location of the aircraft 100 as the alternate landing location. The operation is simple and quick. The alternate landing location is determined based on information sensed by the aircraft 100's positioning sensor 130 and / or external positioning sensors 230130. Fewer auxiliary equipment are required, and the degree of integration is higher. Even if the user does not carry additional sensors, the alternate landing location can be set, reducing the need for complex equipment installation, calibration, parameter setting, and other operations, thereby greatly improving the user experience.

[0078] In some optional embodiments, the positioning sensor 130 of the aircraft 100 and / or the external positioning sensor 230130 include, but are not limited to, any one or more of a Global Positioning System (GPS), a BeiDou positioning system, or a real-time kinematic (RTK) carrier phase differential positioning system. Furthermore, the centimeter-level positioning accuracy provided by high-precision sensors such as RTK can be relied upon to improve the accuracy of the alternate landing position setting of the aircraft 100.

[0079] In some embodiments, landing platform 200, located at the primary landing location, is equipped with an RTK base station. This base station can be used to establish a reference station with known precise coordinates. The base station is then positioned using navigation satellites to obtain real-time positioning coordinates. A comprehensive positioning error is estimated by calculating the difference between the reference station's scenic area and the corresponding real-time positioning coordinates. Based on the RTK base station on landing platform 200, aircraft 100 can be equipped with an RTK module. Optionally, the RTK module can support network RTK, high-precision GNSS mobile stations, and PPK post-processing services. Within a certain range around the base station, the influence of satellite positioning is essentially uniform. Therefore, the base station transmits the comprehensive positioning error in real time to aircraft 100 within this range, allowing the positioning error to be factored into satellite positioning, thereby achieving real-time, rapid, and high-precision positioning of aircraft 100. In some embodiments, after aircraft 100 and landing platform 200 are frequency-linked, the RTK states of both aircraft 100 and landing platform 200 converge, allowing for real-time acquisition of aircraft 100's position information, thereby achieving high-precision positioning of aircraft 100's alternate landing location.

[0080] To ensure positioning accuracy, additional and / or inherent positioning devices can be used to directly implement the alternate landing location. However, because the size and shape of the positioning device differ from those of the aircraft 100, a location suitable for the positioning device may not necessarily be suitable for the aircraft 100, and thus cannot guarantee the safety of the aircraft 100 during an alternate landing. In the embodiments of the present application, the current parking position of the aircraft 100 is determined as the alternate landing location, which not only maintains the positioning accuracy of the alternate landing location but also ensures that the alternate landing location is suitable for a safe landing of the aircraft 100.

[0081] In some embodiments, the method further includes: obtaining the position of the aircraft 100; obtaining the alternate landing position set around the main landing position; when it is detected that the position of the aircraft 100 is inconsistent with the alternate landing position and an alternate landing position update instruction is received, the position of the aircraft 100 is determined as the updated alternate landing position.

[0082] Optionally, the method also includes: selecting an alternate landing position that has been set around the main landing position based on a user selection operation; obtaining another alternate landing position other than the set alternate landing position; and updating the set alternate landing position to the other alternate landing position in response to receiving an alternate landing position update instruction.

[0083] For example, please refer to Figure 5, which is a schematic diagram of another control interface of an aircraft 100 provided in an embodiment of the present application. In the area where the mark 5 is located, the identifiers of the alternate landing positions that have been set around the main landing position are displayed. The user can move the position of the aircraft 100. When the aircraft 100 and the alternate landing position are not in the same position, a map interface is optionally displayed on the control interface of the aircraft 100, and the identifiers of the alternate landing positions that have been set around the main landing position are displayed on the map interface. Optionally, the current position of the aircraft 100 can also be displayed. Optionally, a confirmation control for updating the alternate landing position can also be displayed. When it is detected that the user touches the confirmation control, for example, it is detected that the user touches the confirmation icon of "Reset Alternate Point" in the area where the mark 6 is located, the position of the aircraft 100 is determined as the updated alternate landing position.

[0084] Optionally, the user can proactively update the alternate location. Optionally, if a previously set alternate location is no longer suitable for aircraft 100 due to changes in the real-world environment, aircraft 100 can generate a prompt message to update the alternate location. Optionally, when an alternate location is already set, the "Skip" button in the area where marker 7 is located is hidden.

[0085] Optionally, the user can manually or automatically land the aircraft 100 in a designated area for parking. In some embodiments, before determining the current parking position of the aircraft 100 as the alternate landing position, the method further includes: controlling the aircraft 100 to take off from the primary landing position and controlling the aircraft 100 to land in the designated area for parking.

[0086] In some embodiments, the designated landing area is determined based on a user's stick control manipulation of a remote controller of the aircraft 100 .

[0087] In some embodiments, the designated landing area is determined based on a user's area selection operation on a control interface of the aircraft 100 .

[0088] In some embodiments, the area selection operation on the control interface includes: selecting a landing area in the environmental image captured by the aircraft 100; and / or selecting a landing area in a map interface associated with the geographical location of the aircraft 100.

[0089] Optionally, selecting a landing area in the environmental image captured by the aircraft 100 may include: identifying candidate landing areas in the environmental image based on a preset landing area recognition model, displaying a push identifier for the candidate landing area on a control interface, determining the selected candidate landing area as the designated landing area based on a user selection operation on the identified control interface, and controlling the aircraft 100 to land in the designated landing area. Alternatively, the process may include: determining the area selected by the user as the designated landing area based on a user selection operation in the environmental image, and controlling the aircraft 100 to land in the designated landing area.

[0090] Referring to FIG. 5 , in some embodiments, the method further includes displaying one or more of the following information on the display interface: an identifier of the alternate landing position, an identifier of the primary landing position, an identifier of the position of the aircraft 100, location information of the alternate landing position, location information of the primary landing position, location information of the position of the aircraft 100, and relative position relationship information; wherein the relative position relationship information includes relative position relationship information between any two of the alternate landing position, the primary landing position, and the position of the aircraft 100. For example, the relative position and distance between the alternate landing position D and the primary landing position C are displayed in the area where the marker 5 is located, and the relative position and distance between the aircraft 100 position E and the primary landing position C are displayed. Optionally, the two positions can be distinguished by two connecting lines of different colors. Optionally, a map of the surrounding area is displayed with the primary landing position as the center, and the scale of the map can display the position of the aircraft 100 and the position of the aircraft 100; if there is no aircraft 100 position and an alternate landing position, or if the aircraft 100 and the alternate landing position are relatively close to the primary landing position, a suitable scale is given; the relative position relationship between the position of the aircraft 100 and the primary landing position is displayed through the connecting line between them. Through the intuitive interface information display, it is convenient for users to check whether the setting of the alternate landing position meets the preset environmental conditions around the alternate landing position, such as the distance of the alternate landing position relative to the primary landing position, flatness information, openness information, etc., so that users can set or adjust the alternate landing position to ensure the safety of the alternate landing.

[0091] In some embodiments, the method further includes: obtaining status information of the aircraft 100 at the parking position; and generating prompt information indicating that the alternate landing position setting is abnormal when the status information of the aircraft 100 does not meet a preset status condition.

[0092] In some embodiments, the status information includes one or more of the following information: distance information of the parking position relative to the main landing position, inclination information of the aircraft 100 , and obstacle distribution information in the surrounding environment of the aircraft 100 .

[0093] In some embodiments, please refer to Figure 6, which is a schematic diagram of another control interface of an aircraft 100 provided in an embodiment of the present application. It can facilitate users to check the reasons for the failure of the alternate landing position setting through abnormal information prompts and other means, and provide reliable guidance for resetting the alternate landing position. Exemplarily, the control interface prompts that the alternate landing position of the aircraft 100 is "not set". Optionally, the following instructions are generated: "Turn on the aircraft 100 and place it in a safe landing position within 5 to 500 meters from the airport. The button below the motor sets the alternate landing position. When the aircraft 100 cannot land at the airport, it will land at a different point. A conspicuous sign must be set at the alternate landing position and a safe landing distance must be left for the aircraft 100 to land." Optionally, when the status information of the aircraft 100 does not meet the preset status conditions and the alternate landing position setting fails, a prompt message indicating that the alternate landing position setting is abnormal can be slid down in the area where the mark 3 is located; the cross in the upper right corner of the motor will cause the prompt message to disappear. Optionally, the pre-set prompt message may include one or more of the following:

[0094] 1) "The alternate landing position is too close / too far from the primary landing position. Please move aircraft 100 and reset the alternate landing position." 2) "Please keep aircraft 100 powered on." 3) "Unable to obtain aircraft 100's position. Please move aircraft 100 to an open area." 4) "Aircraft 100's RTK positioning has not converged. Please wait for aircraft 100's RTK positioning to converge before resetting the alternate landing position." 5) "Aircraft 100's GPS position has been obtained, but aircraft 100 has not converged to RTK."

[0095] In some embodiments, the method further includes obtaining an altitude parameter setting instruction, where the altitude parameter is used to adjust the waypoint altitude of the flight trajectory of the aircraft 100 to the alternate landing location. For example, please refer to FIG. 7 , which is a schematic diagram of an altitude parameter setting provided in an embodiment of the present application. When the aircraft 100 returns normally, it lands at the set return altitude to the primary landing location. If the aircraft 100 is unable to land normally at the primary landing location, it will land at the set alternate transfer altitude to the alternate landing location.

[0096] In some embodiments, please refer to Figure 8, which is a flowchart for planning an alternate landing position for an aircraft 100 provided in an embodiment of the present application. Optionally, the remote controller is connected to the landing platform 200 via a USB cable. Optionally, check whether the hatch 210 of the landing platform 200 is open; if the hatch 210 is not open, prompt the user to click on the remote controller to open the hatch 210. Optionally, after opening the hatch 210, check whether the aircraft and the airport are linked; if the aircraft and the airport are not linked, check whether the aircraft is activated, activate the aircraft, and then link again. Optionally, wait for the RTK status of the landing platform 200 and the aircraft 100 to converge. Optionally, check whether the alternate landing position has been set. If it has been set, skip setting the alternate landing position. Optionally, if the alternate landing position needs to be set or updated, prompt the user to move the aircraft 100 from the landing platform 200 to a designated location for parking. Optionally, obtain an alternate landing position setting instruction, which is used to configure another alternate landing position other than the main landing position of the aircraft 100; according to the alternate landing position setting instruction, determine the current parking position of the aircraft 100 as the alternate landing position. Optionally, when the status information of the aircraft 100 does not meet the preset status conditions, the setting of the alternate landing position fails, and a prompt message is generated to indicate that the alternate landing position setting is abnormal: the alternate landing position should be within 2000-30m from the main landing platform, with no obstructions around it, and a conspicuous sign is set. Optionally, set the alternate landing transfer altitude, with an altitude range of 10-500m, to complete the setting of the alternate landing position of the aircraft 100.

[0097] Please refer to FIG. 9 , which is a flowchart of a method for controlling a landing platform 200 according to an embodiment of the present application. The method includes steps S201 to S202 .

[0098] Step S201 : collecting position information of the blades 122 of the aircraft 100 parked on the landing platform 200 .

[0099] In some embodiments, collecting the position information of the blade 122 of the aircraft 100 parked on the landing platform 200 includes: collecting an image of the blade 122 during the rotation of the blade 122; and determining the position information of the blade 122 according to the imaging position of the blade 122 in the image.

[0100] Optionally, the landing platform 200 includes a sensor, and the sensor is mounted on the hatch 210;

[0101] The canopy 210 is in the extended state, and the sensor faces the parking area for carrying the aircraft 100 to obtain images of the blades 122 of the aircraft 100; the canopy 210 is in the shielded state, and the sensor is used to monitor environmental information around the landing platform 200.

[0102] Optionally, the sensor can be a camera device of the landing platform 200, which is used as a position sensor of the blade 122 of the aircraft 100 to collect images and photograph the blade 122 of the aircraft 100. Image recognition is performed based on the acquired image, the orientation of the blade 122 in the image is analyzed, and the acquired orientation information of the blade 122 is continuously transmitted to the aircraft 100 in real time.

[0103] In some embodiments, collecting the position information of the blades 122 of the aircraft 100 parked on the landing platform 200 includes: collecting the position information of the blades 122 through sensors of the aircraft 100 and / or sensors carried by the landing platform 200 .

[0104] In some embodiments, the control method of the landing platform 200 includes: collecting an image of the blade 122 during the rotation of the blade 122 of the aircraft 100; determining the orientation of the blade 122 based on the imaging position of the blade 122 in the image; and stopping the rotation of the blade 122 when the orientation of the blade 122 is at a preset position.

[0105] Step S202: Generate a control instruction based on the orientation information of the blade 122, where the control instruction is used to control the blade 122 to stop rotating within a preset area.

[0106] The motor control of the existing aircraft 100 only has speed control, but no rotation angle control, which means that the motor or blades 122 of the aircraft 100 cannot stop at a specific position. As a result, when the blades 122 of the aircraft 100 stop rotating, the position of the blades 122 is random and uncontrollable. Since the landing platform 200 needs to store the landed aircraft 100, the storage space or storage cabin of the landing platform 200 needs to be designed with a larger volume, or an additional storage structure is required.

[0107] The embodiment of the present application can control the blades 122 of the aircraft 100 parked on the landing platform 200 to stop rotating within a preset area. When the blades 122 stop, they can stop at a specific orientation. When the storage space of the landing platform 200 is limited, storage space can be saved, which is conducive to the miniaturization of the landing platform 200 and makes the use scenarios of the landing platform 200 more extensive.

[0108] Four blades 122 are used as an example for illustration, but this application does not limit the number of blades 122. Please refer to Figures 10A to 10E. Figure 10A is a schematic diagram of a blade 122 not positioned within the preset area provided in an embodiment of the present application, and Figures 10B to 10F are schematic diagrams of various blades 122 positioned within the preset area provided in an embodiment of the present application. As shown in Figure 10A, after the aircraft 100 lands on the landing platform 200, if the position of the blades 122 of the aircraft 100 is not controlled and the blades 122 of the aircraft 100 are not positioned within the preset area, the storage space required by the landing platform 200 to complete the storage of the aircraft 100 must be at least as large as that shown in the dotted box. As shown in Figures 10B to 10F, the blades 122 stop rotating within the preset area, and the size of the storage space required for the landing platform 200 to complete the storage of the aircraft 100 is also shown in the dotted box in the figure. Compared with the dotted box in Figure 10A, it can be seen that the blade retraction control scheme in Figures 10B to 10F saves storage space, reduces the volume required for designing the landing platform 200, and saves costs.

[0109] Optionally, the landing platform further includes a blocking member, the aircraft includes multiple blades, and the method further includes: controlling the blocking member to approach the blades to block the movement of a first blade of the aircraft, thereby reducing the angle between the first blade and the other blades as the other blades rotate, wherein the other blades are blades other than the first blade in the plurality of blades. Optionally, after the blocking member blocks the movement of the first blade, the blocking member may stop moving, causing the first blade to stop rotating. Optionally, after the blocking member blocks the movement of the first blade, the blocking member may continue to move, thereby driving the first blade to continue moving, further reducing the angle between the first blade and the other blades.

[0110] Optionally, the method further includes controlling the other propeller blades to stop rotating if the positional relationship between the first propeller blade and the other propeller blades meets a preset condition, for example, if the angle between the first propeller blade and the other propeller blades is less than 90 degrees. Optionally, a corresponding condition may be preset based on the shape of the landing platform so that the propeller blade position of the aircraft can coordinate with the landing platform to complete hatch closure.

[0111] Optionally, the rotation of the other blades includes: rotation driven by a motor; and / or rotation caused by external force applied by an actuator of the landing platform.

[0112] Optionally, a control instruction is generated based on the blade orientation information, and the control instruction is used to control the blade to stop rotating within a preset area, including: if the positional relationship between the first blade and other blades meets preset conditions, controlling multiple blades to move to a preset area and stop rotating based on the control instruction.

[0113] Optionally, controlling the multiple blades to move to a preset area and stop rotating based on a control instruction includes: driving the multiple blades to rotate based on a motor, and / or applying external force to the blades based on an actuator of the landing platform to rotate.

[0114] Illustratively, the actuator and / or the blocking member of the landing platform may be a hatch of the landing platform, or a component connected to the hatch of the landing platform, or other components connected to the landing platform.

[0115] Optionally, the method further includes controlling the movement of the hatch 210 of the landing platform 200 to shield the aircraft 100, thereby preventing the aircraft 100 from being exposed to the elements in an unmanned environment and from being damaged by weather or human factors. Optionally, the movement of the hatch 210 of the landing platform 200 can be adjusted based on the time required to control the aircraft 100 to stop in a predetermined area, so that the landing platform 200 can complete the storage of the aircraft 100 in a timely manner.

[0116] In some embodiments, aircraft 100 includes a fuselage 110, arms 140, and propeller mounts 121. Multiple arms 140 extend outward from fuselage 110 to support multiple propeller mounts 121, on which propeller blades 122 are mounted. The predetermined area is a polygon, with any corner point of the polygon located at the location of a propeller mount 121. As shown in FIG10E or 10F, the propeller blades 122 of aircraft 100 are parked within the predetermined area, further reducing the storage space occupied by aircraft 100 and facilitating the miniaturization of landing platform 200.

[0117] Optionally, the method also includes: when the blade 122 is not within the preset area, performing one or more of the following operations to make the blade 122 within the preset area: controlling the blade 122 to rotate again and re-generating a control instruction based on the blade orientation information; or controlling the actuator of the landing platform 200 to push the blade 122.

[0118] If the position of blade 122 does not meet the preset conditions after stopping due to an abnormality or a large error, blade 122 can be controlled to rotate again and steps S201 to S202 can be performed again. Alternatively, an actuator of landing platform 200, such as an actuator on hatch 210, can be used to push blade 122 to finally reach the preset area to complete the storage of aircraft 100.

[0119] In some embodiments, please refer to FIG11 , which is a flow chart of a control method for a landing platform 200 provided in an embodiment of the present application. The landing platform 200 activates a camera, sends a command to close the hatch 210 , and activates the slow propeller rotation of the aircraft 100 . Slow propeller rotation is another operating mode for rotating the aircraft's blades. After the aircraft is parked on the landing platform, the aircraft activates the slow propeller rotation mode, causing the aircraft's blades to rotate slowly. This facilitates control and adjustment of the blade's parking position, preventing the blade's position from being lost due to excessively rapid rotation and / or preventing the blade's position from being lost due to excessively rapid rotation. Extract the frame image of the camera device, and determine whether the orientation of the blade 122 is in the preset area through the image. If the blade 122 is not in the preset area, wait for a fixed time, such as 100ms, and then extract the frame image of the camera device. If the aircraft 100 is in the preset area, check whether the hatch 210 of the landing platform 200 is completely closed. If the hatch 210 is not completely closed, output an error code prompt message. If the hatch 210 is completely closed, end the control process.

[0120] Please refer to FIG. 12 , which is a flowchart of a control method for an aircraft 100 provided in an embodiment of the present application. The control method includes steps S301 to S302 .

[0121] Step S301: After the aircraft 100 is parked on the landing platform 200, the position information of the blades 122 of the aircraft 100 is obtained.

[0122] Optionally, obtaining the position information of the blade 122 of the aircraft 100 includes:

[0123] acquiring an image of the blade 122 during the rotation of the blade 122;

[0124] The orientation information of the blade 122 is determined according to the imaging position of the blade 122 in the image.

[0125] Optionally, obtaining the position information of the blade 122 of the aircraft 100 includes obtaining the position information of the blade 122 through a sensor carried by the landing platform 200 .

[0126] Optionally, another device, such as a mobile phone, another aircraft, etc., may obtain the position information of the blades 122 of the aircraft 100 and send it to the aircraft 100 parked on the landing platform 200.

[0127] Step S302 : Based on the position information of the blades 122 , the blades 122 are controlled to stop rotating within a preset area to facilitate the landing platform 200 to store the aircraft 100 .

[0128] For a description of the preset area, please refer to the above description of Figures 10A to 10F. The present embodiment can control the blades 122 of the aircraft 100 parked on the landing platform 200 to stop rotating within the preset area, which facilitates the miniaturization of the landing platform 200 used to accommodate the aircraft 100, making the landing platform 200 more suitable for a wider range of use scenarios.

[0129] Optionally, the landing platform further includes an arrester, the aircraft includes a plurality of blades, and the method further includes:

[0130] If the movement of a first blade among the plurality of blades is obstructed by the blocking member, the remaining blades are controlled to continue rotating, thereby reducing the angle between the first blade and the remaining blades. The remaining blades are blades other than the first blade among the plurality of blades. Optionally, after the blocking member obstructs the movement of the first blade, the blocking member may stop moving, causing the first blade to stop rotating. Optionally, after the blocking member obstructs the movement of the first blade, the blocking member may continue moving, thereby driving the first blade to continue moving, thereby further reducing the angle between the first blade and the remaining blades.

[0131] Optionally, the method further includes controlling the other propeller blades to stop rotating if the positional relationship between the first propeller blade and the other propeller blades meets a preset condition, for example, if the angle between the first propeller blade and the other propeller blades is less than 90 degrees. Optionally, a corresponding condition may be preset based on the shape of the landing platform so that the propeller blade position of the aircraft can coordinate with the landing platform to complete hatch closure.

[0132] Optionally, the positional relationship between the first blade and the other blades meeting a preset condition includes:

[0133] The positional relationship between the first blade and the other blades obtained based on image detection meets a preset condition; and / or the positional relationship between the first blade and the other blades obtained based on motor stall current mapping meets a preset condition.

[0134] Optionally, the rotation of the other blades includes: rotation driven by a motor; and / or rotation caused by external force applied by an actuator of the landing platform.

[0135] Optionally, it is characterized in that a control instruction is generated based on the blade orientation information, and the control instruction is used to control the blade to stop rotating in a preset area, including:

[0136] If the positional relationship between the first blade and the other blades meets a preset condition, the multiple blades are controlled to move into a preset area and stop rotating based on the control instruction.

[0137] Optionally, controlling the multiple blades to move to a preset area and stop rotating based on a control instruction includes: driving the multiple blades to rotate based on a motor, and / or applying external force to the blades based on an actuator of the landing platform to rotate.

[0138] Illustratively, the actuator and / or the blocking member of the landing platform may be a hatch of the landing platform, or a component connected to the hatch of the landing platform, or other components connected to the landing platform.

[0139] As shown in Figure 10E or Figure 10F, in some embodiments, the aircraft 100 includes a fuselage 110, an arm 140, and a propeller seat 121; multiple arms 140 extending outward from the fuselage 110 are used to support multiple propeller seats 121, and the blades 122 are installed on the propeller seats 121; wherein the preset area is a polygon, and any corner point of the polygon is located at the position of the propeller seat 121.

[0140] Optionally, the method further includes: after the blade 122 stops rotating, if the blade 122 is not within the preset area, controlling the blade 122 to rotate again so that the blade 122 is within the preset area.

[0141] In some embodiments, landing platform 200 includes a camera module for observing the drone, which is used to capture images and photograph the drone's four propeller blades 122. Optionally, landing platform 200 includes an image processing system for processing camera data, performing image recognition based on the captured images, analyzing the angles of the propeller blades 122 in the images, and obtaining position information of the propeller blades 122. Optionally, landing platform 200 includes a communication module with aircraft 100, which is used to continuously transmit the acquired angle information of the propeller blades 122 to the aircraft in real time. Optionally, aircraft 100 includes a flight control module for controlling the motor drive module. Optionally, aircraft 100 includes a motor control module for controlling the rotation of the motor. Optionally, after receiving the position information of the propeller blades 122, the flight control module can calculate the deviation based on the target angle and control the rotation speed of the propeller blades 122. When the deviation is within a certain error range, the motor drive module can be controlled to stop the propeller blades 122.

[0142] In some embodiments, please refer to FIG. 13 , which is a flow chart of a landing method for an aircraft 100 provided in an embodiment of the present application. The method determines whether landing is permitted on the landing platform 200. If so, the aircraft 100 lands to the primary landing position, stows the propellers 122, and closes the hatch 210 on the landing platform 200. If not, the aircraft 100 lands to the alternate landing position set in the alternate landing position planning method.

[0143] In the embodiment of the present application, the aircraft 100 lands normally on the landing platform 200. By storing the blades 122 of the aircraft 100, that is, controlling the blades 122 to stop rotating within a preset area based on the orientation information of the blades 122, the landing platform 200 closes the hatch 210 to cooperate with the completion of the storage of the aircraft 100. This can save storage space when the storage space of the landing platform 200 is limited, which is conducive to the miniaturization of the landing platform 200 and makes the use scenarios of the landing platform 200 more extensive.

[0144] In the embodiment of the present application, before the aircraft 100 begins automated operations, an alternate landing location suitable for the aircraft 100 is planned. If an abnormality occurs in one or more of the aircraft 100, the landing platform 200, or the environment surrounding the aircraft 100, the aircraft 100 can fly to the alternate landing location to ensure a safe landing.

[0145] Please refer to Figure 14, which is a schematic block diagram of the structure of a control device 500 provided in an embodiment of the present application. This control device 500 is applied to the aforementioned aircraft 100 or landing platform 200. Specifically, this control device can be integrated into the aforementioned aircraft 100 or landing platform 200, or it can be independently provided and communicatively connected to the aircraft 100 or landing platform 200. The aforementioned method can also be applied to this control device 500. For example, this control device can be a control terminal of the aircraft 100 or a control terminal of the landing platform 200.

[0146] As shown in FIG14 , the control device 500 includes a processor 501 and a memory 502 . The processor 501 and the memory 502 are connected via a bus 503 , which is, for example, an I2C (Inter-Integrated Circuit) bus.

[0147] Specifically, the processor 501 may be a micro-controller unit (MCU), a central processing unit (CPU), or a digital signal processor (DSP).

[0148] Specifically, the memory 502 may be a Flash chip, a read-only memory 502 (ROM), a disk, an optical disk, a USB disk, or a mobile hard disk.

[0149] The processor 501 is configured to run a computer program stored in the memory 502 and implement the steps of the aforementioned method for controlling the aircraft 100 when executing the computer program.

[0150] Exemplarily, the processor 501 is configured to run a computer program stored in the memory 502 and implement the following steps when executing the computer program:

[0151] Obtaining an alternate landing position setting instruction, where the alternate landing position setting instruction is used to configure another alternate landing position of the aircraft 100 other than the main landing position;

[0152] According to the alternate landing position setting instruction, the current parking position of the aircraft 100 is determined as the alternate landing position.

[0153] Optionally, determining the current parking position of the aircraft 100 as the alternate landing position includes: determining the alternate landing position based on information sensed by the positioning sensor 130 and / or the external positioning sensor 230130 of the aircraft 100, wherein the external positioning sensor 230130 is mounted on the landing platform 200, and the landing platform 200 includes a supporting platform 220 for providing a main landing position.

[0154] Optionally, the processor 501 is further configured to execute: outputting prompt information to prompt the user to place the aircraft 100 in a designated area to set an alternate landing position.

[0155] Optionally, the processor 501 is further configured to execute: obtaining distribution information of alternate landing positions around the primary landing position; and outputting a prompt message if the distribution information of the alternate landing positions does not meet a preset alternate landing position distribution condition.

[0156] Optionally, the processor 501 is further configured to: display an identifier of the current location of the aircraft 100 on the control interface of the aircraft 100; and generate an alternate landing location setting instruction based on a user confirmation operation on the control interface.

[0157] Optionally, the processor 501 is further configured to generate an alternate landing position setting instruction based on a user confirmation operation on a control interface. For example, the control interface may be a control interface of a control terminal of the aircraft 100 or a control interface of a control terminal of the landing platform 200.

[0158] Optionally, the processor 501 is also used to execute: obtaining the position of the aircraft 100; obtaining the alternate landing position set around the main landing position; when it is detected that the position of the aircraft 100 is inconsistent with the alternate landing position and an alternate landing position update instruction is received, the position of the aircraft 100 is determined as the updated alternate landing position.

[0159] Optionally, the processor 501 is further used to execute: selecting an alternate landing position that has been set around the main landing position based on a user selection operation; obtaining another alternate landing position other than the set alternate landing position; and updating the set alternate landing position to the another alternate landing position in response to receiving an alternate landing position update instruction.

[0160] Optionally, the processor 501 is further configured to execute: outputting user guidance information of the alternate landing position; wherein the user guidance information includes description information of the parking position of the aircraft 100 .

[0161] Optionally, before determining the current parking position of the aircraft 100 as the alternate landing position, the processor 501 is further configured to: control the aircraft 100 to take off from the primary landing position, and control the aircraft 100 to land in a designated area for parking.

[0162] Optionally, the designated landing area is determined based on the user's stick control manipulation of the remote controller of the aircraft 100 .

[0163] Optionally, the designated landing area is determined based on a user's area selection operation on a control interface of the aircraft 100 .

[0164] Optionally, the area selection operation on the control interface includes: selecting a landing area in the environmental image captured by the aircraft 100; and / or selecting a landing area in a map interface associated with the geographical location of the aircraft 100.

[0165] Optionally, the processor 501 is further configured to: display one or more of the following information on the display interface: an identifier of the alternate landing position, an identifier of the primary landing position, an identifier of the position of the aircraft 100, position information of the alternate landing position, position information of the primary landing position, position information of the position of the aircraft 100, and a relative position relationship;

[0166] The relative position relationship includes the relative position relationship information between any two positions among the alternate landing position, the main landing position, and the position of the aircraft 100.

[0167] Optionally, the processor 501 is further configured to: obtain status information of the aircraft 100 at the parking position; and generate a prompt message indicating that the alternate landing position setting is abnormal when the status information of the aircraft 100 does not meet a preset status condition.

[0168] Optionally, the status information includes one or more of the following information: distance information of the parking position relative to the main landing position, inclination information of the aircraft 100 , and obstacle distribution information in the surrounding environment of the aircraft 100 .

[0169] Optionally, the processor 501 is further configured to execute: obtaining an altitude parameter setting instruction, where the altitude parameter is used to adjust the waypoint altitude of the flight trajectory of the aircraft 100 heading to the alternate landing position.

[0170] Exemplarily, the processor 501 is configured to run a computer program stored in the memory 502 and implement the following steps when executing the computer program:

[0171] The position information of the blades 122 of the aircraft 100 parked on the landing platform 200 is collected; and a control instruction is generated based on the position information of the blades 122, the control instruction being used to control the blades 122 to stop rotating within a preset area.

[0172] Optionally, the landing platform further includes an arresting member, the aircraft includes a plurality of blades, and the processor is further configured to control the arresting member to approach the blades to obstruct movement of a first blade of the aircraft, thereby decreasing an angle between the first blade and the other blades as the other blades rotate. The other blades are blades other than the first blade among the plurality of blades.

[0173] Optionally, the processor is further configured to execute: if the positional relationship between the first blade and the other blades meets a preset condition, controlling the other blades to stop rotating.

[0174] Optionally, the rotation of the other blades includes: rotation driven by a motor; and / or rotation caused by external force applied by an actuator of the landing platform.

[0175] Optionally, a control instruction is generated based on the blade orientation information, and the control instruction is used to control the blade to stop rotating within a preset area, including: if the positional relationship between the first blade and other blades meets preset conditions, controlling multiple blades to move to a preset area and stop rotating based on the control instruction.

[0176] Optionally, controlling the multiple blades to move to a preset area and stop rotating based on a control instruction includes: driving the multiple blades to rotate based on a motor, and / or applying external force to the blades based on an actuator of the landing platform to rotate.

[0177] Illustratively, the actuator and / or the blocking member of the landing platform may be a hatch of the landing platform, or a component connected to the hatch of the landing platform, or other components connected to the landing platform.

[0178] Optionally, the processor 501 is further configured to control the movement of the canopy 210 of the landing platform 200 to shield the aircraft 100 .

[0179] Optionally, the aircraft 100 includes a fuselage 110, an arm 140, and a propeller seat 121; multiple arms 140 extend outward from the fuselage 110 to support multiple propeller seats 121, and the blades 122 are installed on the propeller seats 121; wherein the preset area is a polygon, and any corner point of the polygon is located at the position of the propeller seat 121.

[0180] Optionally, collecting the position information of the blade 122 of the aircraft 100 parked on the landing platform 200 includes: collecting an image of the blade 122 during the rotation of the blade 122; and determining the position information of the blade 122 according to the imaging position of the blade 122 in the image.

[0181] Optionally, the landing platform 200 includes a sensor, which is mounted on the hatch 210; when the hatch 210 is in the unfolded state, the sensor is facing the parking area for carrying the aircraft 100 to obtain an image of the blades 122 of the aircraft 100; when the hatch 210 is in the shielded state, the sensor is used to monitor environmental information around the landing platform 200.

[0182] Optionally, the position information of the blade 122 is collected by sensors of the aircraft 100 and / or sensors carried by the landing platform 200 .

[0183] Optionally, the processor 501 is also used to execute: when the blade 122 is not within the preset area, perform one or more of the following operations to make the blade 122 within the preset area: control the blade 122 to rotate again, and re-generate control instructions based on the blade orientation information; or control the actuator of the landing platform 200 to push the blade 122.

[0184] Exemplarily, the processor 501 is configured to run a computer program stored in the memory 502 and implement the following steps when executing the computer program:

[0185] After the aircraft 100 is parked on the landing platform 200 , the position information of the blades 122 of the aircraft 100 is obtained; based on the position information of the blades 122 , the blades 122 are controlled to stop rotating within a preset area to cooperate with the landing platform 200 to store the aircraft 100 .

[0186] Optionally, the landing platform also includes an obstruction member, the aircraft includes multiple blades, and the processor is further used to execute: if the movement position of the first blade among the multiple blades is blocked by the obstruction member, control the other blades to continue rotating so that the angle between the first blade and the other blades is reduced, and the other blades are blades among the multiple blades other than the first blade.

[0187] Optionally, the processor is further configured to execute: if the positional relationship between the first blade and the other blades meets a preset condition, controlling the other blades to stop rotating.

[0188] Optionally, the positional relationship between the first blade and the other blades meeting a preset condition includes:

[0189] The positional relationship between the first blade and the other blades obtained based on image detection meets a preset condition; and / or the positional relationship between the first blade and the other blades obtained based on motor stall current mapping meets a preset condition.

[0190] Optionally, the rotation of the other blades includes: rotation driven by a motor; and / or rotation caused by external force applied by an actuator of the landing platform.

[0191] Optionally, a control instruction is generated based on the blade orientation information, and the control instruction is used to control the blade to stop rotating within a preset area, including: if the positional relationship between the first blade and other blades meets preset conditions, controlling multiple blades to move to a preset area and stop rotating based on the control instruction.

[0192] Optionally, controlling the multiple blades to move to a preset area and stop rotating based on a control instruction includes: driving the multiple blades to rotate based on a motor, and / or applying external force to the blades based on an actuator of the landing platform to rotate.

[0193] Illustratively, the actuator and / or the blocking member of the landing platform may be a hatch of the landing platform, or a component connected to the hatch of the landing platform, or other components connected to the landing platform.

[0194] Optionally, the aircraft 100 includes a fuselage 110, an arm 140, and a propeller seat 121; multiple arms 140 extend outward from the fuselage 110 to support multiple propeller seats 121, and the blades 122 are installed on the propeller seats 121; wherein the preset area is a polygon, and any corner point of the polygon is located at the position of the propeller seat 121.

[0195] Optionally, obtaining the position information of the blade 122 of the aircraft 100 includes: obtaining an image of the blade 122 during the rotation of the blade 122; and determining the position information of the blade 122 according to an imaging position of the blade 122 in the image.

[0196] Optionally, obtaining the position information of the blade 122 of the aircraft 100 includes obtaining the position information of the blade 122 through a sensor carried by the landing platform 200 .

[0197] Optionally, the processor 501 is further configured to: after the blade 122 stops rotating, if the blade 122 is not within the preset area, control the blade 122 to rotate again so that the blade 122 is within the preset area.

[0198] It should be noted that those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the control device 500 described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0199] An embodiment of the present application provides a control system, which includes the control device 500 of any embodiment of the present application specification.

[0200] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by the processor 501, the processor 501 implements the steps of the control method of the aircraft 100 provided in the above embodiment.

[0201] The computer-readable storage medium may be an internal storage unit of the chassis of the mobile platform of any of the aforementioned embodiments, such as a hard disk or memory of the chassis of the mobile platform. The computer-readable storage medium may also be an external storage device of the chassis of the mobile platform, such as a plug-in hard disk equipped on the chassis of the mobile platform, a smart media card (SMC), a secure digital (SD) card, a flash memory card, etc.

[0202] It should be understood that the terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit this application. As used in this application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0203] It will also be understood that the term "and / or" as used in this application and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0204] The above are only specific embodiments of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for planning an aircraft alternate landing position, characterized in that: The method comprises: Obtaining an alternate landing position setting instruction, where the alternate landing position setting instruction is used to configure another alternate landing position of the aircraft in addition to the primary landing position; According to the alternate landing position setting instruction, the current parking position of the aircraft is determined as the alternate landing position.

2. The planning method according to claim 1, characterized in that: Determining the current parking position of the aircraft as the alternate landing position includes: The alternate landing position is determined based on information sensed by a positioning sensor and / or an external positioning sensor of the aircraft, wherein the external positioning sensor is mounted on a landing platform, and the landing platform includes a carrying platform for providing the main landing position.

3. The planning method according to claim 1, characterized in that: The method further includes: outputting prompt information to prompt the user to place the aircraft in a designated area to set the alternate landing position.

4. The planning method according to claim 3, characterized in that: The method further comprises: Obtaining distribution information of alternate landing positions around the primary landing position; If the distribution information of the alternate position does not meet the preset alternate position distribution condition, the prompt information is output.

5. The planning method according to claim 1, characterized in that: The method further comprises: Based on the user's confirmation operation on the control interface, the alternate landing position setting instruction is generated.

6. The planning method according to claim 1, characterized in that: The method further comprises: Selecting an alternate landing position that has been set around the primary landing position based on a user selection operation; Obtaining another alternate landing position other than the set alternate landing position; In response to receiving the alternate position update instruction, the set alternate position is updated to the other alternate position.

7. The planning method according to claim 1, characterized in that: The method further includes: outputting user guidance information of the alternate landing position; wherein the user guidance information includes description information of the aircraft parking position.

8. The planning method according to claim 1, characterized in that: Before determining the current parking position of the aircraft as the alternate landing position, the method further includes: The aircraft is controlled to take off from the main landing position and to land in a designated area for parking.

9. The planning method according to claim 8, characterized in that: The designated landing area is determined based on a user's stick control manipulation of a remote controller of the aircraft.

10. The planning method according to claim 8, characterized in that: The designated landing area is determined based on a user's area selection operation on a control interface of the aircraft.

11. The planning method according to claim 10, characterized in that: The area selection operation on the control interface includes: Selecting the landing area from the environmental images collected by the aircraft; and / or, The landing area is selected on a map interface associated with the geographical location of the aircraft.

12. The planning method according to claim 1, characterized in that: The method further includes displaying one or more of the following information on the display interface: The identifier of the alternate landing position, the identifier of the primary landing position, the identifier of the aircraft's position, the position information of the alternate landing position, the position information of the primary landing position, the position information of the aircraft's position, and relative position relationship information; The relative position relationship information includes the relative position relationship information between any two positions among the alternate landing position, the main landing position, and the position of the aircraft.

13. The planning method according to claim 1, characterized in that: The method further comprises: Acquiring status information of the aircraft at the parking position; When the status information of the aircraft does not meet the preset status conditions, a prompt message is generated to indicate that the alternate landing position setting is abnormal.

14. The planning method according to claim 13, characterized in that: The state information includes one or more of the following information: distance information of the parking position relative to the main landing position, inclination information of the aircraft, and obstacle distribution information in the surrounding environment of the aircraft.

15. The planning method according to any one of claims 1 to 14, characterized in that: The method further includes obtaining an altitude parameter setting instruction, where the altitude parameter is used to adjust a waypoint altitude of a flight trajectory of the aircraft toward the alternate landing location.

16. A method for controlling a landing platform, characterized in that: The method comprises: Collect blade orientation information of the aircraft parked on the landing platform; A control instruction is generated based on the blade orientation information, where the control instruction is used to control the blade to stop rotating within a preset area.

17. The control method according to claim 16, characterized in that: The landing platform further includes a blocking member, the aircraft includes a plurality of blades, and the method further includes: The blocking member is controlled to approach the blades to hinder the movement of the first blade of the aircraft, and as the other blades rotate, the angle between the first blade and the other blades decreases.

18. The control method according to claim 17, characterized in that: The method further includes: if the positional relationship between the first blade and the other blades meets a preset condition, controlling the other blades to stop rotating.

19. The control method according to claim 17, characterized in that: The rotation of the other blades includes: being driven by a motor; and / or being rotated by an external force applied by an actuator of the landing platform.

20. The control method according to any one of claims 17 to 19, characterized in that: The generating of a control instruction based on the blade orientation information, wherein the control instruction is used to control the blade to stop rotating within a preset area, includes: If the positional relationship between the first blade and the other blades meets a preset condition, the plurality of blades are controlled to move into the preset area and stop rotating based on the control instruction.

21. The control method according to claim 20, characterized in that: The controlling the plurality of blades to move to the preset area and stop rotating based on the control instruction includes: The plurality of blades are driven to rotate by a motor, and / or the blades are rotated by an actuator of the landing platform applying an external force to the blades.

22. The control method according to claim 16, characterized in that: The method further includes controlling movement of a hatch of the landing platform to shield the aircraft.

23. The control method according to claim 16, characterized in that: The aircraft includes a fuselage, an arm, and a propeller seat; a plurality of arms extending outward from the fuselage are used to support a plurality of propeller seats, and the propeller blades are mounted on the propeller seats; The preset area is a polygon, and any corner point of the polygon is located at the position of the paddle seat.

24. The control method according to claim 16, characterized in that: The collecting of blade position information of the aircraft parked on the landing platform includes: collecting an image of the blade during its rotation; The orientation information of the blade is determined according to the imaging position of the blade in the image.

25. The control method according to claim 16, characterized in that: The landing platform includes a sensor, and the sensor is mounted on the hatch; The hatch is in an unfolded state, and the sensor faces a parking area for carrying an aircraft to acquire an image of a blade of the aircraft; The hatch is in a shielded state, and the sensor is used to monitor environmental information around the landing platform.

26. The control method according to claim 16, characterized in that: The collecting of blade position information of the aircraft parked on the landing platform includes: The blade orientation information is collected by sensors of the aircraft and / or sensors carried by the landing platform.

27. The control method according to claim 16, characterized in that: The method further comprises: If the blade is not within the preset area, perform one or more of the following operations to bring the blade within the preset area: controlling the blade to rotate again, and regenerating a control instruction based on the blade orientation information; or An actuator that controls the landing platform pushes the blades.

28. A method for controlling an aircraft, characterized in that: The method comprises: After the aircraft is parked on the landing platform, obtaining blade orientation information of the aircraft; Based on the blade orientation information, the blade is controlled to stop rotating in a preset area to cooperate with the landing platform to store the aircraft.

29. The control method according to claim 28, characterized in that: The landing platform further includes a blocking member, the aircraft includes a plurality of blades, and the method further includes: If the movement position of a first blade among the plurality of blades is blocked by the blocking member, the other blades are controlled to continue rotating, so that the angle between the first blade and the other blades is reduced.

30. The control method according to claim 29, characterized in that: The method further includes: if the positional relationship between the first blade and the other blades meets a preset condition, controlling the other blades to stop rotating.

31. The control method according to claim 30, characterized in that: The positional relationship between the first blade and the other blades meeting the preset condition includes: The positional relationship between the first blade and the other blades determined based on image detection meets a preset condition; and / or, The positional relationship between the first blade and the other blades obtained based on the motor stall current mapping meets the preset conditions.

32. The control method according to claim 29, characterized in that: The rotation of the other blades includes: being driven by a motor; and / or being rotated by an external force applied by an actuator of the landing platform.

33. The control method according to any one of claims 29 to 32, characterized in that: The generating of a control instruction based on the blade orientation information, wherein the control instruction is used to control the blade to stop rotating within a preset area, includes: If the positional relationship between the first blade and the other blades meets a preset condition, the plurality of blades are controlled to move into the preset area and stop rotating based on the control instruction.

34. The control method according to claim 33, characterized in that: The controlling the plurality of blades to move to the preset area and stop rotating based on the control instruction includes: The plurality of blades are driven to rotate by a motor, and / or the blades are rotated by an actuator of the landing platform applying an external force to the blades.

35. The control method according to claim 28, characterized in that: The aircraft includes a fuselage, an arm, and a propeller seat; a plurality of arms extending outward from the fuselage are used to support a plurality of propeller seats, and the propeller blades are mounted on the propeller seats; The preset area is a polygon, and any corner point of the polygon is located at the position of the paddle seat.

36. The control method according to claim 28, characterized in that: The obtaining of blade orientation information of the aircraft includes: acquiring an image of the blade during its rotation; The orientation information of the blade is determined according to the imaging position of the blade in the image.

37. The control method according to claim 28, characterized in that: The obtaining of the blade orientation information of the aircraft includes obtaining the blade orientation information through a sensor carried by the landing platform.

38. The control method according to claim 28, characterized in that: The method further comprises: After the blade stops rotating, if the blade is not within the preset area, the blade is controlled to rotate again so that the blade is within the preset area.

39. A control device for planning an aircraft alternate landing position, characterized in that: The system comprises one or more processors, working individually or collectively to perform the following steps: Obtaining an alternate landing position setting instruction, where the alternate landing position setting instruction is used to configure another alternate landing position of the aircraft in addition to the primary landing position; According to the alternate landing position setting instruction, the current parking position of the aircraft is determined as the alternate landing position.

40. The control device according to claim 39, characterized in that Determining the current parking position of the aircraft as the alternate landing position includes: The alternate landing position is determined based on information sensed by a positioning sensor and / or an external positioning sensor of the aircraft, wherein the external positioning sensor is mounted on a landing platform, and the landing platform includes a carrying platform for providing the main landing position.

41. The control device according to claim 39, characterized in that The processor is further configured to execute: Output prompt information to prompt the user to place the aircraft in the designated area to set the alternate landing position.

42. The control device according to claim 41, characterized in that The processor is further configured to execute: Obtaining distribution information of alternate landing positions around the primary landing position; If the distribution information of the alternate position does not meet the preset alternate position distribution condition, the prompt information is output.

43. The control device according to claim 39, characterized in that The processor is further configured to execute: Based on the user's confirmation operation on the control interface, the alternate landing position setting instruction is generated.

44. The control device according to claim 39, characterized in that The processor is further configured to execute: Selecting an alternate landing position that has been set around the primary landing position based on a user selection operation; Obtaining another alternate landing position other than the set alternate landing position; In response to receiving the alternate position update instruction, the set alternate position is updated to the other alternate position.

45. The control device according to claim 39, characterized in that The processor is further configured to execute: Outputting user guidance information of the alternate landing position; wherein the user guidance information includes description information of the aircraft parking position.

46. ​​The control device according to claim 39, characterized in that Before determining the current parking position of the aircraft as the alternate landing position, the processor is further configured to execute: The aircraft is controlled to take off from the main landing position and to land in a designated area for parking.

47. The control device according to claim 46, characterized in that The designated landing area is determined based on a user's stick control manipulation of a remote controller of the aircraft.

48. The control device according to claim 46, characterized in that The designated landing area is determined based on a user's area selection operation on a control interface of the aircraft.

49. The control device according to claim 48, characterized in that The area selection operation on the control interface includes: Selecting the landing area from the environmental images collected by the aircraft; and / or, The landing area is selected on a map interface associated with the geographical location of the aircraft.

50. The control device according to claim 39, characterized in that The processor is further configured to: display one or more of the following information on the display interface: The identifier of the alternate landing position, the identifier of the primary landing position, the identifier of the aircraft's position, the position information of the alternate landing position, the position information of the primary landing position, the position information of the aircraft's position, and relative position relationship information; The relative position relationship includes the relative position relationship information between any two positions among the alternate landing position, the main landing position, and the position of the aircraft.

51. The control device according to claim 39, characterized in that The processor is further configured to execute: Acquiring status information of the aircraft at the parking position; When the status information of the aircraft does not meet the preset status conditions, a prompt message is generated to indicate that the alternate landing position setting is abnormal.

52. The control device according to claim 51, characterized in that The state information includes one or more of the following information: distance information of the parking position relative to the main landing position, inclination information of the aircraft, and obstacle distribution information in the surrounding environment of the aircraft.

53. The control device according to any one of claims 39 to 52, characterized in that: The processor is further configured to execute: Acquire an altitude parameter setting instruction, where the altitude parameter is used to adjust the waypoint altitude of the flight trajectory of the aircraft to the alternate landing position.

54. A control device for a landing platform, characterized in that: The system comprises one or more processors, working individually or collectively to perform the following steps: Collect blade orientation information of the aircraft parked on the landing platform; A control instruction is generated based on the blade orientation information, where the control instruction is used to control the blade to stop rotating within a preset area.

55. The control device according to claim 54, characterized in that The landing platform further includes an arrester, the aircraft includes a plurality of blades, and the processor is further configured to execute: The blocking member is controlled to approach the blades to hinder the movement of the first blade of the aircraft, and as the other blades rotate, the angle between the first blade and the other blades decreases.

56. The control device according to claim 55, characterized in that The processor is further configured to execute: if the positional relationship between the first blade and the other blades meets a preset condition, controlling the other blades to stop rotating.

57. The control device according to claim 55, characterized in that The rotation of the other blades includes: being driven by a motor; and / or being rotated by an external force applied by an actuator of the landing platform.

58. The control device according to any one of claims 55 to 57, characterized in that: The generating of a control instruction based on the blade orientation information, wherein the control instruction is used to control the blade to stop rotating within a preset area, includes: If the positional relationship between the first blade and the other blades meets a preset condition, the plurality of blades are controlled to move into the preset area and stop rotating based on the control instruction.

59. The control device according to claim 58, characterized in that The controlling the plurality of blades to move to the preset area and stop rotating based on the control instruction includes: The plurality of blades are driven to rotate by a motor, and / or the blades are rotated by an actuator of the landing platform applying an external force to the blades.

60. The control device according to claim 54, characterized in that The processor is further configured to control the movement of a hatch of the landing platform to shield the aircraft.

61. The control device according to claim 54, characterized in that The aircraft includes a fuselage, an arm, and a propeller seat; a plurality of arms extending outward from the fuselage are used to support a plurality of propeller seats, and the propeller blades are mounted on the propeller seats; The preset area is a polygon, and any corner point of the polygon is located at the position of the paddle seat.

62. The control device according to claim 54, characterized in that The collecting of blade position information of the aircraft parked on the landing platform includes: collecting an image of the blade during its rotation; The orientation information of the blade is determined according to the imaging position of the blade in the image.

63. The control device according to claim 54, characterized in that The landing platform includes a sensor, and the sensor is mounted on the hatch; The hatch is in an unfolded state, and the sensor faces a parking area for carrying an aircraft to acquire an image of a blade of the aircraft; The hatch is in a shielded state, and the sensor is used to monitor environmental information around the landing platform.

64. The control device according to claim 54, characterized in that The blade orientation information is collected by sensors of the aircraft and / or sensors carried by the landing platform.

65. The control device according to claim 54, characterized in that The processor is further configured to execute: If the blade is not within the preset area, perform one or more of the following operations to bring the blade within the preset area: controlling the blade to rotate again, and regenerating a control instruction based on the blade orientation information; or An actuator that controls the landing platform pushes the blades.

66. A control device for an aircraft, characterized in that: The system comprises one or more processors, working individually or collectively to perform the following steps: After the aircraft is parked on the landing platform, obtaining blade orientation information of the aircraft; Based on the blade orientation information, the blade is controlled to stop rotating in a preset area to cooperate with the landing platform to store the aircraft.

67. The control device according to claim 66, characterized in that The landing platform further includes an arrester, the aircraft includes a plurality of blades, and the processor is further configured to execute: If the movement position of a first blade among the plurality of blades is blocked by the blocking member, the other blades are controlled to continue rotating, so that the angle between the first blade and the other blades is reduced.

68. The control device according to claim 67, characterized in that The processor is further configured to execute: if the positional relationship between the first blade and the other blades meets a preset condition, controlling the other blades to stop rotating.

69. The control device according to claim 68, characterized in that The positional relationship between the first blade and the other blades meeting the preset condition includes: The positional relationship between the first blade and the other blades determined based on image detection meets a preset condition; and / or, The positional relationship between the first blade and the other blades obtained based on the motor stall current mapping meets the preset conditions.

70. The control device according to claim 67, characterized in that The rotation of the other blades includes: being driven by a motor; and / or being rotated by an external force applied by an actuator of the landing platform.

71. The control device according to any one of claims 67 to 70, characterized in that: The generating of a control instruction based on the blade orientation information, wherein the control instruction is used to control the blade to stop rotating within a preset area, includes: If the positional relationship between the first blade and the other blades meets a preset condition, the plurality of blades are controlled to move into the preset area and stop rotating based on the control instruction.

72. The control device according to claim 71, characterized in that The controlling the plurality of blades to move to the preset area and stop rotating based on the control instruction includes: The plurality of blades are driven to rotate by a motor, and / or the blades are rotated by an actuator of the landing platform applying an external force to the blades.

73. The control device according to claim 66, characterized in that The aircraft includes a fuselage, an arm, and a propeller seat; a plurality of arms extending outward from the fuselage are used to support a plurality of propeller seats, and the propeller blades are mounted on the propeller seats; The preset area is a polygon, and any corner point of the polygon is located at the position of the paddle seat.

74. The control device according to claim 66, characterized in that The obtaining of blade orientation information of the aircraft includes: acquiring an image of the blade during its rotation; The orientation information of the blade is determined according to the imaging position of the blade in the image.

75. The control device according to claim 66, characterized in that The obtaining of the blade orientation information of the aircraft includes obtaining the blade orientation information through a sensor carried by the landing platform.

76. The control device according to claim 66, characterized in that The processor is further configured to execute: After the blade stops rotating, if the blade is not within the preset area, the blade is controlled to rotate again so that the blade is within the preset area.

77. A control system, characterized in that: The control system comprises a control device according to any one of claims 39 to 76.

78. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 38 is implemented.

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