A vehicle-mounted docking device for unmanned aerial vehicle landing and a control method thereof

Abstract

The application discloses a vehicle-mounted docking device for unmanned aerial vehicle landing and a control method thereof, and belongs to the technical field of unmanned aerial vehicle taking-off and landing. The vehicle-mounted docking device comprises an unmanned vehicle and a recovery net. A taking-off and landing support is fixed on the unmanned vehicle. A docking mechanism is arranged on each of four corners of the taking-off and landing support. The docking mechanism is a four-bar linkage mechanism. A first servo motor, a second servo motor and a linear module are arranged on the docking mechanism. The first servo motor is connected with the linear module. The recovery net is fixedly connected with the linear module. Elastic ropes are connected between any two docking mechanisms on the same side. The docking precision requirement of the unmanned vehicle and the unmanned aerial vehicle is reduced by organically combining the recovery net and the docking mechanism. The response speed of the docking mechanism is improved. The unmanned aerial vehicle landing success rate can be effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle landing and taking off, and in particular to a vehicle-mounted docking device for unmanned aerial vehicle landing and a control method thereof. BACKGROUND

[0002] The landing methods of unmanned aerial vehicles include runway sliding landing, parachute recovery, crash net recovery, vertical landing recovery, air recovery and airbag landing recovery. The runway sliding landing is suitable for large unmanned aerial vehicles and requires high landing gear. The parachute and crash net recovery are suitable for small unmanned aerial vehicles and are easy to cause damage to the unmanned aerial vehicle body.

[0003] The existing vehicle-mounted landing and taking off mainly has the following deficiencies:

[0004] 1. The platform supporting the wings of the unmanned aerial vehicle is equivalent to the wingspan of the unmanned aerial vehicle, resulting in too wide width of the unmanned vehicle, and the platform is made of hard material, which may cause impact on the unmanned aerial vehicle body during landing.

[0005] 2. The existing unmanned aerial vehicle is landed on the unmanned vehicle, and a ring-shaped lock provided on the vehicle body is used to fix the unmanned aerial vehicle on the vehicle. This fixing method requires high docking accuracy of the unmanned vehicle and the unmanned aerial vehicle, and the actual operation success rate is low. At the same time, since only the tail part of the unmanned aerial vehicle is fixed, the unmanned aerial vehicle may appear to look up during the fixing process, and there is a risk of damage to the unmanned aerial vehicle body.

[0006] A vehicle-mounted unmanned aerial vehicle landing and taking off system and method under high-speed motion conditions of a vehicle are disclosed in Chinese patent document No. CN117193337A, published on December 8, 2023, which includes an airborne soft connection assembly, a vehicle-mounted soft connection assembly and a hard connection assembly. The hard connection assembly includes a first adapter provided on the airborne soft connection assembly and a second adapter provided on the vehicle-mounted soft connection assembly. The airborne soft connection assembly sends the docking elements in the first adapter to the vehicle-mounted soft connection assembly when the unmanned aerial vehicle determines that the preset landing conditions are met. The vehicle-mounted soft connection assembly sends the docking elements to the preset position of the second adapter, fixes the docking elements, and generates a flexible connection instruction. The hard connection assembly adjusts the docking angle of the second adapter according to the current angle of the first adapter on the unmanned aerial vehicle, rigidly docks the second adapter with the first adapter, and after the docking is completed, lowers the second adapter to the vehicle to complete the landing of the unmanned aerial vehicle.

[0007] The patent document discloses a variable-angle vehicle-mounted unmanned aerial vehicle take-off and landing system and method under high-speed motion conditions of the vehicle, which can stably and reliably land the unmanned aerial vehicle in a low-altitude following state, efficiently and safely. However, since the vehicle-mounted soft connection component and the hard connection component need to be matched, when the unmanned aerial vehicle meets the preset landing condition, the vehicle-mounted soft connection component needs to generate a soft connection instruction, and then the docking angle of the docking device is matched, so that the second docking device can be rigidly docked with the first docking device. After the rigid docking is completed, the unmanned aerial vehicle can be landed only when the second docking device is lowered to the vehicle. The vehicle-mounted soft connection component and the hard connection component need to be matched, which requires very high precision and slow response speed, and affects the success rate of the unmanned aerial vehicle landing. SUMMARY

[0008] In order to overcome the defects of the prior art, the present application provides a vehicle-mounted docking device for unmanned aerial vehicle landing and a control method thereof. The present application reduces the docking precision requirement of the unmanned vehicle and the unmanned aerial vehicle by organically combining the recovery net and the docking mechanism, improves the response speed of the docking mechanism, and can effectively improve the success rate of the unmanned aerial vehicle landing.

[0009] The present application is realized by the following technical solutions:

[0010] A vehicle-mounted docking device for unmanned aerial vehicle landing, comprising an unmanned vehicle and a recovery net, the unmanned vehicle is fixed with a take-off and landing support, and a docking mechanism is arranged on each of the four corners of the take-off and landing support, the docking mechanism is a four-bar linkage mechanism, a first servo motor, a second servo motor and a linear module are arranged on the docking mechanism, the first servo motor is connected with the linear module, the recovery net is fixedly connected with the linear module, and elastic ropes are connected between any two docking mechanisms on the same side.

[0011] The docking mechanism comprises a rack, a first connecting rod, a second connecting rod and a third connecting rod, the second connecting rod and the third connecting rod are respectively hinged to the rack, and the first connecting rod is respectively hinged to the second connecting rod and the third connecting rod.

[0012] The linear module comprises a sliding table, a sliding rail and a shaft coupling arranged on the rack, the sliding table is slidingly connected with the sliding rail, and the shaft coupling is connected with the first servo motor.

[0013] The first servo motor drives the recovery net to make upward and downward reciprocating motion.

[0014] The second servo motor drives the second connecting rod to make rotary motion.

[0015] A vehicle-mounted docking control method for unmanned aerial vehicle landing, comprising the following steps:

[0016] Step a, driving the recovery net upward by the first servo motor to lift the recovery net to a preset height;

[0017] Step b, when the UAV is lowered to a preset docking height and a preset docking speed, the second servo motor of the vehicle-mounted docking mechanism drives the second connecting rod of the docking mechanism to rotate at a speed ring, and drives the first connecting rod to expand towards the fuselage to hold the UAV;

[0018] Step c, when the docking mechanism holds the UAV to land on the recovery net, the second servo motor is switched to torque ring control, and when the preset pressure value between the docking mechanism and the fuselage is reached, the second servo motor stops moving, and the UAV landing is completed.

[0019] In step a, the preset height is 1 meter.

[0020] In step b, the preset docking height is 2-3m, and the preset docking speed is 50-60km / h.

[0021] In step b, the second servo motor drives the second connecting rod of the docking mechanism to rotate at a speed ring, which means that the rotating speed is operated in stages, including a first stage and a second stage, the first stage is operated at a rotating speed of 1000-2000rpm, and the second stage is operated at a rotating speed of 100-150rpm.

[0022] In step c, the preset pressure value is 0.15-0.3Mpa.

[0023] The beneficial effects of the present application mainly include the following aspects:

[0024] 1、Compared with the prior art, the present application combines the recovery net and the docking mechanism organically, reduces the docking precision requirement of the unmanned vehicle and the UAV, improves the response speed of the docking mechanism, and can effectively improve the UAV landing success rate.

[0025] 2、The docking mechanism includes a rack, a first connecting rod, a second connecting rod and a third connecting rod, the second connecting rod and the third connecting rod are respectively hinged to the rack, and the first connecting rod is respectively hinged to the second connecting rod and the third connecting rod, and the docking mechanism with this specific structure is beneficial to improve the response speed and has a simple and reliable structure.

[0026] 3、The present application adjusts the height of the recovery net through the linear module, so that the recovery net can be raised and lowered, which is beneficial to the self-adaptive holding of the docking mechanism to the UAV fuselage.

[0027] 4、The present application integrates the recovery net, the docking mechanism and the linear module on the unmanned vehicle, and the overall structure is compact, which fully utilizes the adaptability of the unmanned vehicle to the ground, is beneficial to greatly reducing the take-off and landing requirements of the UAV, and has good universality.

[0028] 5. The present invention integrates a take-off and landing bracket on the unmanned vehicle to provide a stable take-off and landing platform, thereby effectively supporting the weight of the UAV during take-off and landing, thereby ensuring the stability and reliability of the UAV landing during the driving of the unmanned vehicle.

[0029] 6. The present invention can realize precise movement of the docking mechanism through the servo motor, and has the characteristics of high precision, high response speed and reliability, which is conducive to improving the landing stability of the UAV.

[0030] 7. In the present invention, the preset docking height is 2-3m, and the preset docking speed is 50-60km / h. Using this specific range of values ​​can ensure that the unmanned vehicle can adjust its posture in time to follow the drone, thereby ensuring the stability of the drone's landing.

[0031] 8. In the present invention, the second servo motor drives the second connecting rod of the docking mechanism to rotate with a speed loop, which means that the speed is operated in stages, including a first stage and a second stage. The first stage runs at a speed of 1000-2000 rpm, and the second stage runs at a speed of 100-150 rpm. This can ensure that the docking mechanism is deployed in time, while avoiding the impact of excessive speed on the drone, ensuring the safe landing of the drone.

[0032] 9. The preset pressure value of the present invention is 0.15-0.3Mpa, which can not only avoid excessive local pressure on the fuselage skin causing depression and delamination, but also ensure that the fuselage of the drone is firmly fixed on the recovery net.

[0033] 10. The present invention can maintain the balance of the drone during landing through the elastic rope, and can absorb part of the impact energy when the drone lands, reducing the impact force on the drone and unmanned vehicle, thereby improving the safety and reliability of landing.

[0034] 11. The present invention supports the UAV through a recovery net, which has high strength and good flexibility to ensure that the UAV is not damaged during the landing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0036] Figure 1 This is a schematic structural diagram of the vehicle-mounted docking device for landing a UAV according to the present invention;

[0037] Figure 2 It is a structural schematic diagram of the docking mechanism of the present invention;

[0038] Marked in the figure: 1, unmanned vehicle, 2, recycling net, 3, take-off and landing support, 4, docking mechanism, 5, first servo motor, 6, second servo motor, 7, linear module, 8, elastic rope, 9, rack, 10, first connecting rod, 11, second connecting rod, 12, third connecting rod, 13, sliding table, 14, sliding rail, 15, coupling. DETAILED DESCRIPTION

[0039] Example 1

[0040] Referring to Figure 1 and Figure 2 , a vehicle-mounted docking device for unmanned aerial vehicle landing, comprising an unmanned vehicle 1 and a recycling net 2, the unmanned vehicle 1 is fixed with a take-off and landing support 3, the four corners of the take-off and landing support 3 are provided with docking mechanisms 4, the docking mechanisms 4 are four-bar mechanisms, the docking mechanisms 4 are provided with first servo motors 5, second servo motors 6 and linear modules 7, the first servo motors 5 and the linear modules 7 are connected, the recycling net 2 is fixedly connected with the linear modules 7, and elastic ropes 8 are connected between any two docking mechanisms 4 on the same side.

[0041] This embodiment is the most basic implementation, which combines the recycling net 2 and the docking mechanism 4 organically, reduces the docking precision requirement of the unmanned vehicle 1 and the unmanned aerial vehicle, improves the response speed of the docking mechanism 4, and can effectively improve the success rate of the unmanned aerial vehicle landing.

[0042] Example 2

[0043] Referring to Figure 1 and Figure 2 , a vehicle-mounted docking device for unmanned aerial vehicle landing, comprising an unmanned vehicle 1 and a recycling net 2, the unmanned vehicle 1 is fixed with a take-off and landing support 3, the four corners of the take-off and landing support 3 are provided with docking mechanisms 4, the docking mechanisms 4 are four-bar mechanisms, the docking mechanisms 4 are provided with first servo motors 5, second servo motors 6 and linear modules 7, the first servo motors 5 and the linear modules 7 are connected, the recycling net 2 is fixedly connected with the linear modules 7, and elastic ropes 8 are connected between any two docking mechanisms 4 on the same side.

[0044] Preferably, the docking mechanism 4 comprises a rack 9, a first connecting rod 10, a second connecting rod 11 and a third connecting rod 12, the second connecting rod 11 and the third connecting rod 12 are respectively hinged with the rack 9, and the first connecting rod 10 is respectively hinged with the second connecting rod 11 and the third connecting rod 12.

[0045] The embodiment is a preferred embodiment, the docking mechanism 4 includes a rack 9, a first connecting rod 10, a second connecting rod 11 and a third connecting rod 12, the second connecting rod 11 and the third connecting rod 12 are hinged with the rack 9 respectively, the first connecting rod 10 is hinged with the second connecting rod 11 and the third connecting rod 12 respectively, the docking mechanism 4 with the specific structure is beneficial to improve the response speed, and the structure is simple and reliable.

[0046] Embodiment 3

[0047] Referring to Figure 1 and Figure 2 A vehicle-mounted docking device for unmanned aerial vehicle landing, comprising an unmanned vehicle 1 and a recovery net 2, the unmanned vehicle 1 is fixed with a take-off and landing support 3, the four corners of the take-off and landing support 3 are provided with docking mechanisms 4, the docking mechanism 4 is a four-bar linkage mechanism, the docking mechanism 4 is provided with a first servo motor 5, a second servo motor 6 and a linear module 7, the first servo motor 5 and the linear module 7 are connected, the recovery net 2 is fixedly connected with the linear module 7, and the elastic ropes 8 are connected between any two docking mechanisms 4 on the same side.

[0048] The docking mechanism 4 includes a rack 9, a first connecting rod 10, a second connecting rod 11 and a third connecting rod 12, the second connecting rod 11 and the third connecting rod 12 are hinged with the rack 9 respectively, the first connecting rod 10 is hinged with the second connecting rod 11 and the third connecting rod 12 respectively.

[0049] The linear module 7 includes a sliding table 13, a sliding rail 14 and a shaft coupling 15 arranged on the rack 9, the sliding table 13 is slidingly connected with the sliding rail 14, and the shaft coupling 15 is connected with the first servo motor 5.

[0050] The embodiment is another preferred embodiment, the height of the recovery net 2 is adjusted by the linear module 7, so that the recovery net 2 can be lifted up and down, which is beneficial to the self-adaptive holding of the unmanned aerial vehicle body by the docking mechanism 4.

[0051] By integrating the recovery net 2, the docking mechanism 4 and the linear module 7 on the unmanned vehicle 1, the overall structure is compact, the adaptability of the unmanned vehicle 1 to the ground is fully utilized, which is beneficial to greatly reducing the take-off and landing requirements of the unmanned aerial vehicle, and has good universality.

[0052] Embodiment 4

[0053] Referring to Figure 1 and Figure 2The utility model provides a vehicle-mounted docking device for unmanned aerial vehicle landing, including unmanned vehicle 1 and recovery net 2, the unmanned vehicle 1 is fixed with take-off and landing support 3, and the four corners of take-off and landing support 3 are provided with docking mechanism 4, docking mechanism 4 is four-bar linkage, first servo motor 5, second servo motor 6 and linear module 7 are provided on docking mechanism 4, first servo motor 5 is connected with linear module 7, recovery net 2 is fixedly connected with linear module 7, and elastic rope 8 is connected between any two docking mechanisms 4 of same side.

[0054] The docking mechanism 4 includes a frame 9, a first link 10, a second link 11, and a third link 12. The second link 11 and the third link 12 are respectively hinged to the frame 9. The first link 10 is respectively hinged to the second link 11 and the third link 12.

[0055] The linear module 7 includes a sliding table 13, a sliding rail 14, and a shaft coupling 15 arranged on the frame 9. The sliding table 13 is slidingly connected to the sliding rail 14. The shaft coupling 15 is connected to the first servo motor 5.

[0056] The first servo motor 5 drives the recovery net 2 to make up-down reciprocating motion.

[0057] The second servo motor 6 drives the second link 11 to make rotary motion.

[0058] In this embodiment, the take-off and landing support 3 is integrated on the unmanned vehicle 1, which can provide a stable take-off and landing platform to effectively support the weight of the unmanned aerial vehicle during take-off and landing, thereby ensuring the stability and reliability of the unmanned aerial vehicle landing during the driving of the unmanned vehicle 1.

[0059] The servo motor can realize precise motion of the docking mechanism 4, which has the characteristics of high precision, high response speed, and reliability, and is beneficial to improving the stability of the unmanned aerial vehicle landing.

[0060] Embodiment 5

[0061] Referring to Figure 1 and Figure 2 A vehicle-mounted docking control method for unmanned aerial vehicle landing includes the following steps:

[0062] Step a, drive the recovery net 2 upward by the first servo motor 5 to lift the recovery net 2 to a preset height;

[0063] Step b, when the unmanned aerial vehicle is lowered to a preset docking height and a preset docking speed, drive the second link 11 of the docking mechanism 4 to make rotary motion by the second servo motor 6 of the vehicle-mounted docking mechanism 4 in a speed loop, which drives the first link 10 to unfold towards the fuselage to hold the unmanned aerial vehicle;

[0064] Step c, when the docking mechanism 4 holds the UAV to land on the recovery net 2, switch the second servo motor 6 to torque ring control, when the docking mechanism 4 and the fuselage reach the preset pressure value, the second servo motor 6 stops moving, and the UAV landing is completed.

[0065] In the step a, the preset height is 1 meter.

[0066] In the step b, the preset docking height is 2m, and the preset docking speed is 50km / h.

[0067] In the step b, the second servo motor 6 drives the second connecting rod 11 of the docking mechanism 4 to rotate at a speed ring, which means that the rotating speed is operated in stages, including a first stage and a second stage, the first stage is operated at 1000rpm, and the second stage is operated at 100rpm.

[0068] In the step c, the preset pressure value is 0.15Mpa.

[0069] The embodiment is another preferred embodiment, which can ensure that the unmanned vehicle 1 adjusts the posture in time to follow the UAV, thereby ensuring the stability of the UAV landing; can ensure that the docking mechanism 4 is deployed in time, and at the same time avoid the impact on the UAV caused by too fast speed, and ensure the safe landing of the UAV.

[0070] Embodiment 6

[0071] Referring to Figure 1 and Figure 2 A vehicle-mounted docking control method for UAV landing, comprising the following steps:

[0072] Step a, drive the recovery net 2 to move upward by the first servo motor 5, and lift the recovery net 2 to a preset height;

[0073] Step b, when the UAV is lowered to a preset docking height and a preset docking speed, drive the second connecting rod 11 of the docking mechanism 4 to rotate by the second servo motor 6 of the vehicle-mounted docking mechanism 4 at a speed ring, and drive the first connecting rod 10 to expand to the fuselage direction to hold the UAV;

[0074] Step c, when the docking mechanism 4 holds the UAV to land on the recovery net 2, switch the second servo motor 6 to torque ring control, when the docking mechanism 4 and the fuselage reach the preset pressure value, the second servo motor 6 stops moving, and the UAV landing is completed.

[0075] Preferably, in the step a, the preset height is 1 meter.

[0076] In the step b, the preset docking height is 3m, and the preset docking speed is 60km / h.

[0077] In step b, the second servo motor 6 drives the second connecting rod 11 of the docking mechanism 4 to rotate at a speed ring, which means that the rotation speed is divided into two stages, i.e., a first stage at 2000 rpm and a second stage at 150 rpm.

[0078] In step c, the preset pressure value is 0.3 Mpa.

[0079] The embodiment is the best mode, which can avoid the local pressure of the fuselage skin being too large to cause the depression and delamination, and can also ensure that the unmanned aerial vehicle is firmly fixed on the recovery net 2. The recovery net 2 bears the unmanned aerial vehicle, has high strength and good flexibility, and can ensure that the unmanned aerial vehicle is not damaged during landing.

[0080] The unmanned aerial vehicle landing process is as follows:

[0081] Step 1: lifting the recovery net 2: the first servo motor 5 drives the recovery net 2 to move upward, and the recovery net 2 is lifted to a preset height;

[0082] Step 2: unfolding the docking mechanism 4: the unmanned vehicle 1 tracks the unmanned aerial vehicle in real time, and the docking mechanism 4 is unfolded through the unmanned vehicle 1 and

[0083] The unmanned aerial vehicle position information adjusts the heading angle and speed of the unmanned vehicle 1 in real time, so that the unmanned vehicle 1 is always located directly below the unmanned aerial vehicle. At this time, the relative height between the unmanned aerial vehicle and the unmanned vehicle 1 is monitored in real time through the distance sensor of the unmanned vehicle 1. When the unmanned aerial vehicle is lowered to a preset docking height, the docking mechanism 4 is quickly unfolded, and the first connecting rod 10 is unfolded in the direction of the fuselage to hold the unmanned aerial vehicle.

[0084] Step 3: fixing the unmanned aerial vehicle: there may be a position error between the unmanned aerial vehicle and the unmanned vehicle 1, and the docking mechanism 4 may change in the unfolded state. According to the real-time position of the unmanned aerial vehicle, the servo motor is controlled in a closed loop to achieve adaptive holding of the unmanned aerial vehicle fuselage by the docking mechanism 4. When the docking mechanism 4 and the fuselage reach a preset pressure value, the second servo motor 6 stops moving, and the unmanned aerial vehicle landing is completed.

[0085] In addition, the process of the unmanned aerial vehicle separating from the unmanned vehicle 1 is as follows:

[0086] The unmanned vehicle 1 is braked until the unmanned aerial vehicle stops. The first connecting rod 10 of the docking mechanism 4 is retracted to the side of the unmanned vehicle 1 through the position ring control of the second servo motor 6, and the unmanned aerial vehicle is lifted from the unmanned vehicle 1 to a safe area through the lifting machine.

Claims

1. A vehicle-mounted docking device for landing an unmanned aerial vehicle, comprising an unmanned vehicle (1), characterized in that: It also includes a recovery net (2), a lifting and lowering support (3) is fixed on the unmanned vehicle (1), and docking mechanisms (4) are provided on the four corners of the lifting and lowering support (3), the docking mechanism (4) is a four-link mechanism, and the docking mechanism (4) is provided with a first servo motor (5), a second servo motor (6) and a linear module (7), the first servo motor (5) and the linear module (7) are connected, the recovery net (2) and the linear module (7) are fixedly connected, and an elastic rope (8) is connected between any two docking mechanisms (4) on the same side; The docking mechanism (4) comprises a frame (9), a first connecting rod (10), a second connecting rod (11) and a third connecting rod (12); the second connecting rod (11) and the third connecting rod (12) are respectively hinged to the frame (9); and the first connecting rod (10) is respectively hinged to the second connecting rod (11) and the third connecting rod (12).

2. The vehicle-mounted docking device for landing a UAV according to claim 1, characterized in that: The linear module (7) includes a slide (13), a slide rail (14) and a coupling (15) arranged on a frame (9); the slide (13) is slidably connected to the slide rail (14); and the coupling (15) is connected to the first servo motor (5).

3. The vehicle-mounted docking device for landing a UAV according to claim 1, characterized in that: The first servo motor (5) drives the recovery net (2) to perform up and down reciprocating motion.

4. The vehicle-mounted docking device for landing a UAV according to claim 1, characterized in that: The second servo motor (6) drives the second connecting rod (11) to perform rotational motion.

5. A vehicle-mounted docking control method for landing a UAV, characterized in that: The vehicle-mounted docking device for landing a drone as claimed in claim 1 comprises the following steps: a. driving the recovery net (2) to move upwards by means of a first servo motor (5), thereby raising the recovery net (2) to a preset height; b. When the UAV descends to a preset docking height and a preset docking speed, the second servo motor (6) of the vehicle-mounted docking mechanism (4) drives the second connecting rod (11) of the docking mechanism (4) to rotate with a speed ring, thereby driving the first connecting rod (10) to unfold toward the fuselage and hold the UAV; c. When the docking mechanism (4) holds the UAV and lands on the recovery net (2), the second servo motor (6) is switched to torque loop control. When the pressure between the docking mechanism (4) and the fuselage reaches a preset value, the second servo motor (6) stops moving, completing the landing of the UAV.

6. The vehicle-mounted docking control method for landing a UAV according to claim 5, characterized in that: In a, the preset height is 1 meter.

7. The vehicle-mounted docking control method for landing a UAV according to claim 5, characterized in that: In the above b, the preset docking height is 2-3m, and the preset docking speed is 50-60km / h.

8. The vehicle-mounted docking control method for landing a UAV according to claim 5, characterized in that: In the above-mentioned step b, the second servo motor (6) drives the second connecting rod (11) of the docking mechanism (4) to rotate with a speed ring, which means operating at a speed in stages, including a first stage and a second stage. The first stage operates at a speed of 1000-2000 rpm, and the second stage operates at a speed of 100-150 rpm.

9. The vehicle-mounted docking control method for landing a UAV according to claim 5, characterized in that: In said c, the preset pressure value is 0.15-0.3Mpa.

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