Unmanned aerial vehicle control method, device and system, unmanned aerial vehicle hangar and storage medium

Abstract

The embodiment of the invention provides an unmanned aerial vehicle control method, device and system, an unmanned aerial vehicle hangar and a storage medium. Relates to the technical field of unmanned aerial vehicle control. The method is applied to a processor in the unmanned aerial vehicle hangar, the unmanned aerial vehicle hangar further comprises at least one drawer type parking cabin, and each drawer type parking cabin comprises a transmission device, a motor, a drawer body and a fixing frame. Comprising the following steps: in response to a received takeoff instruction, determining a first drawer type parking cabin where a first target unmanned aerial vehicle indicated by the takeoff instruction is located; a first motor of the first drawer type parking cabin is controlled to drive a first transmission device to move, so that the first transmission device drives a first drawer body of the first drawer type parking cabin to move to a preset extending position; and under the condition that the first drawer body moves to the preset extension position, the first target unmanned aerial vehicle is controlled to take off from a first parking platform of the first drawer body, and the first target unmanned aerial vehicle is controlled to execute a flight task carried by the take-off instruction. Therefore, takeoff control of the unmanned aerial vehicle is realized.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) control technology, and in particular to a control method, device, system, UAV hangar, and storage medium for a UAV. Background Technology

[0002] With the rapid development and maturation of drone technology, drones are widely used in many fields such as civilian surveying and mapping, commercial delivery, agricultural plant protection, environmental monitoring, and disaster relief.

[0003] In related technologies, drone take-off and landing mainly rely on fixed take-off and landing platforms and foldable take-off and landing platforms. However, fixed take-off and landing platforms require a large installation space and lack storage capabilities, resulting in poor site adaptability; foldable take-off and landing platforms use a foldable mechanical structure design, requiring manual folding and storage when not in use, and have a low degree of automation. These problems restrict the widespread application of drone technology. Summary of the Invention

[0004] The purpose of this application is to provide a control method, device, system, drone hangar, and storage medium for unmanned aerial vehicles (UAVs), thereby providing a drawer-type UAV hangar with storage function, strong site adaptability, and a high degree of automation, as well as a UAV control method. The specific technical solution is as follows:

[0005] In a first aspect, embodiments of this application provide a control method for a drone, applied to a processor in a drone hangar. The drone hangar further includes at least one drawer-type parking compartment, each drawer-type parking compartment including a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the drone, and the drawer body is capable of telescopic movement relative to the fixed frame. The method includes:

[0006] In response to a received takeoff command, determine the first drawer-type parking compartment where the first target UAV indicated by the takeoff command is located;

[0007] The first motor controlling the first drawer-type parking compartment drives the first transmission device to move, so that the first transmission device moves the first drawer body of the first drawer-type parking compartment to a preset extended position;

[0008] When the first drawer moves to the preset extended position, the first target drone is controlled to take off from the first parking platform of the first drawer, and the first target drone is controlled to execute the flight mission carried by the take-off command.

[0009] Optionally, the transmission device is a lead screw assembly; the lead screw assembly includes a lead screw, a nut, and a slide rail; the lead screw is connected to the motor, the lead screw is threadedly connected to the nut, the nut is connected to the slide rail, and the lower surface of the drawer body is fixedly connected to the nut;

[0010] The step of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device moves the first drawer body of the first drawer-type parking compartment to a preset extended position, includes:

[0011] A control signal is sent to the first motor of the first drawer-type parking compartment so that the first motor rotates in the direction and number of revolutions indicated by the control signal, thereby driving the first lead screw of the first drawer-type parking compartment to rotate and drive the first nut to move along the slide rail, so that the first drawer body of the first drawer-type parking compartment moves along the first slide rail to a preset extended position.

[0012] Optionally, the first drawer-type parking compartment further includes a first photoelectric sensor; the first fixing frame includes at least a pair of oppositely arranged side plates; the first photoelectric sensor is fixed to the pair of oppositely arranged side plates on the first fixing frame and is triggered when the first drawer extends to the preset extension position; the method further includes:

[0013] When the first photoelectric sensor is triggered, the first motor is controlled to stop rotating.

[0014] Optionally, the method further includes:

[0015] If the first target drone is detected to have flown away from the first drawer, the first motor is controlled to drive the first transmission device to move, so that the first transmission device moves the first drawer to a preset retraction position.

[0016] Optionally, the first drawer-type parking compartment further includes a second photoelectric sensor; the first fixing frame includes at least a pair of opposing side plates; the second photoelectric sensor is fixed to the pair of opposing side plates on the first fixing frame and is triggered when the first drawer is retracted to the preset retracted position; the method further includes:

[0017] When the second photoelectric sensor is triggered, the first motor is controlled to stop rotating.

[0018] Optionally, the method further includes:

[0019] In response to a received landing command, determine the second drawer-type parking compartment where the first target UAV indicated by the landing command is to land;

[0020] The second motor controlling the second drawer-type parking compartment drives the second transmission device to move, so that the second transmission device moves the second drawer body of the second drawer-type parking compartment to the preset extended position;

[0021] When the second drawer moves to the preset extended position, control the first target drone to land on the second parking platform in the second drawer;

[0022] Upon detecting that the first target drone has landed on the second parking platform, the second motor is controlled to drive the second transmission device to move, so that the second transmission device moves the second drawer to a preset retraction position.

[0023] Optionally, the drone hangar also includes a pressure sensor; the pressure sensor is installed on the parking platform of the drawer and is used to detect whether there are obstacles on the parking platform;

[0024] Prior to the step of controlling the first target drone to land on the second parking platform in the second drawer, the method further includes:

[0025] If the pressure sensor detects an obstacle on the second parking platform, the first target drone is controlled to stop landing, and a clearing command is output to allow the user to clear the obstacle from the second parking platform.

[0026] If the pressure sensor detects that there is no obstacle on the second parking platform, the step of controlling the first target UAV to land on the second parking platform in the second drawer is executed.

[0027] Optionally, the drone hangar further includes an ultrasonic sensor; the ultrasonic sensor is mounted on the outer surface of the drone hangar.

[0028] Before the step of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device moves the first drawer body of the first drawer-type parking compartment to a preset extended position, the method further includes:

[0029] Acquire the ultrasonic signal from the ultrasonic sensor, and determine whether there are obstacles around the drone hangar based on the ultrasonic signal;

[0030] When the ultrasonic signal indicates that there are no obstacles around the UAV hangar, the step of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device moves the first drawer body of the first drawer-type parking compartment to a preset extended position.

[0031] Optionally, the drone hangar further includes a collision detection device; the collision detection device is installed on the front panel of the drawer and is used to detect collision events; the method further includes:

[0032] During the process of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device, if the collision detection device detects a collision event, the first motor is controlled to brake.

[0033] Optionally, the area where the drone hangar is located is equipped with multiple wireless carrier positioning base stations; the drone is equipped with a satellite positioning system, an inertial navigation system, and a wireless carrier positioning tag; the method further includes:

[0034] During the flight of the first target UAV, the first position information of the first target UAV collected by the satellite positioning system, the second position information of the first target UAV collected by the inertial navigation system, and tag information sent by multiple wireless carrier positioning base stations are simultaneously acquired. The tag information is the time when the wireless carrier positioning base station receives the pulse data sent by the wireless carrier positioning tag.

[0035] The first location information and the second location information are fused to obtain the first fused location information;

[0036] Based on the tag information sent by multiple wireless carrier positioning base stations, the third location information of the first target UAV is calculated using a trilateration algorithm.

[0037] The first fused location information and the third location information are fused to obtain the second fused location information, which is used as the current location information of the first target UAV.

[0038] Secondly, embodiments of this application provide a control method for a drone, applied to a processor in a drone hangar. The drone hangar further includes at least one drawer-type parking compartment, each drawer-type parking compartment including a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the drone, and the drawer body is capable of telescopic movement relative to the fixed frame. The method includes:

[0039] In response to a received landing command, determine the third drawer-type parking bay where the second target UAV indicated by the landing command is to land;

[0040] The third motor controlling the third drawer-type parking compartment drives the third transmission device to move, so that the third transmission device moves the third drawer body of the third drawer-type parking compartment to a preset extended position;

[0041] When the third drawer moves to the preset extended position, the second target drone is controlled to land on the third parking platform in the third drawer;

[0042] Upon detecting that the second target drone has landed on the third parking platform, the third motor is controlled to drive the third transmission device to move, so that the third transmission device moves the third drawer to a preset retraction position.

[0043] Thirdly, embodiments of this application provide a control device for a drone, applied to a processor in a drone hangar. The drone hangar further includes at least one drawer-type parking compartment, each drawer-type parking compartment including a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the drone, and the drawer body is capable of telescopic movement relative to the fixed frame. The device includes:

[0044] The first parking compartment determination module is used to determine the first drawer-type parking compartment where the first target UAV indicated by the received takeoff command is located in response to the received takeoff command;

[0045] The first control module is used to control the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device drives the first drawer body of the first drawer-type parking compartment to move to a preset extended position.

[0046] The second control module is used to control the first target drone to take off from the first parking platform of the first drawer when the first drawer moves to the preset extended position, and to control the first target drone to execute the flight mission carried by the take-off command.

[0047] Fourthly, embodiments of this application provide a control device for a drone, applied to a processor in a drone hangar. The drone hangar further includes at least one drawer-type parking compartment, each drawer-type parking compartment including a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the drone, and the drawer body is capable of telescopic movement relative to the fixed frame. The device includes:

[0048] The second parking bay determination module is used to determine the third drawer-type parking bay where the second target UAV indicated by the landing command is to land in response to the received landing command.

[0049] The third control module is used to control the third motor of the third drawer-type parking compartment to drive the third transmission device to move, so that the third transmission device drives the third drawer body of the third drawer-type parking compartment to move to a preset extended position.

[0050] The fourth control module is used to control the second target UAV to land on the third parking platform in the third drawer when the third drawer moves to the preset extended position;

[0051] The fifth control module is used to control the third motor to drive the third transmission device to move when the second target UAV is detected to have landed on the third parking platform, so that the third transmission device moves the third drawer to a preset retraction position.

[0052] Fifthly, embodiments of this application provide a control system for an unmanned aerial vehicle (UAV). The system includes a UAV hangar and at least one UAV. The UAV hangar includes a processor and at least one drawer-type parking compartment. Each drawer-type parking compartment includes a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the UAV and is capable of telescopic movement relative to the fixed frame.

[0053] The drone hangar implements the steps of the method described in either the first aspect or the second aspect;

[0054] The drone takes off or lands under the control of the drone hangar.

[0055] Sixthly, embodiments of this application provide a drone hangar, the drone hangar including a processor, a communication interface, a memory, and a communication bus, and at least one drawer-type parking compartment. Each drawer-type parking compartment includes a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the drone, and the drawer body is capable of telescopic movement relative to the fixed frame. The processor, communication interface, and memory communicate with each other through the communication bus.

[0056] Memory, used to store computer programs;

[0057] A processor, when executing a program stored in memory, implements the steps of the method described in either the first or second aspect.

[0058] In a seventh aspect, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in either the first or second aspect.

[0059] Eighthly, embodiments of this application also provide a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps of the method described in either the first or second aspect.

[0060] Beneficial effects of the embodiments in this application:

[0061] The technical solution provided in this application provides a drone hangar with a drawer-type storage compartment. Without manual assistance, upon receiving a takeoff command, the processor in the drone hangar can automatically extend the drawer of the storage compartment to a preset position via a motor, and control the takeoff of the drone parked inside. This improves the automation and intelligence of the drone takeoff process, thereby increasing takeoff control efficiency. Since the drone can be stored inside the drawer-type storage compartment, the safety of drone storage is improved. Furthermore, the drawer-type drone hangar has low site requirements and can be used in various scenarios, improving site adaptability. Of course, implementing any product or method of this application does not necessarily require achieving all of the above advantages simultaneously. Attached Figure Description

[0062] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0063] Figure 1 This is a schematic diagram of the structure of the drone hangar provided in the embodiments of this application;

[0064] Figure 2 This is a schematic diagram of a drawer-type parking compartment provided in an embodiment of this application;

[0065] Figure 3 A flowchart illustrating a control method for an unmanned aerial vehicle (UAV) provided in an embodiment of this application;

[0066] Figure 4 This is a schematic diagram of another structure of the drawer-type parking compartment provided in the embodiments of this application;

[0067] Figure 5 This is a schematic diagram of the control system module provided in an embodiment of this application;

[0068] Figure 6 This is a schematic diagram of the unmanned aerial vehicle (UAV) take-off and landing control process provided in an embodiment of this application;

[0069] Figure 7 A flowchart of another drone control method provided in this application embodiment;

[0070] Figure 8 This is a schematic diagram of the structure of a control device for an unmanned aerial vehicle (UAV) provided in an embodiment of this application;

[0071] Figure 9 This is a schematic diagram of the structure of another unmanned aerial vehicle (UAV) control device provided in an embodiment of this application;

[0072] Figure 10 This is a schematic diagram of the structure of an unmanned aerial vehicle (UAV) control system provided in an embodiment of this application;

[0073] Figure 11 This is a schematic diagram of the structure of a drone hangar provided in an embodiment of this application;

[0074] Among them, 10 are drone hangars, 20 are drawer-type parking compartments, 201 are transmission devices, 202 are motors, 203 are drawer bodies, 2031 are parking platforms, 204 are fixed frames, 2011 are lead screws, 2012 are slide rails, 2013 are guide rails, 2014 are card slots, and 30 are control areas. Detailed Implementation

[0075] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art based on this application are within the scope of protection of this application.

[0076] To provide a drone hangar with storage function, strong site adaptability and high degree of automation, as well as a drone control method, embodiments of this application provide a drone control method, device, system, drone hangar, storage medium and computer program product. The drone control method provided by the embodiments of this application will be introduced first.

[0077] First, we will describe a drone hangar provided in the embodiments of this application. The drone hangar includes a processor and at least one drawer-type parking compartment.

[0078] The number of drawer-type parking bays in the drone hangar can be set according to actual application needs, such as 1, 2, 5, 8, 10, etc. There is no specific limit here. The following explanation will take a drone hangar with 2 drawer-type parking bays as an example.

[0079] like Figure 1 As shown, the drone hangar 10 includes a processor (not shown) and two drawer-type storage compartments 20. Figure 2 This is a structural diagram of a drawer-type parking compartment 20, as shown below. Figure 2As shown, each drawer-type parking compartment 20 includes a transmission device 201, a motor 202, a drawer body 203, and a fixed frame 204. The transmission device 201 and the motor 202 are fixedly mounted on the fixed frame 204. The drawer body 203 includes a parking platform 2031 for the UAV, and the drawer body 203 is capable of telescopic movement relative to the fixed frame 204.

[0080] The processor is used for takeoff control of the drone. In one implementation, the processor can be configured as follows: Figure 1 In the control area 30 shown.

[0081] The drone is parked on the parking platform 2031 of the drawer-type parking compartment 20. To improve drone safety, the drawer 203 is in the retracted state when the drone is parked in the drawer-type parking compartment 20. When the drone stored in the drawer-type parking compartment 20 needs to perform a flight mission, the drawer 203 of the drawer-type parking compartment 20 needs to be extended relative to the fixed frame 204, so that the parking platform 2031 extends outside the fixed frame 204 to facilitate drone takeoff.

[0082] The movement of the drawer 203 is achieved by the motor 202 driving the transmission device 201. The motor 202 drives the transmission device 201 to move, and the transmission device 201 can drive the drawer 203 to extend and retract relative to the fixed frame 204.

[0083] The drone hangar enclosure can be made of high-strength aluminum alloy, providing excellent protection and heat dissipation. The drawer-type parking compartment can be made of lightweight, high-strength carbon fiber and can be slidably installed inside the outer enclosure. The motor can be a stepper motor, providing stable power output and high-precision motion control, allowing the drawer to move precisely in a stable stepping manner. The drone parking platform surface is covered with anti-slip rubber pads to ensure the stability of the drone during takeoff and landing.

[0084] In addition, the drone hangar may also include power interfaces and communication interfaces. The power interface can support multiple power supply methods, and the communication interface can support multiple communication methods such as Ethernet, Wi-Fi (wireless network communication technology), and Bluetooth. In one implementation, the power interface and communication interface are located in the outer casing of the drone hangar.

[0085] like Figure 3 As shown in the figure, an embodiment of this application provides a control method for a drone, the method comprising:

[0086] S301: In response to a received takeoff command, determine the location of the first drawer-type parking compartment where the first target UAV indicated by the takeoff command is located.

[0087] S302: Control the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device drives the first drawer body of the first drawer-type parking compartment to move to a preset extended position.

[0088] S303: When the first drawer moves to the preset extended position, control the first target drone to take off from the first parking platform of the first drawer, and control the first target drone to execute the flight mission carried by the take-off command.

[0089] The technical solution provided in this application provides a drone hangar with a drawer-type storage compartment. Without manual assistance, upon receiving a takeoff command, the processor in the drone hangar can automatically extend the drawer of the storage compartment to a preset position via a motor, and control the takeoff of the drone parked inside. This improves the automation and intelligence of the drone takeoff process, thereby increasing takeoff control efficiency. Since the drone can be stored inside the drawer-type storage compartment, the safety of drone storage is improved. Furthermore, the drawer-type drone hangar has low site requirements and can be used in various scenarios, improving site adaptability.

[0090] As mentioned earlier, the drone is parked in a drawer-type storage compartment in the drone hangar. When the user wants the drone to perform a flight mission, the user can send a takeoff command to the processor in the drone hangar. This takeoff command carries the drone's equipment identification and flight mission.

[0091] In one implementation, the drone hangar may also include a control panel, which can be connected to the processor via a network cable for setup and configuration. Users can operate the control panel to send takeoff commands to the processor. For example, the control panel's display shows the device identifiers of each drone currently parked in the hangar, as well as multiple pre-stored flight missions. Users can select a flight mission and the device identifier of the drone to perform the mission on the display to send a takeoff command to the processor.

[0092] In one implementation, the processor in the drone hangar can communicate with a remote terminal. The remote terminal's display shows the device identifiers of each drone currently parked in the drone hangar, as well as multiple pre-stored flight missions. The user can select a flight mission and the device identifier of the drone to perform the flight mission on the display. The remote terminal can generate flight commands based on the user's operation and send the flight commands to the processor.

[0093] The processor can receive flight commands and execute step S301, that is, in response to the received takeoff command, determine the first drawer-type parking compartment where the first target UAV indicated by the takeoff command is located.

[0094] The processor stores the association between the device identifier of the drone and the compartment identifier of the drawer-type parking compartment. After receiving a flight command, the processor can identify the drone with the device identifier carried by the flight command as the first target drone and determine the first drawer-type parking compartment where the first target drone is located based on the above association.

[0095] When the first drawer-type parking compartment is determined, the processor can control the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device drives the first drawer body of the first drawer-type parking compartment to a preset extended position, that is, execute step S302.

[0096] The drone is parked on the platform of the drawer-type parking compartment. To improve drone safety, when a drone is parked, the drawer of the parking compartment is in the retracted state. When the drone stored in the drawer-type parking compartment needs to perform a flight mission, the drawer of the parking compartment must first be extended to a preset extension position outside the fixed frame to facilitate takeoff.

[0097] The preset extension position is calculated based on parameters such as the drone's equipment size, the set takeoff method, the safety margin required for the takeoff method, and the distance between the parking platform and the edge of the drawer. This calculation determines the extension position that the drawer needs to reach when the drone takes off. When the drawer reaches the preset extension position, it can provide sufficient safe takeoff space for the drone and prevent the structure of the drone hangar from affecting the propeller airflow of the drone.

[0098] When the first drawer moves to the preset extended position, the processor can control the first target UAV to take off from the first parking platform of the first drawer and control the first target UAV to execute the flight mission carried by the take-off command, that is, to execute step S303.

[0099] As can be seen, in this embodiment, by providing a drone hangar with a drawer-type storage compartment, no manual assistance is required. Upon receiving a takeoff command, the processor in the drone hangar can automatically extend the drawer of the storage compartment to a preset position via a motor, and control the takeoff of the drone parked inside. This improves the automation and intelligence of the drone takeoff process, thereby increasing the efficiency of drone takeoff control. Since the drone can be stored inside the drawer-type storage compartment, the safety of drone storage is improved. Furthermore, the drawer-type drone hangar has low site requirements and can be used in various scenarios, improving site adaptability.

[0100] In one embodiment of this application, the transmission device is a lead screw assembly; the lead screw assembly includes a lead screw, a nut, and a slide rail; the lead screw is connected to the motor, the lead screw is threadedly connected to the nut, the nut is connected to the slide rail, and the lower surface of the drawer body is fixedly connected to the nut.

[0101] Step S302 above, the step of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device drives the first drawer body of the first drawer-type parking compartment to a preset extended position, may include:

[0102] A control signal is sent to the first motor of the first drawer-type parking compartment so that the first motor rotates in the direction and number of revolutions indicated by the control signal, thereby driving the first lead screw of the first drawer-type parking compartment to rotate and drive the first nut to move along the slide rail, so that the first drawer body of the first drawer-type parking compartment moves along the first slide rail to a preset extended position.

[0103] like Figure 4 As shown, in this embodiment of the application, the drawer-type parking compartment achieves precise opening and closing of the drawer body by integrating a motor and a transmission device. The transmission device 201 is a lead screw assembly; the lead screw assembly includes a lead screw 2011, a nut (not shown in the figure), and a slide rail 2012; the lead screw 2011 is connected to the motor 202, and the lead screw 2011 is threadedly connected to the nut, the nut is connected to the high-precision slide rail 2012, and the lower surface of the drawer body 203 is fixedly connected to the nut.

[0104] Once the first drawer-type parking compartment of the first target UAV indicated by the takeoff command is located, the processor can determine the number of revolutions required for the motor to drive the drawer to extend to the preset extension position.

[0105] In one implementation, the drawer body needs to extend to a preset extension position before the drone takes off or lands. The movement of the drawer body is driven by a motor. Given a fixed preset extension position, a correspondence between the preset extension position and the number of motor revolutions can be established. That is, by using the motor's step angle and the lead screw, the number of motor revolutions N required for the drawer body to extend to the preset extension position can be calculated.

[0106] ;

[0107] in, This represents the displacement required for the drawer to extend from its current position to a preset extension position. This is the step angle of the motor; This represents the linear displacement corresponding to each revolution of the leadscrew.

[0108] The processor can record the correspondence between preset extension positions and motor rotation speeds. When a first target drone is identified, the processor determines the preset extension position corresponding to the first target drone. Based on the correspondence between the preset extension position and motor rotation speeds, the processor determines the number of rotations the motor needs to rotate to extend the drawer to the preset extension position, and drives the motor to run the corresponding number of rotations so that the drawer extends accurately to the preset extension position.

[0109] After determining the motor speed, the rotation direction of the drawer extension motor is determined, and a control signal is generated based on the rotation direction and speed, and the control signal is sent to the first motor of the first drawer-type parking compartment.

[0110] Upon receiving a control signal, the first motor can rotate in the direction and speed indicated by the control signal. The rotation of the motor shaft of the first motor drives the first lead screw of the first drawer-type parking compartment to rotate.

[0111] The rotation of the first lead screw drives the first nut to move along the slide rail. The first drawer of the first drawer-type parking compartment moves relative to the fixed frame along the first slide rail under the action of the first nut until it moves to the preset extended position.

[0112] In one implementation, to ensure the drawer doesn't shift during movement, guide rails are incorporated into the design. These rails provide a stable track, guiding the drawer body along a straight line. The slide rails then serve as support and lubrication, ensuring smooth drawer operation and bearing the load of the entire assembly. For example... Figure 4 As shown, the transmission device may also include a guide rail 2013; the guide rail 2013 is disposed on the fixed frame 204, and the surface of the drawer body 203 is provided with a slot 2014 adapted to the guide rail 2013, and the slot 2014 and the guide rail 2013 are connected by a snap fastener.

[0113] In one implementation, the first drawer-type storage compartment may further include a cushioning device installed at the junction of the drawer surface and the fixed frame, which uses a polyurethane cushioning pad to reduce the impact and vibration when the drawer is in place.

[0114] In this structure, the processor sends a control signal to the first motor of the first drawer-type parking compartment, causing the first motor to rotate in the direction and speed indicated by the control signal. The first lead screw rotates under the drive of the motor shaft, causing the first nut to move along the slide rail. The first nut then moves the first drawer body along the first guide rail to a preset extended position. By setting the guide rail, the movement of the first drawer body can be supported and guided, ensuring the accuracy of the movement trajectory and the stability of the movement posture, preventing directional deviation and posture oscillation during movement, and reducing the frictional resistance between the drawer body and the frame, thus improving movement efficiency.

[0115] As can be seen, in this embodiment, the transmission device is a lead screw assembly; the lead screw assembly includes a lead screw, a nut, and a slide rail; the lead screw is connected to the motor, the lead screw is threadedly connected to the nut, the nut is connected to the slide rail, and the lower surface of the drawer body is fixedly connected to the nut. The processor can send a control signal to the first motor of the first drawer-type parking compartment, so that the first motor rotates according to the rotation direction and number of revolutions indicated by the control signal, thereby driving the first lead screw of the first drawer-type parking compartment to rotate and drive the first nut to move along the slide rail, so that the first drawer body of the first drawer-type parking compartment moves along the first slide rail to a preset extended position. In this way, by providing a specific structure for the transmission device, automatic control of the extension and retraction of the drawer body of the drawer-type parking compartment where the UAV is located can be realized, without the need for manual control of the drawer-type parking compartment, thus improving the automation level of the UAV hangar. Furthermore, the drawer-type parking compartment can retract the UAV into the UAV hangar for storage through extension and retraction, improving the safety of UAV storage, saving space, and improving site adaptability.

[0116] As one embodiment of this application, the first drawer-type parking compartment further includes a first photoelectric sensor; the first fixed frame includes at least a pair of oppositely arranged side plates; the first photoelectric sensor is fixed to the pair of oppositely arranged side plates on the first fixed frame and is triggered when the first drawer extends to the preset extension position. A drone control method provided in this application embodiment may further include:

[0117] When the first photoelectric sensor is triggered, the first motor is controlled to stop rotating.

[0118] The first drawer-type parking compartment also includes a first photoelectric sensor. The first fixed frame includes at least a pair of opposing side panels.

[0119] In one implementation, the first fixed frame includes a pair of left and right side plates arranged opposite each other.

[0120] In another implementation, the first fixed frame includes a pair of left and right side plates arranged opposite each other, and a pair of top and bottom plates arranged opposite each other. The top plate can be a side plate fixedly connected to each side of the first frame, or the bottom plate of the upper structure of the first drawer-type parking compartment can be used as the top plate of the first fixed frame.

[0121] The first photoelectric sensor is fixed to a pair of oppositely arranged side plates on the first fixed frame. For example, if the first fixed frame includes a pair of oppositely arranged left and right side plates, the first photoelectric sensor can be arranged on the left and right side plates of the first fixed frame; or, if the first fixed frame includes a pair of oppositely arranged left and right side plates and a pair of oppositely arranged top and bottom plates, the first photoelectric sensor can be arranged on the pair of left and right side plates of the first fixed frame, or on the top and bottom plates of the first fixed frame.

[0122] When the drawer body extends to the preset extension position, the position of the first photoelectric sensor on the side plate is closer to the back plate of the first fixed frame than the position corresponding to the tail end of the drawer body, and the distance between the position of the first photoelectric sensor and the tail end of the drawer body is not greater than a first preset distance threshold. This first preset distance threshold can be set according to actual needs, for example, 0.1cm, 0.3cm, 5mm, etc., and is not specifically limited here.

[0123] Based on the setting position of the first photoelectric sensor, when the first drawer extends to the preset extension position, the receiver in the first photoelectric sensor can receive the photoelectric signal sent by the transmitter, that is, the first photoelectric sensor is triggered.

[0124] Based on this, the processor can determine that the first drawer has reached a preset extension position when the first photoelectric sensor is triggered, thereby controlling the first motor to stop rotating. Electromagnetic braking can be used to quickly stop the first motor in an emergency.

[0125] As can be seen, in this embodiment, by installing a first photoelectric sensor on the first frame, and positioning the first photoelectric sensor so that it can be triggered when the first drawer extends to a preset extension position, the processor can control the first motor to stop rotating when it detects that the first photoelectric sensor has been triggered. Thus, by using the first photoelectric sensor to precisely control the drawer's extension position, combined with motor rotation control as a double safeguard, the accuracy of the drawer's position determination is improved, thereby avoiding energy loss and device damage caused by the motor continuing to rotate when the first drawer has extended to the preset extension position.

[0126] As one embodiment of this application, the unmanned aerial vehicle (UAV) control method provided in this application embodiment may further include:

[0127] If the first target drone is detected to have flown away from the first drawer, the first motor is controlled to drive the first transmission device to move, so that the first transmission device moves the first drawer to a preset retraction position.

[0128] In order to save space, prevent the drawer from being hit by obstacles while it is extended, and prevent obstacles from entering the drawer and affecting the subsequent landing of the drone, the processor can control the drawer to retract into the space formed by the fixed frame when the drone flies away from the drawer.

[0129] During the process of controlling the first target drone to take off from the parking platform of the first drawer body, the sensor can detect whether the first target drone has flown away from the first drawer body.

[0130] In one implementation, a pressure sensor is installed on the parking platform of the drawer. The sensor can determine whether the first target UAV has flown away from the parking platform based on the sensing signal of the pressure sensor. If the first target UAV has flown away from the parking platform based on the sensing signal, a timer is started. If the recorded time reaches a preset time, it is determined that the first target UAV has flown away from the first drawer. The preset time is calculated based on the flight speed of the first target UAV at takeoff and the size of the drawer.

[0131] In another implementation, when the first target drone flies away from the drawer, it can send a fly-away signal to the processor. Upon receiving the fly-away signal sent by the first target drone, the processor determines that it has detected that the first target drone has flown away from the first drawer.

[0132] Upon detecting that the first target drone has flown away from the first drawer, the sensor can control the first motor to drive the first transmission device, causing the first transmission device to move the first drawer to a preset retraction position. This preset retraction position is the location where the first drawer retracts into the space formed by the fixed frame. This preset retraction position can be the same as or different from the position where the first drawer was extended. For example, to shorten the drone's landing distance and control the drawer's extension distance, the preset retraction position can be set to be further away from the back panel of the fixed frame than the position where the first drawer was extended, and the distance from the position can be no less than a second preset distance threshold. This second preset distance threshold can be set according to actual needs, such as 10cm, 20cm, 30cm, etc., and is not specifically limited here.

[0133] Specifically, the sensor can send a control signal to the first motor, causing the first motor to rotate in the direction and number of revolutions indicated by the control signal. The rotation of the first motor drives the first lead screw to rotate, which in turn drives the first nut to move along the slide rail, and moves the first drawer body along the slide rail to a preset retracted position. When controlling the first drawer body to retract, the rotation direction of the first motor is opposite to the rotation direction when controlling the first drawer body to extend.

[0134] As can be seen, in this embodiment, when the first target drone is detected to have flown away from the first drawer, the first motor is controlled to drive the first transmission device to move, so that the first transmission device moves the first drawer to a preset retraction position. This retraction of the drawer when the first target drone has flown away saves space and improves equipment safety.

[0135] As one embodiment of this application, the first drawer-type parking compartment further includes a second photoelectric sensor; the first fixed frame includes at least a pair of oppositely arranged side plates; the second photoelectric sensor is fixed to the pair of oppositely arranged side plates on the first fixed frame and is triggered when the first drawer is retracted to the preset retraction position; the drone control method provided in this application embodiment may further include:

[0136] When the second photoelectric sensor is triggered, the first motor is controlled to stop rotating.

[0137] As previously stated, the first fixed frame includes at least a pair of oppositely arranged side plates.

[0138] The first drawer-type parking compartment also includes a second photoelectric sensor; the second photoelectric sensor is fixed on a pair of opposite side plates on the first fixed frame, wherein the second photoelectric sensor is located at the position of the back plate of the first drawer when the first drawer is retracted to a preset retraction position.

[0139] In this way, when the first drawer is retracted to the preset retraction position, the back panel of the first drawer can trigger the second photoelectric sensor.

[0140] Based on this, when the processor detects that the second photoelectric sensor has been triggered, it can determine that the first drawer body has retracted to the preset retraction position, thereby controlling the first motor to stop rotating.

[0141] As can be seen, in this embodiment, by installing a second photoelectric sensor on the first frame, and positioning the second photoelectric sensor so that it can be triggered when the first drawer is retracted to a preset retraction position, the processor can control the first motor to stop rotating upon detecting that the second photoelectric sensor has been triggered. Thus, by precisely controlling the drawer's retraction position using the second photoelectric sensor, combined with motor rotation control, the accuracy of the drawer's position determination is improved. This avoids energy loss caused by the motor continuing to rotate when the drawer has retracted to the preset retraction position.

[0142] As one embodiment of this application, the unmanned aerial vehicle (UAV) control method provided in this application embodiment may further include:

[0143] In response to a received landing command, the system determines the second drawer-type parking compartment where the first target UAV, as indicated by the landing command, is to land; it controls the second motor of the second drawer-type parking compartment to drive the second transmission device to move, so that the second transmission device moves the second drawer body of the second drawer-type parking compartment to the preset extended position; when the second drawer body moves to the preset extended position, the system controls the first target UAV to land on the second parking platform in the second drawer body; when the system detects that the first target UAV has landed on the second parking platform, it controls the second motor to drive the second transmission device to move, so that the second transmission device moves the second drawer body to the preset retracted position.

[0144] After completing its flight mission, the drone needs to return to the drone hangar for storage. If it is desired that the drone land in the drawer-type storage compartment of the drone hangar, a landing command can be sent to the control equipment. This landing command must at least include the drone's equipment identification number.

[0145] In one implementation, the drone hangar includes a control panel on which the user can operate to send landing commands to the processor. For example, the control panel's display shows the drone's device identifier and landing options. The user can select the device identifier of the drone to be landed and select the landing option on the display to send a landing command to the processor.

[0146] In one implementation, the processor in the drone hangar can communicate with a remote terminal. The remote terminal's display shows the drone's device identifier and landing options. The user can select the device identifier of the drone to be landed and choose the landing option on the display. The remote terminal can generate a landing command based on the user's operation and send the landing command to the processor.

[0147] In one implementation, the processor can acquire the drone's location information and determine whether the drone has returned to the area where the drone hangar is located based on the drone's location information. If the drone's location information indicates that the drone has returned to the area where the drone hangar is located, the processor can send a query message to inquire whether to land, and if the user returns a feedback message confirming landing, it is determined that a landing command has been received.

[0148] Upon receiving a landing command, the processor can respond to the landing command by determining the second drawer-type parking compartment where the first target UAV, as indicated by the landing command, is to land. This second drawer-type parking compartment can be the same as the first drawer-type parking compartment, or it can be two different drawer-type parking compartments.

[0149] In one implementation, the processor stores the association between the device identifier of the UAV and the compartment identifier of the drawer-type parking compartment. After receiving the landing command, the processor can determine the second drawer-type parking compartment for parking the first target UAV based on the device identifier of the first target UAV and the above association.

[0150] In one implementation, the landing command carries a compartment identifier for a drawer-type parking compartment used to park the first target UAV. After receiving the landing command, the processor can determine the second drawer-type parking compartment used to park the first target UAV based on the compartment identifier.

[0151] In one implementation, after receiving a landing command, the processor can determine, based on the equipment information of the first target UAV, an available drawer-type parking bay in the UAV hangar that meets the parking conditions of the first target UAV, and use it as a second drawer-type parking bay for parking the first target UAV.

[0152] After determining the second drawer-type parking compartment for parking the first target UAV, the processor can control the second motor of the second drawer-type parking compartment to drive the second transmission device to move. The second transmission device can move the second drawer body of the second drawer-type parking compartment to a preset extended position.

[0153] When the second drawer moves to the preset extended position, the processor can control the first target drone to land on the second parking platform in the second drawer.

[0154] In one implementation, a positioning marker is set on the parking platform to assist the drone in accurate positioning.

[0155] In one implementation, the drawer-style parking bay also includes a charging port that supports multiple charging methods to charge the drone.

[0156] During the process of controlling the landing of the first target drone, the processor can detect whether the first target drone has landed on the second parking platform.

[0157] In one implementation, the second landing platform is equipped with a pressure sensor, and the processor determines that the first target drone has landed on the second parking platform when it detects that the pressure sensor has been triggered.

[0158] In another implementation, when the first target drone lands on the second parking platform, the second target drone can send a landing signal to the processor. Upon receiving the landing signal from the first target drone, the processor determines that the first target drone has landed on the second parking platform.

[0159] Upon detecting that the first target drone has landed on the second parking platform, the second motor is controlled to drive the second transmission device to move, so that the second transmission device moves the second drawer to a preset retraction position.

[0160] In this embodiment, the method of extending and retracting the drawer by controlling the movement of the sensor via a motor is the same as the method described above, and will not be repeated here. By employing a drawer-type automatic telescopic structure to achieve automatic landing and storage of the drone, the mechanical structure is simplified and space utilization is improved.

[0161] As can be seen, in this embodiment, the processor can respond to the received landing command by controlling the extension of the second drawer of the second drawer-type parking compartment where the first target drone is to land, and then controlling the retraction of the second drawer after the first target drone lands. Thus, when there is a need for drone landing, the drone hangar can automatically extend and retract the drone parking drawer without manual assistance, improving automation and intelligent sensing capabilities. Furthermore, after landing, the drone is retracted into the space formed by the fixed frame of the drawer-type parking compartment for storage, which can improve the safety of the drone equipment while saving space.

[0162] As one embodiment of this application, the drone hangar further includes a pressure sensor; the pressure sensor is installed on the parking platform of the drawer and is used to detect whether there are obstacles on the parking platform.

[0163] Prior to the step of controlling the first target drone to land on the second parking platform in the second drawer, the drone control method provided in this application embodiment may further include:

[0164] If the pressure sensor detects an obstacle on the second parking platform, the first target drone is controlled to stop landing, and a clearing command is output to allow the user to clear the obstacle from the second parking platform; if the pressure sensor detects no obstacle on the second parking platform, the step of controlling the first target drone to land on the second parking platform in the second drawer is executed.

[0165] If there are obstacles on the landing platform during the drone's descent, the obstacles will affect the drone's smooth landing, affect the processor's judgment of the drone's actual landing status, and the drone may also be damaged due to a collision with the obstacle.

[0166] To detect whether there are obstacles on the drawer's parking platform, a pressure sensor can be installed on the platform. This pressure sensor can be used to detect the presence of obstacles on the parking platform.

[0167] Before controlling the first target drone to land on the second parking platform in the second drawer, the processor can use pressure sensors to detect whether there are obstacles on the second parking platform, and determine whether to control the first target drone to land based on the detection results.

[0168] If the pressure sensor detects that there are no obstacles on the parking platform, the processor can control the first target drone to land on the second parking platform in the second drawer.

[0169] If the pressure sensor detects an obstacle on the second parking platform, the processor controls the first target drone to stop landing and outputs a clearing command to remind the user to clear the obstacle in the second parking platform.

[0170] In one implementation, the drone hangar may also include status indicator lights, which may be mounted on the outer casing or installed on a mounting surface such as... Figure 1 The area shown is used to visually display the working status of the drone hangar. The processor can output a clearing command by illuminating the first status indicator corresponding to the obstacle event on the parking platform. In this way, when the user observes that the first status indicator is lit, the obstacle in the second parking platform can be cleared.

[0171] In one implementation, the drone hangar may also include alarm devices, such as audible alarms, visual alarms, and remote alarms. The audible alarm uses a volume-adjustable buzzer, the visual alarm uses LED indicators with multiple colors, and the remote alarm sends alarm information to the user's device via a communication module. Furthermore, the alarm device can be installed on the outer casing or, for example, on... Figure 1 Within the area shown.

[0172] The processor can output obstacle removal commands via an alarm device, allowing the user to clear obstacles from the second parking platform upon receiving an alarm. For example, if the alarm device is a light alarm, the processor can use the flashing indicator light corresponding to an obstacle event on the parking platform to output an obstacle removal command, allowing the user to clear the obstacle from the second parking platform upon seeing the flashing indicator light.

[0173] In one implementation, the processor can display obstacle removal commands via a control panel, allowing the user to clear obstacles from the second parking platform when the commands are displayed.

[0174] After the user clears the obstacles in the second parking platform, the pressure sensor can detect that there are no obstacles on the parking platform. Based on the detection result of the pressure sensor, the processor can control the first target drone to land on the second parking platform in the second drawer.

[0175] As can be seen, in this embodiment, the drone hangar also includes a pressure sensor; the pressure sensor is installed on the parking platform of the drawer and is used to detect whether there are obstacles on the parking platform. If the pressure sensor detects an obstacle on the second parking platform, the first target drone is controlled to stop landing and the user is prompted to clear the obstacle; if the pressure sensor detects no obstacle on the parking platform, the first target drone can be controlled to land. By checking for obstacles on the parking platform during the drone's landing process and removing them promptly, obstacles can be prevented from affecting drone parking or even damaging drone equipment, further improving the automation level of the drone hangar and further ensuring the safety of the drone equipment.

[0176] As one embodiment of this application, the drone hangar further includes an ultrasonic sensor; the ultrasonic sensor is installed on the outer surface of the drone hangar.

[0177] Before the step of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device drives the first drawer body of the first drawer-type parking compartment to move to a preset extended position, the control method for a drone provided in this application embodiment may further include:

[0178] Acquire the ultrasonic signal from the ultrasonic sensor and determine whether there are obstacles around the drone hangar based on the ultrasonic signal; if the ultrasonic signal indicates that there are no obstacles around the drone hangar, execute the step of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device drives the first drawer body of the first drawer-type parking compartment to a preset extended position.

[0179] When the drawer of the drawer-type parking compartment moves to the preset extended position, if there are obstacles around the drone hangar, the obstacles may affect the extension of the drawer, thereby affecting the safety of the drone during takeoff.

[0180] For example, when a takeoff command is received for drone a in drawer-type parking compartment A, the user is operating drone b in drawer-type parking compartment B, which is installed on the upper layer of drawer-type parking compartment A, for maintenance. If the drawer of drawer-type parking compartment A is extended at this time, the processor will control drone a to take off after the drawer is extended. Since the drawer of drawer-type parking compartment B is also extended at this time, the drawer of drawer-type parking compartment B will block drone a from taking off, and may even cause damage to drone a.

[0181] For example, when a takeoff command is received for drone a in drawer-type parking compartment A, a cleaning staff member is cleaning the drone hangar. If the control motor drives the drawer-type parking compartment A to extend at this time, the cleaning staff member may move in the direction of the drawer extension and block the drawer extension, affecting the equipment safety of the drawer.

[0182] For example, when moving a drone hangar to a work site, if the drone hangar's drawer is placed against the wall due to operational negligence, and the control motor drives the drawer-type parking compartment to extend, the drawer will collide with the wall, affecting the safety of the equipment.

[0183] Upon receiving a takeoff command, in order to prevent obstacles around the drone hangar from affecting the movement of the first drawer to the preset extension position, ultrasonic sensors can be installed on the outer surface of the drone hangar to detect whether there are obstacles around the drone hangar.

[0184] Before determining the first drawer-type parking compartment and controlling the drawer of the first drawer-type parking compartment to extend to the preset extension position, the processor can acquire the ultrasonic signal from the ultrasonic sensor and determine whether there are obstacles around the drone hangar based on the ultrasonic signal.

[0185] When the ultrasonic signal indicates that there are no obstacles around the drone hangar, the processor can control the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device moves the first drawer body of the first drawer-type parking compartment to a preset extended position.

[0186] When the ultrasonic signal indicates that there are obstacles around the drone hangar, the processor can output an obstacle confirmation command so that the user can confirm whether the obstacle affects the movement of the first drawer to the preset extension position. Upon receiving feedback from the user indicating that the obstacle does not affect the movement of the first drawer to the preset extension position, or upon continuing to acquire ultrasonic signals, and when the ultrasonic signal indicates that there are no obstacles around the drone hangar, the processor can control the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device moves the first drawer of the first drawer-type parking compartment to the preset extension position.

[0187] Before the processor receives the landing command and controls the drawer to move to the preset extension position in response to the landing command, in order to avoid obstacles affecting the extension of the drawer, the above steps can also be performed to detect obstacles around the drone hangar, and if no obstacles are detected around the drone hangar, the drawer can be controlled to extend.

[0188] As can be seen, in this embodiment, by installing ultrasonic sensors on the outer surface of the drone hangar and using ultrasonic signals to determine whether there are obstacles around the drone hangar before the control drawer extends, and controlling the drawer to extend to the preset extension position when there are no obstacles around the drone hangar, it is possible to avoid obstacles around the drone hangar affecting the normal extension of the drawer and thus affecting the safety of the hangar equipment and the drone, thereby improving the safety of the drone hangar and the drone.

[0189] As one embodiment of this application, the drone hangar further includes a collision detection device; the collision detection device is installed on the front panel of the drawer and is used to detect collision events; the drone control method provided in this application may further include:

[0190] During the process of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device, if the collision detection device detects a collision event, the first motor is controlled to brake.

[0191] If there is an obstacle in the direction in which the drawer of the drawer-type parking compartment extends, the drawer may collide with the obstacle during the extension process. In this case, the drawer cannot continue to move. If the motor is continued to be controlled to rotate, it may cause damage to the transmission device, the motor and the drawer.

[0192] For example, when moving a drone hangar to a work site, if the drone hangar's drawer is placed against the wall due to operational negligence, the drawer will collide with the wall while the motor drives the drawer-type parking compartment to extend. If the motor continues to rotate, it may intensify the collision between the drawer and the wall, causing damage to the drawer. Furthermore, since the drawer cannot continue to move, the pushing force from the wall on the drawer will react on the transmission device and the motor, potentially damaging them.

[0193] In this case, to prevent damage to the equipment caused by the continued movement of the motor after the drawer body collides with an obstacle during its extension, a collision detection device can be installed on the front panel of the drawer body. This collision detection device is used to detect collision events.

[0194] Thus, during the process of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device, if the collision detection device detects a collision event, the processor can control the first motor to brake.

[0195] In addition, the processor can also output a collision event confirmation command so that the user can confirm the collision event and handle the event.

[0196] In one implementation, the drone hangar may also include status indicator lights. The processor can output a collision event confirmation command by illuminating the second status indicator light corresponding to the collision event. In this way, when the user observes that the second status indicator light is lit, the user can confirm the collision event and handle the collision event in a timely manner.

[0197] As can be seen, in this embodiment, by installing a collision detection device on the front panel of the drawer and detecting collision events that occur during the control of the drawer's extension, the motor can be braked in a timely manner in the event of a collision to prevent the collision from worsening and to avoid damaging the equipment, thereby improving the automation and safety of the drone hangar.

[0198] As one embodiment of this application, the area where the drone hangar is located is equipped with multiple wireless carrier positioning base stations; the drone is equipped with a satellite positioning system, an inertial navigation system, and a wireless carrier positioning tag; the drone control method provided in this application embodiment may further include:

[0199] During the flight of the first target UAV, the first position information of the first target UAV collected by the satellite positioning system, the second position information of the first target UAV collected by the inertial navigation system, and tag information sent by multiple wireless carrier positioning base stations are simultaneously acquired. The tag information is the time when the wireless carrier positioning base station receives the pulse data sent by the wireless carrier positioning tag.

[0200] The first location information and the second location information are fused to obtain the first fused location information;

[0201] Based on the tag information sent by multiple wireless carrier positioning base stations, the third location information of the first target UAV is calculated using a trilateration algorithm.

[0202] The first fused location information and the third location information are fused to obtain the second fused location information, which is used as the current location information of the first target UAV.

[0203] During drone flight, the processor needs to acquire the drone's position information in order to determine the drone control strategy.

[0204] To obtain the location information of a drone, a satellite positioning system, an inertial navigation system (INS), and an ultra-wide band (UWB) tag can be installed on the drone.

[0205] The satellite positioning system can be any type of satellite positioning system, such as GPS (Global Positioning System), BeiDou positioning system, GLONASS (Global Navigation Satellite System), etc., without being specifically limited here.

[0206] During flight, the first target UAV can measure and collect its own absolute position through a satellite positioning system to obtain first position information, and can collect and measure its own relative position through an inertial navigation system to obtain second position information. Specifically, the inertial navigation system calculates the UAV's relative position based on accelerometer / gyroscope parameters.

[0207] The first target UAV can send the first position information and the second position information to the processor. After receiving the first position information and the second position information, the processor can fuse the first position information and the second position information to use the absolute position of the satellite positioning system to correct the cumulative drift of the inertial navigation system, and use the high sampling rate of the inertial navigation system to fill the output gap of the low sampling rate of the satellite positioning system, thereby obtaining a more accurate first fused position information.

[0208] Kalman filtering can be used to fuse the first and second position information.

[0209] The specific integration process includes:

[0210] The first and second position information are subjected to abnormal data removal, filtering, and time synchronization. By defining the state vector, establishing the state transition equation, and establishing the Kalman filter state observation equation, in the state prediction stage, the state prediction value and covariance matrix of the next time step are calculated by the state transition matrix and the control input matrix. In the observation update stage, the state estimate value and covariance matrix are calculated by the observation matrix and Kalman gain and fused. The fused position information is solved by attitude angle constraints and zero bias constraints to obtain the first fused position information.

[0211] When using wireless carrier positioning to measure the location of a drone, multiple wireless carrier positioning base stations need to be set up in the area where the drone hangar is located and along the drone's flight path. The core of wireless carrier positioning is to utilize the high time resolution of nanosecond-level narrow pulse signals. By measuring parameters such as the time and angle of signal propagation, and combining this with positioning algorithms, the three-dimensional coordinates of the target are calculated, ultimately achieving centimeter-level high-precision positioning.

[0212] Wireless carrier positioning tags can broadcast pulse data at a preset sampling rate. This pulse data includes the tag identifier and a timestamp.

[0213] Each wireless carrier positioning base station can receive pulse data and send the time of receiving the pulse data sent by the wireless carrier positioning tag and the pulse data as tag information to the processor. The processor can calculate the third position information of the first target UAV based on the tag information sent by at least three base stations using a trilateration algorithm.

[0214] To further improve the accuracy of the location information of the first target UAV, the processor can perform weighted fusion of the first fused location information and the third location information, for example, by using a Kalman filter algorithm, to obtain the second fused location information, which can be used as the current location information of the UAV.

[0215] As can be seen, in this embodiment, during the flight of the UAV, by fusing the UAV position information collected by the satellite positioning system and the UAV position information collected by the inertial navigation system, and then fusing the fusion result with the third position information of the UAV obtained by using wireless carrier positioning technology, a high-precision and high-reliability UAV position can be obtained. By fusing the satellite positioning system, the inertial navigation system, and the wireless carrier positioning technology, high-precision positioning is achieved. This position is used for flight control and precise landing guidance of the UAV, ensuring the accuracy and reliability of UAV take-off and landing, and maintaining high positioning accuracy even in complex environments.

[0216] Furthermore, during the drone's flight, the flight control system on the drone can utilize a PID (Proportional Integral Derivative) control algorithm to control the drone's flight, with the control law being: ,in To control the output, For attitude error, This is the proportional gain coefficient. This is the integral gain coefficient. The differential gain coefficients can be used to achieve stable attitude control of the UAV by reasonably adjusting each gain coefficient.

[0217] To facilitate understanding of the drone control method provided in the embodiments of this application, the following is combined with... Figures 5-6 The process of controlling a drone is explained.

[0218] Drone control is achieved through a control system. For example... Figure 5 As shown, the control system adopts a layered architecture design, mainly composed of an intelligent control center layer, a perception and navigation layer, and an execution and support layer. The modules interact with each other via a high-speed data bus, achieving functions such as high-precision positioning, attitude control, safety protection, and stable power supply.

[0219] The intelligent control center layer employs a high-performance processor (i.e., the processor in the drone hangar), equipped with sufficient memory and a stable operating system to ensure the system's real-time performance and stability. It is used to achieve precise calculations, task planning, data fusion, and pattern management using control algorithms.

[0220] The perception and navigation layer includes a UWB (Ultra-Wideband) positioning module, a GPS (Global Positioning System) / INS (Inertial Navigation System) navigation module, a safety protection system, and a sensor fusion module. The UWB positioning module operates in the ultra-wideband frequency band, providing high-precision positioning. The GPS / INS navigation module acquires absolute position information through a GPS receiver, and the inertial measurement unit measures acceleration and angular velocity, providing continuous and reliable position and attitude information. The safety protection system includes ultrasonic sensors, collision detection sensors, and an emergency braking device to ensure the safe and reliable operation of the system.

[0221] The execution and support layer includes a flight control system, a power management system, a communication module, and actuators. The flight control system supports manual, semi-autonomous, and fully autonomous flight modes, employs advanced control algorithms for attitude stabilization, and features fault diagnosis and emergency handling capabilities. The power management system supports multiple input voltages, provides a stable output voltage, and has comprehensive protection functions. It may include a wireless charging module to provide wireless charging for the drone. The communication module supports multiple communication methods such as Ethernet, Wi-Fi, and Bluetooth for data transmission and remote control. This communication module can be a 4G (45th Generation Mobile Communication Technology) / 5G (5th Generation Mobile Communication Technology) communication module.

[0222] In addition, it may include a temperature control system and a fault diagnosis unit. The temperature control system can adapt to extreme ambient temperatures, and the solar charging system can realize green energy supply. The fault diagnosis unit can monitor parameters such as motor current, temperature and position in real time, and adopts a rule-based fault diagnosis algorithm to realize automatic fault detection and troubleshooting.

[0223] The processor's control of the drone mainly includes two processes: takeoff control and landing control. For example... Figure 6 As shown, after the drone hangar is powered on and started, the processor can perform a self-test, that is, perform a status check on itself to determine whether there is any abnormality in its own operating status; then the processor checks whether the working status of each module is normal. If its own status and the working status of each module are normal, the processor can control the drone.

[0224] The processor can receive commands via a control panel or remote terminal. Upon receiving a takeoff command, the processor can start the motor, control its rotation to drive the transmission mechanism, and the transmission mechanism can extend the drawer to a preset extension position.

[0225] With the tray extended to its preset position, the processor can control the drone to take off. Once the drone has flown away from the parking platform, the processor can drive the motors to retract the tray. Afterward, the flight control system takes over control, guiding the drone to fly along a preset route and execute the mission. Upon completion of the mission, the processor can send a return command to the drone.

[0226] The drone responds to the return command and returns to the area where the drone hangar is located. Upon detecting that the drone has reached the landing point, the processor controls the control motor to rotate, which drives the transmission device to move. The transmission device can drive the drawer to extend to a preset extension position and control the drone to land. The positioning system guides the drone to land accurately on the parking platform. After detecting the drone's landing, the drive motor drives the drawer to retract. Finally, the system stands by, waiting for the next mission command.

[0227] In addition, the installation and commissioning of drone hangars can include stages such as basic preparation, mechanical installation, electrical connection and system initialization.

[0228] The basic preparation stage requires selecting a flat ground or tabletop as the installation location, ensuring there are no obstacles around the installation location, and preparing the necessary power and communication cables.

[0229] The mechanical installation phase requires securing the drone hangar to the selected installation location; the electrical connection phase requires connecting power lines and communication cables, and installing various sensors and actuators.

[0230] During the system initialization phase, power needs to be turned on to check the system operation path, and parameters need to be configured and sensors calibrated by connecting to a computer via a network cable.

[0231] The commissioning of the UAV hangar mainly includes mechanical commissioning, sensor commissioning, control algorithm commissioning, and system integration testing. Mechanical commissioning primarily tests the drawer extension and retraction functions and adjusts sensor installation positions; sensor commissioning mainly tests UWB positioning accuracy, checks GPS signal strength, and sensor sensitivity; control algorithm commissioning mainly adjusts PID parameters, tests positioning accuracy, and verifies safety protection functions; system integration testing mainly involves UAV takeoff and landing tests, verifies control functions, and tests fault handling capabilities.

[0232] After installing the drone hangar, routine maintenance is still required during use.

[0233] Routine maintenance of a drone hangar includes cleaning, lubrication, and functional checks. Cleaning requires weekly cleaning of equipment surfaces, monthly cleaning of slide rails and transmission mechanisms, and quarterly checks of electrical connections. Lubrication requires monthly application of lubricant to slide rails, quarterly application of grease to lead screws, and annual replacement of seals. Functional checks require regular checks of power and communication status, weekly functional tests, and monthly comprehensive system checks.

[0234] For common faults, corresponding solutions are provided. For example, if a drawer cannot extend or retract, it may be due to a motor fault or a jammed transmission device, requiring checking the motor power supply or cleaning the transmission device; if positioning accuracy decreases, it may be due to a sensor fault or calibration failure, requiring checking the sensor or recalibrating; if communication fails, it may be due to incorrect network settings or a hardware fault, requiring checking the network settings or replacing the communication module; if the system crashes, it may be due to a software error or a hardware fault, requiring restarting the system or checking the hardware connections; if safety protection is falsely triggered, it may be due to improper sensor sensitivity settings, requiring adjusting the sensor parameters or recalibrating.

[0235] The UAV control method provided in this application organically combines mechanical structure innovation, multi-sensor fusion positioning technology, intelligent control system and safety protection mechanism to build an integrated intelligent UAV take-off and landing platform, realizing a fully automated operation process from take-off preparation to landing and storage.

[0236] Firstly, in terms of structural design, the drone hangar adopts a drawer-type design, making the overall structure simple and compact. Compared with traditional take-off and landing platforms, its volume and weight are significantly reduced, greatly improving space utilization and portability. Secondly, in terms of automation, it realizes automatic take-off, automatic landing, and automatic storage of drones without human intervention, supporting remote control and monitoring, improving the control efficiency of drone take-off and landing and storage efficiency. In terms of positioning accuracy, it integrates multiple positioning technologies to achieve high-precision positioning, maintaining high positioning reliability even in complex environments. In terms of safety, it is equipped with multiple safety protection measures, including ultrasonic sensors, collision detection sensors, and braking devices, with short response time, reliable safety protection, and a significantly reduced failure rate. In terms of adaptability, it supports various models and sizes of drones, has good compatibility and scalability, and the drawer-type drone hangar has low site requirements, can be placed in various scenarios, and can adapt to different working environments and application needs, improving site adaptability.

[0237] In terms of cost, the system reduces manufacturing costs by simplifying the mechanical structure, reduces maintenance requirements to lower operating costs, improves system reliability to reduce failure losses, and supports multiple drone models to increase equipment utilization.

[0238] In terms of efficiency, automated operation leads to increased work efficiency, rapid take-off and landing saves time, supports multi-machine collaborative operation to improve overall efficiency, and reduces the need for manual labor to lower labor costs.

[0239] In terms of resource conservation, optimizing energy management saves energy consumption, extends equipment lifespan and improves return on investment, supports green energy to reduce environmental impact, and enhances market competitiveness and promotion value.

[0240] In terms of social applications, it is widely applicable to multiple fields such as civilian and commercial use, and can be used in various environments such as cities, fields, and seas. It supports various task types such as surveying, mapping, and delivery, providing technical support for the development of various industries; it promotes the development of UAV technology towards intelligence, facilitates the application of multi-sensor fusion technology, provides technical support and development impetus for related industries, and drives the coordinated development of upstream and downstream industrial chains; in terms of safety assurance, it improves the safety of UAV take-off and landing, reduces the occurrence of accidents, protects the safety of personnel and property, provides safety assurance for the large-scale application of UAVs, and enhances public acceptance and trust in UAV technology. These social effects make the UAV control method provided in this application have important social value and promotion significance.

[0241] In terms of environmental protection, optimized energy management reduces energy consumption, supports green energy sources such as solar energy, reduces carbon emissions, and protects the environment, aligning with national green development policies. In terms of noise control, optimized mechanical design reduces operating noise, resulting in lower noise levels compared to traditional equipment, thus reducing noise pollution to the surrounding environment and improving the quality of the working environment. In terms of ecological protection, it can be used for environmental monitoring and ecological conservation, reducing the interference of manual inspections on the ecological environment, providing technical means for environmental protection, and promoting harmonious development between humans and nature.

[0242] To control the landing of a drone, this application also provides another drone control method applied to a processor in a drone hangar. The drone hangar further includes at least one drawer-type parking compartment. Each drawer-type parking compartment includes a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the drone and is capable of telescopic movement relative to the fixed frame.

[0243] like Figure 7 As shown, a control method for a drone includes:

[0244] S701: In response to a received landing command, determine the third drawer-type parking bay to which the second target UAV indicated by the landing command is to land.

[0245] S702: Control the third motor of the third drawer-type parking compartment to drive the third transmission device to move, so that the third transmission device drives the third drawer body of the third drawer-type parking compartment to a preset extended position.

[0246] S703: When the third drawer moves to the preset extended position, control the second target drone to land on the third parking platform in the third drawer.

[0247] S704: Upon detecting that the second target UAV has landed on the third parking platform, control the third motor to drive the third transmission device to move, so that the third transmission device moves the third drawer to a preset retraction position.

[0248] The technical solution provided in this application provides a drone hangar with a drawer-type storage compartment. Without manual assistance, upon receiving a landing command, the processor in the drone hangar can automatically extend the drawer of the storage compartment to a preset position via a motor, and then control the drone's landing. This improves the automation and intelligence of the drone landing process, thereby increasing the efficiency of drone landing control. Since the drone can be stored inside the drawer-type storage compartment, the safety of drone storage is improved. Furthermore, the drawer-type drone hangar has low site requirements and can be used in various scenarios, improving site adaptability.

[0249] In one embodiment of this application, the transmission device is a lead screw assembly; the lead screw assembly includes a lead screw, a nut, and a slide rail; the lead screw is connected to the motor, the lead screw is threadedly connected to the nut, the nut is connected to the slide rail, and the lower surface of the drawer body is fixedly connected to the nut;

[0250] Step S702 above, namely the step of controlling the third motor of the third drawer-type parking compartment to drive the third transmission device to move, so that the third transmission device drives the third drawer body of the third drawer-type parking compartment to a preset extended position, includes:

[0251] A control signal is sent to the third motor of the third drawer-type parking compartment so that the third motor rotates in the direction and number of revolutions indicated by the control signal, thereby driving the third lead screw of the third drawer-type parking compartment to rotate and drive the third nut to move along the slide rail, so that the third drawer body of the third drawer-type parking compartment moves along the third slide rail to a preset extended position.

[0252] As can be seen, in this embodiment, by providing a specific structure for the transmission device, automatic control of the extension and retraction of the drawer-type parking compartment where the drone is located can be achieved, eliminating the need for manual control of the drawer-type parking compartment and improving the automation level of the drone hangar. Furthermore, the drawer-type parking compartment can retract the drone into the drone hangar for storage through its extension and retraction movement, improving drone storage safety, saving space, and increasing site adaptability.

[0253] As one embodiment of this application, the third drawer-type parking compartment further includes a third photoelectric sensor; the third fixed frame includes at least a pair of oppositely arranged side plates; the third photoelectric sensor is fixed to the pair of oppositely arranged side plates on the third fixed frame and is triggered when the third drawer extends to the preset extension position; the method further includes:

[0254] When the third photoelectric sensor is triggered, the third motor is controlled to stop rotating.

[0255] As can be seen, in this embodiment, by setting a photoelectric sensor to precisely control the extension position of the drawer, and using motor rotation control as a double insurance, the accuracy of the drawer position determination is improved, thereby avoiding energy loss and device damage caused by the motor continuing to rotate when the drawer extends to the preset extension position.

[0256] As one embodiment of this application, the third drawer-type parking compartment further includes a fourth photoelectric sensor; the third fixed frame includes at least a pair of oppositely arranged side plates; the third photoelectric sensor is fixed to the pair of oppositely arranged side plates on the third fixed frame and is triggered when the third drawer is retracted to the preset retraction position; the method further includes:

[0257] When the fourth photoelectric sensor is triggered, the third motor is controlled to stop rotating.

[0258] As can be seen, in this embodiment, by setting a second photoelectric sensor to precisely control the drawer's retracted position, and using motor rotation control as a double safeguard, the accuracy of the drawer's position determination is improved. This avoids energy loss caused by the motor continuing to rotate when the drawer has retracted to the preset retracted position.

[0259] As one embodiment of this application, the method further includes:

[0260] In response to the received takeoff command, determine the fourth drawer-type parking compartment where the third target UAV indicated by the takeoff command is located;

[0261] The fourth motor controlling the fourth drawer-type parking compartment drives the fourth transmission device to move, so that the fourth transmission device moves the fourth drawer body of the fourth drawer-type parking compartment to the preset extended position.

[0262] When the fourth drawer moves to the preset extended position, the third target UAV is controlled to take off from the fourth parking platform of the fourth drawer, and the third target UAV is controlled to execute the flight mission carried by the take-off command.

[0263] As can be seen, in this embodiment, when there is a need for drone takeoff, no manual assistance is required. The drone hangar can automatically extend and retract the drone parking drawer, thereby improving the level of automation.

[0264] As one embodiment of this application, the drone hangar further includes a pressure sensor; the pressure sensor is installed on the parking platform of the drawer and is used to detect whether there are obstacles on the parking platform;

[0265] Before step S703 above, i.e., the step of controlling the second target UAV to land on the third parking platform in the third drawer, the method further includes:

[0266] If the pressure sensor detects an obstacle on the third parking platform, the second target drone is controlled to stop landing, and a clearing command is output to allow the user to clear the obstacle from the third parking platform.

[0267] If the pressure sensor detects that there are no obstacles on the third parking platform, the step of controlling the second target UAV to land on the third parking platform in the third drawer is executed.

[0268] As can be seen, in this embodiment, by checking for obstacles on the parking platform during the drone's landing process and removing them in a timely manner, it is possible to avoid obstacles affecting drone parking or even causing damage to drone equipment, thereby further improving the automation level of the drone hangar and further ensuring the safety of drone equipment.

[0269] As one embodiment of this application, the drone hangar further includes an ultrasonic sensor; the ultrasonic sensor is installed on the outer surface of the drone hangar.

[0270] Before step S702 above, that is, before the step of controlling the third motor of the third drawer-type parking compartment to drive the third transmission device to move so that the third transmission device drives the third drawer body of the third drawer-type parking compartment to a preset extended position, the method further includes:

[0271] Acquire the ultrasonic signal from the ultrasonic sensor, and determine whether there are obstacles around the drone hangar based on the ultrasonic signal;

[0272] When the ultrasonic signal indicates that there are no obstacles around the UAV hangar, the step of controlling the third motor of the third drawer-type parking compartment to drive the third transmission device to move, so that the third transmission device moves the third drawer body of the third drawer-type parking compartment to a preset extended position.

[0273] As can be seen, in this embodiment, by installing ultrasonic sensors on the outer surface of the drone hangar and using ultrasonic signals to determine whether there are obstacles around the drone hangar before the control drawer extends, and controlling the drawer to extend to the preset extension position when there are no obstacles around the drone hangar, it is possible to avoid obstacles around the drone hangar affecting the normal extension of the drawer and thus affecting the safety of the hangar equipment and the drone, thereby improving the safety of the drone hangar and the drone.

[0274] As one embodiment of this application, the drone hangar further includes a collision detection device; the collision detection device is installed on the front panel of the drawer body and is used to detect collision events; the method further includes:

[0275] During the process of controlling the movement of the third motor driving the third transmission device of the third drawer-type parking compartment, if the collision detection device detects a collision event, the third motor is controlled to brake.

[0276] As can be seen, in this embodiment, by installing a collision detection device on the front panel of the drawer and detecting collision events that occur during the control of the drawer's extension, the motor can be braked in a timely manner in the event of a collision to prevent the collision from worsening and to avoid damaging the equipment, thereby improving the automation and safety of the drone hangar.

[0277] As one embodiment of this application, the area where the drone hangar is located is equipped with multiple wireless carrier positioning base stations; the drone is equipped with a satellite positioning system, an inertial navigation system, and a wireless carrier positioning tag; the method further includes:

[0278] During the flight of the third target UAV, the fourth position information of the third target UAV collected by the satellite positioning system and the fifth position information of the third target UAV collected by the inertial navigation system are simultaneously acquired, as well as tag information sent by multiple wireless carrier positioning base stations. The tag information is the time when the wireless carrier positioning base station receives the pulse data sent by the wireless carrier positioning tag.

[0279] The fourth and fifth location information are fused to obtain the third fused location information;

[0280] Based on the tag information sent by multiple wireless carrier positioning base stations, the sixth position information of the third target UAV is calculated using a trilateration algorithm;

[0281] The third fused location information and the sixth location information are fused to obtain the fourth fused location information, which is used as the current location information of the third target UAV.

[0282] As can be seen, in this embodiment, during the flight of the UAV, by fusing the UAV position information collected by the satellite positioning system and the UAV position information collected by the inertial navigation system, and then fusing the fusion result with the third position information of the UAV obtained by using wireless carrier positioning technology, a high-precision and high-reliability UAV position can be obtained. By fusing the satellite positioning system, the inertial navigation system, and the wireless carrier positioning technology, high-precision positioning is achieved. This position is used for flight control and precise landing guidance of the UAV, ensuring the accuracy and reliability of UAV take-off and landing, and maintaining high positioning accuracy even in complex environments.

[0283] The specific implementation methods of the above embodiments are similar to those of the embodiments in the first type of UAV control method provided above, and will not be repeated here.

[0284] Corresponding to the unmanned aerial vehicle (UAV) control method provided in the embodiments of this application, the embodiments of this application also provide a UAV control device.

[0285] like Figure 8 As shown, a control device for a drone is applied to a processor in a drone hangar. The drone hangar further includes at least one drawer-type parking compartment. Each drawer-type parking compartment includes a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the drone and is capable of telescopic movement relative to the fixed frame. The device includes:

[0286] The first parking compartment determination module 801 is used to determine the first drawer-type parking compartment where the second target UAV indicated by the received takeoff command is located in response to the received takeoff command;

[0287] The first control module 802 is used to control the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device drives the first drawer body of the first drawer-type parking compartment to move to a preset extended position.

[0288] The second control module 803 is used to control the second target drone to take off from the first parking platform of the first drawer when the first drawer moves to the preset extended position, and to control the second target drone to execute the flight mission carried by the take-off command.

[0289] The technical solution provided in this application provides a drone hangar with a drawer-type storage compartment. Without manual assistance, upon receiving a takeoff command, the processor in the drone hangar can automatically extend the drawer of the storage compartment to a preset position via a motor, and control the takeoff of the drone parked inside. This improves the automation and intelligence of the drone takeoff process, thereby increasing takeoff control efficiency. Since the drone can be stored inside the drawer-type storage compartment, the safety of drone storage is improved. Furthermore, the drawer-type drone hangar has low site requirements and can be used in various scenarios, improving site adaptability.

[0290] In one embodiment of this application, the transmission device is a lead screw assembly; the lead screw assembly includes a lead screw, a nut, and a slide rail; the lead screw is connected to the motor, the lead screw is threadedly connected to the nut, the nut is connected to the slide rail, and the lower surface of the drawer body is fixedly connected to the nut;

[0291] The first control module 802 includes:

[0292] The first transmitting submodule is used to send a control signal to the first motor of the first drawer-type parking compartment, so that the first motor rotates in the direction and number of revolutions indicated by the control signal, thereby driving the first lead screw of the first drawer-type parking compartment to rotate and drive the first nut to move along the slide rail, so that the first drawer body of the first drawer-type parking compartment moves along the first slide rail to a preset extended position.

[0293] As one embodiment of this application, the first drawer-type parking compartment further includes a first photoelectric sensor; the first fixed frame includes at least a pair of oppositely arranged side plates; the first photoelectric sensor is fixed to the pair of oppositely arranged side plates on the first fixed frame and is triggered when the first drawer extends to the preset extension position; the device further includes:

[0294] The sixth control module is used to control the first motor to stop rotating when the first photoelectric sensor is triggered.

[0295] As one embodiment of this application, the apparatus further includes:

[0296] The seventh control module is used to control the first motor to drive the first transmission device to move when the first target drone is detected to fly away from the first drawer, so that the first transmission device drives the first drawer to move to a preset retraction position.

[0297] As one embodiment of this application, the first drawer-type parking compartment further includes a second photoelectric sensor; the first fixed frame includes at least a pair of oppositely arranged side plates; the second photoelectric sensor is fixed to the pair of oppositely arranged side plates on the first fixed frame and is triggered when the first drawer body is retracted to the preset retraction position; the device further includes:

[0298] The eighth control module is used to control the first motor to stop rotating when the second photoelectric sensor is triggered.

[0299] As one embodiment of this application, the apparatus further includes:

[0300] The third parking bay determination module is used to determine the second drawer-type parking bay where the second target UAV indicated by the landing command will land in response to the received landing command.

[0301] The ninth control module is used to control the second motor of the second drawer-type parking compartment to drive the second transmission device to move, so that the second transmission device drives the second drawer body of the second drawer-type parking compartment to the preset extended position;

[0302] The tenth control module is used to control the second target drone to land on the second parking platform in the second drawer when the second drawer moves to the preset extended position;

[0303] The eleventh control module is used to control the second motor to drive the second transmission device to move when the second target UAV is detected to have landed on the second parking platform, so that the second transmission device drives the second drawer to move to a preset retraction position.

[0304] As one embodiment of this application, the drone hangar further includes a pressure sensor; the pressure sensor is installed on the parking platform of the drawer and is used to detect whether there are obstacles on the parking platform;

[0305] The device further includes:

[0306] The twelfth control module is used to control the second target drone to stop landing and output a clearing command to the user to clear the obstacle in the second parking platform before the second target drone lands in the second parking platform in the second drawer; and to trigger the tenth control module when the pressure sensor detects that there is no obstacle in the parking platform.

[0307] As one embodiment of this application, the drone hangar further includes an ultrasonic sensor; the ultrasonic sensor is installed on the outer surface of the drone hangar.

[0308] The device further includes:

[0309] The first signal acquisition module is configured to acquire the ultrasonic signal of the ultrasonic sensor before the step of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device moves the first drawer body of the first drawer-type parking compartment to a preset extended position, and determine whether there are obstacles around the UAV hangar based on the ultrasonic signal; and trigger the first control module when the ultrasonic signal indicates that there are no obstacles around the UAV hangar.

[0310] As one embodiment of this application, the drone hangar further includes a collision detection device; the collision detection device is installed on the front panel of the drawer body and is used to detect collision events; the device further includes:

[0311] The thirteenth control module is used to control the first motor to brake when the collision detection device detects a collision event during the process of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device.

[0312] As one embodiment of this application, the area where the drone hangar is located is equipped with multiple wireless carrier positioning base stations; the drone is equipped with a satellite positioning system, an inertial navigation system, and a wireless carrier positioning tag; the device further includes:

[0313] The first information acquisition module is used to simultaneously acquire, during the flight of the first target UAV, the first position information of the first target UAV collected by the satellite positioning system, the second position information of the first target UAV collected by the inertial navigation system, and tag information sent by multiple wireless carrier positioning base stations, wherein the tag information is the time when the wireless carrier positioning base station receives the pulse data sent by the wireless carrier positioning tag.

[0314] The first fusion module is used to fuse the first location information and the second location information to obtain first fused location information;

[0315] The first calculation module is used to calculate the third location information of the first target UAV based on the tag information sent by multiple wireless carrier positioning base stations using a trilateration algorithm.

[0316] The second fusion module is used to fuse the first fused location information and the third location information to obtain the second fused location information, which serves as the current location information of the first target UAV.

[0317] Corresponding to another drone control method provided in the embodiments of this application, the embodiments of this application also provide another drone control device.

[0318] like Figure 9 As shown, a control device for a drone is applied to a processor in a drone hangar. The drone hangar further includes at least one drawer-type parking compartment. Each drawer-type parking compartment includes a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the drone and is capable of telescopic movement relative to the fixed frame. The device includes:

[0319] The second parking bay determination module 901 is used to determine the third drawer-type parking bay where the second target UAV indicated by the landing command is to land in response to the received landing command.

[0320] The third control module 902 is used to control the third motor of the third drawer-type parking compartment to drive the third transmission device to move, so that the third transmission device drives the third drawer body of the third drawer-type parking compartment to move to a preset extended position.

[0321] The fourth control module 903 is used to control the second target UAV to land on the third parking platform in the third drawer when the third drawer moves to the preset extended position;

[0322] The fifth control module 904 is used to control the third motor to drive the third transmission device to move when the second target UAV is detected to have landed on the third parking platform, so that the third transmission device drives the third drawer to move to a preset retraction position.

[0323] The technical solution provided in this application provides a drone hangar with a drawer-type storage compartment. Without manual assistance, upon receiving a landing command, the processor in the drone hangar can automatically extend the drawer of the storage compartment to a preset position via a motor, and then control the drone's landing. This improves the automation and intelligence of the drone landing process, thereby increasing the efficiency of drone landing control. Since the drone can be stored inside the drawer-type storage compartment, the safety of drone storage is improved. Furthermore, the drawer-type drone hangar has low site requirements and can be used in various scenarios, improving site adaptability.

[0324] In one embodiment of this application, the transmission device is a lead screw assembly; the lead screw assembly includes a lead screw, a nut, and a slide rail; the lead screw is connected to the motor, the lead screw is threadedly connected to the nut, the nut is connected to the slide rail, and the lower surface of the drawer body is fixedly connected to the nut;

[0325] The third control module includes:

[0326] The second transmitting submodule is used to send a control signal to the third motor of the third drawer-type parking compartment, so that the third motor rotates in the direction and number of revolutions indicated by the control signal, thereby driving the third lead screw of the third drawer-type parking compartment to rotate and drive the third nut to move along the slide rail, so that the third drawer body of the third drawer-type parking compartment moves along the third slide rail to a preset extended position.

[0327] As one embodiment of this application, the third drawer-type parking compartment further includes a third photoelectric sensor; the third fixed frame includes at least a pair of oppositely arranged side plates; the third photoelectric sensor is fixed to the pair of oppositely arranged side plates on the third fixed frame and is triggered when the third drawer extends to the preset extension position; the device further includes:

[0328] The fourteenth control module is used to control the third motor to stop rotating when the third photoelectric sensor is triggered.

[0329] As one embodiment of this application, the third drawer-type parking compartment further includes a fourth photoelectric sensor; the third fixed frame includes at least a pair of oppositely arranged side plates; the third photoelectric sensor is fixed to the pair of oppositely arranged side plates on the third fixed frame and is triggered when the third drawer is retracted to the preset retraction position; the device further includes:

[0330] The fifteenth control module is used to control the third motor to stop rotating when the fourth photoelectric sensor is triggered.

[0331] As one embodiment of this application, the apparatus further includes:

[0332] The fourth parking compartment determination module is used to determine the fourth drawer-type parking compartment where the third target UAV indicated by the received takeoff command is located in response to the takeoff command.

[0333] The sixteenth control module is used to control the fourth motor of the fourth drawer-type parking compartment to drive the fourth transmission device to move, so that the fourth transmission device drives the fourth drawer body of the fourth drawer-type parking compartment to the preset extension position.

[0334] The seventeenth control module is used to control the third target UAV to take off from the fourth parking platform of the fourth drawer when the fourth drawer moves to the preset extended position, and to control the third target UAV to execute the flight mission carried by the take-off command.

[0335] As one embodiment of this application, the drone hangar further includes a pressure sensor; the pressure sensor is installed on the parking platform of the drawer and is used to detect whether there are obstacles on the parking platform;

[0336] The device further includes:

[0337] The eighteenth control module is used to, before the step of controlling the second target drone to land on the third parking platform in the third drawer, control the second target drone to stop landing and output a clearing command to make the user clear the obstacle in the third parking platform when the pressure sensor detects an obstacle in the third parking platform; and to trigger the seventeenth control module when the pressure sensor detects that there is no obstacle in the third parking platform.

[0338] As one embodiment of this application, the drone hangar further includes an ultrasonic sensor; the ultrasonic sensor is installed on the outer surface of the drone hangar.

[0339] The device further includes:

[0340] The second signal acquisition module is used to acquire the ultrasonic signal of the ultrasonic sensor before the step of controlling the third motor of the third drawer-type parking compartment to drive the third transmission device to move so that the third transmission device drives the third drawer body of the third drawer-type parking compartment to a preset extended position, and to determine whether there are obstacles around the UAV hangar based on the ultrasonic signal; and to trigger the third control module when the ultrasonic signal indicates that there are no obstacles around the UAV hangar.

[0341] As one embodiment of this application, the drone hangar further includes a collision detection device; the collision detection device is installed on the front panel of the drawer body and is used to detect collision events; the device further includes:

[0342] The twentieth control module is used to control the braking of the third motor when the collision detection device detects a collision event during the process of controlling the movement of the third transmission device driven by the third motor of the third drawer-type parking compartment.

[0343] As one embodiment of this application, the area where the drone hangar is located is equipped with multiple wireless carrier positioning base stations; the drone is equipped with a satellite positioning system, an inertial navigation system, and a wireless carrier positioning tag; the device further includes:

[0344] The second information acquisition module is used to simultaneously acquire, during the flight of the third target UAV, the fourth position information of the third target UAV collected by the satellite positioning system, the fifth position information of the third target UAV collected by the inertial navigation system, and tag information sent by multiple wireless carrier positioning base stations, wherein the tag information is the time when the wireless carrier positioning base station receives the pulse data sent by the wireless carrier positioning tag.

[0345] The third fusion module is used to fuse the fourth location information and the fifth location information to obtain the third fused location information;

[0346] The second calculation module is used to calculate the sixth location information of the third target UAV based on the tag information sent by multiple wireless carrier positioning base stations using a trilateration algorithm.

[0347] The fourth fusion module is used to fuse the third fused location information and the sixth location information to obtain the fourth fused location information, which serves as the current location information of the third target UAV.

[0348] Corresponding to the unmanned aerial vehicle (UAV) control method provided in the embodiments of this application, the embodiments of this application also provide a UAV control system.

[0349] like Figure 10 As shown, a control system for an unmanned aerial vehicle (UAV) includes a UAV hangar 100 and at least one UAV 200. The UAV hangar 100 includes a processor and at least one drawer-type parking compartment. Each drawer-type parking compartment includes a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the UAV 200 and is capable of telescopic movement relative to the fixed frame.

[0350] The drone hangar 100 implements any of the drone control methods provided in the examples of this application.

[0351] The drone 200 takes off or lands under the control of the drone hangar 100.

[0352] The technical solution provided in this application provides a drone hangar with a drawer-type storage compartment. Without manual assistance, upon receiving takeoff or landing commands, the processor in the drone hangar can automatically extend the drawer of the storage compartment to a preset position via a motor, and control the drone's takeoff or landing. This improves the automation and intelligence of the drone takeoff and landing process, thereby increasing the efficiency of drone takeoff and landing control. Since the drone can be stored inside the drawer-type storage compartment, the safety of drone storage is improved. Furthermore, the drawer-type drone hangar has low site requirements and can be used in various scenarios, improving site adaptability.

[0353] This application also provides a drone hangar, such as Figure 11 As shown, it includes a processor 1101, a communication interface 1102, a memory 1103, and a communication bus 1104, wherein the processor 1101, the communication interface 1102, and the memory 1103 communicate with each other through the communication bus 1104.

[0354] Memory 1103 is used to store computer programs;

[0355] The processor 1101 is used to execute the program stored in the memory 1103 to implement any of the drone control methods provided in the embodiments of this application.

[0356] The communication bus mentioned in the aforementioned drone hangar could be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not indicate that there is only one bus or one type of bus.

[0357] The communication interface is used for communication between the aforementioned drone hangar and other devices.

[0358] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0359] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0360] In another embodiment provided in this application, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described UAV control methods.

[0361] In another embodiment provided in this application, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the control methods for drones described above.

[0362] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk (SSD)).

[0363] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0364] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, systems, drone hangars, computer-readable storage media, and computer program products are basically similar to the method embodiments, and therefore the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0365] The above description is merely a preferred embodiment of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application are included within the scope of protection of this application.

Claims

1. A control method for an unmanned aerial vehicle (UAV), characterized in that, A processor for use in a drone hangar, the drone hangar further including at least one drawer-type parking compartment, each drawer-type parking compartment including a transmission device, a motor, a drawer body, and a fixed frame, the transmission device and the motor being fixedly mounted on the fixed frame; the drawer body includes a parking platform for the drone, and the drawer body is capable of telescopic movement relative to the fixed frame; the method includes: In response to a received takeoff command, determine the first drawer-type parking compartment where the first target UAV indicated by the takeoff command is located; The first motor controlling the first drawer-type parking compartment drives the first transmission device to move, so that the first transmission device moves the first drawer body of the first drawer-type parking compartment to a preset extended position; When the first drawer moves to the preset extended position, the first target drone is controlled to take off from the first parking platform of the first drawer, and the first target drone is controlled to execute the flight mission carried by the take-off command.

2. The method according to claim 1, characterized in that, The transmission device is a lead screw assembly; the lead screw assembly includes a lead screw, a nut and a slide rail; the lead screw is connected to the motor, the lead screw is threadedly connected to the nut, the nut is connected to the slide rail, and the lower surface of the drawer body is fixedly connected to the nut; The step of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device moves the first drawer body of the first drawer-type parking compartment to a preset extended position, includes: A control signal is sent to the first motor of the first drawer-type parking compartment so that the first motor rotates in the direction and number of revolutions indicated by the control signal, thereby driving the first lead screw of the first drawer-type parking compartment to rotate and drive the first nut to move along the slide rail, so that the first drawer body of the first drawer-type parking compartment moves along the first slide rail to a preset extended position.

3. The method according to claim 2, characterized in that, The first drawer-type parking compartment further includes a first photoelectric sensor; the first fixed frame includes at least a pair of opposing side plates; the first photoelectric sensor is fixed to the pair of opposing side plates on the first fixed frame and is triggered when the first drawer extends to the preset extension position; the method further includes: When the first photoelectric sensor is triggered, the first motor is controlled to stop rotating.

4. The method according to claim 2, characterized in that, The method further includes: If the first target drone is detected to have flown away from the first drawer, the first motor is controlled to drive the first transmission device to move, so that the first transmission device moves the first drawer to a preset retraction position.

5. The method according to claim 4, characterized in that, The first drawer-type parking compartment further includes a second photoelectric sensor; the first fixed frame includes at least a pair of opposing side plates; the second photoelectric sensor is fixed to the pair of opposing side plates on the first fixed frame and is triggered when the first drawer is retracted to the preset retracted position; the method further includes: When the second photoelectric sensor is triggered, the first motor is controlled to stop rotating.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: In response to a received landing command, determine the second drawer-type parking compartment where the first target UAV indicated by the landing command is to land; The second motor controlling the second drawer-type parking compartment drives the second transmission device to move, so that the second transmission device moves the second drawer body of the second drawer-type parking compartment to the preset extended position; When the second drawer moves to the preset extended position, control the first target drone to land on the second parking platform in the second drawer; Upon detecting that the first target drone has landed on the second parking platform, the second motor is controlled to drive the second transmission device to move, so that the second transmission device moves the second drawer to a preset retraction position.

7. The method according to claim 6, characterized in that, The drone hangar also includes a pressure sensor; the pressure sensor is installed on the parking platform of the drawer and is used to detect whether there are obstacles on the parking platform; Prior to the step of controlling the first target drone to land on the second parking platform in the second drawer, the method further includes: If the pressure sensor detects an obstacle on the second parking platform, the first target drone is controlled to stop landing, and a clearing command is output to allow the user to clear the obstacle from the second parking platform. If the pressure sensor detects that there is no obstacle on the second parking platform, the step of controlling the first target UAV to land on the second parking platform in the second drawer is executed.

8. The method according to any one of claims 1-5, characterized in that, The drone hangar also includes an ultrasonic sensor; the ultrasonic sensor is installed on the outer surface of the drone hangar. Before the step of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device moves the first drawer body of the first drawer-type parking compartment to a preset extended position, the method further includes: Acquire the ultrasonic signal from the ultrasonic sensor, and determine whether there are obstacles around the drone hangar based on the ultrasonic signal; When the ultrasonic signal indicates that there are no obstacles around the UAV hangar, the step of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device moves the first drawer body of the first drawer-type parking compartment to a preset extended position.

9. The method according to any one of claims 1-5, characterized in that, The drone hangar also includes a collision detection device; the collision detection device is installed on the front panel of the drawer body and is used to detect collision events; the method further includes: During the process of controlling the first motor of the first drawer-type parking compartment to drive the first transmission device, if the collision detection device detects a collision event, the first motor is controlled to brake.

10. The method according to any one of claims 1-5, characterized in that, The area where the drone hangar is located is equipped with multiple wireless carrier positioning base stations; the drone is equipped with a satellite positioning system, an inertial navigation system, and a wireless carrier positioning tag; the method further includes: During the flight of the first target UAV, the first position information of the first target UAV collected by the satellite positioning system, the second position information of the first target UAV collected by the inertial navigation system, and tag information sent by multiple wireless carrier positioning base stations are simultaneously acquired. The tag information is the time when the wireless carrier positioning base station receives the pulse data sent by the wireless carrier positioning tag. The first location information and the second location information are fused to obtain the first fused location information; Based on the tag information sent by multiple wireless carrier positioning base stations, the third location information of the first target UAV is calculated using a trilateration algorithm. The first fused location information and the third location information are fused to obtain the second fused location information, which is used as the current location information of the first target UAV.

11. A control method for an unmanned aerial vehicle (UAV), characterized in that, A processor for use in a drone hangar, the drone hangar further including at least one drawer-type parking compartment, each drawer-type parking compartment including a transmission device, a motor, a drawer body, and a fixed frame, the transmission device and the motor being fixedly mounted on the fixed frame; the drawer body includes a parking platform for the drone, and the drawer body is capable of telescopic movement relative to the fixed frame; the method includes: In response to a received landing command, determine the third drawer-type parking bay where the second target UAV indicated by the landing command is to land; The third motor controlling the third drawer-type parking compartment drives the third transmission device to move, so that the third transmission device moves the third drawer body of the third drawer-type parking compartment to a preset extended position; When the third drawer moves to the preset extended position, the second target drone is controlled to land on the third parking platform in the third drawer; Upon detecting that the second target drone has landed on the third parking platform, the third motor is controlled to drive the third transmission device to move, so that the third transmission device moves the third drawer to a preset retraction position.

12. A control device for an unmanned aerial vehicle (UAV), characterized in that, A processor for use in a drone hangar, the drone hangar further including at least one drawer-type parking compartment, each drawer-type parking compartment including a transmission device, a motor, a drawer body, and a fixed frame, the transmission device and the motor being fixedly mounted on the fixed frame; the drawer body includes a parking platform for the drone, and the drawer body is capable of telescopic movement relative to the fixed frame; the device includes: The first parking compartment determination module is used to determine the first drawer-type parking compartment where the first target UAV indicated by the received takeoff command is located in response to the received takeoff command; The first control module is used to control the first motor of the first drawer-type parking compartment to drive the first transmission device to move, so that the first transmission device drives the first drawer body of the first drawer-type parking compartment to move to a preset extended position. The second control module is used to control the first target drone to take off from the first parking platform of the first drawer when the first drawer moves to the preset extended position, and to control the first target drone to execute the flight mission carried by the take-off command.

13. A control device for an unmanned aerial vehicle (UAV), characterized in that, A processor for use in a drone hangar, the drone hangar further including at least one drawer-type parking compartment, each drawer-type parking compartment including a transmission device, a motor, a drawer body, and a fixed frame, the transmission device and the motor being fixedly mounted on the fixed frame; the drawer body includes a parking platform for the drone, and the drawer body is capable of telescopic movement relative to the fixed frame; the device includes: The second parking bay determination module is used to determine the third drawer-type parking bay where the second target UAV indicated by the landing command is to land in response to the received landing command. The third control module is used to control the third motor of the third drawer-type parking compartment to drive the third transmission device to move, so that the third transmission device drives the third drawer body of the third drawer-type parking compartment to move to a preset extended position. The fourth control module is used to control the second target UAV to land on the third parking platform in the third drawer when the third drawer moves to the preset extended position; The fifth control module is used to control the third motor to drive the third transmission device to move when the second target UAV is detected to have landed on the third parking platform, so that the third transmission device moves the third drawer to a preset retraction position.

14. A control system for an unmanned aerial vehicle (UAV), characterized in that, The system includes a drone hangar and at least one drone. The drone hangar includes a processor and at least one drawer-type parking bay. Each drawer-type parking bay includes a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the drone and is capable of telescopic movement relative to the fixed frame. The drone hangar implements the method described in any one of claims 1-10 or claim 11; The drone takes off or lands under the control of the drone hangar.

15. A hangar for unmanned aerial vehicles (UAVs), characterized in that, The drone hangar includes a processor, a communication interface, a memory, a communication bus, and at least one drawer-type parking compartment. Each drawer-type parking compartment includes a transmission device, a motor, a drawer body, and a fixed frame. The transmission device and the motor are fixedly mounted on the fixed frame. The drawer body includes a parking platform for the drone and is capable of telescopic movement relative to the fixed frame. The processor, communication interface, and memory communicate with each other through the communication bus. Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the method of any one of claims 1-10 or 11.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method described in any one of claims 1-10 or 11.

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