A general-purpose UAV landing pad and control method

Abstract

This invention pertains to the field of drone landing pads, specifically a universal drone landing pad and its control method. The landing pad's upper surface features two long and two short mechanical rods, which position and fix the drone in the upper left corner after landing. One of the short and one long mechanical rods can move longitudinally and laterally, respectively, and each rod contains an embedded magnet. Below the landing pad, at corresponding positions, is a short and one long electromagnetic drive device, containing an electromagnet with opposite polarity to the upper rod and a multi-axis accelerometer. The sensor detects the drone's landing status through longitudinal acceleration and calculates the movement distance through horizontal acceleration to determine whether the landing gear is securely fastened. The electromagnetic drive device uses magnetic attraction to move the upper mechanical rod horizontally, and the lateral drive device also integrates a wireless charging coil. This invention is compatible with multiple drone models and various charging power levels, eliminating the need for complex mechanical alignment and structures such as hangar covers and lifting platforms, significantly reducing costs while maintaining protection levels and reliability.

Description

Technical Field

[0001] This invention belongs to the field of drone landing pads, and relates to a general-purpose drone landing pad and control method. Background Technology

[0002] Drone helipads are commonly used in industries such as inspection. For example, industrial drones used for power line inspections are remotely controlled by the operator or land automatically in the work area. After charging or swapping batteries on the helipad, the drones can take off again to carry out subsequent inspections once they are ready to fly again.

[0003] These types of hangars generally have three characteristics. First, the charging method is only for a specific, single model of aircraft. There are generally three charging methods: battery swapping via robotic arms, charging via metal contacts, and wireless charging.

[0004] The robotic arm battery swapping system involves a multi-degree-of-freedom robotic arm located inside the hangar. By pre-setting a position, this arm can remove the drone's battery, place it in a charging slot inside the hangar, insert a pre-charged battery into the drone's battery compartment, and ensure the battery is powered on.

[0005] A simpler method involves charging the drone directly via metal contacts inside the hangar. Or...

[0006] Wireless charging is achieved by using a wireless charging receiver fixed in a specific location on a drone.

[0007] However, regardless of the method, it only works for drone models that have been pre-configured. For example, the DJI Airport 2's wireless charging method is only compatible with its designated Matrice model; it will not work for other models.

[0008] Secondly, the protection level is limited. Industrial hangars typically have hangar covers, either on top or on the side. However, since drones can only land by opening the hangar cover, the hangar itself doesn't offer a high level of protection. For example, DJI's airport hangars are rated IP55. This is insufficient for field operations.

[0009] Third, the mechanical push rods used to center the landed drone are basically four long rods, two horizontal and two vertical. These push rods typically push the drone to the center of the landing pad. The structure is simple, but lacks flexibility and cannot be adapted to drones of different sizes.

[0010] Fourth, poor reliability. The aforementioned drone hangars cannot function without the action of opening and closing the hangar lid. Hangar lids controlled by mechanical materials such as stepper motors are prone to deformation, resulting in low reliability and requiring regular maintenance. Furthermore, the robotic arms can also deform, and within just a few months, they become unable to accurately disassemble batteries. In addition, most of these hangars have lifting platforms. These require frequent on-site maintenance, such as once a month. While hangars or helipads move drones to their designated positions by adjusting their feet, the connection between the drone's feet and fuselage is not rigid, allowing for significant positional changes. This can lead to a hangar accommodating multiple drones, or even changes in the dimensional structure of the same drone, thus affecting subsequent operations.

[0011] Fifth, and more importantly, the prices of the aforementioned drone hangars are quite high, often ranging from hundreds of thousands to tens of thousands of yuan. Summary of the Invention

[0012] 1. The technical problem to be solved:

[0013] The drone landing pad charging method is only applicable to a specific single model, and the fixed device lacks flexibility and has poor reliability.

[0014] 2. Technical Solution:

[0015] To address the above problems, this invention provides a universal drone landing pad, comprising an upper surface of the landing pad, on which two mechanical long rods are arranged in parallel. The first mechanical long rod is fixed, and the second mechanical long rod is laterally movable. Two mechanical short rods are arranged in parallel on the first mechanical long rod, wherein the first mechanical short rod is fixed, and the second mechanical short rod is longitudinally movable. Each mechanical long rod contains a wireless charging coil and two electromagnets, with the wireless charging coil located in the middle and the two electromagnets located on both sides of the wireless charging coil.

[0016] The second mechanical short rod is equipped with an electromagnet. The lower surface of the landing pad is provided with a first electromagnetic drive device and a second electromagnetic drive device. The first electromagnetic drive device is located directly below the second mechanical short rod, and the second electromagnetic drive device is located directly below the second mechanical long rod. The electromagnets embedded in the first electromagnetic drive device and the electromagnets in the second mechanical short rod have opposite polarities. The electromagnets embedded in the second electromagnetic drive device and the electromagnets in the second mechanical long rod have opposite polarities.

[0017] The first and second electromagnetic drive devices are also equipped with multi-axis acceleration sensors.

[0018] The present invention also provides a control method for a universal UAV landing pad, including a UAV remote docking method, a mechanical stick control method, and an adaptive wireless charging method. The mechanical stick includes a second mechanical short stick 5 that can move longitudinally and a second mechanical long stick that can move laterally.

[0019] The method for remote docking of unmanned aerial vehicles includes the following steps:

[0020] Step 1: Power on the apron system, perform a self-test, and the system is in good condition.

[0021] Step 2: At this time, there are no drones on the helipad. The helipad's wireless communication system turns on broadcast mode and sets the time period of this mode to t1.

[0022] Step 3: Determine whether the drone waiting to land has been successfully communicated during the broadcast time period t1. If not, return to step 2.

[0023] Step 4: If a drone waiting to land is indeed connected to the radio during the broadcast time period t1, i.e., wireless communication is established, the helipad will remotely obtain the drone information. If multiple drones intending to land are connected to the radio during the broadcast time period t1, the first drone will be selected, or one will be randomly selected, or the drone closest to the ground will be selected based on the distance to the drone, or the drone with the lowest battery level will be selected based on the drone battery information.

[0024] Step 5: While establishing communication, the helipad sets a time period t2. During this time period, it is determined whether the drone information has been successfully obtained, and the landing is approved based on the drone information.

[0025] Step 6: If landing is deemed acceptable, the tarmac will cease broadcasting; proceed to Step 7. If landing is deemed unacceptable, proceed to Step 8.

[0026] Step 7: The wireless charging transmitter on the helipad executes an adaptive wireless charging method to match the drone to be landed;

[0027] Step 8: The helipad notifies the drone that landing is prohibited, and the system resumes broadcast mode.

[0028] The drone information in step 4 includes at least three points: drone size, battery information, and the location of the onboard wireless charging receiver; the battery information includes remaining power, voltage, and current information.

[0029] In step 5, the specific judgment method is as follows:

[0030] The information obtained determines whether the drone meets the size requirements for landing; if the size exceeds the limit, landing is not permitted.

[0031] The system will determine whether wireless charging is supported from the information obtained. If not, landing will not be permitted.

[0032] Determine whether the second mechanical short pole that can move longitudinally and the second mechanical long pole that can move laterally are at the bottom and rightmost positions, respectively, on the helipad. If not, it is deemed unsafe, and landing is not permitted.

[0033] The mechanical lever control method includes the following steps:

[0034] Step 51: When the drone remote docking is completed, the system notifies the second mechanical short stick and the second mechanical long stick 3 to start their functions. The self-test of the second mechanical short stick and the second mechanical long stick is completed when the helipad is powered on, which means that they are considered to be working normally.

[0035] Step 52: Since the model of the drone, including the landing gear position and size, has been learned during the docking process, the system can calculate the distance that the long and short sticks need to move respectively.

[0036] Step 53: The system also sets a time parameter t3, within which the drone should complete its landing on the helipad.

[0037] Step 54: If, after time t3, the acceleration sensors inside the second short mechanical rod and the second long mechanical rod do not receive longitudinal acceleration information, i.e., the drone has not landed, then notify the system. The system will issue an instruction on whether to wait. If no longer waiting, proceed to step 511; if continuing to wait, proceed to step 512.

[0038] Step 55: If, within time t3, the acceleration sensors inside the second short mechanical rod and the second long mechanical rod receive longitudinal acceleration information, indicating that the UAV has landed, then the second short mechanical rod and the second long mechanical rod move from the edge of the landing pad towards the center at a relatively fast and uniform speed.

[0039] Step 56: And determine in real time whether the second mechanical short stick and the second mechanical long stick have touched the drone landing gear or the drone body.

[0040] Step 57: If it is determined that a contact has been made, the second short mechanical lever and the second long mechanical lever continue to move toward the center at a low, uniform speed.

[0041] Step 58: Determine whether the movement has reached the set distance value.

[0042] Step 59: After moving to the set distance value, the second mechanical short stick and the second mechanical long stick stop moving, and the system determines that the drone has been secured.

[0043] Step 510: Enter the wireless charging function mode.

[0044] Step 511 involves resetting the time parameter t3.

[0045] Step 512: Send the information to the system, then return to step 54.

[0046] The adaptive wireless charging method includes the following steps:

[0047] Step 61: Function activation.

[0048] Step 62: Receive notification of successful remote connection and charging information.

[0049] Step 63: Receive system notification that the movement and fastening of the second mechanical short rod and the second mechanical long rod are complete.

[0050] Step 64: Perform wireless charging.

[0051] Step 65: Is it fully charged, or has a system command to terminate charging been received?

[0052] Step 66: Charging complete, and reported to the apron system.

[0053] The wireless charging transmitter, embedded directly beneath the surface of the helipad, can transmit different power levels, adaptively ranging from 60 watts, 100 watts, to 200 watts. When not connected to a drone, the wireless charging transmitter can output lower power to heat the surface of the helipad in winter, melting ice after snowfall, or to maintain the internal temperature of the helipad in winter, ensuring that the internal electronic components remain in good working order.

[0054] 3. Beneficial effects:

[0055] This invention proposes a universal drone landing pad and control method. It can achieve specific features not found in current hangars. It is compatible with multiple drone models, rather than the current single and exclusive drone models. It is compatible with multiple different charging power levels, rather than a single power level due to a single drone model. It simplifies the centering device, rather than requiring mechanical "centering." It improves the reliability of the landing pad by eliminating the need for a drone hangar cover. The overall hangar protection level is no lower than current hangars, and it eliminates multi-dimensional mechanical structures such as robotic arms, further improving reliability. It significantly reduces costs by eliminating the need for hangar covers, lifting platforms, and battery compartments. Attached Figure Description

[0056] Figure 1 This is a top view of the apron structure.

[0057] Figure 2 This is a side view of the electromagnetic robotic arm structure above and below the surface of the helipad.

[0058] Figure 3 This is a schematic diagram of the long rod's function.

[0059] Figure 4This is a flowchart of the drone remote docking method.

[0060] Figure 5 This is a flowchart of the electromagnetic mechanical rod control method.

[0061] Figure 6 This is a flowchart of an adaptive wireless charging method.

[0062] Explanation of reference numerals in the attached drawings: 1. Upper surface of the helipad; 2. First short mechanical rod; 3. Second long mechanical rod; 4. First long mechanical rod; 5. Second short mechanical rod; 6. First electromagnetic drive device; 7. Second electromagnetic drive device; 11. Long mechanical rod; 12. Electromagnet; 13. Wireless charging coil. Detailed Implementation

[0063] The present invention will now be described in detail with reference to the accompanying drawings.

[0064] like Figure 1 As shown, a general-purpose UAV landing pad includes an upper surface 1. Two mechanical rods 11 are arranged in parallel on the upper surface 1, wherein the first mechanical rod 4 is fixed and the second mechanical rod 3 is laterally movable. Two mechanical short rods 2 are arranged in parallel on the first mechanical rod 4, wherein the first mechanical short rod 2 is fixed and the second mechanical short rod 5 is longitudinally movable.

[0065] like Figure 3 As shown, each mechanical rod 11 contains a wireless charging coil 13 and two electromagnets 12, with the wireless charging coil 13 located in the middle and the two electromagnets 12 located on both sides of the wireless charging coil 13.

[0066] In one embodiment, such as Figure 2 As shown, the second mechanical short rod 5 is equipped with an electromagnet 12 inside. The lower surface of the landing pad is provided with a first electromagnetic drive device 6 and a second electromagnetic drive device 7. The first electromagnetic drive device 6 is located directly below the second mechanical short rod 5, and the second electromagnetic drive device 7 is located directly below the second mechanical long rod 3. The electromagnets embedded in the first electromagnetic drive device 6 and the electromagnets in the second mechanical short rod 5 have opposite polarities, and the electromagnets embedded in the second electromagnetic drive device 7 and the electromagnets in the second mechanical long rod 3 have opposite polarities.

[0067] In one embodiment,

[0068] The second mechanical short rod 5 and the second mechanical long rod 3 are equipped with multi-axis acceleration sensors. These sensors can detect the drone's landing not only based on the longitudinal acceleration sensor but also calculate the distance traveled and determine when to secure the drone's landing gear based on the horizontal acceleration sensor. These two drive devices rely on magnetic attraction to move the upper robotic arm horizontally.

[0069] The mechanical rods are based on a magnetic coupling control algorithm. This encloses the entire drone hangar and achieves an IP67 protection rating. The magnetic coupling method means that the mechanical linkage located on the upper surface of the landing pad is driven remotely by a magnetic coupling mechanism located below it. The mechanical rods are fastened in a configuration of one long and two short rods, reducing the mechanical transmission structure. It eliminates the need to push the drone to the center, making the function more flexible and simpler, and adaptable to more drone models.

[0070] The present invention also provides a control method for a universal UAV landing pad, including a UAV remote docking method, a mechanical stick control method, and an adaptive wireless charging method. The mechanical stick includes a second mechanical short stick 5 capable of longitudinal movement and a second mechanical long stick 3 capable of lateral movement.

[0071] like Figure 4 As shown, the remote docking sub-method for drones includes the following steps:

[0072] Step 1: Power on the apron system, perform a self-test, and the system is in good condition.

[0073] Step 2: At this time, there are no drones on the helipad. The helipad's wireless communication system turns on broadcast mode and sets the time period of this mode to t1. The purpose of the broadcast is to find possible drones within its communication radius.

[0074] Step 3: Determine whether the drone waiting to land has been successfully communicated during the broadcast time period t1. If not, return to step 2.

[0075] Step 4: If a drone waiting to land is indeed connected to the radio during the broadcast time period t1, i.e., wireless communication is established, the helipad will remotely obtain the drone information. If multiple drones intending to land are connected to the radio during the broadcast time period t1, the first drone will be selected, or one will be randomly selected, or the drone closest to the ground will be selected based on the distance to the drone, or the drone with the lowest battery level will be selected based on the drone battery information.

[0076] Step 5: While establishing communication, the helipad sets a time period t2. During this time period, it is determined whether the drone information has been successfully obtained, and the landing is approved based on the drone information.

[0077] Step 6: If landing is deemed acceptable, the tarmac will cease broadcasting; proceed to Step 7. If landing is deemed unacceptable, proceed to Step 8.

[0078] Step 7: The wireless charging transmitter on the helipad executes an adaptive wireless charging method to match the drone to be landed;

[0079] Step 8: The helipad notifies the drone that landing is prohibited, and the system resumes broadcast mode.

[0080] In one embodiment, the drone information in step 4 includes at least three points: drone size, battery information, and the location of the onboard wireless charging receiver; the battery information includes remaining power, voltage, and current information.

[0081] In one embodiment, the specific determination method in step 5 is as follows:

[0082] The information obtained determines whether the drone meets the size requirements for landing; if the size exceeds the limit, landing is not permitted.

[0083] The system will determine whether wireless charging is supported from the information obtained. If not, landing will not be permitted.

[0084] Determine whether the second mechanical short lever 5, which can move longitudinally, and the second mechanical long lever 3, which can move laterally, are at the bottom and rightmost positions, respectively. If not, it is deemed unsafe, and landing is not permitted.

[0085] like Figure 5 As shown, the mechanical lever control method includes the following steps:

[0086] Step 51: When the remote docking of the drone is completed, the system notifies the second mechanical short stick 5 and the second mechanical long stick 3 to start their functions. The self-test of the second mechanical short stick 5 and the second mechanical long stick 3 is completed when the drone is powered on on the tarmac, which means that they are considered to be working normally.

[0087] Step 52: Since the model of the drone, including the landing gear position and size, has been learned during the docking process, the system can calculate the distance that the long and short sticks need to move respectively.

[0088] Step 53: The system also sets a time parameter t3, within which the drone should complete its landing on the helipad.

[0089] Step 54: If, after time t3, the acceleration sensors inside the second mechanical short rod 5 and the second mechanical long rod 3 do not receive longitudinal acceleration information, i.e., the UAV has not landed, then notify the system. The system will issue an instruction on whether to wait. If no longer waiting, proceed to step 511; if continuing to wait, proceed to step 512.

[0090] Step 55: If, within time t3, the acceleration sensors inside the second mechanical short rod 5 and the second mechanical long rod 3 receive longitudinal acceleration information, indicating that the UAV has landed, then the second mechanical short rod 5 and the second mechanical long rod 3 move from the edge of the landing pad towards the center at a relatively fast and uniform speed.

[0091] In one embodiment, a faster constant speed is 5 cm / s.

[0092] Step 56: And determine in real time whether the second mechanical short stick 5 and the second mechanical long stick 3 have both touched the drone landing gear or the drone body.

[0093] Step 57: If it is determined that a contact has been made, the second mechanical short rod 5 and the second mechanical long rod 3 continue to move toward the center at a low, uniform speed.

[0094] In one embodiment, the lower constant velocity is 5 cm / s.

[0095] The faster and lower speed values ​​are just examples; the actual values ​​will depend on the specific circumstances. In fact, different higher and lower constant speed values ​​can be set based on the drone size information obtained from the connection communication.

[0096] Step 58: Determine whether the movement has reached the set distance value.

[0097] Step 59: After moving to the set distance value, the second mechanical short rod 5 and the second mechanical long rod 3 stop moving, and the system determines that the drone has been secured.

[0098] Step 510: Enter the wireless charging function mode.

[0099] Step 511 involves resetting the time parameter t3.

[0100] Step 512: Send the information to the system, then return to step 54.

[0101] like Figure 6 As shown, the adaptive wireless charging method includes the following steps:

[0102] Step 61: Function activation.

[0103] Step 62: Receive notification of successful remote connection and charging information.

[0104] Step 63: Receive system notification that the movement and fastening of the second mechanical short rod 5 and the second mechanical long rod 3 are complete.

[0105] Step 64: Perform wireless charging.

[0106] Step 65: Is it fully charged, or has a system command to terminate charging been received?

[0107] Step 66: Charging complete, and reported to the apron system.

[0108] The wireless charging transmitter, embedded directly beneath the surface of the helipad, can transmit different power levels, adaptively ranging from 60 watts, 100 watts, to 200 watts. When not connected to a drone, the wireless charging transmitter can output lower power to heat the surface of the helipad in winter, melting ice after snowfall, or to maintain the internal temperature of the helipad in winter, ensuring that the internal electronic components remain in good working order.

[0109] After the helipad completes the remote docking of the drone and the securing actions of the second mechanical short pole 5 and the second mechanical long pole 3 to the drone, the wireless charging module obtains relevant charging information and relative wireless charging position information from the former. The charging information includes the drone's battery specifications (e.g., lithium battery), rated charging voltage (e.g., 24V), current (e.g., 3A), and remaining battery power.

[0110] During the charging process, the charging algorithm will periodically determine whether the battery is fully charged or whether a system command to terminate charging has been received. If so, charging will be terminated, the system will consider charging complete, and the information will be reported to the helipad system.

Claims

1. A general-purpose unmanned aerial vehicle (UAV) landing pad, comprising a landing pad upper surface (1), characterized in that: Two mechanical rods (11) are arranged in parallel on the helipad (1). The first mechanical rod (4) is fixed and the second mechanical rod (3) moves laterally. Two mechanical short rods are arranged in parallel on the first mechanical rod (4). The first mechanical short rod (2) is fixed and the second mechanical short rod (5) moves longitudinally. A wireless charging coil (13) and two electromagnets (12) are arranged inside each mechanical rod (11). The wireless charging coil (13) is located in the middle and the two electromagnets (12) are arranged on both sides of the wireless charging coil (13).

2. The universal UAV landing pad as described in claim 1, characterized in that: The second mechanical short rod (5) is equipped with an electromagnet (12). The lower surface of the parking apron is provided with a first electromagnetic drive device (6) and a second electromagnetic drive device (7). The first electromagnetic drive device (6) is located directly below the second mechanical short rod (5), and the second electromagnetic drive device (7) is located directly below the second mechanical long rod (3). The electromagnets embedded in the first electromagnetic drive device (6) and the electromagnets in the second mechanical short rod (5) have opposite polarities. The electromagnets embedded in the second electromagnetic drive device (7) and the electromagnets in the second mechanical long rod (3) have opposite polarities.

3. The universal UAV landing pad as described in claim 2, characterized in that: The first electromagnetic drive device (6) and the second electromagnetic drive device (7) are also equipped with multi-axis acceleration sensors.

4. A control method for a universal unmanned aerial vehicle (UAV) landing pad, characterized in that: The method includes a remote docking method for unmanned aerial vehicles, a mechanical rod control method, and an adaptive wireless charging method. The mechanical rod includes a second mechanical short rod (5) that can move longitudinally and a second mechanical long rod (3) that can move laterally.

5. The control method for the universal UAV landing pad as described in claim 4, characterized in that: The method for remote docking of unmanned aerial vehicles includes the following steps: Step 1: Power on the apron system, perform a self-test, and the system self-test status is good; Step 2: At this time, there are no drones on the helipad. The helipad's wireless communication system turns on broadcast mode and sets the time period of this mode to t1. Step 3: Determine whether the drone waiting to land has been successfully communicated during the broadcast time period t1. If not, return to step 2. Step 4: If a drone waiting to land is indeed connected to the radio during the broadcast time period t1, i.e., wireless communication is established, the helipad will remotely obtain the drone information. If multiple drones intending to land are connected to the radio during the broadcast time period t1, the first drone will be selected, or one will be randomly selected, or the drone closest to the ground will be selected based on the distance to the drone, or the drone with the lowest battery level will be selected based on the drone battery information. Step 5: While establishing communication, the helipad sets a time period t2. During this time period, it is determined whether the drone information has been successfully obtained, and the drone information is used to determine whether to allow landing. Step 6: If landing is deemed acceptable, the tarmac will stop broadcasting; proceed to Step 7. If landing is deemed unacceptable, proceed to Step 8. Step 7: The wireless charging transmitter on the helipad executes an adaptive wireless charging method to match the drone to be landed; Step 8: The helipad notifies the drone that landing is prohibited, and the system resumes broadcast mode.

6. The control method for the universal UAV landing pad as described in claim 5, characterized in that: The drone information in step 4 includes at least three points: drone size, battery information, and the location of the onboard wireless charging receiver; the battery information includes remaining power, voltage, and current information.

7. The control method for the universal UAV landing pad as described in claim 5, characterized in that: In step 5, the specific judgment method is as follows: The information obtained determines whether the drone meets the size requirements for landing; if the size exceeds the limit, landing is not permitted. The system determines whether wireless charging is supported from the information obtained; if not, landing is not permitted. Determine whether the second mechanical short pole (5) that can move longitudinally and the second mechanical long pole (3) that can move laterally are at the bottom and rightmost positions, respectively. If not, it is deemed unsafe and landing is not permitted.

8. The control method as described in claim 4, characterized in that: The mechanical lever control method includes the following steps: Step 51: When the remote docking of the UAV is completed, the system notifies the second mechanical short stick (5) and the second mechanical long stick (3) to start their functions. The self-test of the second mechanical short stick (5) and the second mechanical long stick (3) is completed when the power is turned on on the tarmac, which means that they are considered to be working normally. Step 52: Since the model of the drone, including the landing gear position and size, has been learned during the docking process, the system can calculate the distance that the long and short sticks need to move respectively; Step 53: The system also sets a time parameter t3, within which the drone should complete its landing on the helipad; Step 54: If, after time t3, the acceleration sensors inside the second mechanical short rod (5) and the second mechanical long rod (3) do not receive longitudinal acceleration information, i.e., the UAV has not landed, then notify the system. The system will issue an instruction on whether to wait. If no longer waiting, proceed to step 511; if continue waiting, proceed to step 512. Step 55: If, within time t3, the accelerometers inside the second mechanical short rod (5) and the second mechanical long rod (3) receive longitudinal acceleration information, indicating that the UAV has landed, then the second mechanical short rod (5) and the second mechanical long rod (3) move from the edge of the landing pad towards the center at a relatively fast and uniform speed. Step 56: And in real time determine whether the second mechanical short rod (5) and the second mechanical long rod (3) have both touched the UAV landing gear or the UAV body; Step 57: If it is determined that a contact has been made, the second mechanical short rod (5) and the second mechanical long rod (3) continue to move toward the center at a lower constant speed; Step 58: Determine whether the movement has reached the set distance value; Step 59: When the drone has moved to the set distance value, the second mechanical short rod (5) and the second mechanical long rod (3) stop moving, and the system determines that the drone has been secured; Step 510: Enter the wireless charging function mode; Step 511, then reset the time parameter t3; Step 512: Send the information to the system, then return to step 54.

9. The control method as described in claim 4, characterized in that: The adaptive wireless charging method includes the following steps: Step 61: Function activation; Step 62: Receive notification of successful remote connection and charging information; Step 63: Receive system notification that the movement and fastening of the second mechanical short rod (5) and the second mechanical long rod (3) are complete; Step 64: Perform wireless charging; Step 65: Is it fully charged, or has a system command to terminate charging been received? Step 66: Charging complete, and reported to the apron system.

10. The control method as described in claim 9, characterized in that: The wireless charging transmitter, embedded directly beneath the surface of the helipad, can transmit different power levels, adaptively ranging from 60 watts, 100 watts, to 200 watts. When not connected to a drone, the wireless charging transmitter can output lower power to heat the surface of the helipad in winter, melting ice after snowfall, or to maintain the internal temperature of the helipad in winter, ensuring that the internal electronic components remain in good working order.

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