Centering device, drone and centering control method therefor, drone hangar and vehicle

Abstract

A vehicle (400), comprising a drone hangar (300), wherein the drone hangar (300) comprises a centering device (100) for a drone (200). The drone (200) and a centering control method therefor. The drone (200) is provided with at least one magnetic attraction device (201). The centering device (100) comprises a landing platform (1), a plurality of position detection devices (2) and a plurality of electromagnetic devices (3). The plurality of position detection devices (2) are spaced apart from one another and arranged on the landing platform (1). The position detection devices (2) are used for detecting the landing position of the drone (200). The plurality of electromagnetic devices (3) are spaced apart from one another and arranged on the landing platform (1). On the basis of information of the landing position of the drone (200) detected by the position detection devices (2), the electromagnetic devices (3) are suitable for attracting the magnetic attraction devices (201) so as to adjust the drone (200) from the landing position to a centering position.

Description

Centering device, UAV and centering control method thereof, UAV hangar and vehicle

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202410218760.3, filed with the State Intellectual Property Office of China on February 27, 2024, entitled “Centering device, UAV and centering control method thereof, UAV hangar and vehicle,” the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present disclosure relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a centering device, an UAV and a centering control method thereof, a UAV hangar, and a vehicle. Background Art

[0004] With the advancement of electrification and intelligent vehicles, the ways in which passengers obtain information about the vehicle's external environment are becoming increasingly advanced. From rearview mirrors and parking sensors to driving images and assisted driving, the passenger driving experience is constantly evolving, and the acquisition of environmental information is making driving safer.

[0005] Integrating drones with cars through appropriate technical means is a groundbreaking attempt to ensure driving safety. Vehicle-mounted drones can assist in monitoring the vehicle's operating status and observing road conditions ahead. Related technologies allow drones to be parked in drone hangars, which include a centering structure to return drones to a designated location. However, this centering structure presents challenges such as complexity, large space requirements, and high noise levels.

[0006] Public content

[0007] The present disclosure aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present disclosure is to provide a centering device for a drone, which has a simple structure, a small size, occupies a small space, and is quiet during use.

[0008] The second objective of the present disclosure is to provide a drone.

[0009] The third objective of the present disclosure is to provide a centering control method for the above-mentioned drone.

[0010] The fourth object of the present disclosure is to provide a drone hangar that adopts the above-mentioned centering device for drones.

[0011] The fifth object of the present disclosure is to propose a vehicle that adopts the above-mentioned drone hangar.

[0012] According to the first aspect of the present disclosure, a centering device for a drone is provided on the drone, and at least one magnetic device is provided. The centering device includes: a landing platform; a plurality of position detection devices, which are arranged on the landing platform at intervals from each other, and the position detection devices are used to detect the landing position of the drone; a plurality of electromagnetic devices, which are arranged on the landing platform at intervals from each other, and according to the landing position information of the drone detected by the position detection device, the electromagnetic device is suitable for adsorbing the magnetic device to adjust the drone from the landing position to the centering position.

[0013] According to the centering device for a drone according to the embodiment of the present disclosure, the position of the drone is adjusted by the combined action of an electromagnetic device and a magnetic device, which is simple to operate and is conducive to the use of the drone. In addition, the centering device has a simple structure, which is conducive to the production and processing of the centering device, and can reduce the production cost of the centering device. The centering device is also small in size, which can reduce the space occupied by the centering device, which is conducive to the use of the centering device. In addition, based on the position information of the drone detected by the position detection device, the corresponding electromagnetic device can be operated to generate a magnetic attraction to adsorb the magnetic device, so that the drone moves from a position relative to the landing platform to a centering position and then lands on the landing platform, which is conducive to the smooth landing of the drone.

[0014] According to some embodiments of the present disclosure, the plurality of electromagnetic devices operate independently of each other. Based on the landing position information of the drone detected in real time by the position detection device, at least one electromagnetic device adjacent to the drone is adapted to adsorb the magnetic device to gradually adjust the drone from the landing position to the center position.

[0015] According to some embodiments of the present disclosure, the landing position information of the drone includes position information of the drone within the plane where the landing platform is located, and height information relative to the landing platform.

[0016] According to some embodiments of the present disclosure, the position detection device is also used to detect the angle of the drone. Based on the angle information of the drone detected by the position detection device, the electromagnetic device is suitable for adsorbing the magnetic attraction device to correct the angle of the drone relative to the landing platform.

[0017] According to some embodiments of the present disclosure, a plurality of the position detection devices and a plurality of the electromagnetic devices are arranged in an array on the landing platform.

[0018] According to some embodiments of the present disclosure, a plurality of the position detection devices constitute a plurality of position detection device groups arranged at intervals along a first direction, each position detection device group includes a plurality of the position detection devices arranged at intervals along a second direction, and the first direction is perpendicular to the second direction; a plurality of the electromagnetic devices constitute a plurality of electromagnetic device groups arranged at intervals along the first direction, each electromagnetic device group includes a plurality of the electromagnetic devices arranged at intervals along the second direction, and the plurality of electromagnetic devices in the electromagnetic device group and the plurality of position detection devices in the position detection device group are staggered along the second direction.

[0019] According to some embodiments of the present disclosure, the magnetic attraction force of the electromagnetic device is adjustable.

[0020] According to some embodiments of the present disclosure, when the drone is located at the centering position, the electromagnetic device adsorbs the magnetic attraction device to fix the drone at the centering position.

[0021] According to some embodiments of the present disclosure, the electromagnetic device includes an electromagnetic coil.

[0022] According to some embodiments of the present disclosure, the electromagnetic device at the centering position is a normally closed electromagnetic coil, and the electromagnetic coils on the landing platform except for the centering position are normally open electromagnetic coils.

[0023] According to some embodiments of the present disclosure, the position detection device is a magnetic field sensor.

[0024] According to some embodiments of the present disclosure, the plurality of position detection devices and the plurality of electromagnetic devices are all provided at the bottom of the landing platform.

[0025] According to the drone of the second aspect embodiment of the present disclosure, at least one magnetic device is provided on the drone, and the magnetic device is suitable for being adsorbed by the electromagnetic device of the centering device for the drone according to the above-mentioned first aspect embodiment to adjust the drone from the landing position to the centering position.

[0026] According to some embodiments of the present disclosure, there are multiple magnetic devices, and the multiple magnetic devices are arranged at intervals along the circumference of the drone.

[0027] According to some embodiments of the present disclosure, adjacent magnetic polarities of two adjacent magnetic devices are set to be opposite.

[0028] According to some embodiments of the present disclosure, the magnetic attraction device is a permanent magnet.

[0029] According to some embodiments of the present disclosure, the magnetic device is integrally formed with the drone.

[0030] According to some embodiments of the present disclosure, the magnetic device is detachably connected to the drone.

[0031] A method for controlling a drone according to the third embodiment includes the following steps:

[0032] detecting a landing position of the UAV;

[0033] According to the detected landing position information of the drone, the electromagnetic device of at least one centering device adjacent to the drone is controlled to adsorb the magnetic device of the drone to adjust the drone from the landing position to the centering position.

[0034] According to some embodiments of the present disclosure, controlling the electromagnetic device of at least one centering device adjacent to the drone to attract the magnetic device to adjust the drone from the landing position to the centering position specifically includes:

[0035] controlling the UAV to move in a first direction relative to the landing platform; and / or

[0036] The UAV is controlled to move along a second direction relative to the landing platform, where the first direction is perpendicular to the second direction.

[0037] According to some embodiments of the present disclosure, before controlling the electromagnetic device of at least one centering device adjacent to the drone to attract the magnetic device to adjust the drone from the landing position to the centering position, the method further includes:

[0038] detecting an angle of the drone;

[0039] Before controlling the UAV to move along the first direction or the second direction relative to the landing platform, the method further includes:

[0040] Control the angle of the UAV relative to the landing platform.

[0041] According to some embodiments of the present disclosure, before detecting the landing position of the drone, the method further includes: controlling all electromagnetic devices of the centering device to be non-magnetic.

[0042] According to some embodiments of the present disclosure, before detecting the landing position of the drone, the method further includes: detecting the landing height of the drone;

[0043] When the landing height of the drone does not reach the preset height, adjusting the landing height of the drone and re-detecting the landing height of the drone;

[0044] When the landing height of the UAV reaches a preset height, the landing position of the UAV is detected.

[0045] According to some embodiments of the present disclosure, when the drone is located at the centering position, the electromagnetic device at the centering position adsorbs the magnetic attraction device to fix the drone at the centering position.

[0046] The drone hangar according to the fourth embodiment of the present disclosure includes the centering device for drones according to the first embodiment described above.

[0047] The vehicle according to the fifth embodiment of the present disclosure includes the drone hangar according to the fourth embodiment described above.

[0048] Additional aspects and advantages of the present disclosure will be set forth in part in the following description and, in part, will be obvious from the following description, or may be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The above and / or additional aspects and advantages of the present disclosure will become apparent and readily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0050] FIG1 is a schematic diagram of a drone and a centering device according to an embodiment of the present disclosure;

[0051] FIG2 is a top view of a drone and a centering device according to an embodiment of the present disclosure, wherein the drone is not properly angled relative to a landing platform of the centering device;

[0052] FIG3 is a state diagram of the drone before moving in the second direction according to an embodiment of the present disclosure;

[0053] FIG4 is a state diagram of the drone before moving in a first direction according to an embodiment of the present disclosure;

[0054] FIG5 is a schematic diagram of a drone located at a centering position according to an embodiment of the present disclosure;

[0055] FIG6 is a flow chart of a method for controlling a centering of a UAV according to an embodiment of the present disclosure;

[0056] FIG7 is a schematic block diagram of a drone hangar according to an embodiment of the present disclosure;

[0057] FIG8 is a schematic block diagram of a vehicle according to an embodiment of the present disclosure.

[0058] Reference numerals:

[0059] 100. Centering device;

[0060] 1. Landing platform; 2. Position detection device; 21. Position detection device group;

[0061] 3. Electromagnetic device; 31. Electromagnetic device group;

[0062] 32. Normally closed electromagnetic coil; 33. Normally open electromagnetic coil;

[0063] 200. UAV; 201. Magnetic device;

[0064] 300. Drone hangar; 400. Vehicle. DETAILED DESCRIPTION

[0065] The embodiments of the present disclosure are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The centering device 100 for a drone 200 according to the first aspect of the embodiments of the present disclosure is described below with reference to Figures 1 to 5.

[0066] As shown in Figures 1-5 , a centering device 100 for a drone 200 according to an embodiment of the first aspect of the present disclosure includes at least one magnetic attraction device 201 disposed on the drone 200. The centering device 100 includes a landing platform 1, multiple position detection devices 2, and multiple electromagnetic devices 3. In the present disclosure, "multiple" means two or more.

[0067] Specifically, multiple position detection devices 2 are spaced apart from each other and arranged on the landing platform 1. The position detection devices 2 are used to detect the landing position of the drone 200. For example, as shown in Figures 1-5, multiple position detection devices 2 can be arranged at intervals along the left and right directions of the landing platform 1, or multiple position detection devices 2 can be arranged at intervals along the front and back directions of the landing platform 1. This allows the centering device 100 to detect drones 200 located at different positions, thereby improving the accuracy of detecting the landing position of the drone 200. It should be noted that the arrangement and number of position detection devices 2 can be set according to specific usage to better meet actual application requirements.

[0068] 1-5 , a plurality of electromagnetic devices 3 are arranged on the landing platform 1 at intervals. Based on the landing position information of the drone 200 detected by the position detection device 2, the electromagnetic device 3 is adapted to adsorb the magnetic device 201 to adjust the drone 200 from the landing position to the center position. For example, in the examples of FIG1-5 , a plurality of electromagnetic devices 3 can be arranged at intervals along the left and right directions of the landing platform 1, and a plurality of electromagnetic devices 3 can also be arranged at intervals along the front and back directions of the landing platform 1. When the drone 200 moves close to the landing platform 1, the position detection device 2 can accurately detect the landing position information of the drone 200, and the electromagnetic device 3 works to adsorb the magnetic device 201 on the drone 200, thereby moving the drone 200 from the landing position to the center position.

[0069] The "landing position" mentioned above refers to the position of drone 200 when it moves above landing platform 1 and the magnetic device 201 is not attracted by electromagnetic device 3. The process of drone 200 moving from the landing position to the centering position includes the following two scenarios: First, when drone 200 moves above landing platform 1, if drone 200 is not directly aligned with the centering position, electromagnetic device 3 operates to attract magnetic device 201 on drone 200, causing drone 200 to move from a position above landing platform 1 other than the position opposite the centering position to directly above the centering position, and then descend to the centering position on landing platform 1. Second, drone 200 first descends from the landing position or is attracted to landing platform 1 by electromagnetic device 3. If drone 200 lands on landing platform 1 at a position other than the centering position, electromagnetic device 3 operates to attract magnetic device 201 on drone 200, causing drone 200 to move on landing platform 1 until it reaches the centering position. The “center position” refers to the position where the drone 200 is fixed on the landing platform 1 , which is convenient for operations such as battery replacement of the drone 200 .

[0070] With this arrangement, the position detection device 2, the electromagnetic device 3, and the magnetic device 201 work together to generate a magnetic attraction force to attract the magnetic device 201 based on the position information of the drone 200 detected by the position detection device 2. This allows the drone 200 to move from its position relative to the landing platform 1 to its centered position and then land on the landing platform 1, facilitating a smooth landing of the drone 200. Furthermore, the combined action of the electromagnetic device 3 and the magnetic device 201 to adjust the position of the drone 200 simplifies operation and further facilitates the use of the drone 200. Furthermore, the simple structure of the centering device 100 facilitates its production and processing, reducing its production costs. Furthermore, the small size of the centering device 100 reduces the space occupied by the centering device 100, facilitating its use. Furthermore, the electromagnetic device 3 and the magnetic device 201 generate little noise during operation.

[0071] According to the centering device 100 for the drone 200 of the embodiment of the present disclosure, the position of the drone 200 is adjusted by the combined action of the electromagnetic device 3 and the magnetic device 201, which is simple to operate and is conducive to the use of the drone 200. In addition, the centering device 100 has a simple structure, which is conducive to the production and processing of the centering device 100, and can reduce the production cost of the centering device 100. The centering device 100 is also small in size, which can reduce the space occupied by the centering device 100, which is conducive to the use of the centering device 100. In addition, based on the position information of the drone 200 detected by the position detection device 2, the corresponding electromagnetic device 3 can be operated to generate a magnetic attraction to attract the magnetic device 201, so that the drone 200 moves from a position relative to the landing platform 1 to a centering position and then lands on the landing platform 1, which is conducive to the smooth landing of the drone 200.

[0072] According to some embodiments of the present disclosure, multiple electromagnetic devices 3 work independently of each other. Based on the landing position information of the drone 200 detected in real time by the position detection device 2, at least one electromagnetic device 3 adjacent to the drone 200 is suitable for adsorbing the magnetic device 201 to gradually adjust the drone 200 from the landing position to the center position.

[0073] For example, when the drone 200 approaches the left side of the landing platform 1, the electromagnetic device 3 adjacent to the drone 200 operates to generate an induced magnetic field, generating a magnetic attraction force on the magnetic attraction device 201 of the drone 200 to attract the drone 200 and move it above the landing platform 1. When the drone 200 moves to the rear side of the landing platform 1, the electromagnetic device 3 adjacent to the drone 200 and close to the center position operates to generate a magnetic attraction force, thereby attracting the magnetic attraction device 201 to move the drone 200 to the center position. For example, in the examples of Figures 2 and 3, when the drone 200 is located at the rear left side of the landing platform 1, two adjacent electromagnetic devices 3 adjacent to the drone 200 in the front-to-back direction (for example, the two electromagnetic devices 3 in the dashed box A in Figure 3) operate simultaneously, while the other electromagnetic devices 3 on the landing platform 1 are inactive. As a result, the two active electromagnetic devices 3 can generate a magnetic attraction force on the drone 200 to attract the drone 200 and move it to the left to the center position of the landing platform 1 in the left-right direction. Then, the two electromagnetic devices 3 located in front of the drone 200 on the landing platform 1 operate to attract the magnetic device 201, causing the drone 200 to move forward to just above the centering position before landing on the landing platform 1. Furthermore, by configuring multiple electromagnetic devices 3 to operate independently of one another, the operating reliability of the multiple electromagnetic devices 3 can be improved, making it easier to control the operating states of the multiple electromagnetic devices 3 and reducing mutual interference between the multiple electromagnetic devices 3. Furthermore, when the drone 200 approaches the landing platform 1, the position detection device 2 can detect the landing position information of the drone 200 in real time, causing the electromagnetic device 3 at the corresponding position to operate, and the positioning reliability of the drone 200 is high.

[0074] According to some embodiments of the present disclosure, the landing position information of the drone 200 includes the position information of the drone 200 within the plane of the landing platform 1 and the height information relative to the landing platform 1. In other words, the position detection device 2 can not only detect the corresponding position information of the drone 200 within the plane of the landing platform 1, that is, whether the drone 200 is located on the left, right, front or rear end of the landing platform 1, but also detect the height information of the drone 200 located above the landing platform 1, thereby more accurately detecting the actual position of the drone 200, improving the reliability and performance of the centering device 100.

[0075] According to some embodiments of the present disclosure, the position detection device 2 is further configured to detect the angle of the drone 200. Based on the angle information of the drone 200 detected by the position detection device 2, the electromagnetic device 3 is adapted to attract the magnetic device 201 to align the drone 200 relative to the landing platform 1. For example, in the example of FIG2 , when the drone 200 is located at the left rear end of the landing platform 1 and the center axis of the drone 200 in the front-to-back direction is at an angle with the front-to-back direction of the landing platform 1, that is, when the drone 200 is not aligned relative to the landing platform 1, two adjacent electromagnetic devices 3 in the front-to-back direction of the landing platform 1 (e.g., the two electromagnetic devices 3 in the dashed box B in FIG2 ) located near the drone 200 begin to operate, while the other electromagnetic devices 3 on the landing platform 1 are in an inactive state. The two electromagnetic devices 3 generate a magnetic attraction force to attract the magnetic device 201 to align the drone 200, that is, to make the center axis of the drone 200 in the front-to-back direction parallel to the front-to-back direction of the landing platform 1. As a result, the detection accuracy of the position detection device 2 is further improved, thereby obtaining the position information of the drone 200 more accurately, which is more conducive to the centering of the drone 200 by the centering device 100, so that the drone 200 can move more quickly to directly above the centering position, which is conducive to the landing of the drone 200.

[0076] According to some embodiments of the present disclosure, in conjunction with Figures 1-5 , multiple position detection devices 2 and multiple electromagnetic devices 3 are arranged in an array on the landing platform 1. For example, in the examples of Figures 1-5 , multiple position detection devices 2 are arranged at equal intervals along the front-to-back direction of the landing platform 1, and multiple electromagnetic devices 3 are arranged at equal intervals along the front-to-back direction of the landing platform 1. The multiple position detection devices 2 and multiple electromagnetic devices 3 are arranged in an staggered manner along the front-to-back direction of the landing platform 1. This arrangement allows the multiple position detection devices 2 to be distributed more evenly on the landing platform 1, thereby facilitating the accurate detection of different positions of the drone 200 by different position detection devices 2, increasing the position detection range of the centering device 100, and further facilitating the adjustment of the landing position of the drone 200. In addition, the multiple electromagnetic devices 3 distributed on the landing platform 1 can operate independently. When the drone 200 is at different positions, the electromagnetic devices 3 at the corresponding positions operate to attract the magnetic device 201 to adjust the position of the drone 200. As a result, different electromagnetic devices 3 can attract drones 200 at different positions, thereby improving the attraction and centering effect of the centering device 100 on the drone 200. In addition, the layout of the multiple position detection devices 2 and the multiple electromagnetic devices 3 is reasonable, which improves the performance of the position detection devices 2 and the electromagnetic devices 3, thereby improving the performance of the centering device 100.

[0077] According to some embodiments of the present disclosure, with reference to Figures 1 to 5, a plurality of position detection devices 2 constitute a plurality of position detection device groups 21 spaced apart along a first direction (e.g., the front-to-back direction in Figure 1), and each position detection device group 21 includes a plurality of position detection devices 2 spaced apart along a second direction (e.g., the left-to-right direction in Figure 1), and the first direction is perpendicular to the second direction. For example, in the examples of Figures 1 to 5, a plurality of position detection devices 2 constitute six position detection device groups 21, and each position detection device group 21 includes three position detection devices 2, and the three position detection devices 2 are spaced apart along the left-to-right direction. Thus, position detection devices 2 are respectively arranged in the left-to-right direction and the front-to-back direction of the landing platform 1. When the drone 200 approaches the landing platform 1 from different angles or directions, the position detection devices 2 at the corresponding positions can accurately detect the position of the drone 200, which is conducive to adjusting the drone 200 to the center position and also improves the accuracy of the position detection of the drone 200.

[0078] In conjunction with Figures 1-5, multiple electromagnetic devices 3 constitute multiple electromagnetic device groups 31 spaced apart along a first direction. Each electromagnetic device group 31 includes multiple electromagnetic devices 3 spaced apart along a second direction. The multiple electromagnetic devices 3 of the electromagnetic device group 31 and the multiple position detection devices 2 of the position detection device group 21 are staggered along the second direction. For example, in the example of Figures 1-5, the multiple electromagnetic devices 3 constitute seven electromagnetic device groups 31. Each electromagnetic device group 31 includes two electromagnetic devices 3, and the two electromagnetic devices 3 are spaced apart along the left-right direction. The three position detection devices 2 and the two electromagnetic devices 3 are staggered along the left-right direction. With this arrangement, the layout of the multiple position detection devices 2 and the multiple electromagnetic devices 3 is reasonable, which can reduce the size of the landing platform 1 along the first direction, thereby reducing the volume of the centering device 100 and reducing the space occupied by the centering device 100, thereby facilitating the use and installation of the centering device 100. In addition, electromagnetic devices 3 are respectively arranged in the left and right directions and the front and back directions of the landing platform 1, so that when the drone 200 is located at different positions above the landing platform 1, the electromagnetic device 3 at the corresponding position can work to adsorb the magnetic device 201 of the drone 200, which is conducive to adjusting the position of the drone 200 at different positions, so that the drone 200 is adjusted to the center position.

[0079] According to some embodiments of the present disclosure, the magnetic attraction of the electromagnetic device 3 is adjustable. For example, when the drone 200 moves in the left and right directions, if the horizontal distance between the drone 200 and the two working electromagnetic devices 3 is large, the magnetic attraction of the electromagnetic device 3 is large to attract the drone 200 to move. If the horizontal distance between the drone 200 and the two working electromagnetic devices 3 is small, the magnetic attraction of the electromagnetic device 3 is small to prevent the drone 200 from moving too fast, thereby making the movement of the drone 200 more stable. Of course, when the drone 200 moves in the front-back direction, or when the drone 200 is in the process of landing on the landing platform 1, the change in the magnetic attraction of the electromagnetic device 3 is similar to the above-mentioned movement in the left and right directions, so as to prevent the drone 200 from falling rapidly and improve the safety of the drone 200. It should be noted that the specific change in the magnetic attraction of the electromagnetic device 3 can be set according to the specific use to better meet the actual application.

[0080] According to some embodiments of the present disclosure, when the drone 200 is in the centering position, the electromagnetic device 3 adsorbs the magnetic device 201 to fix the drone 200 in the centering position. For example, in the example of Figure 5, the drone 200 is located in the middle position on the landing platform 1. At this time, the four corresponding electromagnetic devices 3 below the drone 200 adsorb the magnetic device 201, and the drone 200 is fixed on the landing platform 1 through the interaction between the electromagnetic device 3 and the magnetic device 201. As a result, the fixing method of the drone 200 is simple, and the structure of the centering device 100 is also simple, thereby simplifying the centering device 100, which is beneficial to the production, processing and use of the centering device 100. Of course, the number of electromagnetic devices 3 at the centering position is not specifically limited and can be set according to actual use.

[0081] According to some embodiments of the present disclosure, the electromagnetic device 3 includes an electromagnetic coil (not shown). For example, when the electromagnetic device 3 is working, the electromagnetic coil can generate an induced magnetic field to generate a magnetic attraction force on the magnetic attraction device 201 located in the induced magnetic field to adsorb the drone 200 to move. In addition, the electromagnetic coil has a simple structure, a wide source of electromagnetic coils, and is easy to use, which is conducive to the long-term and stable use of the electromagnetic device 3. Electromagnetic coils are used instead of complex mechanical structures to center the drone 200. Compared with traditional mechanical transmission solutions, there is no motion mechanism in this application, the overall size and space are small, and the noise value is low, thereby increasing the passenger experience and sense of technology.

[0082] According to some embodiments of the present disclosure, the electromagnetic device 3 at the centering position is a normally closed electromagnetic coil 32, and the electromagnetic coils on the landing platform 1 other than the centering position are normally open electromagnetic coils 33. The aforementioned "normally closed electromagnetic coil 32" means that the electromagnetic coil has magnetic attraction when it is powered off and has no magnetic attraction when it is powered on. For example, the electromagnetic coil includes an iron core and a coil wound around the iron core, and the iron core of the normally closed battery coil is a permanent magnet. The aforementioned "normally open electromagnetic coil 33" means that the electromagnetic coil has magnetic attraction when it is powered on and has no magnetic attraction when it is powered off, and has no magnetism when the iron core is not powered. With this arrangement, when the drone 200 is located above the landing platform 1 and corresponds to a position other than the centering position, the normally open electromagnetic coil 33 adjacent to the drone 200 operates to attract the drone 200 and move it toward the centering position. When drone 200 moves to the centered position, normally closed electromagnetic coil 32 is de-energized and then attracts drone 200, securing it in the centered position. This prevents the electromagnetic coil from operating for an extended period of time, which in turn prevents heating of electromagnetic device 3. This saves energy and facilitates the long-term use of electromagnetic device 3. Furthermore, by turning the power on and off according to a specific control logic, a series of centering actions, including angular alignment, lateral (in the second direction) / vertical (in the first direction) movement, and position alignment, are completed, effectively securing drone 200 in the center.

[0083] According to some embodiments of the present disclosure, the position detection device 2 is a magnetic field sensor. For example, when the position of the drone 200 changes, the magnetic field of the landing platform 1 changes, and the magnetic field sensor detects and records it, determining the landing position and angle of the drone 200. With this configuration, the position detection device 2 has high detection accuracy and can quickly and accurately detect the position of the drone 200 in real time. In addition, the magnetic field sensor is easy to use, which facilitates the use of the centering device 100. Of course, the position detection device 2 can also be configured as other sensors to facilitate the use of the position detection device 2.

[0084] According to some embodiments of the present disclosure, in combination with FIG1 , a plurality of position detection devices 2 and a plurality of electromagnetic devices 3 are all provided at the bottom of the landing platform 1. For example, in the example of FIG1 , a plurality of position detection devices 2 and a plurality of electromagnetic devices 3 are respectively connected to the lower surface of the landing platform 1, and the drone 200 can land on the upper surface of the landing platform 1. This arrangement effectively utilizes the space on the landing platform 1, making the upper surface of the landing platform 1 relatively flat, which is conducive to the landing and take-off of the drone 200. In addition, the interference of the position detection device 2 and the electromagnetic device 3 on the landing or take-off of the drone 200 is also reduced, thereby being more conducive to the use of the drone 200 and improving the performance of the centering device 100.

[0085] According to a drone 200 according to a second embodiment of the present disclosure, referring to Figures 1-5 , the drone 200 is provided with at least one magnetic device 201. The magnetic device 201 is adapted to be attracted by the electromagnetic device 3 of the centering device 100 for the drone 200 according to the first embodiment described above, thereby adjusting the drone 200 from a landing position to a centering position. For example, in the example of Figures 1-5 , the magnetic device 201 is provided at the bottom of the drone 200. When the electromagnetic device 3 of the centering device 100 generates a magnetic attraction force, the magnetic device 201 is attracted to move the drone 200 relative to the landing platform 1, thereby moving the drone 200 from the landing position to a position corresponding to the centering position. This arrangement facilitates adjustment of the position of the drone 200 through the interaction between the magnetic device 201 and the electromagnetic device 3, simplifies the structure of the drone 200, and eliminates the need for a complex mechanical structure on the drone 200 to cooperate with the centering device 100, thereby further facilitating the production, processing, and use of the drone 200.

[0086] According to some embodiments of the present disclosure, in conjunction with Figures 1-5 , multiple magnetic devices 201 are provided, spaced apart along the circumference of the drone 200. For example, in the example of Figure 2 , there are four magnetic devices 201, spaced apart along the circumference of the bottom of the drone 200. The centering device 100 also has four normally closed electromagnetic coils 32 at the centering position. When the drone 200 lands on the landing platform 1, the four normally closed electromagnetic coils 32 correspond to the four magnetic devices 201, securing the drone 200 to the landing platform 1 with relatively stable attraction. Thus, by providing multiple magnetic devices 201, the attraction force of the electromagnetic device 3 on the magnetic devices 201 is increased, facilitating adjustment of the drone 200's position. Furthermore, when the drone 200 is positioned at different locations above the landing platform 1, the magnetic devices 201 at corresponding locations can be attracted by the electromagnetic device 3, causing the drone 200 to move, further facilitating adjustment of the drone 200's position. In addition, the force exerted by the electromagnetic device 3 on the drone 200 is relatively stable, which is conducive to the stable movement of the drone 200. It should be noted that the number of magnetic devices 201 can be set according to specific usage to better meet actual applications.

[0087] According to some embodiments of the present disclosure, adjacent magnetic poles of two adjacent magnetic devices 201 are configured with opposite magnetic poles. For example, the magnetic poles of the adjacent magnetic devices 201 on the sides facing each other may have different magnetic properties. This configuration improves the accuracy of the position detection device 2 of the centering device 100 in detecting the position of the drone 200, and improves the detection accuracy of the position detection device 2, thereby further facilitating the use of the drone 200 and the centering device 100.

[0088] According to some embodiments of the present disclosure, the magnetic device 201 is a permanent magnet. This configuration allows the magnetic device 201 to maintain its magnetism over a long period of time. When the electromagnetic device 3 generates a magnetic attraction force, the magnetic device 201 is attracted by the electromagnetic device 3 to move the drone 200. This makes the magnetic device 201 simple to use. Furthermore, the simple structure of the permanent magnet eliminates the need for complex mechanical structures on the drone 200. This also facilitates the long-term and stable use of the magnetic device 201.

[0089] According to some embodiments of the present disclosure, the magnetic device 201 is integrally formed with the drone 200. This improves the connection stability between the drone 200 and the magnetic device 201, making it less likely for the magnetic device 201 to fall off the drone 200. This facilitates the long-term and stable use of the magnetic device 201 and improves the operational stability of the drone 200. Furthermore, this also facilitates the use and transportation of the drone 200.

[0090] According to other embodiments of the present disclosure, the magnetic device 201 is detachably connected to the drone 200. For example, the magnetic device 201 and the drone 200 can be detachably connected by means of a detachable structure, thereby facilitating installation and removal of the magnetic device 201 and the drone 200, as well as replacement of the magnetic device 201, and further facilitating maintenance and assembly of the drone 200, thereby increasing assembly efficiency.

[0091] According to a third aspect of an embodiment, a method for controlling a drone 200 to be centered includes the following steps:

[0092] Detecting the landing location of the drone 200; and

[0093] According to the detected landing position information of the drone 200, the electromagnetic device 3 of at least one centering device 100 adjacent to the drone 200 is controlled to attract the magnetic device 201 of the drone 200 to adjust the drone 200 from the landing position to the centering position.

[0094] According to the centering control method for drone 200 of the disclosed embodiment, when drone 200 flies back to a location adjacent to centering device 100, position detection device 2 of centering device 100 first accurately detects the landing position of drone 200. Based on the landing position information of drone 200, position detection device 2 controls the operation of electromagnetic device 3 at the corresponding location. Electromagnetic device 3 then acts on magnetic device 201 to adjust the position of drone 200, causing drone 200 to move from the landing position to the centering position. This control method is simple and easy to operate, has simple control logic, is low-cost, and achieves high accuracy in the movement and positioning of drone 200, facilitating the smooth centering of drone 200.

[0095] According to some embodiments of the present disclosure, controlling the electromagnetic device 3 of at least one centering device 100 adjacent to the drone 200 to attract the magnetic device 201 to adjust the drone 200 from the landing position to the centering position specifically includes:

[0096] Control the UAV 200 to move in a first direction relative to the landing platform 1; and / or

[0097] The drone 200 is controlled to move along a second direction relative to the landing platform 1 , and the first direction is perpendicular to the second direction.

[0098] For example, when drone 200 is located above the center of landing platform 1 along the second direction, drone 200 can be controlled to move along the first direction to the centering position. Alternatively, when drone 200 is located above the center of landing platform 1 along the first direction, drone 200 can be controlled to move along the second direction to the centering position. Alternatively, in the examples of Figures 2 and 3, when drone 200 is located at the rear left side of landing platform 1, drone 200 can be controlled to move along the second direction first, and then controlled to move along the first direction to the centering position. In this way, the movement of drone 200 can be adjusted accordingly based on its actual position, ensuring smooth movement to the centering position. Furthermore, the shorter movement path of drone 200 reduces the time required to control its movement, thereby improving its operating efficiency. By programming control logic to control the charging and de-energizing of different electromagnetic devices 3, the magnetic field of drone 200 can be controlled to attract the magnetic field of electromagnetic device 3, thereby achieving position control of drone 200.

[0099] It should be noted that when the landing position of the drone 200 is above the landing platform 1, the direction of the attraction force exerted by the electromagnetic device 3 on the magnetic device 201 is obliquely downward. According to the force decomposition, the above-mentioned attraction force can be decomposed into a component along the horizontal direction (the first direction or the second direction) and a downward component. In the process of controlling the drone 200 to move in the first direction or the second direction relative to the landing platform 1, the drone 200 balances the upward lift with the above-mentioned downward component so that the drone 200 can hover in the plane above the landing platform 1 and move in the first direction or the second direction. When the drone 200 lands on the landing platform 1, the electromagnetic device 3 directly attracts the magnetic device 201 to enable the drone 200 to move on the plane of the landing platform 1.

[0100] According to some embodiments of the present disclosure, before controlling the electromagnetic device 3 of at least one centering device 100 adjacent to the drone 200 to attract the magnetic device 201 to adjust the drone 200 from the landing position to the centering position, the method further includes detecting the angle of the drone 200. Before controlling the drone 200 to move in a first or second direction relative to the landing platform 1, the method further includes controlling the angle of the drone 200 relative to the landing platform 1 to be aligned. Specifically, when the drone 200 moves close to the landing platform 1, the position detection device 2 first detects the angle of the drone 200. For example, in the example of FIG. 2 , if the drone 200 yaws relative to the landing platform 1, the position detection device 2 first controls the angle of the drone 200 relative to the landing platform 1 to be aligned, that is, the center axis of the drone 200 in the fore-aft direction is parallel to the fore-aft direction of the landing platform 1. The drone 200 is then adjusted to move in the first and / or second directions from the landing position to the centering position. This arrangement improves the accuracy of the drone 200's movement and prevents the drone 200 from yaw after landing, thereby improving the accuracy of the drone 200's landing position.

[0101] According to some embodiments of the present disclosure, before detecting the landing position of the drone 200, the method further includes controlling all electromagnetic devices 3 of the centering device 100 to be non-magnetic. This configuration, on the one hand, saves energy and reduces energy waste when the electromagnetic devices 3 are non-magnetic. On the other hand, it reduces the interference of the electromagnetic devices 3 with the magnetic attraction device 201 of the drone 200, thereby reducing the interference of the electromagnetic devices 3 with the position detection device 2, thereby improving the detection accuracy of the position detection device 2.

[0102] According to some embodiments of the present disclosure, before detecting the landing position of the drone 200, the method further includes detecting the landing altitude of the drone 200. When the landing altitude of the drone 200 does not reach a preset altitude, the landing altitude of the drone 200 is adjusted, and the landing altitude of the drone 200 is detected again; when the landing altitude of the drone 200 reaches the preset altitude, the landing position of the drone 200 is detected. In other words, before controlling the drone 200 to adjust its angle, the altitude information of the drone 200 is first detected. When the landing altitude of the drone 200 meets the landing conditions, the landing position of the drone 200 is then detected. If the landing altitude of the drone 200 meets the landing conditions, the altitude of the drone 200 is first adjusted. When the landing altitude of the drone 200 reaches the preset altitude, the landing position of the drone 200 is then detected again. As a result, the centering device 100 can more accurately adjust the position of the drone 200, which is more conducive to the smooth landing of the drone 200 on the landing platform 1.

[0103] According to some embodiments of the present disclosure, when the drone 200 is located at the centering position, the electromagnetic device 3 at the centering position adsorbs the magnetic device 201 to fix the drone 200 at the centering position. For example, in the example of Figure 5, the drone 200 is located at the middle position on the landing platform 1. At this time, the four corresponding electromagnetic devices 3 below the drone 200 adsorb the magnetic device 201, and the drone 200 is fixed to the landing platform 1 through the interaction between the electromagnetic device 3 and the magnetic device 201. As a result, the fixing method of the drone 200 is simple, and the structure of the centering device 100 is also simple, thereby simplifying the centering device 100, which is beneficial to the production, processing and use of the centering device 100. Of course, the number of electromagnetic devices 3 at the centering position is not specifically limited and can be set according to actual use.

[0104] The drone hangar 300 according to the fourth embodiment of the present disclosure, as shown in FIG7 , includes the centering device 100 for the drone 200 according to the first embodiment described above.

[0105] According to the drone hangar 300 of the embodiment of the present disclosure, by adopting the aforementioned centering device 100, the centering device 100 occupies a small space within the drone hangar 300, which facilitates the use of the drone hangar 300. Furthermore, the structure of the drone hangar 300 is simplified, facilitating production, processing, and use within the drone hangar 300, thereby improving the performance of the drone hangar 300.

[0106] A vehicle 400 according to an embodiment of the fifth aspect of the present disclosure, as shown in FIG8 , includes a drone hangar 300 according to an embodiment of the fourth aspect described above.

[0107] According to the embodiment of the present disclosure, the vehicle 400 adopts the above-mentioned drone hangar 300, thereby enriching the functions of the vehicle 400 and improving the performance of the vehicle 400.

[0108] Optionally, the drone hangar 300 can be set in the front cabin, roof, trunk, etc. of the vehicle 400. The vehicle 400 also has components such as a communication module (not shown in the figure), a central processing unit (not shown in the figure), and a controller (not shown in the figure). Information transmission between the drone 200 and the vehicle 400 is achieved through the communication module, and the specific implementation method can be wifi, Bluetooth, 4G / 5G and other communication technologies. After the data collected by the drone 200 is transmitted to the vehicle 400 through the communication module, the central processing unit analyzes and processes it and passes the results to the controller. The controller issues corresponding action instructions based on the analysis results and returns them to the drone 200 for execution through the communication module.

[0109] The landing steps of the drone 200 in the present disclosure are as follows:

[0110] 1. When the drone 200 receives the return command from the controller of the vehicle 400, the drone 200 flies to the landing platform 1, adjusts the flight speed and landing altitude, and prepares to return to the drone hangar 300.

[0111] Second, when drone 200 approaches landing platform 1, position detection device 2 determines the landing height based on the changes in the magnetic field at the bottom of drone 200 and transmits this information to the central processor to determine whether the landing height has reached the preset height. If not, step 2 is repeated until the landing height meets the required height.

[0112] 3. After determining that the landing height meets the requirements, the position detection device 2 further determines the angle and landing position of the drone 200. During this process, all electromagnetic devices 3 are non-magnetic to prevent affecting the detection accuracy of the position detection device 2.

[0113] Fourth, after determining the initial position and angle of the drone 200, the controller issues an angle correction command, and the two normally open electromagnetic coils 33 adjacent to the drone 200 (for example, the two electromagnetic devices 3 in the dotted box B in Figure 2) are energized to achieve the angle correction of the drone 200. Subsequently, the drone 200 moves laterally under the electromagnetic attraction of the other two adjacent normally open electromagnetic coils 33 (for example, the two electromagnetic devices 3 in the dotted box A in Figure 3), and finally moves to the lateral middle position of the landing platform 1. Similarly, the drone 200 moves longitudinally under the attraction of the two adjacent normally open electromagnetic coils 33 in the second direction (for example, the two electromagnetic devices 3 in the dotted box C in Figure 4), and finally reaches directly above the return position, and then descends or is attracted to the return position by the electromagnetic device 3. Alternatively, after the angle of the drone 200 is adjusted, it descends directly or is adsorbed onto the landing platform 1 by the electromagnetic device 3, and then moves horizontally or vertically to the center position on the landing platform 1. The movement principle of the drone 200 on the landing platform 1 is similar to the movement principle of the drone 200 above the landing platform 1.

[0114] 5. After the drone 200 reaches the center position, the normally closed electromagnetic coil 32 corresponding to the center position is powered off, adsorbing and securing the drone 200 to prevent the drone 200 from being damaged while moving in the drone hangar 300. During the entire movement of the drone 200, only the two electromagnetic devices 3 adjacent to the drone 200 have magnetic force, while the other electromagnetic devices 3 have no magnetic force. Four normally closed electromagnetic coils 32 are arranged corresponding to the center position (the number of normally closed electromagnetic coils 32 is the same as the number of permanent magnets at the bottom of the drone 200). The electromagnetic force generated by the normally closed electromagnetic coils 32 can be controlled within a certain range, and no sudden adsorption phenomenon will occur, causing the drone 200 to move rapidly, ensuring that the drone 200 lands smoothly on the landing platform 1. After a smooth landing, all electromagnetic devices 3 are powered off, and the normally closed electromagnetic coils 32 generate magnetic force to secure the drone 200. When the drone 200 is idle, the electromagnetic coils under the entire landing platform 1 do not need to be energized, avoiding the problem of serious heating caused by the electromagnetic coils being energized for a long time.

[0115] When the drone 200 is ready to take off from the drone hangar 300, the controller of the vehicle 400 issues a take-off command. At the same time, the normally closed electromagnetic coil 32 that secures the drone 200 is energized, and the electromagnetic force that attracts the drone 200 disappears, allowing the drone 200 to take off smoothly.

[0116] Other structures and operations of the drone 200, the drone hangar 300, and the vehicle 400 according to the embodiment of the present disclosure are well known to those skilled in the art and will not be described in detail here.

[0117] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation to the present disclosure.

[0118] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0119] Although the embodiments of the present disclosure have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations may be made to the embodiments without departing from the principles and spirit of the present disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A centering device (100) for a drone (200), characterized in that: The drone (200) is provided with at least one magnetic attraction device (201), and the centering device (100) comprises: Landing platform (1); a plurality of position detection devices (2), the plurality of position detection devices (2) being arranged on the landing platform (1) at intervals from each other, the position detection devices (2) being used to detect the landing position of the drone (200); and A plurality of electromagnetic devices (3) are provided on the landing platform (1) at intervals from each other. Based on the landing position information of the drone (200) detected by the position detection device (2), the electromagnetic device (3) is adapted to adsorb the magnetic device (201) to adjust the drone (200) from the landing position to a centering position.

2. The centering device (100) for a drone (200) according to claim 1, characterized in that: The plurality of electromagnetic devices (3) operate independently of each other, According to the landing position information of the drone (200) detected in real time by the position detection device (2), at least one electromagnetic device (3) adjacent to the drone (200) is suitable for adsorbing the magnetic attraction device (201) to gradually adjust the drone (200) from the landing position to the center position.

3. The centering device (100) for a drone (200) according to claim 1 or 2, characterized in that: The landing position information of the drone (200) includes position information of the drone (200) within the plane where the landing platform (1) is located, and height information of the drone (200) relative to the landing platform (1).

4. The centering device (100) for a drone (200) according to any one of claims 1 to 3, characterized in that: The position detection device (2) is also used to detect the angle of the drone (200). According to the angle information of the drone (200) detected by the position detection device (2), the electromagnetic device (3) is suitable for adsorbing the magnetic attraction device (201) to adjust the angle of the drone (200) relative to the landing platform (1).

5. The centering device (100) for a drone (200) according to any one of claims 1 to 4, characterized in that: The plurality of position detection devices (2) and the plurality of electromagnetic devices (3) are arranged in an array on the landing platform (1).

6. The centering device (100) for a drone (200) according to claim 5, characterized in that: The plurality of position detection devices (2) constitute a plurality of position detection device groups (21) spaced apart along a first direction, each position detection device group (21) comprising a plurality of position detection devices (2) spaced apart along a second direction, the first direction being perpendicular to the second direction; The plurality of electromagnetic devices (3) constitute a plurality of electromagnetic device groups (31) spaced apart along the first direction, each electromagnetic device group (31) comprises a plurality of electromagnetic devices (3) spaced apart along the second direction, and the plurality of electromagnetic devices (3) of the electromagnetic device group (31) and the plurality of position detection devices (2) of the position detection device group (21) are staggeredly arranged along the second direction.

7. A centering device (100) for a drone (200) according to any one of claims 1 to 6, characterized in that: The magnetic attraction force of the electromagnetic device (3) is adjustable.

8. A centering device (100) for a drone (200) according to any one of claims 1 to 7, characterized in that: When the drone (200) is located at the centering position, the electromagnetic device (3) absorbs the magnetic attraction device (201) to fix the drone (200) at the centering position.

9. A centering device (100) for a drone (200) according to any one of claims 1 to 8, characterized in that: The electromagnetic device (3) comprises an electromagnetic coil.

10. The centering device (100) for a drone (200) according to claim 9, characterized in that: The electromagnetic device (3) at the centering position is a normally closed electromagnetic coil (32), and the electromagnetic coils on the landing platform (1) except for the centering position are normally open electromagnetic coils (33).

11. A centering device (100) for a drone (200) according to any one of claims 1 to 10, characterized in that: The position detection device (2) is a magnetic field sensor.

12. The centering device (100) for a drone (200) according to any one of claims 1 to 11, characterized in that: The plurality of position detection devices (2) and the plurality of electromagnetic devices (3) are all arranged at the bottom of the landing platform (1).

13. A drone (200), characterized in that: The drone (200) is provided with at least one magnetic attraction device (201), and the magnetic attraction device (201) is suitable for being attracted by the electromagnetic device (3) of the centering device (100) for the drone (200) according to any one of claims 1 to 12 to adjust the drone (200) from the landing position to the centering position.

14. The drone (200) according to claim 13, characterized in that There are a plurality of magnetic attraction devices (201), and the plurality of magnetic attraction devices (201) are arranged at intervals along the circumference of the drone (200).

15. The drone (200) according to claim 14, characterized in that The adjacent magnetic poles of two adjacent magnetic attraction devices (201) are arranged with an anisotropic arrangement.

16. The drone (200) according to claim 13 or 14, characterized in that The magnetic attraction device (201) is a permanent magnet.

17. The drone (200) according to any one of claims 13 to 16, characterized in that: The magnetic attraction device (201) and the drone (200) are integrally formed.

18. The drone (200) according to any one of claims 13 to 16, characterized in that: The magnetic attraction device (201) is detachably connected to the drone (200).

19. A method for controlling a centering of a UAV (200) according to any one of claims 13 to 18, characterized in that: The following steps are involved: detecting the landing position of the drone (200); and, based on the detected landing position information of the drone (200), controlling the electromagnetic device (3) of at least one of the centering devices (100) adjacent to the drone (200) to adsorb the magnetic device (201) of the drone (200) so as to adjust the drone (200) from the landing position to the centering position.

20. The method for controlling the centering of the UAV (200) according to claim 19, characterized in that: The electromagnetic device (3) of controlling at least one centering device (100) adjacent to the drone (200) to adsorb the magnetic device (201) to adjust the drone (200) from the landing position to the centering position specifically includes: controlling the drone (200) to move in a first direction relative to the landing platform (1); and / or The drone (200) is controlled to move relative to the landing platform (1) along a second direction, wherein the first direction is perpendicular to the second direction.

21. The method for controlling the centering of the UAV (200) according to claim 20, characterized in that: Before the electromagnetic device (3) of controlling at least one centering device (100) adjacent to the drone (200) to adsorb the magnetic device (201) to adjust the drone (200) from the landing position to the centering position, the centering control method further comprises: detecting the angle of the drone (200); Before controlling the drone (200) to move relative to the landing platform (1) along the first direction or the second direction, the centering control method further comprises: Controlling the angle of the drone (200) relative to the landing platform (1).

22. The method for controlling the centering of a UAV (200) according to any one of claims 19 to 21, characterized in that: Before detecting the landing position of the drone (200), the centering control method further comprises: All electromagnetic devices (3) controlling the centering device (100) are non-magnetic.

23. The centering control method of a UAV (200) according to any one of claims 19 to 22, characterized in that: Before detecting the landing position of the drone (200), the centering control method further comprises: detecting the landing height of the drone (200); When the landing height of the drone (200) does not reach a preset height, adjusting the landing height of the drone (200), and then detecting the landing height of the drone (200); and When the landing height of the drone (200) reaches a preset height, the landing position of the drone (200) is detected.

24. The method for controlling a UAV (200) according to any one of claims 19 to 23, characterized in that: When the drone (200) is located at the center position, The electromagnetic device (3) at the centering position absorbs the magnetic attraction device (201) to fix the drone (200) at the centering position.

25. A drone hangar (300), characterized in that: It comprises a centering device (100) for a drone according to any one of claims 1-12.

26. A vehicle (400), characterized in that Comprising a drone hangar (300) according to claim 25.

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