阅读说明：本技术 一种无人机降落装置及控制方法 (Unmanned aerial vehicle landing device and control method ) 是由 黄海宇 王莉 马庆华 李帮家 李阳春 张占帮 王伟胜 王文涛 于 2021-08-11 设计创作，主要内容包括：本发明公开了一种无人机降落装置及控制方法,涉及无人机技术领域,本发明的无人机降落装置,包括层叠设置的降落平台和位于降落平台下方的固定平台,降落平台和固定平台通过至少三个相互平行设置的推杆电机支撑,降落平台上设置有角度测量装置,用于测量降落平台与水平面之间的夹角,多个推杆电机用于调整降落平台与水平面之间的倾斜角度,多个推杆电机与降落平台通过铰接件连接。本发明提供的无人机降落装置及控制方法,使得无人机在户外的各种地面条件均能够平稳、安全的降落。(The invention discloses an unmanned aerial vehicle landing device and a control method, and relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle landing device and the control method provided by the invention enable the unmanned aerial vehicle to land stably and safely under various outdoor ground conditions.)

1. The utility model provides an unmanned aerial vehicle descending device, its characterized in that, including the descending platform of range upon range of setting with be located the fixed platform of descending platform below, descend the platform with fixed platform supports through the push rod motor of at least three mutual parallel arrangement and connects, set up angle measurement device on the descending platform, be used for the measurement the inclination between descending platform and the horizontal plane, it is a plurality of the push rod motor is used for the adjustment the inclination between descending platform and the horizontal plane, it is a plurality of the push rod motor with the descending platform passes through the articulated elements and connects.

2. An unmanned aerial vehicle landing device of claim 1, further comprising a weight scale respectively disposed between the hinge and the landing platform, the weight scale being configured to measure an impact force when the unmanned aerial vehicle contacts the landing platform.

3. An unmanned aerial vehicle landing device of claim 2, further comprising a controller, wherein the controller is electrically connected with the angle measuring device and the push rod motor respectively, the controller is also wirelessly connected with a control panel on the unmanned aerial vehicle body, and the controller acquires the flight attitude of the unmanned aerial vehicle after acquiring the landing indication signal, and controls the adjustment work of the push rod motor according to the flight attitude of the unmanned aerial vehicle.

4. An unmanned aerial vehicle landing device of claim 3, wherein the weight scale is electrically connected to the controller, and the controller controls the adjustment of the push rod motor according to the measurement result of the weight scale.

5. An unmanned aerial vehicle landing device of claim 1, wherein a fixed cone for inserting into the ground for fixation is further provided on the bottom surface of the fixed platform.

6. An unmanned aerial vehicle landing arrangement according to claim 1, wherein the angle measuring device is a gyroscope.

7. A method for controlling landing of an unmanned aerial vehicle, the method comprising:

receiving a landing indication signal, and acquiring coordinate information of the current position of the unmanned aerial vehicle;

guiding the unmanned aerial vehicle to move from the current coordinate position to the position above the target landing position according to the target landing position in the landing indication signal;

acquiring current flight attitude information of the unmanned aerial vehicle;

acquiring the current angle of a landing platform, calculating the landing angle of the landing platform according to the current flight attitude information of the unmanned aerial vehicle, and adjusting the current angle of the landing platform to the landing angle through the extension and retraction of a push rod motor;

and controlling the unmanned aerial vehicle to land on a landing platform.

8. The method for controlling unmanned aerial vehicle to land according to claim 7, wherein the obtaining of the current angle of the landing platform, the calculating of the landing angle of the landing platform according to the current flight attitude information of the unmanned aerial vehicle, and the adjusting of the current angle of the landing platform by the extension and retraction of the push rod motor to the rear of the landing angle further comprise:

and acquiring the current angle of the landing platform, comparing the current angle with the landing angle, if the difference value is within the threshold range, sending a landing signal to the control board, and otherwise, readjusting the angle of the landing platform.

9. The method for controlling unmanned aerial vehicle to land according to claim 7, wherein the current flight attitude information of the unmanned aerial vehicle calculates a landing angle of the landing platform, and the current angle of the landing platform is adjusted by moving a push rod motor to be adjusted to be after the landing angle, further comprising:

the impact force when acquiring unmanned aerial vehicle and descending platform contact to according to the flexible of impact force adjustment push rod motor.

10. The method for controlling landing of an unmanned aerial vehicle according to claim 7, wherein the method further comprises, after guiding the unmanned aerial vehicle to move from the current coordinate position to a position above the target landing position according to the target landing position in the landing indication signal, the method further comprising:

the method comprises the steps of obtaining the current coordinate position of the unmanned aerial vehicle and the position of a landing platform, judging whether the unmanned aerial vehicle is located above the landing platform, if so, obtaining the current flight attitude of the unmanned aerial vehicle, and otherwise, redirecting the unmanned aerial vehicle to move to the position above a target landing position from the current coordinate position.

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle landing device and a control method.

Background

Unmanned aerial vehicles, also known as drones, are unmanned aerial vehicles operated by radio remote control devices and self-contained program control devices. With the development of the unmanned aerial vehicle technology, the unmanned aerial vehicle has been widely used in the production and life of people, such as surveying and mapping, aerial photography, large-scale activity performance, small cargo transportation and other activities. Unmanned aerial vehicle patrols and examines has not receive height restriction, patrols and examines the advantage nimble, that the convenience of shooing and angle are comprehensive, is particularly suitable for the difficult region that reachs of personnel such as mountain area or lake, has compensatied the not enough of artifical tour, and is applied to the electric power and patrols and examines.

At present unmanned aerial vehicle is patrolled and examined to electric power in mountain area operation in-process, generally can select comparatively level and smooth road surface to descend, but can have certain limitation, have the road surface that possesses the descending condition a bit, some do not have the road surface that descends the condition, even the local requirement that descends that satisfies a bit, but can have the problem far away with unmanned aerial vehicle distance, because electric power patrols and examines unmanned aerial vehicle cruise time limited, will have certain loss like this. The drone will often also choose to land on the carriage or roof, and the inclination of the carriage and roof will also depend on the flatness of the ground.

Disclosure of Invention

The invention aims to provide an unmanned aerial vehicle landing device and a control method, which can enable an unmanned aerial vehicle to land stably and safely under various outdoor ground conditions.

The embodiment of the invention is realized by the following steps:

the utility model provides an unmanned aerial vehicle descending device, includes the landing platform of range upon range of setting and is located the fixed platform of landing platform below, and landing platform and fixed platform support through the push rod motor of at least three mutual parallel arrangement and connect, are provided with angle measuring device on the landing platform for measure the inclination between landing platform and the horizontal plane, a plurality of push rod motors are used for adjusting the inclination between landing platform and the horizontal plane, and a plurality of push rod motors pass through the articulated elements with the landing platform and are connected.

Optionally, as an implementable mode, the unmanned aerial vehicle landing device further comprises a weight measuring instrument respectively arranged between the hinge member and the landing platform, and the weight measuring instrument is used for measuring the impact force when the unmanned aerial vehicle contacts with the landing platform.

Optionally, as an implementable mode, unmanned aerial vehicle descending device still includes the controller, and the controller is connected with angle measurement device and push rod motor electricity respectively, the controller still with the control panel wireless connection on the unmanned aerial vehicle organism, the controller is obtaining unmanned aerial vehicle's flight gesture after obtaining the descending pilot signal to according to unmanned aerial vehicle's flight gesture control push rod motor's regulation work.

Optionally, as an implementable mode, the weight measuring instrument is electrically connected with the controller, and the controller controls the adjustment work of the push rod motor according to the measurement result of the weight measuring instrument.

Optionally, as an implementable manner, a fixing cone for inserting into the ground for fixing is further provided on the bottom surface of the fixing platform.

A control method for unmanned aerial vehicle landing comprises the following steps:

receiving a landing indication signal, and acquiring coordinate information of the current position of the unmanned aerial vehicle;

guiding the unmanned aerial vehicle to move from the current coordinate position to the position above the target landing position according to the target landing position in the landing indication signal;

acquiring current flight attitude information of the unmanned aerial vehicle;

acquiring the current angle of the landing platform, calculating the landing angle of the landing platform according to the current flight attitude information of the unmanned aerial vehicle, and adjusting the current angle of the landing platform to the landing angle through the extension and retraction of a push rod motor;

send the control panel of descending signal on giving the unmanned aerial vehicle organism.

Optionally, as an implementable mode, acquire the current angle of descending platform, calculate the descending angle of descending platform according to unmanned aerial vehicle's current flight attitude information, adjust the current angle of descending platform through the removal of push rod motor and adjust to after the descending angle, still include:

and acquiring the current angle of the landing platform, comparing the current angle with the landing angle, if the difference value is within the threshold range, sending a landing signal to the control board, and otherwise, readjusting the angle of the landing platform.

Optionally, as an implementable mode, after adjusting the angle of descending platform in real time so that the platform that descends adapts to unmanned aerial vehicle's flight gesture according to unmanned aerial vehicle's flight gesture, still include: the impact force when acquiring unmanned aerial vehicle and descending platform contact to according to the flexible of impact force adjustment push rod motor.

Optionally, as an implementable mode, after guiding the unmanned aerial vehicle to move from the current coordinate position to the position above the target landing position according to the target landing position in the landing indication signal, the method further includes: the method comprises the steps of obtaining the current coordinate position of the unmanned aerial vehicle and the position of a landing platform, judging whether the unmanned aerial vehicle is located above the landing platform, if so, obtaining the current flight attitude of the unmanned aerial vehicle, and otherwise, guiding the unmanned aerial vehicle to move to the position above a target landing position from the current coordinate position again.

The embodiment of the invention has the beneficial effects that:

the invention provides an unmanned aerial vehicle landing device, which comprises landing platforms arranged in a stacked mode and a fixed platform located below the landing platforms, wherein the landing platforms are used as landing places of an unmanned aerial vehicle, the landing platforms and the fixed platforms are supported and connected through at least three push rod motors arranged in parallel, an angle measuring device is arranged on the landing platforms and used for measuring an inclination angle between the landing platforms and a horizontal plane, the push rod motors are connected with the landing platforms through hinges, and the telescopic ends of the push rod motors stretch to drive the landing platforms connected with the telescopic ends to ascend or descend so as to adjust the inclination angle of the landing platforms, so that the inclination angle of the landing platforms is consistent with the inclination angle of the unmanned aerial vehicle when the unmanned aerial vehicle lands, and the unmanned aerial vehicle can land stably and safely under various outdoor ground conditions.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a landing platform of an unmanned aerial vehicle according to an embodiment of the invention;

fig. 2 is a flowchart of a method for controlling landing of an unmanned aerial vehicle according to an embodiment of the present invention.

Icon: 110-a landing platform; 120-a stationary platform; 130-a push rod motor; 140-a fixed cone; 150-a hinge; 160-weight measuring instrument.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

In the description of the present invention, it should be noted that the terms "center", "vertical", "horizontal", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally put in use of products of the present invention, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Electric power patrols and examines and regards people's normal domestic power consumption, and electric power patrols and examines work and can usually be in the outdoor environment operation that the mountain went, and the area that the mountain went is the difficult area that reachs of worker usually, and unmanned aerial vehicle patrols and examines because do not receive height restriction, patrol nimble, shoot convenient and the comprehensive advantage of angle and be applied to electric power and patrol and examine. And in alpine regions, flat ground is not provided for the unmanned aerial vehicle to take off and land. And unmanned aerial vehicle all has more strict requirement to the whole degree, the gradient and the dust thickness of the face of falling, if ground is level and smooth inadequately or have certain gradient all can cause electric power to patrol and examine the risk that unmanned aerial vehicle turned on one's side and can't lock, can cause certain damage to the motor when dust thickness is great, reduces unmanned aerial vehicle's life.

The invention provides an unmanned aerial vehicle landing device, as shown in fig. 1, comprising landing platforms 110 arranged in a stacked manner and fixed platforms 120 positioned below the landing platforms 110, wherein the landing platforms 110 and the fixed platforms 120 are supported and connected through at least three push rod motors 130 arranged in parallel, an angle measuring device is arranged on the landing platforms 110 and used for measuring the inclination angle between the landing platforms 110 and the horizontal plane, the push rod motors 130 are used for adjusting the inclination angle between the landing platforms 110 and the horizontal plane, and the push rod motors 130 are connected with the landing platforms 110 through hinges 150.

It should be noted that the number of the push rod motors 130 is greater than or equal to three, the specific number and the specific setting position are not limited, as long as the plurality of push rod motors 130 are parallel to each other to support the landing platform 110 and the fixed platform 120, and the plurality of push rod motors 130 cannot be located on the same plane, and if the plurality of push rod motors 130 are located on the same plane, the inclination angle of the landing platform 110 cannot be adjusted. For example, the embodiment of the present invention uses four push rod motors 130, and the four push rod motors 130 are respectively disposed at four corners of the landing platform 110.

The plurality of push rod motors 130 are connected by a hinge 150, the specific form of the hinge 150 is not specifically limited, and a universal connector is used as the hinge 150 in the present invention. Because the universal joint connector has the advantages of wide range of motion and flexible motion.

The landing device of the unmanned aerial vehicle comprises landing platforms 110 arranged in a stacked mode and a fixed platform 120 positioned below the landing platforms 110, wherein the landing platforms 110 are used as landing sites of the unmanned aerial vehicle, the landing platforms 110 and the fixed platform 120 are supported and connected through at least three push rod motors 130 arranged in parallel, an angle measuring device is arranged on the landing platforms 110, used for measuring the inclination angle between the landing platform 110 and the horizontal plane, the plurality of push rod motors 130 are connected with the landing platform 110 through the hinge 150, the telescopic ends of the plurality of push rod motors 130 extend and contract to drive the landing platform 110 connected with the telescopic ends to ascend or descend, thereby adjusting the inclination angle of the landing platform 110, keeping the inclination angle of the landing platform 110 consistent with the inclination angle of the unmanned aerial vehicle when landing, thereby can make unmanned aerial vehicle all can steady, safe descending under various outdoor ground conditions.

Optionally, as shown in fig. 1, the unmanned aerial vehicle landing apparatus further includes a weight measuring instrument 160 respectively disposed between the hinge 150 and the landing platform 110, and the weight measuring instrument 160 is configured to measure an impact force when the unmanned aerial vehicle contacts the landing platform 110.

When unmanned aerial vehicle lands to landing platform 110, can produce certain pressure to landing platform 110, unmanned aerial vehicle is different and different according to unmanned aerial vehicle's model with landing platform 110's contact surface, also must be different to the pressure that each point produced on landing platform 110, and landing platform 110 is supported by a plurality of push rod motors 130, that is to say, unmanned aerial vehicle can transmit to on a plurality of push rod motors 130 strong points to landing platform 110's pressure, set up check weighing instrument 160 between articulated elements 150 and landing platform 110, check weighing instrument 160 detects the impact force to each push rod motor 130 strong point when unmanned aerial vehicle lands to landing platform 110.

It will be appreciated by those skilled in the art that the weight scale 160 measures the weight of an object placed above the weight scale 160, i.e., the weight scale 160 measures the weight applied to the landing platform 110 by the drone when in contact with the landing platform 110, and therefore, the weight scale 160 must be in contact with the landing platform 110.

In an implementation manner of the present invention, as shown in fig. 1, the unmanned aerial vehicle landing apparatus further includes a controller, the controller is electrically connected to the angle measuring apparatus and the push rod motor 130, respectively, and is also wirelessly connected to a control board on the unmanned aerial vehicle body, after obtaining the landing indication signal, the controller obtains the flight attitude of the unmanned aerial vehicle, and controls the adjustment work of the push rod motor 130 according to the flight attitude of the unmanned aerial vehicle.

It should be noted that, the landing instruction signal is that control panel on the unmanned aerial vehicle organism sends the controller through wireless connection, can be the landing that needs after the task execution is accomplished, also can not satisfy the landing after the operating condition, for example, unmanned aerial vehicle electric quantity exhausts, when weather does not allow work, the staff through the landing instruction signal of wireless transmission.

After the controller obtains descending pilot signal, acquire unmanned aerial vehicle's current position information through wireless, calculate unmanned aerial vehicle's direction of motion and distance according to the position information of self, and convey above-mentioned mobile information to the control panel of unmanned aerial vehicle organism, the control panel moves to the sky of descending platform 110 according to above-mentioned mobile information control unmanned aerial vehicle, the controller acquires unmanned aerial vehicle flight gesture, and the flexible volume of the telescopic link of each push rod motor 130 of flight gesture control according to unmanned aerial vehicle, so that descending platform 110 and unmanned aerial vehicle's the parallel of touchhing on the ground, ensure that unmanned aerial vehicle can be steady, safe descending is to on the descending platform 110.

Alternatively, as shown in fig. 1, the weight scale 160 is electrically connected to the controller, and the controller controls the adjustment operation of the push rod motor 130 according to the measurement result of the weight scale 160.

Under the general condition, unmanned aerial vehicle self weight can not be too big, be favorable to the posture flexibility when carrying out the task like this, and this can bring a problem again, because unmanned aerial vehicle is under the state of flight with descending platform 110 contact, unmanned aerial vehicle's wing does not stop rotating, when unmanned aerial vehicle contacts with descending platform 110, unmanned aerial vehicle applys certain pressure to descending platform 110, it is corresponding, descending platform 110 also can degree unmanned aerial vehicle and exert a reverse power, and unmanned aerial vehicle self weight is lighter, and the wing is rotatory, can produce the bounce phenomenon when descending.

When unmanned aerial vehicle and landing platform 110 contact, the check weighing instrument 160 detects the unmanned aerial vehicle and descends the impact force to each push rod motor 130 strong point when landing platform 110, the controller is connected with check weighing instrument 160 electricity, in order to obtain the impact force of each strong point that check weighing instrument 160 surveyed, the controller is according to the impact force of each strong point, carry out corresponding regulation to each push rod motor 130, in order to cushion the impact force of each strong point, so that unmanned aerial vehicle steadily descends on landing platform 110, avoid producing the bounce phenomenon.

In an implementation manner of the present invention, a fixing cone 140 for inserting ground fixing is further provided on the bottom surface of the fixing platform 120.

In the field of mountain area, ground unevenness places when subaerial when unmanned aerial vehicle landing device, and whole slope or turnover are on the ground when probably appearing rocking or descending at unmanned aerial vehicle, and moreover, open-air environment has uncertain factors such as strong wind usually, can make the unmanned aerial vehicle landing device can not stable place subaerial to tumble when leading to unmanned aerial vehicle to descend. A fixed cone 140 for inserting ground fixing is provided on the ground of the fixed platform 120, and the fixed cone 140 is fixedly connected with the ground of the fixed platform 120. The fixed cone 140 fixes the unmanned aerial vehicle landing device with ground, avoids the above-mentioned tumbling of unmanned aerial vehicle landing device because the unmanned aerial vehicle landing device does not fix and arouse.

The number and the specific arrangement position of the fixed cones 140 are not particularly limited as long as the function of fixing the unmanned aerial vehicle landing device can be achieved, and for example, four fixed cones 140 are arranged at four corners of the fixed platform 120.

The length of stationary cone 140 has also increased the level of unmanned aerial vehicle landing device to increased after unmanned aerial vehicle falls and the ground between high, avoided near flying dust of landing the inside to the damage of unmanned aerial vehicle motor.

The invention also provides a control method for landing of the unmanned aerial vehicle, as shown in fig. 2, comprising the following steps:

step 110: receiving a landing indication signal, and acquiring coordinate information of the current position of the unmanned aerial vehicle;

step 120: guiding the unmanned aerial vehicle to move from the current coordinate position to the position above the target landing position according to the target landing position in the landing indication signal;

step 130: acquiring current flight attitude information of the unmanned aerial vehicle;

step 140: acquiring the current angle of the landing platform 110, calculating the landing angle of the landing platform 110 according to the current flight attitude information of the unmanned aerial vehicle, and adjusting the current angle of the landing platform 110 to the landing angle through the movement of the push rod motor 130;

step 150: send the control panel of descending signal on giving the unmanned aerial vehicle organism.

It should be noted that the landing indication signal is sent to the controller through wireless connection for the control panel on the unmanned aerial vehicle organism, can be the landing that needs after the task execution is accomplished, also can not satisfy the landing after the operating condition, for example, unmanned aerial vehicle electric quantity exhausts, and the weather does not allow the landing indication signal that the staff sent.

After the controller receives the descending instruction signal, acquire unmanned aerial vehicle current position coordinate information through wireless connection, regard the position at controller place as the target landing position and calculate the mobile information that unmanned aerial vehicle needs to remove to send the mobile information for the control panel on the unmanned aerial vehicle organism, control panel control unmanned aerial vehicle is followed utensil mobile information and is removed to the sky of target landing position by current coordinate position.

When the unmanned aerial vehicle moves to the upper space of the target position, the controller acquires the current flight attitude information of the unmanned aerial vehicle, and the flight attitude information comprises the current flight speed, the inclination angle of the body and the position information. The controller calculates the landing angle of the unmanned aerial vehicle when contacting the landing platform 110 according to the flight attitude.

The controller obtains a current angle of the landing platform 110, calculates a difference between the current angle and the landing angle, and controls the extension and retraction of the extension and retraction end of each push rod motor 130 to eliminate the angle difference, so that the angle of the landing platform 110 is the same as the landing angle. When the angle of descending platform 110 is the same with the descending angle, the controller sends the descending signal to the control panel, and control panel control unmanned aerial vehicle descends. The angle of landing platform 110 is the same with the landing angle, that is to say the landing of unmanned aerial vehicle when descending is parallel with landing platform 110 to make unmanned aerial vehicle can be steady, safe landing to landing platform 110 on.

Optionally, as shown in fig. 2, obtaining a current angle of the landing platform 110, calculating a landing angle of the landing platform 110 according to current flight attitude information of the unmanned aerial vehicle, and adjusting the current angle of the landing platform 110 by moving the push rod motor 130 to a position after the landing angle is adjusted, further includes:

and acquiring the current angle of the landing platform 110, comparing the current angle with the landing angle, if the difference value is within the threshold range, sending a landing signal to the control board, and if not, readjusting the angle of the landing platform 110.

After the angle of the landing platform 110 is adjusted to the landing angle for the first time, the angle of the landing platform 110 is verified once to ensure that the landing platform 110 is consistent with the landing angle. And then land when unmanned aerial vehicle descends and descend platform 110 parallel to make unmanned aerial vehicle can be steady, safe descending to descending on platform 110.

Optionally, as shown in fig. 2, after adjusting the angle of the landing platform 110 in real time according to the flight attitude of the unmanned aerial vehicle to adapt the landing platform 110 to the flight attitude of the unmanned aerial vehicle, the method further includes:

step 160: the impact force when acquiring unmanned aerial vehicle and descending platform 110 contact to according to the flexible of impact force adjustment push rod motor 130.

When unmanned aerial vehicle and landing platform 110 contact, the check weighing instrument 160 detects the unmanned aerial vehicle and descends the impact force to each push rod motor 130 strong point when landing platform 110, the controller is connected with check weighing instrument 160 electricity, in order to obtain the impact force of each strong point that check weighing instrument 160 surveyed, the controller carries out corresponding regulation to each push rod motor 130 according to the impact force of each strong point, in order to cushion the impact force of each strong point, so that unmanned aerial vehicle steadily descends on landing platform 110. The bounce phenomenon is avoided.

Optionally, as shown in fig. 2, after guiding the unmanned aerial vehicle to move from the current coordinate position to above the target landing position according to the target landing position in the landing indication signal, the method further includes: the current coordinate position of the unmanned aerial vehicle and the position of the landing platform 110 are obtained, whether the unmanned aerial vehicle is located above the landing platform 110 is judged, if yes, the current flight attitude of the unmanned aerial vehicle is obtained, and if not, the unmanned aerial vehicle is guided to move to the position above the target landing position from the current coordinate position.

When unmanned aerial vehicle was located descending platform 110 top, only need be vertically up-and-down motion during the descending, the state of unmanned aerial vehicle organism is more stable. Also can not have the inertia of other directions when contacting with descending platform 110 and lead to unmanned aerial vehicle skew, can guarantee that unmanned aerial vehicle is steady, safe descending is to descending platform 110 on. When the unmanned aerial vehicle is first located the landing platform 110 sky, verify the position of unmanned aerial vehicle once to ensure that the unmanned aerial vehicle is located the sky of landing platform 110.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.