CN112814455A - Unmanned aerial vehicle storage device and unmanned aerial vehicle hangar - Google Patents
Unmanned aerial vehicle storage device and unmanned aerial vehicle hangar Download PDFInfo
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- CN112814455A CN112814455A CN202110170099.XA CN202110170099A CN112814455A CN 112814455 A CN112814455 A CN 112814455A CN 202110170099 A CN202110170099 A CN 202110170099A CN 112814455 A CN112814455 A CN 112814455A
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- unmanned aerial
- aerial vehicle
- storage device
- rotating
- clamping part
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/44—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages for storing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/005—Protective coverings for aircraft not in use
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Vehicle Step Arrangements And Article Storage (AREA)
Abstract
The invention provides an unmanned aerial vehicle storage device and an unmanned aerial vehicle hangar, which relate to the technical field of unmanned aerial vehicle parking and comprise the following components: a fixed body and a rotating member; fixed main part is formed with places the position, and rotating member has a plurality of clamping parts, and the clamping part is used for the fixed unmanned aerial vehicle that is located places the position, and rotating member configuration is for can following self axis direction and rotates to make the clamping part remove to place in the position. Through set up the clamping part on the rotating member, the rotating member rotates and makes the clamping part remove to placing in the position, the clamping part is fixed to be located behind the unmanned aerial vehicle, the rotating member rotates, the clamping part that makes to have unmanned aerial vehicle shifts out to place the position, and make the clamping part of unfixed unmanned aerial vehicle remove to placing in the position, in order to be ready for next unmanned aerial vehicle to accomodate, the unmanned aerial vehicle that exists among the prior art stops the storehouse and can only accomodate an unmanned aerial vehicle's technical problem has been alleviated.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle parking, in particular to an unmanned aerial vehicle storage device and an unmanned aerial vehicle hangar.
Background
The unmanned aircraft is called an unmanned aerial vehicle for short, and is called a UAV in english, and is an unmanned aerial vehicle operated by using a radio remote control device and a self-contained program control device, and the unmanned aerial vehicle is a general name of the unmanned aerial vehicle in reality, and can be defined as follows from the technical point of view: compared with manned aircrafts, the unmanned helicopter has the advantages of small volume, low cost and convenient use.
Unmanned aerial vehicle stops storehouse and is used for stopping falling unmanned aerial vehicle, accomodates unmanned aerial vehicle into unmanned aerial vehicle stops storehouse in, be convenient for follow-up to unmanned aerial vehicle charge, change operations such as under-deck device.
However, traditional unmanned aerial vehicle stops storehouse and can only accomodate an unmanned aerial vehicle, can't accomplish that a storehouse of stopping parks a plurality of unmanned aerial vehicles, causes the circumstances of the inefficiency of parking of unmanned aerial vehicle to appear.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle storage device and an unmanned aerial vehicle hangar, so as to solve the technical problem that only one unmanned aerial vehicle can be stored in an unmanned aerial vehicle parking bin in the prior art.
In a first aspect, the present invention provides an unmanned aerial vehicle storage device, including: a fixed body and a rotating member;
the fixed main part is formed with places the position, rotating member has a plurality of clamping parts, the clamping part is used for the fixed unmanned aerial vehicle that is located place the position, rotating member configuration is for can following self axis direction and rotates, so that the clamping part removes place in the position.
In an alternative embodiment of the method of the present invention,
the rotating member has a rotating frame;
the fixed main body is internally provided with a storage cavity, the rotating frame is arranged in the storage cavity, and the clamping parts are connected with the rotating frame.
In an alternative embodiment of the method of the present invention,
the unmanned aerial vehicle storage device further comprises a rotation driving component;
the rotation driving component is in transmission connection with the rotation frame body, and the rotation driving component is configured to be capable of driving the rotation frame body to rotate along the axis direction of the rotation frame body.
In an alternative embodiment of the method of the present invention,
the rotation driving member is mounted on the fixed body.
In an alternative embodiment of the method of the present invention,
the clamping part comprises a clamping piece and a fixed disc;
be provided with the sliding tray on the fixed disc, joint spare stretches into in the sliding tray, joint spare can along the sliding tray removes, so that joint spare is along the orientation or keep away from unmanned aerial vehicle's direction removes.
In an alternative embodiment of the method of the present invention,
the gripping portion further comprises a movement drive member;
the movable driving component is arranged on the fixed disc and is configured to drive the clamping piece to move along the sliding groove.
In an alternative embodiment of the method of the present invention,
the clamping part also comprises a rotating disk;
the rotating disc is abutted to the clamping piece, and the moving driving component is in transmission connection with the rotating disc so that the rotating disc rotates along the axis direction of the rotating disc.
In an alternative embodiment of the method of the present invention,
the outer circumference direction of the rotating disc is provided with a transmission section, and the mobile driving component is meshed with the transmission section.
In an alternative embodiment of the method of the present invention,
the clamping part further comprises a moving column;
the clamping piece is provided with a through hole, the moving column penetrates through the through hole, the rotating disc is provided with a through hole, and two ends of the moving column respectively extend into the through hole and the sliding groove.
In a second aspect, the unmanned aerial vehicle hangar provided by the invention comprises the unmanned aerial vehicle accommodating device.
The invention provides an unmanned aerial vehicle storage device, which comprises: a fixed body and a rotating member; fixed main part is formed with places the position, and rotating member has a plurality of clamping parts, and the clamping part is used for the fixed unmanned aerial vehicle that is located places the position, and rotating member configuration is for can following self axis direction and rotates to make the clamping part remove to place in the position. Through set up the clamping part on the rotating member, the rotating member rotates and makes the clamping part remove to placing in the position, the clamping part is fixed to be located behind the unmanned aerial vehicle, the rotating member rotates, the clamping part that makes to have unmanned aerial vehicle shifts out to place the position, and make the clamping part of unfixed unmanned aerial vehicle remove to placing in the position, in order to be ready for next unmanned aerial vehicle to accomodate, the unmanned aerial vehicle that exists among the prior art stops the storehouse and can only accomodate an unmanned aerial vehicle's technical problem has been alleviated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic view of an overall structure of an unmanned aerial vehicle storage device provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a fixed disk in the storage device of the unmanned aerial vehicle according to the embodiment of the present invention;
fig. 3 is a schematic structural view of a clamping portion in the storage device of the unmanned aerial vehicle according to the embodiment of the present invention.
Icon: 100-a stationary body; 200-a rotating member; 210-rotating the frame; 300-a clamping portion; 310-a clip; 320-a fixed disc; 321-a sliding groove; 330-moving the driving member; 340-rotating the disc; 341-a transmission section; 342-a through-hole; 350-moving the column; 400-rotating the drive member.
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.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, 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", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but 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; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
As shown in fig. 1, the unmanned aerial vehicle storage device that this embodiment provided includes: the fixed body 100 and the rotating member 200; fixed main part 100 is formed with places the position, and rotating member 200 has a plurality of clamping parts 300, and clamping part 300 is used for the fixed unmanned aerial vehicle that is located and places the position, and rotating member 200 configures to can follow self axis direction and rotate to make clamping part 300 remove to place in the position.
Specifically, fixed main part 100 has the opening, the opening forms places the position, it makes in all fixed main part 100 to accomodate when unmanned aerial vehicle needs, unmanned aerial vehicle hovers and places the position department, utilize clamping part 300 on the rotating member 200 to clip unmanned aerial vehicle, fix unmanned aerial vehicle, rotating member 200 rotates along self axis, make the clamping part 300 of fixing unmanned aerial vehicle keep away from and place the position, accomodate unmanned aerial vehicle into fixed main part 100 in, and simultaneously, the clamping part 300 of unfixed unmanned aerial vehicle moves to placing the position department, in order to be equipped with accomodating of next unmanned aerial vehicle, repeat above operation, can accomodate a plurality of unmanned aerial vehicles in fixed main part 100.
The unmanned aerial vehicle storage device that this embodiment provided includes: the fixed body 100 and the rotating member 200; fixed main part 100 is formed with places the position, and rotating member 200 has a plurality of clamping parts 300, and clamping part 300 is used for the fixed unmanned aerial vehicle that is located and places the position, and rotating member 200 configures to can follow self axis direction and rotate to make clamping part 300 remove to place in the position. Through set up clamping part 300 on rotating member 200, rotating member 200 rotates and makes clamping part 300 remove to place in the position, clamping part 300 fixes and is located the unmanned aerial vehicle back, rotating member 200 rotates, make the clamping part 300 that has unmanned aerial vehicle shift out and place the position, and make the clamping part 300 of not fixed unmanned aerial vehicle remove to place in the position, in order to be ready for next unmanned aerial vehicle accomodate, the unmanned aerial vehicle that exists among the prior art stops the storehouse and can only accomodate an unmanned aerial vehicle's technical problem has been alleviated.
On the basis of the above embodiment, in an optional implementation manner, the rotating member 200 in the unmanned aerial vehicle storage device provided by the present embodiment has a rotating frame 210; the fixed body 100 has a storage cavity therein, the rotating frame 210 is disposed in the storage cavity, and the plurality of clamping portions 300 are connected to the rotating frame 210.
Specifically, the fixed body 100 has a storage cavity therein, the rotating frame 210 is mounted in the storage cavity, the plurality of clamping parts 300 are mounted on the rotating frame 210, and the position of the clamping parts 300 is adjusted by the rotation of the rotating frame 210.
For example, the rotating frame 210 is specifically a square frame, the four clamping portions 300 are provided on the four outer circumferential surfaces of the square frame, the four clamping portions 300 accommodate four drones, the rotating frame 210 may also be a regular hexagonal frame, the clamping portions 300 are provided on the six outer circumferential surfaces of the regular hexagonal frame, the six clamping portions 300 accommodate six drones, the specific shape and structure of the rotating frame 210 may be selected according to the size of the fixing body 100 and the size of the drones, and the rotating frame is not limited to a square or a regular hexagon.
In an alternative embodiment, the drone stowing apparatus further comprises a rotational drive member 400; the rotation driving member 400 is in transmission connection with the rotation frame 210, and the rotation driving member 400 is configured to drive the rotation frame 210 to rotate along the axis direction thereof.
Specifically, the rotation driving member 400 may be configured as a rotation motor, and a driving end of the rotation driving member 400 is in transmission connection with the rotation frame 210 to drive the rotation frame 210 to rotate around its axis direction.
A transmission member is arranged between the rotation driving member 400 and the rotation frame 210, the transmission member can be set as a transmission rod, one end of the transmission rod is in transmission connection with the driving end of the rotation driving member 400, the other end of the transmission rod is connected with the rotation frame 210, the transmission member can also be a gear and a rack, the driving end of the rotation driving member 400 is provided with the gear, the rotation frame 210 is provided with the rack, and the gear is in meshing connection with the rack to transmit the rotation driving force of the rotation driving member 400 to the rotation frame 210.
In an alternative embodiment, the rotational driving member 400 is mounted on the stationary body 100.
Specifically, the side wall of the fixing body 100 has a mounting plate, and the rotary driving member 400 is mounted to the mounting plate of the fixing body 100 by bolts to fix the rotary driving member 400.
The unmanned aerial vehicle storage device that this embodiment provided, through set up in fixed main part 100 and rotate framework 210, rotate drive member 400 and drive and rotate framework 210 and rotate, and then adjust the position of clamping part 300, be convenient for accomodate a plurality of unmanned aerial vehicles in fixed main part 100.
On the basis of the above embodiment, as shown in fig. 2, in an alternative implementation, the clamping portion 300 in the unmanned aerial vehicle storage device provided in this embodiment includes a clamping piece 310 and a fixing disc 320; be provided with the sliding tray 321 on the fixed disc 320, in joint 310 stretched into sliding tray 321, joint 310 can remove along sliding tray 321 to make joint 310 remove along the orientation or the direction of keeping away from unmanned aerial vehicle.
Specifically, joint spare 310 is provided with a plurality ofly, sets up a plurality of sliding tray 321 on the fixed disc 320, and a plurality of joint spare 310 and a plurality of sliding tray 321 one-to-one set up, and every joint spare 310 all removes along every sliding tray 321, and a plurality of joint spare 310 are close to or keep away from in step, realizes the centre gripping or relaxing to unmanned aerial vehicle.
In an alternative embodiment, the clamp 300 further comprises a movement driving member 330; the movable driving member 330 is disposed on the fixed disk 320, and the movable driving member 330 is configured to drive the clamping member 310 to move along the sliding slot 321.
Specifically, be provided with the motor mount pad on fixed disc 320, remove drive component 330 and install on the motor mount pad, remove drive component 330 and drive a plurality of joint spare 310 along sliding tray 321 synchronous motion, with the unmanned aerial vehicle centre gripping or relax.
As shown in fig. 3, in an alternative embodiment, the clamping portion 300 further comprises a rotating disk 340; the rotating disk 340 abuts against the engaging member 310, and the movable driving member 330 is drivingly connected to the rotating disk 340 to rotate the rotating disk 340 in the axial direction thereof.
Specifically, the rotating disc 340 is disposed above the fixed disc 320, and the rotating force generated by the movable driving member 330 is transmitted to the rotating disc 340 to drive the rotating disc 340 to rotate along the axis direction thereof, so as to drive the plurality of engaging members 310 to synchronously move along the respective sliding grooves 321 during the rotation of the rotating disc 340.
In an alternative embodiment, the rotating disk 340 is provided with a transmission section 341 in the outer circumferential direction, and the movable driving member 330 is engaged with the transmission section 341.
Specifically, the transmission section 341 is a rack, a gear is mounted at the driving end of the mobile driving member 330, the gear and the driving end of the mobile driving member 330 rotate together, the gear is meshed with the rack and is connected with the rack, the rotation of the driving end of the mobile driving member 330 drives the rotation disc 340 to rotate along the axial direction of the rotation disc 340, in addition, in the process of integrally forming the rotation disc 340, a tooth-shaped structure can be formed on the outer circumference of the rotation disc 340 to form the transmission section 341, namely, the transmission section 341 and the rotation disc 340 are of an integrally formed structure, so that the manufacture is more convenient and the manufacture efficiency is higher.
In an alternative embodiment, the clamp 300 further comprises a moving post 350; the clamping member 310 is provided with a through hole, the movable column 350 passes through the through hole, the rotating disc 340 is provided with a through hole 342, and two ends of the movable column 350 respectively extend into the through hole 342 and the sliding groove 321.
Specifically, set up rectangular shape through hole 342 on rotating disc 340, set up the through-hole on joint spare 310, remove post 350 and pass the through-hole, and the both ends of removing post 350 stretch into through hole 342 and sliding tray 321 respectively, at rotating disc 340 pivoted in-process, remove post 350 along rectangular shape through hole 342 removal, the removal of removing post 350 drives joint spare 310 and is close to or keeps away from each other in step, realize joint spare 310 centre gripping or relax unmanned aerial vehicle, accomodate unmanned aerial vehicle.
It should be noted that each clamping member 310 all is provided with the removal post 350, and clamping member 310, removal post 350, rectangular shape through hole 342, the quantity one-to-one setting of sliding tray 321 guarantee that when rotating disc 340 rotated, every removed post 350 all removed along respective rectangular shape through hole 342, and every clamping member 310 was close to or was kept away from in step, realized the centre gripping to unmanned aerial vehicle or relaxed.
The unmanned aerial vehicle storage device that this embodiment provided, through the setting of rotating disc 340, rotating disc 340 pivoted in-process drives joint piece 310 and removes, makes joint piece 310 remove along sliding tray 321 and rectangular shape through hole 342, and a plurality of joint pieces 310 synchronous motion realizes the centre gripping and relaxing to unmanned aerial vehicle.
The unmanned aerial vehicle hangar that this embodiment provided includes unmanned aerial vehicle storage device.
Because the technological effect of the unmanned aerial vehicle hangar that this embodiment provided is the same with the technological effect of the unmanned aerial vehicle storage device that above-mentioned embodiment provided, no longer give consideration to here.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle storage device which characterized in that includes: a fixed body (100) and a rotating member (200);
fixed main part (100) are formed with and place the position, rotating member (200) have a plurality of clamping part (300), clamping part (300) are used for fixed being located place the unmanned aerial vehicle in the position, rotating member (200) configuration is configured to can follow self axis direction and rotate, so that clamping part (300) move to place in the position.
2. The unmanned aerial vehicle storage device of claim 1,
the rotating member (200) has a rotating frame (210);
the fixed main body (100) is provided with a storage cavity therein, the rotating frame (210) is arranged in the storage cavity, and the plurality of clamping parts (300) are connected with the rotating frame (210).
3. The unmanned aerial vehicle storage device of claim 2,
the unmanned aerial vehicle housing apparatus further comprises a rotational drive member (400);
the rotation driving component (400) is in transmission connection with the rotation frame body (210), and the rotation driving component (400) is configured to drive the rotation frame body (210) to rotate along the axis direction of the rotation driving component.
4. The unmanned aerial vehicle storage device of claim 3,
the rotation driving member (400) is mounted on the fixed body (100).
5. The unmanned aerial vehicle storage device of claim 2,
the clamping part (300) comprises a clamping piece (310) and a fixed disc (320);
be provided with sliding tray (321) on fixed disc (320), joint spare (310) stretch into in sliding tray (321), joint spare (310) can along sliding tray (321) remove, so that joint spare (310) are along the orientation or keep away from unmanned aerial vehicle's direction removes.
6. The unmanned aerial vehicle storage device of claim 5,
the gripping portion (300) further comprises a movement driving member (330);
the moving driving component (330) is arranged on the fixed disc (320), and the moving driving component (330) is configured to drive the clamping piece (310) to move along the sliding groove (321).
7. The unmanned aerial vehicle storage device of claim 6,
the clamping part (300) further comprises a rotating disc (340);
the rotating disc (340) is abutted to the clamping piece (310), and the moving driving component (330) is in transmission connection with the rotating disc (340) so that the rotating disc (340) rotates along the axis direction of the rotating disc.
8. The unmanned aerial vehicle storage device of claim 7,
the outer circumference direction of the rotating disc (340) is provided with a transmission section (341), and the mobile driving component (330) is meshed with the transmission section (341).
9. The unmanned aerial vehicle storage device of claim 7,
the clamping portion (300) further comprises a moving post (350);
the clamping piece (310) is provided with a through hole, the movable column (350) penetrates through the through hole, a through hole (342) is formed in the rotating disc (340), and two ends of the movable column (350) extend into the through hole (342) and the sliding groove (321) respectively.
10. An unmanned aerial vehicle hangar comprising the unmanned aerial vehicle storage apparatus of any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110170099.XA CN112814455A (en) | 2021-02-07 | 2021-02-07 | Unmanned aerial vehicle storage device and unmanned aerial vehicle hangar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110170099.XA CN112814455A (en) | 2021-02-07 | 2021-02-07 | Unmanned aerial vehicle storage device and unmanned aerial vehicle hangar |
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| Publication Number | Publication Date |
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| CN112814455A true CN112814455A (en) | 2021-05-18 |
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| CN202110170099.XA Pending CN112814455A (en) | 2021-02-07 | 2021-02-07 | Unmanned aerial vehicle storage device and unmanned aerial vehicle hangar |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117093020A (en) * | 2023-10-08 | 2023-11-21 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle centering device, centering control method, computer device and storage medium |
-
2021
- 2021-02-07 CN CN202110170099.XA patent/CN112814455A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117093020A (en) * | 2023-10-08 | 2023-11-21 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle centering device, centering control method, computer device and storage medium |
| CN117093020B (en) * | 2023-10-08 | 2024-01-23 | 天津云圣智能科技有限责任公司 | Unmanned aerial vehicle centering device, centering control method, computer device and storage medium |
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