Anti-swing control system and method for hanging of multi-quad-rotor unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an anti-swing control system and method for hanging a multi-quad-rotor unmanned aerial vehicle, and the system comprises a multi-quad-rotor unmanned aerial vehicle body, the multi-quad-rotor unmanned aerial vehicle body comprises a leading unmanned aerial vehicle and an adjusting unmanned aerial vehicle, and the bottom of the leading unmanned aerial vehicle and the bottom of the adjusting unmanned aerial vehicle are connected with hanging ropes. The tail ends of the two hanging ropes are connected to the same hanging ring; a control box is fixedly mounted on the adjusting unmanned aerial vehicle, and a control system main body is arranged in the control box; mounting holes are formed in the two opposite ends of the control box, and heat dissipation mechanisms are arranged in the two mounting holes. The inclination angle of the unmanned aerial vehicle in the hanging process is detected and adjusted through the angle inclination sensor, the angle of the unmanned aerial vehicle is corrected through the correction module after the information of the angle inclination sensor is received through the central processing unit, and the hanging angle of the unmanned aerial vehicle is controlled and adjusted through the attitude controller. Therefore, the effect of conveniently controlling the swing correction angle in the hanging process of the multi-quad-rotor unmanned aerial vehicle is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an anti-sway control system and method for hanging multi-quadrotor UAVs. Background Art

[0002] Quadrotors have a simple and reliable structure, are agile in movement, and highly maneuverable. They have significant advantages in low-speed hovering, vertical take-off and landing, and fixed-point delivery. Therefore, in recent years, quadrotors have been widely used in military and civilian fields, such as aerial photography, search and rescue, and material delivery. When quadrotors are transporting cargo, the cargo is generally hung under the quadrotor by ropes. The cargo, ropes, and quadrotor together constitute a quadrotor hanging system. The quadrotor hanging method can reduce the inertia of the quadrotor body, thereby ensuring the rapidity of the quadrotor attitude change. Therefore, drone hanging has significant advantages in material transportation and material delivery. In recent years, research on quadrotor hanging systems has received widespread attention from researchers at home and abroad.

[0003] In actual applications, the suspended heavy objects will swing under the influence of external disturbances or drone acceleration, and the swing of the suspended heavy objects will affect the stability of the quadcopter drone's suspension system. In order to improve the stability of the system, suppressing or eliminating the swing of the suspended heavy objects has received widespread attention. In the transportation of dangerous goods such as fragile, flammable and explosive materials, anti-sway control of the suspended heavy objects is particularly important. At the same time, the heat dissipation structure of the control device of the quadcopter drone cannot be adjusted during the suspension process, and the position and distribution of the heat dissipation holes cannot be changed. When the surrounding air is humid, the inside of the device is easily damp, affecting its use. Summary of the Invention

[0004] The purpose of the present invention is to provide an anti-sway control system and method for hanging a multi-quadrotor UAV to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above-mentioned objectives, the present invention provides an anti-sway control system for hanging a multi-quadrotor UAV, comprising a multi-quadrotor UAV main body, wherein the multi-quadrotor UAV main body comprises a leading UAV and an adjustment UAV, the bottoms of the leading UAV and the adjustment UAV are both connected to a hanging rope, and the ends of the two hanging ropes are connected to the same hanging ring; a control box is fixedly installed on the adjustment UAV, and a control system main body is arranged inside the control box, and the control system main body is used to control the sway correction angle of the multi-quadrotor UAV main body during the hanging process; mounting holes are provided at opposite ends of the control box, and heat dissipation mechanisms are provided in the two mounting holes.

[0006] Preferably, the heat dissipation mechanism includes a fixing ring, the top end of the fixing ring is fixedly connected to a connecting plate, and the fixing ring is fixedly mounted on the inner wall of the mounting hole through the connecting plate; a shielding assembly is provided on the fixing ring, one end of the shielding assembly is fixedly connected to the connecting plate, and the shielding assembly is used to adjust the opening size of the mounting hole, and the opening area of ​​the mounting hole forms a heat dissipation hole.

[0007] Preferably, the shielding assembly includes a movable plate, both ends of the movable plate are fixedly connected with sliders, and the two ends of the movable plate are slidingly engaged with the inner wall of the mounting hole and the fixed ring through the sliders; the inner side of the fixed ring is coaxially sleeved with a fixing column, the top and bottom ends of the fixing column are fixedly connected with a fixing block, and the fixing block is fixedly connected to the fixing ring; a plurality of connecting parts are slidably installed on the fixing ring, and the connecting parts are all located on the same side of the two fixed blocks, and a shielding cloth is laid on the connecting parts, and the two ends of the shielding cloth are fixedly connected to the connecting plate and the movable plate respectively.

[0008] Preferably, the connecting member includes a first sliding bead slidably arranged between the fixing ring and the fixing column, a spoke extending to the outside of the fixing ring is fixedly installed on one side of the first sliding bead, and a second sliding bead is fixedly installed on the end of the spoke, and the second sliding bead is slidably arranged in the hole wall of the mounting hole; the shielding cloth is fixedly laid on multiple spokes.

[0009] Preferably, a first sliding groove for the spoke to pass through is provided on the ring body of the fixing ring, a second sliding groove is provided on the side of the fixing ring away from the fixing column, and the slider at one end of the movable plate is slidably connected in the second sliding groove; a third sliding groove is provided on the hole wall of the mounting hole, and the second sliding ball and the slider at the other end of the movable plate are both slidably installed in the third sliding groove.

[0010] Preferably, a control box is fixedly installed on the leading UAV, and a GPS positioning module, a navigation module and a control module are arranged inside the control box; the GPS positioning module is used to locate the flight position of the multi-quadrotor UAV body in real time; the navigation module is used to control the flight trajectory of the multi-quadrotor UAV body; and the control module is used to control the overall state of the leading UAV.

[0011] Preferably, the control system body includes a perception layer, a decision layer and an execution layer, the perception layer is used to detect the position and posture of the adjusted drone, the decision layer is used to generate control instructions according to the position and posture, and the execution layer is used to receive the control instructions and perform corresponding operations according to the control instructions.

[0012] Preferably, the perception layer includes an angle and tilt sensor, a GPS positioning module, a temperature and humidity sensor, and a hanging load sensor. The angle and tilt sensor is used to detect the tilt angle of the adjustment drone and the hanging object in real time. The GPS positioning module is used to provide location information of the adjustment drone. The temperature and humidity sensor is used to monitor environmental parameters and trigger heat dissipation adjustment. The hanging load sensor is used to detect changes in load weight to assist in sway prediction.

[0013] The decision layer includes a central processing unit (CPU), a sway prediction model, a correction module, and a heat dissipation control module. The CPU is used to integrate sensor data and coordinate the operation of various modules. The sway prediction model is used to predict sway trends based on historical data and load status. The correction module is used to generate anti-sway control instructions. The heat dissipation control module is used to dynamically adjust the area of ​​the heat dissipation holes according to environmental data.

[0014] The execution layer includes a posture controller, a motor drive module and a heat dissipation actuator. The posture controller is used to adjust the motor speed of the drone to stabilize the posture. The motor drive module is used to execute specific control instructions. The heat dissipation actuator is used to dynamically adjust the opening and closing degree of the heat dissipation holes.

[0015] A method for controlling the anti-sway of a multi-quadrotor UAV is provided, based on the anti-sway control system for the multi-quadrotor UAV, and specifically comprises the following steps:

[0016] Step 1: Pull the movable plate to move the shielding cloth. The shielding cloth adjusts the heat dissipation hole area to a suitable position through the cooperation between the iron wire, the first sliding bead, and the second sliding bead.

[0017] Step 2: Enter the flight trajectory of the lead drone and hang the object on the ring. Then fly the object by the lead drone and the adjustment drone.

[0018] Step 3: Obtain the tilt angle information during the adjustment of the drone's suspension through the angle tilt sensor and transmit the tilt angle information to the central processor;

[0019] Step 4: After receiving the tilt angle information through the central processing unit, the correction module performs angle correction on the adjustment drone, and then the attitude information of the adjustment drone during the angle correction process is transmitted to the attitude controller;

[0020] Step 5: Based on the attitude information, the attitude controller is used to control and adjust the hanging angle of the drone so that the drone is adjusted to the correct horizontal angle.

[0021] Compared with the prior art, the present invention has the following advantages and technical effects:

[0022] 1. The present invention realizes dynamic balance through the coordinated work of the leading UAV and the adjusting UAV, combined with intelligent algorithms, introduces environmental sensors (temperature and humidity sensors) and intelligent adjustment algorithms, dynamically adjusts the area of ​​the heat dissipation holes, uses machine learning models to predict the swing trend of the hanging objects, and performs angle correction in advance. The control system is divided into the perception layer, decision-making layer and execution layer to facilitate function expansion and maintenance.

[0023] 2. The anti-sway control system for hanging a multi-quadrotor UAV provided by the present invention is provided with an angle tilt sensor. The angle tilt sensor detects the tilt angle during the hanging process of the UAV and transmits it to the central processing unit. After receiving the information, the central processing unit corrects the angle of the UAV through the correction module and then transmits it to the attitude controller. The attitude controller controls the hanging angle of the UAV, thereby facilitating the control of the sway correction angle during the hanging process of the multi-quadrotor UAV.

[0024] 3. The present invention sets a shielding cloth. When it is necessary to adjust the area of ​​the heat dissipation hole, the movable plate is first pulled to drive the shielding cloth to move. The shielding cloth is movable through the cooperation between the iron wire, the first sliding bead and the second sliding bead. The area of ​​the heat dissipation hole is controlled by controlling the shielding area of ​​the shielding cloth, thereby facilitating the adjustment of the area of ​​the heat dissipation hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 A schematic diagram of the structure of the UAV adjusted for the present invention;

[0027] Figure 2 This is a schematic diagram of the hanging of a multi-quadrotor UAV of the present invention;

[0028] Figure 3 is a cross-sectional schematic diagram of the heat dissipation mechanism of the present invention;

[0029] Figure 4 Schematic diagram of the local heat dissipation mechanism of the present invention;

[0030] Figure 5 This is a schematic diagram of the main body of the control system of the present invention;

[0031] Figure 6 This is a flow chart of the control system of the present invention;

[0032] In the figure: 1. Multi-quadrotor drone body; 101. Leading drone; 102. Adjusting drone; 103. Hanging rope; 104. Hanging ring; 2. Control box; 3. Control system body; 301. Perception layer; 302. Decision layer; 303. Execution layer; 4. Heat dissipation mechanism; 401. Fixed column; 402. Fixed ring; 403. Fixed block; 404. Connecting plate; 405. Movable plate; 406. Slider; 407. First slide bead; 408. Spoke; 409. Second slide bead; 410. Shielding cloth; 5. Mounting hole; 6. Heat dissipation hole. DETAILED DESCRIPTION

[0033] It should be noted that, unless there is a conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other. The embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0034] like Figures 1 to 5 As shown, the present invention provides an anti-sway control system for hanging a multi-quadrotor UAV, including a multi-quadrotor UAV body 1, the multi-quadrotor UAV body 1 including a leading UAV 101 and an adjustment UAV 102, the bottoms of the leading UAV 101 and the adjustment UAV 102 are connected with a hanging rope 103, and the ends of the two hanging ropes 103 are connected to the same hanging ring 104; a control box 2 is fixedly installed on the adjustment UAV 102, and a control system body 3 is arranged inside the control box 2, and the control system body 3 is used to control the sway correction angle of the multi-quadrotor UAV body 1 during the hanging process; mounting holes 5 are opened at opposite ends of the control box 2, and heat dissipation mechanisms 4 are arranged in the two mounting holes 5.

[0035] A further optimized solution is provided, in which the heat dissipation mechanism 4 includes a fixing ring 402, the top of which is fixedly connected to a connecting plate 404, and the fixing ring 402 is fixedly mounted on the inner wall of the mounting hole 5 through the connecting plate 404; a shielding component is provided on the fixing ring 402, one end of the shielding component is fixedly connected to the connecting plate 404, and the shielding component is used to adjust the opening size of the mounting hole 5, and the opening area of ​​the mounting hole 5 forms a heat dissipation hole 6.

[0036] To further optimize the solution, the shielding assembly includes a movable plate 405, both ends of which are fixedly connected with sliders 406, and the two ends of the movable plate 405 are slidingly matched with the inner wall of the mounting hole 5 and the fixed ring 402 through the sliders 406; the inner side of the fixed ring 402 is coaxially sleeved with a fixed column 401, the top and bottom ends of the fixed column 401 are fixedly connected with fixed blocks 403, and the fixed block 403 is fixedly connected to the fixed ring 402; a plurality of connecting parts are slidably installed on the fixed ring 402, and the connecting parts are all located on the same side of the two fixed blocks 403, and a shielding cloth 410 is laid on the connecting parts, and the two ends of the shielding cloth 410 are fixedly connected to the connecting plate 404 and the movable plate 405 respectively.

[0037] A further optimized solution is that the connecting part includes a first sliding bead 407 slidably set between the fixing ring 402 and the fixing column 401, and a spoke 408 extending to the outside of the fixing ring 402 is fixedly installed on one side of the first sliding bead 407, and a second sliding bead 409 is fixedly installed on the end of the spoke 408, and the second sliding bead 409 is slidably set in the hole wall of the mounting hole 5; the shielding cloth 410 is fixedly laid on the multiple spokes 408.

[0038] To further optimize the solution, a first sliding groove for the spoke 408 to pass through is provided on the ring body of the fixed ring 402, a second sliding groove is provided on the side of the fixed ring 402 away from the fixed column 401, and the slider 406 at one end of the movable plate 405 is slidably connected in the second sliding groove; a third sliding groove is provided on the hole wall of the mounting hole 5, and the second sliding ball 409 and the slider 406 at the other end of the movable plate 405 are both slidably installed in the third sliding groove.

[0039] In a further optimized solution, the spokes 408 are made of iron wire.

[0040] To further optimize the solution, a control box 2 is fixedly installed on the leading drone 101, and a GPS positioning module, a navigation module and a control module are arranged inside the control box 2; the GPS positioning module is used to locate the flight position of the multi-quadrotor drone body 1 in real time; the navigation module is used to control the flight trajectory of the multi-quadrotor drone body 1; and the control module is used to control the overall state of the leading drone 101.

[0041] The flight trajectory of the leading UAV 101 is set for hanging transportation, and the leading UAV 101 can be positioned in real time to prevent its flight trajectory from deviating from the route.

[0042] To further optimize the solution, the control system body 3 includes a perception layer 301, a decision layer 302 and an execution layer 303. The perception layer 301 is used to detect and adjust the position and posture of the drone 102, the decision layer 302 is used to generate control instructions according to the position and posture, and the execution layer 303 is used to receive control instructions and perform corresponding operations according to the control instructions.

[0043] To further optimize the solution, the perception layer 301 includes an angle and tilt sensor, a GPS positioning module, a temperature and humidity sensor, and a hanging load sensor. The angle and tilt sensor is used to detect and adjust the tilt angle of the drone 102 and the hanging object in real time. The GPS positioning module is used to provide location information for adjusting the drone 102. The temperature and humidity sensor is used to monitor environmental parameters and trigger heat dissipation adjustment. The hanging load sensor is used to detect changes in load weight and assist in sway prediction.

[0044] The decision layer 302 includes a central processing unit (CPU), a sway prediction model, a correction module, and a heat dissipation control module. The CPU is used to integrate sensor data and coordinate the operation of various modules. The sway prediction model is used to predict sway trends based on historical data and load conditions. The correction module is used to generate anti-sway control instructions. The heat dissipation control module is used to dynamically adjust the area of ​​the heat dissipation holes 6 based on environmental data.

[0045] The execution layer 303 includes a posture controller, a motor drive module and a heat dissipation actuator. The posture controller is used to adjust the motor speed of the drone 102 to stabilize the posture. The motor drive module is used to execute specific control instructions. The heat dissipation actuator is used to dynamically adjust the opening and closing degree of the heat dissipation hole 6.

[0046] The attitude sensor is based on a three-axis gyroscope and a three-axis accelerometer to obtain temperature-compensated three-dimensional attitude and orientation data. It uses a quaternion-based three-dimensional algorithm and special data fusion technology to output zero-drift three-dimensional attitude and orientation data represented by quaternions and Euler angles in real time. The attitude sensor uses high-resolution differential and built-in automatic compensation and filtering algorithms to minimize errors caused by environmental changes, convert changes in the static gravity field into changes in inclination, and directly output the current roll and pitch angles digitally.

[0047] The tilt angle of the UAV 102 during the hanging process is detected by the angle tilt sensor and transmitted to the central processing unit. After receiving the information, the central processing unit performs angle correction on the UAV 102 through the correction module, and then transmits it to the attitude controller. The attitude controller controls the hanging angle of the UAV 102, thereby realizing the function of facilitating the control of the swing correction angle of the multi-quadrotor UAV body 1 during the hanging process.

[0048] Among them, the anti-sway control algorithm (based on PID + dynamic compensation):

[0049] enter:

[0050] θ(t): The tilt angle of the hanging object at the current moment (from the angle tilt sensor);

[0051] ω(t): angular velocity of the hanging object (calculated by differential θ(t));

[0052] θd=0: target angle (horizontal state).

[0053] PID control output:

[0054] uPID(t)=K p ·θ(t)+K i ·∫0tθ(τ)dτ+K d ·dθ(t) / dt.

[0055] in:

[0056] K p , K i , K d It is a PID control parameter and needs to be adjusted according to the UAV dynamics.

[0057] Dynamic compensation term (suppressing swing):

[0058] u comp (t) = -K c ·ω(t),(K c is the compensation gain, used to suppress the swing inertia).

[0059] Final control signal:

[0060] u(t)=uPID(t)+u comp (t), (output to the attitude controller to adjust the motor speed).

[0061] In the case implementation, the central processor is used to integrate sensor data and coordinate the operation of various modules. The swing prediction model predicts the swing trend based on historical data and load status. The correction module is used to generate anti-sway control instructions. The heat dissipation control algorithm dynamically adjusts the heat dissipation hole area based on environmental data.

[0062] Among them, the adaptive heat dissipation control algorithm is as follows:

[0063] enter:

[0064] T(t): current temperature (from temperature and humidity sensor);

[0065] H(t): current humidity (from temperature and humidity sensor);

[0066] S max : Maximum opening and closing area of ​​the heat dissipation hole.

[0067] Cooling demand index:

[0068] D(t)=α·T(t) / T max +β·H(t) / H max ;

[0069] (α, β are weight coefficients, T max , H max is the threshold).

[0070] Heat dissipation hole opening and closing area:

[0071] S(t)=S max tanh(D(t));

[0072] (Use the hyperbolic tangent function tanh to limit the opening and closing range to [0, Smax]).

[0073] Actuator control:

[0074] If S(t)>S current , then increase the heat dissipation hole; otherwise reduce it.

[0075] In the case implementation, the attitude controller is used to adjust the motor speed of the drone 102 to stabilize the attitude, the motor drive module is used to execute specific motor control instructions, and the heat dissipation actuator adjusts the opening and closing degree of the heat dissipation hole 6 through the movable plate 405;

[0076] The coordinated control strategy of the leading UAV 101 and the adjusting UAV 102 is:

[0077] u master (t) = u nav (t) (the lead UAV is responsible for navigation);

[0078] u adjust( t)=u(t)+γ·(u master (t)-u adjust (t));

[0079] (γ is the coordination coefficient, which ensures that the slave follows the master's trajectory).

[0080] A method for controlling the anti-sway of a multi-quadrotor UAV is provided, based on the anti-sway control system for the multi-quadrotor UAV, and specifically comprises the following steps:

[0081] Step 1: Pull the movable plate 405 to move the shielding cloth 410. The shielding cloth 410 can be moved to adjust the area of ​​the heat dissipation hole 6 to a suitable position through the cooperation between the iron wire, the first sliding bead 407, and the second sliding bead 409.

[0082] Step 2: Input the flight trajectory of the lead drone 101 and hang the object on the ring 104. The lead drone 101 and the adjustment drone 102 will fly with the object hanging.

[0083] Step 3: Obtaining tilt angle information during the adjustment of the drone 102 suspension process through the tilt sensor, and transmitting the tilt angle information to the central processor;

[0084] Step 4: After receiving the tilt angle information through the central processing unit, the correction module performs angle correction on the adjustment drone 102, and then the attitude information of the adjustment drone 102 during the angle correction process is transmitted to the attitude controller;

[0085] Step 5: Based on the attitude information, the attitude controller is used to control the adjustment of the hanging angle of the UAV 102 so that the UAV 102 is adjusted to a correct horizontal angle.

[0086] The present invention sets a shielding cloth 410. When the area of ​​the heat dissipation hole needs to be adjusted, the movable plate 405 is first pulled to drive the shielding cloth 410 to move. The shielding cloth 410 is movable through the cooperation between the iron wire, the first sliding bead 407, and the second sliding bead 409. The area of ​​the heat dissipation hole 6 is controlled by controlling the shielding area of ​​the shielding cloth 410, thereby facilitating the adjustment of the area of ​​the heat dissipation hole 6.

[0087] In addition, by setting up an angle tilt sensor, the tilt angle of the adjustment drone 102 during the hanging process is detected by the angle tilt sensor and transmitted to the central processing unit. After receiving the information, the central processing unit performs angle correction on the adjustment drone 102 through the correction module, and then transmits it to the attitude controller. The attitude controller controls the adjustment hanging angle of the adjustment drone 102, thereby realizing the function of facilitating the control of the swing correction angle of the multi-quadrotor drone body 1 during the hanging process.

[0088] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. An anti-sway control system for hanging a multi-quadrotor UAV, comprising a multi-quadrotor UAV body (1), characterized in that: The multi-quadrotor drone body (1) comprises a leading drone (101) and an adjusting drone (102); the bottoms of the leading drone (101) and the adjusting drone (102) are both connected to a hanging rope (103); the ends of the two hanging ropes (103) are connected to the same hanging ring (104); a control box (2) is fixedly mounted on the adjusting drone (102); a control system body (3) is provided inside the control box (2); the control system body (3) is used to control the swing correction angle of the multi-quadrotor drone body (1) during the hanging process; mounting holes (5) are provided at opposite ends of the control box (2), and a heat dissipation mechanism (4) is provided in the two mounting holes (5).

2. The anti-sway control system for hanging a multi-quadrotor UAV according to claim 1, characterized in that: The heat dissipation mechanism (4) comprises a fixing ring (402), the top end of the fixing ring (402) is fixedly connected to a connecting plate (404), and the fixing ring (402) is fixedly mounted on the inner wall of the mounting hole (5) via the connecting plate (404); a shielding assembly is provided on the fixing ring (402), one end of the shielding assembly is fixedly connected to the connecting plate (404), and the shielding assembly is used to adjust the opening size of the mounting hole (5), and the opening area of ​​the mounting hole (5) forms a heat dissipation hole (6).

3. The anti-sway control system for hanging a multi-quadrotor UAV according to claim 2, characterized in that: The shielding assembly comprises a movable plate (405), both ends of the movable plate (405) are fixedly connected with sliders (406), and the two ends of the movable plate (405) are respectively slidably matched with the inner wall of the mounting hole (5) and the fixed ring (402) through the sliders (406); a fixed column (401) is coaxially sleeved on the inner side of the fixed ring (402), and the top and bottom ends of the fixed column (401) are fixedly connected with fixed blocks (403), and the fixed blocks (403) are fixedly connected to the fixed ring (402); a plurality of connecting members are slidably mounted on the fixed ring (402), and the connecting members are all located on the same side of the two fixed blocks (403), and a shielding cloth (410) is laid on the connecting member, and the two ends of the shielding cloth (410) are respectively fixedly connected to the connecting plate (404) and the movable plate (405).

4. The anti-sway control system for hanging a multi-quadrotor UAV according to claim 3, characterized in that: The connecting member includes a first sliding bead (407) slidably arranged between the fixing ring (402) and the fixing column (401); a spoke (408) extending to the outside of the fixing ring (402) is fixedly installed on one side of the first sliding bead (407); a second sliding bead (409) is fixedly installed at the end of the spoke (408); the second sliding bead (409) is slidably arranged in the hole wall of the mounting hole (5); and the shielding cloth (410) is fixedly laid on a plurality of the spokes (408).

5. The anti-sway control system for hanging a multi-quadrotor UAV according to claim 4, characterized in that: A first sliding groove for the spoke (408) to pass through is provided on the ring body of the fixing ring (402), a second sliding groove is provided on the side of the fixing ring (402) away from the fixing column (401), and the slider (406) at one end of the movable plate (405) is slidably connected in the second sliding groove; a third sliding groove is provided on the hole wall of the mounting hole (5), and the second sliding ball (409) and the slider (406) at the other end of the movable plate (405) are both slidably installed in the third sliding groove.

6. The anti-sway control system for hanging a multi-quadrotor UAV according to claim 1, characterized in that: A control box (2) is fixedly mounted on the leading UAV (101), and a GPS positioning module, a navigation module, and a control module are arranged inside the control box (2); the GPS positioning module is used to locate the flight position of the multi-quadrotor UAV body (1) in real time; the navigation module is used to control the flight trajectory of the multi-quadrotor UAV body (1); and the control module is used to control the overall state of the leading UAV (101).

7. The anti-sway control system for hanging a multi-quadrotor UAV according to claim 1, characterized in that: The control system body (3) includes a perception layer (301), a decision layer (302) and an execution layer (303), wherein the perception layer (301) is used to detect the position and attitude of the adjustment drone (102), the decision layer (302) is used to generate a control instruction according to the position and attitude, and the execution layer (303) is used to receive the control instruction and perform corresponding operations according to the control instruction.

8. The anti-sway control system for hanging a multi-quadrotor UAV according to claim 7, characterized in that: The perception layer (301) includes an angle tilt sensor, a GPS positioning module, a temperature and humidity sensor, and a hanging load sensor. The angle tilt sensor is used to detect the tilt angle of the adjustment drone (102) and the hanging object in real time. The GPS positioning module is used to provide location information of the adjustment drone (102). The temperature and humidity sensor is used to monitor environmental parameters and trigger heat dissipation adjustment. The hanging load sensor is used to detect changes in load weight and assist in sway prediction. The decision layer (302) includes a central processing unit, a swing prediction model, a correction module and a heat dissipation control module, wherein the central processing unit is used to integrate the data of each sensor and coordinate the operation of each module, the swing prediction model is used to predict the swing trend based on historical data and load status, the correction module is used to generate anti-swing control instructions, and the heat dissipation control module is used to dynamically adjust the area of ​​the heat dissipation hole (6) according to environmental data; The execution layer (303) includes a posture controller, a motor drive module and a heat dissipation actuator. The posture controller is used to adjust the motor speed of the adjustment drone (102) to stabilize the posture. The motor drive module is used to execute specific control instructions. The heat dissipation actuator is used to dynamically adjust the opening and closing degree of the heat dissipation hole (6).

9. An anti-sway control method for hanging a multi-quadrotor UAV, characterized in that: The anti-sway control system for hanging a multi-quadrotor UAV according to any one of claims 1 to 8 specifically comprises the following steps: Step 1: First, pull the movable plate (405) to move the shielding cloth (410), and the shielding cloth (410) adjusts the area of ​​the heat dissipation hole (6) to a suitable position through the cooperation between the iron wire, the first sliding bead (407), and the second sliding bead (409); Step 2: Input the flight trajectory of the leading drone (101), and hang the object on the ring (104), and fly the object by the leading drone (101) and the adjustment drone (102); Step 3: Obtaining tilt angle information during the process of adjusting the hanging of the drone (102) through the angle tilt sensor, and transmitting the tilt angle information to the central processing unit; Step 4: After receiving the tilt angle information through the central processing unit, the adjustment drone (102) is angle-corrected through the correction module, and then the attitude information of the adjustment drone (102) during the angle correction process is transmitted to the attitude controller; Step 5: Based on the attitude information, the attitude controller is used to control the adjustment of the hanging angle of the drone (102), so that the drone (102) is adjusted to a correct horizontal angle.

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