Hangar unmanned aerial vehicle anti-wind-disturbance landing system based on multi-mode perception

Abstract

The invention discloses a hangar unmanned aerial vehicle wind disturbance resisting landing system based on multi-mode perception, which comprises an unmanned aerial vehicle, a hangar, a wind speed and direction detection unit and a visual identification unit, and is characterized in that the wind speed and direction detection unit is arranged on the hangar, and the visual identification unit is arranged on the unmanned aerial vehicle; the hangar comprises a base and a parking apron, the parking apron is rotationally connected to the base, and the landing area is arranged on the parking apron; a centering driving device and two bin covers are arranged on the parking apron, and the centering driving device is used for driving the unmanned aerial vehicle to center; the two bin covers are rotationally connected to the two longitudinal sides of the parking apron correspondingly, the bin covers are configured to be switched among a closed state, a windproof state and an open state, and when the bin covers are in the windproof state, the bin covers rotate to the highest position; the centering driving device comprises two transverse push rods and two longitudinal push rods, and the landing area is located between the two transverse push rods and the two longitudinal push rods; during landing, when the wind speed and wind direction detection unit detects that the wind speed is larger than a preset threshold value, the bin cover is controlled to be switched to the windproof state.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles (UAVs), and in particular relates to a wind disturbance resistant landing system for hangar UAVs based on multimodal perception. Background Art

[0002] With the rapid development of drone technology, drone hangars (also known as drone airports or drone nests), as crucial infrastructure for automated drone operations, have been widely used in a variety of fields, including communications facility inspections, logistics distribution, fire monitoring, emergency search and rescue, and national defense and military operations. By integrating autonomous takeoff and landing, charging, and data transmission functions, drone hangars significantly improve the efficiency and safety of drone operations while reducing the costs and risks of manual operations.

[0003] However, drones are susceptible to interference from strong winds and other weather conditions during landing, resulting in reduced landing accuracy and even safety accidents. Strong winds can cause drones to sway and yaw, which can lead to loss of control or even a crash, especially during the final stages of landing. Lower altitudes are more susceptible to wind disturbances. Therefore, improving the landing accuracy and safety of drones in strong winds has become a key development direction for drone hangar technology.

[0004] Several solutions have been proposed to improve drones' wind resistance, such as optimizing control algorithms, integrating multiple sensors, and using anti-interference materials. However, these solutions still struggle to ensure accurate and safe landings in complex weather conditions, particularly strong winds. Summary of the Invention

[0005] To solve the above problems, the purpose of the present invention is to provide a hangar drone anti-wind disturbance landing system based on multimodal perception. The system provides reliable wind protection for drone landing by monitoring wind conditions in real time and automatically adjusting the hangar structure, thereby improving the safety and reliability of drone operations under complex weather conditions.

[0006] To achieve the above object, the technical solution of the present invention is: A multimodal sensing-based hangar UAV anti-wind disturbance landing system includes a UAV, a hangar, a wind speed and direction detection unit, and a visual recognition unit. The wind speed and direction detection unit is located on the hangar and is used to detect wind direction and wind speed. The visual recognition unit is located on the UAV and is used to detect a landing area on the hangar for the UAV to land. The hangar includes a base and a helipad, the helipad is rotatably connected to the base, the landing area is located on the helipad, and the base is provided with a first driving assembly for driving the helipad to rotate; The landing pad is provided with a centering drive device, a charging module and two compartment covers. The centering drive device is used to drive the drone to center, and after the drone is centered, the charging module docks with the charging docking module on the drone to charge the drone. The two compartment covers are respectively rotatably connected to the longitudinal sides of the apron, and the two compartment covers are respectively driven by a second drive assembly, and the two second drive assemblies can respectively drive the two compartment covers to rotate toward each other to close or rotate away from each other to open, and the compartment covers are configured to switch between a closed state, a windproof state, and an open state. When in the windproof state, the compartment covers rotate to the highest position; The centering drive device includes two transverse push rods and two longitudinal push rods, the landing area is located between the two transverse push rods and the two longitudinal push rods, and the visual recognition unit determines the landing area by identifying the two transverse push rods and the two longitudinal push rods; after the drone lands, the two transverse push rods and the two longitudinal push rods move toward the center to push the drone back to the center; When the UAV is landing, when the wind speed and wind direction detection unit detects that the wind speed is greater than a predetermined threshold, the cabin cover is controlled to switch to the windproof state; at the same time, the apron is controlled to rotate so that the cabin cover switched to the windproof state faces the direction of the wind; and the longitudinal push rod vertically blocked by the cabin cover switched to the windproof state is controlled to move out of the blocked area.

[0007] According to one embodiment of the present invention, at least one of the bin covers is provided with a windshield, one end of which is rotatably connected to the upper end of the bin cover, and a third drive assembly is provided on the bin cover, the third drive assembly being drivably connected to the windshield for driving the windshield to rotate and rise away from the bin cover; When the compartment cover is switched to the windproof state, the third driving assembly controls the windshield to rotate and rise.

[0008] According to an embodiment of the present invention, the two longitudinal push rods are respectively connected to a first push rod driving assembly, and the two first push rod driving assemblies respectively drive the two longitudinal push rods to move.

[0009] According to an embodiment of the present invention, the charging module is provided on the transverse push rod or the longitudinal push rod.

[0010] According to an embodiment of the present invention, the visual recognition unit is a visual sensor.

[0011] According to an embodiment of the present invention, identification marks are provided on the upper end surfaces of the transverse push rod and the longitudinal push rod.

[0012] According to an embodiment of the present invention, the wind speed and direction detection unit includes a wind speed sensor and a wind direction sensor.

[0013] According to one embodiment of the present invention, the drone is further provided with a navigation system, which is used for navigating the drone. When the drone lands, the following steps are performed: S1: After completing the flight mission and receiving the return instruction, the UAV flies toward the hangar through the navigation system; S2: The visual recognition unit begins to identify the hangar when the UAV flies toward the hangar to determine the precise location of the hangar; S3: The UAV flies to above the hangar according to the position of the hangar fed back by the visual recognition unit; S4: When the wind speed and direction detection unit detects that the wind speed does not exceed the predetermined value, controlling the two compartment covers to switch to the open state; When the wind speed and direction detection unit detects that the wind speed exceeds a predetermined threshold, at least one of the compartment covers is controlled to switch to the windproof state, and the other compartment cover is controlled to switch to the open state; according to the wind direction detected by the wind speed and direction detection unit, the apron is driven to rotate so that one of the compartment covers switched to the windproof state faces the incoming wind direction; at the same time, the wind shield on the compartment cover switched to the windproof state is controlled to rotate and rise; and the longitudinal push rod vertically blocked by the compartment cover switched to the windproof state is controlled to move out of the blocked area; S5: The visual recognition unit recognizes the two transverse push rods and the two longitudinal push rods to determine the position and size of the landing area; S6: After identifying the landing area, the UAV lands toward the landing area; S7: After the drone lands, the two lateral push rods and the two longitudinal push rods are controlled to push the drone to a designated position. After the drone is in place, the charging module automatically docks with the charging docking module to charge the drone. At the same time, the two compartment covers are controlled to switch to the closed state, and the windshield and the apron are controlled to rotate and reset.

[0014] According to one embodiment of the present invention, the drone is provided with an inertial measurement unit for detecting the three-axis attitude angle and acceleration of the drone; When the UAV lands toward the landing area in S6, the inertial measurement unit measures the three-axis attitude angle and acceleration of the UAV in real time.

[0015] According to one embodiment of the present invention, the drone is provided with a laser radar for detecting a target object; The laser radar in S5 and S6 detects the distance between the drone and the landing area and the distance between the drone and objects around the landing area in real time.

[0016] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art: 1. This invention integrates wind speed sensors and wind direction sensors to build an accurate and efficient environmental wind condition monitoring and response system, which significantly improves the landing safety and stability of drones in complex wind conditions.

[0017] The wind speed sensor accurately detects ambient wind speed in real time. Once it detects that the wind speed reaches or exceeds a preset threshold, it immediately initiates a series of targeted protective measures to ensure the drone's landing is not disrupted by strong winds.

[0018] When the wind speed is determined to be too high, the hatch on one side is precisely controlled to open smoothly, providing the necessary space for the drone to land. At the same time, the hatch on the other side is controlled to rotate to its highest position, and the windshield on that hatch is driven to rise. This design fully utilizes the combined structure of the hatch cover and windshield to form an effective wind barrier.

[0019] A wind direction sensor monitors wind direction in real time and controls the helipad's rotation to ensure the canopy and wind deflector are always facing the incoming wind, effectively shielding against strong winds. This adaptive adjustment mechanism dynamically adjusts the helipad's angle based on real-time changes in wind direction, ensuring a relatively stable landing environment for the drone and significantly improving landing safety.

[0020] 2. This invention innovatively uses two lateral push rods and two longitudinal push rods to precisely define the landing area. Compared to existing technologies, this method can more accurately obtain key information such as the location and size of the landing area and can adapt to changes in the landing area, thereby significantly improving the safety of the drone landing process. In existing technologies, drones mainly rely on identifying the center of the apron to determine the landing area. However, this method has obvious limitations and cannot accurately identify the actual size of the landing area or its specific coverage position on the apron.

[0021] Not only that, the present invention also introduces a windproof mode. When part of the apron is blocked by the cabin cover that is switched to the windproof state, the system can dynamically adjust the landing area by moving the longitudinal push rod. Once the longitudinal push rod moves out of the blocked area, the drone can once again determine the latest landing area position and size in real time by identifying the two lateral push rods and the two longitudinal push rods, ensuring that the landing operation is always carried out within a safe and controllable range. In contrast, if the existing technology still uses the method of identifying the center mark, it is difficult to effectively eliminate the interference of the part of the apron blocked by the cabin cover on the judgment of the landing area, and it is impossible to provide accurate and reliable landing guidance for the drone.

[0022] Furthermore, if a lateral or longitudinal push rod fails and fails to retract to the side, it could easily intrude into the landing area. Determining the landing area by identifying a marker at the center could easily lead to landing failure or collision risk. However, the present invention identifies both lateral and longitudinal push rods and determines the latest landing area location and size in real time, effectively preventing the impact of lateral or longitudinal push rod failures on landing. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings, wherein: Figure 1 This is a schematic diagram of the closed state of the compartment cover of the present invention; Figure 2 This is a schematic diagram of the state where the compartment cover of the present invention is fully opened; Figure 3 This is a schematic diagram of the cabin cover in the windproof mode of the present invention being opened; Figure 4 This is a top view of the present invention with the bin cover hidden; Figure 5 This is a schematic diagram of the position of the longitudinal push rod in the windproof mode after the compartment cover is hidden in the present invention; Figure 6 This is an axonometric view of the rear of the bin cover of the present invention; Figure 7 Schematic diagram of the first push rod drive assembly and the second push rod drive assembly of the present invention.

[0024] Figure 8 It is a flow chart of the landing process of the present invention.

[0025] Description of reference numerals: 1. Base; 2. Helicopter landing pad; 3. Hatch cover; 4. Horizontal push rod; 5. Longitudinal push rod; 6. Wind deflector; 7. Second cylinder; 8. Wind speed and direction detection unit; 9. Charging module; 10. First slider; 11. One-way screw; 12. First motor; 13. Second slider; 14. Two-way screw; 15. Second motor. DETAILED DESCRIPTION

[0026] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are greatly simplified and use non-precise ratios, and are only used to facilitate and clearly illustrate the embodiments of the present invention.

[0027] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0028] See Figures 1 to 6 The core of this invention is to provide a hangar drone anti-wind disturbance landing system based on multimodal perception, which aims to solve the problem of safe landing of drones in strong wind environments. By real-time monitoring of wind conditions and automatic adjustment of the hangar structure, it provides reliable wind protection for drone landing, thereby improving the safety and reliability of drone operations under complex weather conditions.

[0029] The multimodal sensing-based hangar drone anti-wind disturbance landing system includes a drone, a hangar, a wind speed and direction detection unit, and a visual recognition unit. The wind speed and direction detection unit is located on the hangar and is used to detect wind direction and wind speed. In this embodiment, the wind speed and direction detection unit includes a wind speed sensor and a wind direction sensor. The visual recognition unit is located on the drone and is used to detect the landing area on the hangar for the drone to land. In this embodiment, the visual recognition unit is specifically a visual sensor, which is generally composed of a camera, an image acquisition card, and image processing software. The camera captures images of the hangar and the drone's surroundings. The image acquisition card converts the analog image signal into a digital signal. The image processing software analyzes and processes the digital image to extract useful information, such as the landing area, posture, features, etc.

[0030] The hangar includes a base 1 and an apron 2. The apron 2 is rotatably connected to the base 1. The landing area is located on the apron 2. The base 1 is provided with a first drive assembly for driving the apron 2 to rotate. The first drive assembly specifically includes a motor and a reducer. The motor and the reducer are connected, and the output shaft of the reducer is driven and connected to the apron 2.

[0031] Helipad 2 is equipped with a centering drive, a charging module, and two bay covers 3. The centering drive is used to guide the drone back to its center. Once the drone is centered, the charging module docks with the charging docking module on the drone to charge it. Because drones can't land precisely, the centering drive is required to automatically charge the drone to a designated location.

[0032] The two hatches 3 are rotatably connected to either side of the apron 2 in the longitudinal direction. Each hatch 3 is driven by a second drive assembly, which can drive the hatches 3 to rotate toward each other, close, or to rotate away from each other, open. Specifically, the second drive assembly can be a first cylinder, one end of which is hinged to the apron 2 and the other end to the hatch 3. The first cylinder retracts and contracts to drive the hatches 3 to rotate. In this embodiment, a wind speed sensor and a wind direction sensor are located on top of the hatch 3.

[0033] The hatch 3 is configured to switch between a closed state, a windproof state, and an open state. In the closed state, the two hatches 3 form a storage space for the drone, providing protection for the drone, such as waterproofing, dustproofing, moisture-proofing, and corrosion-proofing. In the open state, the hatches 3 are located on either side of the helipad 2, fully exposing the helipad 2. In the windproof state, the hatches 3 rotate to their highest position, providing a higher windbreak height and greater wind protection for the drone. Because the lower the altitude of a drone during descent, the greater the impact of wind disturbance on it, raising the hatches 3 to block wind effectively prevents the drone from being disturbed by strong winds during the final stages of landing. However, when the hatches 3 rotate to their highest position, they vertically block a portion of the helipad 2, reducing the landing area longitudinally. However, despite this reduction, the landing area remains within the design range because the longitudinal length of the helipad 2 is designed to be longer to compensate for the length blocked by the hatches 3.

[0034] The specific structure of the centering drive device can be found in the prior art. The centering drive device includes two transverse push rods 4 and two longitudinal push rods 5. The two transverse push rods 4 and the two longitudinal push rods 5 are respectively arranged in parallel. When the UAV has not landed, the two transverse push rods 4 and the two longitudinal push rods 5 are respectively located around the apron 2, and the landing area is located between the two transverse push rods 4 and the two longitudinal push rods 5. The visual sensor determines the landing area by identifying the two transverse push rods 4 and the two longitudinal push rods 5; after the UAV lands, it moves toward the center through the two transverse push rods 4 and the two longitudinal push rods 5 to push the UAV to return to the center.

[0035] When the UAV is landing, when the wind speed and direction detection unit detects that the wind speed is greater than a predetermined threshold, the cabin cover 3 is controlled to switch to the windproof state; at the same time, the apron 2 is controlled to rotate so that the cabin cover 3 switched to the windproof state faces the direction of the wind; and the longitudinal push rod 5 vertically blocked by the cabin cover 3 switched to the windproof state is controlled to move out of the blocked area.

[0036] Furthermore, at least one of the cabin covers 3 is provided with a windshield 6, one end of which is pivotally connected to the upper end of the cabin cover 3. A third drive assembly is also provided on the cabin cover 3, drivingly connected to the windshield 6 and configured to rotate and raise the windshield 6 away from the cabin cover 3. When the cabin cover 3 is switched to a windproof state, the third drive assembly controls the rotation and raising of the windshield 6. When raised, the windshield 6 blocks wind, increasing the windshield height of the cabin cover 3, allowing it to block wind at a higher altitude and further reducing wind disturbances to the drone. When lowered, the windshield 6 abuts against the upper end surface of the cabin cover 33, eliminating the need for additional space when not in use.

[0037] The third driving component can specifically be a second cylinder, one end of the second cylinder is hinged to the compartment cover 3, and the other end is hinged to the windshield 6. The second cylinder is extended and retracted to drive the windshield 6 to rotate.

[0038] The two longitudinal push rods 5 are respectively connected to a first push rod drive assembly, and the two first push rod drive assemblies respectively drive the movement of the two longitudinal push rods 5. The first push rod drive assembly includes two unidirectional linear modules, which are respectively connected to the two ends of the longitudinal push rod 5 to drive it to move.

[0039] Specifically, the one-way linear module includes a first slider 10, a one-way screw 11 and a first motor 12. The one-way screw 11 is installed on the apron 2 through a mounting base. The first motor 12 is connected to one end of the one-way screw 11 to drive it to rotate. The first slider 10 is sleeved and threadedly connected to the one-way screw 11. One end of the longitudinal push rod 5 is fixedly connected to the first slider 10. The rotation of the one-way screw 11 drives the longitudinal push rod 5 to move.

[0040] The two lateral push rods 4 can move synchronously toward or away from each other, or they can move separately. In this embodiment, the two lateral push rods 4 move synchronously toward or away from each other, and the two lateral push rods 4 are driven by a second push rod drive assembly to move synchronously toward or away from each other. The second push rod drive assembly includes two bidirectional linear modules, which include two second sliders 13, a bidirectional lead screw 14, and a second motor 15. The bidirectional lead screw 14 is installed on the apron 2 through a mounting seat. The second motor 15 is connected to one end of the bidirectional lead screw 14 to drive its rotation. The two second sliders 13 are sleeved and threadedly connected to the bidirectional lead screw 14. The two ends of the lateral push rod 4 are respectively fixedly connected to one of the second sliders 13 on the bidirectional lead screw 14 of the two bidirectional linear modules.

[0041] The bidirectional screw 14 has two sections of threads in opposite directions, and the two second sliders 13 thereon are respectively arranged on the two opposite sections of threads of the bidirectional screw 14. The rotation of the bidirectional screw 14 drives the two lateral push rods 4 to move toward or away from each other synchronously through the two second sliders 13.

[0042] The charging module is arranged on the transverse push rod 4 or the longitudinal push rod 5. When the transverse push rod 4 and the longitudinal push rod 5 push the drone to return to the center, the charging module automatically docks with the charging docking module on the drone to charge the drone.

[0043] Furthermore, identification marks are provided on the upper end surfaces of the transverse push rod 4 and the longitudinal push rod 5. The identification marks can be marks of specific colors and shapes, or installed with reflective strips, etc., to improve the detection efficiency and detection accuracy of the visual sensor.

[0044] The drone is also equipped with a navigation system, which is used for navigation. This system provides the drone with approximate geographic location information, helping it determine the approximate direction and distance to the hangar from a distance. However, the navigation system has limited accuracy, and positioning errors can be significant, especially in areas with severe signal obstruction, such as urban canyons and mountainous areas. Therefore, the navigation system is primarily used for coarse positioning of the drone before landing, providing initial navigation information for subsequent visual inspection and other sensing methods.

[0045] The drone is equipped with an inertial measurement unit (IMU) to monitor its three-axis attitude angles and acceleration. The IMU, comprised of an accelerometer and gyroscope, provides real-time measurements of the drone's acceleration, angular velocity, and other motion information. During landing, the IMU can assist with visual detection, providing information on the drone's attitude and motion trends. For example, when visual detection is disrupted (e.g., by strong light or haze), IMU data can help the control unit maintain stable flight, preventing loss of control due to loss of visual signals.

[0046] The drone is equipped with a lidar (LiDAR) for detecting targets. LiDAR generates three-dimensional point cloud data of its surroundings by emitting laser beams and measuring the time it takes for reflected light. During landing, the LiDAR accurately measures the distance and height between the drone and the hangar, as well as the location of obstacles around the hangar. Compared to visual detection, LiDAR is unaffected by lighting conditions and can operate at night or in low-light environments, providing more reliable distance and obstacle information for safe landing.

[0047] The following steps are used when landing the drone: S1: After completing its flight mission, the UAV receives a landing command from the ground control station or a preset program, and then flies toward the hangar through the navigation system. The navigation system preliminarily plans a route to the hangar. The UAV relies on the navigation system for coarse positioning, determines its approximate distance and direction from the hangar, and flies toward the hangar along the planned route.

[0048] S2: As the drone approaches the hangar, the visual sensor begins to operate, identifying the hangar and determining its precise location. The visual sensor captures images of the hangar and its surroundings, processes and analyzes these images, and identifies specific features of the hangar, such as its shape, color, and logo pattern, allowing it to more accurately determine its relative position and orientation.

[0049] S3: The UAV flies above the hangar based on the hangar's position as reported by the visual sensor.

[0050] S4: When the wind speed and direction detection unit detects that the wind speed does not exceed the predetermined value, it is determined that the ambient wind speed will not affect the landing of the drone, and the two compartment covers 3 are controlled to switch to the open state.

[0051] When the wind speed and direction detection unit detects that the wind speed exceeds a predetermined threshold, at least one cabin cover 3 is controlled to switch to a windproof state, and another cabin cover 3 is controlled to switch to an open state; according to the wind direction detected by the wind speed and direction detection unit, the apron 2 is driven to rotate so that one of the cabin covers 3 switched to the windproof state faces the incoming wind direction; at the same time, the wind shield 6 on the cabin cover 3 switched to the windproof state is controlled to rotate and rise; and the longitudinal push rod 5 vertically blocked by the cabin cover 3 switched to the windproof state is controlled to move out of the blocked area so that it is no longer blocked by the cabin cover 3 and can be successfully detected by the visual sensor on the drone.

[0052] S5: The visual sensor identifies two lateral push rods 4 and two longitudinal push rods 5 to determine the location and size of the landing area. Simultaneously, the LiDAR detects the precise distance between the drone and the landing area, as well as any surrounding obstacles. This helps the drone adjust its altitude and direction as it approaches the hangar, avoiding collisions with the hangar or other obstacles.

[0053] S6: After identifying the landing zone, the drone descends toward it. The inertial measurement unit (IMU) measures the drone's three-axis attitude angles and acceleration in real time. During the drone's descent, the visual sensor and lidar continuously monitor the drone to determine if it remains level and aligned with the center of Helipad 2. Combining data from the visual sensor, IMU, and LiDAR, the drone's flight attitude, including pitch, roll, and yaw, is adjusted in real time to ensure a smooth flight toward Helipad 2.

[0054] S7: After the drone lands, the two lateral push rods 4 and the two longitudinal push rods 5 are controlled to push the drone to the designated position. After the drone is in place, the charging module and the charging docking module automatically dock to charge the drone. At the same time, the two compartment covers 3 are controlled to switch to the closed state, and the windshield 6 and the apron 2 are controlled to rotate and reset.

[0055] By integrating wind speed sensors and wind direction sensors, the present invention constructs an accurate and efficient environmental wind condition monitoring and response system, which significantly improves the landing safety and stability of drones in complex wind conditions.

[0056] The wind speed sensor accurately detects ambient wind speed in real time. Once it detects that the wind speed reaches or exceeds a preset threshold, it immediately initiates a series of targeted protective measures to ensure the drone's landing is not disrupted by strong winds.

[0057] When the wind speed is determined to be too high, the hatch 3 on one side is precisely controlled to open smoothly, providing the necessary space for the drone to land. At the same time, the hatch 3 on the other side is controlled to rotate to the highest position, and the windshield 6 on the hatch 3 is driven to rise. This design fully utilizes the combined structure of the hatch 3 and the windshield 6 to form an effective wind barrier.

[0058] A wind direction sensor monitors wind direction in real time and controls the rotation of helipad 2 to ensure that the canopy 3 and wind deflector 6 always face the incoming wind, effectively shielding against strong winds. This adaptive adjustment mechanism dynamically adjusts the angle of helipad 2 based on real-time changes in wind direction, ensuring a relatively stable landing environment for the drone and significantly improving landing safety.

[0059] The present invention innovatively uses two transverse push rods 4 and two longitudinal push rods 5 to precisely define the landing area. Compared to existing technologies, this method can more accurately obtain key information such as the location and size of the landing area and can adapt to changes in the landing area, thereby significantly improving the safety of the drone landing process. In existing technologies, drones mainly rely on identifying a landmark at the center of the helipad 2 to determine the landing area. However, this method has obvious limitations and cannot accurately determine the actual size of the landing area or its specific coverage position on the helipad 2.

[0060] Moreover, the present invention also introduces a windproof mode. When part of the apron 2 is blocked by the cabin cover 3 switched to the windproof state, the system can dynamically adjust the landing area by moving the longitudinal push rod 5. Once the longitudinal push rod 5 moves out of the blocked area, the drone can once again determine the latest landing area position and size in real time by identifying the two lateral push rods 4 and the two longitudinal push rods 5, ensuring that the landing operation is always carried out within a safe and controllable range. In contrast, if the existing technology still adopts the method of identifying the center mark, it is difficult to effectively eliminate the interference of the part of the apron 2 blocked by the cabin cover 3 on the judgment of the landing area, and it is impossible to provide accurate and reliable landing guidance for the drone.

[0061] Furthermore, if the lateral push rod 4 or longitudinal push rod 5 fails and fails to return to the side, it is easy to intrude into the landing area. If the landing area is determined by identifying the mark at the center, it is easy to cause landing failure or collision risk. However, the present invention can effectively prevent the impact of lateral push rod 4 and longitudinal push rod 5 failure on landing by identifying the two lateral push rods 4 and two longitudinal push rods 5 to determine the latest landing area position and size in real time.

[0062] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the scope of protection of the present invention.

Claims

1. A hangar drone anti-wind disturbance landing system based on multimodal perception, characterized by: The system comprises a drone, a hangar, a wind speed and direction detection unit, and a visual recognition unit. The wind speed and direction detection unit is provided on the hangar for detecting wind direction and wind speed. The visual recognition unit is provided on the drone for detecting a landing area on the hangar for landing the drone. The hangar includes a base and a helipad, the helipad is rotatably connected to the base, the landing area is located on the helipad, and the base is provided with a first driving assembly for driving the helipad to rotate; The landing pad is provided with a centering drive device, a charging module and two compartment covers. The centering drive device is used to drive the drone to center, and after the drone is centered, the charging module docks with the charging docking module on the drone to charge the drone. The two compartment covers are respectively rotatably connected to the longitudinal sides of the apron, and the two compartment covers are respectively driven by a second drive assembly, and the two second drive assemblies can respectively drive the two compartment covers to rotate toward each other to close or rotate away from each other to open, and the compartment covers are configured to switch between a closed state, a windproof state, and an open state. When in the windproof state, the compartment covers rotate to the highest position; The centering drive device includes two transverse push rods and two longitudinal push rods, the landing area is located between the two transverse push rods and the two longitudinal push rods, and the visual recognition unit determines the landing area by identifying the two transverse push rods and the two longitudinal push rods; after the drone lands, the two transverse push rods and the two longitudinal push rods move toward the center to push the drone back to the center; When the UAV is landing, when the wind speed and wind direction detection unit detects that the wind speed is greater than a predetermined threshold, the cabin cover is controlled to switch to the windproof state; at the same time, the apron is controlled to rotate so that the cabin cover switched to the windproof state faces the direction of the wind; and the longitudinal push rod vertically blocked by the cabin cover switched to the windproof state is controlled to move out of the blocked area.

2. The multimodal sensing-based hangar drone anti-wind disturbance landing system according to claim 1 is characterized in that: At least one of the bin covers is provided with a windshield, one end of the windshield is rotatably connected to the upper end of the bin cover, and a third drive assembly is provided on the bin cover, the third drive assembly is drivably connected to the windshield, and is used to drive the windshield to rotate and rise away from the bin cover; When the compartment cover is switched to the windproof state, the third driving assembly controls the windshield to rotate and rise.

3. The multimodal sensing-based hangar drone anti-wind disturbance landing system according to claim 1 is characterized in that: The two longitudinal push rods are respectively connected to a first push rod driving assembly, and the two first push rod driving assemblies respectively drive the two longitudinal push rods to move.

4. The multimodal sensing-based hangar drone anti-wind disturbance landing system according to claim 1 is characterized in that: The charging module is arranged on the transverse push rod or the longitudinal push rod.

5. The hangar drone anti-wind disturbance landing system based on multimodal perception according to claim 1 is characterized in that: The visual recognition unit is a visual sensor.

6. The multimodal sensing-based hangar drone anti-wind disturbance landing system according to claim 1 is characterized in that: Identification marks are provided on the upper end surfaces of the transverse push rod and the longitudinal push rod.

7. The hangar drone anti-wind disturbance landing system based on multimodal perception according to claim 1 is characterized in that: The wind speed and direction detection unit includes a wind speed sensor and a wind direction sensor.

8. The multimodal sensing-based hangar drone anti-wind disturbance landing system according to claim 2 is characterized in that: The drone is also provided with a navigation system, which is used for navigation of the drone. The following steps are used when the drone lands: S1: After completing the flight mission and receiving the return instruction, the UAV flies toward the hangar through the navigation system; S2: The visual recognition unit begins to identify the hangar when the UAV flies toward the hangar to determine the precise location of the hangar; S3: The UAV flies to above the hangar according to the position of the hangar fed back by the visual recognition unit; S4: When the wind speed and direction detection unit detects that the wind speed does not exceed the predetermined value, controlling the two compartment covers to switch to the open state; When the wind speed and direction detection unit detects that the wind speed exceeds a predetermined threshold, at least one of the compartment covers is controlled to switch to the windproof state, and the other compartment cover is controlled to switch to the open state; according to the wind direction detected by the wind speed and direction detection unit, the apron is driven to rotate so that one of the compartment covers switched to the windproof state faces the incoming wind direction; at the same time, the wind shield on the compartment cover switched to the windproof state is controlled to rotate and rise; and the longitudinal push rod vertically blocked by the compartment cover switched to the windproof state is controlled to move out of the blocked area; S5: The visual recognition unit recognizes the two transverse push rods and the two longitudinal push rods to determine the position and size of the landing area; S6: After identifying the landing area, the UAV lands toward the landing area; S7: After the drone lands, the two lateral push rods and the two longitudinal push rods are controlled to push the drone to a designated position. After the drone is in place, the charging module automatically docks with the charging docking module to charge the drone. At the same time, the two compartment covers are controlled to switch to the closed state, and the windshield and the apron are controlled to rotate and reset.

9. The multimodal sensing-based hangar drone anti-wind disturbance landing system according to claim 8 is characterized in that: The drone is provided with an inertial measurement unit for detecting the three-axis attitude angle and acceleration of the drone; When the UAV lands toward the landing area in S6, the inertial measurement unit measures the three-axis attitude angle and acceleration of the UAV in real time.

10. The hangar drone anti-wind disturbance landing system based on multimodal perception according to claim 8 or 9, characterized in that: The drone is provided with a laser radar for detecting target objects; The laser radar in S5 and S6 detects the distance between the drone and the landing area and the distance between the drone and objects around the landing area in real time.

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