Air-drop and air-delivery large unmanned aerial vehicle ultra-low-altitude flight control system and method

Abstract

The invention discloses an air-drop and air-delivery large unmanned aerial vehicle ultra-low-altitude flight control system and method, and belongs to the field of flight control systems, and the system comprises a flight control module, a drop control module, an environment sensing module, a gravity center balance adjustment module and a data storage and interaction module. The flight control module is used for controlling the unmanned aerial vehicle to fly at an ultra-low altitude and ensuring that the flight attitude is stable, so that the position error is less than or equal to 10m, the height error is less than or equal to 2m and the flight path deviation is less than or equal to 10m when the unmanned aerial vehicle flies at the ultra-low altitude; the delivery control module is used for supporting a single delivery mode and a rapid continuous delivery mode, the maximum delivery of 1.2 tons of goods can be achieved, at most four pieces of goods can be delivered in a single flight, the delivery control module is compatible with parachute air delivery and non-parachute air delivery, and the delivery precision of the parachute air delivery at the high altitude of 300 meters is smaller than 100 meters. According to the invention, the unmanned aerial vehicle delivery precision can be improved, the stability is high, and material waste or incapability of accurately delivering to a target area is avoided.

Description

Technical Field

[0001] This invention relates to the field of flight control systems, specifically to an ultra-low-altitude flight control system and method for airdropping and delivering large unmanned aerial vehicles (UAVs). Background Technology

[0002] With the rapid application of drone technology in logistics, emergency rescue, agriculture, and other fields, the market has placed higher demands on the payload capacity, delivery accuracy, and adaptability to complex environments of drones. Currently, domestic drone products are mostly concentrated in the field of small rotary-wing drones, with payloads generally below 200 kg and limited delivery methods, only capable of simple single-point delivery. They have significant limitations in scenarios such as ton-level material transportation, high-precision delivery, and ultra-low-altitude operations: traditional small rotary-wing drones cannot carry large quantities of materials, and delivery accuracy often deviates by more than 200 meters due to environmental factors such as wind speed and air pressure; although fixed-wing drones have a longer range, existing modification schemes are not optimized for "heavy-load + ultra-low-altitude" scenarios. After adding a delivery system, the center of gravity is prone to shift, resulting in decreased flight stability, with position errors exceeding 15 meters and altitude errors exceeding 5 meters, which cannot meet the operational needs in complex environments.

[0003] Some companies have developed heavy-load drone delivery systems, but there are technical barriers to core technologies. In scenarios such as disaster relief and agricultural material distribution, there is an urgent need for a large-scale drone ultra-low-altitude delivery system that can adapt to regional characteristics: traditional ground transportation is inefficient in mountainous and forested areas, and small drones cannot meet the transportation needs of tons of fertilizer and disaster relief materials; existing drone delivery systems are prone to waste of materials or failure to accurately deliver to the target area due to poor accuracy and instability, which may delay rescue opportunities or affect the progress of agricultural production.

[0004] Therefore, those skilled in the art have provided an ultra-low-altitude flight control system and method for airdropping and delivering large unmanned aerial vehicles (UAVs) to solve the problems mentioned in the background art. Summary of the Invention

[0005] The purpose of this invention is to provide an ultra-low-altitude flight control system and method for airdropping and delivering large unmanned aerial vehicles (UAVs), which can improve the accuracy and stability of UAV deployment, avoid waste of materials or failure to accurately deliver to the target area, and solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: The ultra-low-altitude flight control system for large air-dropped and air-delivered drones includes a flight control module, a delivery control module, an environmental perception module, a center of gravity balance adjustment module, and a data storage and interaction module. The flight control module controls the UAV to fly at ultra-low altitudes, ensuring stable flight attitude and a position error ≤10 meters, an altitude error ≤2 meters, and a flight path deviation ≤10 meters. The delivery control module supports both single-drop and rapid-drop modes, enabling the delivery of up to 1.2 tons of cargo, with a maximum of 4 items delivered per flight. It is compatible with both parachute and non-parachute airdrops. Parachute airdrops have an accuracy of less than 100 meters at an altitude of 300 meters, while non-parachute airdrops have an accuracy of 20 meters at an altitude of 20 meters above the ground and 50 meters above the ground. The minimum flight altitude for non-parachute airdrops is no more than 10 meters above the ground. The environmental perception module collects flight environment parameters. The center of gravity balance adjustment module adjusts the center of gravity of the UAV after the delivery system is installed to avoid heavy loads or uneven loads affecting flight safety. The data storage and interaction module stores flight and delivery data and enables data interaction.

[0007] As a further aspect of the present invention: the flight control module has a built-in ultra-low altitude flight algorithm, which includes position error compensation logic. By calculating the deviation between the actual flight position and the desired flight position, and combining environmental parameters to dynamically adjust the compensation coefficient, the accuracy of the UAV's flight position is controlled. The position error compensation logic uses the formula: ΔP=P 实 -P 期 +K×Δt, where ΔP represents the final position compensation amount, in meters (m); P 实 This indicates the real-time coordinates of the actual flight position collected by the UAV, in meters (m); P 期 The formula represents the expected flight position coordinates generated based on the preset flight path, in meters (m); K represents the compensation coefficient corresponding to the environmental parameters, without unit (dynamically determined based on wind speed and air pressure parameters, ranging from 0.1 to 0.8); Δt represents the time deviation of position data acquisition, in seconds (s). The flight control module calculates the compensation amount in real time using this formula, driving the UAV to adjust its flight attitude to ensure that the position error is ≤10 meters and the altitude error is ≤2 meters during ultra-low-altitude flight, meeting the flight stability requirements in complex environments and adapting to the flight control needs of the Hongyan (HY100) large UAV after the addition of a deployment system.

[0008] As a further aspect of the present invention: the rapid continuous delivery mode of the delivery control module is equipped with a dedicated control algorithm. This algorithm calculates the time interval between adjacent delivery of goods to avoid mutual interference during the delivery process, while ensuring that the delivery accuracy meets the requirements. The delivery interval is calculated using the formula: T = (m1 + m2) × g / F, where T represents the delivery interval between two adjacent items, in seconds (s); m1 represents the mass of the previous item to be delivered, in kilograms (kg); m2 represents the mass of the next item to be delivered, in kilograms (kg); g represents the acceleration due to gravity, with a value of 9.8 m / s²; and F represents the driving force of the delivery mechanism, in Newtons (N). The delivery control module determines the delivery interval using this formula and controls the delivery mechanism to release the goods sequentially. This ensures that when four goods are delivered consecutively in a single flight, the delivery accuracy of each goods meets the requirements of less than 100 meters (at an altitude of 300 meters) for parachute-equipped airdrops and 20-50 meters (at an altitude of 20-50 meters) for parachute-free airdrops. Furthermore, the minimum flight altitude for parachute-free airdrops is no higher than 10 meters above the ground, thus achieving efficient and accurate rapid continuous delivery operations.

[0009] As a further aspect of the present invention: the environmental perception module includes a wind speed sensor, a barometric pressure sensor, and a temperature sensor, which are used to collect real-time wind speed V (unit: meters per second, m / s), real-time barometric pressure P (unit: kilopascals, kPa), and real-time temperature T (unit: degrees Celsius, ℃) in the flight environment, respectively. The environmental perception module transmits the collected parameters to the flight control module and the delivery control module in real time. When the wind speed V > 5 m / s is detected, the flight control module automatically adjusts the UAV's wing angle of attack and flight speed to counteract the impact of wind speed on flight stability, ensuring that the position error remains ≤ 10 meters and the altitude error ≤ 2 meters. When the air pressure P change is detected to be > 0.5 kPa / min, the flight control module corrects the altitude measurement value to avoid altitude errors exceeding the standard caused by air pressure fluctuations. When the temperature T < -10℃ or T > 40℃ is detected, the delivery control module adjusts the operating parameters of the delivery mechanism drive system to prevent extreme temperature conditions from affecting the accuracy of the delivery action, ensuring that the system can still perform flight and delivery tasks normally in complex environments such as mountainous areas, forests, and disaster relief.

[0010] As a further aspect of the present invention: the center of gravity balance adjustment module includes a center of gravity detection unit and an adjustment execution unit; the center of gravity detection unit uses weight sensors installed at different locations on the drone fuselage and the delivery compartment to detect the drone's own weight and the total weight and distribution of the cargo in the delivery compartment in real time, and calculates the current center of gravity coordinates (X). 现 Y 现 Z 现 The adjustment execution unit has a built-in center of gravity safety range database, which stores the center of gravity safety coordinate range (X) of the Hongyan (HY100) large UAV after the deployment system is installed. 安min -X 安max Y 安min -Y 安max Z安min -Z 安max ); When the current center of gravity coordinates calculated by the center of gravity detection unit exceed the safe range, the adjustment execution unit adjusts in two ways: first, it controls the movable guide rails in the delivery compartment to adjust the front-to-back and left-to-right positions of the cargo in the delivery compartment, changing the cargo distribution to correct the center of gravity; second, when the cargo position adjustment cannot meet the requirements, it activates the counterweight adjustment mechanism at the tail of the fuselage to move the position of the counterweight to further correct the center of gravity. Through the above adjustments, it is ensured that even when the UAV is carrying a maximum of 1.2 tons of cargo or when the load distribution is uneven, the center of gravity remains within the safe range after the delivery system is installed, avoiding the impact of center of gravity shift on flight safety and ensuring the stability and delivery accuracy of ultra-low-altitude flight.

[0011] As a further aspect of the present invention: the data storage and interaction module adopts an industrial-grade storage chip with a storage capacity of not less than 128GB, supporting both real-time storage and circular storage modes; in real-time storage mode, the data storage and interaction module stores all key data during the UAV's flight, including: real-time position coordinates (Px, Py, Pz) generated by the flight control module, flight speed Vfly, and flight attitude angles (roll angle α, pitch angle β, yaw angle γ); and the cargo number and cargo mass m recorded by the delivery control module for each delivery. 货 Release time t 投 , Deployment mode (single deployment / multiple deployments), Deployment height h 投 Delivery accuracy error ΔP 投 The environmental sensing module collects real-time wind speed V, air pressure P, and temperature T; the center of gravity balance adjustment module records real-time center of gravity coordinates (X). 现 Y 现 Z 现 ) and adjustment action records; In circular storage mode, when storage capacity is insufficient, the oldest non-critical data is automatically overwritten, but all data from the 10 most recent complete flight and delivery missions are retained to ensure data traceability. Simultaneously, the data storage and interaction module supports data interaction with the ground control station via 4G / 5G wireless network, transmitting the aforementioned critical data to the ground control station in real time for ground personnel to monitor flight and delivery status. After a flight mission, stored data can also be exported via USB interface for use in writing flight verification test reports, analyzing delivery accuracy, and optimizing system performance. This provides a basis for flight witness testing and data verification during project acceptance, meeting the data recording and traceability requirements of the Hongyan (HY100) large UAV flight verification test.

[0012] As a further aspect of the present invention, it also includes a fault diagnosis and emergency handling module, which establishes data connections with the flight control module, the delivery control module, the environmental perception module, and the center of gravity balance adjustment module, and receives the working status signals of each module in real time. The fault diagnosis and emergency handling module has a built-in fault database, which contains preset fault types and corresponding fault characteristic signals for each module. For example, the sensor fault characteristic of the flight control module is that the position data has not been updated for 5 consecutive seconds; the mechanism jamming fault characteristic of the delivery control module is that the delivery driving force F exceeds 1.2 times the rated value for 3 consecutive seconds; the sensor fault characteristic of the environmental perception module is that the collected wind speed V or air pressure P data exceeds the normal physical range; and the adjustment fault characteristic of the center of gravity balance adjustment module is that the center of gravity coordinates exceed the safe range and the adjustment execution unit cannot correct it even after 10 consecutive actions. When the fault diagnosis and emergency response module detects that the operating status signal of a certain module matches the fault characteristic signal in the fault database, it immediately performs the following operations: First, it sends a fault alarm signal to the cockpit (if any) or ground control station. The alarm signal includes the name of the faulty module, the fault type, and the time of the fault occurrence. Second, it activates the corresponding emergency response strategy according to the fault type. For example, if a jamming fault is detected in the delivery control module mechanism, it immediately controls the delivery system to suspend the delivery action to avoid damage to the mechanism or increased deviation in cargo drop caused by forced delivery. If a sensor fault is detected in the flight control module, it automatically switches to the backup sensor to ensure the normal acquisition of flight position and attitude data and maintain stability in ultra-low-altitude flight. If a fault is detected in the center of gravity balance adjustment module and the center of gravity offset exceeds the safety threshold, it sends an emergency command to the flight control module to control the UAV to ascend to a safe altitude (more than 100 meters above the ultra-low-altitude flight altitude) and plans a return path to avoid safety accidents caused by center of gravity problems during ultra-low-altitude flight. By setting up the fault diagnosis and emergency response module, the reliability and safety of the system are further improved, ensuring that it can cope with sudden faults and protect the safety of UAVs, cargo, and ground personnel when performing tasks such as disaster relief and material delivery in complex environments.

[0013] As a further aspect of the present invention: the flight control module also incorporates a low-altitude flight path planning submodule, which supports two path planning modes: preset path planning and real-time dynamic path planning. In the preset path planning mode, the user can input the starting coordinates (Sx, Sy, Sz), ending coordinates (Ex, Ey, Ez), and coordinates of intermediate drop points (D1x, D1y, D1z; D2x, D2y, D2z; ... Dnx, Dny, Dnz) of the mission area using the path editing software on the ground control station. The low-altitude flight path planning submodule then calculates the path based on the input coordinates and the UAV's flight performance parameters (maximum flight speed V). max Maximum rate of ascent R 爬 Maximum turning radius R转 The system automatically generates smooth ultra-low-altitude flight paths, with the flight altitude between adjacent points controlled within the ultra-low-altitude range (no more than 10 meters for parachute-less airdrops, and 300 meters or other ultra-low-altitude altitudes for parachute-less airdrops as needed), and the path deviation is ≤10 meters. In real-time dynamic path planning mode, the ultra-low-altitude flight path planning submodule receives real-time environmental data transmitted by the environmental perception module. When obstacles (such as tall trees in mountainous areas or building ruins at disaster relief sites) are detected on the preset path, the system automatically identifies the location coordinates (Obx, Oby, Obz) and size parameters (length Lob, width Wob, height Hob) of the obstacles and replans the detour path based on the obstacle avoidance algorithm. The safe distance between the detour path and the obstacles is no less than 5 meters, ensuring that the drone avoids obstacles during ultra-low-altitude flight while still accurately reaching each drop point to complete the material delivery task. The path planning submodule enables the system to better adapt to the terrain and obstacles in complex environments such as mountainous areas, forests, and disaster relief, improving the UAV's operational capabilities in complex environments, breaking through the limitations of traditional UAVs in ultra-low-altitude flight path planning, and meeting the needs of the Hongyan (HY100) large UAV to expand its applications in complex scenarios.

[0014] As a further aspect of the present invention: the delivery control module also includes a delivery compartment adaptation submodule, which is used to adapt to different types and sizes of goods to ensure the stability of the goods during transportation and delivery; the delivery compartment adaptation submodule includes an adjustable fixing mechanism and a buffer protection mechanism: the adjustable fixing mechanism consists of multiple sets of retractable buckles and sliding support plates, which can be adjusted according to the external dimensions of the goods (length L) 货 , width W 货 High H 货The telescopic length of the buckle and the sliding position of the support plate are adjusted to ensure a tight fit between the buckle and the cargo surface, securing the cargo within the delivery compartment. This prevents cargo displacement due to turbulence during ultra-low-altitude drone flight, which could affect the center of gravity balance and delivery accuracy. The buffer protection mechanism includes elastic buffer pads installed at the bottom and around the delivery compartment. These pads are made of polyurethane material, 5-10 cm thick, and have excellent shock absorption performance. When cargo is delivered, the buffer pads reduce the impact between the cargo and the compartment walls, preventing damage from the impact. This is especially suitable for fragile materials (such as medicines and food packaging) or precision equipment delivered during disaster relief. Simultaneously, the delivery compartment adaptation submodule has a built-in cargo type database that stores preset fixing and buffering parameters for cargo (boxed cargo, bagged cargo, barrelled cargo). When the user inputs the cargo type and size, the delivery compartment adaptation submodule automatically calls up the corresponding parameters, controlling the adjustable fixing mechanism and buffer protection mechanism to complete the adaptation adjustment without manual adjustment, thus improving operational efficiency. By setting up the delivery cabin adaptation submodule, the system can be compatible with the delivery of various types of goods, further expanding the application scope of the Hongyan (HY100) large UAV in the fields of bulk material transportation and emergency rescue material delivery, and improving the system's practicality and flexibility.

[0015] This application also discloses an ultra-low-altitude flight control method for air-dropped and air-delivered large unmanned aerial vehicles (UAVs), which employs an ultra-low-altitude flight control system for air-dropped and air-delivered large UAVs and includes the following steps: Step 1: Environmental Parameter Acquisition and Preprocessing. The environmental sensing module uses wind speed, air pressure, and temperature sensors to collect real-time environmental parameters of the UAV's flight area, including real-time wind speed V (m / s), real-time air pressure P (kPa), and real-time temperature T (°C). The collected parameters are preprocessed to remove abnormal data (such as instantaneous wind speed values ​​exceeding the physical range of 0-20 m / s or air pressure values ​​exceeding the normal range of 80-120 kPa). The preprocessed valid parameters are then transmitted in real-time to the flight control module and the deployment control module. Step 2: Real-time center of gravity detection and dynamic adjustment. The center of gravity detection unit of the center of gravity balance adjustment module is activated. Data on the drone's own weight, the total weight of the cargo in the cargo compartment, and the cargo distribution are collected using weight sensors on the fuselage and delivery bay. The current center of gravity coordinates (X) are then calculated. 现 Y 现 Z 现 ); compare the current center of gravity coordinates with the module's built-in center of gravity safety range (X). 安min -X 安max Y 安min -Y 安max Z 安min -Z 安maxIf the current center of gravity coordinates are outside the safe range, the movable guide rail inside the delivery compartment is controlled to adjust the front-to-back and left-to-right position of the cargo to correct the center of gravity. If the center of gravity still does not return to the safe range after the cargo position is adjusted, the counterweight adjustment mechanism at the tail of the fuselage is activated to move the counterweight position until the center of gravity coordinates fall into the safe range, ensuring flight safety of the UAV when it is heavily loaded (maximum 1.2 tons) or has an unbalanced load. Step 3: Dynamic correction of ultra-low altitude flight path. The flight control module calls the built-in ultra-low altitude flight algorithm and performs path correction in combination with the environmental parameters preprocessed in Step 1: When the real-time wind speed V > 5m / s is detected, the drone's wing angle of attack and flight speed are automatically adjusted to counteract the impact of wind speed on flight stability; when the real-time air pressure P change > 0.5kPa / minute is detected, the altitude measurement value is corrected to avoid air pressure fluctuations causing altitude errors to exceed the standard; at the same time, based on the preset flight path (including the coordinates of the start point, end point and the drop points along the way), the deviation between the actual flight position and the expected flight position is calculated in real time, and the flight attitude is adjusted through position error compensation logic (such as ΔP calculation logic) to ensure that the position error of the drone during ultra-low altitude flight is ≤10 meters, the altitude error is ≤2 meters, and the flight path deviation is ≤10 meters; Step 4: Precise Material Deployment Control. Based on mission requirements, select either single-drop or rapid continuous-drop mode through the deployment control module. If single-drop mode is selected, combine the environmental parameters from Step 1 and the flight status from Step 3 to determine the deployment timing (e.g., during parachute-less airdrops, the flight altitude drops to within 10 meters of the ground and the flight speed stabilizes at 20-30 m / s). Control the deployment mechanism to release a single cargo, ensuring that the deployment accuracy meets the requirements of less than 100 meters for parachute-less airdrops (at an altitude of 300 meters) and 20-50 meters for parachute-less airdrops (at a ground altitude of 20-50 meters). If rapid continuous-drop mode is selected, call the rapid continuous-drop control algorithm, calculate the interval time between adjacent cargo deployments using the formula T=(m1+m2)×g / F, and sequentially control the deployment mechanism to release 4 cargoes to avoid mutual interference during cargo deployment, ensuring that the deployment accuracy of each cargo meets the above standards. Step 5: Data Recording and Interactive Feedback. During the execution of steps 1-4, the data storage and interaction module records all key data in real-time storage mode, including environmental parameters (V, P, T) and center of gravity adjustment records (X). 现 Y 现 Z 现 The system includes data on adjustments, flight data (real-time position coordinates, flight speed, attitude angle), and delivery data (cargo number, mass, delivery time, mode, and accuracy error). Simultaneously, real-time data is transmitted to the ground control station via a 4G / 5G wireless network for operators to monitor mission status. After the mission, data from the last 10 complete missions is retained (overwriting non-critical old data in cyclic storage mode). Data can be exported via USB for use in flight verification report writing and system performance optimization.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention comprehensively addresses the technical pain points of existing drones in the field of ultra-low-altitude heavy-load delivery through multi-module collaboration and core algorithm optimization: Firstly, it breaks through the bottlenecks in load capacity and delivery efficiency, achieving the delivery of 1.2-ton-level materials, supporting the rapid consecutive delivery of 4 items, and achieving industry-leading delivery accuracy (with parachute <100 meters, without parachute 20-50 meters) and flight error (position ≤10 meters, altitude ≤2 meters), meeting the needs of large-scale, efficient, and accurate material delivery; Secondly, it possesses strong environmental adaptability, responding in real time to changes in wind speed, air pressure, and temperature through an environmental perception module, and optimizing path planning. The system employs several key technologies: First, it avoids obstacles in complex terrain, and a fault diagnosis module reduces safety risks, making it stable and applicable to complex scenarios such as mountainous areas, forests, and disaster relief. Second, it ensures flight and delivery safety, with a center-of-gravity adjustment module dynamically correcting center-of-gravity shifts and a delivery bay adapter module securing and protecting the cargo, effectively mitigating safety hazards caused by heavy loads, uneven load distribution, and cargo displacement. Third, it enhances system usability and optimizability, with a data storage and interaction module enabling full-process data traceability, supporting mission monitoring, acceptance, and iteration. Furthermore, the system is adaptable to different large UAVs and cargo types, offering a wide range of applications. In summary, this system and method significantly improve the stability, accuracy, and adaptability of ultra-low-altitude heavy-load delivery by large UAVs, meeting the practical needs of logistics, emergency rescue, agriculture, and other fields. It possesses high technical value, practical value, and commercial potential, and is of great significance for promoting the industrialization of UAV airdrop technology. Attached Figure Description

[0017] Figure 1 This is a structural block diagram of the ultra-low-altitude flight control system for airdropping and air-delivering large unmanned aerial vehicles (UAVs). Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] As mentioned in the background section of this application, research has found that existing UAV ultra-low-altitude flight control systems suffer from poor precision and insufficient stability, which can easily lead to waste of resources or failure to accurately deliver them to the target area, delaying rescue opportunities or affecting agricultural production progress, and thus have certain defects.

[0020] To address the aforementioned shortcomings, this application discloses an ultra-low-altitude flight control system and method for airdropping and delivering large unmanned aerial vehicles (UAVs), which can improve the accuracy of UAV deployment, ensure high stability, and avoid material waste or failure to accurately deliver to the target area.

[0021] The following will describe in detail, with reference to the accompanying drawings, how the solution of this application solves the above-mentioned technical problems.

[0022] Please see Figure 1 In this embodiment of the invention, the ultra-low-altitude flight control system for a large airdrop / airlift UAV includes a flight control module, a delivery control module, an environmental perception module, a center of gravity balance adjustment module, and a data storage and interaction module. The flight control module controls the UAV to fly at ultra-low altitudes, ensuring stable flight attitude and that the UAV's position error is ≤10 meters, altitude error is ≤2 meters, and flight path deviation is ≤10 meters during ultra-low-altitude flight. The delivery control module supports both single-drop and rapid continuous-drop modes, enabling the delivery of up to 1.2 tons of cargo and a maximum of 4 items per flight. The system is compatible with both parachute-equipped and parachute-less airdrops. Parachute-equipped airdrops have a drop accuracy of less than 100 meters at an altitude of 300 meters, while parachute-less airdrops have an accuracy of 20 meters at an altitude of 20 meters above the ground and 50 meters above the ground. The minimum flight altitude for parachute-less airdrops is no more than 10 meters above the ground. An environmental perception module collects flight environment parameters; a center of gravity balance adjustment module adjusts the center of gravity of the UAV after the drop system is installed to avoid overloading or uneven load affecting flight safety; and a data storage and interaction module stores flight and drop data and enables data interaction. This application constructs the basic architecture of an ultra-low-altitude flight control system for large UAVs for airdrop and air-delivery by defining five core modules: flight control, drop control, environmental perception, center of gravity balance adjustment, and data storage and interaction. Among them, the flight control module ensures stable flight attitude at ultra-low altitudes and controls errors within a limited range; the delivery control module enables single and rapid consecutive delivery of ton-level materials and compatibility between the two delivery methods; the environmental perception module provides flight environment data input for the system; the center of gravity balance adjustment module solves the center of gravity problem after the delivery system is installed to avoid flight safety risks; and the data storage and interaction module enables data retention and transmission. The five modules work together to fundamentally solve the core pain points of existing UAVs in ultra-low altitude heavy-load delivery, namely "poor stability, insufficient payload, and low accuracy," laying the system framework foundation for subsequent module function optimization and performance improvement.

[0023] In this embodiment, the flight control module incorporates an ultra-low-altitude flight algorithm. This algorithm includes position error compensation logic, which calculates the deviation between the actual flight position and the desired flight position, and dynamically adjusts the compensation coefficient based on environmental parameters to control the UAV's flight position accuracy. The position error compensation logic uses the formula: ΔP=P 实 -P 期+K×Δt, where ΔP represents the final position compensation amount, in meters (m); P 实 This indicates the real-time coordinates of the actual flight position collected by the UAV, in meters (m); P 期 This represents the desired flight position coordinates generated based on the preset flight path, in meters (m); K represents the compensation coefficient corresponding to the environmental parameters, without unit (dynamically determined based on wind speed and air pressure parameters, ranging from 0.1 to 0.8); Δt represents the time deviation of position data acquisition, in seconds (s). The flight control module calculates the compensation amount in real time using this formula, driving the UAV to adjust its flight attitude to ensure that the position error is ≤10 meters and the altitude error is ≤2 meters during ultra-low-altitude flight, meeting the flight stability requirements in complex environments and adapting to the flight control needs of the Hongyan (HY100) large UAV after the addition of a deployment system. This setting addresses the core performance requirements of the flight control module, focusing on the position accuracy control problem during ultra-low-altitude flight through a built-in ultra-low-altitude flight algorithm with position error compensation logic. It utilizes ΔP=P 实 -P 期 The formula +K×Δt incorporates the deviation between the actual and expected flight position, the environmental parameter compensation coefficient, and the data acquisition time deviation into the calculation, dynamically adjusting the compensation amount. This allows the flight control module to optimize the control strategy based on real-time environmental and positional conditions, effectively offsetting the interference of environmental factors on the flight position. It ensures that the position error of the UAV during ultra-low-altitude flight is ≤10 meters, providing stable flight position assurance for subsequent path planning and precise delivery, and further improving the accuracy and adaptability of the system's flight control.

[0024] In this embodiment, the rapid continuous delivery mode of the delivery control module is equipped with a dedicated control algorithm. This algorithm calculates the time interval between the delivery of adjacent goods to avoid mutual interference during the delivery process, while ensuring that the delivery accuracy meets the requirements. The delivery interval is calculated using the formula: T=(m1+m2)×g / F, where T represents the delivery interval between two adjacent goods in seconds (s); m1 represents the mass of the previous goods to be delivered in kilograms (kg); and m2 represents the mass of the next goods to be delivered in kilograms (kg). g represents the acceleration due to gravity, with a value of 9.8 m / s²; F represents the driving force of the delivery mechanism, measured in Newtons (N). The delivery control module uses this formula to determine the delivery interval and controls the delivery mechanism to release goods sequentially. This ensures that when four goods are delivered consecutively in a single flight, the delivery accuracy of each goods meets the requirements of less than 100 meters (at an altitude of 300 meters) for parachute-equipped airdrops and 20-50 meters (at an altitude of 20-50 meters) for parachute-free airdrops. Furthermore, the minimum flight altitude for parachute-free airdrops is no more than 10 meters above the ground, achieving efficient and accurate rapid delivery operations. This setting addresses the rapid delivery scenario requirements of the delivery control module by configuring a dedicated control algorithm and introducing the formula T=(m1+m2)×g / F to solve the problems of mutual interference between goods and difficulty in guaranteeing accuracy during continuous delivery. The algorithm calculates a reasonable delivery interval based on the mass of adjacent goods, gravitational acceleration, and the driving force of the delivery mechanism. This enables the delivery control module to control the delivery mechanism to release goods in an orderly manner. While achieving the continuous delivery of 4 goods in a single flight, it ensures that the delivery accuracy of each goods meets the requirements of less than 100 meters for parachute-equipped airdrops and 20-50 meters for parachute-free airdrops. Furthermore, the minimum altitude for parachute-free airdrops meets the standard. This not only improves the delivery efficiency of ton-level materials but also takes into account the delivery accuracy in continuous delivery scenarios, meeting the actual needs of rapid and accurate delivery of large-scale materials.

[0025] In this embodiment, the environmental perception module includes a wind speed sensor, a barometric pressure sensor, and a temperature sensor, which are used to collect real-time wind speed V (unit: m / s), real-time barometric pressure P (unit: kPa), and real-time temperature T (unit: degrees Celsius, ℃) in the flight environment, respectively. The environmental perception module transmits the collected parameters to the flight control module and the delivery control module in real time. When the wind speed V is detected to be greater than 5 m / s, the flight control module automatically adjusts the UAV's wing angle of attack and flight speed to counteract the impact of wind speed on flight stability, ensuring that the position error is still ≤10 meters and the altitude error is ≤2 meters. When the change in barometric pressure P is detected to be greater than 0.5 kPa / min, the flight control module corrects the altitude measurement value to avoid the problem of excessive altitude error caused by barometric pressure fluctuations. When the temperature T is detected to be less than -10℃ or greater than 40℃, the delivery control module adjusts the operating parameters of the delivery mechanism drive system to prevent extreme temperature conditions from affecting the accuracy of the delivery action, ensuring that the system can still perform flight and delivery tasks normally in complex environments such as mountainous areas, forests, and disaster relief. This setup addresses the impact of complex environmental factors on flight and delivery by clearly defining the sensor composition and parameter processing logic of the environmental perception module. The module uses wind speed, air pressure, and temperature sensors to collect key environmental parameters in real time and transmits these parameters to the flight control and delivery control modules. When wind speed exceeds 5 m / s, air pressure changes exceed 0.5 kPa / min, or temperature exceeds the range of -10℃ to 40℃, the flight control module is triggered to adjust flight attitude and correct altitude measurements, or the delivery control module adjusts drive parameters. This effectively counteracts the interference of abnormal wind speed, air pressure, and temperature on flight stability and delivery accuracy, significantly improving the system's environmental adaptability in complex environments such as mountainous areas, forests, and disaster relief, ensuring the normal operation of missions in extreme environments.

[0026] In this embodiment, the center of gravity balance adjustment module includes a center of gravity detection unit and an adjustment execution unit; the center of gravity detection unit uses weight sensors installed at different locations on the drone fuselage and the delivery compartment to detect the drone's own weight and the total weight and distribution of the cargo in the delivery compartment in real time, and calculates the current center of gravity coordinates (X). 现 Y 现 Z 现 The adjustment execution unit has a built-in center-of-gravity safety range database, which stores the center-of-gravity safety coordinate range (X) of the Hongyan (HY100) large UAV after the deployment system is installed. 安min -X 安max Y 安min -Y 安max Z 安min -Z 安maxWhen the center of gravity coordinates calculated by the center of gravity detection unit exceed the safe range, the adjustment execution unit adjusts in two ways: first, it controls the movable guide rails in the delivery compartment to adjust the front-to-back and left-to-right positions of the cargo, changing the cargo distribution to correct the center of gravity; second, when the cargo position adjustment cannot meet the requirements, it activates the counterweight adjustment mechanism at the tail of the fuselage to move the counterweight position to further correct the center of gravity. Through the above adjustments, it is ensured that even when carrying a maximum of 1.2 tons of cargo or with an uneven load distribution, the center of gravity of the UAV remains within the safe range after the delivery system is installed, avoiding the impact of center of gravity shift on flight safety and ensuring the stability and delivery accuracy of ultra-low-altitude flight. This setting addresses the center of gravity shift problem that easily occurs after the delivery system is installed on the UAV by splitting the center of gravity balance adjustment module into a center of gravity detection unit and an adjustment execution unit. The center of gravity detection unit collects weight data and calculates real-time center of gravity coordinates using multi-position weight sensors. The adjustment execution unit, based on the built-in center of gravity safety range database, dynamically corrects the center of gravity that exceeds the safety range through a two-level adjustment logic of "adjusting the cargo position with a movable guide rail and correcting with a counterweight adjustment mechanism". This ensures that the center of gravity of the UAV is always within the safe range when carrying a maximum of 1.2 tons of cargo or when the load distribution is uneven, fundamentally avoiding the risk of flight instability caused by center of gravity shift, and providing key center of gravity balance guarantee for stable flight and precise delivery at ultra-low altitudes.

[0027] In this embodiment, the data storage and interaction module uses an industrial-grade storage chip with a storage capacity of no less than 128GB, supporting both real-time storage and circular storage modes. In real-time storage mode, the data storage and interaction module stores all key data during the UAV's flight, including: real-time position coordinates (Px, Py, Pz) generated by the flight control module, flight speed Vfly, and flight attitude angles (roll angle α, pitch angle β, yaw angle γ); and the cargo number and cargo mass m recorded by the delivery control module for each delivery. 货 Release time t 投 , Deployment mode (single deployment / multiple deployments), Deployment height h 投 Delivery accuracy error ΔP 投 The environmental sensing module collects real-time wind speed (V), air pressure (P), and temperature (T); the center of gravity balance adjustment module records real-time center of gravity coordinates (X). 现 Y 现 Z 现The system records and adjusts data. In circular storage mode, when storage capacity is insufficient, it automatically overwrites the oldest non-critical data, but retains all data from the 10 most recent complete flight and delivery missions to ensure data traceability. Simultaneously, the data storage and interaction module supports data interaction with the ground control station via 4G / 5G wireless network, transmitting the aforementioned critical data to the ground control station in real time for ground personnel to monitor flight and delivery status. After a flight mission, stored data can also be exported via USB interface for use in writing flight verification test reports, analyzing delivery accuracy, and optimizing system performance. This provides a basis for flight witness testing and data verification during project acceptance, meeting the data recording and traceability requirements of the Hongyan (HY100) large UAV flight verification test. This setting solves the problems of data retention, traceability, and utilization during system operation by defining the storage mode, storage content, and data interaction method of the data storage and interaction module. The module uses an industrial-grade storage chip with a capacity of ≥128GB. It records key data across all dimensions, including flight, deployment, environment, and center of gravity adjustment, in real-time storage mode. In cyclic storage mode, it retains data from the 10 most recent complete missions when capacity is insufficient, ensuring data traceability. It also supports 4G / 5G wireless transmission and USB export, providing real-time mission monitoring data for ground personnel and data support for flight verification report writing, deployment accuracy analysis, system performance optimization, and project acceptance verification. This enhances the system's monitorability, traceability, and optimizability, providing a data foundation for continuous system iteration and mission review.

[0028] In this embodiment, a fault diagnosis and emergency handling module is also included. This module establishes data connections with the flight control module, the delivery control module, the environmental perception module, and the center of gravity balance adjustment module, and receives the working status signals of each module in real time. The fault diagnosis and emergency handling module has a built-in fault database, which contains preset fault types and corresponding fault characteristic signals for each module. For example, the sensor fault characteristic of the flight control module is that the position data has not been updated for 5 consecutive seconds; the mechanism jamming fault characteristic of the delivery control module is that the delivery driving force F exceeds 1.2 times the rated value for 3 consecutive seconds; the sensor fault characteristic of the environmental perception module is that the collected wind speed V or air pressure P data exceeds the normal physical range; and the adjustment fault characteristic of the center of gravity balance adjustment module is that the center of gravity coordinates exceed the safe range and the adjustment execution unit cannot correct it even after 10 consecutive actions. When the fault diagnosis and emergency response module detects that the operating status signal of a certain module matches the fault characteristic signal in the fault database, it immediately performs the following operations: First, it sends a fault alarm signal to the cockpit (if any) or ground control station. The alarm signal includes the name of the faulty module, the fault type, and the time of the fault occurrence. Second, it activates the corresponding emergency response strategy according to the fault type. For example, if a jamming fault is detected in the delivery control module mechanism, it immediately controls the delivery system to suspend the delivery action to avoid damage to the mechanism or increased deviation in cargo drop caused by forced delivery. If a sensor fault is detected in the flight control module, it automatically switches to the backup sensor to ensure the normal acquisition of flight position and attitude data and maintain stability in ultra-low-altitude flight. If a fault is detected in the center of gravity balance adjustment module and the center of gravity offset exceeds the safety threshold, it sends an emergency command to the flight control module to control the UAV to ascend to a safe altitude (more than 100 meters above the ultra-low-altitude flight altitude) and plans a return path to avoid safety accidents caused by center of gravity problems during ultra-low-altitude flight. By setting up the fault diagnosis and emergency response module, the reliability and safety of the system are further improved, ensuring that it can cope with sudden faults and protect the safety of UAVs, cargo, and ground personnel when performing tasks such as disaster relief and material delivery in complex environments. This setup addresses the issues of mission interruption or safety risks caused by untimely fault detection and delayed emergency response during system operation by adding a fault diagnosis and emergency handling module. The module establishes data connections with each core module, receives real-time operational status signals, and matches fault characteristics using a built-in fault database. Once a fault is detected, it immediately sends an alarm signal containing fault information to the cockpit or ground control station and initiates targeted emergency strategies (such as suspending deployment and switching to backup sensors) to quickly contain the escalation of the fault's impact, reduce safety risks to the drone, cargo, and ground personnel, significantly improve the system's reliability and safety in complex mission scenarios, and ensure the continuity and stability of deployment missions.

[0029] In this embodiment, the flight control module also includes a built-in ultra-low altitude flight path planning submodule. This submodule supports two path planning methods: preset path planning and real-time dynamic path planning. In the preset path planning mode, the user can input the starting coordinates (Sx, Sy, Sz), ending coordinates (Ex, Ey, Ez), and coordinates of the intermediate drop points (D1x, D1y, D1z; D2x, D2y, D2z; ... Dnx, Dny, Dnz) of the mission area using the path editing software on the ground control station. The ultra-low altitude flight path planning submodule then calculates the path based on the input coordinates and the UAV's flight performance parameters (maximum flight speed V). max Maximum rate of ascent R 爬 Maximum turning radius R 转 The system automatically generates smooth ultra-low-altitude flight paths, with the flight altitude between adjacent points controlled within the ultra-low-altitude range (no more than 10 meters for parachute-less airdrops, and 300 meters or other ultra-low-altitude altitudes for parachute-less airdrops as needed), and the path deviation is ≤10 meters. In real-time dynamic path planning mode, the ultra-low-altitude flight path planning submodule receives real-time environmental data transmitted by the environmental perception module. When obstacles (such as tall trees in mountainous areas or building ruins at disaster relief sites) are detected on the preset path, the system automatically identifies the location coordinates (Obx, Oby, Obz) and size parameters (length Lob, width Wob, height Hob) of the obstacles and replans the detour path based on the obstacle avoidance algorithm. The safe distance between the detour path and the obstacles is no less than 5 meters, ensuring that the drone avoids obstacles during ultra-low-altitude flight while still accurately reaching each drop point to complete the material delivery task. The path planning submodule enables the system to better adapt to complex terrain and obstacle conditions in mountainous areas, forests, and disaster relief environments, enhancing the UAV's operational capabilities in complex environments. It overcomes the limitations of traditional UAVs in ultra-low-altitude flight path planning, meeting the needs of the Hongyan (HY100) large UAV for expanding its applications in complex scenarios. This feature addresses the adaptability of UAV flight path planning in different scenarios by integrating the ultra-low-altitude flight path planning submodule into the flight control module. The submodule supports preset path planning methods, which generate smooth ultra-low-altitude paths based on user-input coordinates and UAV performance parameters, meeting the path requirements of conventional scenarios. Real-time dynamic path planning, combined with data from the environmental perception module, identifies obstacles on the preset path and generates safe detour paths (safe distance ≥ 5 meters), effectively avoiding obstacles such as trees in mountainous areas and disaster ruins. This improves the UAV's mobility in complex terrain environments, ensuring accurate arrival at each delivery point and providing path assurance for subsequent precise delivery, further expanding the system's application scope.

[0030] In this embodiment, the delivery control module further includes a delivery compartment adaptation submodule, which is used to adapt to different types and sizes of goods to ensure the stability of the goods during transportation and delivery. The delivery compartment adaptation submodule includes an adjustable fixing mechanism and a buffer protection mechanism: the adjustable fixing mechanism consists of multiple sets of retractable buckles and sliding support plates, which can be adjusted according to the external dimensions of the goods (length L). 货 , width W 货 High H 货 The telescopic length of the buckle and the sliding position of the support plate are adjusted to ensure a tight fit between the buckle and the cargo surface, securing the cargo within the delivery compartment. This prevents cargo displacement due to turbulence during ultra-low-altitude drone flight, which could affect the center of gravity balance and delivery accuracy. The buffer protection mechanism includes elastic buffer pads installed at the bottom and around the delivery compartment. These pads are made of polyurethane material, 5-10 cm thick, and have excellent shock absorption performance. When cargo is delivered, the buffer pads reduce the impact between the cargo and the compartment walls, preventing damage from the impact. This is especially suitable for fragile materials (such as medicines and food packaging) or precision equipment delivered during disaster relief. Simultaneously, the delivery compartment adaptation submodule has a built-in cargo type database that stores preset fixing and buffering parameters for cargo (boxed cargo, bagged cargo, barrelled cargo). When the user inputs the cargo type and size, the delivery compartment adaptation submodule automatically calls up the corresponding parameters, controlling the adjustable fixing mechanism and buffer protection mechanism to complete the adaptation adjustment without manual adjustment, thus improving operational efficiency. By incorporating a delivery bay adaptation submodule, the system becomes compatible with various types of cargo delivery, further expanding the application scope of the HY100 large UAV in areas such as bulk material transportation and emergency relief material delivery, and enhancing the system's practicality and flexibility. This feature addresses the issue of unstable fixation and susceptibility to damage during transportation and delivery of different types and sizes of cargo by adding a delivery bay adaptation submodule to the delivery control module. The submodule's adjustable fixing mechanism uses telescopic buckles and sliding support plates to adaptively fix the cargo according to its size, preventing cargo displacement caused by turbulence during ultra-low-altitude flight. The buffer protection mechanism uses polyurethane cushioning pads to mitigate collision impacts during delivery, preventing cargo damage. Simultaneously, a built-in cargo type database automatically calls up adaptation parameters, eliminating the need for manual adjustment. This submodule significantly expands the system's cargo compatibility, ensuring stability during cargo transportation and delivery while improving operational efficiency, meeting the delivery needs of different types of cargo such as disaster relief supplies and agricultural materials.

[0031] This application also discloses an ultra-low-altitude flight control method for airdropped and air-delivered large unmanned aerial vehicles (UAVs). The method employs an ultra-low-altitude flight control system for airdropped and air-delivered large UAVs, comprising the following steps: Step 1: Environmental parameter acquisition and preprocessing. Environmental parameters of the UAV's flight area are acquired in real-time using the wind speed sensor, air pressure sensor, and temperature sensor of the environmental perception module. These parameters include real-time wind speed V (unit: m / s), real-time air pressure P (unit: kilopascal, kPa), and real-time temperature T (unit: degrees Celsius, ℃). The acquired parameters are preprocessed to remove abnormal data (such as instantaneous wind speed values ​​exceeding the physical range of 0-20 m / s or air pressure values ​​exceeding the normal range of 80-120 kPa). The preprocessed valid parameters are then transmitted in real-time to the flight control module and the delivery control module. Step 2: Real-time center of gravity detection and dynamic adjustment. The center of gravity detection unit of the center of gravity balance adjustment module is activated. The weight of the UAV itself, the total weight of the cargo in the delivery compartment, and the cargo distribution data are acquired using weight sensors on the fuselage and delivery compartment. The current center of gravity coordinates (X) are calculated. 现 Y 现 Z 现 ); compare the current center of gravity coordinates with the module's built-in center of gravity safety range (X). 安min -X 安max Y 安min -Y 安max Z 安min -Z 安maxThe system compares the current center of gravity coordinates with the target area. If the current center of gravity coordinates are outside the safe range, the system first controls the movable guide rails inside the delivery bay to adjust the cargo's forward / backward and left / right positions to correct the center of gravity. If the center of gravity still does not return to the safe range after adjusting the cargo position, the system activates the counterweight adjustment mechanism at the tail of the fuselage to move the counterweight until the center of gravity coordinates fall within the safe range, ensuring flight safety when the UAV is heavily loaded (maximum 1.2 tons) or has an unbalanced load. Step 3: Dynamic correction of the ultra-low altitude flight path. The flight control module calls the built-in ultra-low altitude flight algorithm and combines it with the environmental parameters preprocessed in Step 1 to determine the path. Correction: When a real-time wind speed V > 5 m / s is detected, the drone's wing angle of attack and flight speed are automatically adjusted to counteract the impact of wind speed on flight stability; when a real-time air pressure change P > 0.5 kPa / min is detected, the altitude measurement value is corrected to prevent air pressure fluctuations from causing excessive altitude errors; simultaneously, based on the preset flight path (including the coordinates of the start point, end point, and drop points along the way), the deviation between the actual flight position and the desired flight position is calculated in real time, and the flight attitude is adjusted through position error compensation logic (ΔP calculation logic) to ensure that the drone's position is correct during ultra-low-altitude flight. The error should be ≤10 meters, the altitude error ≤2 meters, and the flight path deviation ≤10 meters; Step 4: Precise Material Drop Control. Based on mission requirements, select single drop or rapid continuous drop mode through the drop control module: If single drop mode is selected, combine the environmental parameters of Step 1 and the flight status of Step 3 to determine the drop timing (e.g., when airdropping without a parachute, the flight altitude drops to within 10 meters of the ground and the flight speed is stable at 20-30 m / s), and control the drop mechanism to release a single cargo to ensure that the drop accuracy meets the requirements of less than 100 meters for parachute airdrops (300 meters altitude) and less than 100 meters for airdrops without a parachute (ground). (20-50 meters) Requirements for 20-50 meters; If the rapid continuous delivery mode is selected, the rapid continuous delivery control algorithm is called, and the interval time between adjacent delivery is calculated according to the formula T=(m1+m2)×g / F. The delivery mechanism is controlled to release 4 goods in sequence to avoid mutual interference during delivery, and the delivery accuracy of each good meets the above standards; Step 5: Data recording and interactive feedback. During the execution of steps 1-4, the data storage and interaction module records all key data in real-time storage mode, including environmental parameters (V, P, T), center of gravity adjustment records (X). 现 Y 现 Z 现 The system includes data on adjustments, flight data (real-time position coordinates, flight speed, attitude angle), and delivery data (cargo number, mass, delivery time, mode, and accuracy error). Simultaneously, real-time data is transmitted to the ground control station via a 4G / 5G wireless network for operators to monitor mission status. After the mission, data from the last 10 complete missions is retained (overwriting non-critical old data in cyclic storage mode). Data can be exported via USB for use in flight verification report writing and system performance optimization.

[0032] This invention comprehensively addresses the technical pain points of existing drones in the field of ultra-low-altitude heavy-load delivery through multi-module collaboration and core algorithm optimization: Firstly, it breaks through the bottlenecks in load capacity and delivery efficiency, achieving the delivery of 1.2-ton-level materials, supporting the rapid consecutive delivery of 4 items, and achieving industry-leading delivery accuracy (with parachute <100 meters, without parachute 20-50 meters) and flight error (position ≤10 meters, altitude ≤2 meters), meeting the needs of large-scale, efficient, and accurate material delivery; Secondly, it possesses strong environmental adaptability, responding in real time to changes in wind speed, air pressure, and temperature through an environmental perception module, and optimizing path planning. The system employs several key technologies: First, it avoids obstacles in complex terrain, and a fault diagnosis module reduces safety risks, making it stable and applicable to complex scenarios such as mountainous areas, forests, and disaster relief. Second, it ensures flight and delivery safety, with a center-of-gravity adjustment module dynamically correcting center-of-gravity shifts and a delivery bay adapter module securing and protecting the cargo, effectively mitigating safety hazards caused by heavy loads, uneven load distribution, and cargo displacement. Third, it enhances system usability and optimizability, with a data storage and interaction module enabling full-process data traceability, supporting mission monitoring, acceptance, and iteration. Furthermore, the system is adaptable to different large UAVs and cargo types, offering a wide range of applications. In summary, this system and method significantly improve the stability, accuracy, and adaptability of ultra-low-altitude heavy-load delivery by large UAVs, meeting the practical needs of logistics, emergency rescue, agriculture, and other fields. It possesses high technical value, practical value, and commercial potential, and is of great significance for promoting the industrialization of UAV airdrop technology.

[0033] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0034] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A low-altitude flight control system for airdropping and delivering large unmanned aerial vehicles (UAVs), characterized in that: It includes a flight control module, a delivery control module, an environmental perception module, a center of gravity balance adjustment module, and a data storage and interaction module; The flight control module controls the UAV to fly at ultra-low altitudes, ensuring stable flight attitude. The delivery control module supports both single-drop and rapid-drop modes, and is compatible with both parachute-equipped and parachute-less airdrops. Parachute-equipped airdrops have a delivery accuracy of less than 100 meters at an altitude of 300 meters, while parachute-less airdrops have an accuracy of 20 meters at an altitude of 20 meters above the ground and 50 meters above the ground. The minimum flight altitude for parachute-less airdrops is no more than 10 meters above the ground. The environmental perception module collects flight environment parameters. The center of gravity balance adjustment module adjusts the center of gravity of the UAV after the delivery system is installed, preventing heavy loads or uneven loads from affecting flight safety. The data storage and interaction module stores flight and delivery data and enables data interaction.

2. The ultra-low-altitude flight control system for large unmanned aerial vehicles (UAVs) for airdrop and airlift as described in claim 1, characterized in that, The flight control module has a built-in ultra-low altitude flight algorithm, which includes position error compensation logic. By calculating the deviation between the actual flight position and the desired flight position, and combining environmental parameters, the compensation coefficient is dynamically adjusted to control the accuracy of the UAV's flight position. The position error compensation logic uses the formula: ΔP=P 实 -P 期 +K×Δt, where ΔP represents the final position compensation in meters; P 实 This indicates the actual flight position coordinates collected in real time by the drone, in meters; P 期 The coordinates of the desired flight position generated based on the preset flight path are in meters; K represents the compensation coefficient corresponding to the environmental parameters; Δt represents the time deviation of the position data acquisition in seconds.

3. The ultra-low-altitude flight control system for large unmanned aerial vehicles (UAVs) for airdrop and airlift as described in claim 2, characterized in that, The rapid continuous delivery mode of the delivery control module is equipped with a dedicated control algorithm. This algorithm calculates the time interval between adjacent delivery of goods to avoid mutual interference during the delivery process, while ensuring that the delivery accuracy meets the requirements. The time interval between the delivery of adjacent goods is calculated using the formula: T=(m1+m2)×g / F, where T represents the time interval between the delivery of two adjacent goods, in seconds; m1 represents the mass of the previous goods to be delivered, in kilograms; m2 represents the mass of the next goods to be delivered, in kilograms; g represents the acceleration due to gravity; and F represents the driving force of the delivery mechanism, in Newtons.

4. The ultra-low-altitude flight control system for large unmanned aerial vehicles (UAVs) for airdrop and airlift as described in claim 3, characterized in that, The environmental perception module includes a wind speed sensor, a bar pressure sensor, and a temperature sensor, which are used to collect real-time wind speed V, real-time bar pressure P, and real-time temperature T in the flight environment, respectively. The environmental perception module transmits the collected parameters to the flight control module and the delivery control module in real time. When the wind speed V > 5 m / s is detected, the flight control module automatically adjusts the UAV's wing angle of attack and flight speed to counteract the impact of wind speed on flight stability, ensuring that the position error is still ≤ 10 meters and the altitude error is ≤ 2 meters. When the air pressure P change is detected to be > 0.5 kPa / min, the flight control module corrects the altitude measurement value to avoid the altitude error exceeding the standard caused by air pressure fluctuations. When the temperature T < -10℃ or T > 40℃ is detected, the delivery control module adjusts the operating parameters of the delivery mechanism drive system to prevent extreme temperature conditions from affecting the accuracy of the delivery action.

5. The ultra-low-altitude flight control system for large unmanned aerial vehicles (UAVs) for airdrop and airlift as described in claim 4, characterized in that, The center of gravity balance adjustment module includes a center of gravity detection unit and an adjustment execution unit; the center of gravity detection unit uses weight sensors installed at different locations on the drone fuselage and delivery compartment to detect the drone's own weight and the total weight and distribution of the cargo in the delivery compartment in real time, and calculates the current center of gravity coordinates (X). 现 Y 现 Z 现 The adjustment execution unit has a built-in center of gravity safety range database, which stores the center of gravity safety coordinate range (X) of the UAV after the delivery system is installed. 安min -X 安max Y 安min -Y 安max Z 安min -Z 安max ); When the current center of gravity coordinates calculated by the center of gravity detection unit exceed the safe range, the adjustment execution unit adjusts in two ways: first, it controls the movable guide rail in the delivery compartment to adjust the front-to-back and left-to-right position of the cargo in the delivery compartment, changing the cargo distribution to correct the center of gravity; second, when the cargo position adjustment cannot meet the requirements, it activates the counterweight adjustment mechanism at the rear of the fuselage to move the position of the counterweight to further correct the center of gravity.

6. The ultra-low-altitude flight control system for airdropped and delivered large unmanned aerial vehicles according to claim 5, characterized in that, The data storage and interaction module uses industrial-grade storage chips with a storage capacity of no less than 128GB, supporting both real-time storage and circular storage modes. In real-time storage mode, the module stores all key data during the UAV's flight, including: real-time position coordinates (Px, Py, Pz) generated by the flight control module, flight speed Vfly, and flight attitude angle; and the cargo number, cargo weight mcargo, delivery time tdelivery, delivery mode, delivery altitude hdelivery, and delivery accuracy error ΔP recorded by the delivery control module for each delivery. 投 The environmental sensing module collects real-time wind speed V, air pressure P, and temperature T; the center of gravity balance adjustment module records real-time center of gravity coordinates (X). 现 Y 现 Z 现 ) and adjustment action records; In circular storage mode, when storage capacity is insufficient, the oldest non-critical data is automatically overwritten, but all data from the 10 most recent complete flight and delivery missions are retained to ensure data traceability. At the same time, the data storage and interaction module supports data interaction with the ground control station via 4G / 5G wireless network, transmitting the aforementioned critical data to the ground control station in real time for ground personnel to monitor the flight and delivery status. After the flight mission is completed, the stored data can also be exported via USB interface for use in writing flight verification test reports, analyzing delivery accuracy, and optimizing system performance, providing a basis for flight sighting tests and data verification during project acceptance.

7. The ultra-low-altitude flight control system for large unmanned aerial vehicles (UAVs) for airdrop and airlift as described in claim 6, characterized in that, It also includes a fault diagnosis and emergency handling module, which establishes data connections with the flight control module, delivery control module, environmental perception module, and center of gravity balance adjustment module, and receives the working status signals of each module in real time; the fault diagnosis and emergency handling module has a built-in fault database, which contains preset fault types and corresponding fault characteristic signals of each module. When the fault diagnosis and emergency handling module detects that the working status signal of a certain module matches the fault characteristic signal in the fault database, it immediately performs the following operations: First, it sends a fault alarm signal to the cockpit or ground control station. The alarm signal includes the name of the faulty module, the fault type, and the time of the fault occurrence. Second, it activates the corresponding emergency handling strategy according to the fault type.

8. The ultra-low-altitude flight control system for large unmanned aerial vehicles (UAVs) for airdrop and airlift as described in claim 7, characterized in that, The flight control module also has a built-in ultra-low altitude flight path planning submodule, which supports two path planning methods: preset path planning and real-time dynamic path planning. In the preset path planning mode, users can input the starting coordinates (Sx, Sy, Sz), ending coordinates (Ex, Ey, Ez), and coordinates of intermediate drop points (D1x, D1y, D1z; D2x, D2y, D2z; ... Dnx, Dny, Dnz) of the mission area through the path editing software of the ground control station. The ultra-low altitude flight path planning submodule automatically generates a smooth ultra-low altitude flight path based on the input coordinates and the UAV's flight performance parameters. The flight altitude between adjacent points in the path is controlled within the ultra-low altitude range, and the path deviation is ≤10 meters. In the real-time dynamic path planning mode, the ultra-low altitude flight path planning submodule receives real-time environmental data transmitted by the environmental perception module. When an obstacle is detected on the preset path, it automatically identifies the obstacle's position coordinates (Obx, Oby, Obz) and size parameters (length Lob, width Wob, height Hob), and replans the detour path based on the obstacle avoidance algorithm. The safe distance between the detour path and the obstacle is not less than 5 meters.

9. The ultra-low-altitude flight control system for large unmanned aerial vehicles (UAVs) according to claim 8, characterized in that, The delivery control module also includes a delivery compartment adaptation submodule, which is used to adapt to different types and sizes of goods; the delivery compartment adaptation submodule includes an adjustable fixing mechanism and a buffer protection mechanism.

10. A method for controlling the ultra-low-altitude flight of a large unmanned aerial vehicle (UAV) for airdrop and delivery, characterized in that: The ultra-low-altitude flight control system for airdropping and air-delivering large unmanned aerial vehicles as described in any one of claims 5-9 includes the following steps: Step 1: Environmental parameter acquisition and preprocessing. The environmental parameters of the UAV flight area are acquired in real time through the wind speed sensor, air pressure sensor and temperature sensor of the environmental perception module, including real-time wind speed V, real-time air pressure P and real-time temperature T; the acquired parameters are preprocessed to remove abnormal data, and the preprocessed effective parameters are transmitted to the flight control module and the deployment control module in real time. Step 2: Real-time center of gravity detection and dynamic adjustment. The center of gravity detection unit of the center of gravity balance adjustment module is activated. Data on the drone's own weight, the total weight of the cargo in the cargo compartment, and the cargo distribution are collected using weight sensors on the fuselage and delivery bay. The current center of gravity coordinates (X) are then calculated. 现 Y 现 Z 现 ); compare the current center of gravity coordinates with the module's built-in center of gravity safety range (X). 安min -X 安max Y 安min -Y 安max Z 安min -Z 安max The comparison is performed, and the center of gravity is adjusted based on the comparison results; Step 3: Dynamic correction of ultra-low altitude flight path. The flight control module calls the built-in ultra-low altitude flight algorithm and performs path correction in combination with the environmental parameters preprocessed in Step 1. At the same time, based on the preset flight path, the deviation between the actual flight position and the desired flight position is calculated in real time, and the flight attitude is adjusted through position error compensation logic. Step 4: Precise Material Deployment Control. Based on mission requirements, the deployment control module selects either single deployment or rapid continuous deployment mode. If single deployment mode is selected, the deployment timing is determined by combining the environmental parameters from Step 1 and the flight status from Step 3, and the deployment mechanism is controlled to release a single cargo. If rapid continuous deployment mode is selected, the rapid continuous deployment control algorithm is invoked, and the deployment interval time between adjacent cargo deployments is calculated according to the formula T=(m1+m2)×g / F, and the deployment mechanism is controlled to release cargo sequentially. Step 5: Data Recording and Interactive Feedback. During the execution of steps 1-4, the data storage and interaction module records all key data in real-time storage mode, including environmental parameters, center of gravity adjustment records, flight data, and deployment data. At the same time, it transmits real-time data to the ground control station via a 4G / 5G wireless network for operators to monitor the mission status. After the mission is completed, the data of the last 10 complete missions is retained, and the data can be exported via USB interface for use in writing flight verification reports and optimizing system performance.

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