A land vehicle-mounted unmanned aerial vehicle safe take-off and landing control method and system

Abstract

The present invention provides a land vehicle-mounted UAV safe take-off and landing control method and system, which relates to the technical field of UAV safe take-off and landing. The method comprises: establishing a finite element analysis model according to the design parameters and expected load of the UAV airport; detecting the current terrain data and the attitude data of the airport in real time through sensors; performing real-time simulation analysis according to the current terrain data, the attitude data of the airport and the finite element analysis model to obtain analysis results; evaluating the influence of the current terrain on the structure of the UAV airport according to the analysis results, and automatically adjusting the UAV airport through the automatic leveling function if the terrain change is within the tolerance range of the airport structure, so that the airport platform reaches a horizontal state. The present invention ensures the safe take-off and landing of the UAV in various terrains through the automatic and manual leveling of the vehicle-mounted UAV airport and the manual slide rail function, and improves the operational flexibility and the safety of the UAV take-off and landing.

Description

Technical Field

[0001] The present invention relates to the technical field of safe take-off and landing of unmanned aerial vehicles, and in particular to a safe take-off and landing control method and system for a land vehicle-mounted unmanned aerial vehicle. Background Art

[0002] In traditional drone takeoff and landing control methods, operators rely mainly on their own experience and intuition to perform operations. Although this method has its unique practical value, it may face some challenges in certain complex or changeable terrain environments.

[0003] Specifically, traditional methods may lack systematic and scientific data support. Operators often find it difficult to obtain real-time data on terrain features, climate conditions, and airport structure status. In the absence of such data, the assessment of drone takeoff and landing conditions may be subjective and uncertain.

[0004] Furthermore, without the assistance of precise analytical tools, such as finite element analysis, it may be difficult for operators to fully and accurately predict the performance of airport structures under different terrains. Summary of the invention

[0005] In order to solve the above technical problems, the present invention proposes a land-mounted UAV safe take-off and landing control method and system, which can analyze and predict the performance of airport structures under different terrain and load conditions, help to identify potential structural problems in advance, and take corresponding preventive measures.

[0006] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0007] In a first aspect, a method for controlling safe take-off and landing of a land vehicle-mounted UAV is provided, the method comprising:

[0008] Carrying a drone airport on the vehicle, and the airport is adaptable to various terrains, including flat land, hillsides, bumpy roads and uneven roads;

[0009] A finite element analysis model was established based on the design parameters and expected loads of the drone airport;

[0010] Real-time detection of current terrain data and airport posture data through sensors;

[0011] Conduct real-time simulation analysis based on current terrain data, airport posture data and finite element analysis model to obtain analysis results;

[0012] According to the analysis results, the impact of the current terrain on the structure of the drone airport is evaluated. If the terrain change is within the tolerance range of the airport structure, the drone airport is automatically adjusted through the automatic leveling function to make the airport platform reach a horizontal state;

[0013] When the automatic leveling function cannot cope with the terrain changes, the flatness of the airport is adjusted through the manual leveling function to obtain a leveled drone airport device;

[0014] Use the manual slide function of the vehicle to send the leveled drone airport device out of the vehicle, and operate the drone to take off and perform operations;

[0015] Through the control system, the drone airport device is controlled, including the manual slide rail function, automatic leveling function or manual leveling function, and the take-off and landing of the drone are monitored and directed.

[0016] Furthermore, according to the design parameters and expected loads of the drone airport, a finite element analysis model is established, including:

[0017] Obtain all relevant design parameters of the drone airport, including the airport's dimensions, material properties, structural form, and connection methods;

[0018] Determine the loads that the airport will bear during use, including the weight of the drone, the weight of the airport itself, wind loads, and thermal stress caused by temperature changes;

[0019] According to the relevant design parameters and load bearing, a three-dimensional geometric model of the drone airport is established;

[0020] Determine the corresponding material properties for each part in the 3D geometric model;

[0021] The three-dimensional geometric model is divided into a series of grids. According to the actual use of the airport, the boundary conditions and uniformly distributed loads, concentrated loads and dynamic loads are determined to obtain a finite element analysis model.

[0022] Furthermore, material properties include elastic modulus, Poisson's ratio, yield strength, density and thermal expansion coefficient; structural forms include truss structure and plate shell structure; connection methods include welding, riveting or bolting.

[0023] Furthermore, according to the changes in terrain, the UAV airport is automatically adjusted through the automatic leveling function to make the airport platform reach a horizontal state, including:

[0024] The sensors detect the current terrain changes and the airport's posture data in real time and transmit the data to the processing unit of the control system;

[0025] The processing unit of the control system receives the sensor data and calculates the inclination angle and height difference parameters of the current terrain;

[0026] According to the current terrain inclination angle and height difference parameters, the control system sends instructions to the airport's leveling mechanism;

[0027] The leveling mechanism performs corresponding telescopic or rotating actions according to the instructions to change the posture of the airport platform and make the airport platform reach a horizontal state.

[0028] Furthermore, the calculation formula for the inclination angle of the current terrain is:

[0029] ;

[0030] in, Indicates the inclination angle of the current terrain; , , represents the sensitivity correction factor; Indicated in The acceleration of the axis; Indicated in The acceleration of the axis; Indicated in The acceleration of the axis; , , represents the offset correction factor; represents the dynamic compensation coefficient; It represents the rate of change of z-axis acceleration with time; Indicates time; represents the differential with respect to time t; Indicates the z-axis acceleration small changes in .

[0031] Furthermore, the height difference calculation formula of the current terrain is:

[0032] ;

[0033] in, Indicates the height difference of the current terrain; represents the terrain correction coefficient; Indicates temperature; Indicates humidity; Indicates air pressure; , Indicates the height values ​​of two different points; represents the environmental correction factor, where ,in, , , and is a constant.

[0034] Furthermore, when the automatic leveling function cannot cope with the terrain change, the flatness of the airport is adjusted by the manual leveling function to obtain a leveled drone airport device, including:

[0035] Check the drone airport device to determine whether the automatic leveling function cannot cope with the current terrain. If the automatic leveling function cannot cope with the current terrain, use a level ruler and measuring instruments to measure the current flatness on the airport device and mark the adjustment position, including uneven areas;

[0036] According to the marks, use the leveling bolts to adjust the supporting points of the airport device so that each supporting point reaches the expected flatness;

[0037] Use a level ruler and measuring instruments to verify the flatness of the entire airport installation to ensure that the airport installation reaches a flat state after adjustment, so as to obtain a leveled drone airport installation.

[0038] Furthermore, the manual slide function of the vehicle is used to send the leveled drone airport device out of the vehicle, and the drone is operated to take off and perform operations, including:

[0039] Place the leveled drone airport device on the slide rail and fix the airport device on the slide rail using a clamp;

[0040] Push the airport device to slide outward along the slide rail and observe the position and status of the airport device;

[0041] When the airport device slides to a predetermined position outside the vehicle, the pushing is stopped, the fixation between the airport device and the slide rail is released, and the airport device is separated from the slide rail, so that the airport device is placed on the ground;

[0042] By placing the airport device on the ground, the drone can be operated to take off and perform operations according to the predetermined flight route.

[0043] Furthermore, the control system controls the drone airport device, including sending out the manual slide rail function, automatic leveling function or manual leveling function, and monitors and directs the take-off and landing of the drone, including:

[0044] Start the control system and establish communication connection with the drone airport device and the drone;

[0045] Adjust the height of the supporting legs of the airport device through the automatic leveling function or manual leveling function of the control system interface until it reaches a horizontal state;

[0046] Activate the manual slide function on the control system and send instructions to send the airport device out of the vehicle along the slide, and monitor and command the takeoff and landing of the drone.

[0047] In the second aspect, a land vehicle-mounted UAV safe take-off and landing control system includes:

[0048] The acquisition module is used to carry a drone airport on a vehicle, and the airport is adapted to various terrains, including flat land, hillsides, concave and convex roads and uneven roads; a finite element analysis model is established according to the design parameters and expected loads of the drone airport; the current terrain data and the attitude data of the airport are detected in real time by sensors; a real-time simulation analysis is performed according to the current terrain data, the attitude data of the airport and the finite element analysis model to obtain the analysis results; according to the analysis results, the influence of the current terrain on the structure of the drone airport is evaluated, and if the terrain change is within the tolerance range of the airport structure, the drone airport is automatically adjusted through the automatic leveling function to make the airport platform reach a horizontal state; when the automatic leveling function cannot cope with the terrain change, the flatness of the airport is adjusted through the manual leveling function to obtain a leveled drone airport device;

[0049] The processing module is used to utilize the manual slide function of the vehicle to send the leveled UAV airport device out of the vehicle and operate the UAV to take off and perform operations; through the control system, the UAV airport device is controlled, including the manual slide function and manual leveling function, and the take-off and landing of the UAV are monitored and directed.

[0050] According to a third aspect, a computing device includes:

[0051] one or more processors;

[0052] The storage device is used to store one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the method described.

[0053] In a fourth aspect, a computer-readable storage medium stores a program, and when the program is executed by a processor, the method described is implemented.

[0054] The above solution of the present invention includes at least the following beneficial effects:

[0055] By carrying a drone airport on a vehicle and adapting it to a variety of terrains such as flat land, hillsides, bumpy roads and uneven roads, the terrain adaptability of the drone take-off and landing system has been significantly improved. By establishing a finite element analysis model based on the design parameters and expected loads of the drone airport, it is possible to analyze and predict the performance of the airport structure under different terrain and load conditions, which helps to identify potential structural problems in advance and take corresponding preventive measures. Real-time detection of terrain data and airport attitude data through sensors provides operators with accurate and immediate information, allowing them to make quick and informed decisions based on the current situation.

[0056] This method combines automatic leveling and manual leveling functions. It can not only achieve fast automatic adjustment when the terrain changes are small, but also perform fine adjustment through manual operation in complex terrain, ensuring the horizontal state of the airport platform and providing a solid guarantee for the safe takeoff and landing of drones.

[0057] The manual slide function of the vehicle can easily send the leveled drone airport device out of the vehicle, simplifying the operation process. At the same time, through the integrated control system, the operator can easily monitor and command the takeoff and landing of the drone, improving the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is a flow chart of a method for controlling safe take-off and landing of a land vehicle-mounted UAV provided by an embodiment of the present invention.

[0059] Figure 2 It is a schematic diagram of a safe take-off and landing control system for a land vehicle-mounted UAV provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0060] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0061] like Figure 1 As shown, an embodiment of the present invention provides a method for controlling the safe take-off and landing of a land vehicle-mounted UAV, the method comprising the following steps:

[0062] Step 1: Carry a drone airport on the vehicle, and the airport is adapted to various terrains, including flat land, hillsides, bumpy roads and uneven roads;

[0063] Step 2: Establish a finite element analysis model based on the design parameters and expected load of the drone airport; use sensors to detect the current terrain data and the airport's attitude data in real time; perform real-time simulation analysis based on the current terrain data, the airport's attitude data, and the finite element analysis model to obtain analysis results; based on the analysis results, evaluate the impact of the current terrain on the drone airport structure. If the terrain change is within the tolerance range of the airport structure, the drone airport is automatically adjusted through the automatic leveling function to make the airport platform reach a horizontal state;

[0064] Step 3, when the automatic leveling function cannot cope with the terrain change, the flatness of the airport is adjusted by the manual leveling function to obtain a leveled drone airport device;

[0065] Step 4: Use the manual slide function of the vehicle to send the leveled drone airport device out of the vehicle and operate the drone to take off and perform the operation;

[0066] Step 5, control the UAV airport device through the control system, including sending out the manual slide function, automatic leveling function or manual leveling function, and monitor and command the take-off and landing of the UAV.

[0067] In an embodiment of the present invention, by carrying a drone airport on a vehicle and adapting it to various terrains such as flat land, hillsides, bumpy roads and uneven roads, the terrain adaptability of the drone take-off and landing system is significantly improved. By establishing a finite element analysis model based on the design parameters of the drone airport and the expected load, the performance of the airport structure under different terrain and load conditions can be analyzed and predicted, which helps to identify potential structural problems in advance and take corresponding preventive measures. The terrain data and airport attitude data are detected in real time by sensors, providing operators with accurate and timely information, enabling them to make quick and wise decisions based on the current situation. The method combines automatic leveling and manual leveling functions, which can not only achieve rapid automatic adjustment when the terrain changes are small, but also make fine adjustments through manual operation under complex terrain, ensuring the horizontal state of the airport platform and providing solid protection for the safe take-off and landing of the drone. By using the manual slide rail function of the vehicle, the leveled drone airport device can be easily sent out of the vehicle, simplifying the operation process. At the same time, through the integrated control system, the operator can easily monitor and command the take-off and landing of the drone, improving the operation efficiency.

[0068] When the automatic leveling function cannot cope with certain complex terrains, a manual leveling function is provided as a backup. This design enhances the reliability and flexibility of the system, ensuring that a leveled drone airport device is available in any situation. The manual slide function of the vehicle allows the leveled drone airport device to be easily sent out of the vehicle, allowing the drone to be quickly deployed for operation. This design simplifies the take-off and landing process of the drone and improves the efficiency of the operation. Through the integrated control system, all functions of the drone airport device can be fully controlled, including manual slides, automatic leveling or manual leveling, and the take-off and landing of the drone can be monitored and directed in real time. Centralized control improves the intelligence level and ease of operation of the entire system, while also enhancing the safety and controllability of the operation process.

[0069] In a preferred embodiment of the present invention, the above step 1, carrying a drone airport on a vehicle, and the airport is adapted to various terrains, including flat land, hillsides, bumpy roads and uneven roads, may include:

[0070] The airport is designed to be mobile and can be firmly mounted on a vehicle, using the vehicle's mobility to achieve rapid deployment. The airport structure is specially designed, such as using adjustable support legs or electric push rods, to ensure that the airport platform can maintain stability and levelness on different terrains. Whether it is flat ground, hillside, bumpy road or uneven road, the airport can sense terrain changes through the automatic adjustment system and quickly adjust its posture to adapt to different terrains. The airport platform is equipped with high-precision measuring equipment such as inclination sensors or gyroscopes to monitor the platform's tilt angle in real time. When the vehicle stops, the automatic leveling system will determine the tilt of the airport platform based on the sensor data. If it is detected that the platform is not level, the automatic leveling system will drive the adjustment mechanism (hydraulic legs) to make fine adjustments until the airport platform reaches the predetermined horizontal state.

[0071] Before taking off, the drone will perform a self-check and communicate with the airport's control system to confirm whether the airport platform has reached a level suitable for takeoff and landing. Once the airport platform is confirmed to be level, the drone will unlock the takeoff program and prepare to take off to perform the mission. When the drone returns to land, the airport's control system will once again ensure that the platform is level to provide a safe landing environment.

[0072] In another preferred embodiment of the present invention, when specifically applied, the above steps include:

[0073] Use the mobility of the vehicle to quickly transport the airport to the designated location. Install the airport firmly on the vehicle to ensure the stability and safety of the airport structure during transportation. The automatic adjustment function of the airport monitors the tilt angle of the airport platform in real time through high-precision measuring equipment such as inclination sensors or gyroscopes. Based on the sensor data, the automatic leveling function determines the tilt of the airport platform and drives the adjustable support legs or electric push rods for fine-tuning. Whether on flat ground, hillside, bumpy roads or uneven roads, the airport can quickly adjust its posture through the automatic adjustment system to maintain the stability and levelness of the airport platform.

[0074] After the airport platform is leveled, the drone performs a self-check procedure to ensure that all systems are normal. The drone establishes communication with the airport control system to confirm whether the airport platform has reached a horizontal state suitable for takeoff and landing. Once the airport platform is confirmed to be level, the drone unlocks the takeoff procedure and prepares for takeoff. The drone takes off from the leveled airport platform and begins to perform the operation task. During the operation, the drone can maintain real-time communication with the airport control system to ensure flight safety and operation efficiency. When the drone completes the operation or needs to return, it sends a return request to the airport control system. The airport control system confirms the platform level again to ensure a safe landing environment for the drone. The drone lands safely on the leveled airport platform, completing the entire operation process.

[0075] In a preferred embodiment of the present invention, a finite element analysis model is established according to the design parameters and expected load of the drone airport, including:

[0076] Obtain all relevant design parameters of the drone airport, including the airport's dimensions, material properties, structural form, and connection methods; material properties include elastic modulus, Poisson's ratio, yield strength, density, and thermal expansion coefficient; structural forms include truss structures and plate shell structures; connection methods include welding, riveting, or bolting;

[0077] Determine the loads that the airport will bear during use, including the weight of the drone, the weight of the airport itself, wind loads, and thermal stress caused by temperature changes;

[0078] According to the relevant design parameters and the loads to be borne, a three-dimensional geometric model of the drone airport is established, including: Select a modeling tool, such as SolidWorks, which can accurately construct the geometry of the airport according to the design parameters. Import the previously collected design parameters into the modeling software. These parameters include the size of the airport (length, width, height), the size of key components (such as runway length, width, size of supporting structure, etc.), material properties (elastic modulus, Poisson's ratio, yield strength, etc.) and structural form (truss structure, plate shell structure, etc.); Use the drawing and modification tools of the modeling software to start building the airport's infrastructure according to the design parameters, including drawing the airport's base, runway, supporting structure, etc. If it is a truss structure, it is necessary to draw each member and node of the truss in detail; if it is a plate shell structure, it is necessary to draw the outline and thickness of the plate shell. After the basic structure is completed, more details and features need to be added, such as connectors, fixtures, electrical equipment, etc. These details may be very important for subsequent finite element analysis because they may affect the overall strength and stability of the structure. During the modeling process, the accuracy of the model needs to be continuously verified. This can be done by comparing it with the actual design drawings to check whether the size, position and shape are consistent. In addition, the measurement tools provided by the software can be used to verify whether the various parts of the model meet the design requirements. After the modeling is completed, it is necessary to ensure that the model is in a format that can be accepted by the finite element analysis software.

[0079] Determine the corresponding material properties for each part in the 3D geometric model;

[0080] The three-dimensional geometric model is divided into a series of grids. According to the actual use of the airport, the boundary conditions and uniformly distributed loads, concentrated loads and dynamic loads are determined to obtain a finite element analysis model. Specifically, the following steps are performed: In the finite element analysis software, tetrahedral grids are selected as discretization units; In the finite element analysis software, the grid generation tool or grid division function is found; According to the specific operation process of the software, the three-dimensional geometric model is selected as input, and the grid generation parameters, such as grid size, grid density, etc., are set; When the grid generation operation is performed, the software will automatically discretize the three-dimensional geometric model and generate a tetrahedral grid; According to the actual installation situation of the airport, determine which parts are fixedly supported, and in the finite element In the model, fixed support boundary conditions are imposed on these parts, usually by constraining their degrees of freedom in one or some directions. If the airport part can slide, such as the runway or some movable parts, the corresponding sliding support conditions need to be set. In the finite element model, sliding support boundary conditions are imposed on these parts, usually by constraining their degrees of freedom in one direction while allowing degrees of freedom in other directions. For uniformly distributed loads acting on the airport structure, such as the weight of the airport itself or the snow layer covering the airport, it can be set as a uniform load. In the finite element model, select the corresponding surface or volume and apply the uniform load, usually by setting the size and direction of the load. For local concentrated loads acting on the airport structure, such as the take-off and landing points of drones or the installation points of equipment, it is necessary to set it as a concentrated load. In the finite element model, select the corresponding nodes or units and apply concentrated loads, usually by setting the size, direction and point of action of the load. If the airport is subject to dynamically changing loads, such as wind loads or earthquakes, the corresponding dynamic load conditions need to be set. In the finite element model, the dynamic load conditions are set according to the time history or frequency characteristics of the load.

[0081] In an embodiment of the present invention, by obtaining all relevant design parameters of the drone airport, including size, material properties, structural form and connection method, the accuracy and comprehensiveness of the analysis model are ensured, which enables the model to more realistically reflect the actual performance of the airport. The three-dimensional geometric model not only takes into account the weight of the drone and the weight of the airport itself, but also takes into account the wind load and thermal stress caused by temperature changes. This consideration of load diversity enables the model to cope with various complex environmental conditions and improves the adaptability and safety of the airport. Determining the corresponding material properties for each part in the three-dimensional geometric model ensures that the model can accurately reflect the behavior of different materials during the force process. The three-dimensional geometric model is divided into a series of grids so that the model can adapt to various boundary conditions and load conditions more flexibly. According to the actual use of the airport, the boundary conditions and uniformly distributed loads, concentrated loads and dynamic loads are determined, so that the model can more accurately simulate the force conditions of the airport during actual use. Through the finite element analysis model, the performance of the airport can be predicted and potential design defects can be found before the actual construction and use of the airport, which helps to optimize the design scheme, reduce construction costs, and improve the safety and reliability of the airport. By pre-identifying and solving potential structural problems, the method significantly reduces the risks caused by airport structural problems during the take-off and landing of drones. This not only protects the safety of drones and airport equipment, but also ensures the safety of operators.

[0082] When specifically applied, this includes:

[0083] Measure the length, width and height of the airport, as well as the dimensions of key components, such as support structures and runways. Through material testing or consulting relevant literature, obtain the material's elastic modulus (a measure of the material's ability to resist elastic deformation), Poisson's ratio (the absolute value of the ratio of lateral strain to longitudinal strain), yield strength (the stress limit at which the material begins to yield), density (mass per unit volume), and thermal expansion coefficient (the relative change in the length of the material when the temperature rises by 1°C); determine whether the airport's main structure is a truss structure or a plate-shell structure, which differ in how they bear loads and distribute stress. Record the connection methods between the various components, such as welding, riveting, or bolting, because different connection methods will affect the overall strength and stability of the structure.

[0084] Determine the loads that the airport will bear during use, including:

[0085] The weight of the drone. Obtain its takeoff weight according to the drone's specifications.

[0086] The weight of the airport itself, calculated or measured as the total weight of the airport structure and its ancillary equipment.

[0087] Wind loads, taking into account the wind speed and direction in the area where the airport is located, calculate the forces exerted by the wind on the airport structure.

[0088] Thermal stress caused by temperature changes, analyze the climatic conditions in the airport area, especially the temperature difference changes, to calculate the structural stress caused by temperature changes.

[0089] Use SolidWorks (computer-aided design) software to create a 3D geometric model of the airport based on the design parameters obtained in step 1, and determine the corresponding material properties for each part in the 3D geometric model;

[0090] Assign the corresponding material properties collected in step 1 to each part in the model (such as runway, support frame, connection, etc.). Use mesh generation tools to discretize the 3D model and divide it into many small units or grids for numerical analysis. Set the constraints of the model according to the actual installation and use of the airport, such as fixed support, sliding support, etc. Apply the various loads determined in step 2 (drone weight, airport deadweight, wind load, thermal stress) to the corresponding positions of the model.

[0091] In a preferred embodiment of the present invention, the above step 2, automatically adjusting the drone airport through the automatic leveling function so that the airport platform reaches a horizontal state, may include:

[0092] Step 22, detecting the current terrain changes and the airport's posture data in real time through sensors, and transmitting the data to a processing unit of the control system;

[0093] Step 23, the processing unit of the control system receives the sensor data and calculates the inclination angle and height difference parameters of the current terrain;

[0094] Step 24, according to the inclination angle and height difference parameters of the current terrain, the control system sends instructions to the leveling mechanism of the airport;

[0095] Step 25, the leveling mechanism performs corresponding telescopic or rotating actions according to the instructions to change the posture of the airport platform so that the airport platform reaches a horizontal state.

[0096] In an embodiment of the present invention, the sensors installed on the drone airport will detect the changes in the current terrain in real time, such as the tilt angle, height difference, etc., and monitor the attitude data of the airport itself at the same time. These sensor data will be transmitted to the processing unit of the control system in real time. The processing unit of the control system is responsible for receiving the data from the sensor, and the control system calculates the key parameters such as the tilt angle and height difference of the current terrain. According to the calculated terrain parameters, the control system will send corresponding instructions to the leveling mechanism of the airport. After receiving the instructions, the leveling mechanism will perform corresponding telescopic or rotation actions, which are intended to change the attitude of the airport platform to adapt to changes in the terrain. Through the precise adjustment of the leveling mechanism, the airport platform can gradually reach a horizontal state, thereby ensuring that the drone can take off and land safely on this platform.

[0097] By using sensors to detect terrain changes and airport attitudes in real time, the airport can respond quickly to terrain changes, maintain the level of the platform, and improve the safety and efficiency of drone takeoff and landing. Using a control system and a precise leveling mechanism, high-precision leveling of the airport platform can be achieved to ensure that drones can take off and land stably on complex terrain. The entire leveling process is automatically completed by the control system without manual intervention, reducing operational difficulty and labor costs. Because it can detect and adapt to terrain changes in real time, this airport design is suitable for a variety of terrain environments, including flat land, hillsides, bumpy roads, etc., broadening the application range of drones.

[0098] The automatic leveling function can effectively reduce the tilt of the airport platform caused by uneven terrain, thereby enhancing the stability of the entire drone system.

[0099] In another preferred embodiment of the present invention, when specifically applied, the above steps include:

[0100] The sensors installed on the drone airport will continuously detect the current terrain. These sensors can capture subtle changes in the terrain, such as tilt angle, height difference, etc., and convert these data into electrical signals. At the same time, the sensors will also monitor the airport's own attitude data, such as the levelness and position of the airport platform. The sensors will transmit the collected data wirelessly to the processing unit of the control system in real time. After receiving the sensor data, the processing unit of the control system will perform preprocessing and filtering to eliminate noise and interference. Then, the processing unit will calculate the data to obtain key parameters such as the tilt angle and height difference of the current terrain. These parameters will serve as the basis for the adjustment of the leveling mechanism. According to the calculated terrain parameters, the control system will generate corresponding leveling instructions. These instructions are intended to guide the leveling mechanism on how to act so that the airport platform reaches a horizontal state.

[0101] After receiving the command from the control system, the leveling mechanism will immediately perform the corresponding extension or rotation action.

[0102] These actions change the airport platform's posture by adjusting its support points to adapt to changes in terrain. During the action of the leveling mechanism, the control system will continuously monitor the airport platform's levelness. When the platform reaches the predetermined level, the control system will stop sending commands and the leveling mechanism will stop moving. At this point, a drone or other device can be used to verify that the airport platform is stable and level. Once the airport platform is adjusted to a level state, the drone can prepare for takeoff and landing, including self-testing of the drone and communication confirmation with the airport control system.

[0103] In a preferred embodiment of the present invention, the calculation formula for the inclination angle of the current terrain is:

[0104] ;

[0105] in, Indicates the inclination angle of the current terrain; , , represents the sensitivity correction factor; Indicated in The acceleration of the axis; Indicated in The acceleration of the axis; Indicated in The acceleration of the axis; , , represents the offset correction factor; represents the dynamic compensation coefficient; express The rate of change of axis acceleration with time; Indicates time; represents the differential with respect to time t; Indicates the z-axis acceleration small changes in .

[0106] In the embodiment of the present invention, based on the three-dimensional space , , The acceleration data of the axis and its rate of change are used to accurately calculate the inclination angle of the terrain.

[0107] Specifically, firstly, the acceleration values ​​in three axes are obtained through the acceleration sensor. , , , and use the sensitivity correction factor , , and offset , , These values ​​are corrected. Next, the corrected Axis and The modulus of the resultant vector of the z-axis acceleration is divided by the corrected z-axis acceleration to obtain a proportional value. In order to consider the dynamic changes of the terrain, the rate of change of the z-axis acceleration is introduced and multiplied by a dynamic correction coefficient to adjust the proportional value. Finally, this adjusted proportional value is converted to the tilt angle This formula takes into account multiple factors, including acceleration data, sensor sensitivity and dynamic changes, to accurately calculate the tilt angle of the terrain.

[0108] The current terrain inclination angle As a direct output of the calculation, an accurate measure of terrain tilt is provided. Sensitivity Correction Factor , , The inconsistency of the sensitivity of the accelerometer can be corrected to ensure that the acceleration data obtained from each axis of the sensor is more accurate. By adjusting these coefficients, the differences in the sensor production process can be compensated, thereby improving the calculation accuracy of the tilt angle. , , Axis acceleration , , It reflects the actual dynamics of an object in three-dimensional space. Measuring these acceleration values ​​helps to accurately calculate the inclination angle of the object relative to gravity, thereby accurately determining the inclination of the terrain. , , Used to correct the zero-point deviation of the acceleration sensor. Introducing an offset can eliminate system errors and improve the accuracy of the tilt angle calculation. The time t and the time differential dt can take into account the real-time change of acceleration. By calculating the rate of change of acceleration (i.e. the time differential), we can capture the instantaneous change of the terrain and adjust the calculation result of the tilt angle more accurately. Small changes in z-axis acceleration express z Real-time change of axis acceleration. Dynamic correction factor C For regulation z The effect of axis acceleration changes on the tilt angle calculation. Optimizing this factor helps balance the accuracy of static and dynamic measurements in different environments, making the calculation results more stable and reliable.

[0109] In a preferred embodiment of the present invention, the height difference calculation formula of the current terrain is:

[0110] ;

[0111] in, Indicates the height difference of the current terrain; represents the terrain correction coefficient; Indicates temperature; Indicates humidity; Indicates air pressure; , Indicates the height values ​​of two different points; represents the environmental correction factor, where ,in, , , and is a constant.

[0112] In the embodiment of the present invention, the terrain correction coefficient Used to adjust for height measurement errors caused by terrain features (such as hillsides, gullies, etc.). This factor is preset and calibrated based on the characteristics of the specific terrain and historical measurement data. Environmental Correction Factor It is a dynamically changing parameter that depends on the current environment's temperature (T), humidity (H) and air pressure (P). These factors will affect the altitude measurement, so this correction factor is needed to adjust the measurement value to improve accuracy. Temperature changes affect the density of the air, which in turn affects the barometer reading; humidity changes can affect the refractive index of the air, which in turn affects the measurement results of laser rangefinders and other equipment; changes in air pressure directly affect the reading of the barometric altimeter. Altitude value , Represents the height values ​​of two different points. These values ​​are usually obtained directly from the measurement device GPS. The difference between the two height values ​​is the basis for calculating the height difference, but it needs to be adjusted by a correction factor to reflect the actual terrain height difference. Height difference calculation is calculated by dividing the height difference between the two points ( − ) multiplied by the terrain correction factor and environmental correction factors The influence of terrain and environmental factors on height measurement is comprehensively considered to obtain a more accurate height difference value.

[0113] Terrain correction factor The influence of terrain characteristics on height difference calculation is taken into account, and the measurement error caused by factors such as terrain undulation and slope is effectively corrected. By introducing this factor, the height difference in the actual terrain can be more accurately reflected, and the accuracy of the calculation is improved. Environmental correction factor The influence of environmental factors such as temperature, humidity and air pressure on height difference measurement is comprehensively considered. Changes in these factors will cause changes in air density and refractive index, thus affecting the accuracy of the measurement results. By introducing environmental correction factors , can dynamically adjust the measured value to adapt to the height difference calculation under different environmental conditions, improving the reliability and adaptability of the calculation. , It reflects the height difference between the two measuring points and is the basic data for calculating the height difference. By accurately measuring the height values ​​of the two points and adjusting them in combination with the correction factor, a more accurate height difference value can be obtained.

[0114] In a preferred embodiment of the present invention, the above step 3, when the automatic leveling function cannot cope with the terrain change, the flatness of the airport is adjusted by the manual leveling function to obtain a leveled drone airport device, which may include:

[0115] Step 33, inspect the drone airport device to determine whether the automatic leveling function cannot cope with the current terrain. If the automatic leveling function cannot cope with the current terrain, use a level ruler and a measuring instrument to measure the current flatness on the airport device and mark the adjusted position, including uneven areas;

[0116] Step 34, according to the marks, use the leveling bolts to adjust the support points of the airport device so that each support point reaches the expected flatness;

[0117] Step 35, using a level ruler and a measuring instrument to verify the flatness of the entire airport device, and confirming that the airport device reaches a flat state after adjustment, so as to obtain a leveled drone airport device.

[0118] In an embodiment of the present invention, the drone airport device first detects whether the automatic leveling function can effectively cope with the current terrain through built-in sensors and systems. When the terrain changes beyond the adjustment range of the automatic leveling function, the system will identify the limitations of the automatic leveling function. After confirming that the automatic leveling function cannot cope, the flatness of the airport device is carefully measured using a level ruler and precision measuring instruments. These tools can accurately identify the high and low uneven areas on the device and determine the specific adjustment positions. Based on the results of the measurement and positioning, the operator will use the leveling bolts to make manual adjustments at the marked positions. By rotating the leveling bolts, the height of the support point of the airport device can be changed, thereby correcting the uneven areas. After the adjustment is completed, the entire airport device is verified for flatness again using a level ruler and measuring instruments to ensure that the airport device has indeed reached the expected flat state after manual adjustment.

[0119] The manual leveling function enables the drone airport device to adapt to a wider range of terrain conditions, especially in complex or extreme environments, improving the flexibility and usability of the device. By ensuring the flatness of the airport device, the manual leveling function provides a more stable and safe take-off and landing platform for the drone, reducing the flight risks caused by uneven terrain. The manual leveling process is relatively intuitive, and the operator can make adjustments based on actual measurements. This instant feedback makes the adjustment process more accurate and efficient. Maintaining the flatness of the airport device can reduce the vibration and impact of the drone during take-off and landing, thereby extending the service life of the drone and the airport device. A flat airport device can reduce the preparation time before the drone takes off and lands, and improve overall operational efficiency, especially in scenarios that require frequent take-offs and landings.

[0120] In another preferred embodiment of the present invention, when specifically applied, the above steps include:

[0121] The drone airport unit continuously monitors changes in the current terrain through built-in sensors and systems. The system automatically determines whether the current terrain exceeds the adjustment capabilities of the automatic leveling function. If the terrain changes are complex or extreme and exceed the design parameters of the automatic leveling, the system will issue a prompt or alarm, indicating that the automatic leveling function can no longer effectively cope with it. After receiving the prompt from the system, the operator begins to intervene in the manual leveling process. The operator uses a level ruler and precision measuring instruments, such as laser rangefinders, to measure the flatness of various parts of the airport unit. Based on the measurement data, the uneven areas on the airport unit are accurately identified. The identified uneven areas are marked to clearly indicate which locations need to be adjusted. The operator uses the leveling bolts to make manual adjustments at the marked locations. The support points are raised or lowered by rotating the leveling bolts until the desired flatness is achieved.

[0122] After the adjustment is completed, use the level ruler and measuring instruments to verify the flatness of the entire airport device again. Make sure that each support point has been adjusted to the appropriate height and the entire airport device is flat. Once verified, the manual leveling process is completed. The drone airport device is now ready for drones to take off and land safely.

[0123] In a preferred embodiment of the present invention, the above step 4, using the manual slide function of the vehicle to send the leveled drone airport device out of the vehicle and operate the drone to take off and perform operations, may include:

[0124] Step 44, placing the leveled drone airport device on the slide rail, and fixing the airport device on the slide rail using a clamp;

[0125] Step 45, pushing the airport device to slide outward along the slide rail, and observing the position and status of the airport device;

[0126] Step 46, when the airport device slides to a predetermined position outside the vehicle, the pushing is stopped, the fixation between the airport device and the slide rail is released, and the airport device is separated from the slide rail, so that the airport device is placed on the ground;

[0127] Step 47, by placing the airport device on the ground, according to the predetermined flight route, the drone is operated to take off and perform the operation.

[0128] In an embodiment of the present invention, the leveled drone airport device is securely placed on the manual slide rail of the vehicle and fixed with a clamp to ensure stability during the sliding process. Next, the airport device is pushed to slide outward along the slide rail, while closely observing its position and state to ensure that it moves smoothly and accurately to the predetermined position. When the airport device reaches the predetermined position outside the vehicle, the push is stopped, and the fixation with the slide rail is released, it is separated from the slide rail, and then placed steadily on the ground. According to the predetermined flight route, the drone is operated to take off from the airport device on the ground and start to perform the operation task.

[0129] The manual slide function makes the deployment of the drone airport device more flexible and convenient, and can quickly adapt to various environments and be deployed quickly. Through the use of clamps and close observation, this process ensures the stability and safety of the airport device during sliding and placement. The manual slide can quickly deliver the airport device to the predetermined location, reducing the time and effort of manual handling. At the same time, the drone can enter the operating state faster, improving the overall operating efficiency.

[0130] In another preferred embodiment of the present invention, when specifically applied, the above steps include:

[0131] Place the leveled drone airport device on the manual slide rail of the vehicle. To ensure the stability of the device during the sliding process, use a clamp to fix the drone airport device. Start pushing the airport device to slide outward along the slide rail. During the sliding process, closely observe the position and status of the airport device to ensure that it can move smoothly and accurately to the predetermined position. When the airport device slides to the predetermined position outside the vehicle, stop pushing and release the fixation between the device and the slide rail. Then, separate the airport device from the slide rail and place it smoothly on the ground. According to the predetermined flight route, operate the drone to take off from the airport device on the ground and start performing the operation mission.

[0132] In a preferred embodiment of the present invention, the above step 5, through the control system, controls the drone airport device, including sending out the manual slide rail function, the automatic leveling function or the manual leveling function, and monitoring and commanding the take-off and landing of the drone, may include:

[0133] Step 55, start the control system and establish a communication connection with the drone airport device and the drone;

[0134] Step 56, adjusting the height of the support legs of the airport device through the automatic leveling function or the manual leveling function of the control system interface until it reaches a horizontal state;

[0135] Step 57, activate the manual slide function on the control system, and send a command to send the airport device out of the vehicle along the slide, and monitor and command the take-off and landing of the drone.

[0136] In an embodiment of the present invention, the control system is started to automatically try to establish a stable communication connection with the drone airport device and the drone. This is achieved through wireless communication technology Wi-Fi. Once the communication connection is established, the control system checks the horizontal state of the airport device. If the airport device is not level, the control system will first try to use the automatic leveling function. The sensor detects the inclination of the airport device and automatically adjusts the height of the support legs to achieve a horizontal state. If the automatic leveling function cannot cope with certain complex terrain or special situations, the user switches to manual leveling mode through the interface of the control system. In this mode, the user manually adjusts the height of the support legs of the airport device according to the data or graphic instructions displayed on the interface until it reaches a horizontal state.

[0137] After the airport unit is leveled, the user activates the manual slide function through the control system. The control system sends a command to the slide mechanism to start working. The user precisely controls the slide through the control system interface to smoothly and accurately send the airport unit out of the vehicle along the slide. During this process, the control system continuously monitors the status of the slide and the airport unit to ensure smooth and unobstructed movement. When the airport unit is stably placed outside the vehicle, the control system begins to monitor and command the takeoff and landing of the drone. The user sends a takeoff command to the drone through the control system and monitors the flight status of the drone in real time to ensure that it takes off safely and performs the mission. After the mission is completed, the control system intervenes again and accurately commands the drone to land smoothly on the airport unit.

[0138] The UAV airport device can adapt to a variety of terrain and environmental conditions. Whether it is flat land, hillside or uneven road, it can ensure the horizontal state of the airport platform through automatic or manual leveling function. Through the intuitive interface of the control system, users can easily perform manual or automatic leveling operations, as well as control the manual slide function, reducing the complexity and difficulty of operation. Ensuring that the airport device is in a horizontal state during the takeoff and landing of the drone significantly improves the safety of the drone takeoff and landing, and reduces the potential risks caused by the tilt of the airport device. Through the precise control and monitoring of the control system, the takeoff and landing process of the drone is faster and more accurate, improving the operating efficiency. At the same time, the manual slide function makes the deployment and recovery of the airport device faster and more convenient. The entire control system is tightly integrated with the drone airport device and the drone, realizing comprehensive monitoring and control of each component, ensuring the stability and reliability of the entire system.

[0139] In another preferred embodiment of the present invention, when specifically applied, the above steps include:

[0140] The user starts the control system, which automatically attempts to establish a stable communication connection with the drone airport unit and the drone via Wi-Fi. After the communication connection is established, the control system checks the horizontal state of the airport unit. If it detects that the airport unit is not level, the control system will try to use the automatic leveling function. This function relies on sensors to detect the inclination of the airport unit and automatically adjust the height of the support legs to make it level. In some complex terrain or special situations, the automatic leveling function cannot fully cope with it. At this time, the user can switch to manual leveling mode through the control system's interface.

[0141] In manual leveling mode, the user will manually adjust the height of the support legs of the airport device according to the data or graphic instructions displayed on the control system interface until the airport device reaches a horizontal state. After the airport device is leveled, the user activates the manual slide function through the control system. The control system sends instructions to the slide mechanism to start the slide movement. The user precisely controls the slide through the control system interface to smoothly and accurately send the airport device out of the vehicle along the slide. During this process, the control system will continuously monitor the status of the slide and the airport device to ensure smooth and unobstructed movement. This step is the key to ensure that the airport device can be safely and accurately placed in the predetermined position. When the airport device is stably placed outside the vehicle, the control system begins to monitor and command the take-off and landing process of the drone. The user sends take-off instructions to the drone through the control system and monitors the flight status of the drone in real time to ensure that it takes off safely and performs the mission. After the mission is completed, the control system will intervene again and accurately command the drone to land smoothly on the airport device.

[0142] like Figure 2As shown, an embodiment of the present invention further provides a land vehicle-mounted UAV safe take-off and landing control system 20, comprising:

[0143] The acquisition module 21 is used to carry a drone airport on a vehicle, and the airport is adapted to various terrains, including flat land, hillsides, concave and convex roads and uneven roads; establish a finite element analysis model according to the design parameters and expected loads of the drone airport; detect the current terrain data and the attitude data of the airport in real time through sensors; perform real-time simulation analysis according to the current terrain data, the attitude data of the airport and the finite element analysis model to obtain analysis results; based on the analysis results, evaluate the impact of the current terrain on the structure of the drone airport, and if the terrain change is within the tolerance range of the airport structure, automatically adjust the drone airport through the automatic leveling function to make the airport platform reach a horizontal state; when the automatic leveling function cannot cope with the terrain change, adjust the flatness of the airport through the manual leveling function to obtain a leveled drone airport device;

[0144] The processing module 22 is used to use the manual slide function of the vehicle to send the leveled drone airport device out of the vehicle and operate the drone to take off and perform operations; through the control system, the drone airport device is controlled, including the manual slide function and manual leveling function, and the take-off and landing of the drone are monitored and directed.

[0145] It should be noted that the system is a system corresponding to the above method, and all implementation methods in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0146] The embodiment of the present invention further provides a computing device, comprising: a processor, a memory storing a computer program, wherein when the computer program is executed by the processor, the method described above is executed. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0147] The embodiment of the present invention also provides a computer-readable storage medium storing instructions, which, when executed on a computer, enable the computer to execute the method described above. All implementations in the above method embodiment are applicable to this embodiment and can achieve the same technical effect.

[0148] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A land vehicle-mounted UAV safe take-off and landing control method, characterized in that: The method comprises: Carrying a drone airport on the vehicle, and the airport is adaptable to various terrains, including flat land, hillsides, bumpy roads and uneven roads; A finite element analysis model was established based on the design parameters and expected loads of the drone airport; Real-time detection of current terrain data and airport posture data through sensors; Conduct real-time simulation analysis based on current terrain data, airport posture data and finite element analysis model to obtain analysis results; According to the analysis results, the impact of the current terrain on the structure of the drone airport is evaluated. If the terrain change is within the tolerance range of the airport structure, the drone airport is automatically adjusted through the automatic leveling function to make the airport platform reach a horizontal state; When the automatic leveling function cannot cope with the terrain changes, the flatness of the airport is adjusted through the manual leveling function to obtain a leveled drone airport device; Use the manual slide function of the vehicle to send the leveled drone airport device out of the vehicle, and operate the drone to take off and perform operations; Through the control system, the drone airport device is controlled, including the manual slide rail function, automatic leveling function or manual leveling function, and the take-off and landing of the drone are monitored and directed; according to the design parameters and expected load of the drone airport, a finite element analysis model is established, including: Obtain all relevant design parameters of the drone airport, including the airport's dimensions, material properties, structural form, and connection methods; Determine the loads that the airport will bear during use, including the weight of the drone, the weight of the airport itself, wind loads, and thermal stress caused by temperature changes; According to the relevant design parameters and load bearing, a three-dimensional geometric model of the drone airport is established; Determine the corresponding material properties for each part in the 3D geometric model; The three-dimensional geometric model is divided into a series of grids. According to the actual use of the airport, the boundary conditions and uniform loads, concentrated loads and dynamic loads are determined to obtain a finite element analysis model; the material properties include elastic modulus, Poisson's ratio, yield strength, density and thermal expansion coefficient; the structural form includes truss structure and plate shell structure; the connection method includes welding, riveting or bolting; according to the changes in the terrain, the UAV airport is automatically adjusted through the automatic leveling function to make the airport platform reach a horizontal state, including: The sensors detect the current terrain changes and the airport's posture data in real time and transmit the data to the processing unit of the control system; The processing unit of the control system receives the sensor data and calculates the inclination angle and height difference parameters of the current terrain; According to the current terrain inclination angle and height difference parameters, the control system sends instructions to the airport's leveling mechanism; The leveling mechanism performs corresponding telescopic or rotating actions according to the instructions to change the posture of the airport platform so that the airport platform reaches a horizontal state; the calculation formula for the inclination angle of the current terrain is: ； in, Indicates the inclination angle of the current terrain; , , represents the sensitivity correction factor; Indicated in The acceleration of the axis; Indicated in The acceleration of the axis; Indicated in The acceleration of the axis; , , represents the offset correction factor; represents the dynamic compensation coefficient; express The rate of change of axis acceleration with time; Indicates time; Indicates time The differential of express Axis acceleration The height difference of the current terrain is calculated as follows: ; in, Indicates the height difference of the current terrain; represents the terrain correction coefficient; Indicates temperature; Indicates humidity; Indicates air pressure; , Indicates the height values ​​of two different points; represents the environmental correction factor, where ,in, , , and is a constant; when the automatic leveling function cannot cope with the terrain change, the flatness of the airport is adjusted through the manual leveling function to obtain a leveled drone airport device, including: Check the drone airport device to determine whether the automatic leveling function cannot cope with the current terrain. If the automatic leveling function cannot cope with the current terrain, use a level ruler and measuring instruments to measure the current flatness on the airport device and mark the adjustment position, including uneven areas; According to the marks, use the leveling bolts to adjust the supporting points of the airport device so that each supporting point reaches the expected flatness; Use a level ruler and measuring instruments to verify the flatness of the entire airport device, and make sure that the airport device is flat after adjustment to obtain a leveled drone airport device; use the manual slide function of the vehicle to send the leveled drone airport device out of the vehicle, and operate the drone to take off and perform operations, including: Place the leveled drone airport device on the slide rail and fix the airport device on the slide rail using a clamp; Push the airport device to slide outward along the slide rail and observe the position and status of the airport device; When the airport device slides to a predetermined position outside the vehicle, the pushing is stopped, the fixation between the airport device and the slide rail is released, and the airport device is separated from the slide rail, so that the airport device is placed on the ground; By placing the airport device on the ground, according to the predetermined flight route, the UAV is operated to take off and perform operations; through the control system, the UAV airport device is controlled, including the manual slide rail function, automatic leveling function or manual leveling function, and the take-off and landing of the UAV is monitored and directed, including: Start the control system and establish communication connection with the drone airport device and the drone; Adjust the height of the supporting legs of the airport device through the automatic leveling function or manual leveling function of the control system interface until it reaches a horizontal state; Activate the manual slide function on the control system and send instructions to send the airport device out of the vehicle along the slide, and monitor and command the takeoff and landing of the drone.

2. A land vehicle-mounted UAV safe take-off and landing control system, characterized in that: Applied in the method as claimed in claim 1, comprising: The acquisition module is used to carry a drone airport on a vehicle, and the airport is adapted to various terrains, including flat land, hillsides, concave and convex roads and uneven roads; a finite element analysis model is established according to the design parameters and expected loads of the drone airport; the current terrain data and the attitude data of the airport are detected in real time by sensors; a real-time simulation analysis is performed according to the current terrain data, the attitude data of the airport and the finite element analysis model to obtain the analysis results; according to the analysis results, the influence of the current terrain on the structure of the drone airport is evaluated, and if the terrain change is within the tolerance range of the airport structure, the drone airport is automatically adjusted through the automatic leveling function to make the airport platform reach a horizontal state; when the automatic leveling function cannot cope with the terrain change, the flatness of the airport is adjusted through the manual leveling function to obtain a leveled drone airport device; The processing module is used to utilize the manual slide function of the vehicle to send the leveled UAV airport device out of the vehicle and operate the UAV to take off and perform operations; through the control system, the UAV airport device is controlled, including the manual slide function and manual leveling function, and the take-off and landing of the UAV are monitored and directed.

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