Attitude regulation and control method and system of unmanned aerial vehicle landing platform

Abstract

The invention discloses an attitude regulation and control method and system for an unmanned aerial vehicle landing platform. The method comprises the steps of determining a position adjustment path of a supporting platform according to a landing position of an unmanned aerial vehicle and a current position of the supporting platform; and the movable arm is triggered to adjust the position of the supporting platform according to the position adjusting path, the final position of the supporting platform is matched to the landing position of the unmanned aerial vehicle, the position adjusting effect of the supporting platform is guaranteed, and autonomous regulation and control of the supporting platform are achieved. Further, dynamically acquiring a matching coefficient of the attitude of the supporting platform and the attitude of the unmanned aerial vehicle according to the attitude regulation space; according to the matching coefficient, the flight mode of the unmanned aerial vehicle and the relative orientation of the unmanned aerial vehicle relative to the supporting platform, dynamic adjustment of the attitude of the supporting platform is triggered until the unmanned aerial vehicle can directly land on the supporting platform in the flight direction of the unmanned aerial vehicle, and the landing effect of the unmanned aerial vehicle relative to the supporting platform is guaranteed. Dynamic adjustment of the supporting platform and one-time landing of the unmanned aerial vehicle are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle landing platforms, and in particular to a posture control method and system for an unmanned aerial vehicle landing platform. Background Art

[0002] With the development of science and technology, drone landing platforms are widely used in people's lives and are used for drones to dock. In the existing technology, the drone landing platform is fixed at a preset position, and the supporting platform in the drone landing platform is fixed. The drone returns relative to the supporting platform and finally docks on the supporting platform. However, when flying toward the supporting platform, the drone needs to perform multiple circling flights and adjust its posture multiple times during the circling flights, and it is impossible to achieve a one-time landing of the drone. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a posture control method and system for a UAV landing platform. The method and system collect the flight direction of the UAV relative to the UAV landing platform based on the UAV landing platform; determine the landing position of the UAV according to the flight direction of the UAV relative to the UAV landing platform, multiple posture parameters of the UAV and the flight mode of the UAV; determine the position adjustment path of the support platform according to the landing position of the UAV and the current position of the support platform; trigger the movable arm to adjust the position of the support platform according to the position adjustment path, and the final position of the support platform is matched to the landing position of the UAV, thereby ensuring the position adjustment effect of the support platform, not affecting the flight of the UAV and ensuring the flight efficiency of the UAV, and realizing autonomous control of the support platform.

[0004] Furthermore, a corresponding attitude control space is determined based on the detection range of the support platform and the flight space of the UAV, and a matching coefficient of the attitude of the support platform and the attitude of the UAV is dynamically collected according to the attitude control space; dynamic adjustment of the attitude of the support platform is triggered according to the matching coefficient, the flight mode of the UAV and the relative orientation of the UAV relative to the support platform until the UAV can directly land on the support platform along the flight direction of the UAV, thereby ensuring the landing effect of the UAV relative to the support platform, avoiding multiple circling flights of the UAV relative to the support platform, ensuring the attitude control effect of the UAV landing platform, and realizing dynamic adjustment of the support platform and one-time landing of the UAV.

[0005] An embodiment of the present invention provides a method for controlling the attitude of a UAV landing platform, which is applied to a scenario of controlling the attitude of a UAV landing platform; the method for controlling the attitude of a UAV landing platform comprises: The flight direction of the drone relative to the drone landing platform is collected based on the drone landing platform. At this time, the drone landing platform includes a movable arm and a support platform. The support platform is used for the drone to land and adjust its position under the drive of the movable arm; Determine the landing position of the drone based on the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone, and the flight mode of the drone; Determine the position adjustment path of the support platform according to the landing position of the UAV and the current position of the support platform; The movable arm is triggered to adjust the position of the support platform according to the position adjustment path. At this time, the final position of the support platform matches the landing position of the UAV; The corresponding attitude control space is determined based on the detection range of the support platform and the flight space of the UAV, and the matching coefficient of the attitude of the support platform and the attitude of the UAV is dynamically collected according to the attitude control space; The dynamic adjustment of the attitude of the support platform is triggered according to the matching coefficient, the flight mode of the UAV and the relative position of the UAV with respect to the support platform until the UAV can directly land on the support platform along the flight direction of the UAV.

[0006] Optionally, the method of collecting the flight direction of the drone relative to the drone landing platform based on the drone landing platform, in which case the drone landing platform includes a movable arm and a support platform, the support platform is used for the drone to land, and the position is adjusted under the drive of the movable arm, including: Collect the flight signal of the drone based on the drone landing platform; Analyze the flight signal of the drone and determine the corresponding position information; Control multiple cameras of the drone landing platform based on the corresponding position information, and determine corresponding multiple flight images according to the multiple cameras and the flight status of the drone; constructing a flight model of the drone based on the plurality of flight images, and determining a flight direction of the drone relative to a drone landing platform based on a spatial comparison of the flight model of the drone and a stereoscopic model of the flight model of the drone; The flight direction of the drone relative to the drone landing platform is collected. At this time, the drone landing platform includes a movable arm and a support platform. The support platform is used for the drone to land and adjust its position under the drive of the movable arm.

[0007] Optionally, determining the landing position of the drone according to the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone, and the flight mode of the drone includes: Freeze the drone's flight direction relative to the drone landing platform; Collect multiple attitude parameters of the drone based on the dynamic detection of the drone; Construct multiple attitude parameter combinations according to multiple attitude parameters of the UAV and corresponding attitude dimensions; Determine the corresponding multiple posture features according to the combination of multiple posture parameters and the combination recognition model, and trigger the autonomous control of the posture of the UAV according to the multiple posture features and the flight drag coefficient of the UAV; Correlating the flight direction of the drone relative to the drone landing platform, multiple attitude characteristics, and the flight mode of the drone; The dynamic interactive drone's flight direction relative to the drone landing platform, multiple attitude characteristics, and the drone's flight mode, and determines the drone's landing position based on the drone's flight direction relative to the drone landing platform, multiple attitude characteristics, and the drone's flight mode.

[0008] Optionally, determining a position adjustment path of the support platform according to the landing position of the UAV and the current position of the support platform includes: Freeze the landing position of the drone; The current position of the acquisition support platform; Associating the landing position of the drone and the current position of the support platform, and constructing a corresponding position coordinate system according to the landing position of the drone and the current position of the support platform; Triggering the position calculation of the landing position of the UAV and the current position of the supporting platform based on the position coordinate system, and forming multiple paths in the position calculation; A preliminary optimized path combination is formed based on the multi-level interaction of multiple paths, drones, and drone landing platforms; The position adjustment path of the support platform is determined based on the preliminary optimized path combination and the directional screening of the flight direction of the UAV.

[0009] Optionally, the triggering of the movable arm to adjust the position of the support platform according to the position adjustment path, at which point the final position of the support platform matches the landing position of the drone, includes: Freeze position to adjust path; Associate the position adjustment path and the movable arm, and trigger the adjustment system of the movable arm; The balance control of the multiple arms in the movable arm is triggered according to the adjustment system of the movable arm, and the multiple arms are adjusted in position along the position adjustment path; The position of the support platform is adjusted based on the position adjustment of the multiple arms. At this time, the final position of the support platform matches the landing position of the UAV.

[0010] Optionally, the determining of the corresponding attitude control space based on the detection range of the support platform and the flight space of the UAV, and dynamically collecting the attitude of the support platform and the matching coefficient of the attitude of the UAV according to the attitude control space include: When the support platform is at the landing position of the UAV, the support platform is triggered to dynamically detect the UAV in flight; A support platform for collecting support platforms; The flight space of the UAV is constructed based on multiple flight parameters of the UAV, the location of the UAV and the posture of the supporting platform.

[0011] Optionally, the determining of the corresponding attitude control space based on the detection range of the support platform and the flight space of the UAV, and dynamically collecting the matching coefficient of the attitude of the support platform and the attitude of the UAV according to the attitude control space, further includes: Determine the corresponding attitude control space according to the detection range of the support platform and the flight space of the UAV; Control the attitude of the space acquisition support platform and the attitude of the drone according to the attitude; The corresponding matching coefficient is defined according to the matching of the posture of the supporting platform and the posture of the UAV.

[0012] Optionally, triggering the dynamic adjustment of the attitude of the support platform according to the matching coefficient, the flight mode of the UAV, and the relative orientation of the UAV with respect to the support platform until the UAV can directly land on the support platform along the flight direction of the UAV includes: Fixed frame matching coefficient; Defining the relative position of the UAV with respect to the support platform based on the detection of the support platform; The matching coefficient, the flight mode of the UAV, and the relative orientation of the UAV with respect to the support platform are correlated.

[0013] Optionally, the triggering of dynamic adjustment of the attitude of the support platform according to the matching coefficient, the flight mode of the UAV, and the relative orientation of the UAV with respect to the support platform, until the UAV can directly land on the support platform along the flight direction of the UAV, further includes: A posture system of the support platform is constructed according to the matching coefficient, the flight mode of the UAV, and the relative orientation of the UAV with respect to the support platform; Triggering dynamic adjustment of the posture of the support platform according to the posture system of the support platform; The attitude change of the support platform, the flight direction of the UAV and the current attitude of the UAV are matched in real time, and the attitude change of the support platform is dynamically adjusted to gradually reduce the attitude change of the support platform until the UAV can land directly on the support platform along the flight direction of the UAV.

[0014] In addition, an embodiment of the present invention further provides a posture control system for a UAV landing platform, wherein the posture control system for the UAV landing platform comprises: A collection module is used to collect the flight direction of the drone relative to the drone landing platform based on the drone landing platform. At this time, the drone landing platform includes a movable arm and a support platform. The support platform is used for the drone to land and adjust its position under the drive of the movable arm; A landing position module, used to determine the landing position of the drone based on the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone, and the flight mode of the drone; A position adjustment path module is used to determine the position adjustment path of the support platform according to the landing position of the UAV and the current position of the support platform; A position adjustment module is used to trigger the movable arm to adjust the position of the support platform according to the position adjustment path. At this time, the final position of the support platform matches the landing position of the UAV; A matching coefficient module is used to determine the corresponding attitude control space based on the detection range of the support platform and the flight space of the UAV, and dynamically collect the matching coefficients of the attitude of the support platform and the attitude of the UAV according to the attitude control space; The attitude module is used to trigger the dynamic adjustment of the attitude of the support platform according to the matching coefficient, the flight mode of the UAV and the relative orientation of the UAV with respect to the support platform, until the UAV can directly land on the support platform along the flight direction of the UAV.

[0015] In an embodiment of the present invention, through the method in the embodiment of the present invention, the flight direction of the drone relative to the drone landing platform is collected based on the drone landing platform; the landing position of the drone is determined according to the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone and the flight mode of the drone; the position adjustment path of the support platform is determined according to the landing position of the drone and the current position of the support platform; the movable arm is triggered to adjust the position of the support platform according to the position adjustment path, and the final position of the support platform is matched to the landing position of the drone, thereby ensuring the position adjustment effect of the support platform, not affecting the flight of the drone and ensuring the flight efficiency of the drone, and realizing autonomous control of the support platform.

[0016] Furthermore, a corresponding attitude control space is determined based on the detection range of the support platform and the flight space of the UAV, and a matching coefficient of the attitude of the support platform and the attitude of the UAV is dynamically collected according to the attitude control space; dynamic adjustment of the attitude of the support platform is triggered according to the matching coefficient, the flight mode of the UAV and the relative orientation of the UAV relative to the support platform until the UAV can directly land on the support platform along the flight direction of the UAV, thereby ensuring the landing effect of the UAV relative to the support platform, avoiding multiple circling flights of the UAV relative to the support platform, ensuring the attitude control effect of the UAV landing platform, and realizing dynamic adjustment of the support platform and one-time landing of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 is a flow chart of a method for controlling the attitude of a UAV landing platform in an embodiment of the present invention; Figure 2 is a flow chart of S11 in the attitude control method of the UAV landing platform in the embodiment of the present invention; Figure 3 is a flow chart of S12 in the attitude control method of the UAV landing platform in the embodiment of the present invention; Figure 4 is a flow chart of S13 in the attitude control method of the UAV landing platform in the embodiment of the present invention; Figure 5 is a flow chart of S14 in the attitude control method of the UAV landing platform in the embodiment of the present invention; Figure 6 is a flow chart of S15 in the attitude control method of the UAV landing platform in the embodiment of the present invention; Figure 7 is a flow chart of S16 in the attitude control method of the UAV landing platform in the embodiment of the present invention; Figure 8 Schematic diagram of the structure of the attitude control system of the UAV landing platform in the embodiment of the present invention; Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figures 1 to 9 , a method for attitude control of a UAV landing platform, which is applied to the attitude control scenario of the UAV landing platform; the method for attitude control of the UAV landing platform includes: Step S11: collecting the flight direction of the drone relative to the drone landing platform based on the drone landing platform. At this time, the drone landing platform includes a movable arm and a support platform. The support platform is used for the drone to land and adjusts its position under the drive of the movable arm; Step S12: determining the landing position of the drone according to the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone, and the flight mode of the drone; Step S13: determining the landing position of the drone according to the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone, and the flight mode of the drone; Step S14: triggering the movable arm to adjust the position of the support platform according to the position adjustment path, at which point the final position of the support platform matches the landing position of the drone; Step S15: determining a corresponding attitude control space based on the detection range of the support platform and the flight space of the UAV, and dynamically collecting a matching coefficient of the attitude of the support platform and the attitude of the UAV according to the attitude control space; Step S16: triggering dynamic adjustment of the attitude of the support platform according to the matching coefficient, the flight mode of the UAV and the relative position of the UAV with respect to the support platform, until the UAV can directly land on the support platform along the flight direction of the UAV.

[0021] In an embodiment of the present invention, through the method in the embodiment of the present invention, the flight direction of the drone relative to the drone landing platform is collected based on the drone landing platform; the landing position of the drone is determined according to the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone and the flight mode of the drone; the position adjustment path of the support platform is determined according to the landing position of the drone and the current position of the support platform; the movable arm is triggered to adjust the position of the support platform according to the position adjustment path, and the final position of the support platform is matched to the landing position of the drone, thereby ensuring the position adjustment effect of the support platform, not affecting the flight of the drone and ensuring the flight efficiency of the drone, and realizing autonomous control of the support platform.

[0022] Furthermore, a corresponding attitude control space is determined based on the detection range of the support platform and the flight space of the UAV, and a matching coefficient of the attitude of the support platform and the attitude of the UAV is dynamically collected according to the attitude control space; dynamic adjustment of the attitude of the support platform is triggered according to the matching coefficient, the flight mode of the UAV and the relative orientation of the UAV relative to the support platform until the UAV can directly land on the support platform along the flight direction of the UAV, thereby ensuring the landing effect of the UAV relative to the support platform, avoiding multiple circling flights of the UAV relative to the support platform, ensuring the attitude control effect of the UAV landing platform, and realizing dynamic adjustment of the support platform and one-time landing of the UAV.

[0023] refer to Figure 2 In step S11, the flight direction of the drone relative to the drone landing platform is collected based on the drone landing platform. At this time, the drone landing platform includes a movable arm and a support platform. The support platform is used for the drone to land and adjusts its position under the drive of the movable arm; In the specific implementation process of the present invention, the specific steps may be: S111: Collecting the flight signal of the drone based on the drone landing platform; S112: Analyze the flight signal of the UAV and determine the corresponding position information; S113: controlling multiple cameras of the drone landing platform based on the corresponding position information, and determining corresponding multiple flight images according to the multiple cameras and the flight status of the drone; S114: constructing a flight model of the drone according to the multiple flight images, and determining a flight direction of the drone relative to the drone landing platform according to a spatial comparison of the flight model of the drone and a stereoscopic model of the flight model of the drone; S115: collecting the flight direction of the drone relative to the drone landing platform. At this time, the drone landing platform includes a movable arm and a support platform. The support platform is used for the drone to land and adjusts its position under the drive of the movable arm.

[0024] In an embodiment of the present application, the flight signal of the drone is collected based on the drone landing platform, the flight signal of the drone is introduced, the flight signal of the drone is analyzed, and the corresponding orientation information is determined, and the orientation information is further controlled.

[0025] Furthermore, multiple cameras of the UAV landing platform are regulated based on the corresponding orientation information, and corresponding multiple flight images are determined according to the flight status of the multiple cameras and the UAV. Dynamic regulation of multiple cameras of the UAV landing platform is introduced, which is compatible with the overall consideration of the flight status of multiple cameras and the UAV, realizes multi-dimensional control of the flight status of multiple cameras and the UAV, and ensures the accuracy of multiple flight images.

[0026] Therefore, a flight model of the UAV is constructed based on multiple flight images, and the flight direction of the UAV relative to the UAV landing platform is determined based on the spatial comparison of the UAV flight model and the stereoscopic model of the UAV flight model. The spatial comparison of the UAV flight model and the stereoscopic model of the UAV flight model is achieved to facilitate the determination of the flight direction of the UAV relative to the UAV landing platform. The flight direction of the UAV relative to the UAV landing platform is introduced. At the same time, the flight direction of the UAV relative to the UAV landing platform is collected. At this time, the UAV landing platform includes a movable arm and a support platform. The support platform is for the UAV to land and its position is adjusted under the drive of the movable arm.

[0027] refer to Figure 3 , in step S12, determining the landing position of the drone according to the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone, and the flight mode of the drone; In the specific implementation process of the present invention, the specific steps may be: S121: Freeze the flight direction of the drone relative to the drone landing platform; S122: collecting multiple attitude parameters of the drone based on dynamic detection of the drone; S123: constructing multiple attitude parameter combinations according to multiple attitude parameters of the UAV and corresponding attitude dimensions; S124: determining a plurality of corresponding posture features according to a plurality of posture parameter combinations and a combination recognition model, and triggering autonomous control of the posture of the UAV according to the plurality of posture features and a flight drag coefficient of the UAV; S125: Correlate the flight direction of the drone relative to the drone landing platform, multiple attitude features, and the flight mode of the drone; S126: Dynamically interact with the flight direction of the drone relative to the drone landing platform, multiple attitude characteristics, and the flight mode of the drone, and determine the landing position of the drone based on the flight direction of the drone relative to the drone landing platform, multiple attitude characteristics, and the flight mode of the drone.

[0028] In an embodiment of the present application, the flight direction of the UAV relative to the UAV landing platform is frozen; multiple attitude parameters of the UAV are collected based on dynamic detection of the UAV, and multiple attitude parameters are introduced to construct multiple attitude parameter combinations according to the multiple attitude parameters of the UAV and the corresponding attitude dimensions, which is compatible with the overall consideration of the multiple attitude parameters of the UAV and the corresponding attitude dimensions, realizes multi-dimensional control of the multiple attitude parameters of the UAV and the corresponding attitude dimensions, and ensures the rationality of the multiple attitude parameter combinations.

[0029] Furthermore, the corresponding multiple posture features are determined according to multiple posture parameter combinations and the combined recognition model, and the autonomous control of the UAV's posture is triggered according to the multiple posture features and the UAV's flight drag coefficient. It is compatible with multiple posture features and the UAV's flight drag coefficient, and realizes multi-dimensional control of multiple posture features and the UAV's flight drag coefficient, thereby triggering autonomous control of the UAV's posture.

[0030] Therefore, the flight direction, multiple posture characteristics and flight mode of the UAV relative to the UAV landing platform are associated; the flight direction, multiple posture characteristics and flight mode of the UAV relative to the UAV landing platform are dynamically interacted, and the landing position of the UAV is determined according to the flight direction, multiple posture characteristics and flight mode of the UAV relative to the UAV landing platform. This is compatible with the overall consideration of the flight direction, multiple posture characteristics and flight mode of the UAV relative to the UAV landing platform, and realizes multi-dimensional control of the flight direction, multiple posture characteristics and flight mode of the UAV relative to the UAV landing platform, thereby ensuring the accuracy of the landing position of the UAV.

[0031] refer to Figure 4 , in step S13, determining a position adjustment path of the support platform according to the landing position of the UAV and the current position of the support platform; In the specific implementation process of the present invention, the specific steps may be: S131: freeze the landing position of the drone; S132: collecting the current position of the support platform; S133: Associating the landing position of the UAV and the current position of the supporting platform, and constructing a corresponding position coordinate system according to the landing position of the UAV and the current position of the supporting platform; S134: triggering a position calculation of the landing position of the UAV and the current position of the support platform based on the position coordinate system, and forming multiple paths in the position calculation; S135: forming a preliminary optimized path combination according to the multi-level interactions among the multiple paths, the UAVs, and the UAV landing platforms; S136: Determine the position adjustment path of the support platform based on the preliminary optimized path combination and the directional screening of the flight direction of the UAV.

[0032] In an embodiment of the present application, the landing position of the UAV is frozen; the current position of the supporting platform is collected; the landing position of the UAV and the current position of the supporting platform are associated, and a corresponding position coordinate system is constructed according to the landing position of the UAV and the current position of the supporting platform. The position coordinate system is introduced to mark the landing position of the UAV and the current position of the supporting platform in the position coordinate system, so as to facilitate the control of the landing position of the UAV and the current position of the supporting platform.

[0033] Therefore, the position calculation of the landing position of the UAV and the current position of the supporting platform is triggered based on the position coordinate system, and multiple paths are formed in the position calculation, and multiple paths, UAVs and UAV landing platforms are associated to facilitate multi-level interaction of multiple paths, UAVs and UAV landing platforms.

[0034] Furthermore, a preliminary optimized path combination is formed based on the multi-level interaction of multiple paths, drones and drone landing platforms; the position adjustment path of the support platform is determined based on the preliminary optimized path combination and the directional screening of the drone's flight direction, thereby performing multi-level screening on multiple paths and introducing the position adjustment path of the support platform, thereby ensuring the accuracy of the position adjustment path of the support platform.

[0035] refer to Figure 5 , S14: triggering the movable arm to adjust the position of the support platform according to the position adjustment path, at this time, the final position of the support platform matches the landing position of the UAV; In the specific implementation process of the present invention, the specific steps may be: S141: freeze position adjustment path; S142: Associating the position adjustment path and the movable arm, and triggering the adjustment system of the movable arm; S143: triggering balance control of multiple arms in the movable arm according to the adjustment system of the movable arm, and adjusting the positions of the multiple arms along the position adjustment path; S144: The position of the support platform is adjusted based on the position adjustment of the multiple arms. At this time, the final position of the support platform matches the landing position of the UAV.

[0036] In an embodiment of the present application, the flight direction of the drone relative to the drone landing platform is collected based on the drone landing platform; the landing position of the drone is determined according to the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone and the flight mode of the drone; the position adjustment path of the support platform is determined according to the landing position of the drone and the current position of the support platform; the movable arm is triggered to adjust the position of the support platform according to the position adjustment path, and the final position of the support platform is matched to the landing position of the drone, thereby ensuring the position adjustment effect of the support platform, not affecting the flight of the drone and ensuring the flight efficiency of the drone, and realizing autonomous control of the support platform.

[0037] At this time, the position adjustment path is frozen; the position adjustment path and the movable arm are associated, and the adjustment system of the movable arm is triggered, thereby triggering the dynamic adjustment of the movable arm in the adjustment system of the movable arm and being compatible with the position adjustment path.

[0038] Therefore, the balance control of multiple arms in the movable arm is triggered according to the adjustment system of the movable arm, and the multiple arms are adjusted along the position adjustment path; the position of the support platform is adjusted based on the position adjustment of multiple arms, and at this time, the final position of the support platform matches the landing position of the UAV. At the same time, the position adjustment of the support platform by the movable arm is triggered according to the position adjustment path, and the final position of the support platform matches the landing position of the UAV, which ensures the position adjustment effect of the support platform, does not affect the flight of the UAV, and ensures the flight efficiency of the UAV, and realizes the autonomous control of the support platform.

[0039] refer to Figure 6 , S15: Determine the corresponding attitude control space based on the detection range of the support platform and the flight space of the UAV, and dynamically collect the matching coefficient of the attitude of the support platform and the attitude of the UAV according to the attitude control space; In the specific implementation process of the present invention, the specific steps may be: S151: When the support platform is at the landing position of the UAV, triggering the support platform to perform dynamic detection on the UAV in flight; S152: collecting the support platform of the support platform; S153: constructing a flight space of the UAV based on multiple flight parameters of the UAV, the location of the UAV, and the posture of the supporting platform; S154: Determine a corresponding attitude control space according to the detection range of the support platform and the flight space of the UAV; S155: Control the attitude of the space acquisition support platform and the attitude of the UAV according to the attitude; S156: Define a corresponding matching coefficient according to the matching of the posture of the support platform and the posture of the UAV.

[0040] In an embodiment of the present application, when the support platform is at the landing position of the UAV, the support platform is triggered to perform dynamic detection of the UAV in flight, and at the same time, the support platform's information is collected; the flight space of the UAV is constructed based on multiple flight parameters of the UAV, the position of the UAV and the posture of the support platform, which is compatible with the overall consideration of multiple flight parameters of the UAV, the position of the UAV and the posture of the support platform, and realizes multi-dimensional control of multiple flight parameters of the UAV, the position of the UAV and the posture of the support platform, thereby ensuring the accuracy of the flight space of the UAV.

[0041] Therefore, the corresponding attitude control space is determined according to the detection range of the support platform and the flight space of the UAV, and the attitude control space is introduced, so that the attitude of the support platform and the attitude of the UAV are collected according to the attitude control space; the corresponding matching coefficient is defined according to the matching of the attitude of the support platform and the attitude of the UAV, and the matching of the attitude of the support platform and the attitude of the UAV is achieved, the accuracy of the matching coefficient is guaranteed, and the matching degree between the attitude of the support platform and the attitude of the UAV is presented through the matching coefficient.

[0042] refer to Figure 7 , S16: triggering dynamic adjustment of the attitude of the support platform according to the matching coefficient, the flight mode of the UAV, and the relative orientation of the UAV with respect to the support platform, until the UAV can directly land on the support platform along the flight direction of the UAV; In the specific implementation process of the present invention, the specific steps may be: S161: Fixed frame matching coefficient; S162: defining the relative position of the UAV with respect to the support platform based on the detection of the support platform; S163: Associating the matching coefficient, the flight mode of the UAV, and the relative position of the UAV with respect to the support platform; S164: constructing a posture system of the support platform according to the matching coefficient, the flight mode of the UAV, and the relative position of the UAV with respect to the support platform; S165: triggering dynamic adjustment of the posture of the support platform according to the posture system of the support platform; S166: matching the attitude change of the support platform, the flight direction of the UAV and the current attitude of the UAV in real time, and dynamically adjusting the attitude change of the support platform to gradually reduce the attitude change of the support platform until the UAV can directly land on the support platform along the flight direction of the UAV.

[0043] In the specific implementation process of the present invention, the corresponding attitude control space is determined based on the detection range of the support platform and the flight space of the UAV, and the matching coefficient of the attitude of the support platform and the attitude of the UAV is dynamically collected according to the attitude control space; the dynamic adjustment of the attitude of the support platform is triggered according to the matching coefficient, the flight mode of the UAV and the relative orientation of the UAV with respect to the support platform, until the UAV can directly land on the support platform along the flight direction of the UAV, thereby ensuring the landing effect of the UAV with respect to the support platform, avoiding multiple circling flights of the UAV with respect to the support platform, ensuring the attitude control effect of the UAV landing platform, and realizing the dynamic adjustment of the support platform and the one-time landing of the UAV.

[0044] At this time, the matching coefficient is fixed; the relative position of the UAV with respect to the supporting platform is defined based on the detection of the supporting platform; the matching coefficient, the flight mode of the UAV and the relative position of the UAV with respect to the supporting platform are associated, and the matching coefficient, the flight mode of the UAV and the relative position of the UAV with respect to the supporting platform are compatible, thereby realizing multi-level interaction of the matching coefficient, the flight mode of the UAV and the relative position of the UAV with respect to the supporting platform.

[0045] Therefore, a posture system of the support platform is constructed according to the matching coefficient, the flight mode of the UAV and the relative position of the UAV with respect to the support platform, thereby ensuring the accuracy of the posture system of the support platform. At the same time, the dynamic adjustment of the posture of the support platform is triggered according to the posture system of the support platform; the attitude change of the support platform, the flight direction of the UAV and the current posture of the UAV are matched in real time, and the attitude change of the support platform is dynamically regulated to gradually reduce the attitude change of the support platform until the UAV can land directly on the support platform along the flight direction of the UAV.

[0046] Furthermore, the dynamic adjustment of the attitude of the support platform is triggered according to the matching coefficient, the flight mode of the UAV and the relative position of the UAV with respect to the support platform, until the UAV can directly land on the support platform along the flight direction of the UAV, thereby ensuring the landing effect of the UAV relative to the support platform, avoiding the UAV from performing multiple circling flights relative to the support platform, ensuring the attitude control effect of the UAV landing platform, and realizing the dynamic adjustment of the support platform and the one-time landing of the UAV.

[0047] In an embodiment of the present invention, through the method in the embodiment of the present invention, the flight direction of the drone relative to the drone landing platform is collected based on the drone landing platform; the landing position of the drone is determined according to the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone and the flight mode of the drone; the position adjustment path of the support platform is determined according to the landing position of the drone and the current position of the support platform; the movable arm is triggered to adjust the position of the support platform according to the position adjustment path, and the final position of the support platform is matched to the landing position of the drone, thereby ensuring the position adjustment effect of the support platform, not affecting the flight of the drone and ensuring the flight efficiency of the drone, and realizing autonomous control of the support platform.

[0048] Furthermore, a corresponding attitude control space is determined based on the detection range of the support platform and the flight space of the UAV, and a matching coefficient of the attitude of the support platform and the attitude of the UAV is dynamically collected according to the attitude control space; dynamic adjustment of the attitude of the support platform is triggered according to the matching coefficient, the flight mode of the UAV and the relative orientation of the UAV relative to the support platform until the UAV can directly land on the support platform along the flight direction of the UAV, thereby ensuring the landing effect of the UAV relative to the support platform, avoiding multiple circling flights of the UAV relative to the support platform, ensuring the attitude control effect of the UAV landing platform, and realizing dynamic adjustment of the support platform and one-time landing of the UAV.

[0049] See also Figure 8 , Figure 8 It is a schematic diagram of the structural composition of the attitude control system of the UAV landing platform in an embodiment of the present invention.

[0050] like Figure 8 As shown, a posture control system for a UAV landing platform, the posture control system for the UAV landing platform includes: The acquisition module 21 is used to acquire the flight direction of the drone relative to the drone landing platform based on the drone landing platform. At this time, the drone landing platform includes a movable arm and a support platform. The support platform is used for the drone to land and adjust its position under the drive of the movable arm; A landing position module 22, for determining the landing position of the drone according to the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone, and the flight mode of the drone; A position adjustment path module 23, used to determine a position adjustment path of the support platform according to the landing position of the UAV and the current position of the support platform; The position adjustment module 24 is used to trigger the movable arm to adjust the position of the support platform according to the position adjustment path. At this time, the final position of the support platform matches the landing position of the UAV; The matching coefficient module 25 is used to determine the corresponding attitude control space based on the detection range of the support platform and the flight space of the UAV, and dynamically collect the matching coefficient of the attitude of the support platform and the attitude of the UAV according to the attitude control space; The attitude module 26 is used to trigger the dynamic adjustment of the attitude of the support platform according to the matching coefficient, the flight mode of the UAV and the relative position of the UAV with respect to the support platform, until the UAV can directly land on the support platform along the flight direction of the UAV.

[0051] See also Fig. 9 , refer to the following Fig. 9 The electronic device 40 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0052] like Fig. 9 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0053] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0054] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0055] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0056] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0057] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0058] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a multi-parameter sensor device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0059] Those skilled in the art can understand that all or some of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0060] In addition, the above describes in detail the attitude control method and system of the UAV landing platform provided in the embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. For general technicians in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for controlling the attitude of a drone landing platform, characterized in that: Applicable to the attitude control scenario of the UAV landing platform; the attitude control method of the UAV landing platform includes: The flight direction of the drone relative to the drone landing platform is collected based on the drone landing platform. At this time, the drone landing platform includes a movable arm and a support platform. The support platform is used for the drone to land and adjust its position under the drive of the movable arm; Determine the landing position of the drone based on the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone, and the flight mode of the drone; Determine the position adjustment path of the support platform according to the landing position of the UAV and the current position of the support platform; The movable arm is triggered to adjust the position of the support platform according to the position adjustment path. At this time, the final position of the support platform matches the landing position of the UAV; The corresponding attitude control space is determined based on the detection range of the support platform and the flight space of the UAV, and the matching coefficient of the attitude of the support platform and the attitude of the UAV is dynamically collected according to the attitude control space; The dynamic adjustment of the attitude of the support platform is triggered according to the matching coefficient, the flight mode of the UAV and the relative position of the UAV with respect to the support platform until the UAV can directly land on the support platform along the flight direction of the UAV.

2. The method for controlling the attitude of the UAV landing platform according to claim 1, characterized in that: The method of collecting the flight direction of the drone relative to the drone landing platform based on the drone landing platform, wherein the drone landing platform includes a movable arm and a support platform, the support platform is used for the drone to land, and the position is adjusted under the drive of the movable arm, including: Collect the flight signal of the drone based on the drone landing platform; Analyze the flight signal of the drone and determine the corresponding position information; Control multiple cameras of the drone landing platform based on the corresponding position information, and determine corresponding multiple flight images according to the multiple cameras and the flight status of the drone; constructing a flight model of the drone based on the plurality of flight images, and determining a flight direction of the drone relative to a drone landing platform based on a spatial comparison of the flight model of the drone and a stereoscopic model of the flight model of the drone; The flight direction of the drone relative to the drone landing platform is collected. At this time, the drone landing platform includes a movable arm and a support platform. The support platform is used for the drone to land and adjust its position under the drive of the movable arm.

3. The attitude control method of the UAV landing platform according to claim 2, characterized in that: Determining the landing position of the drone according to the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone, and the flight mode of the drone includes: Freeze the drone's flight direction relative to the drone landing platform; Collect multiple attitude parameters of the drone based on the dynamic detection of the drone; Construct multiple attitude parameter combinations according to multiple attitude parameters of the UAV and corresponding attitude dimensions; Determine the corresponding multiple posture features according to the combination of multiple posture parameters and the combination recognition model, and trigger the autonomous control of the posture of the UAV according to the multiple posture features and the flight drag coefficient of the UAV; Correlating the flight direction of the drone relative to the drone landing platform, multiple attitude characteristics, and the flight mode of the drone; The dynamic interactive drone's flight direction relative to the drone landing platform, multiple attitude characteristics, and the drone's flight mode, and determines the drone's landing position based on the drone's flight direction relative to the drone landing platform, multiple attitude characteristics, and the drone's flight mode.

4. The method for controlling the attitude of the UAV landing platform according to claim 3, characterized in that: The step of determining the position adjustment path of the support platform according to the landing position of the UAV and the current position of the support platform includes: Freeze the landing position of the drone; The current position of the acquisition support platform; Associating the landing position of the drone and the current position of the support platform, and constructing a corresponding position coordinate system according to the landing position of the drone and the current position of the support platform; Triggering the position calculation of the landing position of the UAV and the current position of the supporting platform based on the position coordinate system, and forming multiple paths in the position calculation; A preliminary optimized path combination is formed based on the multi-level interaction of multiple paths, drones, and drone landing platforms; The position adjustment path of the support platform is determined based on the preliminary optimized path combination and the directional screening of the flight direction of the UAV.

5. The method for controlling the attitude of the UAV landing platform according to claim 4, characterized in that: The triggering of the movable arm to adjust the position of the support platform according to the position adjustment path, at which point the final position of the support platform matches the landing position of the UAV, includes: Freeze position to adjust path; Associate the position adjustment path and the movable arm, and trigger the adjustment system of the movable arm; The balance control of the multiple arms in the movable arm is triggered according to the adjustment system of the movable arm, and the multiple arms are adjusted in position along the position adjustment path; The position of the support platform is adjusted based on the position adjustment of the multiple arms. At this time, the final position of the support platform matches the landing position of the UAV.

6. The method for controlling the attitude of the UAV landing platform according to claim 5, characterized in that: The corresponding attitude control space is determined based on the detection range of the support platform and the flight space of the UAV, and the matching coefficient of the attitude of the support platform and the attitude of the UAV is dynamically collected according to the attitude control space, including: When the support platform is at the landing position of the UAV, the support platform is triggered to dynamically detect the UAV in flight; A support platform for collecting support platforms; The flight space of the UAV is constructed based on multiple flight parameters of the UAV, the location of the UAV and the posture of the supporting platform.

7. The method for controlling the attitude of a UAV landing platform according to claim 6, characterized in that: The corresponding attitude control space is determined based on the detection range of the support platform and the flight space of the UAV, and the matching coefficient of the attitude of the support platform and the attitude of the UAV are dynamically collected according to the attitude control space, and further includes: Determine the corresponding attitude control space according to the detection range of the support platform and the flight space of the UAV; Control the attitude of the space acquisition support platform and the attitude of the drone according to the attitude; The corresponding matching coefficient is defined according to the matching of the posture of the supporting platform and the posture of the UAV.

8. The method for controlling the attitude of a UAV landing platform according to claim 7, characterized in that: The method triggers the dynamic adjustment of the attitude of the support platform according to the matching coefficient, the flight mode of the UAV, and the relative position of the UAV relative to the support platform, until the UAV can directly land on the support platform along the flight direction of the UAV, including: Fixed frame matching coefficient; Defining the relative position of the UAV with respect to the support platform based on the detection of the support platform; The matching coefficient, the flight mode of the UAV, and the relative orientation of the UAV with respect to the support platform are correlated.

9. The method for controlling the attitude of a UAV landing platform according to claim 8, characterized in that: The method triggers the dynamic adjustment of the attitude of the support platform according to the matching coefficient, the flight mode of the UAV and the relative position of the UAV relative to the support platform until the UAV can directly land on the support platform along the flight direction of the UAV, and further includes: A posture system of the support platform is constructed according to the matching coefficient, the flight mode of the UAV, and the relative orientation of the UAV with respect to the support platform; Triggering dynamic adjustment of the posture of the support platform according to the posture system of the support platform; The attitude change of the support platform, the flight direction of the UAV and the current attitude of the UAV are matched in real time, and the attitude change of the support platform is dynamically adjusted to gradually reduce the attitude change of the support platform until the UAV can land directly on the support platform along the flight direction of the UAV.

10. An attitude control system for a drone landing platform, characterized in that: The attitude control system of the UAV landing platform is applied to the attitude control method of the UAV landing platform as claimed in any one of claims 1 to 9, and the attitude control system of the UAV landing platform includes: A collection module is used to collect the flight direction of the drone relative to the drone landing platform based on the drone landing platform. At this time, the drone landing platform includes a movable arm and a support platform. The support platform is used for the drone to land and adjust its position under the drive of the movable arm; A landing position module, used to determine the landing position of the drone based on the flight direction of the drone relative to the drone landing platform, multiple attitude parameters of the drone, and the flight mode of the drone; A position adjustment path module is used to determine the position adjustment path of the support platform according to the landing position of the UAV and the current position of the support platform; A position adjustment module is used to trigger the movable arm to adjust the position of the support platform according to the position adjustment path. At this time, the final position of the support platform matches the landing position of the UAV; A matching coefficient module is used to determine the corresponding attitude control space based on the detection range of the support platform and the flight space of the UAV, and dynamically collect the matching coefficients of the attitude of the support platform and the attitude of the UAV according to the attitude control space; The attitude module is used to trigger the dynamic adjustment of the attitude of the support platform according to the matching coefficient, the flight mode of the UAV and the relative orientation of the UAV with respect to the support platform, until the UAV can directly land on the support platform along the flight direction of the UAV.

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