Unmanned aerial vehicle fixed-point launching device and operation method

Abstract

The invention relates to the technical field of intelligent unmanned aerial vehicles, in particular to an unmanned aerial vehicle fixed-point launching device and an operation method. The technical problems are as follows: the unmanned aerial vehicle fixed-point launching device in the prior art is insufficient in attitude pre-adjustment, inaccurate in launching control and imperfect in attitude feedback and adjustment mechanism; according to the technical scheme, the unmanned aerial vehicle fixed-point launching device comprises an unmanned aerial vehicle rack, an integrated sensor module, a signal transmission module, a support and a launching assembly; the attitude of the unmanned aerial vehicle is accurately pre-adjusted through the ground control station, it is ensured that the unmanned aerial vehicle is in the optimal stable state before being put, the opening and closing time and force of the electric telescopic rod and the electromagnetic block are dynamically adjusted according to the real-time position and attitude data of the unmanned aerial vehicle, the putting accuracy and reliability are improved, and the putting efficiency is improved. When the unmanned aerial vehicle has attitude deviation, the deviation can be corrected through attitude feedback and an adjustment mechanism, and it is ensured that the unmanned aerial vehicle can continuously fly stably and complete subsequent launching tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent unmanned aerial vehicles, and in particular to a fixed-point delivery device for unmanned aerial vehicles and an operation method thereof. Background Art

[0002] As drone technology becomes increasingly mature, drone fixed-point delivery devices have shown broad application prospects in many fields such as agricultural sowing, emergency relief material delivery, and environmental monitoring. Traditional drone fixed-point delivery technology mainly relies on the pilot's operating experience and the drone's built-in navigation system, but in practical applications, there are still a series of challenges. Especially in complex environments or high-precision delivery tasks, drone attitude control, delivery accuracy, and stability during delivery have become key technical problems. Specific problems include:

[0003] 1. Insufficient attitude pre-adjustment: In the existing technology, although some drones will perform basic attitude calibration before takeoff, they often lack precise pre-adjustment for specific delivery tasks; this results in the drone not reaching the optimal stability before delivery, which in turn affects the delivery accuracy and stability of the drone itself; the adjustment of pitch angle, roll angle and yaw angle usually depends on the operator's experience and judgment, and lacks automated and precise adjustment methods, making it difficult for the drone to accurately point to the delivery target;

[0004] 2. Imprecise delivery control: When the drone approaches the delivery point, the delivery control in the existing technology often relies on simple switch control or timing control, lacking the ability to dynamically adjust according to the real-time position and posture of the drone, which can easily cause the delivery object to deviate from the predetermined position, affecting the delivery effect;

[0005] 3. Imperfect attitude feedback and adjustment mechanism: During the delivery process, the attitude change monitoring of the drone usually relies on a single sensor data, lacking the ability of multi-sensor fusion and real-time data analysis; the attitude feedback and adjustment mechanism has a slow response speed, and the control algorithm is not accurate enough, which makes it difficult for the drone to correct attitude deviations in time, affecting the stability of the delivery process and the execution of subsequent tasks;

[0006] Therefore, in response to the above problems, a UAV fixed-point delivery device and operation method are proposed. The attitude of the UAV is accurately pre-adjusted through a ground control station to ensure that the UAV is in the optimal stable state before delivery. According to the real-time position and attitude data of the UAV, the opening and closing timing and strength of the electric telescopic rod and the electromagnetic block are dynamically adjusted to improve the accuracy and reliability of delivery. When the UAV has an attitude deviation, the deviation can be corrected through an attitude feedback and adjustment mechanism to ensure that the UAV can continue to fly stably and complete subsequent delivery tasks. Summary of the invention

[0007] In order to overcome the problems of insufficient attitude pre-adjustment, inaccurate delivery control, and imperfect attitude feedback and adjustment mechanism of UAV fixed-point delivery devices under the existing technology.

[0008] The technical solution of the present invention is: a UAV fixed-point delivery device, including a UAV frame, an integrated sensor module, a signal transmission module, a bracket and a delivery component; an integrated sensor module is arranged above the UAV frame, a signal transmission module is arranged above the UAV frame, a bracket is arranged below the UAV frame, and a delivery component is arranged below the UAV frame; the delivery component includes an electric telescopic rod, an electromagnetic block, a metal connecting block and a hanging ring; an electric telescopic rod is arranged below the UAV frame, an electromagnetic block is arranged at one end of the electric telescopic rod, a metal connecting block is arranged below the electromagnetic block, and a hanging ring is arranged below the metal connecting block.

[0009] Preferably, an integrated sensor module is used to measure and describe the attitude and heading of the UAV in real time to provide precise navigation information for fixed-point delivery; a signal transmission module is used to transmit data command signals between the UAV and a ground control station; a bracket is used to support the UAV when it takes off and lands; a hanging ring can be used to mount the object to be delivered; a control command is received through an electric telescopic rod so that the electric telescopic rod receives and retracts according to the calculated amount of extension and retraction to move the object to the delivery position; when the object reaches the predetermined delivery position, an activation command is sent to the electromagnetic block to cause it to instantly lose its magnetism and release the metal connecting block, thereby releasing the object.

[0010] Preferably, the integrated sensor module includes a gyroscope, an accelerometer and a magnetometer; the gyroscope is used to measure the angular velocity of the UAV around its three main axes, namely the roll axis, the pitch axis and the yaw axis, in real time, thereby providing the attitude angle change information of the UAV; the accelerometer is used to measure the linear acceleration of the UAV in three axes, namely front-back, left-right, and up-down, and the component of gravity acceleration in the UAV coordinate system; the magnetometer is used to measure the three components of the geomagnetic field in the UAV coordinate system to determine the heading angle of the UAV, namely the yaw angle; the magnetometer is combined with the data of the gyroscope and the accelerometer to describe the attitude and heading of the UAV, and provide precise navigation information for fixed-point delivery.

[0011] Preferably, the signal transmission module is disposed above the UAV frame and is electrically connected to the integrated sensor module and the delivery assembly; the signal transmission module includes:

[0012] A data receiving unit, used to receive real-time data from the integrated sensor module, including but not limited to angular velocity data measured by a gyroscope, linear acceleration and gravity acceleration data measured by an accelerometer, and geomagnetic field data measured by a magnetometer;

[0013] A data processing unit, connected to the data receiving unit, for preprocessing the received data, including but not limited to data verification, format conversion and preliminary filtering, to ensure the accuracy and reliability of the data;

[0014] The wireless communication submodule is connected to the data processing unit and is responsible for encoding the pre-processed data and the instructions from the control center and sending them to the ground control station by wireless means, and receiving the control instructions and parameter adjustment information from the ground control station;

[0015] A control instruction decoding unit, connected to the wireless communication submodule, for decoding received control instructions and converting them into operation signals executable by the delivery component, including starting / stopping the electric telescopic rod and activating / deactivating the electromagnetic block;

[0016] The status feedback unit is used to monitor the working status of the signal transmission module itself, including the communication link quality, battery power, and data transmission rate, and feed back this status information to the ground control station through the wireless communication submodule.

[0017] A method for operating a drone fixed-point delivery device comprises the following steps:

[0018] S1: The ground control station inputs the precise location information of the delivery target;

[0019] S2: The drone obtains the current attitude data through the integrated sensor, and the ground control station calculates the pre-launch attitude that the drone needs to adjust to based on the target information and the current attitude data;

[0020] S3: The drone adjusts its pitch, roll and yaw angles according to the calculated adjustment amount through the backstepping control method until it reaches the predetermined attitude. The drone maintains the predetermined attitude for a period of time, and the stability is verified through sensor data to ensure that the drone is in a stable state before being launched.

[0021] S4: The drone flies to the delivery point according to the preset route and real-time navigation information. The distance between the drone and the delivery point is monitored in real time by GPS. When the drone approaches the delivery point, it gradually slows down and hovers at a predetermined height, ready for delivery;

[0022] S5: Prepare for delivery, confirm that the delivered object has been correctly loaded into the delivery device, and the electric telescopic rod and the electromagnetic block are in a standby state. According to the precise position of the delivery point, the delivery of the delivered object is achieved by controlling the extension and retraction of the electric telescopic rod and the opening and closing of the electromagnetic block;

[0023] S6: During and after the launch, the drone continues to monitor its attitude changes in real time through the attitude sensor. The control system receives the sensor data and analyzes whether there is an attitude deviation. If an attitude deviation is found, the attitude feedback and adjustment mechanism is immediately activated, and the drone attitude is quickly adjusted through the backstepping control method to ensure stable flight.

[0024] S7: According to the delivery mission requirements, the drone carries out the next delivery or returns to the take-off point;

[0025] S8: The ground control station records and analyzes the data of the entire delivery process, including the attitude adjustment effect and delivery accuracy; according to the mission plan, the drone is controlled to return to the take-off point or the designated recovery area;

[0026] S9: Shut down all drone systems, disconnect from the ground control station, and complete the delivery mission.

[0027] Preferably, in step S2, the UAV obtains current posture data through an integrated sensor, and the ground control station calculates the pre-delivery posture to which the UAV needs to be adjusted based on the target information and the current posture data; the specific steps are as follows:

[0028] S201: The integrated sensors on the drone measure and transmit the current attitude data to the ground control station in real time, including roll angle, pitch angle, yaw angle, linear acceleration and angular velocity information;

[0029] S202: The ground control station receives and stores the data, and simultaneously obtains the location information of the delivery target, including longitude, latitude, altitude, and delivery direction and angle;

[0030] S203: The ground control station converts the geographic coordinate system into the UAV body coordinate system to convert the location information of the delivery target into a relative position and direction vector in the UAV coordinate system;

[0031] S204: Calculate the relative distance and direction from the drone to the delivery target based on the current position of the drone provided by GPS.

[0032] Preferably, in the steps S203-S204, the ground control station converts the geographic coordinate system into the drone body coordinate system to convert the location information of the delivery target into a relative position and direction vector in the drone coordinate system, and calculates the relative distance and orientation from the drone to the delivery target according to the current position of the drone provided by the GPS; the specific steps are as follows:

[0033] S2031: Position information conversion: converting the geographic coordinates (longitude, latitude, altitude) of the delivery target into coordinates (X, Y, Z) in a rectangular coordinate system with the center of the earth as the origin;

[0034] S2032: Rotation matrix calculation: According to the current attitude of the UAV (roll angle, pitch angle, yaw angle), calculate the rotation matrix from the geographic coordinate system to the UAV body coordinate system. This matrix is ​​used to describe the attitude of the UAV relative to the geographic coordinate system.

[0035] S2033: Coordinate transformation: Use the rotation matrix to transform the coordinates of the drop target in the geographic coordinate system into the relative position and direction vector in the drone body coordinate system; the specific formula is as follows:

[0036]

[0037] Where R is the rotation matrix, (X, Y, Z) is the coordinate of the drop target in the geographic coordinate system, and (X', Y', Z') is the coordinate in the converted drone body coordinate system;

[0038] S2041: Use the distance formula in three-dimensional space to calculate the straight-line distance between the current position of the drone and the target position; the calculation formula is as follows:

[0039]

[0040] Among them, (X d , Y d , Z d ) is the coordinate of the drone in the geographic coordinate system, (X t , Y t , Z t ) is the coordinate of the delivery target in the geographic coordinate system, and d is the straight-line distance between the two;

[0041] S2042: Use the inverse tangent function to calculate the azimuth between the current position of the drone and the target position, that is, the angle the drone needs to turn to aim at the target; the formula is as follows:

[0042]

[0043] Where θ is the azimuth angle, (X d , Y d ) is the coordinate of the drone in the geographic coordinate system, (X t , Y t ) is the coordinate of the drop target in the geographic coordinate system;

[0044] S2043: According to the height difference of the delivery target (Z t -Z d ) and the horizontal distance d between the UAV and the target xy , calculate the required pitch angle adjustment; the calculation formula is as follows:

[0045]

[0046] Among them, Δφ is the pitch angle adjustment amount, and φcurrent is the current pitch angle of the drone;

[0047] S2044: Calculate the required roll angle adjustment amount; the calculation formula is as follows:

[0048] Δψ=ψ target -ψ current ;

[0049] Among them, Δψ is the roll angle adjustment, ψ target is the target roll angle, ψ current is the current roll angle of the drone;

[0050] S2045: According to the azimuth angle θ of the target and the current yaw angle of the drone current , calculate the yaw angle adjustment amount that the drone needs to turn, the calculation formula is as follows:

[0051] Δ\yaw=θ-\yaw current ;

[0052] Among them, Δ\yaw is the yaw angle adjustment.

[0053] Preferably, in step S3, the drone adjusts the pitch angle, roll angle and yaw angle of the drone according to the calculated adjustment amount by a backstepping control method until a predetermined posture is reached; the drone maintains the predetermined posture for a period of time, and the stability is verified by sensor data to ensure that the drone is in a stable state before being launched; the specific steps are as follows:

[0054] S301: Input the target values ​​of pitch angle, roll angle and yaw angle of the predetermined posture (respectively denoted as θ target ,φ target ,ψ target ), and the actual values ​​of the pitch angle, roll angle, and yaw angle of the current attitude (respectively denoted as θ current ,φ current ,ψ current );

[0055] S302: Set the control cycle T, the attitude adjustment threshold ε, which is used to determine whether the predetermined attitude is reached, and the stability verification time T stable ;

[0056] S303: Calculate the attitude error, including:

[0057] Calculate the pitch angle error, the calculation formula is: e θ =θ target -θ current ;

[0058] Calculate the roll angle error using the formula: eφ =φ target -φ current ;

[0059] Calculate the yaw angle error using the following formula: ψ =ψ target -ψ current；

[0060] S304: PID control algorithm can be used to design the control law u θ , so that the pitch angle error e θ Approaching 0; the calculation formula is as follows:

[0061] u θ =Kp θ *e θ +Ki θ *∫e θ dt+Kd θ *de θ / dt;

[0062] S305: Use PID control algorithm to design control law φ , so that the roll angle error e φ Approaching 0, adopting PID control algorithm, designing control law u ψ , so that the yaw angle error e ψ Approaching 0;

[0063] S306: Set the control law u θ ,u φ ,u ψ Converted into control signals for the drone actuators and sent to the drone, which adjusts its pitch, roll and yaw angles according to the received control signals;

[0064] S307: In each control cycle T, the current attitude data of the UAV is obtained through the integrated sensor module, and θ is updated current ,φ current ,ψ current ;

[0065] S308: Determine whether the predetermined posture is reached. If |e θ |<ε,|e φ |<ε,|e ψ |<ε, it is considered that the UAV has reached the predetermined posture; otherwise, return to step S304 to continue adjustment;

[0066] S309: When the drone reaches a predetermined posture, maintain the posture T stable time; during this period, the attitude data of the UAV is continuously monitored to ensure that the attitude error remains within the threshold ε; if at T stableIf the attitude error is always less than ε within the time period, the drone is considered to be in a stable state;

[0067] S310: Output result: The drone has reached the predetermined posture and remains stable.

[0068] Preferably, in step S4, the drone flies to the delivery point according to the preset route and real-time navigation information, and the distance between the drone and the delivery point is monitored in real time by GPS. When the drone approaches the delivery point, it gradually slows down and hovers at a predetermined height, ready for delivery. The specific steps are as follows:

[0069] S401: The ground control station loads the preset route data into the flight control system of the UAV, including the latitude and longitude coordinate points, altitude information and flight speed;

[0070] S402: After the drone takes off, start GPS to obtain the current location information of the drone in real time;

[0071] S403: The drone calculates the shortest path or the optimal path through the Dijkstra navigation algorithm according to the preset route and the real-time GPS location information, calculates the flight direction and speed adjustment according to the current position and the target point position, calculates the next target point to be flown to, and adjusts the flight direction of the drone;

[0072] S404: During the flight, the real-time distance between the drone and the drop point is continuously monitored through GPS, including:

[0073] Input: UAV real-time location data, drop point location data;

[0074] Processing: Calculate the straight-line distance between two points and calculate the actual distance based on longitude and latitude;

[0075] Output: real-time distance between the drone and the drop point;

[0076] S405: When the distance between the UAV and the delivery point is less than a preset threshold, the deceleration rate is calculated according to the relationship between the distance and the speed; when the predetermined height is reached, a deceleration instruction and a hovering instruction are output to the UAV to control the UAV to hover;

[0077] S406: The UAV gradually decelerates and prepares to hover at a predetermined height;

[0078] S407: The UAV hovers at a predetermined height to ensure a stable position in preparation for delivery. The UAV's position stability is monitored to ensure that it hovers at a predetermined height for a period of time to verify stability. After the stability verification is completed, a delivery preparation completion signal is output.

[0079] Preferably, in step S5, preparation for delivery is performed, confirming that the delivered object has been correctly loaded in the delivery device, the electric telescopic rod and the electromagnetic block are in a standby state, and the delivery of the delivered object is achieved by controlling the extension and retraction of the electric telescopic rod and the opening and closing of the electromagnetic block according to the precise position of the delivery point; the specific steps are as follows:

[0080] S501: Confirm the loading status of the objects, including:

[0081] Input: Loading status of the delivery device;

[0082] Processing: Use the sensor data in the delivery device to confirm whether the delivery object has been correctly and firmly loaded on the delivery component;

[0083] Output: loading status confirmation result;

[0084] S502: Check the status of the electric telescopic rod and the electromagnetic block, including:

[0085] Input: electric telescopic rod status, electromagnetic block status;

[0086] Processing: Send a query command through the signal transmission module to obtain whether the electric telescopic rod is in the initial position and whether the electromagnetic block is in an inactive (i.e., closed) state;

[0087] Output: confirmation result of the status of the electric telescopic rod and the electromagnetic block;

[0088] S503: Calculate the precise location of the delivery point, including:

[0089] Input: GPS data, preset drop point coordinates;

[0090] Processing: Combine the current drone’s GPS location information with the preset drop point coordinates, and calculate the precise relative position of the drone relative to the drop point through a geographic coordinate conversion algorithm;

[0091] Output: precise relative position data of the delivery point;

[0092] S504: Formulate a launch strategy, including:

[0093] Input: precise location of the drop point and current posture of the drone;

[0094] Processing: Based on the location information of the delivery point, the current posture of the drone (pitch angle, roll angle, yaw angle) and the characteristics of the delivery object (weight, shape), formulate a delivery strategy, including the telescopic length of the electric telescopic rod and the opening and closing timing of the electromagnetic block.

[0095] Output: launch strategy parameters, including the extension amount of the electric telescopic rod and the opening and closing time of the electromagnetic block;

[0096] S505: Execute the delivery action, which specifically includes:

[0097] Input: delivery strategy parameters;

[0098] Processing: Send control instructions to the electric telescopic rod to make it extend and retract according to the calculated extension amount, and move the object to the delivery position; when the object reaches the predetermined delivery position, send activation instructions to the electromagnetic block to make it lose magnetism instantly and release the object;

[0099] Output: The execution result of the delivery action and the status data during the delivery process (the extension and retraction status of the electric telescopic rod, the opening and closing status of the electromagnetic block).

[0100] Preferably, in step S6, during and after the delivery, the UAV continues to monitor its attitude changes in real time through the attitude sensor, and the control system receives the sensor data and analyzes whether there is an attitude deviation. If an attitude deviation is found, the attitude feedback and adjustment mechanism is immediately started, and the attitude of the UAV is quickly adjusted through the backstepping control method to ensure stable flight. The specific steps are as follows:

[0101] S601: Real-time monitoring of posture data, including:

[0102] Input: roll angle, pitch angle, and yaw angle data measured in real time by the attitude sensor;

[0103] Processing: The control system receives data from the attitude sensor at a fixed frequency;

[0104] Output: real-time updated roll angle, pitch angle, and yaw angle values;

[0105] S602: Posture deviation detection, specifically including:

[0106] Input: real-time measured posture data and preset stable posture threshold;

[0107] Processing: Compare the real-time measured posture data with the preset stable posture range to determine whether there is a deviation;

[0108] Output: posture deviation detection results, including deviation size and direction;

[0109] S603: Determine the deviation threshold, including:

[0110] Input: posture deviation detection result;

[0111] Processing: Set a deviation threshold. If the posture deviation exceeds this threshold, the adjustment mechanism is triggered;

[0112] Output: Decision signal on whether the drone's attitude needs to be adjusted. ;

[0113] S604: Start the posture feedback and adjustment mechanism, including:

[0114] Input: Decision signal that needs to adjust the drone’s attitude;

[0115] Processing: When the decision signal is "yes", the attitude feedback and adjustment mechanism is started to prepare for attitude adjustment;

[0116] Output: signal to start the adjustment mechanism and initial adjustment parameters;

[0117] S605: Calculating the posture adjustment amount, specifically including:

[0118] Input: real-time measured posture data and predetermined posture target value;

[0119] Processing: using the PID control algorithm and the backstepping control algorithm in step S3 to calculate the adjustment amount required to achieve the predetermined posture, including the adjustment amount of the roll angle, the pitch angle, and the yaw angle;

[0120] Output: attitude adjustment, including roll angle adjustment, pitch angle adjustment, and yaw angle adjustment;

[0121] S606: Execute posture adjustment, specifically including:

[0122] Input: attitude adjustment amount;

[0123] Processing: Convert the calculated attitude adjustment amount into a control signal for the UAV actuator, such as a motor speed adjustment signal or a servo control signal;

[0124] Output: actuator control signal, driving the drone to adjust its attitude;

[0125] S607: Adjustment effect monitoring, including:

[0126] Input: attitude sensor data after actuator control signal execution;

[0127] Processing: Monitor the drone’s attitude data again and evaluate the adjustment effect;

[0128] Output: adjusted posture data and effect evaluation results;

[0129] S608: Cycle adjustment until stability, including:

[0130] Input: adjusted posture data and effect evaluation results;

[0131] Processing: If the attitude still does not reach a stable state, repeat steps S602 to S607 until the attitude of the drone is stabilized within the preset range;

[0132] Output: UAV stable flight status signal;

[0133] S609: Record and provide feedback on the adjustment process, including:

[0134] Input: posture data, adjustment amount, and actuator control signal during the entire adjustment process;

[0135] Processing: recording and storing this data;

[0136] Output: Adjustment process record data for analysis by ground control station and R&D personnel.

[0137] Beneficial effects of the present invention:

[0138] 1. Compared with the problem of insufficient posture pre-adjustment of the UAV fixed-point delivery device under the prior art, the present invention accurately pre-adjusts the posture of the UAV through the ground control station to ensure that the UAV is in the best stable state before delivery; through the automated algorithm and control instructions, the pitch angle, roll angle and yaw angle of the UAV are adjusted so that the UAV can accurately point to the delivery target, thereby improving the delivery accuracy and stability of the UAV;

[0139] 2. Compared with the problem of inaccurate delivery control of drone fixed-point delivery devices in the prior art, the present invention adopts a control algorithm to dynamically adjust the opening and closing timing and strength of the electric telescopic rod and the electromagnetic block according to the real-time position and attitude data of the drone, and ensures that the delivered objects can accurately reach the predetermined position through precise control instructions and real-time feedback mechanism, thereby improving the accuracy and reliability of delivery;

[0140] 3. Compared with the imperfect attitude feedback and adjustment mechanism of the UAV fixed-point delivery device under the existing technology, this system integrates data from multiple sensors, realizes multi-sensor fusion and real-time data analysis, improves the accuracy and reliability of attitude monitoring, and uses a backstepping control algorithm to control the attitude angle and angular velocity of the UAV to ensure the stability of the UAV during the delivery process. When the UAV has an attitude deviation, the control system can activate the attitude feedback and adjustment mechanism to quickly correct the deviation, ensuring that the UAV can continue to fly stably and complete subsequent delivery tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0141] Figure 1 Shown is a first three-dimensional structural schematic diagram of the drone fixed-point delivery device of the present invention;

[0142] Figure 2 Shown is a second three-dimensional structural schematic diagram of the UAV fixed-point delivery device of the present invention;

[0143] Figure 3 The following is a schematic flow chart of the steps of the operation method of the drone fixed-point delivery device of the present invention;

[0144] Explanation of the reference numerals: 1. UAV frame; 2. Integrated sensor module; 3. Signal transmission module; 4. Bracket; 501. Electric telescopic rod; 502. Electromagnetic block; 503. Metal connecting block; 504. Hanging ring. DETAILED DESCRIPTION

[0145] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0146] See also Figure 1-3 The present invention provides an embodiment: a UAV fixed-point delivery device, comprising a UAV frame 1, an integrated sensor module 2, a signal transmission module 3, a bracket 4 and a delivery component; an integrated sensor module 2 is arranged above the UAV frame 1, a signal transmission module 3 is arranged above the UAV frame 1, a bracket 4 is arranged below the UAV frame 1, and a delivery component is arranged below the UAV frame 1; the delivery component comprises an electric telescopic rod 501, an electromagnetic block 502, a metal connecting block 503 and a hanging ring 504; an electric telescopic rod 501 is arranged below the UAV frame 1, an electromagnetic block 502 is arranged at one end of the electric telescopic rod 501, a metal connecting block 503 is arranged below the electromagnetic block 502, and a hanging ring 504 is arranged below the metal connecting block 503.

[0147] Preferably, the integrated sensor module 2 includes a gyroscope, an accelerometer and a magnetometer; the gyroscope is used to measure the angular velocity of the UAV around its three main axes, namely the roll axis, the pitch axis and the yaw axis, in real time, so as to provide the attitude angle change information of the UAV; the accelerometer is used to measure the linear acceleration of the UAV in three axes, namely the front-back, left-right, and up-down, and the component of the gravity acceleration in the UAV coordinate system; the magnetometer is used to measure the three components of the geomagnetic field in the UAV coordinate system to determine the heading angle of the UAV, namely the yaw angle; the magnetometer is combined with the data of the gyroscope and the accelerometer to describe the attitude and heading of the UAV, and provide precise navigation information for fixed-point delivery.

[0148] Preferably, the signal transmission module 3 is disposed above the drone frame 1 and is electrically connected to the integrated sensor module 2 and the delivery assembly; the signal transmission module 3 includes:

[0149] A data receiving unit, used to receive real-time data from the integrated sensor module 2, including but not limited to angular velocity data measured by a gyroscope, linear acceleration and gravity acceleration data measured by an accelerometer, and geomagnetic field data measured by a magnetometer;

[0150] A data processing unit, connected to the data receiving unit, for preprocessing the received data, including but not limited to data verification, format conversion and preliminary filtering, to ensure the accuracy and reliability of the data;

[0151] The wireless communication submodule is connected to the data processing unit and is responsible for encoding the pre-processed data and the instructions from the control center and sending them to the ground control station by wireless means, and receiving the control instructions and parameter adjustment information from the ground control station;

[0152] A control instruction decoding unit, connected to the wireless communication submodule, for decoding received control instructions and converting them into operation signals executable by the delivery component, including starting / stopping the electric telescopic rod 501 and activating / deactivating the electromagnetic block 502;

[0153] The status feedback unit is used to monitor the working status of the signal transmission module 3 itself, including the communication link quality, battery power, and data transmission rate, and feed back these status information to the ground control station through the wireless communication submodule.

[0154] A method for operating a drone fixed-point delivery device comprises the following steps:

[0155] S1: The ground control station inputs the precise location information of the delivery target;

[0156] S2: The drone obtains the current attitude data through the integrated sensor, and the ground control station calculates the pre-launch attitude that the drone needs to adjust to based on the target information and the current attitude data;

[0157] S3: The drone adjusts its pitch, roll and yaw angles according to the calculated adjustment amount through the backstepping control method until it reaches the predetermined attitude. The drone maintains the predetermined attitude for a period of time, and the stability is verified through sensor data to ensure that the drone is in a stable state before being launched.

[0158] S4: The drone flies to the delivery point according to the preset route and real-time navigation information. The distance between the drone and the delivery point is monitored in real time by GPS. When the drone approaches the delivery point, it gradually slows down and hovers at a predetermined height, ready for delivery;

[0159] S5: Prepare for delivery, confirm that the delivered object has been correctly loaded into the delivery device, and the electric telescopic rod and the electromagnetic block are in a standby state. According to the precise position of the delivery point, the delivery of the delivered object is achieved by controlling the extension and retraction of the electric telescopic rod and the opening and closing of the electromagnetic block;

[0160] S6: During and after the launch, the drone continues to monitor its attitude changes in real time through the attitude sensor. The control system receives the sensor data and analyzes whether there is an attitude deviation. If an attitude deviation is found, the attitude feedback and adjustment mechanism is immediately activated, and the drone attitude is quickly adjusted through the backstepping control method to ensure stable flight.

[0161] S7: According to the delivery mission requirements, the drone carries out the next delivery or returns to the take-off point;

[0162] S8: The ground control station records and analyzes the data of the entire delivery process, including the attitude adjustment effect and delivery accuracy; according to the mission plan, the drone is controlled to return to the take-off point or the designated recovery area;

[0163] S9: Shut down all drone systems, disconnect from the ground control station, and complete the delivery mission.

[0164] Preferably, in step S2, the UAV obtains current posture data through an integrated sensor, and the ground control station calculates the pre-delivery posture to which the UAV needs to be adjusted based on the target information and the current posture data; the specific steps are as follows:

[0165] S201: The integrated sensors on the drone measure and transmit the current attitude data to the ground control station in real time, including roll angle, pitch angle, yaw angle, linear acceleration and angular velocity information;

[0166] S202: The ground control station receives and stores the data, and simultaneously obtains the location information of the delivery target, including longitude, latitude, altitude, and delivery direction and angle;

[0167] S203: The ground control station converts the geographic coordinate system into the UAV body coordinate system to convert the location information of the delivery target into a relative position and direction vector in the UAV coordinate system;

[0168] S204: Calculate the relative distance and direction from the drone to the delivery target based on the current position of the drone provided by GPS.

[0169] Preferably, in the steps S203-S204, the ground control station converts the geographic coordinate system into the drone body coordinate system to convert the location information of the delivery target into a relative position and direction vector in the drone coordinate system, and calculates the relative distance and orientation from the drone to the delivery target according to the current position of the drone provided by the GPS; the specific steps are as follows:

[0170] S2031: Position information conversion: converting the geographic coordinates (longitude, latitude, altitude) of the delivery target into coordinates (X, Y, Z) in a rectangular coordinate system with the center of the earth as the origin;

[0171] S2032: Rotation matrix calculation: According to the current attitude of the UAV (roll angle, pitch angle, yaw angle), calculate the rotation matrix from the geographic coordinate system to the UAV body coordinate system. This matrix is ​​used to describe the attitude of the UAV relative to the geographic coordinate system.

[0172] S2033: Coordinate transformation: Use the rotation matrix to transform the coordinates of the drop target in the geographic coordinate system into the relative position and direction vector in the drone body coordinate system; the specific formula is as follows:

[0173]

[0174] Where R is the rotation matrix, (X, Y, Z) is the coordinate of the drop target in the geographic coordinate system, and (X', Y', Z') is the coordinate in the converted drone body coordinate system;

[0175] S2041: Use the distance formula in three-dimensional space to calculate the straight-line distance between the current position of the drone and the target position; the calculation formula is as follows:

[0176]

[0177] Among them, (X d , Y d , Z d ) is the coordinate of the drone in the geographic coordinate system, (X t , Y t , Z t ) is the coordinate of the delivery target in the geographic coordinate system, and d is the straight-line distance between the two;

[0178] S2042: Use the inverse tangent function to calculate the azimuth between the current position of the drone and the target position, that is, the angle the drone needs to turn to aim at the target; the formula is as follows:

[0179]

[0180] Where θ is the azimuth angle, (X d , Y d ) is the coordinate of the drone in the geographic coordinate system, (X t , Y t ) is the coordinate of the drop target in the geographic coordinate system;

[0181] S2043: According to the height difference of the delivery target (Z t -Z d ) and the horizontal distance d between the UAV and the target xy , calculate the required pitch angle adjustment; the calculation formula is as follows:

[0182]

[0183] Among them, Δφ is the pitch angle adjustment amount, and φcurrent is the current pitch angle of the drone;

[0184] S2044: Calculate the required roll angle adjustment amount; the calculation formula is as follows:

[0185] Δψ=ψ target -ψ current ;

[0186] Among them, Δψ is the roll angle adjustment, ψ target is the target roll angle, ψ current is the current roll angle of the drone;

[0187] S2045: According to the azimuth angle θ of the target and the current yaw angle of the drone current , calculate the yaw angle adjustment amount that the drone needs to turn, the calculation formula is as follows:

[0188] Δ\yaw=θ-\yaw current ;

[0189] Among them, Δ\yaw is the yaw angle adjustment.

[0190] Preferably, in step S3, the drone adjusts the pitch angle, roll angle and yaw angle of the drone according to the calculated adjustment amount by a backstepping control method until a predetermined posture is reached; the drone maintains the predetermined posture for a period of time, and the stability is verified by sensor data to ensure that the drone is in a stable state before being launched; the specific steps are as follows:

[0191] S301: Input the target values ​​of pitch angle, roll angle and yaw angle of the predetermined posture (respectively denoted as θ target ,φ target ,ψ target ), and the actual values ​​of the pitch angle, roll angle, and yaw angle of the current attitude (respectively denoted as θ current ,φ current ,ψ current );

[0192] S302: Set the control cycle T, the attitude adjustment threshold ε, which is used to determine whether the predetermined attitude is reached, and the stability verification time T stable ;

[0193] S303: Calculate the attitude error, including:

[0194] Calculate the pitch angle error, the calculation formula is: e θ =θ target -θ current ;

[0195] Calculate the roll angle error using the formula: e φ =φ target -φ current ;

[0196] Calculate the yaw angle error using the following formula: ψ =ψ target -ψ current；

[0197] S304: PID control algorithm can be used to design the control law u θ, so that the pitch angle error e θ Approaching 0; the calculation formula is as follows:

[0198] u θ =Kp θ *e θ +Ki θ *∫e θ dt+Kd θ *de θ / dt;

[0199] S305: Use PID control algorithm to design control law φ , so that the roll angle error e φ Approaching 0, adopting PID control algorithm, designing control law u ψ , so that the yaw angle error e ψ Approaching 0;

[0200] S306: Set the control law u θ ,u φ ,u ψ Converted into control signals for the drone actuators and sent to the drone, which adjusts its pitch, roll and yaw angles according to the received control signals;

[0201] S307: In each control cycle T, the current attitude data of the UAV is obtained through the integrated sensor module, and θ is updated current ,φ current ,ψ current ;

[0202] S308: Determine whether the predetermined posture is reached. If |e θ |<ε,|e φ |<ε,|e ψ |<ε, it is considered that the UAV has reached the predetermined posture; otherwise, return to step S304 to continue adjustment;

[0203] S309: When the drone reaches a predetermined posture, maintain the posture T stable time; during this period, the attitude data of the UAV is continuously monitored to ensure that the attitude error remains within the threshold ε; if at T stable If the attitude error is always less than ε within the time period, the drone is considered to be in a stable state;

[0204] S310: Output result: The drone has reached the predetermined posture and remains stable.

[0205] Preferably, in step S4, the drone flies to the delivery point according to the preset route and real-time navigation information, and the distance between the drone and the delivery point is monitored in real time by GPS. When the drone approaches the delivery point, it gradually slows down and hovers at a predetermined height, ready for delivery. The specific steps are as follows:

[0206] S401: The ground control station loads the preset route data into the flight control system of the UAV, including the latitude and longitude coordinate points, altitude information and flight speed;

[0207] S402: After the drone takes off, start GPS to obtain the current location information of the drone in real time;

[0208] S403: The drone calculates the shortest path or the optimal path through the Dijkstra navigation algorithm according to the preset route and the real-time GPS location information, calculates the flight direction and speed adjustment according to the current position and the target point position, calculates the next target point to be flown to, and adjusts the flight direction of the drone;

[0209] S404: During the flight, the real-time distance between the drone and the drop point is continuously monitored through GPS, including:

[0210] Input: UAV real-time location data, drop point location data;

[0211] Processing: Calculate the straight-line distance between two points and calculate the actual distance based on longitude and latitude;

[0212] Output: real-time distance between the drone and the drop point;

[0213] S405: When the distance between the UAV and the delivery point is less than a preset threshold, the deceleration rate is calculated according to the relationship between the distance and the speed; when the predetermined height is reached, a deceleration instruction and a hovering instruction are output to the UAV to control the UAV to hover;

[0214] S406: The UAV gradually decelerates and prepares to hover at a predetermined height;

[0215] S407: The UAV hovers at a predetermined height to ensure a stable position in preparation for delivery. The UAV's position stability is monitored to ensure that it hovers at a predetermined height for a period of time to verify stability. After the stability verification is completed, a delivery preparation completion signal is output.

[0216] Preferably, in step S5, preparation for delivery is performed, confirming that the delivered object has been correctly loaded in the delivery device, the electric telescopic rod and the electromagnetic block are in a standby state, and the delivery of the delivered object is achieved by controlling the extension and retraction of the electric telescopic rod and the opening and closing of the electromagnetic block according to the precise position of the delivery point; the specific steps are as follows:

[0217] S501: Confirm the loading status of the objects, including:

[0218] Input: Loading status of the delivery device;

[0219] Processing: Use the sensor data in the delivery device to confirm whether the delivery object has been correctly and firmly loaded on the delivery component;

[0220] Output: loading status confirmation result;

[0221] S502: Check the status of the electric telescopic rod and the electromagnetic block, including:

[0222] Input: electric telescopic rod status, electromagnetic block status;

[0223] Processing: Send a query command through the signal transmission module to obtain whether the electric telescopic rod is in the initial position and whether the electromagnetic block is in an inactive (i.e., closed) state;

[0224] Output: confirmation result of the status of the electric telescopic rod and the electromagnetic block;

[0225] S503: Calculate the precise location of the delivery point, including:

[0226] Input: GPS data, preset drop point coordinates;

[0227] Processing: Combine the current drone’s GPS location information with the preset drop point coordinates, and calculate the precise relative position of the drone relative to the drop point through a geographic coordinate conversion algorithm;

[0228] Output: precise relative position data of the delivery point;

[0229] S504: Formulate a launch strategy, including:

[0230] Input: precise location of the drop point and current posture of the drone;

[0231] Processing: Based on the location information of the delivery point, the current posture of the drone (pitch angle, roll angle, yaw angle) and the characteristics of the delivery object (weight, shape), formulate a delivery strategy, including the telescopic length of the electric telescopic rod and the opening and closing timing of the electromagnetic block.

[0232] Output: launch strategy parameters, including the extension amount of the electric telescopic rod and the opening and closing time of the electromagnetic block;

[0233] S505: Execute the delivery action, which specifically includes:

[0234] Input: delivery strategy parameters;

[0235] Processing: Send control instructions to the electric telescopic rod to make it extend and retract according to the calculated extension amount, and move the object to the delivery position; when the object reaches the predetermined delivery position, send activation instructions to the electromagnetic block to make it lose magnetism instantly and release the object;

[0236] Output: The execution result of the delivery action and the status data during the delivery process (the extension and retraction status of the electric telescopic rod, the opening and closing status of the electromagnetic block).

[0237] Preferably, in step S6, during and after the delivery, the UAV continues to monitor its attitude changes in real time through the attitude sensor, and the control system receives the sensor data and analyzes whether there is an attitude deviation. If an attitude deviation is found, the attitude feedback and adjustment mechanism is immediately started, and the attitude of the UAV is quickly adjusted through the backstepping control method to ensure stable flight. The specific steps are as follows:

[0238] S601: Real-time monitoring of posture data, including:

[0239] Input: roll angle, pitch angle, and yaw angle data measured in real time by the attitude sensor;

[0240] Processing: The control system receives data from the attitude sensor at a fixed frequency;

[0241] Output: real-time updated roll angle, pitch angle, and yaw angle values;

[0242] S602: Posture deviation detection, specifically including:

[0243] Input: real-time measured posture data and preset stable posture threshold;

[0244] Processing: Compare the real-time measured posture data with the preset stable posture range to determine whether there is a deviation;

[0245] Output: posture deviation detection results, including deviation size and direction;

[0246] S603: Determine the deviation threshold, including:

[0247] Input: posture deviation detection result;

[0248] Processing: Set a deviation threshold. If the posture deviation exceeds this threshold, the adjustment mechanism is triggered;

[0249] Output: Decision signal on whether the drone's attitude needs to be adjusted. ;

[0250] S604: Start the posture feedback and adjustment mechanism, including:

[0251] Input: Decision signal that needs to adjust the drone’s attitude;

[0252] Processing: When the decision signal is "yes", the attitude feedback and adjustment mechanism is started to prepare for attitude adjustment;

[0253] Output: signal to start the adjustment mechanism and initial adjustment parameters;

[0254] S605: Calculating the posture adjustment amount, specifically including:

[0255] Input: real-time measured posture data and predetermined posture target value;

[0256] Processing: using the PID control algorithm and the backstepping control algorithm in step S3 to calculate the adjustment amount required to achieve the predetermined posture, including the adjustment amount of the roll angle, the pitch angle, and the yaw angle;

[0257] Output: attitude adjustment, including roll angle adjustment, pitch angle adjustment, and yaw angle adjustment;

[0258] S606: Execute posture adjustment, specifically including:

[0259] Input: attitude adjustment amount;

[0260] Processing: Convert the calculated attitude adjustment amount into a control signal for the UAV actuator, such as a motor speed adjustment signal or a servo control signal;

[0261] Output: actuator control signal, driving the drone to adjust its attitude;

[0262] S607: Adjustment effect monitoring, including:

[0263] Input: attitude sensor data after actuator control signal execution;

[0264] Processing: Monitor the drone’s attitude data again and evaluate the adjustment effect;

[0265] Output: adjusted posture data and effect evaluation results;

[0266] S608: Cycle adjustment until stability, including:

[0267] Input: adjusted posture data and effect evaluation results;

[0268] Processing: If the attitude still does not reach a stable state, repeat steps S602 to S607 until the attitude of the drone is stabilized within the preset range;

[0269] Output: UAV stable flight status signal;

[0270] S609: Record and provide feedback on the adjustment process, including:

[0271] Input: posture data, adjustment amount, and actuator control signal during the entire adjustment process;

[0272] Processing: recording and storing this data;

[0273] Output: Adjustment process record data for analysis by ground control station and R&D personnel.

[0274] Example

[0275] Optionally, in an agricultural sowing mission, a drone is required to accurately drop seeds into a designated farmland area; the coordinates of the farmland are (longitude, latitude), the height of the drop point is 50 meters, and the take-off point of the drone is (longitude, latitude) at a height of 10 meters; the drop accuracy of the drone is required to be within ±0.5 meters, and the drone must maintain stable flight during the drop process;

[0276] Among them, the drone parameters are:

[0277] Drone frame size: 1.5 meters (wingspan);

[0278] Electric telescopic rod travel: 0.5 meters;

[0279] Electromagnetic block adsorption force: 50N;

[0280] Integrated sensor module accuracy: gyroscope ±0.01° / s, accelerometer ±0.02g, magnetometer ±0.5°;

[0281] Drop-off point information:

[0282] Coordinates of the drop point: (longitude, latitude), height 50 meters;

[0283] Target direction: 45° to the take-off point;

[0284] Attitude pre-adjustment data:

[0285] Initial pitch angle: 10°;

[0286] Initial roll angle: 0°;

[0287] Initial yaw angle: 0°;

[0288] Target pitch angle: 30°;

[0289] Target roll angle: 0°;

[0290] Target yaw angle: 45°;

[0291] Delivery control data:

[0292] Telescopic range of electric telescopic rod: 0.3 meters;

[0293] The opening and closing timing of the electromagnetic block: when the object reaches the predetermined placement position, that is, 0.1 seconds after the electric telescopic rod is fully extended;

[0294] Posture feedback and adjustment data:

[0295] Attitude deviation threshold: pitch angle ±2°, roll angle ±1°, yaw angle ±3°;

[0296] PID control parameters: Kpθ=0.5, Kiθ=0.1, Kdθ=0.05;

[0297] The ground control station calculates the pre-launch attitude that the drone needs to adjust to based on the target information and current attitude data; the drone adjusts the pitch angle, roll angle and yaw angle through the backstepping control method according to the calculated adjustment amount; the data comparison is as follows:

[0298] Before adjustment: pitch angle 10°, roll angle 0°, yaw angle 0°;

[0299] After adjustment: pitch angle 30°, roll angle 0°, yaw angle 45°;

[0300] The drone successfully adjusted to the predetermined posture and was ready for release;

[0301] The drone flies to the drop point according to the preset route and real-time navigation information. When the drone approaches the drop point, it gradually slows down and hovers at a predetermined height. According to the precise location of the drop point, the drone controls the extension and retraction of the electric telescopic rod and the opening and closing of the electromagnetic block to achieve the drop of the object. The data comparison is as follows:

[0302] Distance before release: 20 meters (calculated based on GPS data);

[0303] The extension distance of the electric telescopic rod during deployment: 0.3 meters;

[0304] The opening and closing timing of the electromagnetic block: 0.1 seconds after the electric telescopic rod is fully extended;

[0305] Delivery accuracy: ±0.2m (actual measurement);

[0306] The objects dropped accurately reached the intended location, with a drop accuracy higher than the required ±0.5m;

[0307] During and after the launch, the drone continues to monitor its attitude changes in real time through attitude sensors. When attitude deviation is found, the attitude feedback and adjustment mechanism is immediately activated, and the drone attitude is quickly adjusted through the backstepping control method; the data comparison is as follows:

[0308] Maximum attitude deviation during delivery: pitch angle ±1°, roll angle ±0.5°, yaw angle ±1.5°;

[0309] Adjustment time: 0.5 seconds (from deviation detection to adjustment completion);

[0310] Attitude stability after adjustment: pitch angle ±0.5°, roll angle ±0.2°, yaw angle ±1°;

[0311] The drone maintained good stability during the launch process, and attitude deviations were corrected promptly and effectively;

[0312] The data comparison of each step is shown in the following figure:

[0313]

[0314]

[0315] In summary, the technical solution of the present invention draws the following conclusions through example data and numerical comparison:

[0316] 1. Improved accuracy of attitude pre-adjustment: The UAV successfully adjusted from the initial attitude to the predetermined delivery attitude, laying a solid foundation for the high accuracy and stability of the delivery process;

[0317] 2. Improved delivery control accuracy: Through precise control of the electric telescopic rod and the timing of the opening and closing of the electromagnetic block, the delivered objects accurately reach the predetermined position, and the delivery accuracy far exceeds the required standards;

[0318] 3. Improved attitude feedback and adjustment mechanism: During and after the launch, the attitude sensor monitors the attitude of the drone in real time and quickly adjusts it, ensuring the stability of the drone and the smooth progress of subsequent tasks;

[0319] This fully verifies its significant effect in improving the accuracy, stability and reliability of UAV fixed-point delivery devices.

[0320] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of those skilled in the art without departing from the spirit of the present invention.

Claims

1. A drone fixed-point delivery device, comprising a drone frame (1); characterized in that: The invention also comprises an integrated sensor module (2), a signal transmission module (3), a bracket (4) and a delivery component; the integrated sensor module (2) is arranged above the drone frame (1), the signal transmission module (3) is arranged above the drone frame (1), the bracket (4) is arranged below the drone frame (1), and the delivery component is arranged below the drone frame (1); the delivery component comprises an electric telescopic rod (501), an electromagnetic block (502), a metal connecting block (503) and a hanging ring (504); the electric telescopic rod (501) is arranged below the drone frame (1), the electromagnetic block (502) is arranged at one end of the electric telescopic rod (501), the metal connecting block (503) is arranged below the electromagnetic block (502), and the hanging ring (504) is arranged below the metal connecting block (503).

2. The UAV fixed-point delivery device according to claim 1, characterized in that: The integrated sensor module (2) comprises a gyroscope, an accelerometer and a magnetometer; the gyroscope is used to measure the angular velocity of the drone around its three main axes, namely the roll axis, the pitch axis and the yaw axis, in real time, so as to provide the attitude angle change information of the drone; the accelerometer is used to measure the linear acceleration of the drone in three axial directions, namely front-back, left-right and up-down, and the component of gravity acceleration in the drone coordinate system; The magnetometer is used to measure the three components of the Earth's magnetic field in the drone's coordinate system to determine the drone's heading angle, or yaw angle. The magnetometer is combined with data from the gyroscope and accelerometer to describe the drone's attitude and heading, providing precise navigation information for fixed-point delivery.

3. The UAV fixed-point delivery device according to claim 1, characterized in that: The signal transmission module (3) is arranged above the drone frame (1) and is electrically connected to the integrated sensor module (2) and the delivery assembly; the signal transmission module (3) comprises: A data receiving unit, used for receiving real-time data from the integrated sensor module (2), including but not limited to angular velocity data measured by a gyroscope, linear acceleration and gravity acceleration data measured by an accelerometer, and geomagnetic field data measured by a magnetometer; A data processing unit, connected to the data receiving unit, for preprocessing the received data, including but not limited to data verification, format conversion and preliminary filtering, to ensure the accuracy and reliability of the data; The wireless communication submodule is connected to the data processing unit and is responsible for encoding the pre-processed data and the instructions from the control center and sending them to the ground control station by wireless means, and receiving the control instructions and parameter adjustment information from the ground control station; A control instruction decoding unit, connected to the wireless communication submodule, for decoding received control instructions and converting them into operation signals executable by the delivery component, including starting / stopping the electric telescopic rod (501) and activating / deactivating the electromagnetic block (502); The state feedback unit is used to monitor the working state of the signal transmission module (3) itself, including the communication link quality, battery power, and data transmission rate, and to feed back the state information to the ground control station through the wireless communication submodule.

4. A method for operating a drone fixed-point delivery device, characterized in that: The following steps are involved: S1: The ground control station inputs the precise location information of the delivery target; S2: The drone obtains the current attitude data through the integrated sensor, and the ground control station calculates the pre-launch attitude that the drone needs to adjust to based on the target information and the current attitude data; S3: The drone adjusts its pitch, roll and yaw angles according to the calculated adjustment amount through the backstepping control method until it reaches the predetermined attitude. The drone maintains the predetermined attitude for a period of time, and the stability is verified through sensor data to ensure that the drone is in a stable state before being launched. S4: The drone flies to the delivery point according to the preset route and real-time navigation information. The distance between the drone and the delivery point is monitored in real time by GPS. When the drone approaches the delivery point, it gradually slows down and hovers at a predetermined height, ready for delivery; S5: Prepare for delivery, confirm that the delivered object has been correctly loaded into the delivery device, and the electric telescopic rod and the electromagnetic block are in a standby state. According to the precise position of the delivery point, the delivery of the delivered object is achieved by controlling the extension and retraction of the electric telescopic rod and the opening and closing of the electromagnetic block; S6: During and after the launch, the drone continues to monitor its attitude changes in real time through the attitude sensor. The control system receives the sensor data and analyzes whether there is an attitude deviation. If an attitude deviation is found, the attitude feedback and adjustment mechanism is immediately activated, and the drone attitude is quickly adjusted through the backstepping control method to ensure stable flight. S7: According to the delivery mission requirements, the drone carries out the next delivery or returns to the take-off point; S8: The ground control station records and analyzes the data of the entire delivery process, including the attitude adjustment effect and delivery accuracy; according to the mission plan, the drone is controlled to return to the take-off point or the designated recovery area; S9: Shut down all drone systems, disconnect from the ground control station, and complete the delivery mission.

5. The method for operating the drone fixed-point delivery device according to claim 4, characterized in that: In step S2, the UAV obtains current posture data through an integrated sensor, and the ground control station calculates the pre-launch posture that the UAV needs to adjust to based on the target information and the current posture data; The specific steps are as follows: S201: The integrated sensors on the drone measure and transmit the current attitude data to the ground control station in real time, including roll angle, pitch angle, yaw angle, linear acceleration and angular velocity information; S202: The ground control station receives and stores the data, and simultaneously obtains the location information of the delivery target, including longitude, latitude, altitude, and delivery direction and angle; S203: The ground control station converts the geographic coordinate system into the UAV body coordinate system to convert the location information of the delivery target into a relative position and direction vector in the UAV coordinate system; S204: Calculate the relative distance and direction from the drone to the delivery target based on the current position of the drone provided by GPS.

6. The method for operating the drone fixed-point delivery device according to claim 5, characterized in that: In the steps S203-S204, the ground control station converts the geographic coordinate system into the drone body coordinate system to convert the location information of the delivery target into the relative position and direction vector in the drone coordinate system, and calculates the relative distance and direction from the drone to the delivery target according to the current position of the drone provided by the GPS; the specific steps are as follows: S2031: Position information conversion: converting the geographic coordinates (longitude, latitude, altitude) of the delivery target into coordinates (X, Y, Z) in a rectangular coordinate system with the center of the earth as the origin; S2032: Rotation matrix calculation: According to the current attitude of the UAV (roll angle, pitch angle, yaw angle), calculate the rotation matrix from the geographic coordinate system to the UAV body coordinate system. This matrix is ​​used to describe the attitude of the UAV relative to the geographic coordinate system. S2033: Coordinate transformation: Use the rotation matrix to transform the coordinates of the drop target in the geographic coordinate system into the relative position and direction vector in the drone body coordinate system; the specific formula is as follows: Where R is the rotation matrix, (X, Y, Z) is the coordinate of the drop target in the geographic coordinate system, and (X', Y', Z') is the coordinate in the converted drone body coordinate system; S2041: Use the distance formula in three-dimensional space to calculate the straight-line distance between the current position of the drone and the target position; the calculation formula is as follows: Among them, (X d , Y d , Z d ) is the coordinate of the drone in the geographic coordinate system, (X t , Y t , Z t ) is the coordinate of the delivery target in the geographic coordinate system, and d is the straight-line distance between the two; S2042: Use the inverse tangent function to calculate the azimuth between the current position of the drone and the target position, that is, the angle the drone needs to turn to aim at the target; the formula is as follows: Where θ is the azimuth angle, (X d , Y d ) is the coordinate of the drone in the geographic coordinate system, (X t , Y t ) is the coordinate of the drop target in the geographic coordinate system; S2043: According to the height difference of the delivery target (Z t -Z d ) and the horizontal distance d between the UAV and the target xy , calculate the required pitch angle adjustment; the calculation formula is as follows: Among them, Δφ is the pitch angle adjustment amount, and φcurrent is the current pitch angle of the drone; S2044: Calculate the required roll angle adjustment amount; the calculation formula is as follows: Δψ=ψ target -ψ current ; Among them, Δψ is the roll angle adjustment, ψ target is the target roll angle, ψ current is the current roll angle of the drone; S2045: According to the azimuth angle θ of the target and the current yaw angle of the drone current , calculate the yaw angle adjustment amount that the drone needs to turn, the calculation formula is as follows: Δ\yaw=θ-\yaw current ; Among them, Δ\yaw is the yaw angle adjustment.

7. The method for operating a drone fixed-point delivery device according to claim 4, characterized in that: In step S3, the drone adjusts the pitch angle, roll angle and yaw angle of the drone according to the calculated adjustment amount through the backstepping control method until a predetermined posture is reached; the drone maintains the predetermined posture for a period of time, and the stability is verified through sensor data to ensure that the drone is in a stable state before being launched; the specific steps are as follows: S301: Input the target values ​​of pitch angle, roll angle and yaw angle of the predetermined posture (respectively denoted as θ target ,φ target ,ψ target ), and the actual values ​​of the pitch angle, roll angle, and yaw angle of the current attitude (respectively denoted as θ current ,φ current ,ψ current ); S302: Set the control cycle T, the attitude adjustment threshold ε, which is used to determine whether the predetermined attitude is reached, and the stability verification time T stable ; S303: Calculate the attitude error, including: Calculate the pitch angle error, the calculation formula is: e θ =θ target -θ current ; Calculate the roll angle error using the formula: e φ =φ target -φ current ; Calculate the yaw angle error, the calculation formula is: e ψ =ψ target -ψ current； S304: The control law u can be designed using the PID control algorithm θ , so that the pitch angle error e θ Approaching 0; the calculation formula is as follows: u θ =Kp θ *have been θ +Key θ *e θ dt+Kd θ *de θ / dt; S305: Use PID control algorithm to design control law φ , so that the roll angle error e φ Approaching 0, adopting PID control algorithm, designing control law u ψ , so that the yaw angle error e ψ Approaching 0; S306: Set the control law u θ ,u φ ,u ψ Converted into control signals for the drone actuators and sent to the drone, which adjusts its pitch, roll and yaw angles according to the received control signals; S307: In each control cycle T, the current attitude data of the UAV is obtained through the integrated sensor module, and θ is updated current ,φ current ,ψ current ; S308: Determine whether the predetermined posture is reached. If |e θ |<ε,|e φ |<ε,|e ψ |<ε, it is considered that the UAV has reached the predetermined posture; otherwise, return to step S304 to continue adjustment; S309: When the drone reaches a predetermined posture, maintain the posture T stable time; during this period, the attitude data of the UAV is continuously monitored to ensure that the attitude error remains within the threshold ε; if at T stable If the attitude error is always less than ε within the time period, the drone is considered to be in a stable state; S310: Output result: The drone has reached the predetermined posture and remains stable.

8. The method for operating a drone fixed-point delivery device according to claim 4, characterized in that: In step S4, the drone flies to the delivery point according to the preset route and real-time navigation information, and the distance between the drone and the delivery point is monitored in real time by GPS. When the drone approaches the delivery point, it gradually slows down and hovers at a predetermined height, ready for delivery. The specific steps are as follows: S401: The ground control station loads the preset route data into the flight control system of the UAV, including the latitude and longitude coordinate points, altitude information and flight speed; S402: After the drone takes off, start GPS to obtain the current location information of the drone in real time; S403: The drone calculates the shortest path or the optimal path through the Dijkstra navigation algorithm according to the preset route and the real-time GPS location information, calculates the flight direction and speed adjustment according to the current position and the target point position, calculates the next target point to be flown to, and adjusts the flight direction of the drone; S404: During the flight, the real-time distance between the drone and the drop point is continuously monitored through GPS, including: Input: UAV real-time location data, drop point location data; Processing: Calculate the straight-line distance between two points and calculate the actual distance based on longitude and latitude; Output: real-time distance between the drone and the drop point; S405: When the distance between the UAV and the delivery point is less than a preset threshold, the deceleration rate is calculated according to the relationship between the distance and the speed; when the predetermined height is reached, a deceleration instruction and a hovering instruction are output to the UAV to control the UAV to hover; S406: The UAV gradually decelerates and prepares to hover at a predetermined height; S407: The UAV hovers at a predetermined height to ensure a stable position in preparation for delivery. The UAV's position stability is monitored to ensure that it hovers at a predetermined height for a period of time to verify stability. After the stability verification is completed, a delivery preparation completion signal is output.

9. The method for operating a drone fixed-point delivery device according to claim 4, characterized in that: In step S5, preparation for delivery is performed, confirming that the delivered object has been correctly loaded in the delivery device, the electric telescopic rod and the electromagnetic block are in a standby state, and the delivery of the delivered object is achieved by controlling the extension and retraction of the electric telescopic rod and the opening and closing of the electromagnetic block according to the precise position of the delivery point; the specific steps are as follows: S501: Confirm the loading status of the objects, including: Input: Loading status of the delivery device; Processing: Use the sensor data in the delivery device to confirm whether the delivery object has been correctly and firmly loaded on the delivery component; Output: loading status confirmation result; S502: Check the status of the electric telescopic rod and the electromagnetic block, including: Input: electric telescopic rod status, electromagnetic block status; Processing: Send a query command through the signal transmission module to obtain whether the electric telescopic rod is in the initial position and whether the electromagnetic block is in an inactive (i.e., closed) state; Output: confirmation result of the status of the electric telescopic rod and the electromagnetic block; S503: Calculate the precise location of the delivery point, including: Input: GPS data, preset drop point coordinates; Processing: Combine the current drone’s GPS location information with the preset drop point coordinates, and calculate the precise relative position of the drone relative to the drop point through a geographic coordinate conversion algorithm; Output: precise relative position data of the delivery point; S504: Formulate a launch strategy, including: Input: precise location of the drop point and current posture of the drone; Processing: Based on the location information of the delivery point, the current posture of the drone (pitch angle, roll angle, yaw angle) and the characteristics of the delivery object (weight, shape), formulate a delivery strategy, including the telescopic length of the electric telescopic rod and the opening and closing timing of the electromagnetic block. Output: launch strategy parameters, including the extension amount of the electric telescopic rod and the opening and closing time of the electromagnetic block; S505: Execute the delivery action, which specifically includes: Input: delivery strategy parameters; Processing: Send control instructions to the electric telescopic rod, so that it can be extended and retracted according to the calculated extension amount, and move the object to the delivery position; when the object reaches the predetermined delivery position, send activation instructions to the electromagnetic block, so that it loses magnetism instantly and releases the object; Output: The execution result of the delivery action and the status data during the delivery process (the extension and retraction status of the electric telescopic rod, the opening and closing status of the electromagnetic block).

10. The method for operating a drone fixed-point delivery device according to claim 4, characterized in that: In step S6, during and after the launch, the drone continues to monitor its attitude changes in real time through the attitude sensor, and the control system receives the sensor data and analyzes whether there is an attitude deviation. If an attitude deviation is found, the attitude feedback and adjustment mechanism is immediately started, and the attitude of the drone is quickly adjusted through the backstepping control method to ensure stable flight; The specific steps are as follows: S601: Real-time monitoring of posture data, including: Input: roll angle, pitch angle, and yaw angle data measured in real time by the attitude sensor; Processing: The control system receives data from the attitude sensor at a fixed frequency; Output: real-time updated roll angle, pitch angle, and yaw angle values; S602: Posture deviation detection, specifically including: Input: real-time measured posture data and preset stable posture threshold; Processing: Compare the real-time measured posture data with the preset stable posture range to determine whether there is a deviation; Output: posture deviation detection results, including deviation size and direction; S603: Determine the deviation threshold, including: Input: posture deviation detection result; Processing: Set a deviation threshold. If the posture deviation exceeds this threshold, the adjustment mechanism is triggered; Output: Decision signal on whether the drone's attitude needs to be adjusted. ; S604: Start the posture feedback and adjustment mechanism, including: Input: Decision signal that needs to adjust the drone’s attitude; Processing: When the decision signal is "yes", the attitude feedback and adjustment mechanism is started to prepare for attitude adjustment; Output: signal to start the adjustment mechanism and initial adjustment parameters; S605: Calculating the posture adjustment amount, specifically including: Input: real-time measured posture data and predetermined posture target value; Processing: using the PID control algorithm and the backstepping control algorithm in step S3 to calculate the adjustment amount required to achieve the predetermined posture, including the adjustment amount of the roll angle, the pitch angle, and the yaw angle; Output: attitude adjustment, including roll angle adjustment, pitch angle adjustment, and yaw angle adjustment; S606: Execute posture adjustment, specifically including: Input: attitude adjustment amount; Processing: Convert the calculated attitude adjustment amount into a control signal for the UAV actuator, such as a motor speed adjustment signal or a servo control signal; Output: actuator control signal, driving the drone to adjust its attitude; S607: Adjustment effect monitoring, including: Input: attitude sensor data after actuator control signal execution; Processing: Monitor the drone’s attitude data again and evaluate the adjustment effect; Output: adjusted posture data and effect evaluation results; S608: Cycle adjustment until stability, including: Input: adjusted posture data and effect evaluation results; Processing: If the attitude still does not reach a stable state, repeat steps S602 to S607 until the attitude of the drone is stabilized within the preset range; Output: UAV stable flight status signal; S609: Record and provide feedback on the adjustment process, including: Input: posture data, adjustment amount, and actuator control signal during the entire adjustment process; Processing: recording and storing this data; Output: Adjustment process record data for analysis by ground control station and R&D personnel.

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