High-altitude platform control system based on controller

Abstract

The invention discloses a high-altitude platform control system based on a controller, and relates to the technical field of platform control, the high-altitude platform control system comprises a control module, a form monitoring module and an execution platform, the control module comprises a control unit, a processing unit, an identification unit and a prompt unit; the control unit is used for inputting operation actions by a user; the recognition unit comprises a plurality of different types of recognition structures, and each recognition structure is used for recognizing the operation action of the control unit and generating corresponding recognition data; and the processing unit receives and calculates the identification data, and sends out a corresponding control instruction after the identification data meet the requirement. According to different heights of the high-altitude platform, a mechanism for dynamically adjusting the control range based on the height is designed, and the recognition precision of operation behaviors is effectively improved through a multi-dimensional monitoring system and a combined judgment mechanism of instantaneous jump and drift deviation.

Description

Technical Field

[0001] The present invention relates to the technical field of platform control, and in particular to a high altitude platform control system based on a controller. Background Art

[0002] Aerial work platforms are products that serve various industries for high-altitude work, equipment installation, maintenance and other mobile high-altitude work. Controlling the aerial platform through a controller is one of the commonly used methods for aerial platform control.

[0003] At present, the control systems of aerial platforms generally use a single sensor or a simple control method to monitor the working status and command operations. These systems usually rely on traditional mechanical operating units or a single data source to perceive operating instructions.

[0004] After searching, a Chinese patent (publication number: CN109264644B) discloses a leveling control system, a leveling control method and an aerial work platform for an aerial work platform. The patent includes a leveling cylinder for adjusting the inclination of the platform; an angle sensor for detecting the inclination of the platform; a length sensor for detecting the extension and retraction amount of the leveling cylinder; and a controller, which is coupled with the angle sensor and the length sensor and controls the movement of the leveling cylinder according to the inclination detected by the angle sensor and the extension and retraction amount detected by the length sensor.

[0005] In the prior art, the risk of aerial work increases with the increase of altitude. Therefore, greater caution is required during operation. The control system is required to meet the demand for rapid response during low-altitude work and provide sufficient fine control during high-altitude work. Therefore, the present invention proposes a controller-based aerial platform control system. Summary of the invention

[0006] The purpose of the present invention is to provide a controller-based high-altitude platform control system to solve the problems mentioned in the above background technology.

[0007] The present invention can be implemented by the following technical solutions: a controller-based high-altitude platform control system, including a control module, a morphology monitoring module, and an execution platform;

[0008] The control module includes a control unit, a processing unit, a recognition unit and a prompt unit;

[0009] The control unit is used for the user to input operation actions to achieve human-computer interaction;

[0010] The identification unit includes a plurality of different types of identification structures, each of which is used to identify the operation action of the control unit and generate corresponding identification data, and the identification structure includes a magnetic induction structure and a pressure structure;

[0011] The magnetic sensing structure can calculate the movement speed, rotation direction and position change of the control unit by monitoring the frequency, intensity and speed of change of the magnetic field, and generate corresponding magnetic sensing data;

[0012] The pressure structure can sense the external pressure on the control unit, obtain the pressure value, load change, and torque of the control unit, and generate corresponding pressure data;

[0013] The processing unit receives and calculates each identification data, and issues corresponding control instructions after each identification data meets the requirements;

[0014] The execution platform provides corresponding action feedback based on the control instructions issued by the control module;

[0015] The morphology monitoring module is used to monitor the working state of the execution platform and obtain the working condition information of the execution platform, the working condition information includes the moving speed, angle, and height, and the morphology monitoring module transmits the working condition information to the control module;

[0016] The processing unit of the control module establishes corresponding control instruction recognition conditions based on different working condition information of the execution platform, and the processing unit recognizes and filters the recognition data generated by the recognition structure based on the control instruction recognition conditions, and performs logical judgment on the recognized and filtered recognition data;

[0017] And the processing unit maintains or modifies the control instruction based on the identification data determined by logic.

[0018] A further technical improvement of the present invention is that: the morphology monitoring module presets a plurality of trigger thresholds of different levels based on the working state of the execution platform;

[0019] The trigger thresholds of each level correspond to different ranges of recognition data of the recognition unit, and different ranges of recognition data correspond to different operating ranges of the control unit;

[0020] Then, when identifying the control unit, the identification unit identifies the operation action within the corresponding operation range.

[0021] A further technical improvement of the present invention is that: the processing unit is provided with a plurality of identification ranges of magnetic induction data and pressure data based on trigger thresholds of different levels;

[0022] After receiving the magnetic induction data and pressure data sent by the recognition unit, the processing unit matches them with the corresponding recognition range to determine their continuity;

[0023] The magnetic data is marked as M(t), and the pressure data is marked as P(t);

[0024] Each identification range of the magnetic induction data M(t) includes the corresponding [M min ,M max ];

[0025] Each identification range of the pressure data P(t) includes the corresponding [P min ,P max ];

[0026] After receiving the magnetic sensing data M(t) and pressure data P(t) in real time, the processing unit determines whether the magnetic sensing data M(t) is within the corresponding [M min ,M max ] and whether the pressure data P(t) is in its corresponding [P min ,P max ]middle;

[0027] The judgment formula is: C(t)=(M min ≤M(t)≤M max )∧(P min ≤P(t)≤P max );

[0028] Here, ∧ represents the logical AND operator, which means that both conditions must be met for the result to be true (1);

[0029] C(t) is the judgment result. When C(t) = 1, it means that the magnetic induction data and pressure data at the current time t are within the recognition range, which is a valid operation;

[0030] When C(t)=0, it means that the magnetic induction data and pressure data at the current time t are not within its recognition range, which is an invalid operation.

[0031] A further technical improvement of the present invention is that the processing unit is set with a duration threshold T c , indicating that the effective operation must last longer than this duration for the operation to be considered a valid action;

[0032] Duration threshold T c Dynamically adjust according to different levels of trigger thresholds;

[0033] The processing unit counts the continuous duration of C(t) that is judged as a valid operation, and if the continuous duration exceeds the duration threshold T c , then the operation action of the control unit is determined to be valid.

[0034] A further technical improvement of the present invention is that: the processing unit is provided with a timer timer (t) for accumulating a variable of effective operation duration, and recording the duration from the start of the first effective operation to the current moment;

[0035] If the judgment result C(t) at the current moment is 1, then time is accumulated;

[0036] If the judgment result C(t) is 0, timer is reset to zero;

[0037] When time(t) ≥ duration threshold T c After that, the operation of the control unit is judged to be valid. While judging the valid operation, the time continuity verification is added to ensure that the operation lasts for a sufficient time to be considered valid.

[0038] A further technical improvement of the present invention is that: when calculating the continuous duration of effective operation, the processing unit adopts a sliding window method to reduce the impact of delay, and balances real-time performance and stability by dynamically adjusting the sliding window size;

[0039] In the sliding window, if the judgment result C(t) in the continuous time period is a valid operation, the valid time is accumulated;

[0040] If the judgment result C(t) is not a valid operation, the window will automatically slide and restart the timing;

[0041] The formula used is:

[0042] Among them, V(t) is the accumulated effective operation time within the current time t, which is used to determine whether the operation is continuously valid within the sliding window;

[0043] t is the current time, W is the length of the sliding window, and τ is each sampling time in the sliding window;

[0044] tW<τ<t is used to define the range of the sliding window;

[0045] ∑ t-W＜τ＜t Represents the sum from tW (i.e. the starting point of the sliding window) to t (the current moment);

[0046] C(t) is the judgment result, which determines whether the magnetic induction data and pressure data are within the preset recognition range;

[0047] According to the formula, for each sampling time t, the processing unit checks all the judgment results from (tW to t) in the past W sliding window. At a certain sampling time τ, when the magnetic induction data and the pressure data are respectively within their corresponding preset recognition ranges, that is, C(t) = 1, it is counted into the effective time;

[0048] When V(t) exceeds the duration threshold T c After that, the operation is deemed to be a valid action.

[0049] A further technical improvement of the present invention is that the processing unit detects whether the control unit is suddenly touched or continuously touched by an external force by monitoring the stability of the magnetic induction data and the pressure data, and the logical judgment of the processing unit includes the following steps:

[0050] S1, preset magnetic induction data jump threshold S M,jump And the jump threshold S of pressure data P,jump ;

[0051] Preset the offset threshold S of magnetic sensing data M,d and normal operating range of pressure data [P a ,P b ];

[0052] S2, detect the instantaneous jump of magnetic induction data through the change rate of magnetic induction data ΔM(S), and compare the change rate of magnetic induction data ΔM(S) with the corresponding jump threshold S M,jump Make a comparison;

[0053] By comparing the current magnetic induction data with the preset average value Compare and detect the data deviation d(S) of the magnetic induction data;

[0054] The formula used for the rate of change ΔM(S) is ΔM(S)=|M(S)-M(S-ΔS)|;

[0055] Among them, ΔM(S) is the change in magnetic induction data at the current time S;

[0056] M(S) represents the magnetic induction data measured at the current time S;

[0057] M(S-ΔS) represents the magnetic induction data measured at the previous time S-ΔS, ΔS is the sampling time interval, and represents the sampling frequency of the magnetic induction data;

[0058] |M(S)-M(S-ΔS)| is the change in magnetic induction data between two sampling times, and by taking the absolute value, the direction of change is ignored and only the magnitude of change is concerned;

[0059] The formula used for the data deviation d(S) of magnetic induction data is:

[0060] S3, detect the instantaneous jump of pressure data by calculating the change rate of pressure data ΔP(S), and compare the change rate of pressure data ΔP(S) with the corresponding jump threshold S P,jump Make a comparison;

[0061] The formula for the rate of change of pressure data ΔP(S) is: ΔP(S) = |P(S)-P(S-ΔS)|;

[0062] Among them, ΔP(S) is the change in pressure data at the current time S;

[0063] P(S) represents the pressure data measured at the current time S;

[0064] P(S-ΔS) represents the pressure data measured at the previous time S-ΔS, ΔS is the sampling time interval, indicating the sampling frequency of the pressure data;

[0065] |P(S)-P(S-ΔS)| is the change in pressure data between two sampling times;

[0066] Test pressure data and normal operating range [P a ,P b ] whether it matches;

[0067] S4, combining S2 and S3, judging whether the operating unit is affected by external factors;

[0068] If the change rate of magnetic induction data ΔM(S)> the corresponding jump threshold S M,jump , the change rate of pressure data ΔP(S)> the corresponding jump threshold S P,jump , the data deviation d(S) of magnetic induction data> the offset threshold S of magnetic induction data M,d , the pressure data P(S) is not within the corresponding normal operating range [P a ,P b ] is any one or more combinations, it is determined that the operating unit is affected by external factors.

[0069] Compared with the prior art, the present invention has the following beneficial effects:

[0070] The present invention proposes a multi-dimensional monitoring system that combines magnetic induction data and pressure data. Through the joint judgment mechanism of instantaneous jump and drift deviation, the recognition accuracy of operation behavior is effectively improved. Compared with the existing single sensor control system, the present invention can accurately distinguish between normal operation and sudden external force interference, thereby effectively preventing the occurrence of misoperation. At the same time, the present invention introduces a sliding window and duration judgment method to achieve fault-tolerant detection of misoperation, which not only ensures the accuracy of misoperation identification, but also enhances the system's robustness to short-term anomalies;

[0071] In addition, the present invention has designed a mechanism for dynamically adjusting the control range based on the height for different heights of the aerial platform. In low-altitude scenarios, the system allows full-range operation to meet the needs of rapid response; while in high-altitude operations, the system automatically narrows the control range, improves the precision of the control action, and ensures operational safety. By dynamically adapting the control range at different heights, the present invention significantly improves the flexibility and reliability of the system in complex operating environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.

[0073] Figure 1 It is a system block diagram of the present invention. DETAILED DESCRIPTION

[0074] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0075] Example 1

[0076] See also Figure 1 As shown, a controller-based high-altitude platform control system includes a control module, a morphology monitoring module, and an execution platform;

[0077] The control module includes a control unit, a processing unit, and an identification unit;

[0078] The control unit is used for the user to input operation actions, and in this embodiment, a combination of an operation handle and an operation button is used to achieve human-computer interaction;

[0079] The identification unit includes a plurality of different types of identification structures, each of which is used to identify the operation action of the control unit and generate corresponding identification data. In this embodiment, the identification structure includes a magnetic induction structure and a pressure structure;

[0080] The magnetic sensing structure can calculate the movement speed, rotation direction and position change of the control unit by monitoring the frequency, intensity and speed of change of the magnetic field, and generate corresponding magnetic sensing data;

[0081] The pressure structure can sense the external pressure on the control unit, obtain the pressure value, load change, and torque of the control unit, and generate corresponding pressure data;

[0082] The processing unit receives and calculates each identification data, and issues corresponding control instructions after each identification data meets the requirements;

[0083] The control instructions include enabling functions of the control execution platform, forward, backward, left turn, right turn, lifting / lowering, forward / backward, horn, and speed selection;

[0084] The execution platform performs corresponding action feedback based on the control instructions issued by the control module. In this embodiment, the execution platform is a scissor-type working platform;

[0085] The morphology monitoring module is used to monitor the working state of the execution platform and obtain the working condition information of the execution platform, the working condition information includes the moving speed, angle, and height, and the morphology monitoring module transmits the working condition information to the control module;

[0086] The morphology monitoring module presets a plurality of trigger thresholds of different levels based on the working status of the execution platform;

[0087] The trigger thresholds of each level correspond to different ranges of recognition data of the recognition unit, and different ranges of recognition data correspond to different operating ranges of the control unit;

[0088] Then, when the recognition unit recognizes the control unit, it recognizes the operation action within the corresponding operation range;

[0089] In this embodiment, different operation ranges of the control unit are set according to different heights of the execution platform, including:

[0090] Low-height stage: When the execution platform is at a low height, the operating handle has the largest amplitude, and the user can push it with full amplitude. The operation sensitivity is high and can respond quickly.

[0091] Mid-height stage: As the height of the execution platform gradually increases, the amplitude of the operating handle will gradually decrease, and the system will limit the operating amplitude, making the user's operation more precise and safe;

[0092] High altitude stage: When the execution platform reaches close to the maximum height, the pushing range of the operating handle is further reduced, allowing only a smaller range of operation, which can avoid loss of control or instability caused by excessive operation;

[0093] When an operating handle is used as a human-machine interaction structure for operating actions, a range scale line is set within the moving range of the operating handle to assist the user in identifying the control range;

[0094] When an operation button is used as a human-computer interaction structure for an operation action, an identification scale line is set along the pressing stroke of the operation button;

[0095] In the low-altitude stage, the recognition unit recognizes the full-range pressing stroke range of the operation button. In the medium-altitude stage, the recognition unit reduces the pressing stroke range of the operation button. In the high-altitude stage, the recognition unit further reduces the pressing stroke range of the operation button, that is, as the height of the execution platform increases, the stroke required to press the operation button also increases accordingly.

[0096] The processing unit of the control module establishes corresponding control instruction recognition conditions based on different working condition information of the execution platform, and the processing unit recognizes and filters the recognition data generated by the recognition structure based on the control instruction recognition conditions, and performs logical judgment on the recognized and filtered recognition data;

[0097] The logical judgment in this embodiment includes the continuity and stability of the magnetic sensing data and the pressure data;

[0098] The processing unit detects whether the control unit is suddenly touched or continuously touched by an external force by monitoring the stability of the magnetic induction data and the pressure data. The detection method includes the following steps:

[0099] S1, preset magnetic induction data jump threshold S M,jump And the jump threshold S of pressure data P,jump ;

[0100] Preset the offset threshold S of magnetic sensing data M,d and normal operating range of pressure data [P a ,P b ];

[0101] Transition threshold S M,jump , jump threshold S P,jump , offset threshold S M,d and normal operating range [P a ,P b ] are the control instruction identification conditions, and the values ​​of each change based on the different heights of the execution platform;

[0102] The higher the height of the execution platform, the stricter the requirements for magnetic sensing data and pressure data;

[0103] S2, detect the instantaneous jump of magnetic induction data through the change rate of magnetic induction data ΔM(S), and compare the change rate of magnetic induction data ΔM(S) with the corresponding jump threshold S M,jump Make a comparison;

[0104] By comparing the current magnetic induction data with the preset average value Compare and detect the data deviation d(S) of the magnetic induction data;

[0105] The formula used for the rate of change ΔM(S) is ΔM(S)=|M(S)-M(S-ΔS)|;

[0106] Among them, ΔM(S) is the change in magnetic induction data at the current time S;

[0107] M(S) represents the magnetic induction data measured at the current time S;

[0108] M(S-ΔS) represents the magnetic induction data measured at the previous time S-ΔS, ΔS is the sampling time interval, and represents the sampling frequency of the magnetic induction data;

[0109] |M(S)-M(S-ΔS)| is the change in magnetic induction data between two sampling times, and by taking the absolute value, the direction of change is ignored and only the magnitude of change is concerned;

[0110] The formula used for the data deviation d(S) of magnetic induction data is:

[0111] S3, detect the instantaneous jump of pressure data by calculating the change rate of pressure data ΔP(S), and compare the change rate of pressure data ΔP(S) with the corresponding jump threshold S P,jump Make a comparison;

[0112] The formula for the rate of change of pressure data ΔP(S) is: ΔP(S) = |P(S)-P(S-ΔS)|;

[0113] Among them, ΔP(S) is the change in pressure data at the current time S;

[0114] P(S) represents the pressure data measured at the current time S;

[0115] P(S-ΔS) represents the pressure data measured at the previous time S-ΔS, ΔS is the sampling time interval, indicating the sampling frequency of the pressure data;

[0116] |P(S)-P(S-ΔS)| is the change in pressure data between two sampling times;

[0117] Test pressure data and normal operating range [P a ,P b ] whether it matches;

[0118] S4, combining S2 and S3, judging whether the operating unit is affected by external factors;

[0119] If the change rate of magnetic induction data ΔM(S)> the corresponding jump threshold S M,jump , the change rate of pressure data ΔP(S)> the corresponding jump threshold S P,jump , the data deviation d(S) of magnetic induction data> the offset threshold S of magnetic induction data M,d , the pressure data P(S) is not within the corresponding normal operating range [P a ,P b ], it is determined that the operating unit is affected by the external environment;

[0120] Its combination decreases as the height of the execution platform increases;

[0121] At the low altitude stage, three combinations of the above judgment conditions are adopted;

[0122] At the middle and high stage, two combinations of the above judgment conditions are used;

[0123] At the high altitude stage, one of the above judgment conditions is adopted, that is, if any of the above judgment situations occurs, it is determined that the operating unit is affected by the outside;

[0124] And the processing unit maintains or modifies the control instruction based on the identification data determined by the logic;

[0125] The processing unit is provided with a plurality of identification ranges of magnetic induction data and pressure data based on trigger thresholds of different levels;

[0126] After receiving the magnetic induction data and pressure data sent by the recognition unit, the processing unit matches them with the corresponding recognition range to determine their continuity;

[0127] The magnetic data is marked as M(t), and the pressure data is marked as P(t);

[0128] Each identification range of the magnetic induction data M(t) includes the corresponding [M min ,M max ];

[0129] Each identification range of the pressure data P(t) includes the corresponding [P min ,P max ];

[0130] [M min ,M max ] and [P min ,P max ] is based on the height of the execution platform, and [M min ,M max ] and [P min ,P max ] is also a condition for identifying control instructions;

[0131] After receiving the magnetic sensing data M(t) and pressure data P(t) in real time, the processing unit determines whether the magnetic sensing data M(t) is within the corresponding [M min ,M max ] and whether the pressure data P(t) is in its corresponding [P min ,P max ]middle;

[0132] The judgment formula is: C(t)=(M min ≤M(t)≤M max )∧(P min ≤P(t)≤P max );

[0133] Here, ∧ represents the logical AND operator, which means that both conditions must be met for the result to be true (1);

[0134] C(t) is the judgment result. When C(t) = 1, it means that the magnetic induction data and pressure data at the current time t are within the recognition range, which is a valid operation;

[0135] When C(t) = 0, it means that the magnetic induction data and pressure data at the current time t are not within its recognition range, which is an invalid operation;

[0136] The processing unit is set with a duration threshold T c , indicating that the effective operation must last longer than this duration for the operation to be considered a valid action;

[0137] Duration threshold T c Dynamically adjust according to different levels of trigger thresholds;

[0138] The processing unit counts the continuous duration of C(t) that is judged as a valid operation, and if the continuous duration exceeds the duration threshold T c , then the operation action of the control unit is determined to be valid;

[0139] The processing unit is provided with a timer timer(t) for accumulating a variable of effective operation duration, recording the duration from the start of the first effective operation to the current moment;

[0140] If the judgment result C(t) at the current moment is 1, the timer is accumulated;

[0141] If the judgment result C(t) is 0, the timer is reset to zero;

[0142] When timer(t) ≥ duration threshold T c After that, the operation of the control unit is judged to be valid. While judging the valid operation, the time continuity verification is added to ensure that the operation lasts for a sufficient time to be considered valid.

[0143] Example 2

[0144] A controller-based high-altitude platform control system, comprising a control module, a morphology monitoring module, and an execution platform;

[0145] The control module includes a control unit, a processing unit, a recognition unit and a prompt unit;

[0146] The control unit is used for the user to input operation actions, and in this embodiment, a combination of an operation handle and an operation button is used to achieve human-computer interaction;

[0147] The identification unit includes a plurality of different types of identification structures, each of which is used to identify the operation action of the control unit and generate corresponding identification data. In this embodiment, the identification structure includes a magnetic induction structure and a pressure structure;

[0148] The magnetic sensing structure can calculate the movement speed, rotation direction and position change of the control unit by monitoring the frequency, intensity and speed of change of the magnetic field, and generate corresponding magnetic sensing data;

[0149] The pressure structure can sense the external pressure on the control unit, obtain the pressure value, load change, and torque of the control unit, and generate corresponding pressure data;

[0150] The processing unit receives and calculates each identification data, and issues corresponding control instructions after each identification data meets the requirements;

[0151] The control instructions include enabling functions of the control execution platform, forward, backward, left turn, right turn, lifting / lowering, forward / backward, horn, and speed selection;

[0152] The execution platform performs corresponding action feedback based on the control instructions issued by the control module. In this embodiment, the execution platform is a scissor-type working platform;

[0153] The morphology monitoring module is used to monitor the working state of the execution platform and obtain the working condition information of the execution platform, the working condition information includes the moving speed, angle, and height, and the morphology monitoring module transmits the working condition information to the control module;

[0154] The morphology monitoring module presets a plurality of trigger thresholds of different levels based on the working status of the execution platform;

[0155] The trigger thresholds of each level correspond to different ranges of recognition data of the recognition unit, and different ranges of recognition data correspond to different operating ranges of the control unit;

[0156] The processing unit of the control module establishes corresponding control instruction recognition conditions based on different working condition information of the execution platform, and the processing unit recognizes and filters the recognition data generated by the recognition structure based on the control instruction recognition conditions, and performs logical judgment on the recognized and filtered recognition data;

[0157] And the processing unit maintains or modifies the control instruction based on the identification data determined by the logic;

[0158] The processing unit is provided with a plurality of identification ranges of magnetic induction data and pressure data based on trigger thresholds of different levels;

[0159] After receiving the magnetic sensing data and pressure data sent by the recognition unit, the processing unit matches them with the corresponding recognition range to determine their continuity;

[0160] Each identification range of the magnetic induction data M(t) includes the corresponding [M min ,M max ];

[0161] Each identification range of the pressure data P(t) includes the corresponding [P min ,P max ];

[0162] After receiving the magnetic sensing data M(t) and pressure data P(t) in real time, the processing unit determines whether the magnetic sensing data M(t) is within the corresponding [M min ,M max ] and whether the pressure data P(t) is in its corresponding [P min ,P max ]middle;

[0163] The judgment formula is: C(t)=(M min ≤M(t)≤M max )∧(P min ≤P(t)≤P max );

[0164] The processing unit is set with a duration threshold T c , indicating that the effective operation must last longer than this duration for the operation to be considered a valid action;

[0165] Duration threshold T c Dynamically adjust according to different levels of trigger thresholds;

[0166] The processing unit counts the continuous duration of C(t) that is judged as a valid operation, and if the continuous duration exceeds the duration threshold T c , then the operation of the control unit is determined to be valid;

[0167] Compared with the comparative document 1, the processing unit in the comparative document 2 adopts a sliding window method when calculating the continuous duration of effective operations to reduce the impact of delays, and balances real-time performance and stability by dynamically adjusting the sliding window size;

[0168] In the sliding window, if the judgment result C(t) in the continuous time period is a valid operation, the valid time is accumulated;

[0169] If the judgment result C(t) is not a valid operation, the window will automatically slide and restart the timing;

[0170] The formula used is:

[0171] Among them, V(t) is the accumulated effective operation time within the current time t, which is used to determine whether the operation is continuously valid within the sliding window;

[0172] t is the current time, W is the length of the sliding window, and τ is each sampling time in the sliding window;

[0173] tW<τ<t is used to define the range of the sliding window;

[0174] ∑ t-W＜τ＜t Represents the sum from tW (i.e. the starting point of the sliding window) to t (the current moment);

[0175] C(t) is the judgment result, which determines whether the magnetic induction data and pressure data are within the preset recognition range;

[0176] According to the formula, for each sampling time t, the processing unit checks all the judgment results from (tW to t) in the past W sliding window. At a certain sampling time τ, when the magnetic induction data and the pressure data are respectively within their corresponding preset recognition ranges, that is, C(t) = 1, it is counted into the effective time;

[0177] When V(t) exceeds the duration threshold T c After that, the operation is deemed to be a valid action.

[0178] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technical personnel in this field can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A controller-based high-altitude platform control system, including a control module, a morphology monitoring module, and an execution platform, characterized in that: The control module includes a control unit, a processing unit, a recognition unit and a prompt unit; The control unit is used for the user to input operation actions; The identification unit includes a plurality of different types of identification structures, each of which is used to identify the operation action of the control unit and generate corresponding identification data; The processing unit receives and calculates each identification data, and issues corresponding control instructions after each identification data meets the requirements; The morphology monitoring module is used to monitor the working state of the execution platform, obtain the working condition information of the execution platform, and transmit it to the control module; The processing unit of the control module establishes corresponding control instruction recognition conditions based on different working condition information of the execution platform, and the processing unit identifies and filters each recognition data based on the control instruction recognition conditions, and performs logical judgment on the recognition data that has passed the identification and filtering; And the processing unit maintains or modifies the control instruction based on the identification data determined by logic.

2. A controller-based high-altitude platform control system according to claim 1, characterized in that: The identification unit includes a magnetic sensing structure and a pressure structure; The magnetic sensing structure generates magnetic sensing data corresponding to the control unit; The pressure structure generates pressure data corresponding to the control unit.

3. A controller-based high-altitude platform control system according to claim 1, characterized in that: The morphology monitoring module presets a plurality of trigger thresholds of different levels based on the working status of the execution platform; The trigger thresholds at each level correspond to different ranges of recognition data of the recognition unit.

4. A controller-based high-altitude platform control system according to claim 3, characterized in that: The processing unit is provided with a plurality of identification ranges of magnetic induction data and pressure data based on trigger thresholds of different levels; After receiving the magnetic induction data and pressure data sent by the recognition unit, the processing unit matches them with the corresponding recognition range to determine their continuity; The magnetic data is marked as M(t), and the pressure data is marked as P(t); Each identification range of the magnetic induction data M(t) includes the corresponding [M min ,M max ]; Each identification range of the pressure data P(t) includes the corresponding [P min ,P max ]; After receiving the magnetic sensing data M(t) and pressure data P(t) in real time, the processing unit determines whether the magnetic sensing data M(t) is within the corresponding [M min ,M max ] and whether the pressure data P(t) is in its corresponding [P min ,P max ] and generate the corresponding judgment result.

5. A controller-based high-altitude platform control system according to claim 4, characterized in that: The processing unit is set with a duration threshold T c ; Duration threshold T c Dynamically adjust according to different levels of trigger thresholds; The processing unit statistically determines the continuous duration of the effective operation, and if the continuous duration exceeds the duration threshold T c , then the operation action of the control unit is determined to be valid.

6. A controller-based high-altitude platform control system according to claim 5, characterized in that: The processing unit is provided with a timer timer(t) for accumulating a variable of effective operation duration, recording the duration from the start of the first effective operation to the current moment; If the judgment result at the current moment is a valid operation, the timer is accumulated; If the judgment result is 0, the timer is reset to zero; When time(t) ≥ duration threshold T c After that, the operation action of the control unit is determined to be valid.

7. A controller-based high-altitude platform control system according to claim 5, characterized in that: The processing unit adopts a sliding window method when calculating the continuous duration of effective operation; In the sliding window, if the judgment result in the continuous time period is a valid operation, the valid time is accumulated; If the result is not a valid operation, the window will slide automatically and restart the timing.

8. A controller-based high-altitude platform control system according to claim 2, characterized in that: The logic judgment of the processing unit includes monitoring the stability of magnetic induction data and pressure data, including the following steps: S1, preset the jump threshold of magnetic induction data and the jump threshold of pressure data; Preset the offset threshold of magnetic sensing data and the normal operating range of pressure data; S2, detecting the instantaneous jump of the magnetic induction data by the change rate of the magnetic induction data, and comparing the change rate of the magnetic induction data with the jump threshold of the corresponding magnetic induction data; Detecting data deviation of the magnetic sensing data by comparing current data of the magnetic sensing data with a preset average value; S3, detecting an instantaneous jump in the pressure data by calculating a change rate of the pressure data, and comparing the change rate of the pressure data with a jump threshold of the corresponding pressure data; Test pressure data and normal operating range [P a ,P b ] whether it matches; S4, combining S2 and S3, judging whether the operating unit is affected by external factors; If any one or more combinations of the following situations occur: the rate of change of magnetic induction data is greater than the corresponding jump threshold of magnetic induction data, the rate of change of pressure data is greater than the corresponding jump threshold of pressure data, the data deviation of magnetic induction data is greater than the offset threshold of magnetic induction data, and the pressure data is not within the corresponding normal operating range, it is determined that the operating unit is affected externally.

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