A controller-based high-altitude platform control system

Abstract

The present invention discloses a control system for an aerial platform based on a controller, which relates to the technical field of platform control. It includes a control module, a morphology monitoring module, and an execution platform. The control module includes a manipulation unit, a processing unit, an identification unit, and a prompting unit. The manipulation unit is used for the user to input operation actions. The identification unit includes multiple different types of identification structures, and each identification structure is used to identify the operation actions of the manipulation unit and generate corresponding identification data. The processing unit receives and calculates each piece of identification data, and after each piece of identification data meets the requirements, it issues corresponding manipulation instructions. For different heights of the aerial platform, the present invention designs a mechanism for dynamically adjusting the manipulation range based on height, and through a multi-dimensional monitoring system and a joint judgment mechanism for instantaneous jump and drift deviation, effectively improves the recognition accuracy of operation behaviors.

Description

Technical Field

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

[0002] A high-altitude working platform is a product for movable high-altitude operations such as high-altitude operations, equipment installation, and maintenance in various industries. Controlling the high-altitude platform through a controller is one of the common methods in high-altitude platform control;

[0003] Currently, the control systems of high-altitude platforms generally use a single sensor or a simple control method to monitor the working state and perform command operations. These systems usually rely on traditional mechanical operation units or a single data source to sense operation commands.

[0004] After retrieval, Chinese Patent (Publication No.: CN109264644B) discloses a leveling control system, a leveling control method, and a high-altitude working platform for a high-altitude working platform. The patent includes a leveling oil cylinder for adjusting the inclination angle of the platform; an angle sensor for detecting the inclination angle of the platform; a length sensor for detecting the telescopic amount of the leveling oil cylinder; and a controller coupled with the angle sensor and the length sensor and controlling the action of the leveling oil cylinder according to the inclination angle detected by the angle sensor and the telescopic amount detected by the length sensor.

[0005] In the prior art, as the height of high-altitude operations increases, the risk level also increases. Therefore, during operation, more caution is required. The control system needs to meet the requirements for rapid response during low-altitude operations and provide sufficient fine control during high-altitude operations. Therefore, the present invention proposes a high-altitude platform control system based on a controller. Summary of the Invention

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

[0007] The present invention can be realized through the following technical solutions: A high-altitude platform control system based on a controller includes a control module, a form monitoring module, and an execution platform;

[0008] The control module includes a control unit, a processing unit, an identification 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 multiple different types of identification structures, and each identification structure is used to identify the operation actions of the control unit and generate corresponding identification data. The identification structures include a magnetic induction structure and a pressure structure;

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

[0012] By sensing the external pressure received by the control unit, the pressure structure can obtain the pressure value, load change, and torque received by the control unit, and generate corresponding pressure data;

[0013] The processing unit receives and calculates each piece of recognition data. After all the recognition data meet the requirements, corresponding control instructions are issued;

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

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

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

[0017] And based on the recognition data that passes the logical judgment, the processing unit maintains or corrects the control instructions.

[0018] A further technical improvement of the present invention is that: based on the working state of the execution platform, the form monitoring module preset multiple trigger thresholds at different levels;

[0019] Each level of trigger threshold corresponds to different ranges of recognition data of the recognition unit, and different ranges of recognition data correspond to different operation ranges of the control unit;

[0020] Furthermore, when the recognition unit recognizes the control unit, it recognizes the operation actions within the corresponding operation range.

[0021] A further technical improvement of the present invention is that: based on different levels of trigger thresholds, the processing unit sets multiple recognition ranges for magnetic induction data and pressure data;

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

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

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

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

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

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

[0028] Among them, ∧ represents the logical AND operator, that is, both conditions need to 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 the pressure data at the current moment t are both within their recognition ranges, which is a valid operation;

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

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

[0032] The duration threshold T c is dynamically adjusted according to different levels of trigger thresholds;

[0033] The processing unit counts the continuous duration during which C(t) is judged as a valid operation. If the continuous duration exceeds the duration threshold T c , then the operation action of this manipulation 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), which is a variable for accumulating the duration of valid operations and records the duration from the start of the first valid operation to the current moment;

[0035] If the judgment result C(t) at the current moment is 1, the timer is incremented;

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

[0037] When timer(t) ≥ the duration threshold T c then the operation action of the manipulation unit at this time is determined to be valid. While judging the valid operation, the verification of time persistence is added to ensure that the operation is regarded as valid only when it lasts for enough time.

[0038] A further technical improvement of the present invention lies in that: when the processing unit calculates the continuous duration of the valid operation, a sliding window method is adopted to reduce the influence of delay, and the real-time performance and stability are balanced by dynamically adjusting the size of the sliding window;

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

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

[0041] The formula adopted is:

[0042] where V(t) is the accumulated effective operation time within the current moment t, used to judge whether the operation within the sliding window is continuously valid;

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

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

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

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

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

[0048] When V(t) exceeds the duration threshold T c then it is determined that the operation action is a valid action.

[0049] A further technical improvement of the present invention lies in 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 the jump threshold S of the magnetic induction data M,jump and the jump threshold S of the pressure data P,jump ;

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

[0052] S2. Detect the instantaneous jump of the magnetic induction data by the change rate ΔM(S) of the magnetic induction data, and compare the change rate ΔM(S) of the magnetic induction data with the corresponding jump threshold S M,jump for comparison;

[0053] Detect the data deviation d(S) of the magnetic induction data by comparing the current data of the magnetic induction data with the preset average value ;

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

[0055] where ΔM(S) is the change amount of the 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, and ΔS is the sampling time interval, indicating the sampling frequency of the magnetic induction data;

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

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

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

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

[0062] Among them, ΔP(S) is the change amount of 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, and ΔS is the sampling time interval, representing the sampling frequency of the pressure data;

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

[0066] Detect whether the measured pressure data matches the normal operation range [P a , P b ;

[0067] S4. Combine S2 and S3 to judge whether the operating unit is externally affected;

[0068] If any one or more combinations of 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 operation range [P a , P b occur, it is determined that the operating unit is externally affected.

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

[0070] The present invention proposes a multi - dimensional monitoring system combining magnetic induction data and pressure data. Through the joint judgment mechanism of instantaneous jump and drift deviation, the recognition accuracy of operating behaviors is effectively improved. Compared with the existing control systems with a single sensor, the present invention can accurately distinguish normal operations from sudden external force interferences, thereby effectively preventing and controlling the occurrence of misoperations. At the same time, the present invention introduces a sliding window and a duration judgment method to realize the fault - tolerant detection of misoperations, which not only ensures the accuracy of misoperation recognition but also enhances the robustness of the system to short - term anomalies;

[0071] And for different heights of the high - altitude platform, the present invention designs a mechanism for dynamically adjusting the control range based on height. In the low - height scenario, the system allows full - amplitude operations to meet the requirements of rapid response; while in high - height operations, the system automatically reduces the control range to improve the fineness of control actions and ensure operation safety. By dynamically adapting the control range for different heights, the present invention significantly improves the flexibility and reliability of the system in complex operating environments. Description of the Drawings

[0072] For the convenience of those skilled in the art to understand, the present invention will be further described below with reference to the accompanying drawings.

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

[0074] To further elaborate on the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the specific embodiments, structures, features and their effects according to the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0075] Embodiment 1

[0076] Please refer to Figure 1 As shown, a high-altitude platform control system based on a controller includes a control module, a form monitoring module, and an execution platform;

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

[0078] The manipulation unit is used for the user to input operation actions. In this embodiment, a combination of an operation handle and operation buttons is adopted to achieve human-machine interaction;

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

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

[0081] The pressure structure can obtain the pressure value, load change and torque received by the manipulation unit by sensing the external pressure received by the manipulation unit, and generate corresponding pressure data;

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

[0083] The manipulation instructions include the enable function, forward, backward, left turn, right turn, lift / lower, forward / backward, horn, speed selection for controlling the execution platform;

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

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

[0086] The morphological monitoring module presets multiple trigger thresholds at different levels based on the working state of the execution platform;

[0087] Each level of trigger threshold corresponds to the recognition data in different ranges of the recognition unit, and the recognition data in different ranges corresponds to different operation ranges of the control unit;

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

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

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

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

[0092] High height stage: When the execution platform reaches near the maximum height, the pushing amplitude of the operation handle is further reduced, and only a small range of operations is allowed, which can avoid out-of-control or instability caused by excessive operations;

[0093] And when using the operation handle as the human-machine interaction structure for operation actions, range scale lines are set within the moving range of the operation handle to assist the user in recognizing the control range;

[0094] When using the operation button as the human-machine interaction structure for operation actions, recognition scale lines are set along the pressing stroke of the operation button;

[0095] In the low height stage, the recognition unit recognizes the full amplitude pressing stroke range of the operation button. In the medium height stage, the recognition unit reduces the recognized pressing stroke range of the operation button. In the high height stage, the recognition unit further reduces the recognized pressing stroke range of the operation button, that is, as the height of the execution platform rises, the required pressing stroke of the operation button also increases;

[0096] The processing unit of the control module establishes corresponding manipulation instruction recognition conditions based on the working conditions of different execution platforms, and based on the manipulation instruction recognition conditions, the processing unit identifies and filters the recognition data generated by the recognition structure, and makes a logical judgment on the recognized and filtered recognition data;

[0097] In this embodiment, the logical judgment includes the continuity and stability of magnetic induction data and pressure data;

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

[0099] S1. Preset the jump threshold S of the magnetic induction data M,jump and the jump threshold S of the pressure data P,jump ;

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

[0101] The jump threshold S M,jump , the jump threshold S P,jump , the offset threshold S M,d and the normal operation range [P a , P b are manipulation instruction recognition conditions, and the values of each vary based on the different heights of the execution platform;

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

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

[0104] Detect the data deviation d(S) of the magnetic induction data by comparing the current data of the magnetic induction data with the preset average value ;

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

[0106] Among them, ΔM(S) is the change amount of the 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, where ΔS is the sampling time interval, representing the sampling frequency of the magnetic induction data;

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

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

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

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

[0113] where ΔP(S) is the change in the 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, where ΔS is the sampling time interval, representing the sampling frequency of the pressure data;

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

[0117] Detect whether the pressure data matches the normal operation range [P a , P b ;

[0118] S4. Combine S2 and S3 to judge whether the operating unit is externally affected;

[0119] If any one or more combinations of the change rate ΔM(S) of the magnetic induction data > the corresponding jump threshold S M,jump , the change rate ΔP(S) of the pressure data > the corresponding jump threshold S P,jump , the data deviation d(S) of the magnetic induction data > the offset threshold S of the magnetic induction data M,d , and the pressure data P(S) is not within the corresponding normal operation range [P a , P b occur, it is judged that the operating unit is externally affected;

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

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

[0122] In the medium altitude stage, two combinations in the above judgment conditions are adopted;

[0123] In 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 operation unit is externally affected;

[0124] And the processing unit maintains or corrects the control instruction based on the recognition data obtained through logical judgment;

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

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

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

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

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

[0130] [M min , M max and [P min , P max are valued based on the height of the execution platform, and [M min , M max and [P min , P max are also the recognition conditions for the control instruction;

[0131] After the processing unit receives the magnetic induction data M(t) and pressure data P(t) in real time, it judges whether the magnetic induction data M(t) is within the corresponding [M min , M max and whether the pressure data P(t) is within its corresponding [P min , P max ;

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

[0133] Among them, ∧ represents the logical AND operator, that is, both conditions need to be met for the result to be true (1);

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

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

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

[0137] The duration threshold T c is dynamically adjusted according to different levels of trigger thresholds;

[0138] The processing unit counts the continuous duration during which C(t) is judged as a valid operation. If the continuous duration exceeds the duration threshold T c then the operation action of this control unit is determined to be valid;

[0139] The processing unit is provided with a timer timer(t), which is a variable used to accumulate the duration of valid operations and records the duration from the start of the first valid operation to the current moment;

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

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

[0142] After timer(t) ≥ the duration threshold T c then the operation action of this control unit is determined to be valid. While judging the valid operation, the verification of time persistence is added to ensure that the operation is considered valid only when it lasts long enough.

[0143] Embodiment 2

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

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

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

[0147] The recognition unit includes multiple recognition structures of different types. Each recognition structure is used to recognize the operation actions of the control unit and generate corresponding recognition data. In this embodiment, the recognition structures include a magnetic induction structure and a pressure structure;

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

[0149] By sensing the external pressure received by the control unit, the pressure structure can obtain the pressure value, load change, and torque received by the control unit and generate corresponding pressure data;

[0150] The processing unit receives and calculates each recognition data. After each recognition data meets the requirements, corresponding control instructions are issued;

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

[0152] Based on the control instructions issued by the control module, the execution platform performs corresponding action feedback. In this embodiment, the execution platform is a scissor lift platform;

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

[0154] Based on the working state of the execution platform, the form monitoring module presets multiple trigger thresholds at different levels;

[0155] Each level of trigger threshold corresponds to different ranges of recognition data of the recognition unit, and different ranges of recognition data correspond to different operation 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 corrects the control instructions based on the recognition data that passes the logical judgment;

[0158] Based on different levels of trigger thresholds, the processing unit sets multiple recognition ranges for magnetic induction data and pressure data;

[0159] After receiving the magnetic induction data and pressure data sent by the recognition unit, the processing unit matches them with the corresponding recognition ranges and determines their continuity;

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

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

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

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

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

[0165] The duration threshold T c is dynamically adjusted according to different levels of trigger thresholds;

[0166] The processing unit statistics the continuous duration during which C(t) is judged as an effective operation. If the continuous duration exceeds the duration threshold T c , then the operation action of this control unit is determined to be effective;

[0167] Compared with Comparative Document 1, when calculating the continuous duration of the effective operation, the processing unit in Comparative Document 2 uses a sliding window method to reduce the influence of delay, and balances real-time performance and stability by dynamically adjusting the size of the sliding window;

[0168] Within the sliding window, if the judgment result C(t) is an effective operation within a continuous time period, the effective time is accumulated;

[0169] If the judgment result C(t) is not an effective operation, the window will automatically slide and start timing again;

[0170] The formula adopted is:

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

[0172] t is the current moment, W is the sliding window length, and τ is each sampling moment within the sliding window;

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

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

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

[0176] Through the formula, for each sampling moment t, the processing unit checks all the judgment results from (t - W to t) within the past W sliding window. When at a certain sampling moment τ, 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 then it is determined that this operation action is an effective action.

[0178] The above is only a preferred embodiment of the present invention, and it does not impose any form of limitation on the present invention. Although the present invention has been disclosed above with a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art can make some changes or modifications to equivalent embodiments by using the above-disclosed technical content within the scope of the technical solution of the present invention. However, as long as it does not depart from the content of the technical solution of the present invention, any simple modification, equivalent change, and modification made to the above embodiments based on the technical essence 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, comprising a control module, a morphology monitoring module, and an execution platform, characterized in that: The control module includes a control unit, a processing unit, an identification unit, and a prompt unit; The control unit is used for the user to input operation actions; The identification unit includes multiple different types of identification structures, and each identification structure is used to identify the operation actions of the control unit and generate corresponding identification data; The processing unit receives and calculates each piece of identification data, and after each piece of identification data meets the requirements, issues corresponding control instructions; 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 based on the control instruction recognition conditions, the processing unit identifies and filters each piece of identification data, and performs logical judgment on the identification data that passes the identification and filtering; And the processing unit maintains or corrects the control instructions based on the identification data that passes the logical judgment; The identification unit includes a magnetic induction structure and a pressure structure; The magnetic induction structure generates magnetic induction data corresponding to the control unit; The pressure structure generates pressure data corresponding to the control unit; The morphology monitoring module presets multiple different levels of trigger thresholds based on the working state of the execution platform; Each level of trigger threshold corresponds to different ranges of identification data of the identification unit; The processing unit sets multiple identification ranges for magnetic induction data and pressure data based on different levels of trigger thresholds; After receiving the magnetic induction data and pressure data sent by the identification unit, the processing unit matches them with the corresponding identification ranges and judges their continuity; The magnetic induction data is marked as , and the pressure data is marked as ; Magnetic induction data Each recognition range respectively includes the corresponding ; Pressure data Each recognition range of ; The processing unit receives the magnetic induction data in real time and the pressure data After that, it determines whether the magnetic induction data is within the corresponding and whether the pressure data is within its corresponding and generates the corresponding judgment result; The processing unit is set with a duration threshold ; Duration threshold Dynamically adjusted according to trigger thresholds at different levels; The processing unit counts the continuous duration during which the judgment result is determined to be a valid operation. If the continuous duration exceeds the duration threshold , then the operation action of the manipulation unit for this time is determined to be valid.

2. The high-altitude platform control system based on a controller according to claim 1, characterized in that, The processing unit is provided with a timer timer(t) for accumulating variables of the effective operation duration, and records the duration from the start of the first effective operation to the current moment; If the judgment result at the current moment is an effective operation, timer is incremented; If the judgment result is 0, timer is reset to zero; When timer(t) ≥ duration threshold then the operation action of the manipulation unit for this time is determined to be valid.

3. The high-altitude platform control system based on a controller according to claim 1, characterized in that, The processing unit adopts a sliding window method when calculating the continuous duration of effective operations; Within the sliding window, if the judgment results within a continuous time period are effective operations, the effective time is accumulated; If the judgment result is not an effective operation, the window will automatically slide and start timing again.

4. A controller-based high-altitude platform control system according to claim 1, characterized in that, The logical 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 induction data and the normal operation range of pressure data; S2. Detect the instantaneous jump of magnetic induction data through the change rate of magnetic induction data, and compare the change rate of magnetic induction data with the corresponding jump threshold of magnetic induction data; Detect the data deviation of magnetic induction data by comparing the current data of magnetic induction data with the preset average value; S3. Detect the instantaneous jump of pressure data by calculating the change rate of pressure data, and compare the change rate of pressure data with the corresponding jump threshold of pressure data; Detect whether the pressure data matches the normal operating range ; S4. Combine S2 and S3 to judge whether the operation unit is affected by the outside; If any one or a combination of the following conditions occurs: the change rate of magnetic induction data > the jump threshold of the corresponding magnetic induction data, the change rate of pressure data > the jump threshold of the corresponding pressure data, the data deviation of magnetic induction data > the offset threshold of magnetic induction data, and the pressure data is not within the corresponding normal operation range, it is determined that the operating unit is externally affected.

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