Control method and system of unmanned aerial vehicle landing platform

Abstract

The invention discloses a control method and system for an unmanned aerial vehicle landing platform, and relates to the technical field of unmanned aerial vehicle landing, and the method comprises the steps: obtaining the flight data of an unmanned aerial vehicle and the interference data of the unmanned aerial vehicle landing platform, carrying out the deviation operation of the flight data based on a preset standard landing trajectory, and obtaining a deviation value; and adjusting each propeller of the unmanned aerial vehicle landing platform according to the deviation value, the flight data and the interference data, and skipping to execute the step of acquiring the flight data of the unmanned aerial vehicle and the interference data of the unmanned aerial vehicle landing platform until the unmanned aerial vehicle arrives at the unmanned aerial vehicle landing platform. The problems that according to an existing landing method, the flight path and speed of the unmanned aerial vehicle are mainly adjusted by obtaining state information of the unmanned aerial vehicle in real time so as to reduce impact force generated when the unmanned aerial vehicle makes contact with the ground, but the landing posture of the unmanned aerial vehicle is disturbed due to the fact that downward airflow generated by landing of the unmanned aerial vehicle is blocked by the ground and can be reflected upwards are not considered are solved. And the use reliability of the unmanned aerial vehicle is reduced.

Description

Technical Field

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

[0002] With the rapid development and widespread application of drone technology, the safety issues in its landing process have become increasingly prominent. In the traditional landing method, when the drone lands, under the action of its own weight, there will be a certain impact force when it contacts the ground, which is not conducive to the safety of drone use.

[0003] At present, the existing landing method mainly adjusts the flight trajectory and speed of the drone by obtaining the drone's status information in real time to reduce the impact force when the drone contacts the ground. However, it does not take into account that the downward airflow generated by the drone landing will be blocked by the ground and reflected upward, thereby interfering with the drone's landing posture and reducing the drone's reliability. Summary of the invention

[0004] The present invention provides a control method and system for a drone landing platform, which solves the technical problem that the existing landing method mainly adjusts the flight trajectory and speed of the drone by obtaining the status information of the drone in real time to reduce the impact force when the drone contacts the ground, but does not take into account that the downward airflow generated by the landing of the drone will be blocked by the ground and reflected upward, thereby interfering with the landing posture of the drone and reducing the reliability of the drone.

[0005] A first aspect of the present invention provides a method for controlling a drone landing platform, comprising:

[0006] Acquire flight data of the UAV and interference data of the UAV landing platform, and perform deviation calculation on the flight data based on a preset standard landing trajectory to obtain a deviation value of the UAV;

[0007] Determining whether the deviation value is less than a preset deviation threshold;

[0008] If the deviation value is less than the deviation threshold, based on a preset first control strategy, a target rotation speed of the UAV landing platform is determined according to the flight data, and each propeller of the UAV landing platform is adjusted according to the target rotation speed;

[0009] If the deviation value is greater than or equal to the deviation threshold, based on a preset second control strategy, the speed adjustment data of the UAV landing platform is determined according to the flight data and the interference data, and each of the propellers is adjusted according to the speed adjustment data;

[0010] Jump to the step of acquiring the flight data of the drone and the interference data of the drone landing platform until the drone reaches the drone landing platform.

[0011] Optionally, the step of performing deviation calculation on the flight data based on a preset standard landing trajectory to obtain a deviation value of the drone includes:

[0012] Taking the vertical height of the flight data as the target height, and extracting standard position data associated with the target height from a preset standard landing trajectory;

[0013] The position data of the flight data and the standard position data are input into a preset deviation function to obtain a deviation value of the UAV.

[0014] Optionally, the step of determining a target rotation speed of the UAV landing platform according to the flight data based on a preset first control strategy, and adjusting each propeller of the UAV landing platform according to the target rotation speed includes:

[0015] Inputting the flight data into a preset rotation speed function to obtain a target rotation speed;

[0016] The target speed is ratio-processed with a preset number of propellers to obtain a propeller control amount;

[0017] The propeller control amount is used to adjust each propeller of the UAV landing platform.

[0018] Optionally, the flight data includes a first horizontal position, a second horizontal position, a vertical position, a yaw angle, a roll angle, and a pitch angle, and the step of determining the rotation speed adjustment data of the UAV landing platform according to the flight data and the interference data based on the preset second control strategy includes:

[0019] Inputting the flight data into a preset rotation speed function to obtain a target rotation speed;

[0020] Performing airflow interference analysis on the interference data to obtain airflow interference force;

[0021] performing difference calculations on the first horizontal position, the second horizontal position, the vertical position, the roll angle, the pitch angle, and the yaw angle with corresponding target landing values ​​to obtain a first difference, a second difference, a third difference, a fourth difference, a fifth difference, and a sixth difference;

[0022] Inputting the first difference, the second difference, the third difference, the fourth difference, the fifth difference and the sixth difference into a preset PID controller respectively to obtain a first control amount, a second control amount, a third control amount, a fourth control amount, a fifth control amount and a sixth control amount;

[0023] Using the airflow disturbance force to perform airflow disturbance compensation processing on the first control amount, the second control amount and the third control amount to obtain a first compensation control amount, a second compensation control amount and a third compensation control amount;

[0024] The target speed, the first compensation control amount, the second compensation control amount, the third compensation control amount, the fourth control amount, the fifth control amount and the sixth control amount are input into a preset speed adjustment function to obtain the speed adjustment data of the UAV landing platform.

[0025] Optionally, the interference data includes airflow velocity, equivalent force bearing area and air density, and the step of performing airflow interference analysis on the interference data to obtain the airflow interference force includes:

[0026] Square the airflow velocity to obtain a first square value;

[0027] Performing a multiplication operation on the first square value, the equivalent force-bearing area, the air density, and a preset drag coefficient to obtain a first multiplied value;

[0028] The first multiplication value is ratio-calculated with a preset interference coefficient to obtain the airflow interference force.

[0029] Optionally, the step of using the airflow disturbance force to perform airflow disturbance compensation processing on the first control amount, the second control amount and the third control amount to obtain a first compensation control amount, a second compensation control amount and a third compensation control amount includes:

[0030] Decomposing the airflow disturbance force by vector to obtain a first disturbance force, a second disturbance force and a third disturbance force;

[0031] Multiplying the first interference force by a preset first compensation coefficient to obtain a first compensation value;

[0032] Multiplying the second interference force by a preset second compensation coefficient to obtain a second compensation value;

[0033] Multiplying the third interference force by a preset third compensation coefficient to obtain a third compensation value;

[0034] Adding the first control amount and the first compensation value to obtain a first compensation control amount;

[0035] Adding the second control amount and the second compensation value to obtain a second compensation control amount;

[0036] The third control amount and the third compensation value are added together to obtain a third compensation control amount.

[0037] Optionally, the rotation speed function is specifically:

[0038] ;

[0039] in, is the target speed, is the first weight coefficient, is the second weight coefficient, is the third weight coefficient, is the vertical position, is the vertical descent speed, is the first horizontal velocity, is the second horizontal velocity, for, is the reference vertical descent speed, is the reference horizontal velocity, The basic speed.

[0040] A second aspect of the present invention provides a control system for an unmanned aerial vehicle landing platform, comprising:

[0041] The acquisition module is used to obtain the flight data of the UAV and the interference data of the UAV landing platform, and perform deviation calculation on the flight data based on a preset standard landing trajectory to obtain the deviation value of the UAV;

[0042] An analysis module, used to determine whether the deviation value is less than a preset deviation threshold;

[0043] A first adjustment module, configured to determine a target rotation speed of the UAV landing platform according to the flight data based on a preset first control strategy if the deviation value is less than the deviation threshold, and adjust each propeller of the UAV landing platform according to the target rotation speed;

[0044] A second adjustment module is used to determine the speed adjustment data of the UAV landing platform according to the flight data and the interference data based on a preset second control strategy if the deviation value is greater than or equal to the deviation threshold, and adjust each of the propellers according to the speed adjustment data;

[0045] A jump module is used to jump to the step of acquiring the flight data of the drone and the interference data of the drone landing platform until the drone reaches the drone landing platform.

[0046] A third aspect of the present invention provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the control method of the drone landing platform as described in any one of the above items.

[0047] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed, the control method of the drone landing platform as described in any one of the above items is implemented.

[0048] It can be seen from the above technical solutions that the present invention has the following advantages:

[0049] The present invention obtains the flight data of the drone and the interference data of the drone landing platform, and performs deviation calculation on the flight data based on a preset standard landing trajectory to obtain a deviation value, matches different control strategies according to the deviation value, and adjusts each propeller of the drone landing platform in combination with the flight data and the interference data. This overcomes the technical problem that the existing landing method does not take into account that the downward airflow generated by the landing of the drone will be blocked by the ground and reflected upward, thereby interfering with the landing posture of the drone and reducing the reliability of the drone. Compared with the traditional landing method, the present invention adjusts the propeller of the drone landing platform by obtaining the flight data of the drone and the interference data of the drone landing platform in real time, thereby ensuring the stability and balance of the airflow during the descent of the drone through the airflow thrust generated by the propeller, thereby improving the reliability of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0051] Figure 1 A flowchart of a method for controlling a landing platform of a drone provided in Embodiment 1 of the present invention;

[0052] Figure 2 A flowchart of a method for controlling a landing platform of a drone provided in Embodiment 2 of the present invention;

[0053] Figure 3 This is a structural block diagram of a control system for a drone landing platform provided in Embodiment 3 of the present invention;

[0054] Figure 4 This is a structural block diagram of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0055] The embodiments of the present invention provide a control method and system for a UAV landing platform, which are used to solve the technical problem that the existing landing method mainly adjusts the flight trajectory and speed of the UAV by obtaining the status information of the UAV in real time to reduce the impact force when the UAV contacts the ground, but does not take into account that the downward airflow generated by the landing of the UAV will be blocked by the ground and reflected upward, thereby interfering with the landing posture of the UAV and reducing the reliability of the UAV.

[0056] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0057] See also Figure 1 , Figure 1 A flowchart of a method for controlling a drone landing platform provided in Embodiment 1 of the present invention.

[0058] The present invention provides a method for controlling a drone landing platform, comprising:

[0059] Step 101: Obtain the flight data of the UAV and the interference data of the UAV landing platform, and perform deviation calculation on the flight data based on a preset standard landing trajectory to obtain a deviation value of the UAV;

[0060] Flight data refers to the operating parameters of the drone when it lands, including but not limited to the first horizontal position (i.e. the position in the x-axis direction), the second horizontal position (i.e. the position in the y-axis direction), the vertical position (i.e. the position in the z-axis direction), the roll angle, the pitch angle, the yaw angle, the speed of the drone in the horizontal direction x, the speed of the drone in the horizontal direction y, and the vertical descent speed of the drone.

[0061] Interference data refers to the airflow velocity collected by the drone landing platform through multiple airflow velocity sensors and multiple airflow direction sensors.

[0062] In an embodiment of the present invention, the flight data of the drone and the interference data of the drone landing platform are obtained through the airflow velocity sensor, airflow direction sensor and communication module of the drone landing platform, and the deviation value between the preset standard landing trajectory and the flight data is calculated.

[0063] It should be noted that the drone landing platform includes a platform body and four landing power modules, which are evenly distributed on the top of the drone landing platform. The landing power module includes a propeller and a motor, and the motor output end is fixedly connected to the propeller. A plurality of airflow velocity sensors and a plurality of airflow direction sensors are provided on the top of the platform body.

[0064] Step 102: determine whether the deviation value is less than a preset deviation threshold;

[0065] In an embodiment of the present invention, it is determined whether the deviation value of the drone is less than a preset deviation threshold.

[0066] Step 103: If the deviation value is less than the deviation threshold, based on the preset first control strategy, determine the target speed of the UAV landing platform according to the flight data, and adjust each propeller of the UAV landing platform according to the target speed;

[0067] In an embodiment of the present invention, when the deviation value is less than the deviation threshold, it means that the UAV lands according to a preset standard landing trajectory, the flight data is input into a preset rotation speed function, the target speed of the UAV landing platform is obtained, and the speed of each propeller of the UAV landing platform is adjusted according to the target speed.

[0068] Step 104: if the deviation value is greater than or equal to the deviation threshold, based on the preset second control strategy, the speed adjustment data of the UAV landing platform is determined according to the flight data and the interference data, and each propeller is adjusted according to the speed adjustment data;

[0069] In an embodiment of the present invention, when the deviation value is greater than or equal to the deviation threshold, it means that the UAV has deviated from the preset standard landing trajectory, the flight data is input into the preset rotation speed function to obtain the target speed of the UAV landing platform, the interference data is subjected to airflow interference analysis to obtain the airflow interference force, the first horizontal position, the second horizontal position, the vertical position, the roll angle, the pitch angle and the yaw angle of the flight data are respectively subjected to difference calculation with the corresponding target landing value to obtain the first difference, the second difference, the third difference, the fourth difference and the fifth difference, and the first difference, the second difference, the third difference, the fourth difference, the fifth difference and the sixth difference are respectively taken as the difference. A preset PID controller is input to obtain a first control quantity, a second control quantity, a third control quantity, a fourth control quantity, a fifth control quantity and a sixth control quantity, and airflow interference compensation processing is performed on the first control quantity, the second control quantity and the third control quantity using airflow interference force to obtain a first compensation control quantity, a second compensation control quantity and a third compensation control quantity, and the target speed, the first compensation control quantity, the second compensation control quantity, the third compensation control quantity, the fourth control quantity, the fifth control quantity and the sixth control quantity are input into a preset speed adjustment function to obtain the speed adjustment data of the UAV landing platform, and the speed of each propeller is adjusted according to the speed adjustment data.

[0070] Step 105: Jump to the step of acquiring the flight data of the drone and the interference data of the drone landing platform until the drone reaches the drone landing platform.

[0071] In the embodiment of the present invention, the process jumps to step 101 until the drone lands at a preset landing position of the drone landing platform.

[0072] In an embodiment of the present invention, the present invention obtains the flight data of the drone and the interference data of the drone landing platform, and performs deviation calculation on the flight data based on a preset standard landing trajectory to obtain a deviation value, matches different control strategies according to the deviation value, and adjusts each propeller of the drone landing platform in combination with the flight data and the interference data. This overcomes the technical problem that the existing landing method does not take into account that the downward airflow generated by the landing of the drone will be blocked by the ground and reflected upward, thereby interfering with the landing posture of the drone and reducing the reliability of the drone. Compared with the traditional landing method, the present invention adjusts the propeller of the drone landing platform by acquiring the flight data of the drone and the interference data of the drone landing platform in real time, thereby ensuring the stability and balance of the airflow during the descent of the drone through the airflow thrust generated by the propeller, thereby improving the reliability of the drone.

[0073] See also Figure 2 , Figure 2 A flowchart of a method for controlling a landing platform of an unmanned aerial vehicle provided in Embodiment 2 of the present invention.

[0074] The present invention provides a method for controlling a drone landing platform, comprising:

[0075] Step 201: obtain the flight data of the UAV and the interference data of the UAV landing platform, use the vertical height of the flight data as the target height, and extract the standard position data associated with the target height from the preset standard landing trajectory;

[0076] In an embodiment of the present invention, the flight data of the drone and the interference data of the drone landing platform are obtained through the communication module, airflow velocity sensor, airflow direction sensor, pressure sensor and position sensor of the drone landing platform, and the vertical height of the flight data is used as the target height, and the position data of the point whose position height is the same as the target height is extracted from the preset standard landing trajectory as the standard position data.

[0077] It should be noted that the UAV landing platform includes a platform body, four propellers, four drive motors, a control unit, a power supply, an airflow velocity sensor, an airflow direction sensor, a pressure sensor and a position sensor. Four drive motors are evenly distributed on the edge of the platform body, each drive motor is fixedly connected to a propeller, and the drive motor, the control unit, the power supply, the airflow velocity sensor, the airflow direction sensor, the pressure sensor and the position sensor are electrically connected. The control unit is built into the platform body, and the control unit includes a microprocessor, a storage unit, a communication module, and a signal conditioning circuit. The microprocessor is used for data processing and instruction generation. The storage unit is used to store system programs, algorithm parameters and various types of data. The communication module is used to use Wi-Fi, Bluetooth or a wireless data transmission module with a specific frequency band to achieve stable communication with the UAV and external devices. The signal conditioning circuit is used for the signal conditioning circuit to amplify, filter, convert and other processes on the sensor signal so that it can be accurately identified by the microprocessor. The airflow velocity sensor, airflow direction sensor, pressure sensor and position sensor are evenly distributed on the top of the platform body. The position sensor is used to obtain the location information of the platform and the UAV using a GPS module or a Beidou system or a positioning system based on visual recognition. Air velocity sensor for use with derivatives based on Bernoulli's equation (Among which The pressure difference between the two ends of the sensor, is the air density, Airflow direction sensor, used to measure airflow direction based on the wind vane principle. Pressure sensor based on ( is the force, For pressure, is the sensing area) to detect the pressure generated by the landing of the drone.

[0078] Step 202: Input the position data of the flight data and the standard position data into a preset deviation function to obtain the deviation value of the UAV.

[0079] Position data refers to the current position information of the drone (i.e. the x-axis position, y-axis position, and z-axis position of the drone in the horizontal direction at the current moment).

[0080] The standard position data refers to the x-axis target position and y-axis target position of the drone in the horizontal plane direction of the standard landing trajectory at the target altitude.

[0081] In the embodiment of the present invention, the position data of the flight data and the standard position data are input into a preset deviation function to obtain a deviation value.

[0082] It should be noted that the deviation function is specifically:

[0083]

[0084] in, is the deviation value, is the x-axis target position in the horizontal plane, is the target position on the y-axis in the horizontal plane, is the x-axis position of the drone in the horizontal direction at the current moment, It is the horizontal y-axis position of the drone at the current moment.

[0085] Step 203: Determine the deviation value Is it less than the preset deviation threshold?

[0086] In the embodiment of the present invention, it is determined whether the deviation value is less than a preset deviation threshold.

[0087] Step 204: if the deviation value is less than the deviation threshold, based on the preset first control strategy, determine the target speed of the UAV landing platform according to the flight data, and adjust each propeller of the UAV landing platform according to the target speed;

[0088] Further, step 204 includes the following sub-steps:

[0089] S11, inputting the flight data into a preset rotation speed function to obtain a target rotation speed;

[0090] It should be noted that the rotation speed function is specifically:

[0091] ;

[0092] in, is the target speed, is the first weight coefficient, is the second weight coefficient, is the third weight coefficient, is the vertical position, is the vertical descent speed, is the first horizontal velocity, is the second horizontal velocity, for, is the reference vertical descent speed, is the reference horizontal velocity, The basic speed.

[0093] The first horizontal speed refers to the speed of the drone in the horizontal direction x.

[0094] The second horizontal speed refers to the speed of the drone in the horizontal direction y.

[0095] In an embodiment of the present invention, the flight data is used as an input of a preset rotation speed function to obtain a target rotation speed.

[0096] S12, performing ratio processing on the target speed and the preset number of propellers to obtain a propeller control amount;

[0097] In the embodiment of the present invention, the target rotation speed is ratio-processed with a preset number of propellers (a value of 4) to obtain the propeller control amount.

[0098] S13, using the propeller control amount to adjust each propeller of the UAV landing platform.

[0099] In an embodiment of the present invention, the rotation speed of each propeller in the UAV landing platform is adjusted according to the propeller control amount.

[0100] Step 205: If the deviation value is greater than or equal to the deviation threshold, based on the preset second control strategy, the speed adjustment data of the UAV landing platform is determined according to the flight data and the interference data, and each propeller is adjusted according to the speed adjustment data;

[0101] Further, the flight data includes a first horizontal position, a second horizontal position, a vertical position, a yaw angle, a roll angle, and a pitch angle, and step 205 includes the following sub-steps:

[0102] S21, inputting the flight data into a preset rotation speed function to obtain a target rotation speed;

[0103] In an embodiment of the present invention, the flight data is used as an input of a preset rotation speed function to obtain a target rotation speed.

[0104] S22, performing airflow interference analysis on the interference data to obtain airflow interference force;

[0105] Furthermore, the interference data includes air flow velocity, equivalent force bearing area and air density, and S22 includes the following sub-steps:

[0106] S221, performing a square operation on the air flow velocity to obtain a first square value;

[0107] S222, performing a multiplication operation on the first square value, the equivalent force bearing area, the air density, and the preset resistance coefficient to obtain a first multiplication value;

[0108] S223, performing a ratio operation on the first product value and a preset interference coefficient to obtain an airflow interference force.

[0109] In the embodiment of the present invention, in the specific implementation of S221-S223, in order to facilitate the implementation of the method, the above process can be converted into a formula encapsulation form, and the preset airflow interference analysis function is specifically:

[0110]

[0111] in, is the airflow disturbance force, is the drag coefficient, is the equivalent force bearing area, is the air density, is the air flow velocity.

[0112] S23, respectively performing difference calculations on the first horizontal position, the second horizontal position, the vertical position, the roll angle, the pitch angle, and the yaw angle with the corresponding target landing values ​​to obtain a first difference, a second difference, a third difference, a fourth difference, a fifth difference, and a sixth difference;

[0113] In an embodiment of the present invention, a first horizontal position is subjected to difference processing with a target position of a horizontal x-axis to obtain a first difference. A second horizontal position is subjected to difference processing with a target position of a horizontal y-axis to obtain a second difference. A vertical position is subjected to difference processing with a target landing height to obtain a third difference. A roll angle is subjected to difference processing with a target roll angle to obtain a fourth difference. A pitch angle is subjected to difference processing with a target pitch angle to obtain a fifth difference. A yaw angle is subjected to difference processing with a target yaw angle to obtain a sixth difference.

[0114] It should be noted that the target landing value refers to the landing parameters of the drone under ideal conditions, including but not limited to the target position of the horizontal x-axis, the target position of the horizontal y-axis, the target landing height,

[0115] S24, respectively inputting the first difference, the second difference, the third difference, the fourth difference, the fifth difference and the sixth difference into a preset PID controller to obtain a first control amount, a second control amount, a third control amount, a fourth control amount, a fifth control amount and a sixth control amount;

[0116] In an embodiment of the present invention, a PID control algorithm is used to optimize the control of the first difference, the second difference, the third difference, the fourth difference, the fifth difference and the sixth difference, respectively, to obtain the first control quantity, the second control quantity, the third control quantity, the fourth control quantity, the fifth control quantity and the sixth control quantity.

[0117] It should be noted that the expression of the first control quantity is specifically:

[0118]

[0119] in, is the first control quantity, is the scale factor in the horizontal x-axis direction, is the first difference, is the integration coefficient in the horizontal x-axis direction, is the differential coefficient in the horizontal x-axis direction.

[0120] The expression of the second control quantity is as follows:

[0121]

[0122] in, is the second control quantity, is the proportional coefficient in the horizontal y-axis direction, is the second difference, is the integral coefficient in the horizontal y-axis direction, is the differential coefficient in the horizontal y-axis direction.

[0123] The expression of the third control quantity is specifically:

[0124]

[0125] in, is the third control quantity, is the vertical scale factor, is the third difference, is the vertical integration coefficient, is the differential coefficient in the vertical direction.

[0126] The expression of the fourth control quantity is specifically:

[0127]

[0128] in, is the fourth control quantity, is the proportional coefficient of the roll angle, is the fourth difference, is the integral coefficient of the roll angle, is the differential coefficient of the roll angle.

[0129] The expression of the fifth control quantity is specifically:

[0130]

[0131] in, is the fifth control quantity, is the proportional coefficient of the pitch angle, is the fifth difference, is the integral coefficient of the pitch angle, is the differential coefficient of the pitch angle.

[0132] The expression of the sixth control quantity is specifically:

[0133]

[0134] in, is the sixth control quantity, is the proportional coefficient of the yaw angle, is the sixth difference in yaw angle, is the integral coefficient of the yaw angle, is the differential coefficient of the yaw angle.

[0135] S25, using airflow disturbance force to perform airflow disturbance compensation processing on the first control amount, the second control amount and the third control amount to obtain a first compensation control amount, a second compensation control amount and a third compensation control amount;

[0136] Further, S25 includes the following sub-steps:

[0137] S251, performing vector decomposition on the airflow interference force to obtain a first interference force, a second interference force and a third interference force;

[0138] In an embodiment of the present invention, the airflow disturbance force is vector-decomposed to obtain a first disturbance force (i.e., the x-axis component of the airflow disturbance force in the horizontal direction), a second disturbance force (i.e., the y-axis component of the airflow disturbance force in the horizontal direction), and a third disturbance force (i.e., the vertical component of the airflow disturbance force).

[0139] S252, multiplying the first interference force by a preset first compensation coefficient to obtain a first compensation value;

[0140] In the embodiment of the present invention, the first interference force is multiplied by a preset first compensation coefficient to obtain a first compensation value.

[0141] S253, multiplying the second interference force by a preset second compensation coefficient to obtain a second compensation value;

[0142] In the embodiment of the present invention, the second interference force is multiplied by a preset second compensation coefficient to obtain a second compensation value.

[0143] S254, multiplying the third interference force by a preset third compensation coefficient to obtain a third compensation value;

[0144] In the embodiment of the present invention, the third interference force is multiplied by a preset third compensation coefficient to obtain a third compensation value.

[0145] S255, adding the first control amount and the first compensation value to obtain a first compensation control amount;

[0146] In the embodiment of the present invention, the first control amount and the first compensation value are added to obtain the first compensation control amount.

[0147] S256, adding the second control amount and the second compensation value to obtain a second compensation control amount;

[0148] In the embodiment of the present invention, the second control amount and the second compensation value are added to obtain the second compensation control amount.

[0149] S257: Add the third control amount and the third compensation value to obtain a third compensation control amount.

[0150] In the embodiment of the present invention, the third control amount and the third compensation value are added to obtain the third compensation control amount.

[0151] S26. Input the target speed, the first compensation control amount, the second compensation control amount, the third compensation control amount, the fourth control amount, the fifth control amount and the sixth control amount into a preset speed adjustment function to obtain the speed adjustment data of the UAV landing platform.

[0152] In an embodiment of the present invention, the target speed, the first compensation control amount, the second compensation control amount, the third compensation control amount, the fourth control amount, the fifth control amount and the sixth control amount are input into a preset speed adjustment function to obtain the first propeller adjustment amount, the second propeller adjustment amount, the third propeller adjustment amount and the fourth propeller adjustment amount, and the first propeller adjustment amount, the second propeller adjustment amount, the third propeller adjustment amount and the fourth propeller adjustment amount are used as the speed adjustment data for the UAV landing platform.

[0153] It should be noted that the speed adjustment function is specifically:

[0154]

[0155]

[0156]

[0157]

[0158]

[0159]

[0160]

[0161]

[0162] in, is the adjustment amount of the first propeller, is the adjustment amount of the second propeller, is the adjustment amount of the third propeller, is the adjustment amount of the fourth propeller, is the first adjustment amount, is the second adjustment amount, is the third adjustment amount, is the fourth adjustment amount, is the second compensation control quantity, is the third compensation control quantity, is the fourth control quantity, is the fifth control quantity, is the sixth control quantity, is the first compensation control quantity, is the target speed.

[0163] Step 206: Jump to the step of acquiring the flight data of the drone and the interference data of the drone landing platform until the drone reaches the drone landing platform.

[0164] In the embodiment of the present invention, the process jumps to step 201 until the drone reaches the drone landing platform.

[0165] In an embodiment of the present invention, the present invention obtains the flight data of the drone and the interference data of the drone landing platform, and performs deviation calculation on the flight data based on a preset standard landing trajectory to obtain a deviation value, matches different control strategies according to the deviation value, and adjusts each propeller of the drone landing platform in combination with the flight data and the interference data. This overcomes the technical problem that the existing landing method does not take into account that the downward airflow generated by the landing of the drone will be blocked by the ground and reflected upward, thereby interfering with the landing posture of the drone and reducing the reliability of the drone. Compared with the traditional landing method, the present invention adjusts the propeller of the drone landing platform by acquiring the flight data of the drone and the interference data of the drone landing platform in real time, thereby ensuring the stability and balance of the airflow during the descent of the drone through the airflow thrust generated by the propeller, thereby improving the reliability of the drone.

[0166] See also Figure 3 , Figure 3 This is a structural block diagram of a control system for an unmanned aerial vehicle landing platform provided in Example 3 of the present invention.

[0167] The present invention provides a control system for a drone landing platform, comprising:

[0168] The acquisition module 301 is used to obtain the flight data of the UAV and the interference data of the UAV landing platform, and perform deviation calculation on the flight data based on a preset standard landing trajectory to obtain the deviation value of the UAV;

[0169] An analysis module 302 is used to determine whether the deviation value is less than a preset deviation threshold;

[0170] The first adjustment module 303 is used to determine the target rotation speed of the UAV landing platform according to the flight data based on a preset first control strategy if the deviation value is less than the deviation threshold, and adjust each propeller of the UAV landing platform according to the target rotation speed;

[0171] The second adjustment module 304 is used to determine the speed adjustment data of the UAV landing platform according to the flight data and the interference data based on the preset second control strategy if the deviation value is greater than or equal to the deviation threshold, and adjust each propeller according to the speed adjustment data;

[0172] The jump module 305 is used to jump to the step of acquiring the flight data of the drone and the interference data of the drone landing platform until the drone reaches the drone landing platform.

[0173] Furthermore, the acquisition module 301 includes:

[0174] An extraction submodule, used for taking the vertical height of the flight data as the target height, and extracting standard position data associated with the target height from a preset standard landing trajectory;

[0175] The deviation submodule is used to input the position data and standard position data of the flight data into a preset deviation function to obtain the deviation value of the drone.

[0176] Furthermore, the first adjustment module 303 includes:

[0177] A first pre-speed submodule is used to input the flight data into a preset rotation speed function to obtain a target speed;

[0178] The ratio submodule is used to perform ratio processing on the target speed and the preset number of propellers to obtain the propeller control amount;

[0179] The first regulating submodule is used to adjust each propeller of the UAV landing platform by using the propeller control amount.

[0180] Further, the flight data includes a first horizontal position, a second horizontal position, a vertical position, a yaw angle, a roll angle, and a pitch angle, and the second adjustment module 304 includes:

[0181] A second pre-rotation speed submodule is used to input the flight data into a preset rotation speed function to obtain a target rotation speed;

[0182] The interference analysis submodule is used to perform airflow interference analysis on the interference data to obtain the airflow interference force;

[0183] a deviation analysis submodule, for performing difference calculations on the first horizontal position, the second horizontal position, the vertical position, the roll angle, the pitch angle, and the yaw angle with corresponding target landing values ​​to obtain a first difference, a second difference, a third difference, a fourth difference, a fifth difference, and a sixth difference;

[0184] A control submodule, for inputting the first difference, the second difference, the third difference, the fourth difference, the fifth difference and the sixth difference into a preset PID controller respectively to obtain a first control amount, a second control amount, a third control amount, a fourth control amount, a fifth control amount and a sixth control amount;

[0185] A compensation submodule, used for performing airflow disturbance compensation processing on the first control amount, the second control amount and the third control amount by using the airflow disturbance force to obtain a first compensation control amount, a second compensation control amount and a third compensation control amount;

[0186] The speed regulation submodule is used to input the target speed, the first compensation control amount, the second compensation control amount, the third compensation control amount, the fourth control amount, the fifth control amount and the sixth control amount into a preset speed adjustment function to obtain the speed regulation data of the UAV landing platform.

[0187] Furthermore, the interference data includes air velocity, equivalent force bearing area and air density, and the interference analysis submodule includes:

[0188] A square operation unit, used for performing a square operation on the air flow velocity to obtain a first square value;

[0189] A first multiplication unit, used for performing a multiplication operation on the first square value, the equivalent force bearing area, the air density and the preset drag coefficient to obtain a first multiplication value;

[0190] The ratio unit is used to perform a ratio operation on the first product value and a preset interference coefficient to obtain an airflow interference force.

[0191] Furthermore, the compensation submodule includes:

[0192] A vector decomposition unit, used for vector decomposing the airflow interference force to obtain a first interference force, a second interference force and a third interference force;

[0193] A compensation quantization unit, used for multiplying the first interference force by a preset first compensation coefficient to obtain a first compensation value;

[0194] Multiplying the second interference force by a preset second compensation coefficient to obtain a second compensation value;

[0195] The third interference force is multiplied by a preset third compensation coefficient to obtain a third compensation value;

[0196] A compensation analysis unit, configured to add the first control amount and the first compensation value to obtain a first compensation control amount;

[0197] The second control amount and the second compensation value are added to obtain a second compensation control amount;

[0198] The third control amount and the third compensation value are added together to obtain a third compensation control amount.

[0199] Furthermore, the rotation speed function is specifically:

[0200] ;

[0201] in, is the target speed, is the first weight coefficient, is the second weight coefficient, is the third weight coefficient, is the vertical position, is the vertical descent speed, is the first horizontal velocity, is the second horizontal velocity, for, is the reference vertical descent speed, is the reference horizontal velocity, The basic speed.

[0202] See also Figure 4 , Figure 4 This is a structural block diagram of an electronic device provided in Embodiment 4 of the present invention.

[0203] An electronic device according to an embodiment of the present invention includes: a memory 401 and a processor 402, wherein the memory 402 stores a computer program; when the computer program is executed by the processor 402, the processor 402 executes a control method for a drone landing platform according to any of the above embodiments.

[0204] The memory 401 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk or a ROM. The memory 401 has a storage space 403 for a program code 413 for executing any method step in the above method. For example, the storage space 403 for the program code may include individual program codes 413 for implementing the various steps in the above method, respectively. These program codes may be read from or written to one or more computer program products. These computer program products include program code carriers such as a hard disk, a compact disk (CD), a memory card or a floppy disk. The program code may be compressed, for example, in an appropriate form. When these codes are run by a computing and processing device, the computing and processing device is caused to execute the various steps in the above-described method.

[0205] Embodiment 5 of the present invention further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, a control method for a drone landing platform as described in any of the above embodiments is implemented.

[0206] Embodiment 6 of the present invention further provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer executes a control method for a drone landing platform as described in any of the above embodiments.

[0207] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0208] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0209] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0210] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0211] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0212] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a drone landing platform, characterized in that: include: Acquire flight data of the UAV and interference data of the UAV landing platform, and perform deviation calculation on the flight data based on a preset standard landing trajectory to obtain a deviation value of the UAV; Determining whether the deviation value is less than a preset deviation threshold; If the deviation value is less than the deviation threshold, based on a preset first control strategy, a target rotation speed of the UAV landing platform is determined according to the flight data, and each propeller of the UAV landing platform is adjusted according to the target rotation speed; If the deviation value is greater than or equal to the deviation threshold, based on a preset second control strategy, the speed adjustment data of the UAV landing platform is determined according to the flight data and the interference data, and each of the propellers is adjusted according to the speed adjustment data; Jump to the step of acquiring the flight data of the drone and the interference data of the drone landing platform until the drone reaches the drone landing platform.

2. The control method of the UAV landing platform according to claim 1, characterized in that: The step of performing deviation calculation on the flight data based on a preset standard landing trajectory to obtain a deviation value of the UAV comprises: Taking the vertical height of the flight data as the target height, and extracting standard position data associated with the target height from a preset standard landing trajectory; The position data of the flight data and the standard position data are input into a preset deviation function to obtain a deviation value of the UAV.

3. The control method of the drone landing platform according to claim 1, characterized in that: The step of determining the target rotation speed of the UAV landing platform according to the flight data based on the preset first control strategy, and adjusting each propeller of the UAV landing platform according to the target rotation speed includes: Inputting the flight data into a preset rotation speed function to obtain a target rotation speed; The target speed is ratio-processed with a preset number of propellers to obtain a propeller control amount; The propeller control amount is used to adjust each propeller of the UAV landing platform.

4. The control method of the UAV landing platform according to claim 1, characterized in that: The flight data includes a first horizontal position, a second horizontal position, a vertical position, a yaw angle, a roll angle, and a pitch angle. The step of determining the rotation speed adjustment data of the UAV landing platform according to the flight data and the interference data based on the preset second control strategy includes: Inputting the flight data into a preset rotation speed function to obtain a target rotation speed; Performing airflow interference analysis on the interference data to obtain airflow interference force; performing difference calculations on the first horizontal position, the second horizontal position, the vertical position, the roll angle, the pitch angle, and the yaw angle with corresponding target landing values ​​to obtain a first difference, a second difference, a third difference, a fourth difference, a fifth difference, and a sixth difference; Inputting the first difference, the second difference, the third difference, the fourth difference, the fifth difference and the sixth difference into a preset PID controller respectively to obtain a first control amount, a second control amount, a third control amount, a fourth control amount, a fifth control amount and a sixth control amount; Using the airflow disturbance force to perform airflow disturbance compensation processing on the first control amount, the second control amount and the third control amount to obtain a first compensation control amount, a second compensation control amount and a third compensation control amount; The target speed, the first compensation control amount, the second compensation control amount, the third compensation control amount, the fourth control amount, the fifth control amount and the sixth control amount are input into a preset speed adjustment function to obtain the speed adjustment data of the UAV landing platform.

5. The control method of the UAV landing platform according to claim 4, characterized in that: The interference data includes airflow velocity, equivalent force bearing area and air density. The step of performing airflow interference analysis on the interference data to obtain airflow interference force includes: Square the airflow velocity to obtain a first square value; Performing a multiplication operation on the first square value, the equivalent force-bearing area, the air density, and a preset drag coefficient to obtain a first multiplied value; The first multiplication value is ratio-calculated with a preset interference coefficient to obtain the airflow interference force.

6. The control method of the UAV landing platform according to claim 4, characterized in that: The step of using the airflow disturbance force to perform airflow disturbance compensation processing on the first control amount, the second control amount and the third control amount to obtain a first compensation control amount, a second compensation control amount and a third compensation control amount comprises: Decomposing the airflow disturbance force by vector to obtain a first disturbance force, a second disturbance force and a third disturbance force; Multiplying the first interference force by a preset first compensation coefficient to obtain a first compensation value; Multiplying the second interference force by a preset second compensation coefficient to obtain a second compensation value; Multiplying the third interference force by a preset third compensation coefficient to obtain a third compensation value; Adding the first control amount and the first compensation value to obtain a first compensation control amount; Adding the second control amount and the second compensation value to obtain a second compensation control amount; The third control amount and the third compensation value are added together to obtain a third compensation control amount.

7. The control method of the UAV landing platform according to claims 3-4, characterized in that: The rotation speed function is specifically: ； in, is the target speed, is the first weight coefficient, is the second weight coefficient, is the third weight coefficient, is the vertical position, is the vertical descent speed, is the first horizontal velocity, is the second horizontal velocity, for, is the reference vertical descent speed, is the reference horizontal velocity, The basic speed.

8. A control system for an unmanned aerial vehicle landing platform, characterized in that: include: The acquisition module is used to obtain the flight data of the UAV and the interference data of the UAV landing platform, and perform deviation calculation on the flight data based on a preset standard landing trajectory to obtain the deviation value of the UAV; An analysis module, used to determine whether the deviation value is less than a preset deviation threshold; A first adjustment module, configured to determine a target rotation speed of the UAV landing platform according to the flight data based on a preset first control strategy if the deviation value is less than the deviation threshold, and adjust each propeller of the UAV landing platform according to the target rotation speed; A second adjustment module is used to determine the speed adjustment data of the UAV landing platform according to the flight data and the interference data based on a preset second control strategy if the deviation value is greater than or equal to the deviation threshold, and adjust each of the propellers according to the speed adjustment data; A jump module is used to jump to the step of acquiring the flight data of the drone and the interference data of the drone landing platform until the drone reaches the drone landing platform.

9. An electronic device, characterized in that: It includes a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the control method of the drone landing platform as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the control method of the drone landing platform as described in any one of claims 1-7 is implemented.

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