Vertical take-off and landing aircraft system and vertical take-off and landing aircraft landing control method

Abstract

The invention provides a vertical take-off and landing aircraft system and a landing control method of the vertical take-off and landing aircraft. The system comprises a vertical take-off and landing aircraft and an aircraft water take-off and landing platform. A two-dimensional code pattern composed of a plurality of black square areas and a plurality of white square areas is arranged on a deck of the aircraft water take-off and landing platform, the black square areas are covered with electric heating films, and the two-dimensional code pattern is used for indicating identification information of the aircraft water take-off and landing platform. According to the vertical take-off and landing aircraft system and the landing control method of the vertical take-off and landing aircraft, the position of the water take-off and landing platform can be more accurately determined before the vertical take-off and landing aircraft lands on the water take-off and landing platform arranged on the water surface, and the positioning precision of the water take-off and landing platform can be improved to the centimeter level; the risk that the vertical take-off and landing aircraft collides or is lost is remarkably reduced, and the all-weather precise landing capacity of the vertical take-off and landing aircraft under different meteorological conditions is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of water take-off and landing, and in particular to a vertical take-off and landing aircraft system and a vertical take-off and landing aircraft landing control method. Background Art

[0002] A vertical take-off and landing (VTOL) aircraft combines the vertical take-off and landing / hovering capabilities of a helicopter with the high-speed cruising capabilities of a fixed-wing aircraft. Capable of vertical take-off and landing, hovering, and maneuverability, VTOLs play a vital role in numerous applications, including ocean monitoring, water rescue, and fishery inspections. With technological breakthroughs and the continuous expansion of VTOL applications, the demand for VTOLs operating on water is growing.

[0003] In the related art, a vertical take-off and landing aircraft can use satellite positioning technology to determine the position of a water take-off and landing platform before landing on the water surface. However, due to the fact that the water surface environment generally lacks significant landmarks or reference objects, and the satellite positioning signal is easily affected by factors such as water surface reflection interference, it is difficult for a vertical take-off and landing aircraft to accurately determine the position of the water take-off and landing platform before landing on the water surface. This makes it difficult for the vertical take-off and landing aircraft to accurately land on the water take-off and landing platform, increasing the risk of the vertical take-off and landing aircraft colliding or falling into the water. Therefore, how to more accurately determine the position of a water take-off and landing platform before landing a vertical take-off and landing aircraft on the water surface is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] The present invention provides a vertical take-off and landing aircraft system and a vertical take-off and landing aircraft landing control method, which are used to solve the defect in the prior art that it is difficult for a vertical take-off and landing aircraft to accurately determine the position of an underwater take-off and landing platform before landing on the underwater take-off and landing platform, and to enable the vertical take-off and landing aircraft to more accurately determine the position of the underwater take-off and landing platform before landing on the underwater take-off and landing platform.

[0005] The present invention provides a vertical take-off and landing aircraft system, comprising: a vertical take-off and landing aircraft system, comprising: a vertical take-off and landing aircraft and an aircraft water take-off and landing platform; a two-dimensional code pattern consisting of a plurality of black square areas and a plurality of white square areas is provided on the deck of the aircraft water take-off and landing platform, the black square areas are covered with an electric heating film, and the two-dimensional code pattern is used to indicate identification information of the aircraft water take-off and landing platform; the vertical take-off and landing aircraft comprises a vertical take-off and landing aircraft body and a second controller, a positioning device, an image sensor and a thermal infrared sensor provided on the vertical take-off and landing aircraft body; the second controller is used to determine the real-time position information of the vertical take-off and landing aircraft body sent by the positioning device When entering the sensing area of ​​the target aircraft's water take-off and landing platform, the image sensor and the thermal infrared sensor are controlled to continuously collect image data and thermal infrared data below the vertical take-off and landing aircraft body, and then when the two-dimensional code pattern to be verified is obtained based on the image data and the thermal infrared data sent by the image sensor and the thermal infrared sensor, the identification information indicated by the two-dimensional code pattern to be verified is obtained, and when it is determined that the identification information indicated by the two-dimensional code pattern to be verified is the same as the identification information of the target aircraft's water take-off and landing platform, the vertical take-off and landing aircraft body is controlled to land on the deck of the target aircraft's water take-off and landing platform, and the aircraft's water take-off and landing platform includes the target aircraft's water take-off and landing platform.

[0006] According to a vertical take-off and landing aircraft system provided by the present invention, a first controller, a first inertial measurement unit and a first communication module are configured on the aircraft water take-off and landing platform; a second communication module and a second inertial measurement unit are configured on the vertical take-off and landing aircraft body; the first inertial measurement unit is used to collect real-time inertial measurement data of the aircraft water take-off and landing platform; the second inertial measurement unit is used to collect real-time inertial measurement data of the vertical take-off and landing aircraft body; the first communication module and the second communication module are used to realize communication between the first controller and the second controller; the first controller is used to calculate the real-time offset and real-time swaying frequency of the aircraft water take-off and landing platform caused by waves based on the real-time inertial measurement data of the aircraft water take-off and landing platform; the second controller is further used to calculate the real-time landing trajectory of the vertical take-off and landing aircraft body based on the received real-time offset and real-time swaying frequency of the aircraft water take-off and landing platform and the real-time inertial measurement data of the vertical take-off and landing aircraft body, and then control the vertical take-off and landing aircraft body to land on the deck of the target aircraft water take-off and landing platform based on the landing trajectory.

[0007] According to a vertical take-off and landing aircraft system provided by the present invention, the aircraft water take-off and landing platform includes: a main base and a plurality of counterweight sliders; a plurality of sliding tracks are evenly arranged around the main base, and each of the counterweight sliders is arranged on one of the sliding tracks; the counterweight slider is electrically connected to the first controller, and the counterweight slider is used to slide along the sliding track in response to the control of the first controller.

[0008] According to a vertical take-off and landing aircraft system provided by the present invention, the aircraft water take-off and landing platform also includes: a plurality of floating blocks and a pressure sensor array; the pressure sensor array is arranged at the bottom of the main base and / or the surface of the floating blocks, and the pressure sensor array is electrically connected to the first controller; the pressure sensor is used to collect real-time pressure data borne by the aircraft water take-off and landing platform, and send the real-time wave frequency to the first controller; each of the floating blocks is arranged around the main base; the first controller is used to adjust the spacing between the floating blocks in real time based on the real-time pressure data.

[0009] According to a vertical take-off and landing aircraft system provided by the present invention, the aircraft water take-off and landing platform also includes: an anchor chain, an anchor body and a depth sensor; the anchor chain is used to connect the anchor body and the main base; the depth sensor is arranged on the anchor body, and the depth sensor is used to collect real-time depth data of the anchor body and send the real-time depth data to the first controller; the first controller is used to control the real-time release speed of the anchor body based on the real-time depth data.

[0010] According to a vertical take-off and landing aircraft system provided by the present invention, a propeller group is provided on the anchor body, and the propeller group is electrically connected to the first controller; the first controller is used to control the propeller group to start to generate a downward vortex when it is determined that the depth of the water area where the aircraft's water take-off and landing platform is located is less than a preset depth.

[0011] According to a vertical take-off and landing aircraft system provided by the present invention, the aircraft water take-off and landing platform also includes: multiple catapult devices and multiple inflatable floating anchors; the catapult devices and the inflatable floating anchors correspond one to one; each of the inflatable floating anchors and each of the catapult devices are evenly arranged around the main base; each of the catapult devices is electrically connected to the first controller respectively; the catapult device is used to respond to the control of the first controller to catapult the inflatable floating anchor in a direction away from the main base; the inflatable floating anchor is inflated after encountering water.

[0012] According to a vertical take-off and landing aircraft system provided by the present invention, the aircraft water take-off and landing platform also includes: foldable side wings and pre-compressed airbags; the pre-compressed airbags are arranged around the main base, and the pre-compressed airbags are inflated when they come into contact with water; the foldable side wings are arranged around the main base.

[0013] According to a vertical take-off and landing aircraft system provided by the present invention, the aircraft water take-off and landing platform further includes: a wireless charging module.

[0014] The present invention also provides a vertical take-off and landing aircraft landing control method implemented based on any of the vertical take-off and landing aircraft systems as described above, including: obtaining real-time position information of the vertical take-off and landing aircraft; when it is determined based on the real-time position information that the vertical take-off and landing aircraft has entered the sensing area of ​​the target aircraft's water take-off and landing platform, controlling the image sensor and thermal infrared sensor carried by the vertical take-off and landing aircraft to continuously collect image data and thermal infrared data below the vertical take-off and landing aircraft; when a two-dimensional code pattern to be verified is obtained based on the image data and the thermal infrared data, obtaining identification information indicated by the two-dimensional code pattern to be verified; when it is determined that the identification information indicated by the two-dimensional code pattern to be verified is the same as the identification information of the target aircraft's water take-off and landing platform, controlling the vertical take-off and landing aircraft body to land on the deck of the target aircraft's water take-off and landing platform.

[0015] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the vertical take-off and landing aircraft landing control method as described above is implemented.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the vertical take-off and landing aircraft landing control method as described in any one of the above is implemented.

[0017] The present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-described methods for controlling the landing of a vertical take-off and landing aircraft.

[0018] The present invention provides a vertical take-off and landing (VTOL) aircraft system and a landing control method for the same. The VTOL aircraft system employs a dual-mode sensing system that combines a vertical take-off and landing (VTOL) aircraft image sensor and a thermal infrared sensor in a black square area on the deck of a waterborne landing platform. The system effectively addresses the technical issues of insufficient satellite positioning accuracy in water environments and severe environmental interference with traditional visual identification. The QR code pattern on the deck of the waterborne landing platform generates temperature differences through the electric heating film, enhancing the contrast of the QR code in thermal infrared imaging. This allows the waterborne landing platform to be stably identified in complex environments such as at night, in heavy fog, and under reflective water. Furthermore, the identification information indicated by the QR code pattern enables dual verification and positioning of the waterborne landing platform. This allows the VTOL aircraft to more accurately determine the position of the waterborne landing platform before landing on it. This improves the positioning accuracy of the waterborne landing platform to the centimeter level, significantly reducing the risk of collision or loss of the VTOL aircraft and ensuring the VTOL aircraft's all-weather precision landing capability under various weather conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 It is a structural schematic diagram of the vertical take-off and landing aircraft system provided by the present invention.

[0021] Figure 2 This is an appearance diagram of the aircraft water take-off and landing platform in the vertical take-off and landing aircraft system provided by the present invention in an actual scenario.

[0022] Figure 3 It is a flow chart of the vertical take-off and landing aircraft landing control method provided by the present invention.

[0023] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0025] In the description of the invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0026] In the description of this application, the terms "first", "second", etc. are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, in the description of this application, "and / or" represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0027] It should be noted that due to the lack of significant landmarks or reference objects in the water environment, and the susceptibility of satellite positioning signals to interference from water surface reflections, the positioning error of a vertical take-off and landing aircraft on the water landing platform can reach 1 to 3 meters, making it difficult to meet the centimeter-level accuracy requirements for vertical take-off and landing aircraft landing on the water. Related technologies can also use QR codes or LED signs for auxiliary positioning, but in foggy weather, at night, or in scenes with water surface reflections, it is still difficult to accurately determine the position of the water landing platform, making it difficult to meet the centimeter-level accuracy requirements for vertical take-off and landing aircraft landing on the water. Therefore, how to more accurately determine the position of a water landing platform before a vertical take-off and landing aircraft lands on the water surface is a technical problem that needs to be solved urgently in this field.

[0028] The following combination Figure 1-Figure 2 The vertical take-off and landing aircraft system provided by the present invention is described.

[0029] Figure 1 This is a schematic diagram of the structure of the vertical take-off and landing aircraft system provided by the present invention. Figure 1 The vertical take-off and landing aircraft system provided by the present invention is described. Figure 1 As shown, the vertical take-off and landing aircraft system includes: a vertical take-off and landing aircraft 101 and an aircraft water take-off and landing platform 102.

[0030] A QR code pattern consisting of multiple black square areas and multiple white square areas is set on the deck of the aircraft water take-off and landing platform 102. The black square areas are covered with electric heating films. The QR code pattern is used to indicate the identification information of the aircraft water take-off and landing platform 102.

[0031] The vertical take-off and landing aircraft 101 includes a vertical take-off and landing aircraft 101 body, and a second controller, a positioning device, an image sensor, and a thermal infrared sensor arranged on the vertical take-off and landing aircraft 101 body.

[0032] The second controller is used to control the image sensor and the thermal infrared sensor to continuously collect image data and thermal infrared data below the vertical take-off and landing aircraft 101 body when it is determined that the vertical take-off and landing aircraft 101 body has entered the sensing area of ​​the target aircraft water take-off and landing platform 102 based on the real-time position information of the vertical take-off and landing aircraft 101 body sent by the positioning device, and then obtain the identification information indicated by the QR code pattern to be verified when the QR code pattern to be verified is obtained based on the image data and thermal infrared data sent by the image sensor and the thermal infrared sensor; and when it is determined that the identification information indicated by the QR code pattern to be verified is the same as the identification information of the target aircraft water take-off and landing platform 102, control the vertical take-off and landing aircraft 101 body to land on the deck of the target aircraft water take-off and landing platform 102, where the aircraft water take-off and landing platform 102 includes the target aircraft water take-off and landing platform 102.

[0033] It should be noted that the configuration of the vertical take-off and landing aircraft 101 in the embodiment of the present invention may include but is not limited to a multi-rotor configuration, a compound wing (lift + cruise) configuration, a tilt-rotor / wing configuration, a vector thrust configuration, and a ducted fan configuration.

[0034] The aircraft waterborne landing platform 102 in this embodiment of the present invention is a platform specifically designed for the takeoff, landing, and parking of a vertical takeoff and landing aircraft 101. The aircraft waterborne landing platform 102 in this embodiment of the present invention can float on the surface of a target water area. The deck of the aircraft waterborne landing platform 102 is a dedicated operating surface located on top of the aircraft waterborne landing platform 102, used for parking and landing the vertical takeoff and landing aircraft 101.

[0035] Compared to traditional waterborne landing platforms, the aircraft waterborne landing platform 102 in the embodiment of the present invention is equipped with a positioning marker on its deck. The positioning marker includes a QR code pattern consisting of multiple black square areas and multiple white square areas. Each black square area is equipped with an electric heating film, while each white square area is not equipped with an electric heating film. The QR code pattern on the positioning marker can be used to indicate the identification information of the aircraft waterborne landing platform 102.

[0036] During actual operation of the aircraft water take-off and landing platform 102, the electric heating films in each black square area are powered on, the temperature in each black square area rises, and the temperature in each white square area is room temperature. By using the electric heating films in each black square area, the temperature of any black square area and any white square area can be set to a preset value.

[0037] The relationship between the temperature and direction modules in the QR code pattern on the deck of the aircraft water take-off and landing platform 102 can be expressed as: in, The first two-dimensional code pattern on the deck of the aircraft water landing platform 102 is represented by Rank Temperature of the square area of ​​the column; The black square area represents the set temperature, which is maintained by the electric heating film. , the black square area is coded as 1; Indicates the temperature of the white square area (ambient temperature), and the code of the black and white square area is 0.

[0038] It can be understood that the black square area and the white square area in the embodiment of the present invention have the same size, the black square area is filled with black, and the white square area is filled with white.

[0039] It is understandable that the number of aircraft water take-off and landing platforms 102 in the vertical take-off and landing aircraft system in the embodiment of the present invention can be multiple.

[0040] Compared with traditional vertical take-off and landing aircraft, the vertical take-off and landing aircraft 101 in the embodiment of the present invention includes a vertical take-off and landing aircraft 101 body and a second controller, a positioning device, an image sensor and a thermal infrared sensor arranged on the vertical take-off and landing aircraft 101 body.

[0041] The positioning device is used to obtain the real-time position information of the vertical take-off and landing aircraft 101 body and send the real-time position information to the second controller.

[0042] The image sensor and the thermal infrared sensor are used to continuously collect image data and thermal infrared data below the vertical take-off and landing aircraft 101 body in response to the control of the second controller, and send the collected image data and thermal infrared data to the second controller.

[0043] In the embodiment of the present invention, the aircraft water take-off and landing platform 102 where the vertical take-off and landing aircraft 101 in the vertical take-off and landing aircraft system needs to land can be determined as the target aircraft water take-off and landing platform 102.

[0044] The second controller can receive the real-time position information of the vertical take-off and landing aircraft 101 body sent by the positioning device, and then determine whether the vertical take-off and landing aircraft 101 body enters the sensing area of ​​the target aircraft water take-off and landing platform 102 based on the real-time position information of the vertical take-off and landing aircraft 101 body sent by the positioning device.

[0045] It should be noted that, in the embodiments of the present invention, the sensing area of ​​the target aircraft water take-off and landing platform 102 can be determined based on prior knowledge and / or actual conditions. For example, the sensing area of ​​the target aircraft water take-off and landing platform 102 can include a cylindrical area with the target aircraft water take-off and landing platform 102 as the top center, a first preset value as the base radius, and a second preset value as the height. The first preset value can range from 30 to 50 meters, and the second preset value can range from 10 to 30 meters. In the embodiments of the present invention, the sensing area of ​​the target aircraft water cluster platform is not specifically limited.

[0046] Optionally, after the aircraft water take-off and landing platform 102 in an embodiment of the present invention is deployed into the target waters, the position information of the aircraft water take-off and landing platform 102 can be recorded, and based on the position information of the aircraft water take-off and landing platform 102, the position information of the sensing area of ​​the aircraft water take-off and landing platform 102 can be sent to the vertical take-off and landing aircraft 101.

[0047] Optionally, in the embodiment of the present invention, the aircraft water take-off and landing platform 102 is equipped with a positioning device and a communication module, and the vertical take-off and landing aircraft 101 is also equipped with a communication module. The positioning device configured on the aircraft water take-off and landing platform 102 can be used to obtain real-time position information of the aircraft water take-off and landing platform 102, and then can be sent to the vertical take-off and landing aircraft 101 via the communication devices configured on the aircraft water take-off and landing platform 102 and the communication devices configured on the vertical take-off and landing aircraft 101, so that the second controller in the vertical take-off and landing aircraft 101 can determine the sensing area of ​​the target aircraft water take-off and landing platform 102 based on the real-time position information of the target aircraft water take-off and landing platform 102.

[0048] Optionally, in an embodiment of the present invention, after the vertical take-off and landing aircraft 101 enters the positioning area of ​​the target aircraft water take-off and landing platform 102, the sensing area of ​​the target aircraft water take-off and landing platform 102 can be determined by RTK positioning. The positioning area of ​​the target aircraft water take-off and landing platform 102 can be determined based on prior knowledge and / or actual conditions. For example, the positioning area of ​​the target aircraft water take-off and landing platform 102 can include a cylindrical area with the target aircraft water take-off and landing platform 102 as the top center, a third preset value as the bottom radius, and a fourth preset value as the height. The third preset value can range from 150 to 250 meters, and the fourth preset value can range from 50 to 100 meters. In the embodiment of the present invention, the positioning area of ​​the target aircraft water cluster platform is not specifically limited.

[0049] When the second controller determines that the vertical take-off and landing aircraft 101 has entered the sensing area of ​​the target aircraft's water landing platform 102 based on the real-time position information of the vertical take-off and landing aircraft 101 transmitted by the positioning device, it can control the image sensor and the thermal infrared sensor to collect image data and thermal infrared data from below the vertical take-off and landing aircraft 101 at a preset time interval. The preset time interval can be determined based on prior knowledge and / or actual conditions, for example, the preset time interval can be 0.1 seconds. The specific value of the preset time interval is not limited in the embodiments of the present invention.

[0050] It should be noted that the image sensor and thermal infrared sensor carried by the vertical take-off and landing vehicle 101 in the embodiment of the present invention are directed downward, perpendicular to the horizontal plane. The image sensor and thermal infrared sensor carried by the vertical take-off and landing vehicle 101 in the embodiment of the present invention have been aligned in time and space, and the image sensor and thermal infrared sensor collect image data and thermal infrared data from the same area at the same time.

[0051] Since the temperature difference between the black square area and the white square area in the QR code pattern on the deck of the target aircraft's water take-off and landing platform 102 is a preset temperature difference, when the vertical take-off and landing aircraft 101 body has not flown over the target aircraft's water take-off and landing platform 102, the thermal infrared data collected by the thermal infrared sensor carried by the vertical take-off and landing aircraft 101 does not include significant temperature change data.

[0052] When VTOL vehicle 101 flies over target aircraft's water landing platform 102, the thermal infrared data collected by its onboard thermal infrared sensor includes significant temperature variation data. The temperature field generated by the electric heating film can enhance the contrast of the QR code pattern on the deck of the water landing platform within the thermal infrared data. By combining the thermal infrared data with the image data, the second controller can accurately capture the QR code pattern on the deck of the target aircraft's water landing platform 102 in foggy weather, at night, or under water reflections, enabling VTOL vehicle 101 to more accurately locate the target aircraft's water landing platform 102.

[0053] After receiving the image data and thermal infrared data sent by the image sensor and the thermal infrared sensor, the second controller can determine whether the QR code pattern is obtained through image recognition, data fusion, and deep learning technology.

[0054] Optionally, the thermal infrared sensor in the embodiment of the present invention may be a thermal infrared imaging sensor, and the image sensor may be an RGB image sensor. Accordingly, the image data collected by the image sensor may be RGB image data, and the thermal infrared data collected by the thermal infrared sensor may be thermal infrared image data.

[0055] Accordingly, the second controller in the embodiment of the present invention can perform image fusion on the RGB image data collected by the image sensor and the thermal infrared image data collected by the thermal infrared sensor using a multimodal image fusion algorithm based on the image data and thermal infrared data sent by the image sensor and the thermal infrared sensor. The multimodal image fusion algorithm can be expressed by the following formula: in, Represents fused image data of the RGB image data collected by the image sensor and the thermal infrared image data collected by the thermal infrared sensor; Represents thermal infrared image data collected by the thermal infrared sensor; Represents the RGB image data collected by the image sensor; represents the ambient light intensity, which can be measured by a light intensity sensor carried on the vertical take-off and landing aircraft 101; and represents the adjustment coefficient, and its value can be determined based on prior knowledge and / or actual conditions, for example , .

[0056] Indicates the quality assessment value of the RGB image data collected by the image sensor; The quality assessment value of the thermal infrared image data collected by the thermal infrared sensor is calculated based on the image quality assessment algorithm.

[0057] Maintaining the temperature difference through the PID algorithm can enhance the robustness of the thermal infrared image data collected by the thermal infrared sensor. Through multimodal image fusion with adaptive weight distribution, the recognition rate of the vertical take-off and landing aircraft 101 for the QR code pattern in complex scenes can be improved.

[0058] The second controller obtains fused image data Afterwards, the fused image data can be judged Whether to include a QR code pattern.

[0059] When the second controller determines that a QR code pattern has been obtained based on the image data and thermal infrared data sent by the image sensor and the thermal infrared sensor, it can determine the obtained QR code pattern as the QR code pattern to be verified, and then, based on the QR code pattern to be verified, obtain the identification information indicated by the QR code pattern to be verified.

[0060] After obtaining the identification information indicated by the QR code pattern to be verified, the second controller can verify whether the identification information indicated by the QR code pattern to be verified is the same as the identification information of the target aircraft water take-off and landing platform 102.

[0061] It is understandable that the identification information of the target aircraft water take-off and landing platform 102 is sent to the second controller carried by the vertical take-off and landing aircraft 101 before the vertical take-off and landing aircraft 101 flies towards the target aircraft water take-off and landing platform 102 .

[0062] When the second controller determines that the identification information indicated by the above-mentioned QR code pattern to be verified is the same as the identification information of the target aircraft water landing platform 102, it can control the vertical take-off and landing aircraft 101 to land on the deck of the target aircraft water landing platform 102.

[0063] The VTOL aircraft system in an embodiment of the present invention effectively addresses the technical issues of insufficient satellite positioning accuracy in water environments and severe environmental interference with traditional visual identification by providing a QR code pattern covered with an electric heating film within a black square area on the deck of the water take-off and landing platform. Combined with a dual-mode perception system that collaborates with the VTOL aircraft's image sensor and thermal infrared sensor, the system effectively addresses the technical issues of insufficient satellite positioning accuracy in water environments and severe environmental interference with traditional visual identification. The QR code pattern on the deck of the water take-off and landing platform generates temperature differences through the electric heating film, enhancing the contrast of the QR code in thermal infrared imaging. This allows the water take-off and landing platform to be stably identified in complex environments such as at night, in heavy fog, and under water reflections. Furthermore, the identification information indicated by the QR code pattern enables dual verification and positioning of the water take-off and landing platform, enabling the VTOL aircraft to more accurately determine the position of the water take-off and landing platform before landing on the water surface. This improves the positioning accuracy of the water take-off and landing platform to the centimeter level, significantly reducing the risk of collision or loss of the VTOL aircraft and ensuring the VTOL aircraft's all-weather precision landing capability in various weather conditions.

[0064] As an optional embodiment, disturbance information is added to the coded data corresponding to the QR code pattern set on the deck of the aircraft's water take-off and landing platform 102; the second controller is also used to verify the legitimacy and decode the QR code pattern to be verified, and then obtain the identification information indicated by the QR code pattern to be verified.

[0065] Specifically, in order to prevent the vertical take-off and landing aircraft 101 from landing on the wrong aircraft water landing platform 102, thereby causing the loss of the vertical take-off and landing aircraft 101, disturbance information is added to the encoded data corresponding to the QR code pattern set on the deck of the aircraft water landing platform 102 in an embodiment of the present invention.

[0066] Accordingly, when the second controller configured on the vertical take-off and landing aircraft 101 obtains the two-dimensional code image to be verified, it is necessary to first verify the legitimacy of the two-dimensional code image to be verified.

[0067] The coded data after adding disturbances corresponding to the QR code pattern set on the deck of the aircraft water take-off and landing platform 102 , can be expressed by the following formula: in, Indicates anti-counterfeiting shape code, such as S-shaped code 1101110111; express Middle The numeric value of characters, , Represents a positive integer greater than 1; Indicates the number of code words corresponding to the two-dimensional code pattern set on the deck of the aircraft water take-off and landing platform 102.

[0068] By replacing the front of the coded data corresponding to the two-dimensional code pattern set on the deck of the aircraft water landing platform 102 The bit is an anti-counterfeiting shape, and the embedded position is forcibly modified to "1". Disturbance information can be added to the encoded data corresponding to the two-dimensional code pattern set on the deck of the aircraft's water landing platform 102, thereby preventing the copying of the two-dimensional code pattern set on the deck of the aircraft's water landing platform 102.

[0069] The second controller configured on the vertical take-off and landing aircraft 101 can use the anti-counterfeiting detection model to verify the legitimacy of the above-mentioned two-dimensional code image to be verified, thereby obtaining the identification information indicated by the two-dimensional code image to be verified.

[0070] The anti-counterfeiting detection model can be expressed by the following formula: in, It represents the proportion of correct coding, and the threshold is set to 0.85; represents the encoding matching function, Indicates matching, Indicates mismatch; Indicates that the percentage of embedded positions that are forced to be set to "1" must be no less than 90%.

[0071] When it is determined based on the anti-counterfeiting detection model that the two-dimensional code image to be verified passes the legality verification, the two-dimensional code image to be verified may be decoded to obtain identification information corresponding to the two-dimensional code image to be verified.

[0072] The embodiment of the present invention adds disturbance information to the coded data corresponding to the QR code pattern set on the deck of the aircraft's water take-off and landing platform, and the second controller in the vertical take-off and landing aircraft is also used to verify the legitimacy and decode the QR code pattern to be verified, thereby obtaining the identification information indicated by the QR code pattern to be verified. This can effectively prevent the reverse engineering copying of the QR code pattern set on the deck of the aircraft's water take-off and landing platform, effectively prevent the vertical take-off and landing aircraft from landing on the wrong aircraft's water take-off and landing platform, and thus effectively avoid the loss of the vertical take-off and landing aircraft.

[0073] As an optional embodiment, the aircraft water take-off and landing platform 102 is configured with a first controller, a first inertial measurement unit and a first communication module; the vertical take-off and landing aircraft 101 body is configured with a second communication module and a second inertial measurement unit; the first inertial measurement unit is used to collect real-time inertial measurement data of the aircraft water take-off and landing platform 102; the second inertial measurement unit is used to collect real-time inertial measurement data of the vertical take-off and landing aircraft 101 body; the first communication module and the second communication module are used to realize communication between the first controller and the second controller.

[0074] The first controller is used to calculate the real-time offset and real-time shaking frequency of the aircraft water take-off and landing platform 102 caused by waves based on the real-time inertial measurement data of the aircraft water take-off and landing platform 102.

[0075] The second controller is also used to calculate the real-time landing trajectory of the vertical take-off and landing aircraft 101 body based on the received real-time offset and real-time shaking frequency of the aircraft water take-off and landing platform 102 and the real-time inertial measurement data of the vertical take-off and landing aircraft 101 body, and then control the vertical take-off and landing aircraft 101 body to land on the deck of the target aircraft water take-off and landing platform 102 based on the landing trajectory.

[0076] It should be noted that, compared to the static stability of the road environment, the aircraft water landing platform 102 exhibits significant dynamic characteristics due to wave disturbances. However, in the related art, when the vertical take-off and landing aircraft 101 lands on the aircraft water landing platform 102, the dynamic changes such as horizontal displacement and pitching sway caused by wave motion of the traditional aircraft water landing platform are not taken into account. When the vertical take-off and landing aircraft 101 lands based on the initial positioning coordinates, the actual position of the aircraft water landing platform 102 may deviate from the original positioning point due to the action of waves, resulting in the failure of the vertical take-off and landing aircraft 101's hovering calibration or misalignment between the landing gear and the deck of the aircraft water landing platform 102. Especially in strong winds and waves, the instantaneous displacement of the aircraft water landing platform 102 can reach several meters, further increasing the risk of collision between the vertical take-off and landing aircraft 101 and the aircraft water landing platform 102 and slipping into the water. Therefore, the second controller in the vertical take-off and landing aircraft 101 in the embodiment of the present invention can establish a real-time motion compensation mechanism based on the real-time inertial measurement data of the target aircraft water take-off and landing platform 102 to achieve spatial trajectory synchronization between the vertical take-off and landing aircraft 101 and the moving target aircraft water take-off and landing platform 102, thereby ensuring the safe and accurate landing of the vertical take-off and landing aircraft 101 under complex hydrological conditions.

[0077] As an optional embodiment, the first controller is specifically used to remove noise from the real-time inertial measurement data of the aircraft water take-off and landing platform 102, and after obtaining the real-time inertial measurement data of the aircraft water take-off and landing platform 102 after data processing, calculate the real-time shaking frequency of the aircraft water take-off and landing platform 102 based on the real-time inertial measurement data of the aircraft water take-off and landing platform 102 after data processing through a short-time Fourier transform algorithm, convert the real-time inertial measurement data of the aircraft water take-off and landing platform 102 after data processing into a global coordinate system, obtain the real-time inertial measurement data of the aircraft water take-off and landing platform 102 in the global coordinate system, and then integrate the real-time inertial measurement data of the target aircraft water take-off and landing platform 102 in the global coordinate system to obtain the real-time offset of the target aircraft water take-off and landing platform 102.

[0078] Specifically, no. m The real-time inertial measurement data of the target aircraft water take-off and landing platform 102 collected by the first inertial measurement unit in the aircraft water take-off and landing platform 102 includes the first m The real-time acceleration of the aircraft water take-off and landing platform 102 and real-time angular velocity , m Represents a positive integer.

[0079] The real-time inertial data of the vertical take-off and landing aircraft 101 collected by the second inertial measurement unit includes real-time acceleration and real-time angular velocity .

[0080] No. m The first controller in the aircraft water take-off and landing platform 102 can remove the first m The high-frequency noise in the real-time inertial measurement data of the aircraft water take-off and landing platform 102 is removed, and the low-frequency wave motion signal is retained to obtain the first m The real-time inertial measurement data of the aircraft water take-off and landing platform 102 after data processing.

[0081] No. m The first controller in the aircraft water take-off and landing platform 102 obtains the m After the real-time inertial measurement data of the aircraft water take-off and landing platform 102 is processed, the quaternion or rotation matrix can be used to convert the first m The real-time inertial measurement data after the data processing of the aircraft water take-off and landing platform 102 is converted into the global coordinate system, eliminating the m The gravity component interference caused by the tilt of the aircraft water take-off and landing platform 102 itself is obtained in the global coordinate system. m Real-time inertial measurement data of the aircraft water take-off and landing platform 102.

[0082] No. m The first controller in the aircraft water take-off and landing platform 102 obtains the first m After obtaining the real-time inertial measurement data of the aircraft water take-off and landing platform 102, the first m The real-time inertial measurement data of the aircraft water take-off and landing platform 102 is then integrated twice to obtain the first m The real-time offset of the aircraft water take-off and landing platform 102 , the formula is as follows: in, represents the initial velocity; represents the initial moment; Indicates the current moment; represents the platform acceleration; Indicates bit increment shift; Indicates real-time speed.

[0083] It should be noted that the first controller in the aircraft water take-off and landing platform 102 in the embodiment of the present invention adopts a short-time integration window (such as 1 second), which can avoid the long-term error accumulation problem caused by zero drift in traditional IMU integration.

[0084] The target aircraft water take-off and landing platform 102 is the first m In the case of an aircraft water take-off and landing platform 102, m The first controller in the aircraft water take-off and landing platform 102 can be m The first communication module in the aircraft water take-off and landing platform 102 transmits the first m The real-time offset of the aircraft water take-off and landing platform 102 The communication occurs to the second communication module in the vertical take-off and landing aircraft 101 .

[0085] No. m The first controller in the aircraft water take-off and landing platform 102 obtains the m After the real-time inertial measurement data of the aircraft water take-off and landing platform 102 is processed, the first m Real-time inertial measurement data video analysis after data processing of the aircraft water take-off and landing platform 102, dynamic calculation of the m The real-time shaking frequency of the aircraft water take-off and landing platform 102.

[0086] The second communication module in the vertical take-off and landing aircraft 101 can mThe real-time offset of the aircraft water take-off and landing platform 102 Sent to the second controller in the vertical take-off and landing aircraft 101.

[0087] The second controller in the vertical take-off and landing aircraft 101 can be based on the first m The real-time offset of the aircraft water take-off and landing platform 102 and real-time inertial measurement data of the vertical take-off and landing aircraft 101, and using the model predictive control (MPC) algorithm, the m The real-time offset and real-time sway frequency of the aircraft water take-off and landing platform 102 are used as dynamic constraints to predict the m The position information of the aircraft water take-off and landing platform 102 at the future moment can be combined with Kalman filtering to eliminate the influence of communication delay (about 50ms) and generate the real-time landing trajectory of the vertical take-off and landing aircraft 101.

[0088] After the second controller in the vertical take-off and landing aircraft 101 generates the real-time landing trajectory of the vertical take-off and landing aircraft 101, it uses an adaptive phase-locked loop (APLL) to adjust the control command frequency of the vertical take-off and landing aircraft 101 based on phase difference feedback to make it consistent with the second controller. m The motion of the aircraft water take-off and landing platform 102 is synchronized. For example, a cross product automatic frequency tracking algorithm (Cross Product AFC) is used to quickly lock the phase to ensure that the control command is synchronized with the platform motion.

[0089] The embodiments of the present invention establish a bidirectional dynamic data exchange link between the aircraft water take-off and landing platform and the vertical take-off and landing aircraft. Using a dual-end inertial measurement unit (IMU) to synchronously collect the motion states of the platform and the aircraft in real time, the short-time Fourier transform (SFT) algorithm, global coordinate system conversion, and integral calculation are combined to accurately calculate the real-time offset and sway frequency of the aircraft water take-off and landing platform under wave disturbances. A dynamic motion compensation model is then constructed, and the motion parameters of the aircraft water take-off and landing platform are integrated with the vertical take-off and landing aircraft's own inertial data to generate a real-time landing trajectory for the vertical take-off and landing aircraft that is adaptive to wave motion. This allows the vertical take-off and landing aircraft to actively match the displacement and attitude changes of the aircraft water take-off and landing platform during landing, effectively overcoming the defects of related technologies in which static positioning logic is mismatched with the dynamic water surface environment. Dynamic error is reduced from several meters to centimeters, significantly improving the spatial trajectory synchronization between the vertical take-off and landing aircraft and the aircraft water take-off and landing platform, and addressing the risks of vertical take-off and landing aircraft collision and slippage caused by position drift and attitude sway caused by waves. High-precision and high-safety dynamic coordinated landing is achieved in complex wind and wave environments.

[0090] As an optional embodiment, the aircraft water take-off and landing platform 102 includes: a main base and a plurality of counterweight sliders; a plurality of sliding tracks are evenly arranged around the main base, and each counterweight slider is arranged on a sliding track; the counterweight slider is electrically connected to the first controller, and the counterweight slider is used to slide along the sliding track in response to the control of the first controller.

[0091] It should be noted that conventional waterborne landing platforms for aircraft in the relevant art mostly utilize passive rigid structural designs, lacking the ability to actively respond to dynamic hydrological conditions such as waves, tides, and currents. Experiments have shown that in sea state level 1 (wave height 0.1 meter), wave impacts on conventional waterborne landing platforms can cause them to tilt by more than 10°, potentially causing the aircraft to slip or even capsize. Furthermore, conventional waterborne landing platforms lack adaptive buoyancy adjustment systems. Tidal fluctuations in water levels (which can reach several meters per day) or sudden changes in current velocity (such as those in estuaries with currents exceeding 2 m / s) can cause the platform's draft to become inaccurate, further exacerbating the risk of instability. Consequently, conventional waterborne landing platforms struggle to maintain dynamic equilibrium in a water environment characterized by coupled multi-degree-of-freedom motion. This not only limits their operational sea state capabilities but also poses safety risks such as structural damage and equipment falling overboard, failing to meet the reliability requirements for aircraft waterborne landings.

[0092] Therefore, in the embodiment of the present invention, a plurality of sliding tracks are evenly arranged around the main base of the aircraft water take-off and landing platform 102. Each sliding track is provided with a counterweight slider. The counterweight slider can slide along the sliding track in response to the control of the first controller in the aircraft water take-off and landing platform 102. By controlling the position of at least one counterweight slider on its sliding track, the tilt angle of the aircraft water take-off and landing platform 102 can be dynamically adjusted, thereby effectively offsetting the impact of wave disturbances on the stability of the aircraft water take-off and landing platform 102, ensuring that the aircraft water take-off and landing platform 102 can maintain a balanced state under complex hydrological conditions.

[0093] It should be noted that the weight of the counterweight slider in the embodiment of the present invention can be determined based on the volume and weight of the main base, and the weight of the counterweight slider in the embodiment of the present invention is not specifically limited.

[0094] Optionally, in the embodiment of the present invention, when the main base of the aircraft water take-off and landing platform 102 is square, a sliding track is provided along each side of the main base in the horizontal direction.

[0095] As an optional embodiment, the first controller is specifically used to obtain the real-time roll angle and real-time pitch angle of the main base based on the real-time inertial data of the aircraft water take-off and landing platform 102, and then calculate the real-time displacement of each counterweight slider based on the real-time roll angle and real-time pitch angle of the main base, and then control each counterweight slider based on the real-time displacement of each counterweight slider.

[0096] Specifically, after the first controller obtains the real-time inertial data of the aircraft water take-off and landing platform 102, it can convert the real-time inertial data into the platform coordinate system to eliminate the installation offset error. For example, if the first inertial measurement unit is installed at the center of the main base, it is necessary to compensate for the geometric position difference between the first inertial measurement unit and the counterweight slider. p The geometric position difference between the counterweight slider and the first inertial measurement unit in the aircraft water take-off and landing platform 102 It can be calculated by the following formula: in, Indicates the first one of the aircraft water take-off and landing platforms 102 p The distance between the counterweight slider and the first inertial measurement unit in the aircraft water take-off and landing platform 102; Indicates the real-time roll angle of the main base in the aircraft water take-off and landing platform 102; It represents the real-time pitch angle of the main base in the aircraft water take-off and landing platform 102.

[0097] The first controller in the aircraft water take-off and landing platform 102 can calculate the force exerted by the gravity component on each counterweight slider based on the real-time roll angle and real-time pitch angle of the main base, and then drive the linear motor to adjust the position of at least one counterweight slider to generate a counter torque to balance the tilt torque. The specific calculation formula is as follows: in, Indicates the p The compensation force of a counterweight slider; Indicates the p The mass of the counterweight slider; Represents the acceleration due to gravity.

[0098] The first controller can be based on the p Compensation force of a counterweight slider Calculate the first p The displacement of the first counterweight slider relative to its current position is then used to control the first pA counterweight slider slides on the sliding track.

[0099] It should be noted that when calculating the p When the displacement of the first counterweight slider relative to the current position is 0, the first p The counterweight slider remains at its current position and does not slide.

[0100] Optionally, the first controller can use the position loop PID algorithm to calculate the second p The displacement of a counterweight slider relative to its current position can be calculated, and the differential term of the tilt angular velocity can be introduced as a feedforward input to improve the response speed.

[0101] The embodiment of the present invention realizes three-dimensional dynamic stability control of the aircraft water take-off and landing platform by arranging multi-directional sliding tracks and intelligent control of the counterweight slider around the main base. The first controller in the aircraft water take-off and landing platform automatically adjusts the radial displacement of the counterweight slider based on the real-time inertial data of the aircraft water take-off and landing platform, which can form a multi-dimensional torque compensation mechanism, and can actively offset the roll and pitch disturbances caused by waves, so that the aircraft water take-off and landing platform can still maintain the horizontal reference error within the allowable range under complex hydrological conditions, significantly improving the stability and operational safety of the aircraft when taking off and landing in dynamic waters, and effectively solving the posture imbalance problem of traditional aircraft water take-off and landing platforms caused by waves.

[0102] As an optional embodiment, the aircraft water take-off and landing platform 102 also includes: a plurality of floating blocks and a pressure sensor array; the pressure sensor array is arranged at the bottom of the main base and / or the surface of the floating blocks, and the pressure sensor array is electrically connected to the first controller; the pressure sensor is used to collect real-time pressure data borne by the aircraft water take-off and landing platform 102, and send the real-time wave frequency to the first controller.

[0103] The floating blocks are arranged around the main base; the first controller is used to adjust the distance between the floating blocks in real time based on real-time pressure data.

[0104] Specifically, the floating blocks in the embodiment of the present invention are arranged in a ring around the main base to form a distributed damping system.

[0105] The pressure sensor array is arranged on the bottom of the main base and / or the surface of the floating block, and is used to collect real-time pressure data on the aircraft water take-off and landing platform 102.

[0106] After the pressure sensor collects the real-time pressure data and sends it to the first controller, the first controller can calculate the real-time wave pressure distribution and real-time wave frequency of the water area where the aircraft water take-off and landing platform 102 is located based on the real-time pressure data.

[0107] The real-time wave pressure distribution refers to the spatial distribution of the dynamic pressure exerted by waves on different locations of the aircraft's waterborne take-off and landing platform 102. This distribution is influenced by wave morphology (wave height, wavelength, and direction), water density, and fluid dynamics. It typically manifests as a periodic variation in the pressure field with wave phase (peaks, troughs) and position (such as the platform's frontal and rearward surfaces). This real-time wave pressure distribution quantifies the impact of waves on the local structure of the aircraft's waterborne take-off and landing platform 102, providing spatial load information for active balance control.

[0108] Real-time wave frequency refers to the number of periodic wave fluctuations per unit time (measured in Hertz, Hz), reflecting the temporal concentration of wave energy. High-frequency waves (such as short-period wind waves) induce rapidly alternating loads, requiring control systems with high-frequency regulation capabilities. Low-frequency waves (such as long-period swells) can induce large, slow oscillations, requiring continuous compensating torque generated by counterweight displacement. Real-time wave frequency acquisition optimizes the dynamic response parameters of the control algorithm and improves the platform's anti-interference efficiency.

[0109] The first controller can extract the real-time wave main frequency (0.1-2 Hz) of the water area where the aircraft water take-off and landing platform 102 is located through short-time Fourier transform (STFT) or bandpass filtering, and then identify the resonance risk frequency band based on the above real-time wave main frequency.

[0110] When the first controller determines that the real-time wave main frequency in the water area where the aircraft water take-off and landing platform 102 is located is close to the natural frequency of the main base, the first controller can adjust the spacing between the floating blocks, thereby changing the buoyancy distribution between each floating block, thereby changing the stiffness or damping ratio of the main base, so that the natural frequency of the main base deviates from the real-time wave main frequency in the water area where the aircraft water take-off and landing platform 102 is located.

[0111] The first controller can also form a non-uniform flow field by adjusting the spacing between the floating blocks, thereby increasing the flow-pushing energy consumption and reducing the wave resonance energy transfer efficiency.

[0112] The aircraft water take-off and landing platform 102 in this embodiment of the present invention integrates a pressure sensor array with multiple buoyant blocks to establish a multi-dimensional wave environment perception and dynamic suppression system. The pressure sensors capture the pressure distribution and frequency characteristics on the bottom of the aircraft water take-off and landing platform 102 and / or the surface of the buoyant blocks in real time. Combined with short-time Fourier transform, they accurately identify the main wave frequency (0.1-2Hz) and resonance risk. The annular array of buoyant blocks achieves dual control through spacing adjustment. On the one hand, it changes the buoyancy distribution to adjust the stiffness and natural frequency of the main base, actively avoiding the wave resonance frequency band. On the other hand, it generates a non-uniform flow field to enhance turbulent energy dissipation and reduce the efficiency of wave energy transfer. The aircraft water take-off and landing platform 102 in this embodiment of the present invention can simultaneously achieve wave frequency-domain vibration avoidance and time-domain energy dissipation. Combined with the torque compensation of the counterweight slider, it can form a multi-level anti-disturbance mechanism, significantly improving the natural frequency adaptability, resonance suppression capability, and overall dynamic stability of the aircraft water take-off and landing platform 102 under complex wave conditions.

[0113] As an optional embodiment, the aircraft water take-off and landing platform 102 also includes: an anchor chain, an anchor body and a depth sensor; the anchor chain is used to connect the anchor body and the main base; the depth sensor is arranged on the anchor body, and the depth sensor is used to collect real-time depth data of the anchor body and send the real-time depth data to the first controller; the first controller is used to control the real-time release speed of the anchor body based on the real-time depth data.

[0114] It should be noted that conventional waterborne landing platforms typically rely solely on their own weight for buoyancy. However, in dynamic waters with currents exceeding 1.5 m / s (such as estuaries and offshore areas), traditional waterborne landing platforms based on passive buoyancy can achieve drift rates of up to 0.8 m / s, far exceeding the static accuracy threshold required for vertical take-off and landing (VTOL) aircraft. The mechanical anchor chain systems used with conventional waterborne landing platforms are constrained by a preset water depth (typically >10 meters). In shallow water (<5 meters), insufficient contact area between the anchor claws and the bottom causes a sharp decrease in pullout resistance, doubling the risk of anchor failure. In particular, these platforms lack both real-time environmental awareness and a rapid dynamic response mechanism in the face of sudden wind and wave disturbances. This makes VTOL aircraft susceptible to both horizontal platform displacement and attitude oscillation during takeoff and landing, severely impacting their safety and reliability.

[0115] Therefore, the bottom of the main base of the aircraft water take-off and landing platform 102 in the embodiment of the present invention is configured with an anchor chain made of titanium alloy, and the maximum length of the anchor chain can be 50 meters.

[0116] The anchor body is of barbed type and is provided with a depth sensor for collecting real-time depth data of the anchor body.

[0117] The first controller in the embodiment of the present invention can control the real-time release speed of the anchor body in a variety of ways based on the real-time depth data of the anchor body.

[0118] Optionally, the first controller can divide the water depth into different intervals and adopt different release speed strategies. When the anchor is in shallow water (e.g., 0-20 meters), the anchor is released quickly (speed Vmax) to reduce the deployment time of the anchor and prevent the anchor from deflecting due to water disturbance.

[0119] When the anchor is in the transition zone (e.g. 20-40 meters), the release speed of the anchor decreases linearly with the water depth, as expressed by the following formula: in, Indicates the depth of the anchor body; Indicates the anchor depth is When , the release speed of the anchor body; represents the attenuation coefficient; Indicates the threshold value of shallow water area (e.g. 20 meters); Indicates the maximum release speed of the anchor body.

[0120] When the anchor body is in deep water (for example, 40-50 meters), the anchor body is slowly released to ensure that the anchor body is fully embedded in the water bottom, thereby increasing the grip of the anchor body.

[0121] It should be noted that the threshold values ​​for shallow and deep water areas in the embodiments of the present invention can be determined based on actual conditions and / or prior knowledge. The speed at which the anchor is rapidly released in shallow water areas and the speed at which it is slowly released in deep water areas are also determined based on actual conditions and / or prior knowledge. The threshold values ​​for shallow and deep water areas, as well as the speed at which the anchor is rapidly released in shallow water areas and the speed at which it is slowly released in deep water areas, are not specifically limited in the embodiments of the present invention.

[0122] Optionally, the first controller may further control the real-time release speed of the anchor body based on a nonlinear inverse proportional model. The nonlinear inverse proportional model may be expressed by the following formula: in, Indicates the maximum length of the anchor chain; The nonlinear inverse proportional model is suitable for continuous speed regulation scenarios and can significantly reduce the anchor release speed in deep water.

[0123] The first controller in the embodiment of the present invention may dynamically adjust the torque of the motor for releasing the anchor chain by means of a PID controller.

[0124] As an optional embodiment, a propeller group is provided on the anchor body, and the propeller group is electrically connected to the first controller; the first controller is used to control the propeller group to start to generate a downward vortex when it is determined that the depth of the water area where the aircraft water take-off and landing platform 102 is located is less than a preset depth.

[0125] Specifically, after the anchor is released, if the real-time depth data collected by the depth sensor does not increase within a period of time, it means that the anchor has reached the bottom of the water. The first controller can obtain the depth of the water area where the aircraft water take-off and landing platform 102 is located based on the real-time depth data.

[0126] If the first controller determines that the depth of the water area where the aircraft water take-off and landing platform 102 is located is less than a preset depth (for example, 5 meters), the propeller group arranged at the bottom of the anchor body can be controlled to start, thereby generating a downward vortex, and using the Bernoulli effect to form a local low-pressure area to enhance the adsorption force of the aircraft water take-off and landing platform 102 (adsorption force>300N).

[0127] As an optional embodiment, the aircraft water take-off and landing platform 102 also includes: multiple catapult devices and multiple inflatable floating anchors; the catapult devices and the inflatable floating anchors correspond one to one; the inflatable floating anchors and the catapult devices are evenly arranged around the main base; each catapult device is electrically connected to the first controller respectively; the catapult device is used to respond to the control of the first controller to catapult the inflatable floating anchor in a direction away from the main base; the inflatable floating anchor is inflated after encountering water.

[0128] Specifically, under certain circumstances, such as when a strong wind and wave alarm is triggered, the first controller in the aircraft water take-off and landing platform 102 can eject the inflatable floating anchor in a direction away from the main base, so that the inflatable floating anchor is inflated after encountering water.

[0129] The inflatable floating anchor is connected to the main base via a Kevlar rope and when inflated it forms a stable structure that resists dragging.

[0130] Optionally, in the embodiment of the present invention, the number of ejection devices and inflatable floating anchors can be 3.

[0131] Optionally, the ejection device in the embodiment of the present invention may be driven by compressed air.

[0132] As an optional embodiment, the aircraft water take-off and landing platform 102 further includes: foldable side wings and pre-compressed airbags; the pre-compressed airbags are arranged around the main base and inflated when encountering water; the foldable side wings are arranged around the main base.

[0133] It should be noted that the main body of the traditional aircraft water take-off and landing platform in the relevant technology is usually a float or a foam base, which is a rigid integrated design, large in size (the diameter is greater than 2.5 meters when unfolded), and has high transportation and deployment costs.

[0134] Therefore, the aircraft water take-off and landing platform 102 in this embodiment of the present invention is equipped with foldable wings and pre-compressed airbags. The main base utilizes a honeycomb carbon fiber structure, with hinges connecting the edges of the main base to the foldable wings. When deployed, these wings increase buoyancy by 150%. When stowed, they fold inward, reducing the overall volume to 0.8m x 0.8m x 0.3m.

[0135] Pre-compressed air bags are arranged around the main base. When it comes into contact with water, the air pump completes inflation within 5 seconds, forming an annular buoyancy belt and absorbing the impact energy of the vertical take-off and landing aircraft 101 when it lands.

[0136] As an optional embodiment, the aircraft water take-off and landing platform 102 further includes: a wireless charging module.

[0137] Specifically, the deck surface of the aircraft water take-off and landing platform 102 in this embodiment of the present invention can also be embedded with six Qi-compliant wireless charging modules (each module has a power of 50W). After landing, the vertical take-off and landing aircraft 101 can automatically dock with the charging coil through magnetic induction positioning, charging the vertical take-off and landing aircraft 101 with a charging efficiency exceeding 90%.

[0138] The side cabin of the aircraft water take-off and landing platform 102 has a built-in drying cabin that can store multiple spare batteries of the vertical take-off and landing aircraft 101. The humidity sensor controls the cabin environment (humidity <30%), and the battery replacement takes ≤2 minutes.

[0139] The VTOL system provided by this invention integrates RTK (±2cm) positioning and infrared thermal imaging technology to address the technical issues of large errors in traditional satellite surface positioning and susceptibility of visual recognition to environmental interference. It achieves a recognition success rate of over 95% for the aircraft's water landing platform 102, both day and night, and in inclement weather. Real-time interaction of inertial measurement data between the aircraft's water landing platform 102 and the VTOL aircraft 101 offsets landing displacement deviations caused by waves, reducing landing trajectory tracking errors to less than 3cm and minimizing the risk of collision with the VTOL aircraft 101.

[0140] This invention pioneers dual-mode positioning using RTK and infrared thermal imaging. A heated QR code (a black square area covered with an electric heating film, maintained at a constant temperature of 40-50°C) is embedded on the deck of the aircraft's water landing platform 102. Combined with the thermal infrared sensor onboard the vertical take-off and landing vehicle 101, this technology uses temperature differentials to accurately identify the aircraft's water landing platform 102 (with a recognition rate of ≥98%) in both daytime and nighttime, rainy and foggy conditions, and in highly reflective environments. This overcomes the limitations of traditional single-mode visual / satellite positioning. A wave displacement prediction model is established based on real-time interaction between the platform and the vertical take-off and landing vehicle 101's inertial measurement data. The dynamic correction frequency for the vertical take-off and landing vehicle 101's landing trajectory reaches 20Hz, reducing the touch panel's instantaneous positioning error to ≤3cm (compared to >15cm errors with traditional solutions).

[0141] The vertical take-off and landing (VTOL) aircraft system provided by the present invention utilizes hinges and self-inflating wings, reducing the platform's storage volume by 70% (unfolded dimensions: 2.5m x 2.5m, folded dimensions: 0.8m x 0.8m x 0.3m), making it easier to deploy by unmanned vessels or manually. Through the coordinated control of the counterweight slider and the floating block, the aircraft's waterborne take-off and landing platform 102 maintains a tilt angle of ≤5° in sea conditions of level 3 (wave height of 1.5 meters), improving wave resistance by 300% compared to traditional fixed platforms. The foldable wings utilize a pre-compressed folding structure (increasing buoyancy by 150% after deployment) coupled with pre-compressed airbags that self-trigger upon contact with water (completely inflating in 5 seconds), achieving a balance between portability and impact resistance, reducing the storage volume of the aircraft's waterborne take-off and landing platform 102 by 70%. The built-in inertial measurement unit drives the counterweight slider to detect the tilt angle of the aircraft's water take-off and landing platform 102 in real time (with an accuracy of 0.1°), and adjusts the position of the counterweight slider through a linear motor (with a response time of 0.1 seconds). Under level 3 sea conditions, the tilt angle of the aircraft's water take-off and landing platform 102 is suppressed from 25° to <5°.

[0142] The VTOL system provided by this invention automatically switches between a mechanical anchor chain (500N gripping force) in deep water and eddy current suction (≥300N suction force) in shallow water. It maintains an anchoring error of ≤0.5m in water depths of 0-50m, resolving the shallow water failure problem of traditional anchor chains (increasing the success rate from 60% to 98%). A compressed air-driven ejection mechanism launches the inflatable floating anchor in 0.5 seconds, and the anti-drag structure, combined with Kevlar ropes, can withstand strong winds and waves up to 15m / s.

[0143] In deep water, the VTOL system provided by this invention uses a servo motor to slowly release a titanium alloy anchor chain (adjustable speed 0.1-2 m / s). The anchor's barbed design enhances grip (anchoring force ≥ 500N in deep water). In shallow water, the propeller assembly at the bottom of the anchor is activated, generating a downward flow and leveraging the Bernoulli effect to create low-pressure suction (suction force ≥ 300N in shallow water), thus resolving the shallow water failure problem of traditional anchors. When triggered by strong winds and waves, a 20MPa high-pressure gas tank ejection device launches the inflatable floating anchor within 0.5 seconds. Kevlar ropes (tensile strength 5000N) form a triangular structure for stability, capable of withstanding instantaneous wind speeds of 15 m / s.

[0144] The VTOL system provided by this invention also provides wireless charging for VTOL 101. The Qi-standard wireless array (50W power) coupled with a waterproof design achieves 290% charging efficiency, eliminating the 15% charging failure rate caused by contact corrosion. A built-in drying compartment in the side compartment can store multiple spare batteries for VTOL 101, supporting continuous operation of VTOL 101.

[0145] Figure 2 The appearance of the aircraft water take-off and landing platform in the vertical take-off and landing aircraft system provided by the present invention is shown in the actual scene. Figure 2 shown.

[0146] Figure 3 Schematic diagram of the process of the vertical take-off and landing aircraft landing control method provided by the present invention. The vertical take-off and landing aircraft landing control method provided by the present invention is implemented based on any of the vertical take-off and landing aircraft systems described above. Figure 3 As shown, the method includes the following steps: Step 301, obtaining real-time position information of a vertical take-off and landing aircraft; Step 302: When it is determined based on the real-time position information that the vertical take-off and landing aircraft has entered the sensing area of ​​the target aircraft's water take-off and landing platform, control the image sensor and thermal infrared sensor carried by the vertical take-off and landing aircraft to continuously collect image data and thermal infrared data below the vertical take-off and landing aircraft; Step 303: When a QR code pattern to be verified is obtained based on the image data and the thermal infrared data, obtaining identification information indicated by the QR code pattern to be verified; Step 304: When it is determined that the identification information indicated by the QR code pattern to be verified is the same as the identification information of the target aircraft's water landing platform, control the vertical take-off and landing aircraft body to land on the deck of the target aircraft's water landing platform.

[0147] It should be noted that the vertical take-off and landing aircraft landing control method provided by the present invention is implemented based on any of the vertical take-off and landing aircraft systems as mentioned above. The specific execution steps of the vertical take-off and landing aircraft landing control method can be found in the contents of the above embodiments and will not be repeated in the embodiments of the present invention.

[0148] Figure 4 An example of a physical structure diagram of an electronic device is shown below. Figure 4 As shown, the electronic device may include: a processor 410, a communications interface 420, a memory 430, and a communications bus 440, wherein the processor 410, the communications interface 420, and the memory 430 communicate with each other via the communications bus 440. The processor 410 may call logic instructions in the memory 430 to execute a vertical take-off and landing vehicle landing control method, which includes: obtaining real-time position information of the vertical take-off and landing vehicle; if it is determined based on the real-time position information that the vertical take-off and landing vehicle has entered the sensing area of ​​the target aircraft's water take-off and landing platform, controlling the image sensor and thermal infrared sensor carried by the vertical take-off and landing vehicle to continuously collect image data and thermal infrared data below the vertical take-off and landing vehicle; if a QR code pattern to be verified is obtained based on the image data and the thermal infrared data, obtaining identification information indicated by the QR code pattern to be verified; if it is determined that the identification information indicated by the QR code pattern to be verified is the same as the identification information of the target aircraft's water take-off and landing platform, controlling the vertical take-off and landing vehicle body to land on the deck of the target aircraft's water take-off and landing platform.

[0149] Furthermore, the logic instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes instructions for enabling 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 described in various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0150] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the vertical take-off and landing aircraft landing control method provided by the above methods, the method including: obtaining the real-time position information of the vertical take-off and landing aircraft; when it is determined based on the real-time position information that the vertical take-off and landing aircraft enters the sensing area of ​​the target aircraft's water take-off and landing platform, controlling the image sensor and thermal infrared sensor carried by the vertical take-off and landing aircraft to continuously collect image data and thermal infrared data below the vertical take-off and landing aircraft; when a QR code pattern to be verified is obtained based on the image data and thermal infrared data, obtaining the identification information indicated by the QR code pattern to be verified; when it is determined that the identification information indicated by the QR code pattern to be verified is the same as the identification information of the target aircraft's water take-off and landing platform, controlling the vertical take-off and landing aircraft body to land on the deck of the target aircraft's water take-off and landing platform.

[0151] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the vertical take-off and landing aircraft landing control method provided by the above-mentioned methods, the method comprising: obtaining the real-time position information of the vertical take-off and landing aircraft; when it is determined based on the real-time position information that the vertical take-off and landing aircraft has entered the sensing area of ​​the target aircraft's water take-off and landing platform, controlling the image sensor and thermal infrared sensor carried by the vertical take-off and landing aircraft to continuously collect image data and thermal infrared data below the vertical take-off and landing aircraft; when a QR code pattern to be verified is obtained based on the image data and thermal infrared data, obtaining identification information indicated by the QR code pattern to be verified; when it is determined that the identification information indicated by the QR code pattern to be verified is the same as the identification information of the target aircraft's water take-off and landing platform, controlling the vertical take-off and landing aircraft body to land on the deck of the target aircraft's water take-off and landing platform.

[0152] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0153] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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 various embodiments of the present invention.

Claims

1. A vertical take-off and landing aircraft system, characterized in that: include: Vertical take-off and landing aircraft system, including: vertical take-off and landing aircraft and aircraft water take-off and landing platform; A two-dimensional code pattern consisting of a plurality of black square areas and a plurality of white square areas is provided on the deck of the aircraft water take-off and landing platform, wherein the black square areas are covered with electric heating films, and the two-dimensional code pattern is used to indicate identification information of the aircraft water take-off and landing platform; The vertical take-off and landing aircraft includes a vertical take-off and landing aircraft body and a second controller, a positioning device, an image sensor, and a thermal infrared sensor provided on the vertical take-off and landing aircraft body; The second controller is used to control the image sensor and the thermal infrared sensor to continuously collect image data and thermal infrared data below the vertical take-off and landing aircraft body when it is determined that the vertical take-off and landing aircraft body has entered the sensing area of ​​the target aircraft water take-off and landing platform based on the real-time position information of the vertical take-off and landing aircraft body sent by the positioning device, and then obtain the identification information indicated by the two-dimensional code pattern to be verified when the two-dimensional code pattern to be verified is obtained based on the image data and the thermal infrared data sent by the image sensor and the thermal infrared sensor; and when it is determined that the identification information indicated by the two-dimensional code pattern to be verified is the same as the identification information of the target aircraft water take-off and landing platform, control the vertical take-off and landing aircraft body to land on the deck of the target aircraft water take-off and landing platform, and the aircraft water take-off and landing platform includes the target aircraft water take-off and landing platform.

2. The vertical take-off and landing aircraft system according to claim 1, characterized in that: The aircraft water take-off and landing platform is equipped with a first controller, a first inertial measurement unit and a first communication module; the vertical take-off and landing aircraft body is equipped with a second communication module and a second inertial measurement unit; the first inertial measurement unit is used to collect real-time inertial measurement data of the aircraft water take-off and landing platform; the second inertial measurement unit is used to collect real-time inertial measurement data of the vertical take-off and landing aircraft body; the first communication module and the second communication module are used to realize communication between the first controller and the second controller; The first controller is used to calculate the real-time offset and real-time sway frequency of the aircraft water take-off and landing platform caused by waves based on the real-time inertial measurement data of the aircraft water take-off and landing platform; The second controller is also used to calculate the real-time landing trajectory of the vertical take-off and landing aircraft body based on the received real-time offset and real-time shaking frequency of the aircraft's water take-off and landing platform and the real-time inertial measurement data of the vertical take-off and landing aircraft body, and then control the vertical take-off and landing aircraft body to land on the deck of the target aircraft's water take-off and landing platform based on the landing trajectory.

3. The vertical take-off and landing aircraft system according to claim 2, characterized in that: The aircraft water take-off and landing platform includes: a main base and multiple counterweight sliders; multiple sliding tracks are evenly arranged around the main base, and each counterweight slider is arranged on one of the sliding tracks; the counterweight slider is electrically connected to the first controller, and the counterweight slider is used to slide along the sliding track in response to the control of the first controller.

4. The vertical take-off and landing aircraft system according to claim 3, characterized in that: The aircraft water take-off and landing platform further includes: a plurality of floating blocks and a pressure sensor array; the pressure sensor array is disposed on the bottom of the main base and / or the surface of the floating blocks, and the pressure sensor array is electrically connected to the first controller; the pressure sensor is used to collect real-time pressure data on the aircraft water take-off and landing platform and transmit the real-time wave frequency to the first controller; The floating blocks are arranged around the main base; and the first controller is used to adjust the distance between the floating blocks in real time based on the real-time pressure data.

5. The vertical take-off and landing aircraft system according to claim 3, characterized in that: The aircraft water take-off and landing platform further includes: an anchor chain, an anchor body, and a depth sensor; the anchor chain is used to connect the anchor body and the main base; the depth sensor is arranged on the anchor body, and the depth sensor is used to collect real-time depth data of the anchor body and send the real-time depth data to the first controller; The first controller is used to control the real-time release speed of the anchor body based on the real-time depth data.

6. The vertical take-off and landing aircraft system according to claim 5, characterized in that: A propeller group is provided on the anchor body, and the propeller group is electrically connected to the first controller; the first controller is used to control the propeller group to start to generate a downward vortex when it is determined that the depth of the water area where the aircraft water take-off and landing platform is located is less than a preset depth.

7. The vertical take-off and landing aircraft system according to claim 3, characterized in that: The aircraft water take-off and landing platform also includes: multiple catapult devices and multiple inflatable floating anchors; the catapult devices and the inflatable floating anchors correspond one to one; each of the inflatable floating anchors and each of the catapult devices are evenly arranged around the main base; each of the catapult devices is electrically connected to the first controller respectively; the catapult devices are used to respond to the control of the first controller to catapult the inflatable floating anchor in a direction away from the main base; the inflatable floating anchor is inflated after encountering water.

8. The vertical take-off and landing aircraft system according to claim 3, characterized in that: The aircraft water take-off and landing platform also includes: foldable side wings and pre-compressed air bags; the pre-compressed air bags are arranged around the main base and inflated when encountering water; the foldable side wings are arranged around the main base.

9. The vertical take-off and landing aircraft system according to any one of claims 1 to 8, characterized in that: The aircraft water take-off and landing platform also includes: a wireless charging module.

10. A vertical take-off and landing aircraft landing control method implemented based on the vertical take-off and landing aircraft system according to any one of claims 1 to 9, characterized in that: include: Obtain real-time location information of vertical take-off and landing aircraft; When it is determined based on the real-time position information that the vertical take-off and landing aircraft has entered a sensing area of ​​the target aircraft's water take-off and landing platform, controlling an image sensor and a thermal infrared sensor carried by the vertical take-off and landing aircraft to continuously collect image data and thermal infrared data below the vertical take-off and landing aircraft; When a two-dimensional code pattern to be verified is obtained based on the image data and the thermal infrared data, obtaining identification information indicated by the two-dimensional code pattern to be verified; When it is determined that the identification information indicated by the two-dimensional code pattern to be verified is the same as the identification information of the target aircraft water landing platform, the vertical take-off and landing aircraft body is controlled to land on the deck of the target aircraft water landing platform.

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