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

Abstract

This invention provides a vertical takeoff and landing (VTOL) aircraft system and a VTOL aircraft landing control method. The system includes a VTOL aircraft and a water-based takeoff and landing platform. The deck of the water-based takeoff and landing platform has a QR code pattern composed of multiple black and white square areas. The black square areas are covered with an electrically heated film. The QR code pattern indicates the identification information of the water-based takeoff and landing platform. The VTOL aircraft system and landing control method provided by this invention enable the VTOL aircraft to more accurately determine the position of the water-based takeoff and landing platform before landing, improving the positioning accuracy of the water-based takeoff and landing platform to the centimeter level. This significantly reduces the risk of collision or loss of the VTOL aircraft and ensures its all-weather, precise landing capability under various weather conditions.

Description

Technical Field

[0001] This invention relates to the field of waterborne take-off and landing technology, and in particular to a vertical take-off and landing (VTOL) aircraft system and a VTOL aircraft landing control method. Background Technology

[0002] Vertical take-off and landing (VTOL) aircraft are a type of aircraft that combines the vertical take-off and landing / hovering capabilities of helicopters with the high-speed cruise capabilities of fixed-wing aircraft. As an aircraft possessing vertical take-off, landing, hovering, and agile maneuverability, VTOL aircraft play a vital role in numerous applications such as marine monitoring, water rescue, and fisheries patrol. With technological breakthroughs and the continuous expansion of diverse application scenarios, the demand for VTOL aircraft take-off and landing in water-based environments is also showing a growing trend.

[0003] In related technologies, vertical takeoff and landing (VTOL) aircraft can use satellite positioning technology to determine the location of a water-based takeoff and landing platform before landing. However, due to the lack of significant landmarks or reference points on the water surface and the susceptibility of satellite positioning signals to interference from water reflections, VTOL aircraft often struggle to accurately determine the platform's location before landing. This leads to inaccurate landings and increases the risk of collisions or crashing into the water. Therefore, how to more accurately determine the location of a water-based takeoff and landing platform before landing is a pressing technical problem that needs to be solved in this field. Summary of the Invention

[0004] This invention provides a vertical takeoff and landing (VTOL) aircraft system and a VTOL aircraft landing control method to solve the problem in the prior art that it is difficult for a VTOL aircraft to accurately determine the position of a water-based takeoff and landing platform before landing, thereby enabling the VTOL aircraft to more accurately determine the position of the water-based takeoff and landing platform before landing.

[0005] This invention provides a vertical takeoff and landing (VTOL) aircraft system, comprising: a VTOL aircraft and a waterborne takeoff and landing platform; the deck of the waterborne takeoff and landing platform is provided with a QR code pattern composed of multiple black square areas and multiple white square areas, the black square areas being covered with an electrically heated film, and the QR code pattern being used to indicate the identification information of the waterborne takeoff and landing platform; the VTOL aircraft includes a VTOL aircraft body and a second controller, a positioning device, an image sensor, and a thermal infrared sensor disposed on the VTOL aircraft body; the second controller is used to determine the VTOL aircraft body based on the real-time position information of the VTOL aircraft body sent by the positioning device. Upon 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. Then, if a QR code pattern to be verified is obtained based on the image data and thermal infrared data transmitted by the image sensor and the thermal infrared sensor, the identification information indicated by the QR code pattern is acquired. If it is determined that the identification information indicated by the QR code pattern 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 is controlled to land on the deck of the target aircraft's water take-off and landing platform, which includes the target aircraft's water take-off and landing platform.

[0006] According to a vertical takeoff and landing (VTOL) aircraft system provided by the present invention, a first controller, a first inertial measurement unit (IMU), and a first communication module are configured on the aircraft's water takeoff and landing platform; a second communication module and a second IMU are configured on the VTOL aircraft body; the first IMU is used to collect real-time inertial measurement data of the aircraft's water takeoff and landing platform; the second IMU is used to collect real-time inertial measurement data of the VTOL aircraft body; the first and second communication modules 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's water takeoff and landing platform caused by waves based on the real-time inertial measurement data of the aircraft's water takeoff and landing platform; the second controller is also used to calculate the real-time landing trajectory of the VTOL aircraft body based on the received real-time offset and real-time swaying frequency of the aircraft's water takeoff and landing platform and the real-time inertial measurement data of the VTOL aircraft body, and then control the VTOL aircraft body to land on the deck of the target aircraft's water takeoff and landing platform based on the landing trajectory.

[0007] According to a vertical takeoff and landing (VTOL) aircraft system provided by the present invention, the aircraft's water takeoff and landing platform includes: a main base and a plurality of counterweight sliders; a plurality of sliding tracks are uniformly arranged around the main base, and each counterweight slider is disposed on one of the sliding tracks; the counterweight slider is electrically connected to a first controller, and the counterweight slider is used to slide along the sliding track it is on in response to the control of the first controller.

[0008] According to a vertical takeoff and landing (VTOL) aircraft system provided by the present invention, the aircraft's water takeoff and landing platform further includes: a plurality of floating blocks and a pressure sensor array; the pressure sensor array is disposed at the bottom of the main base and / or on the surface of the floating blocks, and the pressure sensor array is electrically connected to a first controller; the pressure sensors are used to collect real-time pressure data borne by the aircraft's water takeoff 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 takeoff and landing (VTOL) aircraft system provided by the present invention, the aircraft's waterborne takeoff 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 disposed 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 a 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 assembly is provided on the anchor body, and the propeller assembly is electrically connected to the first controller; the first controller is used to control the propeller assembly to start to generate a downward vortex when it is determined that the depth of the water where the aircraft's water take-off and landing platform is located is less than a preset depth.

[0011] According to a vertical takeoff and landing (VTOL) aircraft system provided by the present invention, the aircraft's waterborne takeoff and landing platform further includes: multiple ejection devices and multiple inflatable floating anchors; the ejection devices and the inflatable floating anchors correspond one-to-one; each inflatable floating anchor and each ejection device are evenly arranged around the main base; each ejection device is electrically connected to a first controller; the ejection device is used to eject the inflatable floating anchor in a direction away from the main base in response to the control of the first controller; the inflatable floating anchor inflates upon contact with water.

[0012] According to a vertical takeoff and landing (VTOL) aircraft system provided by the present invention, the aircraft's water takeoff and landing platform further includes: foldable side wings and pre-compressed airbags; the pre-compressed airbags are arranged around the main base, and the pre-compressed airbags inflate upon contact with water; the foldable side wings are arranged around the main base.

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

[0014] The present invention also provides a vertical take-off and landing (VTOL) aircraft landing control method based on any of the above-described VTOL aircraft systems, comprising: acquiring real-time position information of the VTOL aircraft; when it is determined based on the real-time position information that the VTOL 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 mounted on the VTOL aircraft to continuously collect image data and thermal infrared data below the VTOL aircraft; when a QR code pattern to be verified is obtained based on the image data and the thermal infrared data, acquiring 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 VTOL 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, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the landing control method for a vertical take-off and landing aircraft as described above.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vertical take-off and landing aircraft landing control method as described above.

[0017] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the landing control method for a vertical takeoff and landing aircraft as described above.

[0018] The present invention provides a vertical takeoff and landing (VTOL) system and a VTOL landing control method. The VTOL system utilizes a dual-mode sensing system—combining a black square area covered with an electrically heated film on the deck of a water-based takeoff and landing platform with a dual-mode sensing system that integrates the VTOL's image sensor and thermal infrared sensor—to effectively address the technical problems of insufficient satellite positioning accuracy in water-based environments and the severe environmental interference affecting traditional visual markers. The QR code pattern on the water-based takeoff and landing platform enhances its contrast in thermal infrared imaging through temperature differences generated by the electrically heated film, enabling stable identification of the water-based takeoff and landing platform in complex environments such as nighttime, heavy fog, and water surface reflections. Furthermore, the identification information indicated by the QR code pattern enables dual verification and positioning of the water-based takeoff and landing platform. This allows for more accurate determination of the platform's location before landing, improving the positioning accuracy to the centimeter level, significantly reducing the risk of collision or loss, and ensuring the VTOL's all-weather, precise landing capability under various weather conditions. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a structural schematic diagram of the vertical takeoff and landing aircraft system provided by the present invention.

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

[0022] Figure 3 This is a flowchart illustrating the landing control method for vertical takeoff and landing aircraft provided by the present invention.

[0023] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0025] In the description of the invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0026] In the description of this application, the terms "first," "second," etc., are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class, without limiting the number of objects; for example, a first object can be one or more. Furthermore, in the description of this application, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects have an "or" relationship.

[0027] It should be noted that due to the lack of significant landmarks or reference points on the water surface and the susceptibility of satellite positioning signals to interference from water surface reflections, the positioning error of vertical take-off and landing (VTOL) aircraft on water-based take-off and landing platforms can reach 1 to 3 meters, making it difficult to meet the centimeter-level accuracy requirements for VTOL aircraft landing on water. While related technologies can utilize QR codes or LED markers for auxiliary positioning, these methods remain ineffective in foggy weather, at night, or under conditions of water surface reflection, failing to accurately determine the location of the water-based take-off and landing platform and thus failing to meet the centimeter-level accuracy requirements for VTOL aircraft landing on water. Therefore, how to more accurately determine the location of a water-based take-off and landing platform before landing is a pressing technical problem that needs to be solved in this field.

[0028] The following is combined with Figures 1-2 This invention describes the vertical takeoff and landing aircraft system provided by the present invention.

[0029] Figure 1 This is a structural schematic diagram of the vertical takeoff and landing aircraft system provided by the present invention. The following is in conjunction with... Figure 1 The vertical takeoff and landing aircraft system provided by this invention will be described. For example... Figure 1 As shown, the vertical takeoff and landing (VTOL) aircraft system includes: a VTOL aircraft 101 and a water takeoff and landing platform 102.

[0030] The deck of the aircraft's water take-off and landing platform 102 is equipped with a QR code pattern consisting of multiple black square areas and multiple white square areas. The black square areas are covered with an electrically heated film. The QR code pattern is used to indicate the identification information of the aircraft's water take-off and landing platform 102.

[0031] The vertical takeoff and landing aircraft 101 includes the vertical takeoff and landing aircraft 101 body and a second controller, positioning device, image sensor and thermal infrared sensor disposed on the vertical takeoff and landing aircraft 101 body.

[0032] The second controller is used to control the image sensor and thermal infrared sensor to continuously collect image data and thermal infrared data below the vertical take-off and landing aircraft 101 when the vertical take-off and landing aircraft 101 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. Then, when a QR code pattern to be verified is obtained based on the image data and thermal infrared data sent by the image sensor and thermal infrared sensor, the controller obtains 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 water take-off and landing platform 102, the controller controls 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, which 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 embodiments of the present invention may include, but is not limited to, multi-rotor configuration, compound wing (lift + cruise) configuration, tiltrotor / wing configuration, vector thrust configuration, and ducted fan configuration.

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

[0035] Compared to traditional aircraft water take-off and landing platforms, the aircraft water take-off and landing platform 102 in this embodiment of the invention is equipped with a positioning marker plate on its deck. The positioning marker plate includes a QR code pattern composed of multiple black square areas and multiple white square areas. Each black square area is equipped with an electrically heated film, while each white square area is not equipped with an electrically heated film. The QR code pattern on the positioning marker plate can be used to indicate the identification information of the aircraft water take-off and landing platform 102.

[0036] In actual operation, the electric heating film in each black square area of ​​the aircraft water take-off and landing platform 102 is energized, and the temperature in each black square area rises, while the temperature in each white square area remains at room temperature. By utilizing the electric heating film 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 temperature and direction modules in the QR code pattern on the deck of the aircraft's water takeoff and landing platform 102 can be represented as: in, The QR code pattern on the deck of the aircraft's water take-off and landing platform 102 is the first one. Line number The temperature of the square area in the column; The set temperature of the black square area is maintained by an electric heating film. The black square area is encoded as 1; The white square area represents the temperature (ambient temperature), while the black and white square area is coded as 0.

[0038] It is understood that in the embodiments of the present invention, the black square area and the white square area are the same size, the black square area is filled with black, and the white square area is filled with white.

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

[0040] Compared to traditional vertical takeoff and landing (VTOL) aircraft, the VTOL aircraft 101 in this embodiment of the invention includes a VTOL aircraft 101 body and a second controller, a positioning device, an image sensor, and a thermal infrared sensor disposed on the VTOL aircraft 101 body.

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

[0042] Image sensors and thermal infrared sensors are used to continuously acquire image data and thermal infrared data below the body of the vertical take-off and landing aircraft 101 in response to the control of the second controller, and send the acquired image data and thermal infrared data to the second controller.

[0043] In this embodiment of the invention, the target aircraft water take-off and landing platform 102 that the vertical take-off and landing aircraft 101 needs to land on in the vertical take-off and landing aircraft system can be identified 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 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.

[0045] It should be noted that the sensing area of ​​the target aircraft water take-off and landing platform 102 in this embodiment of the invention 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 may include a cylindrical region 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 range of the first preset value can be 30 to 50 meters, and the range of the second preset value can be 10 to 30 meters. This embodiment of the invention does not specifically limit the sensing area of ​​the target aircraft water cluster platform.

[0046] Optionally, after the aircraft water take-off and landing platform 102 in this embodiment of the invention is deployed to the target water area, 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, the water take-off and landing platform 102 in this embodiment of the invention 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 water take-off and landing platform 102 can be used to obtain the real-time position information of the water take-off and landing platform 102, and then transmit it to the vertical take-off and landing aircraft 101 through the communication devices configured on the water take-off and landing platform 102 and 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 water take-off and landing platform 102 based on the real-time position information of the target water take-off and landing platform 102.

[0048] Optionally, in this embodiment of the invention, after the vertical takeoff and landing (VTOL) aircraft 101 enters the positioning area of ​​the target aircraft's waterborne takeoff and landing platform 102, the sensing area of ​​the target aircraft's waterborne takeoff and landing platform 102 can be determined by RTK positioning. The positioning area of ​​the target aircraft's waterborne takeoff and landing platform 102 can be determined based on prior knowledge and / or actual conditions. For example, the positioning area of ​​the target aircraft's waterborne takeoff and landing platform 102 may include a cylindrical region with the target aircraft's waterborne takeoff and landing platform 102 as its apex, a third preset value as its base radius, and a fourth preset value as its height. The third preset value can range from 150 to 250 meters, and the fourth preset value can range from 50 to 100 meters. This embodiment of the invention does not specifically limit the positioning area of ​​the target aircraft's waterborne cluster platform.

[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 waterborne take-off and landing platform 102 based on the real-time position information of the vertical take-off and landing aircraft 101 sent by the positioning device, it can control the image sensor and the thermal infrared sensor to collect image data and thermal infrared data below the vertical take-off and landing aircraft 101 every 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. In this embodiment of the invention, the specific value of the preset time interval is not limited.

[0050] It should be noted that, in this embodiment of the invention, the image sensor and thermal infrared sensor mounted on the vertical takeoff and landing aircraft 101 are positioned vertically downwards, perpendicular to the horizontal plane. In this embodiment, the image sensor and thermal infrared sensor mounted on the vertical takeoff and landing aircraft 101 have been spatiotemporally aligned, 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 and white square areas 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, the thermal infrared data collected by the thermal infrared sensor on the vertical take-off and landing aircraft 101 does not include significant temperature change data when the vertical take-off and landing aircraft 101 is not flying over the target aircraft's water take-off and landing platform 102.

[0052] When the vertical takeoff and landing (VTOL) aircraft 101 flies over the target aircraft's waterborne takeoff and landing platform 102, the thermal infrared data collected by the thermal infrared sensor onboard the VTOL aircraft 101 includes significant temperature change data. The temperature field generated by the electrically heated film can improve the contrast of the QR code pattern on the deck of the waterborne takeoff and landing platform in the thermal infrared data. By combining the thermal infrared data and image data, the second controller can accurately acquire the QR code pattern on the deck of the target aircraft's waterborne takeoff and landing platform 102 in scenarios such as foggy weather, nighttime, or water surface reflection, thereby enabling the VTOL aircraft 101 to more accurately locate the position of the target aircraft's waterborne takeoff and landing platform 102.

[0053] After receiving image data and thermal infrared data from the image sensor and thermal infrared sensor, the second controller can determine whether a QR code pattern has been obtained through image recognition, data fusion, and deep learning technologies.

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

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

[0056] This represents the quality assessment value of the RGB image data acquired by the image sensor. This represents the quality assessment value of the thermal infrared image data acquired by the thermal infrared sensor. This quality assessment value is calculated based on an image quality assessment algorithm.

[0057] Maintaining the temperature difference using the PID algorithm can enhance the robustness of the thermal infrared image data acquired by the thermal infrared sensor. Multimodal image fusion with adaptive weight allocation can improve the recognition rate of QR code patterns by the VTOL aircraft 101 in complex scenarios.

[0058] The second controller obtains the fused image data. Then, it can be determined whether the fused image data is... Does it 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 thermal infrared sensor, it can identify the obtained QR code pattern as a QR code pattern to be verified, and then obtain the identification information indicated by the QR code pattern to be verified based on the QR code pattern to be verified.

[0060] After the second controller obtains the identification information indicated by the QR code pattern to be verified, it 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] Understandably, the identification information of the target aircraft water take-off and landing platform 102 is sent to the second controller on the vertical take-off and landing aircraft 101 before the vertical take-off and landing aircraft 101 flies toward the target aircraft water take-off and landing platform 102.

[0062] If the second controller determines 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, it can control the vertical take-off and landing aircraft 101 to land on the deck of the target aircraft water take-off and landing platform 102.

[0063] The vertical takeoff and landing (VTOL) system in this embodiment of the invention effectively solves the technical problems of insufficient satellite positioning accuracy in water environments and severe environmental interference with traditional visual markings by setting a QR code pattern covered with an electrically heated film within a black square area on the deck of the water takeoff and landing platform. This is combined with a dual-mode perception system that works in tandem with the VTOL image sensor and a thermal infrared sensor. The QR code pattern on the deck of the water takeoff and landing platform enhances the contrast of the QR code in thermal infrared imaging by generating temperature differences through the electrically heated film, enabling the water takeoff and landing platform to be stably identified in complex environments such as nighttime, heavy fog, and water surface reflection. Furthermore, the identification information indicated by the QR code pattern enables dual verification and positioning of the water takeoff and landing platform. This allows the VTOL to more accurately determine the position of the water takeoff and landing platform before landing, improving the positioning accuracy of the water takeoff and landing platform to the centimeter level. This significantly reduces the risk of collision or loss of the VTOL and ensures the all-weather accurate landing capability of the VTOL under different weather conditions.

[0064] As an optional embodiment, disturbance information is added to the encoded 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 perform legality verification and decoding on the QR code pattern to be verified, thereby obtaining 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 take-off and landing platform 102, thereby causing the vertical take-off and landing aircraft 101 to be lost, in this embodiment of the invention, the encoding data corresponding to the QR code pattern set on the deck of the aircraft water take-off and landing platform 102 is added with disturbance information.

[0066] Accordingly, when the second controller configured on the vertical take-off and landing aircraft 101 acquires the QR code image to be verified, it first needs to verify the legality of the QR code image to be verified.

[0067] The QR code pattern set on the deck of the aircraft's water take-off and landing platform 102 corresponds to the perturbated encoded data. It can be expressed by the following formula: in, This indicates an anti-counterfeiting shape code, such as the S-shaped code 1101110111; express The Middle The numerical value of each character. , Represents a positive integer greater than 1; This indicates the number of characters corresponding to the QR code pattern set on the deck of the aircraft's water take-off and landing platform 102.

[0068] By replacing the first part of the code data corresponding to the QR code pattern set on the deck of the aircraft's waterborne take-off and landing platform 102. The position is set as an anti-counterfeiting shape. By forcibly modifying the embedded position to "1", disturbance information can be added to the encoding data corresponding to the QR code pattern set on the deck of the aircraft water take-off and landing platform 102, thereby preventing the copying of the QR code pattern set on the deck of the aircraft water take-off and landing platform 102.

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

[0070] The anti-counterfeiting detection model can be represented by the following formula: in, This represents the proportion of correctly encoded data, with a threshold set to 0.85. This represents the encoding matching function. Indicates a match. Indicates a mismatch; The percentage of embedded positions that are forced to be "1" must be no less than 90%.

[0071] If the QR code image to be verified is determined to have passed the legality verification based on the above anti-counterfeiting detection model, the QR code image to be verified can be decoded to obtain the identification information corresponding to the QR code image to be verified.

[0072] This invention, through adding disturbance information to the encoded 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 also being used to verify and decode the legality of the QR code pattern to be verified, thereby obtaining the identification information indicated by the QR code pattern to be verified, can effectively prevent reverse engineering of the QR code pattern set on the deck of the aircraft's water take-off and landing platform, can 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 prevent the loss of the vertical take-off and landing aircraft.

[0073] As an optional embodiment, the water take-off and landing platform 102 of the aircraft is equipped with a first controller, a first inertial measurement unit, and a first communication module; the vertical take-off and landing aircraft 101 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 water take-off and landing platform 102 of the aircraft; 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 swaying frequency of the aircraft's water take-off and landing platform 102 caused by waves, based on the real-time inertial measurement data of the aircraft's 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 based on the received real-time offset and real-time swaying frequency of the aircraft's water take-off and landing platform 102 and the real-time inertial measurement data of the vertical take-off and landing aircraft 101 itself, and then control the vertical take-off and landing aircraft 101 to land on the deck of the target aircraft's 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 surface environment, the water take-off and landing platform 102 of the aircraft exhibits significant dynamic characteristics due to wave disturbances. However, in related technologies, when the vertical take-off and landing aircraft 101 lands on the water take-off and landing platform 102, the dynamic changes such as horizontal displacement and pitch sway caused by wave motion are not considered. When the vertical take-off and landing aircraft 101 lands based on its initial positioning coordinates, the actual position of the water take-off and landing platform 102 may deviate from its original positioning point due to wave action. This could lead to the failure of the vertical take-off and landing aircraft 101's hovering calibration or misalignment of the landing gear with the deck of the water take-off and landing platform 102. Especially in situations with large waves, the instantaneous displacement of the water take-off and landing platform 102 can reach several meters, further increasing the risk of collision between the vertical take-off and landing aircraft 101 and the water take-off and landing platform 102, as well as skidding and falling into the water. Therefore, the second controller in the vertical take-off and landing aircraft 101 in this embodiment of the 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, obtain the real-time inertial measurement data of the aircraft water take-off and landing platform 102 after data processing, calculate the real-time swaying 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 using a short-time Fourier transform algorithm, transform the real-time inertial measurement data of the aircraft water take-off and landing platform 102 after data processing to 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 perform integral calculation on 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 platform includes the data from the first inertial measurement unit in the platform 102. m Real-time acceleration of the aircraft's water takeoff and landing platform 102 and real-time angular velocity , m Represents a positive integer.

[0079] The real-time inertial data of the vertical takeoff 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's waterborne takeoff and landing platform 102 can remove the first... m High-frequency noise was extracted from the real-time inertial measurement data of the aircraft's water take-off and landing platform 102, while low-frequency wave motion signals were preserved to obtain the first... m Real-time inertial measurement data after data processing of the 102 water take-off and landing platform of an aircraft.

[0081] No. m The first controller in the aircraft's water takeoff and landing platform 102 obtains the first... m After processing the real-time inertial measurement data from the 102 aircraft's water takeoff and landing platform, quaternions or rotation matrices can be used to... m The real-time inertial measurement data of the aircraft's water take-off and landing platform 102, after data processing, is converted to the global coordinate system to eliminate the first... m The gravitational component interference caused by the attitude tilt of the aircraft's water take-off and landing platform 102 is used to obtain the first... in the global coordinate system. m Real-time inertial measurement data of the aircraft's water take-off and landing platform 102.

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

[0083] It should be noted that the first controller in the water take-off and landing platform 102 of the aircraft in this embodiment of the 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's water takeoff and landing platform 102 is the first m In the case of 102 aircraft water take-off and landing platforms, the first m The first controller in the aircraft's water takeoff and landing platform 102 can be controlled by the... m The first communication module in the aircraft's water takeoff and landing platform 102 transmits data to the second... m Real-time offset of the aircraft's water takeoff and landing platform 102 The second communication module is connected to the vertical takeoff and landing aircraft 101.

[0085] No. m The first controller in the aircraft's water takeoff and landing platform 102 obtains the first... m After processing the real-time inertial measurement data of the first aircraft water take-off and landing platform 102, the data can also be used to analyze the data of the second aircraft water take-off and landing platform 102 based on the Short Time Fourier Transform (STFT) algorithm. m Real-time inertial measurement data video analysis after data processing of 102 data from an aircraft's water take-off and landing platform, dynamically calculating the... m The real-time swaying frequency of the aircraft's water take-off and landing platform 102.

[0086] The second communication module in the vertical takeoff and landing aircraft 101 can transmit the second communication module to the third communication module. mReal-time offset of the aircraft's water takeoff and landing platform 102 The signal is sent to the second controller in the vertical takeoff and landing aircraft 101.

[0087] The second controller in the vertical takeoff and landing aircraft 101 can be based on the first m Real-time offset of the aircraft's water takeoff and landing platform 102 And the real-time inertial measurement data of the vertical takeoff and landing aircraft 101, using the model predictive control (MPC) algorithm, will... m The real-time offset and sway frequency of the aircraft's waterborne takeoff and landing platform 102 are used as dynamic constraints to predict the... m The position information of the water take-off and landing platform 102 of the aircraft at a future time 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 takeoff and landing (VTOL) 101 generates the real-time landing trajectory of the VTOL 101, it uses an adaptive phase-locked loop (APLL) to adjust the control command frequency of the VTOL 101 based on phase difference feedback, so that it is synchronized with the first controller. m The motion synchronization of the aircraft's waterborne takeoff and landing platform 102 is achieved, for example, by rapidly locking the phase using a cross-product automatic frequency tracking algorithm (Cross Product AFC) to ensure that control commands are synchronized with the platform's motion.

[0089] This invention establishes a two-way dynamic data interaction link between the aircraft's water take-off and landing platform and the vertical take-off and landing (VTOL) aircraft. It utilizes dual-end inertial measurement units to synchronously collect the motion states of the platform and the aircraft in real time. Combined with short-time Fourier transform algorithms, global coordinate system transformation, and integral calculations, it accurately calculates the real-time offset and swaying frequency of the water take-off and landing platform under wave disturbances. This allows for the construction of a dynamic motion compensation model, fusing the motion parameters of the water take-off and landing platform with the VTOL aircraft's own inertial data to generate a real-time adaptive landing trajectory for the VTOL aircraft. This enables the VTOL aircraft to actively match the displacement and attitude changes of the water take-off and landing platform during landing, effectively overcoming the shortcomings of static positioning logic and dynamic water surface environment mismatch in related technologies. It reduces dynamic errors from meters to centimeters, significantly improving the spatial trajectory synchronization between the VTOL aircraft and the water take-off and landing platform. This solves the risks of collision and skidding caused by position drift and attitude swaying due to waves, enabling high-precision and high-safety dynamic coordinated landing 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 disposed on one sliding track; the counterweight slider is electrically connected to a 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 traditional aircraft water take-off and landing platforms in related technologies mostly adopt a passive rigid structure design, lacking the ability to actively respond to dynamic hydrological conditions such as waves, tides, and currents. Experiments show that in sea state 1 (wave height 0.1 meters), traditional aircraft water take-off and landing platforms will develop a tilt angle of more than 10° when impacted by waves, which can easily lead to aircraft slippage or even capsizing. At the same time, traditional aircraft water take-off and landing platforms are not equipped with buoyancy adaptive adjustment systems. When the water level changes caused by tides (which can reach several meters per day) or the current velocity changes abruptly (such as the current velocity in the estuary area >2m / s), the draft of traditional aircraft water take-off and landing platforms becomes inaccurate, further exacerbating the risk of attitude instability. Therefore, traditional aircraft water take-off and landing platforms are difficult to maintain dynamic balance in multi-degree-of-freedom motion coupled water surface environments, which not only limits their sea state of operation but also poses safety hazards such as structural damage and equipment falling into the water, failing to meet the reliability requirements of aircraft water take-off and landing.

[0092] Therefore, in this embodiment of the invention, multiple sliding tracks are evenly arranged around the main base of the aircraft water take-off and landing platform 102. Each sliding track is equipped with a counterweight slider, which can slide along its respective 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 respective sliding track, the tilt angle of the aircraft water take-off and landing platform 102 can be dynamically adjusted, thereby effectively counteracting the impact of wave disturbances on the stability of the aircraft water take-off and landing platform 102 and 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 embodiments of the present invention can be determined based on the volume and weight of the main base, and the weight of the counterweight slider is not specifically limited in the embodiments of the present invention.

[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's 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 acquiring the real-time inertial data of the aircraft's waterborne takeoff and landing platform 102, the first controller can convert the real-time inertial data to the platform coordinate system to eliminate installation offset errors. 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 positional difference between the first inertial measurement unit and the counterweight slider. p The geometric positional difference between the counterweight slider and the first inertial measurement unit in the aircraft's water takeoff and landing platform 102 It can be calculated using the following formula: in, This indicates the first one in the 102 water take-off and landing platform of the aircraft. p The distance between a counterweight slider and the first inertial measurement unit in the aircraft's water take-off and landing platform 102; This indicates the real-time roll angle of the main base in the aircraft's waterborne take-off and landing platform 102; This indicates the real-time pitch angle of the main base in the aircraft's water take-off and landing platform 102.

[0097] The first controller in the aircraft's waterborne takeoff and landing platform 102 can calculate the force of gravity component on each counterweight slider based on the real-time roll angle and real-time pitch angle of the main base. This allows it to drive a linear motor to adjust the position of at least one counterweight slider to generate a counter-torque to balance the tilting torque. The specific calculation formula is as follows: in, Indicates the first p The compensating force of the counterweight slider; Indicates the first p The mass of the counterweight slider; It represents the acceleration due to gravity.

[0098] The first controller can be based on the... p The compensating force of the counterweight slider Calculation yields the first p The displacement of the first counterweight slider relative to its current position is used to control the displacement of the second counterweight slider by means of the relationship between the motor thrust and the displacement. pEach counterweight slider slides on its designated sliding track.

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

[0100] Optionally, the first controller may employ a position-loop PID algorithm to calculate the position loop PID in real time. p The displacement of each counterweight slider relative to its current position can be used, and the differential term of the tilt angular velocity can also be introduced as a feedforward input to improve the response speed.

[0101] This invention achieves three-dimensional dynamic stability control of the aircraft's water take-off and landing platform by intelligently controlling a multi-directional sliding track and a counterweight slider around the main base. The first controller in the water take-off and landing platform automatically adjusts the radial displacement of the counterweight slider based on the real-time inertial data of the platform, forming a multi-dimensional torque compensation mechanism. This actively counteracts the roll and pitch disturbances caused by waves, ensuring that the platform maintains its horizontal reference error within the allowable range even under complex hydrological conditions. This significantly improves the stability and operational safety of the aircraft during take-off and landing in dynamic waters, effectively solving the problem of attitude imbalance caused by waves in traditional water take-off and landing platforms.

[0102] As an optional embodiment, the aircraft water take-off and landing platform 102 further includes: a plurality of floating blocks and a pressure sensor array; the pressure sensor array is disposed at the bottom of the main base and / or on the surface of the floating blocks, and the pressure sensor array is electrically connected to a first controller; the pressure sensors are 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] Each floating block is arranged around the main base; the first controller is used to adjust the spacing between the floating blocks in real time based on real-time pressure data.

[0104] Specifically, in this embodiment of the invention, each floating block is arranged in a ring around the main base to form a distributed damping system.

[0105] A pressure sensor array is installed at the bottom of the main base and / or on the surface of the floating block to collect real-time pressure data of the aircraft's water take-off and landing platform 102.

[0106] After the pressure sensor sends the collected real-time pressure data 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's water take-off and landing platform 102 is located based on the real-time pressure data.

[0107] Real-time wave pressure distribution refers to the spatial distribution of dynamic pressure exerted by waves on different locations of the aircraft's waterborne takeoff and landing platform 102. The real-time wave pressure distribution is influenced by wave morphology (wave height, wavelength, wave direction), water density, and hydrodynamic characteristics, typically exhibiting a periodic change in the pressure field with wave phase (crests, troughs) and position (platform's wave-facing and wave-avoiding surfaces). Real-time wave pressure distribution can quantify the impact intensity of waves on the local structure of the aircraft's waterborne takeoff and landing platform 102, providing spatial load information for active balancing control.

[0108] Real-time wave frequency refers to the number of periodic oscillations of a wave per unit time (measured in Hertz, Hz), reflecting the concentrated characteristics of wave energy over time. High-frequency waves (such as short-period wind waves) cause rapidly alternating loads, requiring the control system to have high-frequency adjustment capabilities; low-frequency waves (such as long-period swells) may cause large, slow swaying, requiring continuous compensation torque generated through counterweight displacement. Real-time acquisition of wave frequency can optimize the dynamic response parameters of the control algorithm and improve the platform's anti-interference efficiency.

[0109] The first controller can extract the real-time wave frequency (0.1-2Hz) of the water area where the aircraft's 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-mentioned real-time wave frequency.

[0110] When the first controller determines that the real-time wave frequency of the water area where the aircraft's water take-off and landing platform 102 is located is close to the natural frequency of the main base, it can adjust the spacing between the floating blocks to change the buoyancy distribution between the floating blocks, 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 frequency of the water area where the aircraft's water take-off and landing platform 102 is located.

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

[0112] The aircraft water take-off and landing platform 102 in this embodiment of the invention constructs a multi-dimensional perception and dynamic suppression system for wave environments by integrating a pressure sensor array and multiple floating blocks. The pressure sensors capture the pressure distribution and frequency characteristics of the bottom of the aircraft water take-off and landing platform 102 and / or the surface of the floating blocks in real time. Combined with short-time Fourier transform, it accurately identifies the dominant wave frequency (0.1-2Hz) and resonance risk. The floating block ring array 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 and actively avoids the wave resonance frequency band. On the other hand, it generates a non-uniform flow field to enhance turbulence energy dissipation and reduce wave energy transfer efficiency. The aircraft water take-off and landing platform 102 in this embodiment of the 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, which significantly improves 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 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 disposed 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 a 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 traditional aircraft water take-off and landing platforms in related technologies typically rely solely on their own weight to float. Furthermore, in dynamic waters with current velocities >1.5 m / s (such as estuaries and nearshore areas), the drift rate of these platforms can reach 0.8 m / s, far exceeding the static accuracy threshold required for vertical take-off and landing (VTOL) aircraft. The mechanical anchor chain system of traditional VTOL platforms is limited by preset water depth requirements (usually >10 meters). In shallow water conditions (<5 meters), insufficient contact area between the anchor claws and the seabed leads to a sharp decrease in pull-out resistance, significantly increasing the risk of anchoring failure. Especially when facing sudden wind and wave disturbances, the lack of real-time environmental awareness and rapid dynamic response mechanisms makes VTOL aircraft susceptible to both horizontal displacement and attitude oscillations during take-off and landing, severely impacting the safety and reliability of VTOL aircraft operations.

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

[0116] The aforementioned anchor body is a barbed type. A depth sensor is installed on the anchor body to collect real-time depth data.

[0117] In this embodiment of the invention, the first controller can control the real-time release speed of the anchor body in various 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 a shallow water area (e.g., 0-20 meters), the anchor is released quickly (speed Vmax) to reduce the deployment time of the anchor and avoid the anchor from shifting due to water flow disturbance.

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

[0120] When the anchor is in deep water (e.g., 40-50 meters), the anchor is released slowly to ensure that it is fully embedded in the bottom of the water, thereby increasing the anchor's grip.

[0121] It should be noted that the threshold values ​​for shallow and deep water zones in this embodiment of the invention can be determined based on actual conditions and / or prior knowledge. The release speed of the anchor body in shallow water and the release speed in deep water are also determined based on actual conditions and / or prior knowledge. This embodiment of the invention does not impose specific limitations on the threshold values ​​for shallow and deep water zones, or on the release speed of the anchor body in shallow water and the release speed in deep water.

[0122] Optionally, the first controller can also control the real-time release speed of the anchor body based on a nonlinear inverse proportional model, which can be expressed by the following formula: in, Indicates the maximum length of the anchor chain; This represents the adjustment constant, used to avoid the denominator being zero. The above nonlinear inverse proportional model is applicable to continuous speed regulation scenarios, and can significantly reduce the release speed of the anchor in deep water.

[0123] In this embodiment of the invention, the first controller can dynamically adjust the torque of the motor used to release the anchor chain through a PID controller.

[0124] As an optional embodiment, a propeller assembly is provided on the anchor body, and the propeller assembly is electrically connected to a first controller; the first controller is used to control the propeller assembly 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, if the real-time depth data collected by the depth sensor does not increase within a certain period of time after the anchor is released, it indicates that the anchor has reached the bottom of the water. The first controller can obtain the depth of the water area where the aircraft's 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's water take-off and landing platform 102 is located is less than a preset depth (e.g., 5 meters), it can control the propeller assembly set at the bottom of the anchor body to start, thereby generating a downward vortex, using the Bernoulli effect to form a local low-pressure area, and enhancing the adsorption force of the aircraft's water take-off and landing platform 102 (adsorption force > 300N).

[0127] As an optional embodiment, the aircraft water take-off and landing platform 102 further includes: multiple catapult devices and multiple inflatable floating anchors; the catapult devices and inflatable floating anchors correspond one-to-one; each inflatable floating anchor and each catapult device are evenly arranged around the main base; each catapult device is electrically connected to a first controller; the catapult device is used to launch the inflatable floating anchor in a direction away from the main base in response to the control of the first controller; the inflatable floating anchor inflates when it comes into contact with water.

[0128] Specifically, the first controller in the aircraft's water take-off and landing platform 102 can eject an inflatable floating anchor away from the main base under certain circumstances, such as when a strong wind and wave alarm is triggered, so that the inflatable floating anchor inflates when it comes into contact with water.

[0129] The inflatable floating anchor is connected to the main base via Kevlar ropes, and when inflated, it forms a stable structure resistant to drag.

[0130] Optionally, in this embodiment of the invention, the number of both the catapult device and the inflatable floating anchor can be three.

[0131] Optionally, the ejection device in the embodiments of the present invention can 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 inflate upon contact with water; the foldable side wings are arranged around the main base.

[0133] It should be noted that the main body of traditional aircraft water take-off and landing platforms in related technologies is usually a float or foam base, which is a rigid one-piece design, with a huge volume (the diameter is greater than 2.5 meters when unfolded), and high transportation and deployment costs.

[0134] Therefore, the waterborne takeoff and landing platform 102 of the aircraft in this embodiment of the invention is equipped with foldable side wings and pre-compressed airbags. The main base adopts a honeycomb carbon fiber structure, and the edge of the main base is connected to the foldable side wings through hinges. When the foldable side wings are unfolded, the buoyancy increases by 150%. When stored, the foldable side wings are folded inward, and the overall volume is reduced to 0.8m x 0.8m x 0.3m.

[0135] Pre-compressed airbags are installed around the main base. When the airbags come into contact with water, they are inflated within 5 seconds by the air pumps, forming a ring-shaped buoyancy belt that can absorb the impact energy when the vertical take-off and landing aircraft 101 lands.

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

[0137] Specifically, the deck surface of the water take-off and landing platform 102 of the aircraft in this embodiment of the invention can also be embedded with 6 sets of Qi standard wireless charging modules (50W power per module). After landing, the vertical take-off and landing aircraft 101 can automatically dock with the charging coil through magnetic induction positioning to charge the vertical take-off and landing aircraft 101, with a charging efficiency of more than 90%.

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

[0139] The vertical takeoff and landing (VTOL) aircraft system provided by this invention integrates RTK (±2cm) positioning and infrared thermal imaging technology, solving the technical problems of large errors in traditional satellite water surface positioning and susceptibility of visual recognition to environmental interference. It achieves a recognition success rate of over 95% for the water takeoff and landing platform 102 of the aircraft, both day and night and in adverse weather conditions. Through real-time interaction of inertial measurement data between the water takeoff and landing platform 102 and the VTOL aircraft 101, it can offset landing displacement deviations caused by waves, ensuring a landing trajectory tracking error of less than 3cm and avoiding the collision risk of the VTOL aircraft 101.

[0140] This invention pioneers a dual-mode positioning system combining RTK and infrared thermal imaging. Heated QR code markers (black square areas covered with an electrically heated film, maintaining a constant temperature of 40-50℃) are embedded on the deck of the water takeoff and landing platform 102. Combined with the thermal infrared sensor mounted on the vertical takeoff and landing vehicle 101, accurate identification of the platform 102 is achieved through temperature difference comparison in day and night, rain, fog, and strong reflective environments (recognition rate ≥98%), breaking through the limitations of traditional single-mode visual / satellite positioning. Based on real-time interaction of inertial measurement data between the platform and the vertical takeoff and landing vehicle 101, a wave displacement prediction model is established. The dynamic correction frequency of the vertical takeoff and landing vehicle 101's landing trajectory reaches 20Hz, ensuring that the instantaneous positioning error of the touch-pad is ≤3cm (compared to >15cm in traditional solutions).

[0141] The vertical takeoff and landing (VTOL) aircraft system provided by this invention adopts a hinged design and self-inflating side wings, reducing the platform's storage volume by 70% (2.5m x 2.5m unfolded, 0.8m x 0.8m x 0.3m folded), facilitating deployment by unmanned vessels or personnel. Through the coordinated control of counterweight sliders and buoyancy blocks, the aircraft's waterborne takeoff and landing platform 102 maintains a tilt angle of ≤5° in sea state 3 (wave height 1.5 meters), improving wave resistance by 300% compared to traditional fixed platforms. The foldable side wings employ a pre-compressed folding structure (increasing buoyancy by 150% after unfolding), combined with a pre-compressed airbag that self-triggers upon contact with water (inflating in 5 seconds), achieving a balance between portability and impact resistance, thus reducing the storage volume of the aircraft's waterborne takeoff 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 (accuracy 0.1°). The position of the counterweight slider is adjusted by a linear motor (response time 0.1 seconds), suppressing the tilt angle of the aircraft's water take-off and landing platform 102 from 25° to <5° in sea state 3.

[0142] The vertical takeoff and landing (VTOL) aircraft system provided by this invention can automatically switch between mechanical anchor chains (500N gripping force) in deep water and vortex adsorption (≥300N adsorption force) in shallow water, adapting to water depths of 0-50 meters with an anchor displacement error of ≤0.5 meters, solving the problem of traditional anchor chain failure in shallow water (success rate increased from 60% to 98%). The compressed air-driven ejection device can complete the ejection of the inflatable floating anchor within 0.5 seconds, forming an anti-drag structure with Kevlar ropes, which can withstand strong winds and waves with instantaneous wind speeds of 15m / s.

[0143] The vertical takeoff and landing (VTOL) aircraft system provided by this invention features a servo motor-controlled slow release of a titanium alloy anchor chain in deep water (speed adjustable from 0.1 to 2 m / s). The barbed design of the anchor enhances grip (anchoring force ≥ 500 N in deep water). In shallow water, the propeller assembly at the bottom of the anchor is activated, generating a downward water flow that utilizes the Bernoulli effect to create low-pressure adsorption (adsorption force ≥ 300 N in shallow water), solving the problem of traditional anchor failure in shallow water. When triggered by strong winds and waves, a 20 MPa high-pressure gas cylinder ejection device launches an inflatable floating anchor within 0.5 seconds. This anchor, connected by Kevlar ropes (tensile strength 5000 N), forms a triangular stabilizing structure to resist the impact of instantaneous 15 m / s wind speeds.

[0144] The vertical takeoff and landing (VTOL) system provided by this invention can also provide wireless charging for the VTOL aircraft 101. The Qi standard wireless array (50W power) combined with a waterproof design achieves a charging efficiency of 290%, avoiding the 15% charging failure rate caused by contact corrosion. The side cabin has a built-in dry compartment that can store multiple spare batteries for the VTOL aircraft 101, supporting continuous operation of the VTOL aircraft 101.

[0145] Figure 2 This is an external view of the water take-off and landing platform of the aircraft in the vertical take-off and landing aircraft system provided by the present invention in a real-world scenario. The external view of the water take-off and landing platform 102 is as follows. Figure 2 As shown.

[0146] Figure 3 This is a flowchart illustrating the landing control method for a vertical takeoff and landing (VTOL) aircraft provided by this invention. The landing control method for a VTOL aircraft provided by this invention is implemented based on any of the VTOL aircraft systems described above. Figure 3 As shown, the method includes the following steps: Step 301, obtaining the real-time position information of the vertical take-off and landing aircraft; Step 302: When it is determined from 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 on 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: If the QR code pattern to be verified is obtained based on image data and thermal infrared data, obtain the identification information indicated by the QR code pattern to be verified. Step 304: If 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, control the vertical take-off and landing aircraft to land on the deck of the target aircraft's water take-off and landing platform.

[0147] It should be noted that the vertical takeoff and landing (VTOL) aircraft landing control method provided by the present invention is based on any of the above-mentioned VTOL aircraft systems. The specific execution steps of the VTOL 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 is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include a processor 410, a communications interface 420, a memory 430, and a communication bus 440, wherein the processor 410, communications interface 420, and memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a vertical takeoff and landing (VTOL) aircraft landing control method, which includes: acquiring the real-time position information of the VTOL aircraft; when it is determined, based on the real-time position information, that the VTOL aircraft has entered the sensing area of ​​the target aircraft's water takeoff and landing platform, controlling the image sensor and thermal infrared sensor mounted on the VTOL aircraft to continuously collect image data and thermal infrared data below the VTOL aircraft; when a QR code pattern to be verified is obtained based on the image data and thermal infrared data, acquiring the identification information indicated by the QR code pattern to be verified; 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's water takeoff and landing platform, controlling the VTOL aircraft body to land on the deck of the target aircraft's water takeoff and landing platform.

[0149] Furthermore, the logical 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 part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0150] On the other hand, the present invention also provides a computer program product, which includes a computer program that 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 (VTOL) aircraft landing control method provided by the above methods. The method includes: acquiring real-time position information of the VTOL aircraft; when it is determined based on the real-time position information that the VTOL 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 mounted on the VTOL aircraft to continuously collect image data and thermal infrared data below the VTOL aircraft; when a QR code pattern to be verified is obtained based on the image data and thermal infrared data, acquiring the identification information indicated by the QR code pattern to be verified; 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's water take-off and landing platform, controlling the VTOL aircraft body to land on the deck of the target aircraft's water take-off and landing platform.

[0151] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the landing control method for a vertical takeoff and landing (VTOL) aircraft provided by the above methods. The method includes: acquiring real-time position information of the VTOL aircraft; when it is determined, based on the real-time position information, that the VTOL aircraft has entered the sensing area of ​​a target aircraft's waterborne takeoff and landing platform, controlling the image sensor and thermal infrared sensor mounted on the VTOL aircraft to continuously collect image data and thermal infrared data below the VTOL aircraft; when a QR code pattern to be verified is obtained based on the image data and thermal infrared data, acquiring the identification information indicated by the QR code pattern to be verified; 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's waterborne takeoff and landing platform, controlling the VTOL aircraft body to land on the deck of the target aircraft's waterborne takeoff 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. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0153] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part 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, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vertical take-off and landing aircraft system, characterized by, include: Vertical takeoff and landing (VTOL) aircraft systems include: VTOL aircraft and waterborne takeoff and landing platforms for the aircraft; The deck of the aircraft's water take-off and landing platform is equipped with a QR code pattern consisting of multiple black square areas and multiple white square areas. The black square areas are covered with an electrically heated film. The QR code pattern is used to indicate the identification information of the aircraft's water take-off and landing platform. The vertical takeoff and landing aircraft includes a vertical takeoff and landing aircraft body and a second controller, positioning device, image sensor and thermal infrared sensor disposed on the vertical takeoff and landing aircraft body; The second controller is configured to, when determining that the vertical take-off and landing (VTOL) aircraft body has entered the sensing area of ​​the target aircraft's water take-off and landing platform based on the real-time position information of the VTOL aircraft body sent by the positioning device, control the image sensor and the thermal infrared sensor to continuously collect image data and thermal infrared data below the VTOL aircraft body. Then, when a 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, the controller acquires the 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, the controller controls the VTOL aircraft body to land on the deck of the target aircraft's water take-off and landing platform, which includes the target aircraft's water take-off and landing platform.

2. The vertical take-off and landing aircraft system of claim 1, wherein, The aircraft's 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's 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's water take-off and landing platform caused by waves, based on the real-time inertial measurement data of the aircraft's 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 swaying 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 takeoff 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 disposed 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 it is on in response to the control of the first controller.

4. The vertical takeoff and landing aircraft system of claim 3, wherein, The aircraft water take-off and landing platform further includes: multiple floating blocks and a pressure sensor array; the pressure sensor array is disposed 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.

5. The vertical takeoff and landing aircraft system of claim 3, wherein, The aircraft's waterborne 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 disposed on the anchor body and 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 takeoff and landing aircraft system of claim 5, wherein, The anchor body is equipped with a propeller assembly, which is electrically connected to the first controller. The first controller is used to control the propeller assembly to start generating 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.

7. The vertical takeoff and landing aircraft system of claim 3, wherein, The aircraft's waterborne take-off and landing platform further includes: multiple catapult devices and multiple inflatable floating anchors; the catapult devices and the inflatable floating anchors correspond one-to-one; each inflatable floating anchor and each catapult device are evenly arranged around the main base; each catapult device is electrically connected to the first controller; the catapult device is used to launch the inflatable floating anchor away from the main base in response to the control of the first controller; the inflatable floating anchor inflates upon contact with water.

8. The vertical takeoff and landing aircraft system of claim 3, wherein, The aircraft's 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 inflate when exposed to water; the foldable side wings are arranged around the main base.

9. The vertical takeoff and landing vehicle system of any one of claims 1 to 8, wherein, The aircraft's water take-off and landing platform also includes a wireless charging module.

10. A VTOL aircraft landing control method implemented based on the VTOL aircraft system according to any one of claims 1 to 9, characterized in that, include: Obtain the real-time location information of the vertical takeoff and landing aircraft; When it is determined, based on the real-time location 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, the image sensor and thermal infrared sensor mounted on the vertical take-off and landing aircraft are controlled to continuously collect image data and thermal infrared data below the vertical take-off and landing aircraft. If a QR code pattern to be verified is obtained based on the image data and the thermal infrared data, the identification information indicated by the QR code pattern to be verified is obtained. If 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, 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.

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