Dynamic self-balancing unmanned aerial vehicle taking-off and landing platform for movable carrier and control method

Abstract

The invention belongs to the technical field of aerospace intelligent equipment, and provides a dynamic self-balancing unmanned aerial vehicle take-off and landing platform for a movable carrier and a control method. A height adjusting mechanism, a first angle adjusting mechanism and a second angle adjusting mechanism are arranged between a base and the take-off and landing platform; a first force sensor and a second force sensor are respectively arranged on the first angle adjusting mechanism and the second angle adjusting mechanism; whether bumping occurs when the unmanned aerial vehicle makes contact with the take-off and landing platform or not is judged according to detection signals of the first force sensor and the second force sensor, the height adjusting mechanism is controlled to conduct height compensation, compensation in the height direction is directly conducted through the height adjusting mechanism, the structure is simple, compensation is timely, and safety is high. And height compensation can be conducted on the bumping condition within the extremely short time when the unmanned aerial vehicle makes contact with the take-off and landing platform, the landing stability of the unmanned aerial vehicle is guaranteed, and damage to internal parts of the unmanned aerial vehicle by impact force is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerospace intelligent equipment, and in particular relates to a dynamic self-balancing UAV take-off and landing platform for a movable carrier and a control method thereof. Background Art

[0002] In order to solve the problem that the UAV take-off and landing platform adopts a fixed structure and is difficult to adapt to rugged terrain such as mountains and ruins, a multi-degree-of-freedom adjustable structure is set up to achieve the purpose of adjusting the height and inclination of the UAV take-off and landing platform, solving the problem of not being able to adapt to rugged terrain.

[0003] With the development of the drone field, the demand for drones to take off and land on movable carriers is increasing. Traditional multi-degree-of-freedom adjustable drone take-off and landing platforms are mounted on movable carriers such as vehicles. When drones take off and land in complex environments, the drones are close to the ground environment and the movable carriers in the final stage of landing. As a result, they will be affected by the ground environment or the control signals of the movable carriers, which will interfere with the signals controlling the drones. The drones can only land on the platform according to the overall planned route. Once the ground is undulating, there will be large bumps when the drone contacts the platform, resulting in reduced landing stability of the drone, and the impact force will affect the internal components of the drone. Summary of the Invention

[0004] In order to solve the above problems, the present invention proposes a dynamic self-balancing UAV take-off and landing platform and a control method for a movable carrier. A height adjustment mechanism is set between the base and the take-off and landing platform. The detection signals of the first force sensor and the second force sensor are used to judge whether bumps occur when the UAV contacts the take-off and landing platform, and the height adjustment mechanism is controlled to perform height compensation. The height direction compensation is directly performed through the height adjustment mechanism. The structure is simple and the compensation is timely. The height compensation can be performed in a very short time when the UAV contacts the take-off and landing platform, thereby ensuring the landing stability of the UAV and avoiding damage to the internal components of the UAV by the impact force.

[0005] In order to achieve the above objectives, in a first aspect, the present invention provides a dynamic self-balancing UAV take-off and landing platform on a movable carrier, which adopts the following technical solutions: A dynamic self-balancing UAV take-off and landing platform for a movable carrier, comprising a base, a height adjustment mechanism disposed on the base, and a take-off and landing platform disposed on the height adjustment mechanism at one end away from the base; a first angle adjustment mechanism and a second angle adjustment mechanism are further disposed between the take-off and landing platform and the base; The first angle adjustment mechanism and the second angle adjustment mechanism are respectively provided with a first force sensor and a second force sensor; a controller is provided on the base, and the first force sensor, the second force sensor and the height adjustment mechanism are all connected to the controller, and the controller is configured to: determine whether bumps occur when the drone contacts the take-off and landing platform based on the detection signals of the first force sensor and the second force sensor, and control the height adjustment mechanism to perform height compensation.

[0006] Furthermore, an inertial measurement sensor is provided on the take-off and landing platform, and the inertial measurement sensor, the first angle adjustment mechanism and the second angle adjustment mechanism are connected to the controller, and the controller is configured to control the first angle adjustment mechanism and the second angle adjustment mechanism according to the detection signal of the inertial measurement sensor.

[0007] Furthermore, the adjustment directions of the first angle adjustment mechanism and the second angle adjustment mechanism are perpendicular to each other.

[0008] Furthermore, the first angle adjustment mechanism includes a first power source arranged on the base, a first rotating shaft connected to the output shaft of the first power source and rotatable on the base through a first bearing seat, a first connecting rod connected to the first rotating shaft, and a first rotating rod rotatable on the first connecting rod through a first connecting shaft and a first hinge; the first rotating rod is rotatably connected to the lifting and landing platform at one end away from the first connecting rod.

[0009] Furthermore, the second angle adjustment mechanism includes a second power source arranged on the base, a second rotating shaft connected to the output shaft of the second power source and rotatable on the base through a second bearing seat, a second connecting rod connected to the second rotating shaft, and a second rotating rod rotatable on the second connecting rod through a second connecting shaft and a second hinge; the second rotating rod is rotatably connected to the lifting and landing platform at one end away from the second connecting rod.

[0010] Furthermore, the height adjustment mechanism is a telescopic member provided on the base via a connecting seat, and one end of the telescopic member away from the base is connected to the lifting platform via a Hook's hinge.

[0011] Furthermore, the Hooke's hinge includes a Hooke's hinge base connected to the telescopic member, a cross pin, a Hooke's hinge connecting rod and a platform link member arranged on the Hooke's hinge base.

[0012] Furthermore, a support net is provided on the lifting and lowering platform via a telescopic rod.

[0013] Furthermore, the take-off and landing platform is provided with an adhesion device, a night vision marker and a landing guidance module.

[0014] In order to achieve the above objectives, in a second aspect, the present invention further provides a method for controlling a dynamic self-balancing UAV take-off and landing platform on a movable carrier, which adopts the following technical solutions: A method for controlling a dynamic self-balancing UAV take-off and landing platform for a movable carrier uses the dynamic self-balancing UAV take-off and landing platform for a movable carrier as described in the first aspect, including: judging whether bumps occur when the UAV contacts the take-off and landing platform based on detection signals of the first force sensor and the second force sensor, and controlling the height adjustment mechanism to perform height compensation.

[0015] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, a height adjustment mechanism, a first angle adjustment mechanism and a second angle adjustment mechanism are arranged between the base and the take-off and landing platform; a first force sensor and a second force sensor are respectively arranged on the first angle adjustment mechanism and the second angle adjustment mechanism; according to the detection signals of the first force sensor and the second force sensor, it is judged whether bumps occur when the drone contacts the take-off and landing platform, and the height adjustment mechanism is controlled to perform height compensation. The height direction compensation is directly performed through the height adjustment mechanism, the structure is simple, the compensation is timely, and the bump condition can be compensated in height in a very short time when the drone contacts the take-off and landing platform, thereby ensuring the landing stability of the drone and avoiding damage to the internal components of the drone by the impact force.

[0016] This invention enables stable landing or precise positioning of drones or other equipment in complex terrain. The core of this invention is to monitor the platform status in real time through a feedback control system and sensors, and dynamically adjust the platform's posture in three degrees of freedom (vertical, front-to-back, and left-to-right), thereby ensuring the stability and accuracy of the equipment on rugged, inclined or irregular terrain.

[0017] This invention improves overall stability and safety. Through multi-degree-of-freedom adjustment and feedback control mechanisms, the platform can effectively absorb external shocks and vibrations, significantly reducing the shaking of drones or other equipment during landing or operation, thereby ensuring their smooth operation and precise operation in complex environments.

[0018] This invention implements real-time attitude adjustment, enabling the platform to dynamically land a drone on a mobile carrier, such as a vehicle or ship. Through real-time feedback control, the platform can precisely adjust its attitude in dynamic environments, ensuring stable landing and precise positioning of the drone on the mobile carrier, significantly improving its adaptability and reliability in complex scenarios.

[0019] The platform of the present invention adopts a scientific and reasonable structural design, has excellent operating quality and reliability, and exhibits strong environmental adaptability and excellent stability. It can fully meet the landing needs of drones in diverse terrains and complex environments, and provides reliable technical support for the high-precision and high-stability landing of drones. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting a part of the specification of this embodiment are used to provide a further understanding of this embodiment. The schematic embodiments and descriptions of this embodiment are used to explain this embodiment and do not constitute an improper limitation on this embodiment.

[0021] Figure 1 This is a schematic diagram of the layout of the adjustment mechanism of the dynamic self-balancing UAV take-off and landing platform for a movable carrier of the present invention; Figure 2 This is a front view of the dynamic self-balancing UAV take-off and landing platform for a movable carrier of the present invention; Figure 3 A side view of the dynamic self-balancing UAV take-off and landing platform for a movable carrier according to the present invention; Figure 4 A top view of the dynamic self-balancing UAV take-off and landing platform for a movable carrier according to the present invention; Figure 5 This is a schematic diagram of the connection of a controller for a removable carrier according to the present invention; Among them, 1. base; 2. first angle adjustment mechanism; 21. first power source; 22. first rotating shaft; 23. first connecting rod; 24. first bearing seat; 25. first hinge; 26. first connecting shaft; 27. first rotating rod; 3. second angle adjustment mechanism; 31. second power source; 32. second rotating shaft; 33. second connecting rod; 34. second bearing seat; 35. second hinge; 36. second connecting shaft; 37. second rotating rod; 4. height adjustment mechanism; 4 1. Connecting seat; 42. Telescopic member; 43. Hook's hinge; 431. Hook's hinge base; 432. Cross pin; 433. Hook's hinge connecting rod; 434. Platform connecting member; 5. Take-off and landing platform; 51. Support net; 52. Mounting seat; 53. Positioning plate; 54. Telescopic rod; 55. Night vision marker; 56. Landing guidance module; 57. Inertial measurement sensor; 58. Adhesion device; 6. Power supply; 7. Controller; 8. First force sensor; 9. Second force sensor. DETAILED DESCRIPTION

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0023] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0024] Example 1: like Figure 1 As shown, this embodiment provides a dynamic self-balancing UAV take-off and landing platform for a movable carrier, which can solve the problem in the prior art that UAVs cannot land stably on rugged terrain. The platform structure of the present invention is reasonably designed, with good operation quality, reliable operation, strong adaptability, and good stability, which meets the requirements for high-speed take-off and landing of UAVs.

[0025] The platform in this embodiment is designed to address the problem of stable landing for drones in complex and rugged terrain, ensuring precise landing during dynamic and rugged terrain. Through rational structural design and advanced feedback control technology, the platform boasts high operational quality, strong reliability, excellent adaptability, and exceptional stability, fully meeting the landing requirements of drones in diverse terrain environments. The platform comprises a base 1, a take-off and landing platform 5 mounted on the base 1 via a first angle adjustment mechanism 2, a second angle adjustment mechanism 3, and a height adjustment mechanism 4; a power supply 6 and controller 7 mounted on the base; and first and second force sensors 8 and 9, respectively, mounted on the first and second angle adjustment mechanisms 2 and 3.

[0026] The base 1 is the supporting part of the entire UAV take-off and landing platform, and the base 1 can be set on the ground or mounted on a movable carrier such as a vehicle. The base 1 can be set as a frame or a plate structure.

[0027] like Figure 2 As shown, the adjustment directions of the first angle adjustment mechanism 2 and the second angle adjustment mechanism 3 are perpendicular to each other; optionally, the first angle adjustment mechanism 2 is used to adjust the angle of the take-off and landing platform 5 in the first direction, such as front and back adjustment; the second angle adjustment mechanism 3 is used to adjust the angle of the take-off and landing platform 5 in the second direction, such as left and right adjustment.

[0028] The first angle adjustment mechanism 2 includes a first power source 21 disposed on the base 1, a first rotating shaft 22 connected to the output shaft of the first power source 21 and rotatably disposed on the base 1 via a first bearing seat 24, a first connecting rod 23 connected to the first rotating shaft 22, and a first rotating rod 27 rotatably disposed on the first connecting rod 23 via a first connecting shaft 26 and a first hinge 25; the end of the first rotating rod 27, which is remote from the first connecting rod 23, is rotatably connected to the lifting and landing platform 5. Optionally, the first power source 21 can be a motor or other power source; a bearing is disposed in the first bearing seat 23, and the first rotating shaft 22 is rotatably disposed on the first bearing seat 23 via the bearing; the first connecting shaft 26 is fixed to the first connecting rod 23, and the first hinge 25 can be a collar or a ball joint bearing; the first connecting rod 23 can be rotatably connected to the lifting and landing platform 5 via a hinge or the like.

[0029] The second angle adjustment mechanism 3 includes a second power source 31 disposed on the base 1, a second rotating shaft 32 connected to the output shaft of the second power source 31 and rotatably disposed on the base 1 via a second bearing seat 33, a second connecting rod 34 connected to the second rotating shaft 32, and a second rotating rod 37 rotatably disposed on the second connecting rod 34 via a second connecting shaft 36 and a second hinge 35; the end of the second rotating rod 37 away from the second connecting rod 34 is rotatably connected to the lifting and landing platform 5. Optionally, the second power source 31 can be a motor or other power source; a bearing is disposed in the second bearing seat 33, and the second rotating shaft 32 is rotatably disposed on the second bearing seat 33 via the bearing; the second connecting shaft 36 is fixed to the second connecting rod 33, and the second hinge 35 can be a collar or a ball joint shaft; the second connecting rod 33 can be rotatably connected to the lifting and landing platform 5 via a hinge or the like.

[0030] The first hinge 25 and the second hinge 35 use ball joint bearings, which together with the rotating rod form a ball joint structure, which can achieve a small angle of rotation around the connecting axis, thereby enhancing the flexibility and adaptability of the mechanism and ensuring the precise adjustment and stability of the platform in multi-degree-of-freedom movement.

[0031] like Figure 3As shown, the height adjustment mechanism 4 is provided with a telescopic member 42 on the base 1 via a connecting seat 41. The end of the telescopic member 42 away from the base 1 is connected to the lifting platform 5 via a Hook hinge 43. The Hook hinge 43 can be implemented using conventional technology. The height adjustment mechanism 4 can ensure the smoothness, accuracy, and reliability of the platform's vertical movement. Optionally, the Hook hinge 43 includes a Hook hinge base 421 connected to the telescopic member 42, a cross pin 422 provided on the Hook hinge base 421, a Hook hinge connecting rod 422, and a platform link 423. The telescopic member 42 can be an electric push cylinder, a hydraulic telescopic cylinder, or other telescopic equipment.

[0032] In this embodiment, the first bearing seat 24 and the first rotating shaft 22, the second bearing seat 34 and the second rotating shaft 32, the Hooke's hinge base 421 and the cross pin 422, and the Hooke's hinge connecting rod 433 are all connected by rotating pin bearings to effectively reduce the friction resistance between rotating parts, while providing radial and axial load support, thereby ensuring the smooth operation and high efficiency of the mechanical system.

[0033] like Figure 4 As shown, the landing platform 5 is provided with a support net 51 via a mounting base 52 and a telescopic rod 54. A landing platform 53 is provided at the bottom of the landing platform 5 for connecting with the first angle adjustment mechanism 2, the second angle adjustment mechanism 3, and the height adjustment mechanism 4. The landing platform 5 is also provided with a night vision marker 55, a landing guidance module 56, an inertial measurement sensor 57, and an adhesive device 58. The inertial measurement sensor 57 can be an inertial measurement unit (IMU).

[0034] Optionally, a mounting seat 52 is provided at each of the four corner positions of the take-off and landing platform 5, and a telescopic rod 54 is provided on each mounting seat 52. The extension and retraction of the telescopic rod 54 enables the support net 51 to move precisely up and down. When the UAV takes off, the foot end of the UAV landing gear fits tightly with the adhesion device 58 and is not easy to separate, which affects the take-off of the UAV. At this time, the support net 51 rises by extending the telescopic rod 54, which assists the foot end of the UAV landing gear to separate from the adhesion device 58, thereby ensuring that the UAV smoothly leaves the platform; the telescopic rod 54 can be a pneumatic telescopic rod, a hydraulic telescopic rod, a linear motor or a sliding shaft and other structures, and the mounting seat 52 can be a mounting plate, a accommodating cavity or other mounting seat. Its specific structure can be selected according to the telescopic rod 54 and will not be described in detail here.

[0035] The support net 51 installed on the take-off and landing platform 5 is detachable from the support net, which improves the reliability and safety of the drone's take-off; the night vision mark 55 can be an indicator light, etc., and the inertial measurement sensor 57 is installed at the geometric center of the take-off and landing platform 5. This is to enable the drone to adjust its posture more accurately during landing and complete accurate adjustment of its position and posture. Finally, when the drone lands on the take-off and landing platform 5, the adhesion device 58 fits tightly with the foot end of the drone's landing gear to prevent the drone from sliding, thereby achieving a stable landing of the drone.

[0036] The power supply 6 is provided on the base 1 and is used to supply power to all power equipment, detection equipment and control equipment.

[0037] In some embodiments, a first force sensor 8 and a second force sensor 9 are respectively provided on the first angle adjustment mechanism 2 and the second angle adjustment mechanism 3; the first force sensor 8, the second force sensor 9, the height adjustment mechanism 4, the inertial measurement sensor 57, the first angle adjustment mechanism 2, the second angle adjustment mechanism 3 and the controller 7 are connected, and the controller 7 is configured to: determine whether bumps occur when the drone contacts the take-off and landing platform 5 based on the detection signals of the first force sensor 8 and the second force sensor 9, and control the height adjustment mechanism 4 to perform height compensation; and control the first angle adjustment mechanism 2 and the second angle adjustment mechanism 3 based on the detection signal of the inertial measurement sensor 57.

[0038] For example, when the drone lands on the take-off and landing platform 5, if there is any turbulence, the instantaneous impact force of the drone landing on the take-off and landing platform 5 will increase, causing the detection values ​​of the first force sensor 8 and / or the second force sensor 9 to suddenly increase, such as suddenly increasing to above a preset value. In this case, height compensation is required, such as lowering the take-off and landing platform 5 by the height adjustment mechanism 4 to reduce the instantaneous impact force of the drone landing on the take-off and landing platform 5. It should be noted that when the height adjustment mechanism 4 adjusts the height of the take-off and landing platform 5, the first power source 21 and the second power source 22 also operate accordingly to coordinate with the change in the height of the take-off and landing platform 5.

[0039] In some embodiments, the controller 7 can monitor and control the operating status of the first power source 21, the second power source 22, and the telescopic member 42 in real time; by collecting real-time status data of the take-off and landing platform 5, the controller 7 generates a control signal based on feedback information, and accurately adjusts the movement of the first power source 21, the second power source 22, and the telescopic member 42, thereby realizing closed-loop feedback control to ensure the stability and adjustment accuracy of the platform.

[0040] One of the working processes or principles of this embodiment is as follows: the sensor uses an inertial measurement unit (IMU) to collect signals on a sloping surface and transmits the signals to the controller 7. Based on the received signals, the controller 7 sends control instructions to the first power source 21, the second power source 31, and the telescopic member 42. The rotation of the first power source 21 drives the first connecting rod 23 through the transmission of the first rotating shaft 22, and the forward and backward swing of the first connecting rod 23 passes through the first connecting shaft 26, and then drives the ball joint formed by the first hinge 25 and the first rotating rod 27, and then connects to the lifting and landing platform 5 to realize the forward and backward swing of the platform; and the rotation of the second power source 31 drives the second connecting rod 33 through the transmission of the second rotating shaft 32, and the forward and backward swing of the second connecting rod 33 passes through the second connecting shaft 36, and then drives the ball joint formed by the second hinge 35 and the second rotating rod 37, and then connects to the lifting and landing platform 5 to realize the forward and backward swing of the platform; the telescopic part 42 realizes linear push-pull motion, and the telescopic part 42 is connected to the Hook's hinge base 431, and is connected in series with the Hook's hinge connecting rod 433 and the platform link 434 through the cross pin 432, and finally connects to the lifting and landing platform 5, thereby realizing the up and down movement of the platform. Through the coordinated action of the first power source 21, the second power source 31, and the telescopic member 42, the platform can adjust its attitude in real time based on signals collected by the inertial measurement unit (IMU) and other sensors, completing leveling and ensuring stable landing of the drone in complex terrain. This feedback control mechanism effectively improves the platform's adaptability and accuracy.

[0041] This embodiment has multi-degree-of-freedom movement capabilities through the first angle adjustment mechanism 2, the second angle adjustment mechanism 3 and the height adjustment mechanism 4, and adjusts the platform posture in real time through the feedback control system. It has strong environmental adaptability and high load support capacity, and can effectively ensure the smooth landing and stable parking of the drone in complex and rugged terrain.

[0042] In traditional intelligent equipment fields such as aerospace, research on feedback-controlled dynamic platforms is relatively limited, and traditional automated control methods have significant limitations when dealing with complex terrain. In particular, in drone applications, traditional landing gear lacks terrain adaptability and active adjustment capabilities, making it difficult to meet increasingly diverse and complex mission requirements. Therefore, feedback-controlled adjustable platform technology, as an advanced automated control method, presents significant potential advantages. Feedback control technology uses sensors to monitor system output in real time, compares it with preset target values, and dynamically adjusts system inputs using error signals, effectively minimizing errors and achieving high-precision control. In drone landing scenarios, an adjustable vehicle-mounted three-degree-of-freedom dynamic self-balancing drone take-off and landing platform can sense ground tilt in real time. Using a feedback adjustment mechanism, it dynamically adjusts the platform's optimal horizontal attitude and the contact angle with the drone's landing gear, ensuring stable landing and precise touchdown in complex terrain. Furthermore, the platform in this embodiment can be integrated onto a mobile carrier (such as a vehicle or ship). Through real-time signal transmission and feedback adjustment, the platform remains level during movement, further ensuring stable landing and mission execution. This technology not only improves the adaptability of drones in complex environments, but also opens up new research directions for automated control engineering.

[0043] Example 2: This embodiment provides a method for controlling a dynamic self-balancing UAV take-off and landing platform for a movable carrier, using the dynamic self-balancing UAV take-off and landing platform for a movable carrier as described in Example 1, including: judging whether bumps occur when the UAV contacts the take-off and landing platform 5 based on the detection signals of the first force sensor 8 and the second force sensor 9, and controlling the height adjustment mechanism 4 to perform height compensation.

[0044] The above description is merely a preferred embodiment of this embodiment and is not intended to limit this embodiment. Those skilled in the art will readily appreciate that this embodiment may be modified and varied in various ways. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this embodiment shall be within the scope of protection of this embodiment.

Claims

1. A dynamic self-balancing UAV take-off and landing platform for a movable carrier, characterized in that: The invention comprises a base, a height adjustment mechanism provided on the base, and a lifting platform provided on the height adjustment mechanism and away from one end of the base; a first angle adjustment mechanism and a second angle adjustment mechanism are further provided between the lifting platform and the base; The first angle adjustment mechanism and the second angle adjustment mechanism are respectively provided with a first force sensor and a second force sensor; a controller is provided on the base, and the first force sensor, the second force sensor and the height adjustment mechanism are all connected to the controller, and the controller is configured to: determine whether bumps occur when the drone contacts the take-off and landing platform based on the detection signals of the first force sensor and the second force sensor, and control the height adjustment mechanism to perform height compensation.

2. The dynamic self-balancing UAV take-off and landing platform for a movable carrier according to claim 1, characterized in that: An inertial measurement sensor is provided on the take-off and landing platform. The inertial measurement sensor, the first angle adjustment mechanism and the second angle adjustment mechanism are connected to the controller. The controller is configured to control the first angle adjustment mechanism and the second angle adjustment mechanism according to a detection signal of the inertial measurement sensor.

3. The dynamic self-balancing UAV take-off and landing platform for a movable carrier according to claim 1, characterized in that: The adjustment directions of the first angle adjustment mechanism and the second angle adjustment mechanism are perpendicular to each other.

4. The dynamic self-balancing UAV take-off and landing platform for a movable carrier according to claim 1, characterized in that: The first angle adjustment mechanism includes a first power source arranged on the base, a first rotating shaft connected to the output shaft of the first power source and rotatable on the base through a first bearing seat, a first connecting rod connected to the first rotating shaft, and a first rotating rod rotatable on the first connecting rod through a first connecting shaft and a first hinge; the first rotating rod is rotatably connected to the lifting and landing platform at one end away from the first connecting rod.

5. The dynamic self-balancing UAV take-off and landing platform for a movable carrier according to claim 2, characterized in that: The second angle adjustment mechanism includes a second power source arranged on the base, a second rotating shaft connected to the output shaft of the second power source and rotatable on the base through a second bearing seat, a second connecting rod connected to the second rotating shaft, and a second rotating rod rotatable on the second connecting rod through a second connecting shaft and a second hinge; the second rotating rod is rotatably connected to the lifting and landing platform at one end away from the second connecting rod.

6. The dynamic self-balancing UAV take-off and landing platform for a movable carrier according to claim 1, characterized in that: The height adjustment mechanism is provided with a telescopic member on the base via a connecting seat, and one end of the telescopic member away from the base is connected to the lifting platform via a Hook's hinge.

7. The dynamic self-balancing UAV take-off and landing platform for a movable carrier according to claim 6, characterized in that: The Hooke's hinge comprises a Hooke's hinge base connected with the telescopic member, a cross pin shaft, a Hooke's hinge connecting rod and a platform linking member arranged on the Hooke's hinge base.

8. The dynamic self-balancing UAV take-off and landing platform for a movable carrier according to claim 1, characterized in that: A support net is provided on the lifting and lowering platform via a telescopic rod.

9. The dynamic self-balancing UAV take-off and landing platform for a movable carrier according to claim 8, characterized in that: The take-off and landing platform is provided with an adhesion device, a night vision marker and a landing guidance module.

10. A control method for a dynamic self-balancing UAV take-off and landing platform for a movable carrier, characterized in that: A dynamic self-balancing UAV take-off and landing platform for a movable carrier as described in any one of claims 1 to 9 is used, including: judging whether bumps occur when the UAV contacts the take-off and landing platform based on the detection signals of the first force sensor and the second force sensor, and controlling the height adjustment mechanism to perform height compensation.

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