Precise unmanned aerial vehicle launching device and method

Abstract

The invention discloses an unmanned aerial vehicle accurate launching device and method. The device is installed on an unmanned aerial vehicle platform through a connecting frame and comprises an edge calculation board card, a laser range finder, a detachable photoelectric pod, a laser wind meter and a driving and locking device. The driving and locking device is used for hanging, fixing and throwing materials through locking and unlocking; the edge calculation board card receives data transmitted by the unmanned aerial vehicle platform, the laser anemoscope, the laser range finder and the ground station display control terminal, and performs data calculation, path planning and mounting command; the laser range finder measures and calculates the distance between the unmanned aerial vehicle and the target; the detachable photoelectric pod is remotely connected with the ground station display and control terminal to perform optical tracking on a target; the laser wind meter detects the wind speed and the wind direction when the unmanned aerial vehicle is launched, and transmits wind speed data to the edge calculation board card. According to the invention, automatic, accurate and rapid delivery of civil supplies can be realized, and the requirement of a low-altitude unmanned aerial vehicle on accurate delivery of life express and relief supplies is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle precision delivery device and method. BACKGROUND

[0002] With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles have expanded from pure aerial photography and reconnaissance to logistics, rescue and other fields. In the field of material delivery, whether it is to improve the delivery efficiency of the express industry, to spread pesticides and seeds in the agricultural field, or to transport emergency medicines and materials in the medical industry, unmanned aerial vehicles have wide application prospects. However, to achieve automatic, precise and rapid delivery of materials by unmanned aerial vehicles, there are still many challenges. In terms of delivery path planning and delivery timing selection, the traditional delivery method is to control the unmanned aerial vehicle and the material delivery mechanism by a pilot, which cannot automatically plan and dynamically adjust according to real-time conditions, and relies too much on the operation level of the pilot, resulting in many uncertain factors in delivery, long delivery time and large deviation. SUMMARY

[0003] The present application relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle precision delivery device and method.

[0004] Embodiments of the present application are implemented as follows:

[0005] An unmanned aerial vehicle precision delivery device is installed on an unmanned aerial vehicle platform through a connecting frame, comprising an edge computing board card, a laser range finder, a detachable photoelectric pod, a laser anemometer and a driving and locking device.

[0006] The driving and locking device locks and unlocks to mount, fix and deliver the materials.

[0007] The edge computing board card receives data transmitted by the unmanned aerial vehicle platform, the laser anemometer, the laser range finder and the ground station display control terminal, and performs data calculation, path planning and mounting command.

[0008] The laser range finder calculates the distance between the unmanned aerial vehicle and the target.

[0009] The detachable photoelectric pod remotely connects the ground station display control terminal to optically track the target.

[0010] The laser anemometer is connected to the edge computing board card to detect the wind speed and direction when the unmanned aerial vehicle is delivered, and transmits the wind speed data to the edge computing board card.

[0011] In the preferred embodiment of the present application, the unmanned aerial vehicle precision delivery device, the driving and locking device includes an electromagnetic mechanical composite lock, an electric push rod and a sensor.

[0012] The electromagnetic mechanical composite lock generates magnetic force when powered on, and aligns with the electric push rod to fix the materials.

[0013] When the electromagnetic mechanical composite lock loses power, the electric push rod is unlocked, and the materials are delivered.

[0014] The sensor is connected to the electromagnetic mechanical composite lock to detect the state of the lock and monitor the contact pressure during mounting to determine whether the connection is virtual.

[0015] In the preferred embodiment of the present application, the unmanned aerial vehicle precision delivery device, the laser range finder includes a transmitting unit, a receiving unit, a timing unit and a control unit.

[0016] The transmitting unit generates high-energy and high-directional laser pulses.

[0017] The receiving unit collects the laser signals reflected by the target, focuses them on a photodetector, and the photodetector converts the laser signals into laser electrical signals, which are amplified by a preamplifier for data processing.

[0018] The timing unit measures the time interval from the transmission to the reception of the laser pulse.

[0019] The control unit is used to control the operation of the transmitting unit, the receiving unit and the timing unit, and to feedback the ranging values obtained by the unmanned aerial vehicle platform.

[0020] A delivery method of an unmanned aerial vehicle precision delivery device, comprising:

[0021] When the unmanned aerial vehicle carries materials for delivery, the delivery site is selected and locked according to the environmental data information received by the ground station terminal.

[0022] The unmanned aerial vehicle runs to the optimal delivery height, which is recommended according to the type of the delivered materials in the database and obtained by measuring the distance of the delivery site with a laser range finder.

[0023] The laser anemometer detects wind speed information.

[0024] The edge computing board card calculates the delivery path according to the distance of the delivery site, the current position coordinates of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle and the wind speed information, determines the delivery method, and the delivery method includes free-fall delivery, flat-throw delivery and diving delivery.

[0025] The edge computing board card adopts a deep learning large model to perform iterative calculation according to the determined delivery mode, and outputs a corresponding delivery trajectory planning scheme, and the unmanned aerial vehicle performs a material delivery task according to the delivery trajectory planning scheme.

[0026] The unmanned aerial vehicle precision delivery device is the unmanned aerial vehicle precision delivery device as described above.

[0027] In the preferred embodiment of the present application, the delivery method of the unmanned aerial vehicle precision delivery device described above, if the delivery mode is free-fall delivery, the delivery execution step includes:

[0028] Receiving data transmitted by the unmanned aerial vehicle positioning system and the laser range finder.

[0029] The edge computing board card performs path calculation according to the distance of the delivery site, the current position coordinates of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle and the wind speed information, obtains the time required for the material to fall from the delivery to the ground, and calculates the horizontal offset distance of the material affected by the wind.

[0030] Controlling the unmanned aerial vehicle to hover at the offset distance above the target, driving the unlocking device to unlock, and delivering the material downward.

[0031] In the preferred embodiment of the present application, the delivery method of the unmanned aerial vehicle precision delivery device described above, the free-fall delivery material motion trajectory calculation mode includes:

[0032] The material motion trajectory in the vertical direction is

[0033] The material motion trajectory in the horizontal direction is

[0034] Wherein, y(t) is the displacement in the vertical direction, m is the mass of the material, C is the air resistance coefficient, p is the air density, S y is the windward area in the vertical direction, g is the acceleration of gravity, t is the time required for the material to fall from the start of delivery to the ground, cosh is the hyperbolic cosine function, x(t) is the displacement in the horizontal direction, v1 is the horizontal wind speed, S x is the windward area in the horizontal direction.

[0035] In the preferred embodiment of the present application, the delivery method of the unmanned aerial vehicle precision delivery device described above, if the delivery mode is flat-throw delivery, the delivery execution step includes:

[0036] The UAV calibrates the heading direction and the drop-off location, and the edge computing board card calculates a path according to the distance of the drop-off location, the current position coordinates of the UAV, the speed of the UAV, and the wind speed information, to obtain a time required for the material to fall from being dropped to landing.

[0037] The horizontal initial speed of the material when being dropped and the horizontal movement distance affected by the wind are calculated.

[0038] When entering a circle with the drop-off location as the center and the horizontal movement distance as the radius, a driving and locking device is unlocked, the material is thrown out and keeps the running speed of the UAV, and moves along a parabolic trajectory.

[0039] In a preferred embodiment of the present application, the method for dropping the material by the UAV precision dropping device includes the following steps:

[0040] The material movement trajectory in the vertical direction is

[0041] The material movement trajectory in the horizontal direction is

[0042] wherein y(t) is the displacement in the vertical direction, m is the mass of the material, C is the air resistance coefficient, p is the air density, S y is the windward area in the vertical direction, g is the gravitational acceleration, t is the time required for the material to fall from being dropped to landing, x(t) is the displacement in the horizontal direction, v1 is the horizontal wind speed, v0 is the horizontal speed of the material when being dropped, and S x is the windward area in the horizontal direction.

[0043] In a preferred embodiment of the present application, the method for dropping the material by the UAV precision dropping device includes the following steps:

[0044] After locking the drop-off location, the UAV flies with the material to above the target.

[0045] The UAV adjusts the flight attitude, inclines the nose downward, adjusts the diving attitude according to the calculated flight angle and initial speed.

[0046] When the UAV runs to the optimal dropping height, the edge computing board card calculates a path according to the distance of the drop-off location, the current position coordinates of the UAV, the speed of the UAV, and the wind speed information, to obtain a time required for the material to fall from being dropped to landing.

[0047] The driving and locking device is unlocked, the goods are released, the unmanned aerial vehicle adjusts the posture, restores the predetermined flight route, and the goods continue to move along a parabola to the preset drop-off location.

[0048] In the preferred embodiment of the present application, the trajectory calculation method of the goods in the dive drop-off includes:

[0049] The trajectory of the goods in the vertical direction is

[0050] The trajectory of the goods in the horizontal direction is

[0051] Wherein, y(t) is the displacement in the vertical direction, m is the mass of the goods, C is the air resistance coefficient, p is the air density, S y is the windward area in the vertical direction, g is the acceleration of gravity, t is the time required for the goods from the start of drop-off to landing, x(t) is the displacement in the horizontal direction, v1 is the horizontal wind speed, v0 is the horizontal speed of the goods at the start of drop-off, v2 is the vertical speed of the goods at the start of drop-off, S x is the windward area in the horizontal direction.

[0052] The beneficial effects of the embodiment of the present application are:

[0053] The present application can automatically select the goods drop-off method and trajectory planning based on a large model according to the selection of the drop-off location, and control the unmanned aerial vehicle and the mounting mechanism to realize the drop-off of the goods, thereby reducing the workload of the operator and improving the accuracy and smoothness of the goods drop-off. BRIEF DESCRIPTION OF DRAWINGS

[0054] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0055] Figure 1 It is a bottom structure diagram of the unmanned aerial vehicle precision drop-off device of the present application;

[0056] Figure 2 It is a front structure diagram of the unmanned aerial vehicle precision drop-off device of the present application;

[0057] Figure 3 It is a structure diagram of the unmanned aerial vehicle precision drop-off device installed on the unmanned aerial vehicle of the present application;

[0058] Figure 4The flow chart of the unmanned aerial vehicle precision delivery device delivery method of the present application is shown in the figure.

[0059] Figure 5 The free-fall delivery route of the unmanned aerial vehicle precision delivery device delivery method of the present application is shown in the figure.

[0060] Figure 6 The flat-throw delivery route of the unmanned aerial vehicle precision delivery device delivery method of the present application is shown in the figure.

[0061] Figure 7 The dive delivery route of the unmanned aerial vehicle precision delivery device delivery method of the present application is shown in the figure.

[0062] Figure 8 The structure of an embodiment of the unmanned aerial vehicle precision delivery device and unmanned aerial vehicle of the present application is shown in the figure.

[0063] In the figure: 1 unmanned aerial vehicle platform; 2 edge computing board; 3 laser range finder; 4 detachable photoelectric pod; 5 laser anemometer; 6 driving and locking device; 7 electromagnetic mechanical composite lock; 8 electric push rod; 9 sensor; 10 ground station terminal; 11 connecting frame. DETAILED DESCRIPTION

[0064] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0065] Please refer to Figures 1 to 3The first embodiment of the present application provides a UAV precision delivery device, which is installed on a UAV platform 1 through a connecting frame 11, and comprises an edge computing board card 2, a laser range finder 3, a detachable photoelectric pod 4, a laser anemometer 5 and a driving and locking device 6; the driving and locking device 6 is used for mounting and fixing and delivering the materials by locking and unlocking; the edge computing board card 2 receives the data transmitted by the UAV platform 1, the laser anemometer 5, the laser range finder 3 and the ground station display control terminal 10, performs data calculation, path planning and mounting command, performs calculation and analysis on the data transmitted by the laser range finder 3, the UAV platform 1 and the ground station display control terminal 10, performs path trajectory optimization iteration based on a delivery path planning large model and a deep learning algorithm, realizes path planning of an optimal delivery mode and command control of the UAV platform 1 and the UAV precision delivery device; the laser range finder 3 performs distance calculation between the UAV and the target; the detachable photoelectric pod 4 is remotely connected to the ground station display control terminal 10, performs optical tracking on the target, performs long-distance observation and monitoring on the target area, obtains real-time image information of the target, performs target identification, and when an operator locks the target through the ground station terminal 10, the photoelectric pod performs optical tracking on the target and collects and records photoelectric data; the laser anemometer 5 is connected to the edge computing board card 2, detects the wind speed and direction when the UAV is delivered, and transmits the wind speed data to the edge computing board card 2 to provide data support for the optimal delivery position of path planning.

[0066] In the preferred embodiment of the present application, the driving and locking device 6 in the above-mentioned UAV precision delivery device comprises an electromagnetic mechanical composite lock 7, an electric push rod 8 and a sensor 9; the electromagnetic mechanical composite lock 7 generates magnetic force when powered on, assists the alignment and rapid separation response of the electromagnetic lock, and is adsorbed and aligned with the electric push rod 8 to mount and fix the materials; when the electromagnetic mechanical composite lock 7 is powered off, the electric push rod 8 is unlocked to deliver the materials; the sensor 9 is connected to the electromagnetic mechanical composite lock 7, detects the lock state, monitors the contact pressure during mounting, and judges whether the mounting is virtual.

[0067] In the preferred embodiment of the present application, the unmanned aerial vehicle precision delivery device, the laser range finder 3 includes a transmitting unit, a receiving unit, a timing unit and a control unit; the transmitting unit generates high-energy, high-directional laser pulses; the receiving unit collects the laser signals reflected by the target, focuses them on a photodetector, the photodetector converts the laser signals into laser electrical signals, amplifies the laser electrical signals through a preamplifier for data processing; the timing unit measures the time interval from the transmission to the reception of the laser pulse; the control unit is used to control the operation of the transmitting unit, the receiving unit and the timing unit, and feedback the range finding values of the unmanned aerial vehicle platform 1.

[0068] As shown in Figure 8 If the unmanned aerial vehicle is originally configured with a detachable photoelectric pod 4, the detachable photoelectric pod 4 can not be assembled, and rely on the data collected by the self-provided pod of the unmanned aerial vehicle to lock and track the target, and participate in the calculation and operation of the data chain.

[0069] Please refer to Figures 1 to 7 , the second embodiment of the present application provides a delivery method of an unmanned aerial vehicle precision delivery device, which comprises: when the unmanned aerial vehicle carries materials for delivery, selecting and locking the delivery site according to the environmental data information received by the ground station terminal 10; the unmanned aerial vehicle runs to the optimal delivery height, the optimal delivery height is recommended according to the type of the delivered materials in the database, and the distance of the delivery site is calculated by the laser range finder 3; the laser anemometer 5 detects the wind speed information; the edge computing board card 2 calculates the delivery path according to the distance of the delivery site, the current position coordinates of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle and the wind speed information, determines the delivery mode, the delivery mode includes free-fall delivery, flat-throw delivery and diving delivery; the edge computing board card 2 iteratively calculates according to the determined delivery mode using a deep learning large model, outputs the corresponding delivery trajectory planning scheme, and executes the material delivery task according to the delivery trajectory planning scheme in cooperation with the unmanned aerial vehicle; the unmanned aerial vehicle precision delivery device is as described above.

[0070] In the preferred embodiment of the present application, the delivery method of the unmanned aerial vehicle precision delivery device, if the delivery mode is free-fall delivery, the delivery execution steps include: receiving the data transmitted by the unmanned aerial vehicle positioning system and the laser range finder 3; the edge computing board card 2 calculates the path according to the distance of the delivery site, the current position coordinates of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle and the wind speed information, obtains the time required for the material to fall from delivery to landing, and calculates the horizontal offset distance of the material affected by the wind; control the unmanned aerial vehicle to hover at the offset distance above the target, drive and unlock the locking device 6, and deliver the material downward.

[0071] The material is finally dropped at the selected drop-off location under the influence of the horizontal wind speed. The advantage of this method is that the drop-off accuracy is high, and the material can accurately fall near the target location. Suitable scenarios include dropping small items to fixed and well-defined targets, such as dropping rescue materials to people trapped on rooftops. The movement trajectory of the material is as shown in Figure 5 .

[0072] In a preferred embodiment of the present application, the method for dropping materials by the unmanned aerial vehicle precision dropping device described above, the calculation method of the movement trajectory of the material in free-fall dropping includes: the movement trajectory of the material in the vertical direction is the movement trajectory of the material in the horizontal direction is where y(t) is the displacement in the vertical direction, m is the mass of the material, C is the air resistance coefficient, p is the air density, S y is the windward area in the vertical direction, g is the acceleration of gravity, t is the time required for the material to fall from the start of dropping to the ground, cosh is the hyperbolic cosine function, x(t) is the displacement in the horizontal direction, v1 is the horizontal wind speed, S x is the windward area in the horizontal direction.

[0073] In a preferred embodiment of the present application, the method for dropping materials by the unmanned aerial vehicle precision dropping device described above, if the dropping method is flat-throw dropping, the steps of dropping execution include: after the unmanned aerial vehicle aligns the forward direction with the drop-off location, the edge computing board card 2 calculates the path according to the distance of the drop-off location, the current position coordinates of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, and the wind speed information, to obtain the time required for the material to fall from dropping to the ground; calculates the horizontal initial speed of the material when it is dropped and the horizontal movement distance affected by the wind; when entering the circumference with the drop-off location as the center and the horizontal movement distance as the radius, the driving and locking device 6 is unlocked, the material is thrown out and keeps the travel speed of the unmanned aerial vehicle, and moves along a parabolic trajectory.

[0074] By using the flight speed of the unmanned aerial vehicle and the parabolic principle, the material can be dropped to a relatively far location, the overall time of the dropping process is shorter than that of free-fall dropping, and obstacles can be avoided to a certain extent. It is suitable for scenarios that need to drop materials across a certain distance or obstacles, such as dropping materials to disaster-stricken areas in the wild. The movement trajectory of the material is as shown in Figure 6 .

[0075] In a preferred embodiment of the present application, the method for dropping materials by the unmanned aerial vehicle precision dropping device described above, the calculation method of the movement trajectory of the material in flat-throw dropping includes: the movement trajectory of the material in the vertical direction is the movement trajectory of the material in the horizontal direction is Wherein, y(t) is the vertical displacement, m is the mass of the material, C is the air resistance coefficient, p is the air density, S y is the vertical windward area, g is the gravity acceleration, t is the time required for the material from starting to drop, x(t) is the horizontal displacement, v1 is the horizontal wind speed, v0 is the horizontal speed of the material when starting to drop, S x is the horizontal windward area.

[0076] In the preferred embodiment of the present application, the above-mentioned unmanned aerial vehicle precision delivery device delivery method, if the delivery method is dive delivery, the delivery execution steps include: after locking the delivery site, the unmanned aerial vehicle carries the material to fly above the target; the unmanned aerial vehicle adjusts the flight attitude, the nose is inclined downward, adjusts the dive attitude according to the calculated flight angle and initial speed; when the unmanned aerial vehicle runs to the optimal delivery height, the edge computing board 2 calculates the path according to the distance of the delivery site, the current position coordinates of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle and the wind speed information, obtains the time required for the material from delivery to landing; the locking device 6 is unlocked and the material is released, the unmanned aerial vehicle adjusts the attitude and restores the predetermined flight route, and the material continues to move along the parabola to the preset delivery site.

[0077] It is suitable for quickly crossing complex terrain and providing material support for special environment operation. The motion trajectory of the material is as shown in Figure 7 .

[0078] In the preferred embodiment of the present application, the above-mentioned unmanned aerial vehicle precision delivery device delivery method, the dive delivery motion trajectory calculation method of the material includes: the vertical motion trajectory of the material is The horizontal motion trajectory of the material is Wherein, y(t) is the vertical displacement, m is the mass of the material, C is the air resistance coefficient, p is the air density, S y is the vertical windward area, g is the gravity acceleration, t is the time required for the material from starting to drop, x(t) is the horizontal displacement, v1 is the horizontal wind speed, v0 is the horizontal speed of the material when starting to drop, v2 is the vertical speed of the material when starting to drop, S x is the horizontal windward area.

[0079] The embodiment of the present application aims to protect an unmanned aerial vehicle precision delivery device and method, which has the following effects:

[0080] 1.The present application integrates edge computing board card, laser range finder, detachable photoelectric pod, laser wind measuring instrument, driving and locking device, etc. on the unmanned aerial vehicle platform through the connecting frame to form a unified and coordinated precision delivery system, which is suitable for complex and variable application environment. Remote monitoring, real-time image acquisition, target recognition and automatic locking can be realized, and the cooperative working mechanism of manual calibration target and system automatic tracking is supported, which is suitable for high-risk and inaccessible areas.

[0081] 2.The present application realizes intelligent computing on site through the edge computing board card, which can avoid delay risk, improve path planning and delivery mode decision efficiency, and adapt to real-time delivery scenarios with high requirements, such as emergency delivery, rescue support, etc. Precise distance information is obtained through laser ranging, and wind speed and direction are collected in real time through laser wind measuring instrument, so as to realize higher precision of delivery path and trajectory planning. Based on environmental data, autonomous learning and historical data training, the delivery point and flight trajectory under different delivery modes are continuously optimized to realize higher delivery accuracy and robustness.

[0082] 3.The present application adopts multiple delivery modes, which can meet the needs of different delivery scenarios, improve task flexibility and applicability. The free-fall delivery has high delivery precision, is suitable for fixed location and clear target scene, and can adjust the offset point in advance based on wind speed and material motion characteristics to ensure hitting the delivery point. The horizontal projection delivery is assisted by flight speed, which is suitable for obstacle crossing or long-distance delivery, and realizes more remote and curve coverage delivery task by combining initial speed and wind speed. The diving delivery has fast flight height change, can pass through complex terrains such as valleys and building gaps, and improves target attack precision and concealment through attitude adjustment and diving path calculation.

[0083] 4.The present application has safe and reliable structure design, intelligent control of hanging and releasing, and ensures task stability. The design of electromagnetic mechanical composite lock and electric push rod can improve the hanging reliability and ensure the stability of the material during flight, the unlocking response is rapid, the delivery process is controllable, and the spatio-temporal accuracy of the delivery point is ensured. The sensor monitors the lock state and hanging contact pressure to prevent false connection and misdelivery, and improves task safety and reliability.

[0084] It should be understood that the above specific embodiments of the present application are only used for illustrative or explanatory purposes of the principles of the present application, and do not constitute a limitation on the present application. Therefore, any modification, equivalent replacement, improvement, etc. made without departing from the spirit and scope of the present application shall be included in the protection scope of the present application. In addition, the appended claims of the present application are intended to cover all variations and modifications falling within the scope and boundary of the appended claims, or the equivalent forms of such scope and boundary.

Claims

1. An unmanned aerial vehicle precision delivery device, characterized in that, Be installed on unmanned aerial vehicle platform (1) through connecting frame (11), including edge computing board card (2), laser range finder (3), detachable photoelectric pod (4), laser anemometer (5) and driving and locking device (6); The driving and locking device (6) is locked and unlocked, and the materials are mounted, fixed and dropped; The edge computing board card (2) receives the data transmitted by the unmanned aerial vehicle platform (1), the laser anemometer (5), the edge computing board card (2), the laser range finder (3) and the ground station display control terminal (10), carries out data calculation, path planning and mounting command; The laser range finder (3) calculates the distance between the unmanned aerial vehicle and the target; The detachable photoelectric pod (4) is remotely connected to the ground station display control terminal (10), and the target is optically tracked; The laser anemometer (5) is connected with the edge computing board card (2), detects the wind speed and direction when the unmanned aerial vehicle is dropped, and transmits the wind speed data to the edge computing board card (2).

2. The unmanned aerial vehicle precision delivery device of claim 1, wherein, The driving and locking device (6) includes electromagnetic mechanical composite lock (7), electric push rod (8) and sensor (9); The electromagnetic mechanical composite lock (7) generates magnetic force when powered on, and is adsorbed and aligned with the electric push rod (8), so as to mount and fix the materials; When the electromagnetic mechanical composite lock (7) loses power, the electric push rod (8) is unlocked, and the materials are dropped; The sensor (9) is connected with the electromagnetic mechanical composite lock (7), detects the lock state, monitors the contact pressure during mounting, and judges whether it is virtual connection.

3. The unmanned aerial vehicle precision delivery device of claim 1, wherein, The laser range finder (3) includes a transmitting unit, a receiving unit, a timing unit and a control unit; The transmitting unit generates high-energy and high-directional laser pulse; The receiving unit collects the laser signal reflected by the target, focuses it on the photoelectric detector, and the photoelectric detector converts the laser signal into laser electric signal, which is amplified by the preamplifier for data processing; The timing unit measures the time interval from the transmission to the reception of the laser pulse; The control unit is used for controlling the working of the transmitting unit, the receiving unit and the timing unit, and feeding back the distance measuring value of the unmanned aerial vehicle platform (1).

4. A method for precision delivery of a UAV delivery device, comprising: Including: When the unmanned aerial vehicle carries the materials for dropping, according to the environmental data information received by the ground station terminal (10), the dropping site is selected and locked; The unmanned aerial vehicle runs to the best dropping height, the best dropping height is recommended according to the type of the dropped materials in the database, and the distance of the dropping site is calculated by the laser range finder (3); The laser anemometer (5) detects the wind speed information; The edge computing board card (2) calculates the dropping path according to the distance of the dropping site, the current position coordinates of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle and the wind speed information, determines the dropping mode, and the dropping mode includes free falling type, flat throwing type and diving type dropping; The edge computing board card (2) adopts a deep learning large model to perform iterative calculation according to the determined delivery mode, and outputs a corresponding delivery trajectory planning scheme, and the unmanned aerial vehicle executes a material delivery task according to the delivery trajectory planning scheme; The unmanned aerial vehicle precision delivery device is the unmanned aerial vehicle precision delivery device according to any one of claims 1-3. 5.The method of claim 4, wherein, If the delivery mode is free-fall delivery, the delivery execution steps include: Receiving data transmitted by the unmanned aerial vehicle positioning system and the laser range finder (3); The edge computing board card (2) performs path calculation according to the distance of the delivery site, the current position coordinates of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, and the wind speed information, obtains the time required for the material to fall from the delivery site to the ground, and calculates the horizontal offset distance of the material affected by the wind; The unmanned aerial vehicle hovers at the offset distance above the target, drives the unlocking device (6) to unlock, and the material is delivered downward. 6.The method of claim 5, wherein, The free-fall delivery material motion trajectory calculation method includes: The trajectory of the material movement in the vertical direction is The trajectory of the material movement in the horizontal direction is where y(t) is the vertical displacement, m is the mass of the material, C is the air resistance coefficient, p is the air density, S y is the vertical windward area, g is the acceleration of gravity, t is the time required for the material to fall from the start of the drop to the ground, cosh is the hyperbolic cosine function, x(t) is the horizontal displacement, v1 is the horizontal wind speed, S x is the horizontal windward area. 7.The method of claim 4, wherein, If the delivery mode is flat delivery, the delivery execution steps include: After the unmanned aerial vehicle directionally calibrates the forward direction and the delivery site, the edge computing board card (2) performs path calculation according to the distance of the delivery site, the current position coordinates of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, and the wind speed information, and obtains the time required for the material to fall from the delivery site to the ground; Calculate the horizontal initial velocity of the material at the time of delivery and the horizontal motion distance affected by the wind; When entering the circle with the delivery site as the center and the horizontal motion distance as the radius, drive the unlocking device (6) to unlock, and the material is thrown out and keeps the travel speed of the unmanned aerial vehicle, moving along a parabolic trajectory. 8.The method of claim 7, wherein, The flat delivery material motion trajectory calculation method includes: The trajectory of the material movement in the vertical direction is The trajectory of the material movement in the horizontal direction is where y(t) is the vertical displacement, m is the mass of the material, C is the air resistance coefficient, p is the air density, S y is the vertical windward area, g is the acceleration of gravity, t is the time required for the material to fall from the start of the drop to the ground, x(t) is the horizontal displacement, v1 is the horizontal wind speed, v0 is the horizontal speed of the material at the start of the drop, S x is the horizontal windward area. 9.The method of claim 4, wherein, If the delivery mode is dive delivery, the delivery execution steps include: After locking the delivery site, the unmanned aerial vehicle flies to the target with the material; The unmanned aerial vehicle adjusts the flight attitude, the nose is inclined downward, and according to the calculated flight angle and initial speed, adjusts the dive attitude; When the unmanned aerial vehicle runs to the best delivery height, the edge computing board card (2) performs path calculation according to the distance of the delivery site, the current position coordinates of the unmanned aerial vehicle, the speed of the unmanned aerial vehicle, and the wind speed information, and obtains the time required for the material to fall from the delivery site to the ground; Drive and unlock the locking device (6) to release the material, adjust the attitude of the unmanned aerial vehicle, restore the predetermined flight route, and the material continues to move along a parabolic trajectory to the preset delivery site. 10.The method of claim 9, wherein, The dive delivery material motion trajectory calculation method includes: The trajectory of the material movement in the vertical direction is The trajectory of the material movement in the horizontal direction is wherein y(t) is the vertical displacement, m is the mass of the material, C is the air resistance coefficient, p is the air density, S y is the vertical windward area, g is the acceleration of gravity, t is the time needed for the material to fall from the start of the drop to the ground, x(t) is the horizontal displacement, v1 is the horizontal wind speed, v0 is the horizontal speed of the material at the start of the drop, v2 is the vertical speed of the material at the start of the drop, S x is the horizontal windward area.

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