Unmanned aerial vehicle take-off and landing platform control method and system based on multi-motor self-leveling and radar state perception

Abstract

The invention discloses an unmanned aerial vehicle take-off and landing platform control method and system based on multi-motor self-leveling and radar state perception, and relates to the technical field of automatic control of unmanned aerial vehicle ground support equipment. The defect that an existing platform is insufficient in leveling precision is effectively overcome, the horizontal stability of the platform under the complex terrain is guaranteed, meanwhile, due to introduction of the millimeter-wave radar, real-time detection of the vertical distance and the radial speed of the unmanned aerial vehicle and dynamic evaluation of the working state are achieved, the defect that the existing platform lacks real-time sensing of the state of the unmanned aerial vehicle is overcome, and the working efficiency is improved. The display and voice module performs warning operation according to the working state, so that the state information of approaching, taking-off and landing and the like of the unmanned aerial vehicle can be timely transmitted to surrounding personnel in a working area with dense personnel, and the hidden danger that an existing platform cannot timely perform safety warning is thoroughly solved; and the take-off and landing safety and the operation normalization of the unmanned aerial vehicle in a complex operation scene are further improved.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology for UAV ground support equipment, and in particular to a control method and system for UAV take-off and landing platforms based on multi-motor self-leveling and radar status perception. Background Technology

[0002] With the widespread application of drone technology in the field of power line inspection, drone take-off and landing platforms have become core supporting equipment to ensure the safe and stable take-off and landing of drones in outdoor operations. Power line inspection operations are mostly concentrated in environments with irregular terrain such as slopes and mountains. These scenarios place stringent practical demands on the terrain adaptability and attitude stability of the take-off and landing platform. Whether the platform can quickly maintain a horizontal attitude and accurately perceive the status of the drone directly affects the safety and efficiency of drone operations.

[0003] To adapt to complex terrain, existing UAV take-off and landing platforms have gradually evolved from early purely manual leveling structures to automatic leveling products that integrate tilt detection units and outrigger adjustment functions. Some solutions have also attempted to introduce sensor technology to assist in platform status monitoring. However, these improvements have not yet specifically addressed the core technical pain points in complex inspection scenarios.

[0004] Specifically, traditional manually leveled take-off and landing platforms are only suitable for flat, open areas. They cannot maintain a horizontal attitude autonomously in sloping or mountainous terrains during power line inspections, leading to risks of slippage and tipping during take-off and landing. While existing automatic leveling platforms can achieve basic attitude adjustments, their leveling accuracy is limited, making it difficult to guarantee platform stability on steep terrain and failing to meet high safety standards. Furthermore, existing platforms lack real-time perception and proactive warning mechanisms for drone operation status. In densely populated power line inspection areas (such as overhead power lines near schools), they cannot promptly alert nearby personnel based on drone approach and take-off / landing status, posing significant personal safety hazards. These problems make existing drone take-off and landing platforms ill-suited for the safety requirements of complex power line inspection scenarios. Therefore, developing a drone take-off and landing platform control scheme with high-precision self-leveling capabilities and real-time status perception and warning functions has become a crucial technological breakthrough in this field. Summary of the Invention

[0005] This invention provides a control method and system for a UAV take-off and landing platform based on multi-motor self-balancing and radar status awareness, which solves the technical problem of how to improve the take-off and landing safety and operational standardization of UAVs in complex operating scenarios.

[0006] The first aspect of this invention provides a control method for a UAV take-off and landing platform based on multi-motor self-leveling and radar state awareness, applied to a UAV take-off and landing platform, the UAV take-off and landing platform including a leveling mechanism, a display and voice module, and a millimeter-wave radar, the method comprising:

[0007] In response to a control request to the UAV take-off and landing platform, acquire the attitude data corresponding to the UAV take-off and landing platform;

[0008] When the posture data does not meet the preset horizontal posture standard, the leveling mechanism is controlled to perform a multi-motor leveling operation until the posture data meets the preset horizontal posture standard.

[0009] When the attitude data meets the preset horizontal attitude standard, the millimeter-wave radar is activated for radar detection.

[0010] When a UAV reflected signal is received, the target's vertical distance and radial velocity are determined based on the UAV reflected signal and the frequency-modulated signal emitted by the radar.

[0011] The operational status of the UAV is assessed using the target's vertical distance and radial velocity.

[0012] Based on the drone's operational status assessment results, control the display and voice module to perform warning operations.

[0013] Optionally, determining the target's vertical distance and radial velocity based on the UAV's reflected signal and the frequency-modulated signal emitted by the radar detection system includes:

[0014] The UAV reflected signal is mixed with the frequency-modulated signal emitted by the radar to obtain a mixed signal;

[0015] Perform a Fast Fourier Transform on the mixed signal and extract the beat frequency signal frequency and Doppler frequency shift value;

[0016] The target vertical distance is determined by using the beat frequency signal frequency and preset radar operating parameters;

[0017] The radial velocity of the target is determined by using the Doppler frequency shift value and the preset radar operating parameters.

[0018] Optionally, the assessment of the UAV's operational status using the target's vertical distance and radial velocity includes:

[0019] When the vertical distance to the target and the radial velocity of the target meet the preset UAV approach conditions, it is determined that the UAV take-off and landing platform is in a UAV approach state;

[0020] When the vertical distance to the target and the radial velocity of the target meet the preset UAV parking conditions, the UAV take-off and landing platform is determined to be in a UAV parking state.

[0021] When the vertical distance to the target and the radial velocity of the target meet the preset conditions for UAV takeoff, the UAV takeoff and landing platform is determined to be in the state of UAV takeoff.

[0022] When the vertical distance to the target and the radial velocity of the target meet the preset conditions for UAV operation, the UAV take-off and landing platform is determined to be in UAV operation state.

[0023] When the vertical distance to the target and the radial velocity of the target meet the preset conditions for UAV landing, the UAV take-off and landing platform is determined to be in the state of UAV landing.

[0024] Optionally, controlling the display and voice module to perform a warning operation based on the drone's operational status assessment results includes:

[0025] When the drone operation status assessment result indicates that the drone take-off and landing platform is in a drone approach state, the display and voice module is controlled to perform warning information display and warning voice broadcast operations;

[0026] When the drone operation status assessment result indicates that the drone take-off and landing platform is in a drone parking state, the leveling mechanism is controlled to perform multi-motor leveling operation, and the display and voice module is controlled to perform warning information display and warning voice broadcast operation;

[0027] When the drone operation status assessment result indicates that the drone take-off and landing platform is in the drone take-off state, the display and voice module is controlled to perform warning information display and warning voice broadcast operations, and the leveling mechanism is controlled to perform multi-motor leveling operations;

[0028] When the drone operation status assessment result indicates that the drone take-off and landing platform is in drone operation status, the display and voice module is controlled to perform warning information display and warning voice broadcast operations.

[0029] When the drone operation status assessment result indicates that the drone take-off and landing platform is in the state of drone landing, the display and voice module is controlled to perform warning information display and warning voice broadcast operations, and the leveling mechanism is controlled to perform multi-motor leveling operations.

[0030] Optionally, the UAV take-off and landing platform includes a three-axis accelerometer and a three-axis gyroscope, and the acquisition of attitude data corresponding to the UAV take-off and landing platform includes:

[0031] Read the initial acceleration value collected by the triaxial accelerometer;

[0032] The initial acceleration value is used to calculate the attitude angle, and the static attitude angle is obtained.

[0033] Read the initial angular velocity value collected by the three-axis gyroscope;

[0034] The dynamic attitude angle change is obtained by calculating the attitude angle change using the initial angular velocity value.

[0035] The attitude data at the current moment is obtained by fusing the static attitude angle and the change in the dynamic attitude angle using a complementary filtering algorithm.

[0036] Optionally, the leveling mechanism includes a lifting platform, with a first push rod motor, a second push rod motor, and a third push rod motor distributed at the bottom of the lifting platform. The attitude data includes real-time roll angle and real-time pitch angle. The multi-motor leveling operation specifically involves:

[0037] Obtain a first included angle, a second included angle, and a third included angle. The first included angle is the angle between the axis of the first push rod motor and the vertical direction of gravity. The second included angle is the angle between the axis of the second push rod motor and the vertical direction of gravity. The third included angle is the angle between the axis of the third push rod motor and the vertical direction of gravity.

[0038] By converting the first included angle, the second included angle, and the third included angle respectively, we obtain the first effective vertical coefficient, the second effective vertical coefficient, and the third effective vertical coefficient.

[0039] The difference between the real-time roll angle and the preset standard roll angle is calculated to obtain the roll angle error.

[0040] The pitch angle error is obtained by calculating the difference between the real-time pitch angle and the preset standard pitch angle.

[0041] Based on the roll angle error and the pitch angle error, the total vertical height adjustment of the landing platform is determined using a PID closed-loop control algorithm.

[0042] Based on the principle of trigonometric functions, the total vertical height adjustment is decomposed to obtain the first height change, the second height change, and the third height change.

[0043] The first motor extension / retraction amount of the first push rod motor is obtained by calculating the ratio between the first height change and the first vertical effective coefficient.

[0044] The second motor extension / retraction amount of the second push rod motor is obtained by calculating the ratio between the second height change and the second vertical effective coefficient.

[0045] The third motor extension / retraction amount of the third push rod motor is obtained by calculating the ratio between the third height change and the third vertical effective coefficient.

[0046] Based on the extension and retraction amounts of the first motor, the second motor, and the third motor, the associated push rod motor is controlled to perform extension and retraction actions.

[0047] The second aspect of this invention provides a control system for a UAV take-off and landing platform based on multi-motor self-leveling and radar state awareness, applied to a UAV take-off and landing platform. The UAV take-off and landing platform includes a leveling mechanism, a display and voice module, and a millimeter-wave radar. The system includes:

[0048] The response module is used to respond to control requests to the UAV take-off and landing platform and to obtain attitude data corresponding to the UAV take-off and landing platform.

[0049] The leveling module is used to control the leveling mechanism to perform multi-motor leveling operation when the posture data does not meet the preset horizontal posture standard, until the posture data meets the preset horizontal posture standard.

[0050] The detection module is used to activate the millimeter-wave radar for radar detection when the attitude data meets the preset horizontal attitude standard.

[0051] The processing module is used to determine the target's vertical distance and radial velocity based on the UAV's reflected signal and the frequency-modulated signal emitted by the radar when the UAV's reflected signal is received.

[0052] The evaluation module is used to evaluate the operational status of the UAV using the target's vertical distance and radial velocity.

[0053] The control module is used to control the display and voice module to perform warning operations based on the drone's operational status assessment results.

[0054] The third aspect of the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor causes the processor to perform the steps of the unmanned aerial vehicle take-off and landing platform control method based on multi-motor self-balancing and radar state awareness as described in any of the preceding claims.

[0055] The fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed, it implements the unmanned aerial vehicle take-off and landing platform control method based on multi-motor self-balancing and radar state awareness as described in any of the preceding claims.

[0056] The fifth aspect of the present invention provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein, when the program instructions are executed by a computer, the computer performs the unmanned aerial vehicle take-off and landing platform control method based on multi-motor self-balancing and radar state awareness as described in any of the preceding claims.

[0057] As can be seen from the above technical solutions, the present invention has the following advantages:

[0058] This invention provides a control method and system for a UAV take-off and landing platform based on multi-motor self-leveling and radar status awareness. It acquires the attitude data of the UAV take-off and landing platform in response to control requests, and performs high-precision self-leveling through the coordinated action of multiple motors in a leveling mechanism until the attitude data meets a preset horizontal attitude standard. Subsequently, a millimeter-wave radar is activated for detection. Based on the UAV's reflected signal and the frequency-modulated signal emitted by the radar, the vertical distance between the UAV and the target on the platform and the target's radial velocity are determined, and the UAV's operational status is assessed. Finally, the system is linked with a display and voice module to execute corresponding warning operations. In this invention, the multi-motor coordinated leveling mechanism can accurately adjust for deviations in attitude data, effectively solving the problems of existing... The platform's insufficient leveling accuracy ensures its horizontal stability in complex terrains such as slopes and mountains, avoiding the risk of slippage and rollover caused by platform tilt during drone takeoff and landing. Meanwhile, the introduction of millimeter-wave radar enables real-time detection of the drone's vertical distance and radial velocity, as well as dynamic assessment of its operational status, compensating for the lack of real-time drone status awareness in existing platforms. Furthermore, the display and voice modules, which execute warning operations based on the operational status, can promptly convey drone approach, takeoff, and landing status information to surrounding personnel in densely populated work areas, completely resolving the hidden danger of existing platforms failing to provide timely safety warnings. This further enhances the safety and standardization of drone takeoff and landing in complex work scenarios. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of the present 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 A flowchart illustrating the steps of a UAV take-off and landing platform control method based on multi-motor self-balancing and radar state awareness, provided in an embodiment of the present invention;

[0061] Figure 2 This is a schematic diagram of the overall structure of the UAV take-off and landing platform provided in an embodiment of the present invention;

[0062] Figure 3 This is an internal schematic diagram of the unmanned aerial vehicle (UAV) take-off and landing platform provided in an embodiment of the present invention;

[0063] Figure 4 This is a schematic diagram of the leveling mechanism connection provided in an embodiment of the present invention;

[0064] Figure 5 A structural block diagram of a UAV take-off and landing platform control system based on multi-motor self-balancing and radar state perception is provided for an embodiment of the present invention.

[0065] Figure 6 A structural block diagram of an electronic device provided in an embodiment of the present invention;

[0066] The meanings of the reference numerals in the attached figures are as follows:

[0067] 1. Millimeter-wave radar; 2. Lifting platform; 3. First push rod motor; 4. Second push rod motor; 5. Third push rod motor; 6. LED warning display screen; 7. High-volume voice speaker. Detailed Implementation

[0068] This invention provides a control method and system for a UAV take-off and landing platform based on multi-motor self-balancing and radar state awareness, which is used to solve the technical problem of how to improve the take-off and landing safety and operational standardization of UAVs in complex operating scenarios.

[0069] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0070] Please see Figure 1 , Figure 1 The flowchart illustrates the steps of a control method for a UAV take-off and landing platform based on multi-motor self-balancing and radar state awareness, as provided in an embodiment of the present invention.

[0071] This invention provides a control method for a UAV take-off and landing platform based on multi-motor self-leveling and radar state awareness. The method is applied to a UAV take-off and landing platform, which includes a leveling mechanism, a display and voice module, and a millimeter-wave radar 1.

[0072] Step 101: Respond to the control request to the UAV take-off and landing platform and obtain the attitude data corresponding to the UAV take-off and landing platform.

[0073] In this embodiment of the invention, a control request refers to an instruction initiated by the user through a remote control, a mobile control APP, or a physical trigger button on the take-off and landing platform to start leveling and detection operations. After the request is triggered, the platform will automatically enter the status monitoring mode. Attitude data is the core data reflecting the current tilt state of the UAV take-off and landing platform, specifically including real-time roll angle and real-time pitch angle. Its acquisition depends on the three-axis accelerometer and three-axis gyroscope built into the UAV take-off and landing platform.

[0074] Furthermore, the UAV take-off and landing platform includes a three-axis accelerometer and a three-axis gyroscope. To acquire the attitude data corresponding to the UAV take-off and landing platform, step 101 may include the following sub-steps:

[0075] It should be noted that the sampling frequency was set to 100Hz (i.e., data acquisition was completed once every 10ms), and the three-axis accelerometer and three-axis gyroscope were zero-biased calibrated to eliminate static errors.

[0076] S11. Read the initial acceleration value collected by the triaxial accelerometer.

[0077] A triaxial accelerometer is a sensing device that can collect acceleration signals of a UAV take-off and landing platform in three orthogonal directions (X-axis horizontally to the right along the platform, Y-axis horizontally forward along the platform, and Z-axis perpendicular to the platform and upward) in real time. The initial acceleration value is the raw acceleration data output by the device at the current sampling time.

[0078] In this embodiment of the invention, the initial acceleration values ​​collected by the triaxial accelerometer are read, and the initial acceleration values ​​include the acceleration values ​​of the X, Y, and Z axes. .

[0079] S12. Use the initial acceleration value to calculate the attitude angle and obtain the static attitude angle.

[0080] In this embodiment of the invention, the attitude angle is calculated based on the initial acceleration value using the gravity component to obtain the static attitude angle. The static attitude angle includes the initial values ​​of the roll angle and pitch angle. The static attitude angle has the characteristics of strong static stability and no cumulative error.

[0081] The static attitude angle refers to the initial value of the platform attitude angle obtained by back-calculation based on the components of the gravitational field. Its core principle is that in static or low-dynamic scenarios, the acceleration signal collected by the triaxial accelerometer is mainly contributed by the gravitational acceleration, and the attitude can be calculated through trigonometric function operations.

[0082] The above process can be encapsulated in the form of a formula:

[0083] Initial roll angle: ;

[0084] Initial value of pitch angle: ;

[0085] In the formula, This is the initial value of the roll angle, specifically representing the tilt angle of the platform around the X-axis. This is the initial value of the pitch angle, specifically representing the tilt angle of the corresponding platform around the Y-axis. This represents the acceleration value along the X-axis. This is the acceleration value along the Y-axis. This is the Z-axis acceleration value.

[0086] S13. Read the initial angular velocity value collected by the three-axis gyroscope.

[0087] A three-axis gyroscope is a sensing device that can acquire the angular velocity signals of a UAV take-off and landing platform rotating around the three orthogonal axes X, Y, and Z in real time. Its core function is to capture the dynamic attitude changes of the platform. The initial angular velocity value is the raw angular velocity data output by the device at the current sampling moment.

[0088] In this embodiment of the invention, the initial angular velocity value of the three-axis gyroscope is read, and the initial angular velocity value includes the angular velocity values ​​corresponding to the X and Y axes. .

[0089] S14. Calculate the dynamic attitude angle change using the initial angular velocity value.

[0090] In this embodiment of the invention, the attitude angle change is calculated based on the initial angular velocity value using the angular velocity integral to obtain the dynamic attitude angle change. The dynamic attitude angle change includes the dynamic increment of roll angle and the dynamic increment of pitch angle. The dynamic attitude angle change has the advantage of fast dynamic response speed and can accurately capture the instantaneous tilt change of the platform.

[0091] The dynamic attitude angle change refers to the increment of the platform's attitude angle per unit sampling time. Its calculation principle is the integral of angular velocity over time. The above process can be encapsulated in the form of a formula:

[0092] Roll angle dynamic increment: ;

[0093] Pitch angle dynamic increment: ;

[0094] In the formula, This represents the dynamic increment of the roll angle, specifically characterizing the change in the platform's attitude around the X-axis. This represents the dynamic increment of the pitch angle, specifically characterizing the change in the platform's attitude around the Y-axis. The preferred sampling interval is 10ms. The rotational angular velocity of the axis, ω is the angular velocity of rotation about the Y-axis.

[0095] S15. The complementary filtering algorithm is used to fuse the static attitude angle and the dynamic attitude angle change to obtain the attitude data at the current moment.

[0096] In this embodiment of the invention, a complementary filtering algorithm is used to fuse the static attitude angle and the dynamic attitude angle change to obtain the attitude data at the current moment. The attitude data includes the real-time roll angle and the real-time pitch angle at the current moment.

[0097] Attitude data refers to the real-time roll angle and real-time pitch angle obtained after fusion. This data not only retains the rapid response characteristics of dynamic attitude angle changes, but also corrects the accumulated error through static attitude angles, ultimately achieving high-precision and high-stability attitude detection.

[0098] Complementary filtering is a signal processing algorithm that balances the data characteristics of different sensors through weighting coefficients. Its core purpose is to compensate for the shortcomings of a single sensor. The filter coefficient is set to 0.98. The above process can be encapsulated in the form of a formula:

[0099] Real-time roll angle at the current moment: ;

[0100] Real-time pitch angle at the current moment: ;

[0101] In the formula, These are the filter coefficients. The real-time roll angle at the current moment. The real-time pitch angle at the current moment. The real-time roll angle at the previous moment. This is the real-time pitch angle at the previous moment.

[0102] Step 102: When the attitude data does not meet the preset horizontal attitude standard, the leveling mechanism is controlled to perform multi-motor leveling operation until the attitude data meets the preset horizontal attitude standard.

[0103] The preset horizontal attitude standard refers to the preset criteria for judging the platform's horizontal state. Specifically, it is a threshold condition that the absolute value of the error between the real-time roll angle and the real-time pitch angle and the standard horizontal attitude value (the standard value of the roll angle is 0° and the standard value of the pitch angle is 0°) does not exceed 0.1°. This is used to accurately determine whether the platform meets the attitude requirements for safe take-off and landing of the UAV. Figures 3-4As shown, the leveling mechanism is an actuator used to adjust the horizontal attitude of the UAV take-off and landing platform. It consists of a first push rod motor 3, a second push rod motor 4, and a third push rod motor 5. The three motors are distributed at equal intervals in a 120° equilateral triangle on the circumference of the circular base with the center of the take-off and landing platform as the center. Each motor is tilted and connected to the base and the take-off and landing platform. By coordinating the extension and retraction movements, the height of each area of ​​the platform is adjusted to achieve horizontality. The multi-motor leveling operation is the process of coordinating the adjustment of the platform attitude to horizontality by controlling the independent extension and retraction of the three push rod motors.

[0104] In this embodiment of the invention, the tilt trend of the UAV take-off and landing platform in the roll or pitch direction is first determined based on the collected attitude data. Then, based on the distribution position of the three motors, the approximate direction of extension or retraction of each push rod motor is determined. Subsequently, a coordinated control command is sent to the leveling mechanism to drive the three push rod motors to perform the corresponding extension and retraction actions respectively. At the same time, the real-time attitude data of the platform is continuously acquired and compared with the preset horizontal attitude standard. If it is still not satisfied, the extension and retraction of each motor is finely adjusted. This process is repeated until the absolute value of the error of the real-time roll angle and the real-time pitch angle does not exceed 0.1°, that is, the platform reaches the preset horizontal state, and the multi-motor leveling operation is stopped.

[0105] Step 103: When the attitude data meets the preset horizontal attitude standard, the millimeter-wave radar 1 is activated for radar detection.

[0106] In this embodiment of the invention, when the attitude data after multi-motor leveling operation meets the preset horizontal attitude standard (i.e., the absolute value of the error between the real-time roll angle and the real-time pitch angle relative to the standard horizontal attitude value of 0° does not exceed 0.1°), the system determines that the UAV take-off and landing platform is in a stable and reliable horizontal state, and fully meets the basic attitude conditions for safe take-off, landing and operation of the UAV. At this time, the millimeter-wave radar 1 is automatically triggered to start radar detection. The millimeter-wave radar 1 refers to a sensing device that works in the millimeter-wave band (wavelength range 1-10 mm) and has high-precision distance and speed detection capabilities. Its core function is to realize the real-time status perception of the UAV by transmitting specific detection signals and receiving target reflection signals, and to provide data support for distance and speed calculation. Radar detection refers to the working process of the millimeter-wave radar 1 starting signal transmission and reception according to preset parameters. The purpose is to capture the signals reflected by the UAV to obtain the position and motion information of the UAV relative to the take-off and landing platform.

[0107] In practice, after the millimeter-wave radar 1 is started, it will first complete the initialization self-test. After confirming that the equipment is working normally, it will continuously transmit frequency-modulated signals to the preset detection area above and around the take-off and landing platform according to the preset radar working parameters (such as frequency modulation period, frequency modulation bandwidth, transmission power, etc.). The frequency-modulated signal is a detection signal whose frequency changes linearly with time according to a preset law. Its frequency change characteristics match the radar working parameters and can provide key basis for the calculation of target distance and speed. At the same time, the millimeter-wave radar 1 will monitor in real time whether it receives the reflected signal after being reflected by the UAV. If no reflected signal is detected, it will continue to transmit frequency-modulated signals and monitor the state to ensure that the initial signal of the UAV approaching is not missed. If a reflected signal is detected, it will immediately prepare to enter the subsequent signal processing stage to realize timely perception and status capture of the UAV.

[0108] Step 104: When the UAV reflection signal is received, the target vertical distance and target radial velocity are determined based on the UAV reflection signal and the frequency modulation signal emitted by the radar detection.

[0109] Furthermore, step 104 may include the following sub-steps:

[0110] S21. Mix the UAV reflected signal with the frequency-modulated signal emitted by the radar to obtain a mixed signal.

[0111] In this embodiment of the invention, the UAV reflected signal is the echo signal returned after the detection signal emitted by the millimeter-wave radar 1 is reflected by the surface of the UAV. It carries the distance time delay and speed information generated by the relative motion between the UAV and the take-off and landing platform. The frequency-modulated signal emitted by the radar is a continuous wave signal whose frequency changes linearly with time, emitted by the millimeter-wave radar 1 according to preset parameters. It serves as the reference signal for extracting target information. The mixing is an operation that uses a mixer, a nonlinear device, to superimpose the received UAV reflected signal with the frequency-modulated signal stored locally by the radar. In specific implementation, after the two signals are input into the mixer, a new signal containing the sum and difference of the frequencies of the two signals will be generated due to nonlinear effects. This new signal is the mixed signal. The component of the frequency difference (i.e., the difference frequency signal) will retain the distance and speed information of the UAV.

[0112] S22. Perform a fast Fourier transform on the mixed signal and extract the beat frequency and Doppler shift value.

[0113] In this embodiment of the invention, the mixed signal obtained by mixing in S21 is subjected to Fast Fourier Transform (FFT), and the beat frequency and Doppler shift value are extracted. Fast Fourier Transform (FFT) is a highly efficient digital signal processing algorithm that converts time-domain signals into frequency-domain signals. It can transform the voltage amplitude information that changes with time in the mixed signal into the amplitude distribution of different frequency components, making the frequency features hidden in the time domain more intuitive and easier to extract. The beat frequency is the frequency component of the mixed signal after FFT that is directly related to the vertical distance between the UAV and the take-off and landing platform; its value is determined by the round-trip time delay and the radar frequency modulation slope. The Doppler shift value is due to the radial motion of the UAV relative to the take-off and landing platform. The movement of the reflected signal causes a shift in frequency relative to the transmitted signal, which is directly related to the target's radial velocity. In practice, the mixed signal is first preprocessed to filter out environmental noise interference. Then, a fast Fourier transform is used to convert the preprocessed time-domain mixed signal into a frequency-domain spectrum. The frequency-domain spectrum will show two obvious peaks. The frequency corresponding to one peak is the beat frequency signal frequency, which is proportional to the round-trip time delay of the signal. The frequency corresponding to the other peak is the Doppler shift value, which is proportional to the radial velocity of the UAV. By identifying and extracting the frequency parameters corresponding to these two peaks, core data support can be provided for the accurate calculation of the target's vertical distance and radial velocity.

[0114] S23. Use the beat frequency signal frequency and preset radar operating parameters to determine the vertical distance to the target.

[0115] In this embodiment of the invention, the preset radar operating parameters refer to the core technical indicators pre-configured before the radar is started, including frequency modulation period, electromagnetic wave propagation speed, etc., which provide a fixed benchmark for distance calculation; the target vertical distance is the vertical spatial distance of the UAV relative to the horizontal plane where the take-off and landing platform is located, which is a key parameter for judging the position status of the UAV.

[0116] In practice, based on the direct proportionality between the beat frequency signal frequency and the round-trip time delay, the vertical distance to the target is calculated using the following formula:

[0117] ;

[0118] In the formula, The target vertical distance specifically represents the vertical distance between the UAV and the take-off and landing platform. The beat frequency signal frequency specifically represents the frequency of the beat frequency signal obtained after mixing. The speed of electromagnetic wave propagation (value 3 × 10⁻⁶) 8 m / s The frequency modulation period is preset in the radar operating parameters. This refers to the frequency modulation bandwidth in the preset radar operating parameters.

[0119] S24. Determine the target radial velocity using Doppler frequency shift values ​​and preset radar operating parameters.

[0120] In this embodiment of the invention, the Doppler frequency shift value extracted by S22 and the preset radar operating parameters are used to determine the target radial velocity, wherein the target radial velocity is the movement speed of the UAV along the line connecting the take-off and landing platform and the UAV. A positive value represents moving away from the platform and a negative value represents moving towards the platform, directly reflecting the movement trend of the UAV.

[0121] In practice, based on the physical laws of the Doppler frequency shift effect, the radial velocity of the target is calculated using the following formula:

[0122]

[0123] In the formula, This represents the Doppler frequency shift value generated by the UAV's reflected signal; The target radial velocity specifically represents the radial velocity of the UAV relative to the takeoff and landing platform. This is the center frequency of the carrier wave for the frequency-modulated signal transmitted by the radar.

[0124] Step 105: Use the target vertical distance and target radial velocity to assess the UAV's operational status.

[0125] Drone operation status assessment refers to the process of analyzing the spatial distance and speed characteristics of the drone relative to the take-off and landing platform, matching preset status conditions to determine the current operational stage of the drone, and providing status basis for warning operations.

[0126] Furthermore, step 105 may include the following sub-steps:

[0127] S31. When the target's vertical distance and radial velocity meet the preset UAV approach conditions, the UAV take-off and landing platform is determined to be in a UAV approach state.

[0128] In this embodiment of the invention, when the target vertical distance and the target radial velocity meet the preset UAV approach conditions, the UAV take-off and landing platform is determined to be in the UAV approach state. The preset UAV approach conditions refer to the target vertical distance showing a continuously decreasing trend and the target radial velocity being negative (i.e., the UAV is approaching the platform along the line connecting it to the take-off and landing platform). The UAV approach state is the operational phase in which the UAV approaches the take-off and landing platform.

[0129] S32. When the target's vertical distance and radial velocity meet the preset UAV parking conditions, the UAV take-off and landing platform is determined to be in the UAV parking state.

[0130] In this embodiment of the invention, when the target vertical distance and the target radial velocity meet the preset UAV parking conditions, the UAV take-off and landing platform is determined to be in the UAV parking state. The preset UAV parking conditions refer to the target vertical distance being 0 meters and the target radial velocity being 0 (i.e., the UAV is stationary on the take-off and landing platform). The UAV parking state is the standby state in which the UAV remains stationary on the take-off and landing platform.

[0131] S33. When the target's vertical distance and radial velocity meet the preset conditions for UAV takeoff, the UAV takeoff and landing platform is determined to be in the UAV takeoff state.

[0132] In this embodiment of the invention, when the target vertical distance and the target radial velocity meet the preset conditions for UAV takeoff, the UAV takeoff and landing platform is determined to be in the UAV takeoff state. The preset conditions for UAV takeoff refer to the target vertical distance being between 0 meters and 3 meters and the target radial velocity being positive (i.e., the UAV is moving away from the platform along the line connecting it to the takeoff and landing platform). The UAV takeoff state is the stage when the UAV takes off from the takeoff and landing platform.

[0133] S34. When the target vertical distance and target radial velocity meet the preset conditions for UAV operation, the UAV take-off and landing platform is determined to be in UAV operation state.

[0134] In this embodiment of the invention, when the target vertical distance and the target radial velocity meet the preset conditions for UAV operation, the UAV take-off and landing platform is determined to be in the UAV operation state. The preset conditions for UAV operation refer to the target vertical distance being not less than 3 meters and the target radial velocity remaining stable with no tendency to approach the take-off and landing platform. The UAV operation state is the stage in which the UAV maintains a stable altitude to perform its mission.

[0135] S35. When the target's vertical distance and radial velocity meet the preset conditions for UAV landing, the UAV take-off and landing platform is determined to be in the UAV landing state.

[0136] In this embodiment of the invention, when the target vertical distance and the target radial velocity meet the preset conditions for UAV landing, the UAV take-off and landing platform is determined to be in the UAV landing state. The preset conditions for UAV landing refer to the target vertical distance being no more than 3 meters and the target radial velocity being negative (i.e., the UAV is approaching the platform along the line connecting it to the take-off and landing platform). The UAV landing state is the stage in which the UAV descends towards the take-off and landing platform.

[0137] By matching the target vertical distance and target radial velocity conditions corresponding to each state through the above steps S31-S35, the state of the UAV at each operational stage can be accurately determined.

[0138] Step 106: Based on the drone operation status assessment results, control the display and voice module to execute warning operations.

[0139] The display and voice module is a functional module used to output text warning information and voice warning content. It includes an LED warning display screen 6 (a display device that can visually present preset warning text) and a high-volume voice speaker 7 (an audio output device that can play corresponding warning voice).

[0140] Further, see Figure 2 The display and voice module includes an LED warning display screen 6 and a high-volume voice speaker 7. Step 105 may include the following sub-steps:

[0141] S41. When the drone operation status assessment result indicates that the drone take-off and landing platform is in a drone approach state, the control display and voice module will perform the operation of displaying warning information and broadcasting warning voice.

[0142] In this embodiment of the invention, when the drone operation status assessment result indicates that the drone take-off and landing platform is in a drone approaching state, the control display and voice module performs the operation of displaying warning information and broadcasting warning voice. Specifically, it controls the LED warning display screen 6 to display the preset approach warning text, and at the same time controls the high-volume voice speaker 7 to broadcast the corresponding approach warning voice, conveying the prompt that the drone is approaching to the surrounding personnel.

[0143] S42. When the drone operation status assessment result indicates that the drone take-off and landing platform is in the drone parking state, control the leveling mechanism to perform multi-motor leveling operation, and control the display and voice module to perform warning information display and warning voice broadcast operation.

[0144] In this embodiment of the invention, when the evaluation result indicates that the UAV is in a parked state, the leveling mechanism is controlled to perform multi-motor leveling operation, and the display and voice module is controlled to perform warning information display and warning voice broadcast operation. The leveling mechanism is a platform attitude adjustment mechanism composed of three articulated push rod motors. The leveling operation is performed by driving the three push rod motors of the leveling mechanism. At the same time, the LED warning display screen 6 is controlled to display the preset takeoff preparation warning text, and the high-volume voice speaker 7 is controlled to broadcast the corresponding takeoff preparation warning voice.

[0145] S43. When the drone operation status assessment result indicates that the drone take-off and landing platform is in the state of drone take-off, the control display and voice module performs the operation of displaying warning information and broadcasting warning voice, and controls the leveling mechanism to perform multi-motor leveling operation.

[0146] In this embodiment of the invention, when the evaluation result is that the UAV is in the takeoff state, the control display and voice module performs the operation of displaying warning information and broadcasting warning voice, and controls the leveling mechanism to perform multi-motor leveling operation. Specifically, the LED warning display screen 6 is controlled to display the preset takeoff warning text, and the high-volume voice speaker 7 simultaneously broadcasts the corresponding takeoff warning voice. At the same time, the linkage push rod motor maintains the level state of the takeoff and landing platform.

[0147] S44. When the drone operation status assessment result indicates that the drone take-off and landing platform is in drone operation status, the control display and voice module performs the operation of displaying warning information and broadcasting warning voice.

[0148] In this embodiment of the invention, when the evaluation result indicates that the drone is in operation, the control display and voice module performs the operation of displaying warning information and broadcasting warning voice, that is, controlling the LED warning display screen 6 to display preset operation warning text, and at the same time controlling the high-volume voice speaker 7 to stop broadcasting, only retaining the text warning to avoid interfering with the drone operation.

[0149] S45. When the drone operation status assessment result indicates that the drone take-off and landing platform is in the state of drone landing, the control display and voice module performs the operation of displaying warning information and broadcasting warning voice, and at the same time controls the leveling mechanism to perform multi-motor leveling operation.

[0150] In this embodiment of the invention, when the evaluation result indicates that the drone is in the process of landing, the control display and voice module performs the operation of displaying warning information and broadcasting warning voice, and at the same time controls the leveling mechanism to perform multi-motor leveling operation. Specifically, the LED warning display screen 6 is controlled to display preset landing warning text, and the high-volume voice speaker 7 is controlled to broadcast the corresponding landing warning voice. At the same time, the push rod motor is linked to perform the leveling operation in advance to ensure that the platform is in a stable horizontal state before the drone lands.

[0151] Further, see Figure 3 and Figure 4 The leveling mechanism includes a lifting platform 2. A first push rod motor 3, a second push rod motor 4, and a third push rod motor 5 are distributed at the bottom of the lifting platform 2. Attitude data includes real-time roll angle and real-time pitch angle. The multi-motor leveling operation is as follows:

[0152] It should be noted that, for reference Figures 3-4The multi-motor leveling operation is based on a structure of "three push rod motors arranged in a 120° equilateral triangle with the center of the landing platform as the center." First, the motor positions and coordinate system are defined: a Cartesian coordinate system is established with the center of the automatically leveling UAV landing platform as the origin (X-axis pointing horizontally to the right, Y-axis pointing horizontally forward). The first push rod motor 3 is located at 0° (positive X-axis) in the coordinate system, connecting the 0° point of the base circumference to the corresponding area of ​​the landing platform; the second push rod motor 4 is located at 120° (negative X-axis, positive Y-axis) in the coordinate system, connecting the 120° point of the base circumference to the corresponding area of ​​the landing platform; the third push rod motor 5 is located at 240° (negative X-axis, negative Y-axis) in the coordinate system, connecting the 240° point of the base circumference to the corresponding area of ​​the landing platform. All three motors are tilted to connect the base and the landing platform, and the tilt angle between the motor axis and the vertical direction is defined as... Its vertical effective coefficient of expansion and contraction is (That is, the change in the vertical height of the platform corresponding to the extension length L of the motor) ).

[0153] A1. Obtain the first included angle, the second included angle, and the third included angle. The first included angle is the angle between the axis of the first push rod motor and the vertical direction of gravity. The second included angle is the angle between the axis of the second push rod motor and the vertical direction of gravity. The third included angle is the angle between the axis of the third push rod motor and the vertical direction of gravity.

[0154] It should be noted that in the industrial implementation of machining and assembly, due to limitations of objective technical conditions such as machining accuracy and assembly clearance, it is difficult to achieve a theoretically ideal state where the angle between the axis of the push rod motor and the vertical direction of gravity is absolutely consistent. Therefore, this application configures the first, second, and third included angles as technical parameters with similar values ​​and differences controlled within the industrial allowable tolerance range of ±0.5°. It should also be noted that a laser angle meter is used to detect the actual angles between the axes 5 of the first push rod motor 3, the second push rod motor 4, and the third push rod motor and the vertical direction of gravity.

[0155] In this embodiment of the invention, a first included angle, a second included angle, and a third included angle are obtained. The first included angle is the angle between the axis of the first push rod motor 3 (0° direction) and the vertical direction of gravity. The second included angle is the angle between the axis of the second push rod motor 4 (in the 120° direction) and the vertical direction of gravity. The third included angle is the angle between the axis of the third push rod motor 5 (240° direction) and the vertical direction of gravity. .

[0156] A2. By converting the first included angle, the second included angle, and the third included angle respectively, we can obtain the first vertical effective coefficient, the second vertical effective coefficient, and the third vertical effective coefficient.

[0157] In this embodiment of the invention, the first included angle, the second included angle, and the third included angle are converted respectively to obtain the first vertical effective coefficient, the second vertical effective coefficient, and the third vertical effective coefficient. Based on the "motor extension length L corresponding to the change in platform vertical height",... The definition of "vertical effective coefficient" is that it is the cosine of the angle between the motor axis and the vertical direction. Therefore, the first vertical effective coefficient is... The second vertical effective coefficient is The third vertical effective coefficient is .

[0158] A3. The difference between the real-time roll angle and the preset standard roll angle is calculated to obtain the roll angle error.

[0159] In this embodiment of the invention, the roll angle error is obtained by calculating the difference between the real-time roll angle and the preset standard roll angle. The preset standard roll angle is 0° corresponding to the horizontal attitude of the target in the above coordinate system (denoted as ). Therefore, the roll angle error is:

[0160] ;

[0161] In the formula, This represents the roll angle error.

[0162] A4. The pitch angle error is obtained by calculating the difference between the real-time pitch angle and the preset standard pitch angle.

[0163] In this embodiment of the invention, the pitch angle error is obtained by calculating the difference between the real-time pitch angle and the preset standard pitch angle. The preset standard pitch angle is 0° corresponding to the target horizontal attitude (denoted as ). Therefore, the pitch angle error is:

[0164] ;

[0165] In the formula, This represents the pitch angle error.

[0166] A5. Based on the roll angle error and pitch angle error, the total vertical height adjustment of the landing platform 2 is determined using a PID closed-loop control algorithm. The total vertical height adjustment includes the total height adjustment in the X-axis direction and the total height adjustment in the Y-axis direction.

[0167] In this embodiment of the invention, based on roll angle error and pitch angle error, a PID closed-loop control algorithm is used to determine the total vertical height adjustment of the landing platform 2 in the X-axis direction and the total vertical height adjustment in the Y-axis direction. Specifically, the adjustment amounts in the two directions are calculated separately using the PID algorithm:

[0168] Total height adjustment in the X-axis direction (corresponding to roll angle error, related to the tilt deviation of the motor axis at 0°):

[0169] ;

[0170] In the formula, This refers to the total height adjustment amount in the X-axis direction. These are the proportional, integral, and derivative coefficients for the pitch direction PID control.

[0171] Total height adjustment in the Y-axis direction (corresponding to pitch angle error, associated with tilt deviation of the motor axis perpendicular to 0°):

[0172] ;

[0173] In the formula, This represents the total height adjustment amount in the Y-axis direction.

[0174] A6. Based on the principle of trigonometric functions, the total vertical height adjustment is decomposed to obtain the first height change, the second height change, and the third height change.

[0175] The trigonometric function principle refers to a mathematical method that, based on the distribution angles (0°, 120°, 240°) of three push rod motors in a coordinate system, uses the cosine and sine functions of trigonometric functions to decompose the total vertical height adjustment of the lifting platform along the X and Y axes into the vertical height change of the platform corresponding to each motor. Its core logic is: for each motor at a specific angle in the coordinate system, the total height adjustment along the X-axis needs to be multiplied by the cosine of that angle (corresponding to the proportion of the X-axis component in that motor's direction), and the total height adjustment along the Y-axis needs to be multiplied by the sine of that angle (corresponding to the proportion of the Y-axis component in that motor's direction). The sum of these two values ​​yields the platform height change for the corresponding motor's area, thus matching the motor's distribution position and achieving precise height adjustment in each area. It should be noted that a Cartesian coordinate system is established with the center of the lifting platform 2 as the origin. The X-axis extends horizontally to the right along the platform (corresponding to the distribution direction of the first push rod motor 3), and the Y-axis extends horizontally forward along the platform. The three push rod motors are distributed in the coordinate system at 0° (first motor), 120° (second motor), and 240° (third motor) respectively. This distribution ensures that the adjustment amount can be uniformly decomposed through trigonometric functions. 2) The total height adjustment amount in the X-axis direction needs to be allocated according to the cosine value of the motor distribution angle (cosα, where α is the motor distribution angle), and the total height adjustment amount in the Y-axis direction needs to be allocated according to the sine value of the motor distribution angle (sinα). The sum of the two is the height change amount of the area corresponding to a single motor.

[0176] In this embodiment of the invention, the total vertical height adjustment in the X and Y axes is decomposed based on the principle of trigonometric functions to obtain the vertical height change of the platform in the corresponding areas of the three push rod motors. Figures 3-4The distribution directions of the three linear actuator motors (0°, 120°, 240°) can be decomposed using trigonometric function values ​​for the corresponding directions:

[0177] The first height change corresponding to the first push rod motor 3 (0° direction):

[0178] ;

[0179] The second height change corresponding to the second push rod motor 4 (120° direction):

[0180] ;

[0181] The third height change corresponding to the third push rod motor 5 (240° direction):

[0182] ;

[0183] In the formula, This is the first change in altitude. This is the second change in altitude. This represents the change in altitude at the third altitude.

[0184] A7. The first motor extension amount of the first push rod motor 3 is obtained by calculating the ratio between the first height change and the first vertical effective coefficient.

[0185] In this embodiment of the invention, the extension / retraction amount of the first motor is specifically as follows:

[0186] ;

[0187] In the formula, This represents the extension / retraction amount of the first motor.

[0188] A8. The second motor extension / retraction amount of the second push rod motor 4 is obtained by calculating the ratio between the second height change and the second vertical effective coefficient.

[0189] In this embodiment of the invention, the extension / retraction amount of the second motor is specifically as follows:

[0190] ;

[0191] In the formula, This refers to the extension / retraction amount of the second motor.

[0192] A9. The third motor extension / retraction amount of the third push rod motor 5 is obtained by calculating the ratio between the third height change and the third vertical effective coefficient.

[0193] In this embodiment of the invention, the extension / retraction amount of the third motor is specifically as follows:

[0194] ;

[0195] In the formula, This refers to the extension / retraction amount of the third motor.

[0196] A10. Based on the extension and retraction amounts of the first motor, the second motor, and the third motor, control the associated push rod motor to perform the extension and retraction action.

[0197] In this embodiment of the invention, based on the extension and retraction amounts of the first motor, the second motor, and the third motor, the corresponding extension and retraction data are sent to the motor drive module to control the three push rod motors (corresponding to the 0°, 120°, and 240° directions) to perform the corresponding extension and retraction actions; at the same time, the real-time roll angle and real-time pitch angle of the lifting platform 2 are continuously collected, and the attitude data is repeatedly verified to see if it meets the preset horizontal attitude standard (the absolute value of the error of the real-time roll angle and pitch angle relative to 0° is ≤0.1°), until the attitude data meets the standard and the leveling is stopped.

[0198] Please see Figure 5 , Figure 5 This is a structural block diagram of a UAV take-off and landing platform control system based on multi-motor self-balancing and radar state perception, provided for an embodiment of the present invention.

[0199] This invention provides a control system for a UAV take-off and landing platform based on multi-motor self-leveling and radar status awareness. The system is applied to a UAV take-off and landing platform, which includes a leveling mechanism, a display and voice module, and a millimeter-wave radar 1.

[0200] The response module 501 is used to respond to control requests to the UAV take-off and landing platform and to obtain the attitude data corresponding to the UAV take-off and landing platform.

[0201] The leveling module 502 is used to control the leveling mechanism to perform multi-motor leveling operation when the attitude data does not meet the preset horizontal attitude standard, until the attitude data meets the preset horizontal attitude standard.

[0202] The detection module 503 is used to activate the millimeter-wave radar 1 for radar detection when the attitude data meets the preset horizontal attitude standard.

[0203] The processing module 504 is used to determine the target's vertical distance and radial velocity based on the UAV's reflected signal and the frequency-modulated signal emitted by the radar when the UAV's reflected signal is received.

[0204] Evaluation module 505 is used to evaluate the operational status of the UAV using the target vertical distance and the target radial velocity;

[0205] The control module 506 is used to control the display and voice modules to perform warning operations based on the drone's operational status assessment results.

[0206] Furthermore, the processing module 504 includes:

[0207] The mixing signal submodule is used to mix the UAV's reflected signal with the frequency-modulated signal emitted by the radar to obtain a mixed signal;

[0208] The Fast Fourier Transform (FFT) submodule is used to perform FFT on the mixed signal and extract the beat frequency and Doppler shift value.

[0209] The target vertical range submodule is used to determine the target vertical range by using the beat frequency signal frequency and preset radar operating parameters;

[0210] The target radial velocity submodule is used to determine the target radial velocity using Doppler frequency shift values ​​and preset radar operating parameters.

[0211] Furthermore, evaluation module 505 includes:

[0212] The first evaluation submodule is used to determine that the UAV take-off and landing platform is in a UAV approach state when the target vertical distance and target radial velocity meet the preset UAV approach conditions.

[0213] The second evaluation submodule is used to determine that the UAV take-off and landing platform is in a UAV parking state when the target vertical distance and target radial velocity meet the preset UAV parking conditions.

[0214] The third evaluation submodule is used to determine that the UAV take-off and landing platform is in the UAV take-off state when the target vertical distance and target radial velocity meet the preset UAV take-off conditions.

[0215] The fourth evaluation submodule is used to determine that the UAV take-off and landing platform is in the UAV operation state when the target vertical distance and target radial velocity meet the preset UAV operation conditions.

[0216] The fifth evaluation submodule is used to determine that the UAV take-off and landing platform is in the UAV landing state when the target vertical distance and target radial velocity meet the preset UAV landing conditions.

[0217] Furthermore, the control module 506 includes:

[0218] The first control submodule is used to control the display and voice module to perform warning information display and warning voice broadcast operations when the drone operation status assessment result is that the drone take-off and landing platform is in the drone approach state.

[0219] The second control submodule is used to control the leveling mechanism to perform multi-motor leveling operation when the drone operation status assessment result is that the drone take-off and landing platform is in the drone parking state, and to control the display and voice module to perform warning information display and warning voice broadcast operation.

[0220] The third control submodule is used to control the display and voice module to perform warning information display and warning voice broadcast when the drone operation status assessment result is that the drone take-off and landing platform is in the state of drone take-off, and to control the leveling mechanism to perform multi-motor leveling operation.

[0221] The fourth control submodule is used to control the display and voice module to perform warning information display and warning voice broadcast when the drone operation status assessment result indicates that the drone take-off and landing platform is in drone operation status.

[0222] The fifth control submodule is used to control the display and voice module to perform warning information display and warning voice broadcast when the drone operation status assessment result is that the drone take-off and landing platform is in the state of drone landing, and at the same time control the leveling mechanism to perform multi-motor leveling operation.

[0223] Furthermore, the UAV takeoff and landing platform includes a three-axis accelerometer and a three-axis gyroscope, and the response module 501 includes:

[0224] The initial acceleration value submodule is used to read the initial acceleration values ​​collected by the triaxial accelerometer;

[0225] The static attitude angle submodule is used to calculate the attitude angle using the initial acceleration value to obtain the static attitude angle.

[0226] The initial angular velocity value submodule is used to read the initial angular velocity value acquired by the three-axis gyroscope;

[0227] The dynamic attitude angle change quantum module is used to calculate the attitude angle change using the initial angular velocity value, and obtain the dynamic attitude angle change.

[0228] The attitude data submodule is used to fuse static attitude angles and dynamic attitude angle changes using a complementary filtering algorithm to obtain the attitude data at the current moment.

[0229] Furthermore, the leveling mechanism includes a lifting platform 2, with a first push rod motor 3, a second push rod motor 4, and a third push rod motor 5 distributed at the bottom of the lifting platform 2. The attitude data includes real-time roll angle and real-time pitch angle. The multi-motor leveling operation is as follows:

[0230] Obtain the first included angle, the second included angle, and the third included angle. The first included angle is the angle between the axis of the first push rod motor 3 and the vertical direction of gravity. The second included angle is the angle between the axis of the second push rod motor 4 and the vertical direction of gravity. The third included angle is the angle between the axis of the third push rod motor 5 and the vertical direction of gravity.

[0231] By converting the first included angle, the second included angle, and the third included angle respectively, we obtain the first effective vertical coefficient, the second effective vertical coefficient, and the third effective vertical coefficient.

[0232] The roll angle error is obtained by calculating the difference between the real-time roll angle and the preset standard roll angle.

[0233] The pitch angle error is obtained by calculating the difference between the real-time pitch angle and the preset standard pitch angle.

[0234] Based on the roll angle error and pitch angle error, the total vertical height adjustment of the landing platform 2 is determined using a PID closed-loop control algorithm.

[0235] Based on the principle of trigonometric functions, the total vertical height adjustment is decomposed to obtain the first height change, the second height change, and the third height change.

[0236] The first motor extension / retraction amount of the first push rod motor 3 is obtained by calculating the ratio between the first height change and the first vertical effective coefficient.

[0237] The second motor extension / retraction amount of the second push rod motor 4 is obtained by calculating the ratio between the second height change and the second vertical effective coefficient.

[0238] The third motor extension / retraction amount of the third push rod motor 5 is obtained by calculating the ratio between the third height change and the third vertical effective coefficient.

[0239] Based on the extension and retraction amounts of the first motor, the second motor, and the third motor, the associated push rod motor is controlled to perform the extension and retraction action.

[0240] Please see Figure 6 , Figure 6 This is a structural block diagram of an electronic device provided in an embodiment of the present invention.

[0241] An electronic device according to an embodiment of the present invention includes: a memory 601 and a processor 602. The memory 601 stores a computer program. When the computer program is executed by the processor 602, the processor 602 executes the UAV take-off and landing platform control method based on multi-motor self-balancing and radar state perception as described in the above embodiment.

[0242] Memory 601 may be an electronic memory such as flash memory, EEPROM (Electrically Erasable Programmable Read-Only Memory), EPROM, hard disk, or ROM. Memory 601 has storage space 603 for program code 613 for performing any of the method steps described above. For example, storage space 603 for program code may include various program codes 613 for implementing the various steps in the methods described above. This program code may be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, CDs, memory cards, or floppy disks. The program code may be compressed, for example, in a suitable form. When run by a computing processing device, this code causes the computing processing device to perform the various steps in the methods described above. This program code may be read from or written to one or more computer program products. These computer program products include program code carriers such as hard disks, CDs, memory cards, or floppy disks. The program code may be compressed, for example, in a suitable form. When this code is run by a computing device, it causes the computing device to execute the various steps in the UAV take-off and landing platform control method based on multi-motor self-balancing and radar state awareness described above.

[0243] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the UAV take-off and landing platform control method based on multi-motor self-balancing and radar state awareness as described in the above embodiments.

[0244] This invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions, wherein when the program instructions are executed by a computer, the computer executes the UAV take-off and landing platform control method based on multi-motor self-balancing and radar state awareness as described in the above embodiments.

[0245] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0246] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or units, and may be electrical, mechanical, or other forms.

[0247] 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 units can be selected to achieve the purpose of this embodiment according to actual needs.

[0248] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0249] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. 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 of 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.

[0250] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. 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. Such 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 control method for a UAV take-off and landing platform based on multi-motor self-balancing and radar state awareness, characterized in that, Applied to a drone take-off and landing platform, the drone take-off and landing platform including a leveling mechanism, a display and voice module, and a millimeter-wave radar, the method includes: In response to a control request to the UAV take-off and landing platform, acquire the attitude data corresponding to the UAV take-off and landing platform; When the posture data does not meet the preset horizontal posture standard, the leveling mechanism is controlled to perform a multi-motor leveling operation until the posture data meets the preset horizontal posture standard. When the attitude data meets the preset horizontal attitude standard, the millimeter-wave radar is activated for radar detection. When a UAV reflected signal is received, the target's vertical distance and radial velocity are determined based on the UAV reflected signal and the frequency-modulated signal emitted by the radar. The operational status of the UAV is assessed using the target's vertical distance and radial velocity. Based on the drone's operational status assessment results, control the display and voice module to perform warning operations.

2. The UAV takeoff and landing platform control method based on multi-motor self-balancing and radar state awareness as described in claim 1, characterized in that, The determination of the target's vertical distance and radial velocity based on the UAV's reflected signal and the frequency-modulated signal emitted by the radar detection system includes: The UAV reflected signal is mixed with the frequency-modulated signal emitted by the radar to obtain a mixed signal; Perform a Fast Fourier Transform on the mixed signal and extract the beat frequency signal frequency and Doppler frequency shift value; The target vertical distance is determined by using the beat frequency signal frequency and preset radar operating parameters; The radial velocity of the target is determined by using the Doppler frequency shift value and the preset radar operating parameters.

3. The UAV takeoff and landing platform control method based on multi-motor self-balancing and radar state awareness according to claim 1, characterized in that, The assessment of the UAV's operational status using the target's vertical distance and radial velocity includes: When the vertical distance to the target and the radial velocity of the target meet the preset UAV approach conditions, it is determined that the UAV take-off and landing platform is in a UAV approach state; When the vertical distance to the target and the radial velocity of the target meet the preset UAV parking conditions, the UAV take-off and landing platform is determined to be in a UAV parking state. When the vertical distance to the target and the radial velocity of the target meet the preset conditions for UAV takeoff, the UAV takeoff and landing platform is determined to be in the state of UAV takeoff. When the vertical distance to the target and the radial velocity of the target meet the preset conditions for UAV operation, the UAV take-off and landing platform is determined to be in UAV operation state. When the vertical distance to the target and the radial velocity of the target meet the preset conditions for UAV landing, the UAV take-off and landing platform is determined to be in the state of UAV landing.

4. The UAV take-off and landing platform control method based on multi-motor self-balancing and radar state awareness according to claim 3, characterized in that, The step of controlling the display and voice module to perform warning operations based on the drone's operational status assessment results includes: When the drone operation status assessment result indicates that the drone take-off and landing platform is in a drone approach state, the display and voice module is controlled to perform warning information display and warning voice broadcast operations; When the drone operation status assessment result indicates that the drone take-off and landing platform is in a drone parking state, the leveling mechanism is controlled to perform multi-motor leveling operation, and the display and voice module is controlled to perform warning information display and warning voice broadcast operation; When the drone operation status assessment result indicates that the drone take-off and landing platform is in the drone take-off state, the display and voice module is controlled to perform warning information display and warning voice broadcast operations, and the leveling mechanism is controlled to perform multi-motor leveling operations; When the drone operation status assessment result indicates that the drone take-off and landing platform is in drone operation status, the display and voice module is controlled to perform warning information display and warning voice broadcast operations. When the drone operation status assessment result indicates that the drone take-off and landing platform is in the state of drone landing, the display and voice module is controlled to perform warning information display and warning voice broadcast operations, and the leveling mechanism is controlled to perform multi-motor leveling operations.

5. The UAV take-off and landing platform control method based on multi-motor self-balancing and radar state awareness according to any one of claims 1-4, characterized in that, The UAV take-off and landing platform includes a three-axis accelerometer and a three-axis gyroscope. Acquiring the attitude data corresponding to the UAV take-off and landing platform includes: Read the initial acceleration value collected by the triaxial accelerometer; The initial acceleration value is used to calculate the attitude angle, and the static attitude angle is obtained. Read the initial angular velocity value collected by the three-axis gyroscope; The dynamic attitude angle change is obtained by calculating the attitude angle change using the initial angular velocity value. The attitude data at the current moment is obtained by fusing the static attitude angle and the change in the dynamic attitude angle using a complementary filtering algorithm.

6. The UAV take-off and landing platform control method based on multi-motor self-balancing and radar state awareness according to claim 1 or 4, characterized in that, The leveling mechanism includes a lifting platform, and a first push rod motor, a second push rod motor, and a third push rod motor are distributed at the bottom of the lifting platform. The attitude data includes real-time roll angle and real-time pitch angle. The multi-motor leveling operation is specifically as follows: Obtain a first included angle, a second included angle, and a third included angle. The first included angle is the angle between the axis of the first push rod motor and the vertical direction of gravity. The second included angle is the angle between the axis of the second push rod motor and the vertical direction of gravity. The third included angle is the angle between the axis of the third push rod motor and the vertical direction of gravity. By converting the first included angle, the second included angle, and the third included angle respectively, we obtain the first effective vertical coefficient, the second effective vertical coefficient, and the third effective vertical coefficient. The difference between the real-time roll angle and the preset standard roll angle is calculated to obtain the roll angle error. The pitch angle error is obtained by calculating the difference between the real-time pitch angle and the preset standard pitch angle. Based on the roll angle error and the pitch angle error, the total vertical height adjustment of the landing platform is determined using a PID closed-loop control algorithm. Based on the principle of trigonometric functions, the total vertical height adjustment is decomposed to obtain the first height change, the second height change, and the third height change. The first motor extension / retraction amount of the first push rod motor is obtained by calculating the ratio between the first height change and the first vertical effective coefficient. The second motor extension / retraction amount of the second push rod motor is obtained by calculating the ratio between the second height change and the second vertical effective coefficient. The third motor extension / retraction amount of the third push rod motor is obtained by calculating the ratio between the third height change and the third vertical effective coefficient. Based on the extension and retraction amounts of the first motor, the second motor, and the third motor, the associated push rod motor is controlled to perform extension and retraction actions.

7. A control system for a UAV take-off and landing platform based on multi-motor self-balancing and radar state perception, characterized in that, An application is made in a drone take-off and landing platform, the drone take-off and landing platform including a leveling mechanism, a display and voice module, and a millimeter-wave radar, the system comprising: The response module is used to respond to control requests to the UAV take-off and landing platform and to obtain attitude data corresponding to the UAV take-off and landing platform. The leveling module is used to control the leveling mechanism to perform multi-motor leveling operation when the posture data does not meet the preset horizontal posture standard, until the posture data meets the preset horizontal posture standard. The detection module is used to activate the millimeter-wave radar for radar detection when the attitude data meets the preset horizontal attitude standard. The processing module is used to determine the target's vertical distance and radial velocity based on the UAV's reflected signal and the frequency-modulated signal emitted by the radar when the UAV's reflected signal is received. The evaluation module is used to evaluate the operational status of the UAV using the target's vertical distance and radial velocity. The control module is used to control the display and voice module to perform warning operations based on the drone's operational status assessment results.

8. An electronic device, characterized in that, The system includes a memory and a processor. The memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the UAV take-off and landing platform control method based on multi-motor self-balancing and radar state awareness as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed, it implements the UAV take-off and landing platform control method based on multi-motor self-balancing and radar state awareness as described in any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, wherein when the program instructions are executed by a computer, the computer performs the UAV take-off and landing platform control method based on multi-motor self-balancing and radar state awareness as described in any one of claims 1-6.

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