Lifting control system and control method of vehicle-mounted unmanned aerial vehicle

Abstract

The invention relates to the technical field of vehicle-mounted unmanned aerial vehicles, and provides a lifting control system and method for a vehicle-mounted unmanned aerial vehicle, and the system comprises a lifting control main processor which carries out the posture adjustment and structure change of an unmanned aerial vehicle lifting platform for the take-off and landing of the vehicle-mounted unmanned aerial vehicle. A vehicle-mounted unmanned aerial vehicle flight instruction is formed according to the unmanned aerial vehicle lifting platform action information and sent to the wireless communication module, and communication with the vehicle-mounted unmanned aerial vehicle is carried out through the wireless communication module; the data processing module processes data acquired by the environment acquisition module and the vehicle-mounted sensor and sends the data to the lifting control main processor; the wireless communication module sends a flight instruction of the vehicle-mounted unmanned aerial vehicle to the vehicle-mounted unmanned aerial vehicle and sends received action data of the vehicle-mounted unmanned aerial vehicle to the lifting control main processor; the storage module stores various data information of the unmanned aerial vehicle lifting platform, various surrounding environment information and corresponding control strategies for calling of the lifting control main processor. The application capability of the vehicle-mounted unmanned aerial vehicle can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle-mounted unmanned aerial vehicle, and particularly relates to a lifting control system and a control method of a vehicle-mounted unmanned aerial vehicle. BACKGROUND

[0002] The unmanned aerial vehicle technology is developing rapidly in the direction of automation and intelligence. Among them, the vehicle-mounted unmanned aerial vehicle system has been widely concerned. The vehicle-mounted unmanned aerial vehicle system mainly consists of a vehicle-mounted take-off and landing platform, an unmanned aerial vehicle flight platform, a ground monitoring system, a positioning system, a communication device and a communication link. The vehicle-mounted unmanned aerial vehicle can complete autonomous take-off on the vehicle-mounted take-off and landing platform, and complete autonomous following, monitoring, reconnaissance, inspection and other tasks as needed; when the unmanned aerial vehicle is low in power or the user issues a return instruction, the vehicle-mounted unmanned aerial vehicle can follow the moving vehicle-mounted platform to complete autonomous tracking and landing. The vehicle-mounted unmanned aerial vehicle system can well complement the shortcomings of short endurance time and small flight radius of the current unmanned aerial vehicle, and greatly saves the operation time. The moving landing of the vehicle-mounted unmanned aerial vehicle when it needs to return to the vehicle-mounted take-off and landing platform is a technical difficulty of the system. The unmanned aerial vehicle first needs to accurately position the position of the vehicle-mounted take-off and landing platform, and then needs to control the landing in a complex environment and needs to make hard contact with the take-off and landing platform. Inaccurate positioning or landing failure can easily cause the unmanned aerial vehicle to crash, causing property loss and even personal safety hazards. In the existing technology, the lifting operation is only performed by relying on positioning, the positioning accuracy is low, which is not conducive to the landing of the unmanned aerial vehicle, and the unmanned aerial vehicle cannot be stably landed on the moving car. At present, the technology can only support the landing when the car is driving on a horizontal road, which has great limitations and narrow application range, and is greatly affected by environmental factors, and cannot correctly perform the lifting operation at any time. SUMMARY

[0003] The present application aims to solve at least one technical problem in the background art, and provides a lifting control system and a control method of a vehicle-mounted unmanned aerial vehicle.

[0004] To achieve the above-mentioned purpose, the present application provides a lifting control system of a vehicle-mounted unmanned aerial vehicle, comprising a lifting control main processor, a data processing module, a wireless communication module, a power module, a storage module, an environment acquisition module and an unmanned aerial vehicle lifting platform. The lifting control main processor receives information sent by the data processing module, receives state information of the vehicle-mounted unmanned aerial vehicle through the wireless communication module, receives instructions of the vehicle-mounted platform host computer, gives a control strategy according to the received information instructions, controls the power module to adjust the pose and structure of the unmanned aerial vehicle lifting platform for take-off and landing of the vehicle-mounted unmanned aerial vehicle, and forms a vehicle-mounted unmanned aerial vehicle flight instruction according to the unmanned aerial vehicle lifting platform action information and sends it to the wireless communication module to communicate and control the vehicle-mounted unmanned aerial vehicle through the wireless communication module. The data processing module processes the data collected by the environmental acquisition module and the vehicle-mounted sensors, and sends the collected data to the lifting control main processor as the data basis for the lifting control main processor to regulate the UAV lifting platform. The wireless communication module sends the flight commands of the vehicle-mounted drone to the vehicle-mounted drone and sends the received motion data of the vehicle-mounted drone to the lift control main processor. The storage module stores various data and environmental information of the UAV lifting platform, as well as corresponding control strategies for use by the lifting control main processor.

[0005] According to one aspect of the present invention, the drone lifting platform includes: a drone lifting platform, a lifting platform locking support device, a platform direction control arm, a drone locking device, a drone take-off and landing position marker, and an on-board sensor system; One end of each of the multiple lifting platform locking support devices is locked to the vehicle platform, and the other end supports and locks the UAV lifting platform. Each of the lifting platform locking support devices can perform telescopic movements. The platform's directional control arm is a 4-DOF robotic arm that adjusts the lifting height and attitude angle of the UAV's lifting platform. The drone locking device locks the landing gear of the vehicle-mounted drone that has landed on the drone lifting platform. The drone take-off and landing position marker is located at the center of the drone lifting platform to provide a position marker for the take-off and landing of the vehicle-mounted drone. The vehicle-mounted sensor system includes a direction sensor, an angle sensor, a position sensor, a vision sensor, and a radar sensor that collect various types of data from the vehicle-mounted drone. The data collected by each sensor is then sent to the lift control main processor through the data processing module.

[0006] According to one aspect of the present invention, the environmental information collected by the environmental acquisition module includes: wind force, altitude, and road surface smoothness; The environmental acquisition module sends the acquired real-time surrounding environment information to the lifting control main processor. The lifting control main processor compares the received real-time surrounding environment information with the surrounding environment information stored in the storage module. When the comparison result is within a preset threshold range, the lifting control main processor calls the corresponding control strategy stored in the storage module. When the comparison result is outside the preset threshold range, the lifting control main processor forms a new control strategy based on the real-time surrounding environment information.

[0007] To achieve the above objectives, the present invention also provides a method for controlling the lift of a vehicle-mounted unmanned aerial vehicle, comprising: Vehicle-mounted drone takeoff status control: (1) The UAV receives the take-off command sent by the vehicle platform, and then performs a self-check on its own status information to determine whether it meets the take-off conditions. If it does, it executes step (2). If it does not meet the conditions, it sends feedback to the vehicle platform, which sends a prohibition on flight command and transmits an error code. (2) Feed back the self-test results to the vehicle platform. The vehicle platform determines the position of the UAV lifting platform and whether it is in the vehicle platform. If it is, proceed to step (3); otherwise, proceed to step (4). (3) The vehicle platform sends instruction information to control the UAV lifting platform and raise the UAV lifting platform to the outside of the vehicle platform; (4) Collect the position information of the vehicle-mounted platform and the height and direction information of the UAV lifting platform, and adjust the UAV lifting platform to be parallel to the ground; (5) Feedback the adjusted data to the vehicle-mounted drone and the vehicle-mounted drone's lift control system. At this time, the vehicle-mounted drone starts up. The wireless communication module of the lift control system sends the start data of the vehicle-mounted drone to the lift control main processor. The data processing module sends the data collected by the vehicle-mounted sensor to the lift control main processor. At the same time, the vehicle platform sends the host computer command for the vehicle-mounted drone to take off to the lift control main processor. The lift control main processor gives a control strategy based on the received information and controls the power module to unlock the drone unlocking device in the drone lift platform. (6) The vehicle-mounted drone takes off.

[0008] According to one aspect of the invention, it further includes: Vehicle-mounted drone landing status control: (1) The lifting control system controls the platform direction control arm and the lifting platform locking support device in the UAV lifting platform through the lifting control main processor to drive the UAV lifting platform to the upper outer side of the vehicle platform, so as to be unaffected by the space of the vehicle platform. (2) The vehicle-mounted UAV receives the landing command sent by the lifting control main processor through the wireless communication module. After receiving the landing command, the vehicle-mounted UAV adjusts its own state according to the current environmental information. (3) The vehicle-mounted drone uses its own navigation and vision system to locate the vehicle platform; (4) The vehicle-mounted drone approaches the vehicle platform and simultaneously uses the vision system to search for the drone take-off and landing position marker on the drone lifting platform of the vehicle platform. It is determined whether the drone take-off and landing position marker has been found. If it has been found, proceed to step (6); if it has not been found, proceed to step (5). (5) The vehicle-mounted drone further reduces its flight altitude and adjusts its flight direction until it finds the drone's take-off and landing position marker; (6) The vehicle-mounted UAV controls the flight speed to be consistent with the speed of the vehicle platform, sends the information of the confirmed UAV take-off and landing position to the wireless communication module, and at the same time reports its own position; (7) The lifting control main processor controls the platform direction control arm and the lifting platform locking support device in the UAV lifting platform through the power module to control the real-time horizontal state of the UAV lifting platform; (8) The vehicle-mounted UAV monitors the real-time distance to the UAV lifting platform through lidar and performs horizontal positioning through four lidars. When the data from the four lidars are similar, it is determined that the vehicle-mounted UAV is in a parallel state with the UAV lifting platform. (9) The vehicle-mounted drone descends slowly until it lands on the drone lifting platform. During the descent and landing process, the vehicle-mounted sensor system in the drone lifting platform collects data of the vehicle-mounted drone in real time, and sends it to the lifting control main processor after processing by the data processing module. The lifting control main processor controls the drone locking device in the drone lifting platform to lock the vehicle-mounted drone according to the host computer command for the vehicle-mounted drone to land and the processed sensor data, and the vehicle-mounted drone stops flying. (10) The lifting control main processor controls the platform direction control arm in the UAV lifting platform to retract into the vehicle platform space, and at the same time controls the lifting platform locking support device in the UAV lifting platform to lock the UAV lifting platform to complete the landing.

[0009] According to the solution of this invention, the invention can solve the problems of inaccurate positioning and high susceptibility to environmental influences, ensuring smooth takeoff and landing of UAVs under any circumstances, in any environment, and under any road conditions. It improves the identification accuracy of the landing platform, reduces computational load, and can quickly send safe and reliable takeoff and landing control commands to control the UAV's ascent and descent. The UAV can more intelligently handle landing and takeoff problems in complex environments, improving its response speed to sudden obstacles, thereby enhancing the safety of the ascent and descent process. It also increases the applicability of vehicle-mounted UAVs.

[0010] This invention features a lift control main processor, primarily used to receive data from the data processing module, analyze and compare the information, and adjust the drone's landing accordingly based on the information from the data processing module and the environmental acquisition module. It also adds autonomous control, improving the drone's landing accuracy and stability.

[0011] This invention adds an environmental acquisition module, a data processing module, and a wireless communication module; it solves the technical problems of low accuracy of control parameters and poor timeliness of control caused by the complex and multi-constrained operation and control environment of existing UAVs, improves the accuracy of UAV operation control and landing parameters, optimizes and adjusts landing information in a timely manner, and achieves real-time control and adjustment of landing parameters.

[0012] This invention features a variable-structure and directional lifting control platform, which can ensure that the UAV can land in different landing environments by changing the position and angle of the platform. It has high reliability, high safety, and improves the environmental adaptability of the UAV. Attached Figure Description

[0013] Figure 1 This schematic diagram illustrates the structural block diagram of a vehicle-mounted unmanned aerial vehicle (UAV) lift control system according to one embodiment of the present invention. Figure 2 The diagram schematically illustrates the structural layout of an unmanned aerial vehicle (UAV) lifting platform according to one embodiment of the present invention. Detailed Implementation

[0014] The invention will now be discussed with reference to exemplary embodiments. It should be understood that the described embodiments are merely intended to enable those skilled in the art to better understand and thus implement the invention, and are not intended to imply any limitation on the scope of the invention.

[0015] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment".

[0016] Figure 1 This schematic diagram illustrates the structural block diagram of a vehicle-mounted unmanned aerial vehicle (UAV) lift control system according to one embodiment of the present invention. Figure 1 As shown, in this embodiment, the lifting control system of the vehicle-mounted drone includes: a lifting control main processor 1, a data processing module 2, a wireless communication module 3, a power module 4, a storage module 5, an environmental acquisition module 6, and a drone lifting platform 7. The lifting control main processor 1 receives information sent by the data processing module 2, receives status information of the vehicle-mounted drone 8 through the wireless communication module 3, and receives instructions from the host computer of the vehicle platform (car) 9. Based on the received information and instructions, it gives a control strategy to control the power module 4 to adjust the posture and structure of the drone lifting platform 7 for the take-off and landing of the vehicle-mounted drone 8. Based on the drone lifting platform action information, it forms the vehicle-mounted drone flight instructions and sends them to the wireless communication module 3. The wireless communication module 3 communicates and controls the vehicle-mounted drone. Data processing module 2 processes (analog-to-digital conversion, signal conditioning, etc.) the data collected by environmental acquisition module 6 and vehicle-mounted sensors, and sends the collected data to the lifting control main processor 1 as the data basis for the lifting control main processor 1 to regulate the drone lifting platform 7. The wireless communication module 3 sends the flight command of the vehicle-mounted drone to the vehicle-mounted drone 8, and sends the received motion data of the vehicle-mounted drone 8 to the lift control main processor 1; Storage module 5 stores various data information of the UAV lifting platform 7 and various surrounding environment information, and also stores the corresponding control strategies for the lifting control main processor 1 to call.

[0017] Furthermore, Figure 2 This schematic diagram illustrates the structural layout of a drone lifting platform according to one embodiment of the present invention. Figure 2 As shown, in this embodiment, the UAV lifting platform 7 includes: UAV lifting platform 10, lifting platform locking support device 11, platform direction control arm 12, UAV locking device 13, UAV take-off and landing position marker 14, and vehicle-mounted sensor system 15. Multiple lifting platform locking support devices 11 are locked at one end to the vehicle platform 9 (the locking between the platform and the vehicle body is not automatically adjustable to ensure that the platform and the vehicle body maintain the same vibration amplitude), and at the other end they support and lock the drone lifting platform 10 (the angle, direction and height of the locking end of the drone lifting platform 10 can be adjusted in real time, which is beneficial to maintaining a normal position when the drone lands and takes off). Each lifting platform locking support device can perform telescopic movements. The platform's directional control arm is a 4-DOF robotic arm that adjusts the lifting height and attitude angle of the drone's lifting platform; it can achieve 360-degree position adjustment. The drone locking device 13 locks the landing gear of the vehicle-mounted drone that lands on the drone lifting platform 10; The drone take-off and landing position marker 14 is set at the center of the drone lifting platform 10 to provide a position marker for the take-off and landing of the vehicle-mounted drone; The vehicle-mounted sensor system 15 includes a direction sensor, an angle sensor, a position sensor, a vision sensor, and a radar sensor that collect various types of data from the vehicle-mounted drone. The data collected by each sensor is then sent to the lift control main processor 1 through the data processing module 2.

[0018] Furthermore, according to one embodiment of the present invention, the surrounding environmental information collected by the environmental acquisition module includes: wind force, altitude, and road surface smoothness; The environmental acquisition module 6 sends the acquired real-time surrounding environment information to the lifting control main processor 1. The lifting control main processor 1 compares the received real-time surrounding environment information with the surrounding environment information stored in the storage module. When the similarity of the comparison result is within a preset threshold range, the lifting control main processor calls the corresponding control strategy stored in the storage module and then directly performs the corresponding control through the called control strategy. When the similarity of the comparison result is outside the preset threshold range, the lifting control main processor forms a new control strategy based on the real-time surrounding environment information, and then performs relevant control on the system based on the new control strategy. Then, the corresponding surrounding environment information and control strategy are stored in the storage module 5 for future use.

[0019] Furthermore, to achieve the above objectives, the present invention also provides a control method for a vehicle-mounted unmanned aerial vehicle, comprising: Vehicle-mounted drone takeoff status control: (1) The UAV receives the take-off command sent by the vehicle platform, and then performs a self-check on its own status information to determine whether it meets the take-off conditions. If it does, it executes step (2). If it does not meet the conditions, it sends feedback to the vehicle platform, which sends a prohibition on flight command and transmits an error code. (2) Feed back the self-test results to the vehicle platform. The vehicle platform determines the position of the UAV lifting platform and whether it is in the vehicle platform. If it is, proceed to step (3); otherwise, proceed to step (4). (3) The vehicle platform sends instruction information to control the UAV lifting platform and raise the UAV lifting platform to the outside of the vehicle platform; (4) Collect the position information of the vehicle-mounted platform and the height and direction information of the UAV lifting platform, and adjust the UAV lifting platform to be parallel to the ground; (5) Feedback the adjusted data to the vehicle-mounted drone and the vehicle-mounted drone's lift control system. At this time, the vehicle-mounted drone starts up. The wireless communication module of the lift control system sends the start data of the vehicle-mounted drone to the lift control main processor. The data processing module sends the data collected by the vehicle-mounted sensor to the lift control main processor. At the same time, the vehicle platform sends the host computer command for the vehicle-mounted drone to take off to the lift control main processor. The lift control main processor gives a control strategy based on the received information and controls the power module to unlock the drone unlocking device in the drone lift platform. (6) The vehicle-mounted drone takes off.

[0020] Furthermore, according to one embodiment of the present invention, the lifting control method for a vehicle-mounted unmanned aerial vehicle further includes: Vehicle-mounted drone landing status control: (1) The lifting control system controls the platform direction control arm and the lifting platform locking support device in the UAV lifting platform through the lifting control main processor to drive the UAV lifting platform to the upper outer side of the vehicle platform, so as to be unaffected by the space of the vehicle platform. (2) The vehicle-mounted UAV receives the landing command sent by the lifting control main processor through the wireless communication module. After receiving the landing command, the vehicle-mounted UAV adjusts its own state according to the current environmental information. (3) The vehicle-mounted drone uses its own navigation and vision system to locate the vehicle platform; (4) The vehicle-mounted drone approaches the vehicle platform and simultaneously uses the vision system to search for the drone take-off and landing position marker on the drone lifting platform of the vehicle platform. It is determined whether the drone take-off and landing position marker has been found. If it has been found, proceed to step (6); if it has not been found, proceed to step (5). (5) The vehicle-mounted drone further reduces its flight altitude and adjusts its flight direction until it finds the drone's take-off and landing position marker; (6) The vehicle-mounted UAV controls the flight speed to be consistent with the speed of the vehicle platform, sends the information of the confirmed UAV take-off and landing position to the wireless communication module, and at the same time reports its own position; (7) The lifting control main processor controls the platform direction control arm and the lifting platform locking support device in the UAV lifting platform through the power module to control the real-time horizontal state of the UAV lifting platform; (8) The vehicle-mounted UAV monitors the real-time distance to the UAV lifting platform through lidar and performs horizontal positioning through four lidars. When the data from the four lidars are similar, it is determined that the vehicle-mounted UAV is in a parallel state with the UAV lifting platform. (9) The vehicle-mounted drone descends slowly until it lands on the drone lifting platform. During the descent and landing process, the vehicle-mounted sensor system in the drone lifting platform collects data of the vehicle-mounted drone in real time, and sends it to the lifting control main processor after processing by the data processing module. The lifting control main processor controls the drone locking device in the drone lifting platform to lock the vehicle-mounted drone according to the host computer command for the vehicle-mounted drone to land and the processed sensor data, and the vehicle-mounted drone stops flying. (10) The lifting control main processor controls the platform direction control arm in the UAV lifting platform to retract into the vehicle platform space, and at the same time controls the lifting platform locking support device in the UAV lifting platform to lock the UAV lifting platform to complete the landing.

[0021] In this embodiment, the lifting platform locking support device 11 and the platform direction control arm 12 need to cooperate. During takeoff, if the lifting platform locking support device 11 has not reached its height limit, it needs to rise to the limit. At this time, the platform direction control arm 12 also extends to the corresponding position. The lifting platform locking support device 11 unlocks the UAV lifting platform 10, and the platform direction control arm 12 begins to control the position and direction of the UAV lifting platform 10. During landing, the platform direction control arm 12 controls the UAV lifting platform 10 to ensure that it coincides with the locking position of the lifting platform locking support device 11, locking the UAV lifting platform 10. Then, the lifting platform locking support device 11 lowers its height, and the platform direction control arm 12 lowers its position.

[0022] According to the above-described solution of the present invention, the present invention can solve the problems of inaccurate positioning and significant environmental influence, ensuring smooth takeoff and landing of UAVs under any circumstances, in any environment, and under any road conditions. It improves the identification accuracy of the landing platform, reduces computational load, and can quickly send safe and reliable takeoff and landing control commands to control the UAV's ascent and descent. The UAV can more intelligently handle landing and takeoff problems in complex environments, improves the UAV's response speed to sudden obstacles, and thus enhances the safety of the ascent and descent process. It also increases the applicability of vehicle-mounted UAVs.

[0023] This invention features a lift control main processor, primarily used to receive data from the data processing module, analyze and compare the information, and adjust the drone's landing accordingly based on the information from the data processing module and the environmental acquisition module. It also adds autonomous control, improving the drone's landing accuracy and stability.

[0024] This invention adds an environmental acquisition module, a data processing module, and a wireless communication module; it solves the technical problems of low accuracy of control parameters and poor timeliness of control caused by the complex and multi-constrained operation and control environment of existing UAVs, improves the accuracy of UAV operation control and landing parameters, optimizes and adjusts landing information in a timely manner, and achieves real-time control and adjustment of landing parameters.

[0025] This invention features a variable-structure and directional lifting control platform, which can ensure that the UAV can land in different landing environments by changing the position and angle of the platform. It has high reliability, high safety, and improves the environmental adaptability of the UAV.

[0026] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

[0027] It should be understood that the sequence number of each step in the invention and its embodiments does not absolutely imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

Claims

1. A lift control system for a vehicle-mounted unmanned aerial vehicle, characterized in that, include: The system includes a lifting control main processor, a data processing module, a wireless communication module, a power module, a storage module, an environmental acquisition module, and a drone lifting platform. The lifting control main processor receives information sent by the data processing module, receives the status information of the vehicle-mounted UAV through the wireless communication module, and receives instructions from the host computer of the vehicle platform. Based on the received information and instructions, it gives a control strategy to control the power module to adjust the posture and structural changes of the UAV lifting platform for the take-off and landing of the vehicle-mounted UAV. Based on the UAV lifting platform action information, it generates flight instructions for the vehicle-mounted UAV and sends them to the wireless communication module for communication and control with the vehicle-mounted UAV through the wireless communication module. The data processing module processes the data collected by the environmental acquisition module and the vehicle-mounted sensors, and sends the collected data to the lifting control main processor as the data basis for the lifting control main processor to regulate the UAV lifting platform. The wireless communication module sends the flight commands of the vehicle-mounted drone to the vehicle-mounted drone and sends the received motion data of the vehicle-mounted drone to the lift control main processor. The storage module stores various data and environmental information of the UAV lifting platform, as well as corresponding control strategies for use by the lifting control main processor.

2. The lifting control system for a vehicle-mounted unmanned aerial vehicle according to claim 1, characterized in that, The drone lifting platform includes: a drone lifting platform, a lifting platform locking support device, a platform direction control arm, a drone locking device, a drone take-off and landing position marker, and an on-board sensor system; One end of each of the multiple lifting platform locking support devices is locked to the vehicle platform, and the other end supports and locks the UAV lifting platform. Each of the lifting platform locking support devices can perform telescopic movements. The platform's directional control arm is a 4-DOF robotic arm that adjusts the lifting height and attitude angle of the UAV's lifting platform. The drone locking device locks the landing gear of the vehicle-mounted drone that has landed on the drone lifting platform. The drone take-off and landing position marker is located at the center of the drone lifting platform to provide a position marker for the take-off and landing of the vehicle-mounted drone. The vehicle-mounted sensor system includes a direction sensor, an angle sensor, a position sensor, a vision sensor, and a radar sensor that collect various types of data from the vehicle-mounted drone. The data collected by each sensor is then sent to the lift control main processor through the data processing module.

3. The lifting control system for a vehicle-mounted unmanned aerial vehicle according to claim 1, characterized in that, The environmental data acquisition module collects information about the surrounding environment, including wind speed, altitude, and road surface smoothness. The environmental acquisition module sends the acquired real-time surrounding environment information to the lifting control main processor. The lifting control main processor compares the received real-time surrounding environment information with the surrounding environment information stored in the storage module. When the comparison result is within a preset threshold range, the lifting control main processor calls the corresponding control strategy stored in the storage module. When the comparison result is outside the preset threshold range, the lifting control main processor forms a new control strategy based on the real-time surrounding environment information.

4. A method for controlling the lift of a vehicle-mounted drone based on the lift control system of any one of claims 1-3, characterized in that, include: Vehicle-mounted drone takeoff status control: (1) The UAV receives the take-off command sent by the vehicle platform, and then performs a self-check on its own status information to determine whether it meets the take-off conditions. If it does, it executes step (2). If it does not meet the conditions, it sends feedback to the vehicle platform, which sends a prohibition on flight command and transmits an error code. (2) Feed back the self-test results to the vehicle platform. The vehicle platform determines the position of the UAV lifting platform and whether it is in the vehicle platform. If it is, proceed to step (3); otherwise, proceed to step (4). (3) The vehicle platform sends instruction information to control the UAV lifting platform and raise the UAV lifting platform to the outside of the vehicle platform; (4) Collect the position information of the vehicle-mounted platform and the height and direction information of the UAV lifting platform, and adjust the UAV lifting platform to be parallel to the ground; (5) Feedback the adjusted data to the vehicle-mounted drone and the vehicle-mounted drone's lift control system. At this time, the vehicle-mounted drone starts up. The wireless communication module of the lift control system sends the start data of the vehicle-mounted drone to the lift control main processor. The data processing module sends the data collected by the vehicle-mounted sensor to the lift control main processor. At the same time, the vehicle platform sends the host computer command for the vehicle-mounted drone to take off to the lift control main processor. The lift control main processor gives a control strategy based on the received information and controls the power module to unlock the drone unlocking device in the drone lift platform. (6) The vehicle-mounted drone takes off.

5. The lifting control method for a vehicle-mounted unmanned aerial vehicle according to claim 4, characterized in that, Also includes: Vehicle-mounted drone landing status control: (1) The lifting control system controls the platform direction control arm and the lifting platform locking support device in the UAV lifting platform through the lifting control main processor to drive the UAV lifting platform to the upper outer side of the vehicle platform, so as to be unaffected by the space of the vehicle platform. (2) The vehicle-mounted UAV receives the landing command sent by the lifting control main processor through the wireless communication module. After receiving the landing command, the vehicle-mounted UAV adjusts its own state according to the current environmental information. (3) The vehicle-mounted drone uses its own navigation and vision system to locate the vehicle platform; (4) The vehicle-mounted drone approaches the vehicle platform and simultaneously uses the vision system to search for the drone take-off and landing position marker on the drone lifting platform of the vehicle platform. It is determined whether the drone take-off and landing position marker has been found. If it has been found, proceed to step (6); if it has not been found, proceed to step (5). (5) The vehicle-mounted drone further reduces its flight altitude and adjusts its flight direction until it finds the drone's take-off and landing position marker; (6) The vehicle-mounted UAV controls the flight speed to be consistent with the speed of the vehicle platform, sends the information of the confirmed UAV take-off and landing position to the wireless communication module, and at the same time reports its own position; (7) The lifting control main processor controls the platform direction control arm and the lifting platform locking support device in the UAV lifting platform through the power module to control the real-time horizontal state of the UAV lifting platform; (8) The vehicle-mounted UAV monitors the real-time distance to the UAV lifting platform through lidar and performs horizontal positioning through four lidars. When the data from the four lidars are similar, it is determined that the vehicle-mounted UAV is in a parallel state with the UAV lifting platform. (9) The vehicle-mounted drone descends slowly until it lands on the drone lifting platform. During the descent and landing process, the vehicle-mounted sensor system in the drone lifting platform collects data of the vehicle-mounted drone in real time, and sends it to the lifting control main processor after processing by the data processing module. The lifting control main processor controls the drone locking device in the drone lifting platform to lock the vehicle-mounted drone according to the host computer command for the vehicle-mounted drone to land and the processed sensor data, and the vehicle-mounted drone stops flying. (10) The lifting control main processor controls the platform direction control arm in the UAV lifting platform to retract into the vehicle platform space, and at the same time controls the lifting platform locking support device in the UAV lifting platform to lock the UAV lifting platform to complete the landing.

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