Double-control clamp for unmanned aerial vehicle

Abstract

The invention discloses a double-control clamp for an unmanned aerial vehicle. The double-control clamp comprises a clamp main body, a manipulator, a wireless synchronization module, a PWM signal generator, a control module and a power supply module, the manipulators comprise a first manipulator and a second manipulator; integrated control is adopted, an unmanned aerial vehicle remote controller and an unmanned aerial vehicle PWM steering engine controller are used for achieving integrated remote control and control over the double-control clamp, and two manipulators on the clamp can be independently controlled; the clamp is further provided with a working condition collecting module and a working condition indicating lamp, the control module judges the working condition when the clamp releases the goods through the working condition collecting module, and the situation that the goods are released under the abnormal condition is avoided. Therefore, by means of the double-control clamp for the unmanned aerial vehicle, multi-point delivery is achieved, and operation safety is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) equipment, and more specifically to a dual-control fixture for UAVs. Background Technology

[0002] With the rapid development of drone technology, its application scenarios are constantly expanding, and the demand in fields such as material delivery, emergency rescue, and agricultural operations is increasing. As a core component for realizing material grabbing and delivery, the control performance and integration of drone-specific grippers directly determine the efficiency and applicability of drone operations.

[0003] Existing technologies have limitations in addressing the need for multi-point control gripper release. Most current drone grippers can only achieve single-point release. To complete multi-point deployment operations, the drone needs to reciprocate, or additional control links need to be added to the gripper. This not only increases equipment weight and cost but also reduces system stability. Some attempts to achieve multi-point control simply extend wireless communication links without optimizing signal transmission anti-interference and control independence. This leads to control conflicts between multiple robotic arms, making precise independent control impossible and severely impacting the efficiency and reliability of multi-point deployment operations.

[0004] In terms of control system integration, existing UAV grippers struggle to achieve efficient collaboration with UAV servo control systems. Traditional grippers often employ independent control modules, requiring dedicated remote controllers for individual control. They lack a stable signal transmission and conversion mechanism with the UAV remote controller; furthermore, the gripper control module and the UAV remote controller are prone to mutual interference, failing to meet the timeliness and accuracy requirements of gripper control in high-precision operation scenarios. This separate control approach not only increases the learning cost and workload for operators but also easily leads to operational errors due to improper multi-device collaborative operation, failing to meet the demands for system integration and ease of operation in complex scenarios. In remote delivery scenarios, operators are far from the delivery point, and the UAV is susceptible to turbulence caused by wind and flight attitude adjustments, resulting in gripper vibration. Existing technologies lack a condition judgment mechanism; even under unsuitable conditions such as abnormal descent speed or excessive swing angle, release commands are still executed, easily causing material delivery deviations, damage, or even safety accidents. Summary of the Invention

[0005] The purpose of this invention is to provide a dual-control gripper for unmanned aerial vehicles (UAVs) to enable multi-point delivery and improve operational safety.

[0006] To achieve the above objectives, this invention discloses a dual-control gripper for unmanned aerial vehicles (UAVs), comprising: a gripper body, a robotic arm, a wireless synchronization module, a PWM signal generator, a control module, and a power module; The fixture body is a hollow structure with a control main board inside. A hoisting unit is located at the top, and the robotic arm is located at the bottom. The robotic arm includes a first robotic arm and a second robotic arm. The wireless synchronization module is used for wireless transmission of PWM control signals and includes a wireless transmitting module and a wireless receiving module; the wireless transmitting module is fixed on the UAV body and is electrically connected to the UAV PWM servo controller; the wireless receiving module is fixed on the fixture body and is electrically connected to the control module. The PWM signal generator is used to generate PWM signals to control the robot arm motor. It is fixedly mounted on the control motherboard and connects the control module and the robot arm motor. The control module and the power module are fixedly mounted on the control motherboard.

[0007] As an optional implementation, in this embodiment, the hoisting unit includes a pull ring, a pull rod, and a connecting structure; The connection structure is an open enclosure structure consisting of a top plate, a bottom plate, and two side plates. The pull ring is fixed to the top plate of the connecting structure, and the bottom plate of the connecting structure is fitted with the pull rod. The pull rod passes through the vertical central axis of the clamp body. A return spring is provided between the top end of the pull rod and the bottom plate of the connecting structure. The top end of the return spring is fixed to the top end of the pull rod, and the lower end of the return spring is fixed to the bottom plate of the connecting structure. The upper part of the pull rod is located inside the connecting structure, and the pull rod can move up and down within the connecting structure. A load-bearing plate is fixedly connected to the bottom end of the pull rod.

[0008] As an optional implementation, in this embodiment, the first robotic arm includes a first robotic arm body, a first robotic arm motor, and a first robotic arm closing button; the first robotic arm body is fixedly connected to the load-bearing plate; the first robotic arm motor is used to control the opening and closing of the first robotic arm, and is fixed on the side of the first robotic arm body away from the second robotic arm, and is transmittedly connected to the first robotic arm body; the robotic arm closing button is used to manually close the first robotic arm, and the first robotic arm closing button is disposed on the top surface of the clamping body, and the first robotic arm closing button is electrically connected to the control module; The second robotic arm includes a second robotic arm body, a second robotic arm motor, and a second robotic arm closing button. The second robotic arm motor is used to control the opening and closing of the second robotic arm and is fixed on the side of the second robotic arm body away from the first robotic arm, and is connected to the second robotic arm body via a transmission connection. The second robotic arm closing button is used to manually close the second robotic arm and is located on the top surface of the gripper body. The second robotic arm closing button is electrically connected to the control module.

[0009] As an optional implementation, in this embodiment, the wireless receiving module includes a wireless receiving antenna and a wireless receiving signal processor; the wireless receiving antenna is fixedly disposed on the top surface of the fixture body and is electrically connected to the control module; the wireless receiving signal processor is fixedly disposed on the control motherboard and is electrically connected to the wireless receiving antenna and the control module. The wireless receiving module includes a first wireless receiving module and a second wireless receiving module. The first wireless receiving module is used to receive control signals for controlling the first robotic arm, and the second wireless receiving module is used to receive control signals for controlling the second robotic arm.

[0010] As an optional implementation, in this embodiment, the wireless transmission module includes a wireless transmission antenna and a wireless transmission signal processor; the wireless transmission signal processor is circuitically connected to the UAV PWM servo controller, and the UAV PWM servo controller is connected to the UAV remote controller via a remote wireless control channel; the UAV PWM servo controller is used to control the UAV servos and robotic arm motors; the UAV remote controller sends a clamp closing command to the UAV PWM servo controller, the UAV PWM servo controller generates a PWM control signal, and sends it to the control module through the wireless synchronization module; the control module controls the PWM signal generator to generate a closed PWM signal according to the received clamp closing command.

[0011] It should be noted that this invention utilizes a UAV PWM servo controller to generate signals for controlling the robotic arm, thus achieving integrated use of the robotic arm and UAV servo control systems. By connecting the PWM servo controller to a gripper wireless synchronization module, the channel control signals from the UAV remote controller are converted into activation signals for the gripper robotic arm.

[0012] As an optional implementation, in this embodiment, the PWM signal generator includes a first PWM signal generator and a second PWM signal generator; The first PWM signal generator circuit is connected to the first robotic arm motor, and the second PWM signal generator circuit is connected to the second robotic arm motor.

[0013] As an optional implementation, in this embodiment, a first pressure sensor switch, a second pressure sensor switch, and a cargo release indicator light are provided on the top surface of the clamp body. The first and second pressure sensor switches are used to sense whether the base plate of the connecting structure has detached from the clamp body, and are distributed below the base plate of the connecting structure, and are electrically connected to the control module. The cargo release indicator light is used to indicate whether the cargo has been released, and is electrically connected to the control module. After the cargo is released, the reset spring releases the pull rod, causing the base plate of the connecting structure to press against the pressure sensor switch. When the sensor switch is pressed, it turns on the cargo release indicator light, and the cargo release indicator light illuminates. During the cargo hoisting process, under the influence of gravity, the base plate of the connecting structure compresses the reset spring upward, the base plate of the connecting structure detaches from the sensor switch, and the cargo release indicator light goes out.

[0014] As an optional implementation, in this embodiment, the top surface of the clamp body is provided with a first robotic arm release indicator light and a second robotic arm release indicator light; the first robotic arm release indicator light and the second robotic arm release indicator light are used to indicate that the cargo will be released upon receiving the robotic arm opening command, and the circuit is connected to the control module.

[0015] As an optional implementation, in this embodiment, the fixture is equipped with a working condition acquisition module and a working condition indicator light; the working condition acquisition module includes a distance measurement module, a tension module, and an angle sensor; The distance measurement module is located on the bottom surface of the fixture body. It adopts an ultrasonic ranging module and is connected to the control module and power supply module by circuit. It is used to measure the vertical distance between the fixture and the placement position.

[0016] The tension module is fixed in the middle of the tie rod or above the load-bearing plate. It uses a miniature tension sensor and is connected to the control module and power module to collect tension data and the rate of change of tension.

[0017] The angle sensor is fixed below the top plate of the hoisting unit or on the top surface of the fixture body. It is a MEMS triaxial angle sensor, and the circuit is connected to the control module and the power module to collect the swing angle (pitch angle, roll angle) of the fixture.

[0018] The working status indicator light is located on the top surface of the fixture body and is connected to the control module to indicate the working status.

[0019] As an optional implementation, in this embodiment, the working process of the fixture includes: A1. During the cargo loading stage, the operator presses the robot arm closing button to send a closing command to the control module. The control module sends the closing command to the PWM signal generator, which sends a closing signal to the robot arm motor, and the robot arm motor drives the robot arm to close. A2. During the cargo hoisting stage, after the robotic arm closes, the drone hoists the cargo and takes off. Under the action of the cargo's gravity, the pull rod compresses the reset spring in the connecting structure, so that the reset spring is in a compressed state. The pressure sensing switch is gradually released during the compression of the reset spring, disconnecting the circuit connection with the cargo release indicator light. The cargo release indicator light goes out, feeding back to the operator that the cargo is in a stable hoisting state. A3. During the cargo release phase, after the drone arrives at the designated delivery location, the operator triggers a manipulator start command signal to the drone PWM servo controller via the drone remote controller. The PWM servo controller generates a manipulator start PWM control signal, which is sent to the control module via the wireless synchronization module. After receiving the manipulator start command signal, the control module uses the working condition acquisition module to calculate the working condition status and control the manipulator to perform the cargo release operation. A4. During the delivery and reset phase, after the goods are delivered, the gripper robot loses the weight of the goods. The reset top spring pushes the pull rod upward under its own elastic restoring force, causing the gripper body and the connecting structure to press against the pressure sensor switch. This closes the pressure sensor switch, connecting the circuit to the goods release indicator light, which then illuminates, indicating to the operator that the entire goods delivery process is complete.

[0020] As an optional implementation, in this embodiment, in step A3, after the control module receives the robot arm activation command signal, the control module uses the working condition acquisition module to calculate the working condition status and control the robot arm to perform the cargo release operation; specifically: S1. Data is collected and preprocessed using the working condition acquisition module to obtain status data; the status data includes real-time distance, tension value, and swing angle; the swing angle includes pitch angle and roll angle. S2. The control module processes the status data to obtain operating status information; specifically: S21. Based on the real-time distance in the state data, the descent speed is obtained using the speed calculation formula; The expression for the velocity calculation formula is as follows: In the formula, Indicates the rate of descent. d 1. d 2 represents the effective distance data for two adjacent measurement cycles; Indicates taking the absolute value; S22. Determine the descent speed. Less than or equal to the preset speed change threshold The first judgment result is obtained. If the first judgment result is yes, the descent speed status is marked as "normal"; otherwise, the descent speed status is marked as "abnormal", and the abnormal start time is recorded. S23. Based on the tension value in the state data, the tension change rate is calculated using the tension change rate formula; the expression for the tension change rate formula is: In the formula, Indicates the rate of change of tensile force. F 1. F 2 represents the tension values ​​for two consecutive measurement cycles; Indicates taking the absolute value S24. Determine if the tension value is less than or equal to the tension threshold. If the rate of change of tension is less than or equal to the threshold of the rate of change of tension, a second judgment result is obtained. If the second judgment result is yes, the tension value status is marked as "normal"; otherwise, the tension value status is marked as "abnormal", indicating that the drone is turbulent, and the abnormal start time is recorded. S25. Based on the pitch angle and roll angle in the status data, determine whether the absolute value of the pitch angle is less than or equal to the pitch angle sway threshold and whether the absolute value of the roll angle is less than or equal to the roll angle sway threshold, and obtain the third judgment result; if the third judgment result is yes, the sway angle status is marked "normal"; otherwise, the sway angle status is marked "abnormal", and the abnormal start time is recorded. S26. The control module comprehensively determines the descent speed state, the tension value state, the swing angle state, and the abnormal duration to obtain working condition status information, specifically: S261. Determine whether the descent speed state, the tension value state, and the swing angle state are all marked as "normal" to obtain the fourth determination result; If the fourth judgment result is yes, then the working condition status information is marked as "working condition suitable for deployment", the data cache is cleared, and step S4 is executed; If the fourth judgment result is negative, then proceed to step S262; S262. Determine whether the abnormal duration is less than the first abnormal duration threshold to obtain the fifth judgment result; If the fifth judgment result is yes, then the working condition status information is marked as "instantaneous abnormality, working condition is temporarily unsuitable", and then step S1 is executed to track the change of abnormal status; optionally, the first abnormal duration threshold is 200ms. If the fifth judgment result is negative, the working condition status information is marked as "working condition is not suitable for delivery", the working condition abnormal indicator light is controlled to flash, and the delivery command execution permission is locked. Anomaly recovery determination: If the parameter marked as abnormal returns to normal and the data collected three times consecutively is normal, the anomaly mark is cleared, the operating condition status information is marked as "operating condition recovery is suitable", and the operating condition anomaly indicator light is turned off; S3. The control module sends the operating status information to the operator's terminal. S4. The control module uses the distance measurement module to obtain the real-time distance d between the clamp and the ground; S5. Determine whether the real-time distance d between the clamp and the ground is less than the preset delivery distance threshold, and obtain the sixth determination result; If the result of the sixth judgment is negative, then proceed to step S4; If the sixth judgment result is yes, then the robot arm activation PWM control signal is sent to the PWM signal generator, the robot arm release indicator light is lit, and the PWM signal generator controls the robot arm motor to drive the robot arm to open and release the goods.

[0021] As an optional implementation, in this embodiment, the control module uses the operating condition acquisition module to collect data and preprocess it to obtain status data; including: The control module sends synchronous acquisition trigger signals to the distance measurement module, the tension module, and the angle sensor, and each module acquires data according to a preset period; optionally, the preset period is 50ms. Using the distance measurement module, the real-time distance d between the fixture and the ground is obtained, and invalid data that exceeds the measurement range is discarded; The tension module collects real-time tension value F and transmits it to the control module. The control module filters the data to remove high-frequency noise and caches valid tension value data. An angle sensor collects pitch and roll angles and transmits them to the control module. The control module calculates the absolute values ​​of the two angles and caches valid yaw angle data. The yaw angle includes pitch and roll angles. Data validity verification: If invalid data is collected three times consecutively, the corresponding module is determined to be faulty, and a fault alarm is triggered.

[0022] Compared with the prior art, the embodiments of the present invention have the following beneficial effects: This invention discloses a dual-control gripper for unmanned aerial vehicles (UAVs). By connecting the UAV's PWM servo controller with the gripper's PWM signal generator, a signal transmission and conversion link is established between the UAV remote controller and the gripper's robotic arms, successfully achieving the integrated use of the UAV servo control system and the gripper. This application utilizes the UAV remote controller and remote communication link to achieve independent control of the two robotic arms on the gripper, meeting the needs of different operating scenarios, realizing multi-point deployment, and improving operating efficiency. The gripper is also equipped with a working condition acquisition module and working condition indicator lights. The control module uses the working condition acquisition module to judge the working condition when the gripper releases goods, avoiding the release of goods under abnormal conditions and improving operational safety. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of a dual-control fixture for unmanned aerial vehicles (UAVs) disclosed in an embodiment of the present invention. Figure 2 This is a top layout diagram of a dual-control fixture for unmanned aerial vehicles (UAVs) disclosed in an embodiment of the present invention.

[0024] Explanation of reference numerals in the attached figures: 1. Fixture body; 2. Connecting structure; 3. First robotic arm closing button; 4. Cargo release indicator light; 5. Second robotic arm closing button; 6. First robotic arm release indicator light; 7. Second robotic arm release indicator light; 8. Pull ring; 9. Reset top spring; 10. First robotic arm; 11. Second robotic arm; 12. First pressure sensor switch; 13. Second pressure sensor switch; 14. First wireless receiving antenna; 15. Second wireless receiving antenna; 16. Pull rod; Detailed Implementation

[0025] 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, and 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.

[0026] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", and "counterclockwise" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0027] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" should be interpreted broadly; for example, they may refer to a fixed connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] In the description of this invention, "wireless connection" refers to two devices exchanging data by establishing a wireless communication link; "circuit connection" refers to two devices connecting by establishing a wired link; and "data connection" refers to two devices exchanging data by establishing a wired or wireless communication link.

[0029] Example 1 Please see Figures 1-2 , Figure 1 This is a schematic diagram of the overall structure of a dual-control fixture for unmanned aerial vehicles (UAVs) disclosed in an embodiment of the present invention. Figure 2 This is a top layout diagram of a dual-control fixture for unmanned aerial vehicles (UAVs) disclosed in an embodiment of the present invention.

[0030] This application provides a dual-control gripper for unmanned aerial vehicles, including: a gripper body 1, a robotic arm, a wireless synchronization module, a PWM signal generator, a control module, and a power module; The fixture body 1 has a hollow structure, with a control main board inside, a hoisting unit at the top, and the robotic arm at the bottom; the robotic arm includes a first robotic arm 10 and a second robotic arm 11. The wireless synchronization module is used for wireless transmission of PWM control signals and includes a wireless transmitting module and a wireless receiving module; the wireless transmitting module is fixed on the UAV body and is electrically connected to the UAV PWM servo controller; the wireless receiving module is fixed on the fixture body 1 and is electrically connected to the control module. The PWM signal generator is used to generate PWM signals to control the robot arm motor. It is fixedly mounted on the control motherboard and connects the control module and the robot arm motor. The control module and the power module are fixedly mounted on the control motherboard.

[0031] In another alternative embodiment, the hoisting unit includes a pull ring 8, a pull rod 16, and a connecting structure 2; The connecting structure 2 is an open enclosure structure consisting of a top plate, a bottom plate, and two side plates; The pull ring 8 is fixed to the top plate of the connecting structure, and the bottom plate of the connecting structure is fitted with the pull rod 16. The pull rod 16 passes vertically through the vertical central axis of the clamp body 1. A return spring 9 is provided between the top end of the pull rod 16 and the bottom plate of the connecting structure. The top end of the return spring 9 is fixed to the top end of the pull rod 16, and the lower end of the return spring 9 is fixed to the bottom plate of the connecting structure. The upper part of the pull rod 16 is located inside the connecting structure, and the pull rod 16 can move up and down inside the connecting structure. A load-bearing plate is fixedly connected to the bottom end of the pull rod 16.

[0032] In another optional embodiment, the first robotic arm 10 includes a first robotic arm body, a first robotic arm motor, and a first robotic arm closing button 3; the first robotic arm body is fixedly connected to the load-bearing plate; the first robotic arm motor is used to control the opening and closing of the first robotic arm 10, and is fixed on the side of the first robotic arm body away from the second robotic arm 11, and is transmittedly connected to the first robotic arm body; the robotic arm closing button 3 is used to manually close the first robotic arm 10, and is disposed on the top surface of the clamping body, and is electrically connected to the control module; The second robotic arm 11 includes a second robotic arm body, a second robotic arm motor, and a second robotic arm closing button 5. The second robotic arm motor is used to control the opening and closing of the second robotic arm 11, and is fixed on the side of the second robotic arm body away from the first robotic arm 10, and is connected to the second robotic arm body for transmission. The second robotic arm closing button 5 is used to manually close the second robotic arm 11. The second robotic arm closing button 5 is disposed on the top surface of the gripper body, and the second robotic arm closing button 5 is electrically connected to the control module.

[0033] In another optional embodiment, the wireless receiving module includes a wireless receiving antenna and a wireless receiving signal processor; the wireless receiving antenna is fixedly disposed on the top surface of the fixture body and is electrically connected to the control module; the wireless receiving signal processor is fixedly disposed on the control motherboard and is electrically connected to the wireless receiving antenna and the control module. The wireless receiving module includes a first wireless receiving module and a second wireless receiving module. The first wireless receiving module is used to receive control signals for controlling the first robotic arm 10, and the second wireless receiving module is used to receive control signals for controlling the second robotic arm 11.

[0034] The wireless receiving antenna includes a first wireless receiving antenna 14 and a second wireless receiving antenna 15; the first wireless receiving antenna 14 and the second wireless receiving antenna 15 are disposed on the top surface of the fixture body; the wireless receiving signal processor includes a first wireless receiving signal processor and a second wireless receiving signal processor.

[0035] In another optional embodiment, the wireless transmission module includes a wireless transmitting antenna and a wireless transmitting signal processor; the wireless transmitting signal processor is circuitically connected to the UAV PWM servo controller, which is connected to the UAV remote controller via a remote wireless control channel; the UAV PWM servo controller is used to control the UAV servos and robotic arm motors; the UAV remote controller sends a clamp closing command to the UAV PWM servo controller, which generates a PWM control signal and sends it to the control module via the wireless synchronization module; the control module controls the PWM signal generator to generate a closed PWM signal according to the received clamp closing command.

[0036] In yet another optional embodiment, the PWM signal generator includes a first PWM signal generator and a second PWM signal generator; The first PWM signal generator circuit is connected to the first robotic arm motor, and the second PWM signal generator circuit is connected to the second robotic arm motor.

[0037] In another optional embodiment, a first pressure sensor switch 12, a second pressure sensor switch 13, and a cargo release indicator light 4 are provided on the top surface of the clamp body. The first pressure sensor switch 12 and the second pressure sensor switch 13 are used to sense whether the bottom plate of the connecting structure is detached from the clamp body 1, and are distributed below the bottom plate of the connecting structure, and are electrically connected to the control module. The cargo release indicator light 4 is used to indicate whether the cargo has been released, and is electrically connected to the control module. After the cargo is released, the reset spring 9 releases the pull rod 16, causing the bottom plate of the connecting structure to press the pressure sensor switch. After the sensor switch is pressed, the cargo release indicator light 4 is turned on, and the cargo release indicator light 4 lights up. During the cargo hoisting process, under the influence of gravity, the bottom plate of the connecting structure compresses the reset spring 9 upward, the bottom plate of the connecting structure is detached from the sensor switch, and the cargo release indicator light 4 goes out.

[0038] In another optional embodiment, the top surface of the clamp body is provided with a first robotic arm release indicator light 6 and a second robotic arm release indicator light 7; the first robotic arm release indicator light 6 and the second robotic arm release indicator light 7 are used to indicate that the cargo will be released upon receiving a robotic arm opening command, and the circuit is connected to the control module.

[0039] In yet another optional embodiment, the wireless synchronization module employs the 433MHz wireless communication frequency band.

[0040] It should be noted that 433MHz wireless links, due to their advantages such as no authorization required, long transmission distance, and low cost, have been widely used in UAV communication, often for transmitting control signals. However, in actual UAV multi-point delivery operations, 433MHz wireless links face numerous severe challenges. Firstly, the complex electromagnetic environment in the air contains numerous sources of electromagnetic interference, such as electromagnetic radiation from other wireless communication devices and electronic equipment. This interference can mix into the 433MHz wireless signal, interfering with the transmission of the PWM signal. Secondly, during flight, the signal between the UAV and the ground control station is easily blocked by obstacles such as buildings and trees, leading to signal attenuation. These factors combined make the PWM signal highly susceptible to packet loss and errors during transmission. Packet loss in the PWM signal means partial loss of control information, which may cause the robotic arm to fail to execute the intended actions accurately, resulting in delayed or premature actions. Errors, on the other hand, can lead to misinterpretation of control information, causing chaotic or even uncontrolled robotic arm movements, severely affecting the accuracy and safety of the delivery mission, potentially leading to deviations in the delivery location, damage to items, or even safety accidents.

[0041] To reduce packet loss rate, decrease error rate, and ensure real-time performance, this embodiment uses a signal layering optimization model to process the PWM signal, increasing the PWM signal transmission success rate to over 99.5%, while controlling the single-frame signal transmission delay to ≤20ms, meeting the precise control requirements of the robotic arm.

[0042] The process of processing the PWM signal using a signal hierarchical optimization model includes: P1. Physical layer anti-interference optimization processing; P2, Data Link Layer Error Correction and Optimization Processing; P3, the receiving error correction layer employs multi-dimensional verification and signal restoration optimization processing.

[0043] The physical layer anti-interference optimization process includes: P11. Spread the PWM signal; Specifically, Direct Sequence Spread Spectrum (DSSS) technology is used to extend the spectrum of the original PWM signal to a wider frequency band. At the transmitting end, modulo-2 addition is performed with a high-speed pseudo-random code (PN code) to modulate the narrowband PWM signal onto a wideband pseudo-random code sequence, making its bandwidth much larger than the original signal bandwidth. At the receiving end, the same pseudo-random code is used to perform correlation despreading with the received signal, restoring the signal to the original narrowband PWM signal. Since the interference signal is usually narrowband, during the despreading process, the energy of the interference signal is dispersed across the entire extended frequency band, while the useful signal is restored to a narrowband signal, thereby improving the signal's anti-interference capability and reducing packet loss and error rate caused by electromagnetic interference.

[0044] Frequency hopping technology is introduced, dividing the 433MHz band into multiple sub-channels. The transmitting and receiving ends hop to different sub-channels at different times according to a pre-agreed frequency hopping sequence. When a sub-channel is interfered with, communication can quickly switch to other undisturbed sub-channels, avoiding the impact of continuous interference on signal transmission. The frequency hopping sequence is designed using an optimized algorithm to ensure good randomness and anti-acquisition properties, further enhancing anti-interference capabilities.

[0045] P12. Perform signal enhancement processing on the PWM signal transmission; Specifically: The antenna design is optimized by employing a high-gain directional antenna. By adjusting the antenna's radiation pattern, it achieves higher gain in the communication direction between the UAV and the ground control station, enhancing signal transmission and reception strength. For example, a Yagi antenna, with its strong directivity and high gain, can effectively concentrate the signal in the target direction, reducing signal loss in other directions, thereby improving transmission distance and resistance to attenuation due to obstruction. On the UAV, the antenna is strategically positioned, keeping it as far away as possible from other electronic equipment to minimize the impact of internal electromagnetic interference on antenna performance and ensure proper antenna operation.

[0046] Within the limits of hardware capabilities, appropriately increase the transmit power. Improve signal strength by selecting a high-performance power amplifier. However, carefully control the increase in transmit power to avoid interference with other wireless devices. Incorporate Automatic Power Control (APC) technology to dynamically adjust the transmit power based on signal transmission quality and receiver feedback. When signal quality is good, appropriately reduce transmit power to save energy and reduce interference; when the signal is attenuated by obstruction or experiences significant interference, automatically increase transmit power to ensure reliable signal transmission.

[0047] The data link layer error correction and optimization process includes: P21. Perform CRC encoding and error correction on PWM signal data; Specifically: Cyclic Redundancy Check (CRC) encoding is used. At the transmitting end, the PWM signal data is CRC encoded to generate a checksum, which is then appended to the end of the data frame before transmission. CRC encoding effectively detects errors that occur during data transmission. Its principle is to perform a specific polynomial operation on the data to obtain a fixed-length checksum. At the receiving end, the same CRC operation is performed on the received data frame to obtain a local checksum, which is then compared with the received checksum. If they match, the data transmission is considered correct; if they do not match, it indicates that an error occurred during transmission, requiring error correction.

[0048] A Hamming code error correction algorithm is introduced. Hamming code is a linear block code capable of correcting single-bit errors. At the transmitting end, the PWM signal data is encoded according to the Hamming code encoding rules, adding redundant bits to form Hamming codewords before transmission. At the receiving end, the received Hamming codewords are checked and corrected. By calculating the check bits, the location of the erroneous bits is determined and corrected, thereby recovering the correct original data. The use of Hamming codes can, to a certain extent, correct single-bit errors caused by interference, improving the accuracy of data transmission.

[0049] P22. Implement the Automatic Repeat Request (ARQ) mechanism during data link layer transmission, using the Stop-and-Wait ARQ protocol.

[0050] Specifically: After sending a data frame, the sending end starts a timer and waits for an acknowledgment frame (ACK) from the receiving end. If an ACK frame is received before the timer expires, the data transmission is considered successful, the next data frame is sent, and the timer is reset. If no ACK frame is received before the timer expires, or a negative acknowledgment frame (NAK) is received, the data transmission is considered to have failed. The sending end retransmits the data frame and restarts the timer. To avoid unnecessary retransmissions due to lost ACK frames, a retransmission limit is set. When the number of retransmissions reaches a certain threshold, if data transmission still fails, a transmission error is reported to the upper layer so that other measures can be taken.

[0051] The receiving error correction layer employs multi-dimensional verification and signal restoration optimization, specifically: P31. A three-level verification mechanism is used for frame verification processing in the receiving error correction layer; Level 1 verification (frame format verification): The receiving end first verifies whether the frame header "0xAA55" matches. If it does not match, it is discarded directly to avoid invalid data processing. Level 2 verification (address code and interference detection bit verification): Match the device address code, and dynamically adjust the receiver sensitivity according to the SNR level of the "interference detection bit" (increase sensitivity when SNR is low, and decrease sensitivity when SNR is high to reduce noise introduction). Level 3 checksum (CRC-16 check): Performs a 16-bit CRC check on the data segment. If the check fails, determine the data type. Standard data: Request the transmitter to retransmit; Emergency Data: Enable local error correction, estimate the reasonable pulse width value of the current frame by the pulse width change trend of adjacent frames (such as the continuity of robot arm movements), temporarily output a transition signal (error ≤ 0.03ms), and trigger retransmission at the same time.

[0052] P32. Smoothing and restoring of PWM signals; In multi-point drone delivery scenarios, the precise control of the robotic arm is directly related to delivery accuracy and material safety. The PWM (Pulse Width Modulation) signal, as the core command for robotic arm control, is crucial for the smoothness of mechanical movements. When the difference between the PWM pulse width data reconstructed by the receiver and the previous frame exceeds 0.05ms, it can easily trigger mechanical shock, causing the gripper to jam or materials to fall.

[0053] To address this issue, this solution proposes a linear interpolation smoothing filtering algorithm. This algorithm achieves a smooth transition of the PWM signal while ensuring real-time control performance, eliminating the risk of mechanical shock. Specifically: P321, Perform signal difference judgment Let the effective PWM pulse width of the previous frame be P_prev (unit: ms), and the PWM pulse width of the current received frame be P_curr (unit: ms). Set the difference threshold =0.05ms Calculate the difference between the current frame and the previous frame: when If the current frame data P_curr is used, a smooth transition mechanism is activated; otherwise, the current frame data is used directly.

[0054] P322, Linear Interpolation Smoothing Filtering Algorithm (1) Determine the number of transition frames Based on the system's maximum allowable delay T_max (≤20ms) and the signal transmission period T_frame (typically 5-10ms), calculate the number of transition frames N: in, The maximum allowable pulse width variation per frame (recommended value 0.01-0.02ms) ensures smooth mechanical movements. floor() indicates rounding down.

[0055] Simultaneously, the following must be satisfied: To ensure real-time control.

[0056] (2) Linear interpolation formula Let the transition sequence be P_1, P_2, ..., P_N, where: The first term P_1 = P_prev; The last term P_N = P_curr; The transition pulse width value for the k-th frame (1≤k≤N) is: This formula ensures that the pulse width changes linearly from P_prev to P_curr, with the change per frame being: And satisfy Avoid mechanical impact.

[0057] It should be noted that the linear interpolation smoothing filtering algorithm provided in this embodiment has the following beneficial effects: by limiting the pulse width variation per frame (≤0.02ms), equipment damage caused by mechanical shock is avoided; and the transition period is strictly controlled to ≤20ms to meet the real-time control requirements of drone deployment scenarios.

[0058] Application results show that after adopting this algorithm, the smoothness of the robotic arm's movements is improved by more than 90%, the risk of materials falling due to sudden changes in the PWM signal is reduced to less than 0.1%, and the signal transmission success rate is maintained at more than 99.5%, which fully meets the high-precision control requirements of drone multi-point deployment scenarios.

[0059] In another optional embodiment, the power module further includes a power management module connected to the control module; the power management module is used to manage power supply and power monitoring.

[0060] In another optional embodiment, the fixture is provided with a working condition acquisition module and a working condition indicator light; the working condition acquisition module includes a distance measurement module, a tension module, and an angle sensor; The distance measurement module is located on the bottom surface of the fixture body. It adopts an ultrasonic ranging module, and is connected to the control module and power module by circuit. It is used to measure the vertical distance between the fixture and the placement position. The measurement range is 0.1-10M, and the accuracy is ±1cm.

[0061] The tension module is fixed in the middle of the tie rod 16 or above the load-bearing plate. It adopts a miniature tension sensor and is connected to the control module and power module. It is used to collect tension data and tension change rate with an accuracy of ±0.1N, a volume diameter ≤8mm and a length ≤30mm.

[0062] The angle sensor is fixed below the top plate of the hoisting unit or on the top surface of the fixture body. It is a MEMS triaxial angle sensor, and the circuit is connected to the control module and the power module. It is used to collect the swing angle (pitch angle, roll angle) of the fixture, with a measurement range of ±180° and an accuracy of ±0.1°.

[0063] The working status indicator light is located on the top surface of the fixture body and is connected to the control module to indicate the working status.

[0064] In yet another optional embodiment, the operation of the fixture includes: A1. During the cargo loading stage, the operator presses the robot arm closing button to send a closing command to the control module. The control module sends the closing command to the PWM signal generator, which sends a closing signal to the robot arm motor, and the robot arm motor drives the robot arm to close. A2. During the cargo hoisting stage, after the robotic arm closes, the drone hoists the cargo and takes off. Under the action of the cargo's gravity, the pull rod 16 compresses the reset spring 9 in the connecting structure downwards, so that the reset spring 9 is in a compressed state. The pressure sensing switch is gradually released during the compression of the reset spring 9, disconnecting the circuit connection with the cargo release indicator light 4. The cargo release indicator light 4 goes out, feeding back to the operator that the cargo is in a stable hoisting state. A3. During the cargo release phase, after the drone arrives at the designated delivery location, the operator triggers a manipulator start command signal to the drone PWM servo controller via the drone remote controller. The PWM servo controller generates a manipulator start PWM control signal, which is sent to the control module via the wireless synchronization module. After receiving the manipulator start command signal, the control module uses the working condition acquisition module to calculate the working condition status and control the manipulator to perform the cargo release operation. A4. During the delivery and reset phase, after the goods are delivered, the gripper robot loses the weight of the goods. The reset top spring 9 pushes the pull rod 16 upward under its own elastic restoring force, causing the gripper body 1 to press against the pressure sensor switch of the connecting structure. This causes the pressure sensor switch to close, connecting the circuit with the goods release indicator light 4. The goods release indicator light 4 then lights up, indicating to the operator that the entire goods delivery process is complete.

[0065] In another optional embodiment, in step A3, after receiving the robot arm activation command signal, the control module uses the working condition acquisition module to calculate the working condition status and control the robot arm to perform the cargo release operation; specifically: S1. Data is collected and preprocessed using the working condition acquisition module to obtain status data; the status data includes real-time distance, tension value, and swing angle; the swing angle includes pitch angle and roll angle. S2. The control module processes the status data to obtain operating status information; specifically: S21. Based on the real-time distance in the state data, the descent speed is obtained using the speed calculation formula; The expression for the velocity calculation formula is as follows: In the formula, Indicates the rate of descent. , d 2 represents the effective distance data for two adjacent measurement cycles; Indicates taking the absolute value; S22. Determine the descent speed. Less than or equal to the preset speed change threshold The first judgment result is obtained. If the first judgment result is yes, the descent speed status is marked as "normal"; otherwise, the descent speed status is marked as "abnormal", and the abnormal start time is recorded. S23. Based on the tension value in the state data, the tension change rate is calculated using the tension change rate formula; the expression for the tension change rate formula is: In the formula, Indicates the rate of change of tensile force. F 1. F 2 represents the tension values ​​for two consecutive measurement cycles; Indicates taking the absolute value S24. Determine if the tension value is less than or equal to the tension threshold. If the rate of change of tension is less than or equal to the threshold of the rate of change of tension, a second judgment result is obtained. If the second judgment result is yes, the tension value status is marked as "normal"; otherwise, the tension value status is marked as "abnormal", indicating that the drone is turbulent, and the abnormal start time is recorded. S25. Based on the pitch angle and roll angle in the status data, determine whether the absolute value of the pitch angle is less than or equal to the pitch angle sway threshold and whether the absolute value of the roll angle is less than or equal to the roll angle sway threshold, and obtain the third judgment result; if the third judgment result is yes, the sway angle status is marked "normal"; otherwise, the sway angle status is marked "abnormal", and the abnormal start time is recorded. S26. The control module comprehensively determines the descent speed state, the tension value state, the swing angle state, and the abnormal duration to obtain working condition status information, specifically: S261. Determine whether the descent speed state, the tension value state, and the swing angle state are all marked as "normal" to obtain the fourth determination result; If the fourth judgment result is yes, then the working condition status information is marked as "working condition suitable for deployment", the data cache is cleared, and step S4 is executed; If the fourth judgment result is negative, then proceed to step S262; S262. Determine whether the abnormal duration is less than the first abnormal duration threshold to obtain the fifth judgment result; If the fifth judgment result is yes, then the working condition status information is marked as "instantaneous abnormality, working condition is temporarily unsuitable", and then step S1 is executed to track the change of abnormal status; optionally, the first abnormal duration threshold is 200ms. If the fifth judgment result is negative, the working condition status information is marked as "working condition is not suitable for delivery", the working condition abnormal indicator light is controlled to flash, and the delivery command execution permission is locked. Anomaly recovery determination: If the parameter marked as abnormal returns to normal and the data collected three times consecutively is normal, the anomaly mark is cleared, the operating condition status information is marked as "operating condition recovery is suitable", and the operating condition anomaly indicator light is turned off; S3. The control module sends the operating status information to the operator's terminal. S4. The control module uses the distance measurement module to obtain the real-time distance d between the clamp and the ground; S5. Determine whether the real-time distance d between the clamp and the ground is less than the preset delivery distance threshold, and obtain the sixth determination result; If the result of the sixth judgment is negative, then proceed to step S4; If the sixth judgment result is yes, then the robot arm activation PWM control signal is sent to the PWM signal generator, the robot arm release indicator light is lit, and the PWM signal generator controls the robot arm motor to drive the robot arm to open and release the goods.

[0066] In another optional embodiment, the control module uses the operating condition acquisition module to collect data and preprocess it to obtain status data; including: The control module sends synchronous acquisition trigger signals to the distance measurement module, the tension module, and the angle sensor, and each module acquires data according to a preset period; optionally, the preset period is 50ms. Using the distance measurement module, the real-time distance d between the fixture and the ground is obtained, and invalid data that exceeds the measurement range is discarded; The tension module collects real-time tension value F and transmits it to the control module. The control module filters the data to remove high-frequency noise and caches valid tension value data. Angle sensors collect pitch and roll angles and transmit them to the control module. The control module calculates the absolute values ​​of the two angles and caches the valid data. Data validity verification: If invalid data is collected three times consecutively, the corresponding module is determined to be faulty, and a fault alarm is triggered.

[0067] In another optional embodiment, the distance measurement module is used to obtain the real-time distance d between the clamp and the ground, specifically: The speed of ultrasonic waves in the air is constant (approximately 340 m / s at room temperature). The measurement module records the round-trip time t of the ultrasonic wave from transmission to reception and calculates the actual distance using the formula "distance = speed × time / 2" (the round-trip time needs to be divided by 2 to obtain the one-way distance).

[0068] The basic formula for distance calculation is: In the formula, t is the speed of sound in air; d is the round-trip time of the ultrasonic wave; and d is the actual distance between the dual-control clamp and the target object. To improve ranging accuracy, this implementation provides an ambient temperature compensation mechanism.

[0069] Ultrasonic propagation speed The effect is relatively small due to ambient temperature (for every 1°C change in temperature, The speed of ultrasonic wave propagation varies by approximately 0.6 m / s. To improve measurement accuracy, temperature compensation correction is required. Let the ambient temperature be T (unit: °C, which can be acquired in real-time by a temperature sensor integrated into the control module), then the corrected ultrasonic wave propagation speed... The formula is: =331.4+0.6 T Substituting the corrected ultrasonic propagation speed v into the basic formula, we obtain the final distance calculation formula: Taking sensor error (approximately ±0.1ms) into account, accuracy can be optimized by averaging multiple measurements (e.g., 5 consecutive measurements, removing the maximum and minimum values ​​and then averaging). For example: If the round-trip times of 5 consecutive measurements are respectively =11.7ms =11.8ms =11.6ms =12.0ms =11.7ms, after removing the maximum value of 12.0ms and the minimum value of 11.6ms, the average time is... =(11.7+11.8+11.7) / 3=11.73ms=11.73× s; If the ambient temperature T = 25℃, then v = 331.4 + 0.6 × 25 = 346.4 m / s; The final distance d = (346.4 × 11.73 × ) / 2≈2.02m; if the preset distance is 2m, the release condition is not met, and the activation of the robotic arm is temporarily suspended.

[0070] It should be noted that the method provided in this example, which calculates the real-time distance between the fixture and the ground after correcting for the ultrasonic propagation speed, is mainly for situations where high precision is required for delivering items in unknown environments, thereby improving the safety of delivery.

[0071] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0072] Finally, it should be noted that the dual-control fixture for unmanned aerial vehicles disclosed in the embodiments of the present invention is only a preferred embodiment of the present invention and is only used to illustrate the technical solutions of the present invention, not 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 dual-control fixture for unmanned aerial vehicles (UAVs), characterized in that, include: The fixture body, robotic arm, wireless synchronization module, PWM signal generator, control module, and power supply module are all included. The fixture body is a hollow structure with a control motherboard inside, a hoisting unit at the top, and the robotic arm at the bottom; the robotic arm includes a first robotic arm and a second robotic arm. The wireless synchronization module is used for wireless transmission of PWM control signals and includes a wireless transmitting module and a wireless receiving module; the wireless transmitting module is fixed on the UAV body and is electrically connected to the UAV PWM servo controller; the wireless receiving module is fixed on the fixture body and is electrically connected to the control module. The PWM signal generator is used to generate PWM signals to control the robot arm motor. It is fixedly mounted on the control motherboard and connects the control module and the robot arm motor. The control module and the power module are fixedly mounted on the control motherboard.

2. The dual-control fixture for unmanned aerial vehicles according to claim 1, characterized in that, The hoisting unit includes a pull ring, a pull rod, and a connecting structure; The connection structure is an open enclosure structure consisting of a top plate, a bottom plate, and two side plates. The pull ring is fixed to the top plate of the connecting structure, the bottom plate of the connecting structure is sleeved with the pull rod, and the pull rod passes through the vertical central axis of the clamp body. A reset spring is provided between the top end of the pull rod and the bottom plate of the connecting structure. The top end of the reset spring is fixed to the top end of the pull rod, and the lower end of the reset spring is fixed to the bottom plate of the connecting structure. The upper part of the pull rod is located inside the connecting structure, and the pull rod can move up and down within the connecting structure. A load-bearing plate is fixedly connected to the bottom end of the pull rod.

3. The dual-control fixture for unmanned aerial vehicles according to claim 2, characterized in that, The first robotic arm includes a first robotic arm body, a first robotic arm motor, and a first robotic arm closing button; The first robotic arm body is fixedly connected to the load-bearing plate; the first robotic arm motor is used to control the opening and closing of the first robotic arm, and is fixed on the side of the first robotic arm body away from the second robotic arm, and is connected to the first robotic arm body for transmission; the robotic arm closing button is used to manually close the first robotic arm, and the first robotic arm closing button is located on the top surface of the clamp body, and the first robotic arm closing button circuit is connected to the control module; The second robotic arm includes a second robotic arm body, a second robotic arm motor, and a second robotic arm closing button; The second robotic arm motor is used to control the opening and closing of the second robotic arm, and is fixed on the side of the second robotic arm body away from the first robotic arm, and is connected to the second robotic arm body via transmission; the second robotic arm closing button is used to manually close the second robotic arm, and the second robotic arm closing button is located on the top surface of the clamp body, and the circuit of the second robotic arm closing button is connected to the control module.

4. The dual-control fixture for unmanned aerial vehicles according to claim 1, characterized in that, The wireless receiving module includes a wireless receiving antenna and a wireless receiving signal processor; The wireless receiving antenna is fixedly mounted on the top surface of the fixture body and is electrically connected to the control module; the wireless receiving signal processor is fixedly mounted on the control motherboard and is electrically connected to the wireless receiving antenna and the control module. The wireless receiving module includes a first wireless receiving module and a second wireless receiving module. The first wireless receiving module is used to receive control signals for controlling the first robotic arm, and the second wireless receiving module is used to receive control signals for controlling the second robotic arm.

5. The dual-control fixture for unmanned aerial vehicles according to claim 4, characterized in that, The wireless transmission module includes a wireless transmission antenna and a wireless transmission signal processor; The wireless signal processor circuit is connected to the UAV PWM servo controller, which is connected to the UAV remote controller via a remote wireless control channel. The UAV PWM servo controller is used to control the UAV servos and robotic arm motors. The UAV remote controller sends a clamp closing command to the UAV PWM servo controller, which generates a PWM control signal and sends it to the control module via the wireless synchronization module. The control module controls the PWM signal generator to generate a closed PWM signal according to the received clamp closing command.

6. The dual-control fixture for unmanned aerial vehicles according to claim 3, characterized in that, The PWM signal generator includes a first PWM signal generator and a second PWM signal generator; The first PWM signal generator circuit is connected to the first robotic arm motor, and the second PWM signal generator circuit is connected to the second robotic arm motor.

7. The dual-control fixture for unmanned aerial vehicles according to claim 2, characterized in that, The top surface of the clamp body is provided with a first pressure sensing switch, a second pressure sensing switch and a cargo release indicator light; The first pressure sensor switch and the second pressure sensor switch are used to sense whether the base plate of the connecting structure is detached from the fixture body. They are distributed below the base plate of the connecting structure and are electrically connected to the control module. The cargo release indicator light is used to indicate whether the cargo has been released and is connected to the control module. After the cargo is released, the reset top spring releases the pull rod, causing the base plate of the connecting structure to press the pressure sensing switch. When the sensing switch is pressed, the cargo release indicator light is turned on and illuminates. During the cargo hoisting process, due to the influence of gravity, the base plate of the connecting structure compresses the reset top spring upward, and the base plate of the connecting structure disengages from the sensing switch, and the cargo release indicator light goes out.

8. The dual-control fixture for unmanned aerial vehicles according to claim 2, characterized in that, The top surface of the clamp body is provided with a first robotic arm release indicator light and a second robotic arm release indicator light; the first robotic arm release indicator light and the second robotic arm release indicator light are used to indicate that the robotic arm will be released upon receiving an opening command, and the circuit is connected to the control module.

9. The dual-control fixture for unmanned aerial vehicles according to claim 1, characterized in that, The fixture is also equipped with a working condition acquisition module and a working condition indicator light, which are electrically connected to the control module; the working condition acquisition module includes a distance measurement module, a tension module, and an angle sensor.

10. The dual-control fixture for unmanned aerial vehicles according to claim 9, characterized in that, During the cargo release phase, after receiving the robot arm activation command signal, the control module uses the operational status acquisition module to calculate the operational status and control the robot arm to perform the cargo release operation; specifically: S1. Data is collected and preprocessed using the working condition acquisition module to obtain status data; the status data includes real-time distance, tension value, and swing angle; the swing angle includes pitch angle and roll angle. S2. The control module processes the status data to obtain operating status information; specifically: S21. Based on the real-time distance in the state data, the descent speed is obtained using the speed calculation formula; S22. Determine the descent speed. Less than or equal to the preset speed change threshold The first judgment result is obtained. If the first judgment result is yes, the descent speed status is marked as "normal"; otherwise, the descent speed status is marked as "abnormal", and the abnormal start time is recorded. S23. Based on the tension value in the state data, the tension change rate is calculated using the tension change rate formula; S24. Determine if the tension value is less than or equal to the tension threshold. If the rate of change of tension is less than or equal to the threshold of the rate of change of tension, a second judgment result is obtained. If the second judgment result is yes, the tension value status is marked as "normal"; otherwise, the tension value status is marked as "abnormal", indicating that the drone is turbulent, and the abnormal start time is recorded. S25. Based on the pitch angle and roll angle in the status data, determine whether the absolute value of the pitch angle is less than or equal to the pitch angle yaw threshold and whether the absolute value of the roll angle is less than or equal to the roll angle yaw threshold, and obtain the third judgment result; if the third judgment result is yes, the yaw angle status is marked "normal"; otherwise, the yaw angle status is marked "abnormal", and the abnormal start time is recorded. S26. The control module comprehensively determines the descent speed state, the tension value state, the swing angle state, and the abnormal duration to obtain working condition status information, specifically: S261. Determine whether the descent speed state, the tension value state, and the swing angle state are all marked as "normal" to obtain the fourth determination result; If the fourth judgment result is yes, then the working condition status information is marked as "working condition suitable for deployment", the data cache is cleared, and step S4 is executed; If the fourth judgment result is negative, then proceed to step S262; S262. Determine whether the abnormal duration is less than the first abnormal duration threshold to obtain the fifth judgment result; If the fifth judgment result is yes, then the working condition status information is marked as "instantaneous abnormality, working condition is temporarily unsuitable", and then step S1 is executed to track the changes in the abnormal status; If the fifth judgment result is negative, the working condition status information is marked as "working condition is not suitable for delivery", the working condition abnormal indicator light is controlled to flash, and the delivery command execution permission is locked. Abnormal recovery judgment: If the parameter marked as abnormal returns to normal and the data collected for 3 consecutive times is normal, the abnormal mark is cleared, the working condition status information is marked as "working condition recovery is suitable", and the working condition abnormal indicator light is turned off; S3. The control module sends the operating status information to the operator's terminal. S4. The control module uses the distance measurement module to obtain the real-time distance d between the clamp and the ground; S5. Determine whether the real-time distance d between the clamp and the ground is less than the preset delivery distance threshold, and obtain the sixth determination result; If the result of the sixth judgment is negative, then continue to execute step S4; If the sixth judgment result is yes, then the robot arm activation PWM control signal is sent to the PWM signal generator, the robot arm release indicator light is lit, and the PWM signal generator controls the robot arm motor to drive the robot arm to open and release the goods.

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