A state monitoring method and system for gravity self-locking gripping of a UAV

Abstract

This invention relates to the field of UAV monitoring technology. It discloses a method and system for monitoring the state of a UAV's gravity-locked gripping mechanism. The method includes collecting state monitoring records and locating the contact establishment segment of the gripper block displacement; determining the contact establishment time based on the contact establishment segment; locating the takeoff boundary of the motor control command; intercepting the state switching range between the contact establishment time and the takeoff boundary and constructing a confirmation window; retrieving the release stroke segment of the gripper block displacement and the disturbed change segment of the aircraft's flight attitude within the confirmation window to form an unlocking segment; locating the reset termination time of the gripper block displacement and the off-stick stabilization segment of the aircraft's flight altitude within the unlocking segment; determining the unlocking state identifier based on the reset termination time and the off-stick stabilization segment; and using time anchors and window filtering in conjunction with synchronous segments and dual-quantity determination to suppress wind load disturbances and transient jumps, thereby improving the controllability of resting unlocking and the switching convergence speed.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) monitoring technology, and more specifically, to a method and system for monitoring the state of a UAV's gravity-based self-locking grip. Background Technology

[0002] When a drone performs perching, takeoff, and undocking on a rod-shaped target, it needs to coordinate the monitoring of the gripping state and the control of unlocking under the constraints of limited computing power and limited communication latency. Existing technologies usually rely on threshold judgment, state machine switching, correlation measurement, time smoothing and filtering to jointly interpret the thrust change, attitude change, contact and displacement related monitoring quantities and output the unlocking state. The above methods usually depend on the premise that the monitoring signal is continuous and complete, the attitude change is smooth, and the communication link is stable.

[0003] In actual habitat conditions, wind load disturbances and target object swaying can cause short-term fluctuations in attitude and contact monitoring data. At the same time, landing bounce and thrust transients can cause transient jumps in state variables. These unstable factors can weaken the convergence constraints of threshold determination and time smoothing on the state transition process, causing convergence delays in unlock-related states during the switching phase and reducing controllability. Therefore, the technical problem to be solved is how to ensure the controllability of habitat unlocking under strong environmental disturbances and transient jumps in state variables.

[0004] In view of this, the present invention proposes a method and system for monitoring the state of gravity self-locking gripping of unmanned aerial vehicles (UAVs) to solve the above problems. Summary of the Invention

[0005] To overcome the above-mentioned defects of the prior art, the present invention provides a method and system for monitoring the state of gravity self-locking gripping of unmanned aerial vehicles.

[0006] To achieve the above objectives, the present invention provides the following technical solution: Firstly, a method for monitoring the state of a drone's gravity-locked gripping is provided, including: Collect status monitoring records, locate the contact establishment segment of the gripper block displacement in the status monitoring records, determine the contact establishment time based on the contact establishment segment, and the status monitoring records include motor control commands, aircraft flight attitude, aircraft flight altitude, and gripper block displacement; Locate the takeoff boundary of the motor control command in the status monitoring record, and extract the status switching range between the contact establishment time and the takeoff boundary. Confirmation window is constructed based on the status switching range. Search for the release stroke segment of the gripper displacement in the confirmation window, and search for the disturbed change segment of the aircraft's flight attitude in the status monitoring record. Extract the unlock segment based on the release stroke segment and the disturbed change segment. Within the unlock segment, locate the reset termination time of the gripper displacement, and locate the off-stick stable segment of the aircraft's flight altitude in the status monitoring record. Determine the unlock status indicator based on the reset termination time and the off-stick stable segment.

[0007] Secondly, a state monitoring system for gravity-based self-locking gripping of a UAV is provided, which is used to implement the aforementioned state monitoring method for gravity-based self-locking gripping of a UAV, including: Contact positioning module: used to collect status monitoring records, locate the contact establishment segment of the gripper block displacement in the status monitoring records, and determine the contact establishment time based on the contact establishment segment. The status monitoring records include motor control commands, aircraft flight attitude, aircraft flight altitude, and gripper block displacement. Window building module: used to locate the takeoff boundary of motor control commands in the status monitoring record, and to extract the status switching range between the contact establishment time and the takeoff boundary, and build a confirmation window based on the status switching range; Unlock Extraction Module: Used to retrieve the release stroke segment of the gripper displacement within the confirmation window, and to retrieve the disturbed change of direction segment of the aircraft's flight attitude from the status monitoring record, and to extract the unlock segment based on the release stroke segment and the disturbed change of direction segment; Status determination module: used to locate the reset termination time of the gripper displacement within the unlock segment, and to locate the off-stick stable segment of the aircraft's flight altitude in the status monitoring record, and to determine the unlock status identifier based on the reset termination time and the off-stick stable segment.

[0008] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention collects status monitoring records and locates the contact establishment segment of the gripper block displacement within the records. Based on the contact establishment segment, the contact establishment time is determined, making the unlocking determination use the actual contact time as the time anchor point. The takeoff boundary of the motor control command is located, and the state switching range between the contact establishment time and the takeoff boundary is intercepted. A confirmation window is constructed based on the state switching range, and the window constraint weakens the discrete effects of wind load disturbance and thrust transients. The release stroke segment of the gripper block displacement is retrieved within the confirmation window, and the disturbed change segment of the aircraft's flight attitude is retrieved within the status monitoring records. The unlocking segment is extracted based on the release stroke segment and the disturbed change segment, realizing synchronous verification of displacement and attitude. The reset termination time of the gripper block displacement is located within the unlocking segment, and the off-stick stability segment of the aircraft's flight altitude is located within the status monitoring records. The unlocking status identifier is determined based on the reset termination time and the off-stick stability segment. The link of time anchor point—window filtering—synchronous segment—dual-quantity determination suppresses the influence of transient jumps, improving the controllability of rest unlocking and the switching convergence speed. Attached Figure Description

[0009] Figure 1 This is a flowchart illustrating a method for monitoring the state of a drone's gravity-based self-locking grip according to the present invention. Figure 2 This is a schematic diagram of the state monitoring system for gravity self-locking gripping of a UAV according to the present invention. Detailed Implementation

[0010] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. Based on the described 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.

[0011] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains. The terms “first,” “second,” and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as “comprising” or “including” mean that the element or object preceding the term covers the element or object listed after the term and its equivalents, without excluding other elements or objects. Terms such as “connection” or “linked” are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0012] In the technical solution of this invention, the user information (including but not limited to user personal information, user image information, user device information, such as location information) and data (including but not limited to data used for analysis, stored data, and displayed data) involved are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, storage, use, processing, transmission, provision, disclosure, and application of related data are all carried out in accordance with relevant laws, regulations, and standards, and necessary confidentiality measures have been taken. They do not violate public order and good morals, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0013] Example 1 Figure 1 This disclosure illustrates a method for monitoring the state of a drone's gravity-locked grip, provided in at least one embodiment, comprising: S10: Collect status monitoring records, locate the contact establishment segment of the gripper block displacement in the status monitoring records, determine the contact establishment time based on the contact establishment segment, and the status monitoring records include motor control commands, aircraft flight attitude, aircraft flight altitude, and gripper block displacement. In this embodiment, the status monitoring record is a parallel record collected according to the sampling time. The same sampling time corresponds to one motor control command record, one aircraft flight attitude record, one aircraft flight altitude record, and one gripper displacement record. The motor control command represents the control state related to gripping and holding. The aircraft flight attitude represents the change of the aircraft attitude angle over time. The aircraft flight altitude represents the change of the aircraft's height relative to the rod-shaped target. The gripper displacement represents the change of the gripper's displacement along the gripping or releasing direction. The contact establishment segment is the time range during which the gripper displacement changes from continuous to gripping direction and then to displacement holding without reversing the direction of change. The contact establishment time is the sampling time corresponding to the holding start point of the displacement entering holding within the contact establishment segment. By using the contact establishment segment instead of a single-point threshold as the positioning basis, the contact establishment judgment is not sensitive to short-term jumps caused by wind load disturbances and landing bounces. This avoids misjudging transient displacement rebound as established or unestablished contact during the switching phase, thus reducing the controllability of unlocking.

[0014] The following is a structured example: The sampling time vector is: 120, 140, 160, 180, 200, 220, 240, 260, 280, 300 (in milliseconds); The gripper displacement vector is 0.2, 0.8, 1.4, 2.0, 2.6, 2.6, 2.6, 2.6, 2.6, 2.6 (unit: millimeters).

[0015] The period from 120 to 200 milliseconds corresponds to the continuous change of the gripping block displacement in the gripping direction without reversal of the direction of change, while the period from 200 to 300 milliseconds corresponds to the displacement being maintained. Therefore, the period from 120 to 300 milliseconds can be marked as the contact establishment segment, and the period from 200 milliseconds can be determined as the contact establishment moment. This contact establishment moment serves as the time anchor point for the subsequent takeoff boundary and state switching range, aligning the starting point of the subsequent clipping window with the actual contact establishment process.

[0016] Locate the contact establishment segment of the gripper block displacement in the condition monitoring record, and determine the contact establishment time based on the contact establishment segment, including: Extract the gripper block displacement and sampling time from the condition monitoring record, and arrange the gripper block displacements according to the sampling time to form a displacement record; Search the displacement record for the segment where the displacement of the gripping block changes continuously in the gripping direction and the direction of change does not reverse, and mark the segment as a candidate contact segment. Locate the gripping and holding instruction segment of the motor control command in the condition monitoring record, and use the gripping and holding instruction segment to trim the execution time intersection of the candidate contact segment to obtain the contact establishment segment; Within the contact establishment segment, the starting point of the holding block displacement change direction changes from the gripping direction to the displacement holding is retrieved, and the sampling time corresponding to the holding starting point is determined as the contact establishment time.

[0017] In this embodiment, the displacement record is a serialized result of arranging the gripper block displacement in the state monitoring record according to the sampling time sequence. Using this displacement record makes it easy to identify unidirectional change segments of gripper block displacement on the same time axis. The displacement approach segment is the time range in which the gripper block displacement changes unidirectionally in the gripping direction at continuous sampling points and the direction of change does not reverse. The purpose of marking the displacement approach segment as a candidate contact segment is to first extract the segment where contact may be established from the displacement side, and then combine the motor control command to limit the time boundary of the candidate segment to exclude short-term displacement rebound caused by landing bounce or wind load disturbance. The gripping and holding command segment is the time range in which the motor control command keeps the gripping and holding control state without switching. The purpose of performing time intersection clipping on the candidate contact segment with the gripping and holding command segment is to make the contact establishment segment simultaneously satisfy the two constraints of unidirectional displacement approach and stable control state, so that the contact establishment time falls within the controllable gripping and holding stage. The holding start point is the turning sampling point where the gripper block displacement changes from continuous to gripping direction to displacement holding.

[0018] Following the example above, the displacement approach segment can be positioned as 120 to 200 milliseconds and marked as a candidate contact segment. At the same time, the motor control command maintains the gripping and holding control state for 120 to 300 milliseconds, forming a gripping and holding command segment. After trimming the intersection of the two times, the contact establishment segment is obtained as 120 to 300 milliseconds. The starting point of the gripping block displacement changing from the gripping direction to the displacement holding within the contact establishment segment corresponds to 200 milliseconds. Based on this, 200 milliseconds is determined as the contact establishment moment. This contact establishment moment can be directly used as the starting anchor point for intercepting the state switching range between the contact and takeoff boundary in subsequent steps, so that the state switching range covers the actual switching stage after contact establishment without being disturbed by the displacement changes before contact.

[0019] Locate the gripping and holding instruction segment of the motor control command in the condition monitoring record, and trim the candidate contact segment execution time intersection using the gripping and holding instruction segment to obtain the contact establishment segment, including: Extract motor control commands and sampling times from the condition monitoring records, and arrange the motor control commands according to the sampling times to form a command record; The starting sampling moment when the control state switches from gripping to holding and the ending sampling moment when the control state switches from holding to non-holding are located in the instruction record, forming the gripping and holding instruction segment; The gripping and holding command segment is mapped to the sampling time domain of the candidate contact segment to obtain the command coverage area within the candidate contact segment; Displacement record segments corresponding to candidate contact segments are extracted based on the start and end sampling times of the instruction-covered section to obtain the contact establishment segment.

[0020] The starting sampling moment when the control state switches from gripping to holding and the ending sampling moment when the control state switches from holding to non-holding are located in the instruction record, forming the gripping and holding instruction segment, including: Locate the control state change points in the instruction record, and divide the instruction record into adjacent instruction groups accordingly. Record the control state identifier and sampling time range within each adjacent instruction group. Filter the hold command groups with control status marked as hold from adjacent command groups to form a hold command group set. Extract the first sampling time and the last sampling time of each hold command group in the hold command group set to generate a hold time period. Extract the sampling time of the last group with the control status identifier "grasp" from the instruction group adjacent to the hold period as the starting sampling time, and extract the sampling time of the first group with the control status identifier "non-hold" from the instruction group adjacent to the hold period as the ending sampling time, thus forming the grip hold instruction segment.

[0021] In this embodiment, the motor control command is used to characterize the control state switching of the gripping actuator between "gripping - holding - non-holding". First, the motor control command and the sampling time are arranged according to the sampling time to form a command record. Then, the starting sampling time when the control state switches from gripping to holding and the ending sampling time when the control state switches from holding to non-holding are located in the command record to form a gripping and holding command segment. Subsequently, the gripping and holding command segment is mapped to the sampling time domain of the candidate contact segment to obtain the command coverage segment. The displacement record segment corresponding to the candidate contact segment is extracted with the starting sampling time and the ending sampling time of the command coverage segment to obtain the contact establishment segment. In order to avoid the command jitter caused by wind load disturbance or landing rebound, the segment is incorrectly segmented.

[0022] The instruction record is further divided into adjacent instruction groups by the control state change points, and the control state identifier and sampling time range of each adjacent instruction group are recorded. The hold instruction groups with the control state identifier of "hold" are selected from the adjacent instruction groups to form a hold instruction group set. The hold time period is generated by the sampling time of the first sample time of the group and the sampling time of the last sample time of the group. Then, the sampling time of the last sample time of the grasp instruction group adjacent to the hold time period is extracted as the starting sampling time, and the sampling time of the first sample time of the non-hold instruction group adjacent to the hold time period is extracted as the ending sampling time to obtain the grasp hold instruction segment.

[0023] Continuing with the example above where the candidate contact segment is 120 to 200 milliseconds and the gripping and holding control state lasts until 300 milliseconds, the instruction coverage segment corresponds to 120 to 300 milliseconds. By extracting the displacement record segment corresponding to the candidate contact segment at the above-mentioned start sampling time and end sampling time, the contact establishment segment can be obtained as 120 to 300 milliseconds. This ensures that the contact establishment segment is constrained by both the displacement approach segment and the gripping and holding instruction segment, reducing the risk of subsequent state switching range truncation offset caused by the contact establishment segment starting too early or ending too late due to transient jumps.

[0024] S20: Locate the takeoff boundary of the motor control command in the status monitoring record, and extract the status switching range between the contact establishment time and the takeoff boundary, and construct a confirmation window based on the status switching range; Locate the takeoff boundary of the motor control command in the status monitoring record, and extract the status transition range between the contact establishment moment and the takeoff boundary. Construct a confirmation window based on the status transition range, including: Extract motor control commands and sampling times from the condition monitoring records, and arrange the motor control commands according to the sampling times to form a command record; Locate the takeoff command segment of the motor control command in the command log, and determine the pre-takeoff boundary based on the takeoff command segment; Extract the aircraft's flight altitude and sampling time from the status monitoring record, locate the starting point of the departure from the control stick where the aircraft's flight altitude continuously rises and the direction of rise remains unchanged, and then superimpose the sampling time corresponding to the departure starting point with the preset unlock buffer time and match it with the execution time of the pre-takeoff boundary to obtain the takeoff boundary; The state transition range between the contact establishment moment and the takeoff boundary is captured, and a window segment containing motor control commands, airframe flight attitude, airframe flight altitude, and gripper displacement is captured from the state monitoring record based on the state transition range to obtain the confirmation window.

[0025] In this embodiment, the takeoff boundary is used as a time anchor point for the rest-and-departure phase, so as to completely encompass the state transition process from contact establishment to takeoff action within the same confirmation window. First, motor control commands and sampling times are extracted from the status monitoring records and arranged according to the sampling times to form a command record. Then, the takeoff command segment of the motor control commands is located in the command record, and the pre-takeoff boundary is determined based on the takeoff command segment. The pre-takeoff boundary reflects the starting point of the control side entering the takeoff control state. To avoid including the landing rebound phase due to an early boundary determined solely by control commands, further data is extracted from the status monitoring records. The aircraft's flight altitude and sampling time are recorded, and the starting point of the departure from the control stick is located within the aircraft's flight altitude, where the aircraft's flight altitude continuously rises and the direction of rise remains unchanged. The sampling time corresponding to the departure point is superimposed with a preset unlock buffer time and then matched with the execution time of the pre-takeoff boundary to obtain the takeoff boundary. This ensures that the takeoff boundary is simultaneously constrained by the takeoff command from the control side and the departure process from the altitude side. Subsequently, the state switching range between the contact establishment time and the takeoff boundary is captured, and based on the state switching range, a window segment containing motor control commands, aircraft flight attitude, aircraft flight altitude, and gripper displacement is captured from the state monitoring record to obtain the confirmation window.

[0026] Continuing with the example above where the contact establishment time is 200 milliseconds and the hold-and-hold command segment lasts until 300 milliseconds, optionally, the motor control command enters the takeoff control state after 300 milliseconds, forming a pre-takeoff boundary of 300 milliseconds. Simultaneously, the aircraft's flight altitude reaches the stick departure starting point at 320 milliseconds, and the preset unlock buffer time is set to 20 milliseconds. Then, the stick departure starting point plus the unlock buffer time equals 340 milliseconds, which coincides with the execution time of the pre-takeoff boundary, thus obtaining a takeoff boundary of 340 milliseconds. Based on this, the state switching range between 200 milliseconds and 340 milliseconds can be extracted, and the corresponding window segment can be extracted from the state monitoring record to obtain the confirmation window. This ensures that the subsequent retrieval of the release stroke segment and the disturbed change-of-direction segment falls within the effective segment from contact establishment to the takeoff boundary, without being affected by the mixed interference of the displacement approach segment before contact establishment and the altitude increase segment after stick departure.

[0027] Locate the takeoff command segment of the motor control command in the command log, and determine the pre-takeoff boundary based on the takeoff command segment, including: Locate the control state change points of motor control commands in the command record, and divide the command record into adjacent command groups accordingly. Record the control state identifier and sampling time range of each adjacent command group. In adjacent command groups, select command groups whose control status identifier has switched from gripping and holding to takeoff and pair them up, and determine the takeoff command segment based on the command group pairing. Extract the first sampling time of the takeoff command segment from the takeoff command segment and determine the first sampling time of the group as the pre-takeoff boundary. The pre-takeoff boundary is backfilled into the sampling time domain of the command record, and the pre-takeoff boundary is retained in the command record as the time anchor point of the takeoff command segment, thus obtaining the pre-takeoff boundary.

[0028] In this embodiment, the takeoff command segment is used to locate the control switching interval from gripping and holding to takeoff from the motor control command side. This avoids premature judgment of the departure stage based solely on changes in the aircraft's flight altitude when short-term fluctuations in attitude and displacement are caused by wind load disturbances or landing bounce, which would result in an offset of the confirmation window. Therefore, the control state change point of the motor control command is first located in the command record, and the command record is divided into adjacent command groups based on this. At the same time, the control state identifier and the sampling time range within each adjacent command group are recorded, so that the control state presents a continuous segmented structure on the time axis. This facilitates the subsequent location of the adjacent switching relationship between gripping and holding and takeoff and defines a consistent standard for the switching boundary.

[0029] Continuing with the example above where the hold command segment covers 120 to 300 milliseconds, the command records can be organized into a set of adjacent command groups {(hold, 0–120 milliseconds), (hold, 120–300 milliseconds), (takeoff, 300–360 milliseconds)}, where the control state change points between adjacent command groups correspond to 120 milliseconds and 300 milliseconds. The control state identifier and the sampling time range within the group are used to characterize the duration interval of each control state segment, so that the subsequent positioning of the takeoff command segment can directly fall at the adjacent boundary between the hold command group and the takeoff command group and maintain the time caliber without drift.

[0030] In this embodiment, the pairing of command groups in adjacent command groups where the control state identifier changes from hold to takeoff is selected, and the takeoff command segment is determined by the command group pairing. This further locks the adjacent pairing relationship of "hold command group - takeoff command group" on the segmented structure. The pairing range of command group pairing is limited by the sampling time of the tail of the hold command group and the sampling time of the head of the takeoff command group, so that the takeoff command segment comes from the adjacent interval of the control state switch rather than from an earlier hold phase or a later release phase. Then, the sampling time of the head of the takeoff command segment is extracted from the takeoff command segment, and the sampling time of the head of the segment is determined as the pre-takeoff boundary, so that the pre-takeoff boundary becomes the time starting point for the control side to enter the takeoff control state, and forms a dockable time comparison relationship with the aforementioned contact establishment time.

[0031] Following the example above, the command group pairing for switching the control status identifier from hold to takeoff can be written as {(hold, 120–300 ms), (takeoff, 300–360 ms)}. This command group pairing determines the takeoff command segment to be 300 to 360 ms. The sampling time of the first group of the takeoff command segment is 300 ms and is determined as the pre-takeoff boundary. Subsequently, the pre-takeoff boundary is backfilled into the sampling time field of the command record and retained in the command record as the time anchor point of the takeoff command segment. This allows subsequent steps to directly align the alignment process with this time anchor point and output the pre-takeoff boundary of the same caliber when combining the aircraft's flight altitude positioning of the stick start point and performing time alignment.

[0032] In adjacent command groups, select command groups whose control status indicator has switched from hold to takeoff and pair them up. Then, determine the takeoff command segment based on the command group pairing, including: Locate the hold command group with the control status marked as gripping and holding in the adjacent command group, and locate the takeoff command group with the control status marked as takeoff in the adjacent command group following the hold command group. To maintain the sampling time of the tail of the instruction group and the sampling time of the head of the takeoff instruction group to form an instruction switching segment, and to mark the instruction switching segment as a candidate switching segment; Search within the candidate switching segment for continuous instruction segments of motor control commands that maintain the takeoff control status flag without reversing, and mark the continuous instruction segments as takeoff instruction segments. The takeoff command segment is written into the sampling time range set within the adjacent command group, and the time range of the takeoff command segment is used as the pairing range for command group pairing to obtain the takeoff command segment.

[0033] In this embodiment, the pairing of command groups whose control state identifiers switch from hold to takeoff in adjacent command groups, and the determination of takeoff command segments based on command group pairing, is based on the fact that the command record has been divided into adjacent command groups. This limits the switching process from hold to takeoff to the adjacent adjacency relationship, thereby avoiding misjudging short-term command jitter in the hold phase or subsequent command changes in the takeoff phase as the switching start point. Specifically, the hold command group with the control state identifier of hold is first located in the adjacent command groups, and the takeoff command group with the control state identifier of takeoff is located in the adjacent command groups following the hold command group. This ensures that the switching only occurs at the adjacent connection of the "hold command group - takeoff command group". Then, the command switching segment is formed by the sampling time of the tail of the hold command group and the sampling time of the head of the takeoff command group and marked as the candidate switching segment. This ensures that subsequent retrieval is only carried out within this segment, so as to limit the takeoff command segment to a continuous control segment from hold to takeoff.

[0034] Continuing from the example above, the set of adjacent instruction groups {(hold, 0–120 ms), (hold, 120–300 ms), (takeoff, 300–360 ms)}, the hold instruction group is (hold, 120–300 ms) and the next adjacent takeoff instruction group is (takeoff, 300–360 ms). The sampling time of the tail of the hold instruction group is 300 ms and the sampling time of the head of the takeoff instruction group is 300 ms. The instruction switching segment formed by the two can be represented as 300 ms to 300 ms. This instruction switching segment is used to limit the temporal adjacency boundary of the control state switching, so that when subsequent continuous instruction segments are retrieved near this boundary, the retrieval results and the adjacency relationship of the instruction group pairing maintain the same time caliber.

[0035] In this embodiment, continuous instruction segments that maintain the takeoff control status identifier without reversing are retrieved from the candidate switching segment and marked as takeoff instruction segments. This is achieved by constraining the continuity of the instruction sequence within the candidate switching segment, ensuring that the takeoff instruction segments consist of instruction segments where the takeoff control status identifier appears continuously. This eliminates erroneous switching segments caused by single-point jumps or transient insertions within the candidate switching segment. Subsequently, the takeoff instruction segments are written into the sampling time range set within adjacent instruction groups, and the time range of the takeoff instruction segments is used as the pairing range for instruction group pairing. This ensures that instruction group pairing is no longer determined solely by the coarse-grained time range of adjacent instruction groups, but by the fine-grained time range of the takeoff instruction segments. As a result, the takeoff instruction segments serve as the time source for subsequent pre-takeoff boundary extraction and maintain alignment with the instruction record sampling time domain.

[0036] S30: Search for the release stroke segment of the gripper displacement in the confirmation window, and search for the disturbed change segment of the aircraft's flight attitude in the status monitoring record. Extract the unlock segment based on the release stroke segment and the disturbed change segment. The release stroke segment of the gripper block displacement is retrieved within the confirmation window, and the disturbed change-of-direction segment of the aircraft's flight attitude is retrieved from the status monitoring record. The unlock segment is extracted based on the release stroke segment and the disturbed change-of-direction segment, including: Extract the gripper block displacement and sampling time from the confirmation window, and arrange the gripper block displacements according to the sampling time to form a window displacement record; Search the window displacement record for the segment where the gripper block displacement changes continuously in the release direction and the direction of change does not reverse, and mark the segment where the displacement changes in the release stroke as the release stroke segment. Extract the aircraft's flight attitude and sampling time from the confirmation window, calculate the aircraft's flight attitude increment between adjacent sampling times, retrieve the attitude turning segment where the turning direction of the aircraft's flight attitude increment reverses and the turning direction remains unchanged after reversal, and mark the attitude turning segment as the disturbed turning segment. The intersection of the execution times of the release stroke segment and the disturbed direction change segment is clipped to obtain the unlock segment.

[0037] In this embodiment, the confirmation window is a time segment defined by the contact establishment time and the takeoff boundary. The window simultaneously retains motor control commands, aircraft flight attitude, aircraft flight altitude, and gripper displacement. The window displacement record is a sequence of gripper displacements arranged according to sampling time. The displacement away segment refers to the segment where the gripper displacement continuously changes in the release direction and the direction of change remains unchanged, and is regarded as the release stroke segment. The aircraft flight attitude increment is the change in aircraft flight attitude between adjacent sampling times. The attitude turning segment refers to the segment where the turning direction of the aircraft flight attitude increment reverses and the turning direction remains unchanged after reversal, and is regarded as the disturbed change segment. By performing time intersection clipping on the release stroke segment and the disturbed change segment, the unlocking segment can be obtained. Short-term fluctuations caused by wind load disturbances, target swaying, or landing bounce can be limited to the intersection area within the confirmation window, avoiding the misinterpretation of transient jumps as the unlocking stage based solely on displacement or attitude as a single source interpretation, thus preventing the introduction of convergence delay.

[0038] Continuing with the above example, if the contact establishment time is 200 milliseconds and the takeoff boundary is 320 milliseconds, then the confirmation window is from 200 milliseconds to 320 milliseconds, and the window displacement record can be written as: {(200,2.8),(220,2.8),(240,2.7),(260,2.6),(280,2.5),(300,2.4),(320,2.4)}; The time unit is milliseconds and the displacement unit is millimeters. The displacement changes continuously in the release direction from 240 to 300 milliseconds and the direction of change remains unchanged, forming a release stroke segment. The aircraft's flight attitude can be represented by the yaw angle within the same confirmation window and written as: {(200,5),(220,6),(240,7),(260,4),(280,3),(300,2),(320,2)}; The angle unit is degrees. The yaw angle is positive in the turning direction from 220 to 240 milliseconds and reverses in the turning direction from 240 to 260 milliseconds. It remains unchanged from 260 to 300 milliseconds and forms a disturbed turning segment. After clipping the intersection of the release stroke segment and the disturbed turning segment, the unlock segment is obtained from 260 to 300 milliseconds. This unlock segment is used as the input range for the reset termination time positioning and the off-pole stability segment determination in subsequent steps, so that the determination of the unlock status indicator focuses on the switching phase where strong disturbance and transient jump occur simultaneously.

[0039] S40: Locate the reset termination time of the gripper displacement within the unlock segment, and locate the off-stick stable segment of the aircraft's flight altitude in the status monitoring record. Determine the unlock status indicator based on the reset termination time and the off-stick stable segment.

[0040] Within the unlock segment, locate the reset termination time of the gripper block displacement, and locate the off-stick stabilization segment of the aircraft's flight altitude in the status monitoring record. Determine the unlock status indicator based on the reset termination time and the off-stick stabilization segment, including: Extract the gripper block displacement and sampling time from the unlock segment, and arrange the gripper block displacements according to the sampling time to form an unlock displacement record; Search the unlock displacement record for the reset stroke segment where the gripper block displacement changes continuously in the reset direction and the direction of change does not reverse. Locate the holding start point where the gripper block displacement changes from the reset direction to the holding position within the reset stroke segment. Determine the sampling time corresponding to the holding start point as the reset termination time. Extract the aircraft's flight altitude and sampling time from the status monitoring records, and locate the altitude holding section in the aircraft's flight altitude after the aircraft's flight altitude has continuously increased and maintained the upward direction without reversal and the altitude change has entered the holding section. Mark the altitude holding section as the stick-off stability section. Based on the timing relationship between the reset termination time and the execution time of the pole-off stabilization segment, if the reset termination time is before the pole-off stabilization segment, an unlock status identifier is generated.

[0041] In this embodiment, the unlocking displacement record is a record of the gripper displacement extracted within the unlocking segment time range and arranged according to the sampling time. The reset stroke segment refers to the segment in which the gripper displacement continuously changes in the reset direction and the direction of change remains unchanged. The holding start point refers to the starting sampling point where the gripper displacement changes from the reset direction to the displacement holding, and the reset termination time is given accordingly. The stabilization segment after leaving the stick is characterized by the altitude holding segment of the aircraft's flight altitude. That is, the aircraft's flight altitude first rises continuously and the direction of rise remains unchanged, and then the altitude changes into the holding segment and forms the altitude holding segment. The altitude holding segment is used as the stabilization segment after leaving the stick. The timing relationship is checked to correspond the completion time of the gripper reset with the altitude stabilization segment after the aircraft leaves the stick. This ensures that the unlocking status identifier is generated only when the reset termination time appears before the stabilization segment after leaving the stick. This distinguishes the transient jump caused by landing bounce or thrust transient from the actual stick leaving process after unlocking, reduces the convergence delay of the switching phase, and improves the controllability of rest unlocking.

[0042] Continuing with the above example, the unlock segment is from 260 to 300 milliseconds, and the window displacement recorded within this segment can be written as {(260, 2.6), (280, 2.5), (300, 2.4)}, where the time unit is milliseconds and the displacement unit is millimeters. The displacement continuously changes in the reset direction from 260 to 300 milliseconds without reversing, forming a reset stroke segment. At 300 milliseconds, the displacement changes from changing in the reset direction to maintaining the displacement, forming the holding start point. Therefore, 300 milliseconds is determined as the reset termination time. Simultaneously, the aircraft flight altitude recorded in the status monitoring log from 200 to 360 milliseconds can be written as: {(200,1.00),(220,1.00),(240,1.01),(260,1.03),(280,1.06),(300,1.10),(320,1.14),(340,1.14),(360,1.14)}; The altitude is measured in meters. The aircraft's flight altitude increases continuously from 240 to 320 milliseconds, maintaining the upward direction without reversal. It then enters a holding phase from 340 to 360 milliseconds, forming an altitude holding zone. The period from 340 to 360 milliseconds is marked as the off-stick stabilization phase. The reset termination time is 300 milliseconds, which falls before the off-stick stabilization phase. Based on this, an unlock status identifier is generated. The unlock status identifier and the unlock segment in the confirmation window together constitute the basis for judging the unlock switching phase, enabling the determination of the unlock status identifier to be completed before the off-stick stabilization occurs even under strong environmental disturbances and transient jumps in state quantities.

[0043] In this embodiment, compared to unlocking judgment methods that rely solely on threshold determination, state machine switching, or time smoothing, the above-mentioned method uses the temporal relationship between the reset termination time and the stable off-pole segment as the ruling condition. This ensures that the unlocking status identifier is generated only when the gripping block displacement has been reset and a stable off-pole segment subsequently occurs. This eliminates short-term attitude fluctuations caused by wind load disturbances and target swaying, as well as transient jumps caused by landing bounce and thrust transients, from the unlocking judgment path. This avoids the problem of delayed or premature unlocking judgment during the switching phase. Furthermore, under conditions of limited computing power and limited communication latency, the unlocking status identifier can still be determined with a small amount of temporal retrieval and intersection pruning, ensuring that the controllability of habitat unlocking remains stable under strong disturbance conditions.

[0044] Example 2 Please see Figure 2 As shown, based on the same inventive concept, this embodiment discloses a state monitoring system for UAV gravity self-locking gripping. For details not covered in this embodiment, please refer to the relevant parts of Embodiment 1. The system includes: Contact positioning module: used to collect status monitoring records, locate the contact establishment segment of the gripper block displacement in the status monitoring records, and determine the contact establishment time based on the contact establishment segment. The status monitoring records include motor control commands, aircraft flight attitude, aircraft flight altitude, and gripper block displacement. Window building module: used to locate the takeoff boundary of motor control commands in the status monitoring record, and to extract the status switching range between the contact establishment time and the takeoff boundary, and build a confirmation window based on the status switching range; Unlock Extraction Module: Used to retrieve the release stroke segment of the gripper displacement within the confirmation window, and to retrieve the disturbed change of direction segment of the aircraft's flight attitude from the status monitoring record, and to extract the unlock segment based on the release stroke segment and the disturbed change of direction segment; Status determination module: used to locate the reset termination time of the gripper displacement within the unlock segment, and to locate the off-stick stable segment of the aircraft's flight altitude in the status monitoring record, and to determine the unlock status identifier based on the reset termination time and the off-stick stable segment.

[0045] The accompanying drawings of the embodiments of this invention only involve the structures involved in the embodiments of this invention. Other structures can refer to the general design. In the absence of conflict, the features of the same embodiment and different embodiments of this invention can be combined with each other. The above are only specific implementations of this invention, but the protection scope of this invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this invention should be included within the protection scope of this invention. Therefore, the protection scope of this invention should be determined by the protection scope of the claims.

Claims

1. A method for monitoring the state of a UAV's gravity-based self-locking grip, characterized in that, include: Collect status monitoring records, locate the contact establishment segment of the gripper block displacement in the status monitoring records, determine the contact establishment time based on the contact establishment segment, and the status monitoring records include motor control commands, aircraft flight attitude, aircraft flight altitude, and gripper block displacement; Locate the takeoff boundary of the motor control command in the status monitoring record, and extract the status switching range between the contact establishment time and the takeoff boundary. Confirmation window is constructed based on the status switching range. Search for the release stroke segment of the gripper displacement in the confirmation window, and search for the disturbed change segment of the aircraft's flight attitude in the status monitoring record. Extract the unlock segment based on the release stroke segment and the disturbed change segment. Within the unlock segment, locate the reset termination time of the gripper displacement, and locate the off-stick stable segment of the aircraft's flight altitude in the status monitoring record. Determine the unlock status indicator based on the reset termination time and the off-stick stable segment.

2. The method for monitoring the state of a UAV's gravity-based self-locking grip according to claim 1, characterized in that, Locate the contact establishment segment of the gripper block displacement in the condition monitoring record, and determine the contact establishment time based on the contact establishment segment, including: Extract the gripper block displacement and sampling time from the condition monitoring record, and arrange the gripper block displacements according to the sampling time to form a displacement record; Search the displacement record for the segment where the displacement of the gripping block changes continuously in the gripping direction and the direction of change does not reverse, and mark the segment as a candidate contact segment. Locate the gripping and holding instruction segment of the motor control command in the condition monitoring record, and use the gripping and holding instruction segment to trim the execution time intersection of the candidate contact segment to obtain the contact establishment segment; Within the contact establishment segment, the starting point of the holding block displacement change direction changes from the gripping direction to the displacement holding is retrieved, and the sampling time corresponding to the holding starting point is determined as the contact establishment time.

3. The method for monitoring the state of a UAV's gravity-based self-locking grip according to claim 2, characterized in that, Locate the gripping and holding instruction segment of the motor control command in the condition monitoring record, and trim the candidate contact segment execution time intersection using the gripping and holding instruction segment to obtain the contact establishment segment, including: Extract motor control commands and sampling times from the condition monitoring records, and arrange the motor control commands according to the sampling times to form a command record; The starting sampling moment when the control state switches from gripping to holding and the ending sampling moment when the control state switches from holding to non-holding are located in the instruction record, forming the gripping and holding instruction segment; The gripping and holding command segment is mapped to the sampling time domain of the candidate contact segment to obtain the command coverage area within the candidate contact segment; Displacement record segments corresponding to candidate contact segments are extracted based on the start and end sampling times of the instruction-covered section to obtain the contact establishment segment.

4. The method for monitoring the state of a UAV's gravity-based self-locking grip according to claim 3, characterized in that, The starting sampling moment when the control state switches from gripping to holding and the ending sampling moment when the control state switches from holding to non-holding are located in the instruction record, forming the gripping and holding instruction segment, including: Locate the control state change points in the instruction record, and divide the instruction record into adjacent instruction groups accordingly. Record the control state identifier and sampling time range within each adjacent instruction group. Filter the hold command groups with control status marked as hold from adjacent command groups to form a hold command group set. Extract the first sampling time and the last sampling time of each hold command group in the hold command group set to generate a hold time period. Extract the sampling time of the last group with the control status identifier "grasp" from the instruction group adjacent to the hold period as the starting sampling time, and extract the sampling time of the first group with the control status identifier "non-hold" from the instruction group adjacent to the hold period as the ending sampling time, thus forming the grip hold instruction segment.

5. The method for monitoring the state of a UAV's gravity-based self-locking grip according to claim 1, characterized in that, Locate the takeoff boundary of the motor control command in the status monitoring record, and extract the status transition range between the contact establishment moment and the takeoff boundary. Construct a confirmation window based on the status transition range, including: Extract motor control commands and sampling times from the condition monitoring records, and arrange the motor control commands according to the sampling times to form a command record; Locate the takeoff command segment of the motor control command in the command log, and determine the pre-takeoff boundary based on the takeoff command segment; Extract the aircraft's flight altitude and sampling time from the status monitoring record, locate the starting point of the departure from the control stick where the aircraft's flight altitude continuously rises and the direction of rise remains unchanged, and then superimpose the sampling time corresponding to the departure starting point with the preset unlock buffer time and match it with the execution time of the pre-takeoff boundary to obtain the takeoff boundary; The state transition range between the contact establishment moment and the takeoff boundary is captured, and a window segment containing motor control commands, airframe flight attitude, airframe flight altitude, and gripper displacement is captured from the state monitoring record based on the state transition range to obtain the confirmation window.

6. The method for monitoring the state of a UAV's gravity-based self-locking grip according to claim 5, characterized in that, Locate the takeoff command segment of the motor control command in the command log, and determine the pre-takeoff boundary based on the takeoff command segment, including: Locate the control state change points of motor control commands in the command record, and divide the command record into adjacent command groups accordingly. Record the control state identifier and sampling time range of each adjacent command group. In adjacent command groups, select command groups whose control status identifier has switched from gripping and holding to takeoff and pair them up, and determine the takeoff command segment based on the command group pairing. Extract the first sampling time of the takeoff command segment from the takeoff command segment and determine the first sampling time of the group as the pre-takeoff boundary. The pre-takeoff boundary is backfilled into the sampling time domain of the command record, and the pre-takeoff boundary is retained in the command record as the time anchor point of the takeoff command segment, thus obtaining the pre-takeoff boundary.

7. The method for monitoring the state of a UAV's gravity-based self-locking grip according to claim 6, characterized in that, In adjacent command groups, select command groups whose control status indicator has switched from hold to takeoff and pair them up. Then, determine the takeoff command segment based on the command group pairing, including: Locate the hold command group with the control status marked as gripping and holding in the adjacent command group, and locate the takeoff command group with the control status marked as takeoff in the adjacent command group following the hold command group. To maintain the sampling time of the tail of the instruction group and the sampling time of the head of the takeoff instruction group to form an instruction switching segment, and to mark the instruction switching segment as a candidate switching segment; Search within the candidate switching segment for continuous instruction segments of motor control commands that maintain the takeoff control status flag without reversing, and mark the continuous instruction segments as takeoff instruction segments. The takeoff command segment is written into the sampling time range set within the adjacent command group, and the time range of the takeoff command segment is used as the pairing range for command group pairing to obtain the takeoff command segment.

8. The method for monitoring the state of a UAV's gravity-based self-locking grip according to claim 7, characterized in that, The release stroke segment of the gripper block displacement is retrieved within the confirmation window, and the disturbed change-of-direction segment of the aircraft's flight attitude is retrieved from the status monitoring record. The unlock segment is extracted based on the release stroke segment and the disturbed change-of-direction segment, including: Extract the gripper block displacement and sampling time from the confirmation window, and arrange the gripper block displacements according to the sampling time to form a window displacement record; Search the window displacement record for the segment where the gripper block displacement changes continuously in the release direction and the direction of change does not reverse, and mark the segment where the displacement changes in the release stroke as the release stroke segment. Extract the aircraft's flight attitude and sampling time from the confirmation window, calculate the aircraft's flight attitude increment between adjacent sampling times, retrieve the attitude turning segment where the turning direction of the aircraft's flight attitude increment reverses and the turning direction remains unchanged after reversal, and mark the attitude turning segment as the disturbed turning segment. The intersection of the execution times of the release stroke segment and the disturbed direction change segment is clipped to obtain the unlock segment.

9. The method for monitoring the state of a UAV's gravity-based self-locking grip according to claim 1, characterized in that, Extract the gripper block displacement and sampling time from the unlock segment, and arrange the gripper block displacements according to the sampling time to form an unlock displacement record; Search the unlock displacement record for the reset stroke segment where the gripper block displacement changes continuously in the reset direction and the direction of change does not reverse. Locate the holding start point where the gripper block displacement changes from the reset direction to the holding position within the reset stroke segment. Determine the sampling time corresponding to the holding start point as the reset termination time. Extract the aircraft's flight altitude and sampling time from the status monitoring records, and locate the altitude holding section in the aircraft's flight altitude after the aircraft's flight altitude has continuously increased and maintained the upward direction without reversal and the altitude change has entered the holding section. Mark the altitude holding section as the stick-off stability section. Based on the timing relationship between the reset termination time and the execution time of the pole-off stabilization segment, if the reset termination time is before the pole-off stabilization segment, an unlock status identifier is generated.

10. A state monitoring system for gravity-based self-locking gripping of a UAV, used to implement the state monitoring method for gravity-based self-locking gripping of a UAV as described in any one of claims 1-9, characterized in that, include: Contact positioning module: used to collect status monitoring records, locate the contact establishment segment of the gripper block displacement in the status monitoring records, and determine the contact establishment time based on the contact establishment segment. The status monitoring records include motor control commands, aircraft flight attitude, aircraft flight altitude, and gripper block displacement. Window building module: used to locate the takeoff boundary of motor control commands in the status monitoring record, and to extract the status switching range between the contact establishment time and the takeoff boundary, and build a confirmation window based on the status switching range; Unlock Extraction Module: Used to retrieve the release stroke segment of the gripper displacement within the confirmation window, and to retrieve the disturbed change of direction segment of the aircraft's flight attitude from the status monitoring record, and to extract the unlock segment based on the release stroke segment and the disturbed change of direction segment; Status determination module: used to locate the reset termination time of the gripper displacement within the unlock segment, and to locate the off-stick stable segment of the aircraft's flight altitude in the status monitoring record, and to determine the unlock status identifier based on the reset termination time and the off-stick stable segment.

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