A modular material delivery unmanned aerial vehicle precision delivery management system

Abstract

The application provides a modular material delivery unmanned aerial vehicle precise delivery management and control system, and belongs to the technical field of unmanned aerial vehicle material delivery. The system comprises an unmanned aerial vehicle flight platform, a detachable modular material hanging delivery mechanism, an environment sensing module, a multi-source positioning and navigation module, an airborne management and control terminal, and a ground management and control background. The system carries out standardization, modularization and grading on materials, matches corresponding delivery components, completes self-inspection of hanging assembly, generates material module adaptation coding and task binding, fuses multi-source positioning, meteorological and terrain obstacle data to construct an airspace environment terrain coupling delivery model, and pre-generates an initial delivery management and control parameter set. The application solves the technical problems of poor material adaptability, low delivery precision, weak environmental anti-interference capability, and difficulty in adapting to multi-scene and multi-type material delivery in the prior art.

Description

Technical Field

[0001] This invention provides a modular material delivery drone precision delivery control system, belonging to the field of drone material delivery technology. Background Technology

[0002] Currently, drone delivery technology is widely used in emergency rescue, material resupply, field operations, and mountain delivery. Most existing drone delivery systems use fixed mounting structures, resulting in poor versatility and limiting their application to single types of materials. This fails to meet the delivery needs of materials with diverse specifications and characteristics. Furthermore, traditional delivery methods lack standardized material classification and compatibility management mechanisms, and the stability of material mounting and assembly cannot be independently verified, making them prone to problems such as material loosening, shifting, and accidental detachment.

[0003] Furthermore, existing drone delivery control strategies are relatively simplistic, mostly employing fixed-altitude, fixed-time delivery models. They fail to incorporate dynamic correction based on complex environmental factors such as airflow disturbances, terrain obstructions, and obstacle distribution, resulting in poor positioning and delivery stability. For materials with different physical characteristics, such as lightweight, heavy, and fragile items, there is a lack of differentiated delivery control logic, easily leading to problems such as material damage, landing point deviation, and delivery failure. Moreover, current technologies lack closed-loop verification and data iteration optimization mechanisms, making it difficult to achieve adaptive operations in harsh environments and multi-drone collaborative batch deliveries. The scene adaptability and delivery accuracy are insufficient to meet the actual needs of high-precision, complex material delivery operations.

[0004] To address the aforementioned shortcomings of existing technologies, this invention proposes a modular material delivery drone precision delivery control system. By employing modular material hierarchical adaptation, environmental terrain coupling modeling, hierarchical dynamic correction, differentiated delivery control, and closed-loop iterative optimization technologies, it solves the technical problems of poor versatility, low delivery accuracy, weak environmental adaptability, and lack of standardized control system in traditional drone delivery. Summary of the Invention

[0005] The purpose of this invention is to provide a modular material delivery drone precision delivery control system to solve the technical problems of poor material adaptability, low delivery accuracy, weak environmental interference resistance, and difficulty in adapting to multiple scenarios and types of material delivery in the existing technology.

[0006] To solve the above problems, the technical solution proposed by this invention is: a modular material delivery drone precision delivery control system, applied to a modular material delivery drone precision delivery control system; The system includes an unmanned aerial vehicle (UAV) flight platform, a detachable modular material loading and delivery mechanism, an environmental perception module, a multi-source positioning and navigation module, an airborne control terminal, and a ground control backend. The method includes standardizing and modularizing the materials according to their weight, dimensions, physical characteristics and protection requirements, matching them with modular material loading and delivery mechanisms of the corresponding specifications and completing the clamping and fixing of the materials. The airborne control terminal collects the locking status of the mounting and delivery mechanism, the attitude of the materials, and the overall center of gravity offset. It completes the self-check of the integrity of the mounting and assembly. After the self-check is qualified, it generates the material module adaptation code and binds and stores the material module adaptation code with the delivery task data. When the drone performs a delivery mission, the environmental perception module collects meteorological data of the delivery airspace as well as terrain and obstacle distribution data of the operation area. The multi-source positioning and navigation module integrates satellite positioning, inertial navigation and visual positioning data to output the drone's position and attitude information. The airborne control terminal combines environmental data and positioning data to construct an airspace environment and terrain coupled delivery model. Based on the material delivery characteristics corresponding to the material module adaptation code, the coupled delivery model pre-calculates the delivery altitude, delivery angle, delivery delay, and corrects the flight path to generate an initial delivery control parameter set. The UAV cruises along the corrected flight path, continuously updating airspace environmental data and positioning attitude data, and implements graded dynamic correction and control strategies for environmental disturbances of different intensities; for small-amplitude airflow disturbances, it adjusts the attitude of the delivery gimbal to achieve delivery attitude compensation and correction. To address positional shifts caused by significant airflow disturbances and terrain obstructions, the drone's flight altitude, horizontal displacement, and flight speed are adjusted simultaneously, and the delivery control parameter set is iteratively updated. When the drone enters the preset deployment threshold area, the airborne control terminal dynamically calibrates the deployment trigger timing by combining real-time positioning error, material module type and environmental disturbance parameters. Differentiated delivery control modes are matched to modular materials with different physical characteristics. The modular mounting delivery mechanism is controlled to perform unlocking, opening range and delivery driving force actions. After the materials are delivered, the airborne sensing equipment collects the material's falling trajectory, landing attitude and actual landing point information, and compares it with the preset target delivery point to obtain the delivery deviation. The airborne control terminal uploads flight data, environmental data, delivery control parameters, and delivery deviations to the ground control backend to complete the closed-loop verification of a single delivery. The ground control backend uses multiple batches of historical delivery data to iteratively optimize the delivery model parameters for different material modules and different operating environments.

[0007] Furthermore, the standardized modular classification includes light-duty material modules, medium-duty material modules, heavy-duty material modules, and fragile protective material modules; each type of material module is matched with lightweight rapid deployment components, standard universal deployment components, heavy-duty locking deployment components, and buffer protective deployment components; the self-inspection of the integrity of the mounting assembly includes locking mechanism pressure status detection, material center of gravity offset detection, and mounting tilt angle detection; when the center of gravity offset and mounting tilt angle fall within the preset qualified threshold range, and the locking mechanism pressure meets the conditions, the mounting self-inspection is deemed qualified.

[0008] Furthermore, the construction of the airspace environment terrain coupling delivery model includes: establishing an airflow disturbance offset correction model based on the collected wind speed and direction data; combining the terrain elevation data and obstacle coordinate distribution data of the delivery area to correct the delivery position deviation caused by terrain occlusion and local airflow eddies; and using the Kalman filter algorithm to perform fusion and noise reduction processing on multi-source positioning data to suppress random positioning errors.

[0009] Furthermore, two levels of environmental disturbance thresholds are pre-configured; the hierarchical dynamic correction and control strategy is as follows: when the environmental disturbance deviation is less than the first-level disturbance threshold, attitude compensation and correction are achieved solely through gimbal attitude fine-tuning; when the environmental disturbance deviation is between the first-level and second-level disturbance thresholds, gimbal attitude fine-tuning and UAV flight speed adjustment are coordinated for correction; when the environmental disturbance deviation is greater than the second-level disturbance threshold, the local flight path is replanned and the delivery control parameter set is reset.

[0010] Furthermore, the dynamic calibration of the delivery trigger timing includes: using the target delivery point as a benchmark, and combining the theoretical falling delay of materials, real-time wind speed offset, and UAV flight inertial offset to correct the delivery trigger time, thereby reducing the delivery lag offset error caused by fixed-point delivery.

[0011] Furthermore, the differentiated delivery control modes include: light bulk materials adopt a multi-point continuous delivery mode; fragile protective materials adopt a buffer delay detachment delivery mode, which releases the materials smoothly after a delay and activates the buffer protection structure after unlocking; heavy prepared materials adopt a vertical stable detachment delivery mode, which performs detachment delivery after locking the vertical attitude of the UAV; and hard conventional materials adopt a fixed-point precise free delivery mode.

[0012] Furthermore, the closed-loop verification includes landing point accuracy verification, material integrity verification, and delivery process compliance verification. When the delivery landing point deviation exceeds the preset threshold or abnormal material damage is detected, an abnormal control log is generated, the abnormal cause is marked, and an early warning information is pushed to the ground control backend to realize delivery abnormality tracing and control strategy optimization.

[0013] Furthermore, it also includes multi-drone collaborative delivery control steps: when carrying out large-volume, multi-type material delivery tasks, the ground control backend splits the tasks and allocates material modules for multiple drones, and plans non-interfering flight routes and delivery sequences; each drone synchronizes its operation status through the airborne control terminal to avoid cross-interference of flight routes and delivery sequence conflicts.

[0014] Furthermore, it also includes adaptive control steps for harsh environments: when strong winds, low visibility, rain, snow and other harsh operating environments are detected, the sampling frequency of positioning data and the update frequency of environmental data are increased, the attitude compensation threshold is adaptively adjusted, the operation mode is switched to low speed and low altitude, and the buffer protection function of the mounting and delivery mechanism is activated.

[0015] Furthermore, the modular material loading and delivery mechanism is equipped with standardized quick-release interfaces, allowing for rapid disassembly and switching of various delivery components; the airborne control terminal's pre-storage module is adapted to the database, identifies the types of loaded delivery components, and adaptively matches the corresponding delivery control parameters and control strategies.

[0016] Due to the adoption of the above technical solution, the beneficial effects of the modular material delivery drone precision delivery control system of the present invention are as follows: 1. This invention adopts a standardized, modular, graded, and detachable quick-release mounting and delivery mechanism, which can be adapted to various types of materials with different weights, shapes, and protection requirements, such as light, medium, heavy, and fragile protective materials. This solves the problem of the single mounting structure and narrow material compatibility of traditional UAVs. At the same time, it sets up a self-inspection mechanism for the integrity of the mounting assembly, which can identify assembly defects such as incomplete locking, center of gravity shift, and abnormal mounting tilt angle before takeoff. This avoids the safety risks of materials loosening and accidental falling off during operation from the source, thus improving operational safety.

[0017] 2. This invention constructs an airspace environment terrain-coupled delivery model, integrating multi-dimensional environmental data such as airflow disturbance, terrain elevation, and obstacle distribution. It combines Kalman filtering to denoise multi-source positioning data and suppress random positioning errors. With a two-level dynamic correction and control strategy based on environmental disturbance thresholds, it adopts a layered approach of gimbal compensation, coordinated speed adjustment, and replanning of flight routes for small, medium, and large environmental disturbances. This can effectively offset the landing point deviation caused by wind disturbance, terrain obstruction, and valley eddies, and significantly improve the landing point accuracy and environmental anti-interference capability of material delivery in complex mountainous and field environments.

[0018] 3. This invention achieves automatic matching of delivery parameters based on material module adaptation coding, and sets differentiated delivery control modes for materials with different physical characteristics: multi-point continuous delivery of light bulk materials, buffered and delayed stable release of fragile materials, locked vertical posture for stable delivery of heavy materials, and fixed-point free delivery of conventional hard materials. It balances delivery accuracy, material protection, and operational efficiency, effectively reducing the probability of material collisions, damage, and delivery failures.

[0019] 4. This invention establishes a complete operational closed loop, from mounting self-check, task binding, environment modeling, dynamic correction, differentiated delivery, closed-loop verification, to model iteration. After delivery, triple verification is performed on landing accuracy, material integrity, and delivery process compliance. When deviations or material anomalies occur, logs are automatically generated, causes are marked, and warnings are pushed, supporting anomaly tracing. The ground control backend continuously iterates and delivers delivery model parameters using multiple batches of historical operation data. The system has self-optimization capabilities, and the delivery control effect improves with use.

[0020] 5. This invention supports multi-aircraft collaborative delivery control, enabling task breakdown, route and timing planning for large-scale mixed materials delivery, avoiding overlapping routes and timing conflicts among multiple aircraft, and significantly improving the operational capability for large-scale emergency material delivery. It also possesses adaptive control capabilities in harsh environments, automatically increasing data sampling frequency, switching to low-speed, low-altitude operation mode, and activating buffer protection functions in strong winds, low visibility, rain, and snow conditions, thus broadening the applicable weather and terrain scenarios for drone material delivery.

[0021] 6. The system has a high degree of overall automation and control. The onboard self-inspection, environmental modeling, deviation control, deployment timing calibration, and closed-loop verification are all completed automatically by the airborne control terminal and the ground control backend, reducing operational errors caused by manual intervention and realizing standardized and intelligent control of UAV material delivery operations. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a block diagram of the overall system hardware architecture of a modular material delivery drone precision delivery control system according to the present invention; Figure 2 This is a flowchart of the overall precise delivery control method of the modular material delivery drone precision delivery control system of the present invention; Figure 3 This is a modular material classification and component adaptation architecture diagram of a modular material delivery drone precision delivery control system according to the present invention; Figure 4is a hierarchical dynamic environment deviation correction control strategy logic block diagram of a modular material delivery UAV precise delivery control system of the present invention; Figure 5 is a multi-UAV cooperative delivery operation control architecture diagram of a modular material delivery UAV precise delivery control system of the present invention. Detailed Description of the Embodiments

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Apparently, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] Embodiment 1: This embodiment is applicable to conventional operation scenarios with open plains, no strong airflow disturbance and flat terrain. The delivered material is a medium-sized hard emergency material box, which belongs to the medium-sized material module. The material has a regular shape, no special protection requirements, and its weight is within the range of the medium-sized material module.

[0025] Before operation, the staff determines that the material to be delivered is a medium-sized material module according to its weight, external dimension and protection requirements, and matches a standard general delivery component; the standardized quick-release interface of the modular material mounting and delivery mechanism is used to complete the assembly of the delivery component, and the medium-sized material box is clamped and fixed. The airborne control terminal starts the self-inspection of mounting assembly integrity, and collects the pressure state of the locking mechanism, the offset of the material's center of gravity, and the mounting inclination angle; if the detected center of gravity offset and mounting inclination angle fall within the preset qualified threshold range, and the pressure of the locking mechanism meets the preset conditions, the mounting self-inspection is determined to be qualified; the material module adaptation code corresponding to the medium-sized material module is generated, and the material module adaptation code is bound and stored with the task data such as the target delivery point, flight route, and preset delivery height of this delivery task.

[0026] After the UAV takes off, it cruises along the corrected flight route. The environment perception module collects meteorological data such as wind speed and wind direction in the plain airspace in real time, and simultaneously collects terrain elevation and obstacle distribution data of the operation area. The operation area in this embodiment has small terrain fluctuations and no tall obstacles. The multi-source positioning and navigation module integrates satellite positioning, inertial navigation and visual positioning data, adopts the Kalman filter algorithm to complete the fusion and noise reduction of multi-source positioning data, suppresses random positioning errors, and outputs real-time position and attitude information of the UAV.

[0027] The airborne control terminal constructs an airspace environment-terrain coupled delivery model by combining acquired environmental and positioning attitude data; it establishes an airflow disturbance offset correction model based on on-site wind speed and direction, and corrects minor delivery deviations caused by terrain using local terrain elevation data; and it pre-calculates delivery height, delivery angle, and delivery delay based on the delivery characteristics corresponding to the medium-sized material module's adaptation code, generating an initial delivery control parameter set. During operation, if the detected environmental disturbance deviation is less than the first-level disturbance threshold, it is considered a small-amplitude airflow disturbance. The system only adjusts the delivery gimbal attitude to complete the delivery attitude compensation and correction, without needing to adjust the UAV's flight status.

[0028] When the drone enters the preset delivery threshold area, the onboard control terminal uses the target delivery point as a reference, combined with the theoretical descent delay of medium-sized materials, real-time wind speed deviation, and drone flight inertial deviation, to dynamically calibrate the delivery trigger timing, eliminating delivery lag and deviation errors caused by fixed-point delivery. For rigid, conventional medium-sized materials, the fixed-point precise free delivery mode is activated, controlling the modular material mounting and delivery mechanism to perform the unlocking action, completing the material delivery.

[0029] After the supplies are deployed, the airborne sensing equipment collects information on the supplies' descent trajectory, landing attitude, and actual landing point. The actual landing point is compared with the preset target delivery point to determine the delivery deviation. In this embodiment, the delivery deviation is 0.3m, which does not exceed the preset accuracy threshold. The supplies are undamaged, the deployment process meets the preset requirements, and the closed-loop verification is successful. The airborne control terminal uploads the flight data, environmental data, deployment control parameters, and delivery deviation to the ground control backend. The ground control backend stores this batch of operational data in a historical database for iterative optimization of the deployment model parameters.

[0030] Example 2: This embodiment is applicable to operation scenarios with complex mountainous terrain, strong wind disturbances, and local eddies in valleys. The delivered material is medical glass consumables, which belong to the fragile protective material module. The material is easily broken and has high requirements for buffer protection capabilities.

[0031] In the initial stage of the operation, based on the physical characteristics and protection requirements of the materials, the materials to be delivered were identified as fragile protective material modules, and buffer protective delivery components were matched accordingly. The delivery components were disassembled and replaced using standardized quick-release interfaces, and the medical glass consumables were flexibly clamped and fixed to avoid damage caused by rigid compression. The airborne control terminal performed a self-check of the integrity of the mounting assembly. If the locking mechanism pressure, center of gravity offset, and mounting tilt angle all met the qualified thresholds, the self-check was deemed successful, a material module adaptation code for the fragile protective material module was generated, and it was bound and stored with the delivery task data.

[0032] After the UAV enters the mountainous operational airspace, the environmental perception module collects strong wind meteorological data. The operational area has significant terrain undulations, with mountain obstructions and local eddies in the valleys. The multi-source positioning and navigation module collects satellite positioning, inertial navigation, and visual positioning information at high frequency. A Kalman filter algorithm is used to fuse and reduce noise in the multi-source positioning data, suppressing positioning fluctuation errors caused by terrain obstruction. The airborne control terminal constructs an airspace environment-terrain coupled delivery model, incorporating terrain elevation, obstacle coordinates, and valley eddy parameters to correct delivery position deviations caused by terrain obstruction and local airflow eddies. Considering the delivery characteristics of the fragile protective equipment module, the delivery height, angle, and delay are pre-calculated to generate an initial delivery control parameter set.

[0033] During the operation, the initial environmental disturbance deviation was between the first-level and second-level disturbance thresholds, belonging to moderate-intensity airflow disturbance. The system implemented a graded dynamic deviation correction and control strategy, coordinating the fine-tuning of the gimbal attitude and the adjustment of the UAV's flight speed to offset the positional shift caused by crosswinds. A short-term, sudden strong wind occurred midway through the operation, causing the environmental disturbance deviation to exceed the second-level disturbance threshold. The system replanned the local flight path and iteratively updated the delivery control parameter set. Simultaneously, recognizing the severe wind environment, the system increased the sampling frequency of positioning data and the update frequency of environmental data, adaptively adjusted the attitude compensation threshold, and switched to a low-speed, low-altitude operation mode.

[0034] Once the drone enters the preset delivery threshold area, the onboard control terminal uses the target delivery point as a reference and dynamically calibrates the delivery trigger timing based on the theoretical descent delay of the materials, real-time strong wind speed deviation, and the drone's flight inertial deviation. It then activates the buffer delay detachment delivery mode, controls the release mechanism to unlock, and smoothly releases the materials after a delay. Simultaneously, the buffer protection structure is activated to reduce the release impact.

[0035] After delivery, the airborne sensing equipment collected the material's trajectory, landing attitude, and actual landing point. A comparison with the target location showed a delivery deviation of 0.8m, which meets the preset delivery accuracy threshold for complex mountainous environments. Verification confirmed that the medical glass consumables were intact and the delivery process was compliant. The airborne control terminal generated complete data for this operation, including parameters related to strong winds and terrain eddies, and uploaded it to the ground control backend. The backend used this batch of data to optimize the delivery model correction parameters and buffer release parameters for the fragile protective material module under mountainous conditions.

[0036] Example 3: This example illustrates a large-scale emergency supply operation in the field, requiring the simultaneous delivery of light bulk supplies, heavy equipment supplies, and medium-sized conventional supplies, using multiple drones for coordinated delivery.

[0037] Before the operation, the ground control center conducts overall task management, and classifies the large batch of materials to be delivered into standardized, modular categories: light materials, medium materials, and heavy materials. These are then matched with lightweight rapid delivery components, standard universal delivery components, and heavy-duty locking delivery components, respectively. The ground control center completes the multi-UAV task breakdown and material module allocation, planning flight routes and delivery sequences that do not interfere with each other, avoiding overlapping routes and delivery sequence conflicts.

[0038] Each drone completes the mounting and assembly of its corresponding supplies: drones carrying light bulk supply supplies are equipped with lightweight rapid delivery components, and after passing self-inspection, a light supply module adaptation code is generated; drones carrying heavy maintenance equipment are equipped with heavy-duty locking delivery components, with key verification of locking mechanism pressure, center of gravity offset, and mounting tilt angle, and after passing self-inspection, a heavy supply module adaptation code is generated; drones carrying medium-sized conventional supplies are equipped with standard universal delivery components and their codes are bound. Each drone binds and stores its supply module adaptation code with its respective sub-task data.

[0039] Multiple drones took off and cruised along planned routes, with each onboard control terminal synchronizing its operational status, environmental perception data, and positioning and attitude data. The operational airspace experienced minor, uniform airflow disturbances, with environmental disturbance deviations less than the first-level disturbance threshold. Each drone performed gimbal attitude fine-tuning to compensate for and correct attitude deviations. Each drone activated a differentiated delivery control mode based on the type of material modules it carried: drones carrying light bulk materials activated a multi-point continuous delivery mode for large-scale resupply; drones carrying heavy maintenance equipment activated a vertical stable delivery mode, locking the drone's vertical attitude before detaching and delivering the materials; and drones carrying medium-sized conventional materials activated a fixed-point, precise, and free delivery mode.

[0040] After all drones completed their material delivery, landing accuracy, material integrity, and delivery process compliance were verified. One drone exhibited a minor landing deviation, which was determined to be caused by a small airflow disturbance, and the system generated a corresponding anomaly control log. Each airborne control terminal uploaded its flight data, environmental data, delivery control parameters, and delivery deviations to the ground control backend. The ground control backend integrated large-scale historical data from multiple drones and modules, iteratively optimizing delivery model parameters and flight path planning parameters for mixed material delivery and multi-drone collaborative operation scenarios. This embodiment employs a multi-drone collaborative mode, which significantly improves operational efficiency compared to single-drone sequential delivery.

[0041] Summary of Implementation Examples Based on the above three different working conditions, the embodiments cover three typical application scenarios: standard operation in plains, operation in complex and harsh mountain environments, and multi-machine large-scale collaborative operation. This fully verifies the feasibility, versatility, and delivery reliability of the system of the present invention. The overall technical effects are summarized as follows: First, the present invention adopts a standardized, modular, and graded approach combined with quick-release delivery components, which can be adapted to various types of materials, including light, medium, heavy, and fragile protective materials. The self-inspection of the integrity of the mounting assembly can identify mounting assembly defects in advance, avoid the risk of materials loosening or falling off during operation, and improve the system's adaptability to different materials.

[0042] Second, this invention constructs an airspace environment and terrain coupled delivery model, and combines two levels of environmental disturbance thresholds to execute a hierarchical dynamic correction and control strategy. It can dynamically adjust the control logic for different working conditions such as weak airflow, moderate airflow, strong wind eddies, and terrain obstruction. Example 2 verifies that the system can adaptively carry out correction in conjunction with low-speed and low-altitude operation mode under harsh mountain wind conditions, effectively suppressing delivery deviation caused by complex environment, and has strong environmental anti-interference ability.

[0043] Third, differentiated delivery control modes are set up for materials with different physical characteristics to balance delivery accuracy and material safety; light bulk materials ensure delivery coverage, fragile materials achieve buffered and stable release, heavy materials ensure stable delivery posture, and conventional materials ensure pinpoint accuracy, reducing the risk of material damage and delivery failure.

[0044] Fourth, this invention establishes a complete operational chain for attaching self-inspection tasks, binding environment modeling, dynamic correction, differentiated delivery, closed-loop verification model iteration; it can realize anomaly tracing and early warning when anomalies such as delivery deviation or material damage occur; at the same time, it supports multi-machine collaborative large-volume delivery, which can adapt to the needs of large-scale operations such as emergency rescue and field supply.

[0045] Fifth, the system has a high degree of automation. The onboard control terminal and the ground control backend work together to complete the self-inspection, environmental modeling, deviation control, deployment timing calibration and closed-loop verification, which reduces the operational errors caused by human intervention and improves the standardization and intelligence of UAV material delivery.

[0046] The present invention and its embodiments have been described above. This description is not restrictive. In short, if a person skilled in the art is inspired by this description and designs a similar structure and embodiment without departing from the spirit of the present invention, such design should fall within the protection scope of the present invention.

Claims

1. A modular material delivery drone precision delivery control system, characterized in that, Application in modular material delivery drone precision delivery control system; The system includes an unmanned aerial vehicle (UAV) flight platform, a detachable modular material loading and delivery mechanism, an environmental perception module, a multi-source positioning and navigation module, an airborne control terminal, and a ground control backend. The method includes standardizing and modularizing the materials according to their weight, dimensions, physical characteristics and protection requirements, matching them with modular material loading and delivery mechanisms of the corresponding specifications and completing the clamping and fixing of the materials. The airborne control terminal collects the locking status of the mounting and delivery mechanism, the attitude of the materials, and the overall center of gravity offset. It completes the self-check of the integrity of the mounting and assembly. After the self-check is qualified, it generates the material module adaptation code and binds and stores the material module adaptation code with the delivery task data. When the drone performs a delivery mission, the environmental perception module collects meteorological data of the delivery airspace as well as terrain and obstacle distribution data of the operation area. The multi-source positioning and navigation module integrates satellite positioning, inertial navigation and visual positioning data to output the drone's position and attitude information. The airborne control terminal combines environmental data and positioning data to construct an airspace environment and terrain coupled delivery model. Based on the material delivery characteristics corresponding to the material module adaptation code, the coupled delivery model pre-calculates the delivery altitude, delivery angle, delivery delay, and corrects the flight path to generate an initial delivery control parameter set. The UAV cruises along the corrected flight path, continuously updating airspace environmental data and positioning attitude data, and implements graded dynamic correction and control strategies for environmental disturbances of different intensities; for small-amplitude airflow disturbances, it adjusts the attitude of the delivery gimbal to achieve delivery attitude compensation and correction. To address positional shifts caused by significant airflow disturbances and terrain obstructions, the drone's flight altitude, horizontal displacement, and flight speed are adjusted simultaneously, and the delivery control parameter set is iteratively updated. When the drone enters the preset deployment threshold area, the airborne control terminal dynamically calibrates the deployment trigger timing by combining real-time positioning error, material module type and environmental disturbance parameters. Differentiated delivery control modes are matched to modular materials with different physical characteristics. The modular mounting delivery mechanism is controlled to perform unlocking, opening range and delivery driving force actions. After the materials are delivered, the airborne sensing equipment collects the material's falling trajectory, landing attitude and actual landing point information, and compares it with the preset target delivery point to obtain the delivery deviation. The airborne control terminal uploads flight data, environmental data, delivery control parameters, and delivery deviations to the ground control backend to complete the closed-loop verification of a single delivery. The ground control backend uses multiple batches of historical delivery data to iteratively optimize the delivery model parameters for different material modules and different operating environments.

2. The modular material delivery drone precision delivery control system according to claim 1, characterized in that, The standardized modular classification includes light-duty material modules, medium-duty material modules, heavy-duty material modules, and fragile protective material modules; each type of material module is matched with lightweight rapid deployment components, standard universal deployment components, heavy-duty locking deployment components, and buffer protective deployment components; the self-inspection of the integrity of the mounting assembly includes locking mechanism pressure status detection, material center of gravity offset detection, and mounting tilt angle detection; when the center of gravity offset and mounting tilt angle fall within the preset qualified threshold range, and the locking mechanism pressure meets the conditions, the mounting self-inspection is deemed qualified.

3. The modular material delivery drone precision delivery control system according to claim 1, characterized in that, The construction of the airspace environment terrain coupling delivery model includes: establishing an airflow disturbance offset correction model based on the collected wind speed and wind direction data; combining the terrain elevation data and obstacle coordinate distribution data of the delivery area to correct the delivery position deviation caused by terrain occlusion and local airflow eddies; and using the Kalman filter algorithm to perform fusion and noise reduction processing on multi-source positioning data to suppress random positioning errors.

4. The modular material delivery drone precision delivery control system according to claim 1, characterized in that, Two levels of environmental disturbance thresholds are pre-configured. The hierarchical dynamic correction and control strategy is as follows: when the environmental disturbance deviation is less than the first-level disturbance threshold, attitude compensation and correction are achieved only by fine-tuning the gimbal attitude; when the environmental disturbance deviation is between the first-level and second-level disturbance thresholds, the gimbal attitude fine-tuning and UAV flight speed adjustment are coordinated for correction; when the environmental disturbance deviation is greater than the second-level disturbance threshold, the local flight path is replanned and the delivery control parameter set is reset.

5. The modular material delivery drone precision delivery control system according to claim 1, characterized in that, The dynamic calibration of the delivery trigger timing includes: using the target delivery point as a benchmark, and combining the theoretical falling delay of materials, real-time wind speed offset, and UAV flight inertial offset to correct the delivery trigger time, thereby reducing the delivery lag offset error caused by fixed-point delivery.

6. The modular material delivery drone precision delivery control system according to claim 1, characterized in that, The differentiated delivery control modes include: light bulk materials adopt a multi-point continuous delivery mode; fragile protective materials adopt a buffer delay detachment delivery mode, which releases the materials smoothly after a delay and activates the buffer protection structure after unlocking; heavy prepared materials adopt a vertical stable detachment delivery mode, which performs detachment delivery after locking the vertical attitude of the UAV; and hard conventional materials adopt a fixed-point precise free delivery mode.

7. The modular material delivery drone precision delivery control system according to claim 1, characterized in that, The closed-loop verification includes landing point accuracy verification, material integrity verification, and delivery process compliance verification. When the delivery landing point deviation exceeds the preset threshold or abnormal material damage is detected, an abnormal control log is generated, the abnormal cause is marked, and an early warning information is pushed to the ground control backend to realize delivery abnormality tracing and control strategy optimization.

8. A modular material delivery drone precision delivery control system according to claim 1, characterized in that, It also includes multi-drone collaborative delivery control steps: when executing large-volume, multi-type material delivery tasks, the ground control backend splits the tasks and allocates material modules for multiple drones, and plans flight routes and delivery sequences that do not interfere with each other; each drone synchronizes its operation status through the airborne control terminal to avoid cross-interference of flight routes and conflict of delivery sequences.

9. A modular material delivery drone precision delivery control system according to claim 1, characterized in that, It also includes adaptive control steps for harsh environments: when strong winds, low visibility, rain and snow are detected, the sampling frequency of positioning data and the update frequency of environmental data are increased, the attitude compensation threshold is adaptively adjusted, the low-speed and low-altitude operation mode is switched, and the buffer protection function of the attached delivery mechanism is activated.

10. A modular material delivery drone precision delivery control system according to claim 1, characterized in that, The modular material loading and delivery mechanism is equipped with a standardized quick-release interface, allowing for rapid disassembly and switching of various delivery components; the airborne control terminal's pre-storage module is adapted to the database, identifies the types of loaded delivery components, and adaptively matches the corresponding delivery control parameters and control strategies.

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