Agricultural unmanned aerial vehicle single-double landing site cooperative operation mechanism and control method

Abstract

The application discloses an agricultural unmanned aerial vehicle single-double landing apron cooperative operation mechanism and a control method, aims to solve the problems of low operation throughput of the existing landing apron, lack of cooperative scheduling of double independent landing aprons, insufficient landing deviation correction accuracy and poor reliability of a pneumatic system, and comprises the following: a landing apron body, double independent landing platforms arranged side by side, four-way pneumatic cylinder driving components arranged around a landing platform center operation area, a pneumatic control circuit independently connected with each landing platform, and a unified scheduling cooperative operation control module, a landing platform integrated position detection component and a branch pneumatic monitoring unit; the control method supports automatic switching of single-double landing apron modes according to operation load, adopts a front-rear and left-right step decoupling position correction logic to realize accurate centering locking of an unmanned aerial vehicle, and is provided with full-process pneumatic abnormality protection and automatic reset functions; the application can dynamically match landing apron resources and operation demands, and improves multi-unmanned aerial vehicle cluster operation efficiency and take-off and landing reliability.

Description

Technical Field

[0001] This invention relates to the technical field of drone landing pads, and more particularly to a collaborative operation mechanism and control method for single and dual landing pads for agricultural drones. Background Technology

[0002] As agricultural modernization accelerates, agricultural drones are widely used in agricultural production processes such as field plant protection, crop sowing, and foliar fertilization. Large-scale and clustered operations have become the mainstream development direction for agricultural drone applications. The helipad, as the core ground support platform for agricultural drone take-off, landing, battery replacement, and pesticide replenishment, directly determines the continuous operation capability and overall benefits of the entire agricultural drone operation system through its operational efficiency, positioning accuracy, and operational reliability.

[0003] Currently, agricultural drone landing pads are mainly used in single-landing-pad structures or simple dual-independent-landing-pad structures, with pneumatic drive being the primary driving method, chosen to meet the power requirements and maintenance convenience of complex field operating environments.

[0004] However, existing agricultural drone landing pads still face many unresolved issues in practical applications. Single-landing pad structures have limited throughput; if multiple drones are used in swarm operations, drones may queue for landing, severely restricting overall operational efficiency. Simple dual-independent landing pads lack a unified collaborative scheduling mechanism, failing to dynamically adjust operating modes based on workload. This leads to resource imbalances and operational conflicts under high loads, and unnecessary energy consumption under low loads. Furthermore, traditional landing pads generally lack precise automatic position correction functions. Landing deviations caused by crosswinds, uneven ground, and satellite positioning errors in the field can lead to failed refueling and pesticide application interfaces, and even cause drone tipping, equipment damage, and other safety accidents. Even landing pads with correction functions suffer from motion interference and poor locking reliability during multi-directional correction processes.

[0005] Therefore, in order to address the shortcomings of the above-mentioned problems, a collaborative operation mechanism and control method for single and dual landing pads of agricultural drones is proposed. Summary of the Invention

[0006] This invention overcomes the shortcomings of the prior art and provides a collaborative operation mechanism and control method for single and dual landing pads for agricultural drones.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a collaborative operation mechanism and control method for single and dual landing pads of agricultural drones, comprising: a landing pad body, a platform set on the landing pad body, a pneumatic cylinder drive assembly set on the platform, a pneumatic control system connected to the pneumatic cylinder drive assembly, and a collaborative operation control module electrically connected to the pneumatic control system.

[0008] The platform has a central working area, and the pneumatic cylinder drive assembly is arranged around the central working area. The pneumatic cylinder drive assembly includes a front pneumatic cylinder, a rear pneumatic cylinder, a left pneumatic cylinder, and a right pneumatic cylinder.

[0009] The front and rear pneumatic cylinders are arranged opposite each other in the front-to-back direction, and the piston rods of the front and rear pneumatic cylinders both face the central working area; the left and right pneumatic cylinders are arranged opposite each other in the left-to-right direction, and the piston rods of the left and right pneumatic cylinders both face the central working area.

[0010] Each pneumatic cylinder drive assembly includes: a pneumatic cylinder body, a fixed flange connected to one end of the pneumatic cylinder body, and a pusher connected to the end of the piston rod. The fixed flange is fixed to the platform, and the pusher faces the central working area.

[0011] The pneumatic control system includes a main pneumatic pipeline, branch pneumatic pipelines, a solenoid valve assembly, and a pressure sensor. The main pneumatic pipeline is connected to an external air source, the branch pneumatic pipelines are connected between the main pneumatic pipeline and the pneumatic cylinder body, and the solenoid valve assembly and pressure sensor are located on the branch pneumatic pipelines.

[0012] The collaborative operation control module is electrically connected to the solenoid valve group and the pressure sensor, respectively.

[0013] In a preferred embodiment of the present invention, the platform includes a first platform and a second platform arranged side by side on the apron body. The first platform is equipped with a first air pressure control circuit, and the second platform is equipped with a second air pressure control circuit. The first air pressure control circuit and the second air pressure control circuit are independent of each other and are both electrically connected to the collaborative operation control module.

[0014] In a preferred embodiment of the present invention, the air pressure control system has an air source processing device disposed on the main air pressure pipeline, the air source processing device including an air filter, a pressure reducing valve and an oil mist lubricator;

[0015] The solenoid valve group includes several solenoid valves that are respectively connected to the front pneumatic cylinder, the rear pneumatic cylinder, the left pneumatic cylinder and the right pneumatic cylinder. The air inlets of the several solenoid valves are connected to branch pneumatic pipelines, and the working ports of the several solenoid valves are connected to the air inlets and exhaust ports of the corresponding pneumatic cylinder bodies.

[0016] In a preferred embodiment of the present invention, the pneumatic cylinder body includes: a cylinder barrel, a piston rod, and a cylinder head; the fixed flange is connected to the end of the cylinder barrel away from the central working area; and the pusher is connected to the end of the piston rod close to the central working area.

[0017] The front pneumatic cylinder and the rear pneumatic cylinder form a front-to-back pneumatic cylinder group, and the left pneumatic cylinder and the right pneumatic cylinder form a left-to-right pneumatic cylinder group.

[0018] In a preferred embodiment of the present invention, a position detection component is provided on the platform, and the position detection component is electrically connected to the collaborative operation control module; the position detection component includes position sensors disposed on the front, rear, left and right sides of the platform; the collaborative operation control module includes: a main control chip, a communication interface circuit and a drive circuit, and the drive circuit is connected between the main control chip and the solenoid valve group.

[0019] This invention also proposes a control method for a collaborative operation mechanism of single and dual landing pads for agricultural drones, comprising the following steps:

[0020] S1. Receive the landing request signal sent by the UAV and determine the target platform based on the current operation mode and platform status;

[0021] S2. Activate the air pressure control system corresponding to the target platform and control the pneumatic cylinder drive assembly on the target platform to enter the standby state.

[0022] S3. Acquire the position detection signal of the UAV relative to the central working area, and determine the position deviation direction of the UAV based on the position detection signal;

[0023] S4. Control the pneumatic cylinder drive component in the corresponding direction according to the position deviation direction, adjust the UAV to the center working area, and control the pneumatic cylinder drive component to enter the locked state and send a positioning completion signal.

[0024] S5. Based on the working air pressure of the branch air pressure pipeline and the release status of the UAV, perform the air pressure detection and release reset process.

[0025] In a preferred embodiment of the present invention, step S4, controlling the pneumatic cylinder drive assembly in the corresponding direction, includes the following steps:

[0026] S41. When there is a positional deviation in the front and rear directions, control one of the front pneumatic cylinder and the rear pneumatic cylinder to extend, while the other remains in a retracted or limited state.

[0027] S42. After the front-rear position deviation is eliminated, control the extended pneumatic cylinder to retract.

[0028] S43. When there is a positional deviation in the left and right directions, control one of the left and right pneumatic cylinders to extend while the other remains in a retracted or limited state.

[0029] S44. After the left and right positional deviation is eliminated, control the extended pneumatic cylinder to retract.

[0030] In a preferred embodiment of the present invention, the process of determining the target platform in step S1 includes the following steps:

[0031] S11. Obtain the current operation mode. The current operation mode is either the single apron cyclic operation mode or the dual apron collaborative operation mode.

[0032] S12. In the single apron cyclic operation mode, select one of the first and second platforms as the target platform.

[0033] S13. In the dual-apron collaborative operation mode, obtain the platform operation status of the first platform and the second platform;

[0034] S14. Determine the target platform based on the platform's operational status.

[0035] In a preferred embodiment of the present invention, the operation mode determination process in step S11 includes the following steps:

[0036] S111: Obtain the operational status of the first and second platforms and the number of drones waiting to land.

[0037] S112. When the number of drones waiting to land reaches a preset threshold and both the first and second landing pads are available, the current operation mode is determined to be the dual-landing pad collaborative operation mode.

[0038] S113. When the number of drones waiting to land is lower than a preset threshold, or when either the first or second landing platform is unavailable, the current operation mode is determined to be a single landing pad cyclic operation mode.

[0039] In a preferred embodiment of the present invention, step S5 includes the following steps:

[0040] S51. Obtain the working air pressure of each branch air pressure pipeline through the pressure sensor;

[0041] S52. When the working air pressure of any branch air pressure pipeline is higher than the preset maximum air pressure threshold, control the corresponding solenoid valve in the solenoid valve group to switch to the exhaust state.

[0042] S53. When the working air pressure of any branch air pressure pipeline is lower than the preset minimum air pressure threshold, an abnormal air pressure signal is generated.

[0043] S54. When the UAV meets the release conditions, control the pneumatic cylinder drive assembly to retract.

[0044] S55. After the UAV leaves the platform, check whether all pneumatic cylinder drive components have retracted to their initial positions;

[0045] S56. When all pneumatic cylinder drive components have retracted to their initial positions, the corresponding stage will be restored to standby status.

[0046] This invention addresses the shortcomings of the prior art and has the following beneficial effects:

[0047] (1) This invention proposes an agricultural drone single and dual landing pad collaborative operation mechanism with overall effect. It is achieved by setting a first platform and a second platform side by side on the landing pad body, and by configuring a first air pressure control circuit and a second air pressure control circuit for each platform. At the same time, the pneumatic cylinder drive components and air pressure control system of the two platforms are uniformly scheduled by the same collaborative operation control module, so that the two platforms can independently complete the drone positioning, locking and resetting process without interfering with each other. In this way, one or two platforms can be flexibly used according to actual operation needs. Compared with the traditional single landing pad operation with limited throughput and the lack of unified scheduling of dual independent landing pads which easily leads to resource conflicts and allocation imbalances, it not only realizes the seamless switching of single and dual landing pad operation modes, but also ensures the efficient use of resources when multiple drones are operating in a cluster, providing a stable and reliable take-off and landing support platform for continuous operation of agricultural drones.

[0048] (2) This invention proposes a control method for a single-dual-landing-pad collaborative operation mechanism for agricultural drones. It achieves this by automatically determining the current operation mode by acquiring the number of drones waiting to land and the real-time operation status of the two platforms. In different operation modes, corresponding target platform allocation strategies are adopted. In the single-landing-pad cyclic operation mode, a fixed main platform is selected for operation. In the dual-landing-pad collaborative operation mode, target platforms are allocated according to the principle of priority based on idle time. This can dynamically match the landing-pad resources with the drone landing requirements. Compared with the existing technology, which has fixed operation modes and lacks intelligent scheduling of platform allocation, resulting in high energy consumption under low load and queuing congestion under high load, this invention reduces the energy consumption of the system during idle operation and effectively improves the overall operation efficiency of the landing-pad, avoiding scheduling chaos when multiple drones request to land at the same time.

[0049] (3) This invention proposes a control method for a single and double landing pad collaborative operation mechanism for agricultural drones. It is achieved through a step-by-step decoupled position correction logic and a full-process air pressure closed-loop monitoring mechanism. First, the position deviation correction of the drone in the forward and backward direction and the left and right direction is completed in sequence. Then, the four-way pneumatic cylinder is controlled to lock the drone in sync. At the same time, the working air pressure of each branch air pressure pipeline is monitored in real time throughout the operation and the corresponding abnormal protection and reset process is executed. It can accurately correct the drone landing deviation and ensure the safe and stable operation of the pneumatic system. Compared with the traditional fixed landing pad, which cannot automatically correct position deviation and the pneumatic system lacks real-time monitoring and is prone to overpressure damage or insufficient driving force, this invention greatly improves the positioning accuracy and locking reliability of drone take-off and landing, while extending the service life of pneumatic components and realizing fully automated closed-loop control of landing pad operation. Attached Figure Description

[0050] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0051] Figure 1 This is a schematic diagram of the overall process of a preferred embodiment of the present invention;

[0052] Figure 2 This is a schematic diagram of the overall control flow of collaborative operation according to a preferred embodiment of the present invention;

[0053] Figure 3 This is a schematic diagram of the target platform determination process according to a preferred embodiment of the present invention;

[0054] Figure 4 This is a schematic diagram of the operation mode determination process of a preferred embodiment of the present invention;

[0055] Figure 5 This is a schematic diagram of the air pressure detection and release reset process according to a preferred embodiment of the present invention.

[0056] In the diagram: 1. Helipad body; 2. Platform; 3. Pneumatic cylinder drive assembly; 4. Pneumatic control system; 5. Cooperative operation control module. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] This invention is applied to the scenario of precise take-off and landing of agricultural drones and coordinated scheduling of helipads, and is especially suitable for scenarios that require high-precision position correction, alternating operation of multiple drones, and flexible switching between single and dual helipad modes;

[0059] Specifically, the present invention is applicable to situations where there is a positional deviation after the drone lands on the platform, requiring automatic centering adjustment and locking of the drone driven by a pneumatic cylinder.

[0060] Example 1:

[0061] like Figure 1 As shown, this embodiment provides a single-dual helipad collaborative operation mechanism for agricultural drones. This mechanism is used to assist agricultural drones in positioning and locking on the helipad and supports single-drone or dual-drone collaborative operation modes.

[0062] A collaborative operation mechanism for single and dual landing pads of agricultural drones includes: a landing pad body, a platform set on the landing pad body, a pneumatic cylinder drive assembly set on the platform, a pneumatic control system connected to the pneumatic cylinder drive assembly, and a collaborative operation control module electrically connected to the pneumatic control system.

[0063] Specifically, the platform includes a first platform and a second platform arranged side by side on the helipad body. Each platform is used to carry the UAV and has its own central working area, which is the location where the UAV is expected to be parked.

[0064] To guide and lock the drone to the central area, each platform is equipped with a pneumatic cylinder drive assembly around its central operating area.

[0065] In a preferred embodiment, the pneumatic cylinder drive assembly on the platform includes four pneumatic cylinders: a front pneumatic cylinder, a rear pneumatic cylinder, a left pneumatic cylinder, and a right pneumatic cylinder.

[0066] The pneumatic cylinders are arranged such that the front pneumatic cylinder and the rear pneumatic cylinder are arranged opposite each other along the front-rear direction of the drone, and their piston rods are all facing the central working area.

[0067] The left and right pneumatic cylinders are arranged opposite each other along the left and right directions of the drone, and their piston rods are all facing the central working area. This concentric arrangement from four directions can adjust and fix the drone's position from multiple dimensions.

[0068] To meet the needs of collaborative operations on single and dual aprons, the first platform is equipped with a first air pressure control circuit, and the second platform is equipped with a second air pressure control circuit. These two air pressure control circuits are independent of each other, each including an independent branch pipeline led out from the main air pressure pipeline, an independent solenoid valve group, and a pressure sensor.

[0069] This allows the two platforms to perform different stages of work simultaneously without interfering with each other. Furthermore, both of these independent control loops are electrically connected to the same collaborative operation control module, which coordinates their operation.

[0070] The collaborative operation control module can select to activate the air pressure control system of one or both platforms simultaneously according to a preset strategy, thereby achieving seamless switching between single-machine cyclic operation mode and dual-machine collaborative operation mode.

[0071] The pneumatic cylinder drive assembly includes a pneumatic cylinder body, a fixed flange connected to one end of the pneumatic cylinder body away from the central working area, and a pusher connected to the end of the piston rod near the central working area.

[0072] The fixed flange is used to securely fix the pneumatic cylinder to the platform, while the pusher head is used to directly contact and push the drone when the pneumatic cylinder extends, so as to adjust its position.

[0073] To control the extension and retraction of the pneumatic cylinder, this embodiment employs a pneumatic control system.

[0074] The pneumatic control system mainly includes the main pneumatic pipeline, branch pneumatic pipelines, solenoid valve group and pressure sensor.

[0075] The main pneumatic pipeline is connected to an external air source to obtain power, while the branch pneumatic pipelines are connected between the main pneumatic pipeline and the body of each pneumatic cylinder, providing an independent air path for each pneumatic cylinder.

[0076] The solenoid valve assembly and pressure sensor are installed on the branch pneumatic pipelines. The solenoid valve is used to control the intake and exhaust of the corresponding pneumatic cylinder, while the pressure sensor is used to monitor the air pressure of each branch pipeline in real time and provide feedback to the system.

[0077] The collaborative operation control module, as the core control unit of the entire system, is electrically connected to the solenoid valve group and the pressure sensor respectively. It is used to control the opening and closing state of the solenoid valve according to the upper-level instructions and the feedback signal of the pressure sensor, thereby realizing the automated control of the pneumatic cylinder drive component.

[0078] This embodiment, through the aforementioned centripetally arranged pneumatic cylinder group, independent pneumatic circuit, and collaborative control module, can achieve multi-directional, high-precision automatic positioning and locking of UAVs on dual platforms, and flexibly switch between single and dual-UAV operation modes, solving the problems of inaccurate UAV landing positioning and low efficiency of multi-UAV collaboration in the prior art.

[0079] Example 2:

[0080] like Figure 1 As shown, this embodiment further defines the structural details of the pneumatic control system and the pneumatic cylinder drive assembly based on embodiment 1.

[0081] To ensure the long-term stable and reliable operation of the pneumatic system, this embodiment further defines the structure of the pneumatic control system.

[0082] Specifically, the air pressure control system has an air source processing device installed on the main air pressure pipeline, which includes an air filter, a pressure reducing valve, and an oil mist lubricator in sequence.

[0083] Air filters are used to remove impurities and moisture from compressed air, pressure reducing valves are used to adjust the high-pressure air source to the working pressure required by the system, and oil mist lubricators are used to atomize lubricating oil and mix it into compressed air to lubricate pneumatic components such as pneumatic cylinders and extend their service life.

[0084] Secondly, the configuration of the solenoid valve group is more precise, which includes several solenoid valves that are respectively connected to the front pneumatic cylinder, the rear pneumatic cylinder, the left pneumatic cylinder and the right pneumatic cylinder;

[0085] The air inlets of these solenoid valves are connected to the branch pneumatic pipelines, while the working ports are connected to the air inlets and exhaust ports of the corresponding pneumatic cylinder bodies.

[0086] By controlling the energization and de-energization of these solenoid valves, the extension, retraction, or locking state of each pneumatic cylinder can be controlled independently.

[0087] Furthermore, to better achieve the positioning function, this embodiment further defines the structure of the pneumatic cylinder body, which includes a cylinder barrel, a piston rod, and a cylinder head. A fixed flange is securely connected to the end of the cylinder barrel furthest from the central working area, ensuring the stability of the pneumatic cylinder installation.

[0088] The pusher head is connected to one end of the piston rod near the center working area. The pusher head can be wrapped with a flexible material to avoid damaging the drone during the pushing process.

[0089] The front pneumatic cylinder and the rear pneumatic cylinder are called the front-to-rear pneumatic cylinder group;

[0090] The left-side pneumatic cylinder and the right-side pneumatic cylinder are called the left-right direction pneumatic cylinder group.

[0091] Finally, to accurately perceive the drone's position relative to the central work area in real time, a position detection component is installed on the platform. This component is electrically connected to the collaborative operation control module. The position detection component may include position sensors, such as photoelectric sensors, ultrasonic sensors, or lidar, located on the front, rear, left, and right sides of the platform. By using the signals from the four directional sensors, the direction in which the drone deviates from the center can be determined.

[0092] Accordingly, the collaborative operation control module may include a main control chip, a communication interface circuit, and a drive circuit. The drive circuit is connected between the main control chip and the solenoid valve assembly.

[0093] This embodiment significantly improves the accuracy, reliability, and lifespan of the entire collaborative working mechanism through the above-mentioned air source treatment, detailed configuration of the solenoid valve group, optimization of the pneumatic cylinder structure, and the introduction of the position detection component, enabling it to adapt to more demanding agricultural operating environments.

[0094] Example 3:

[0095] This embodiment provides a control method based on the mechanism of any of the foregoing embodiments, for realizing fully automated collaborative operation of UAVs on single and dual landing pads.

[0096] like Figure 2 As shown, a control method for a collaborative operation mechanism of single and dual landing pads for agricultural drones includes the following steps:

[0097] S1. Receive the landing request signal sent by the UAV and determine the target platform based on the current operation mode and platform status;

[0098] S2. Activate the air pressure control system corresponding to the target platform and control the pneumatic cylinder drive assembly on the target platform to enter the standby state.

[0099] S3. Acquire the position detection signal of the UAV relative to the central working area, and determine the position deviation direction of the UAV based on the position detection signal;

[0100] S4. Control the pneumatic cylinder drive component in the corresponding direction according to the position deviation direction, adjust the UAV to the center working area, and control the pneumatic cylinder drive component to enter the locked state and send a positioning completion signal.

[0101] S5. Based on the working air pressure of the branch air pressure pipeline and the release status of the UAV, perform the air pressure detection and release reset process.

[0102] This embodiment constructs a closed-loop control framework covering the entire process from receiving the UAV landing request, intelligent allocation of the target platform's aerodynamic system, activation of the standby UAV position deviation detection and correction, to air pressure safety detection and system reset.

[0103] The collaborative operation control module uniformly schedules two independent air pressure control loops, and combines position detection feedback to achieve automatic centering and locking of the UAV. It also dynamically switches between single and dual helipad operation modes according to the workload and platform status, maximizing the operational throughput of the helipad while ensuring positioning accuracy.

[0104] In the complex environment of agricultural fields, drones are easily affected by crosswinds, uneven ground, and positioning errors when landing, resulting in a deviation of centimeters to decimeters in the landing position. Traditional fixed landing pads cannot automatically correct the deviation, which can easily cause the drone to tip over or fail to connect to the charging and refueling interface.

[0105] Meanwhile, when multiple drones are operating in swarms, the efficiency of a single helipad is limited, while independent control of dual helipads leads to problems of chaotic scheduling and unreasonable resource allocation. Furthermore, the pneumatic system is prone to air pressure fluctuations during long-term continuous operation, which affects the accuracy and reliability of the drive components.

[0106] Example 4:

[0107] The technical solution in this embodiment is a further refinement based on the above embodiment 3.

[0108] Step S1 involves the collaborative operation control module monitoring the communication channels of all agricultural drones within the operation area in real time via a wireless communication interface. Upon receiving a landing request signal from any drone containing its own identification and remaining battery power information, the module first reads the currently stored operation mode parameters and the real-time operation status data of the first and second carriers. Based on the above information, the module calculates and determines the target carrier for receiving the drone's landing using a preset scheduling algorithm.

[0109] Specifically, such as Figure 3 As shown, the process of determining the target platform in step S1 includes the following steps:

[0110] S11. Obtain the current operation mode. The current operation mode is either the single apron cyclic operation mode or the dual apron collaborative operation mode.

[0111] S12. In the single apron cyclic operation mode, select one of the first and second platforms as the target platform.

[0112] S13. In the dual-apron collaborative operation mode, obtain the platform operation status of the first platform and the second platform;

[0113] S14. Determine the target platform based on the platform's operational status.

[0114] Among them, such as Figure 4 As shown, the job mode determination process in step S11 includes the following steps:

[0115] S111: Obtain the operational status of the first and second platforms and the number of drones waiting to land.

[0116] S112. When the number of drones waiting to land reaches a preset threshold and both the first and second landing pads are available, the current operation mode is determined to be the dual-landing pad collaborative operation mode.

[0117] S113. When the number of drones waiting to land is lower than a preset threshold, or when either the first or second landing platform is unavailable, the current operation mode is determined to be a single landing pad cyclic operation mode.

[0118] In step S11, the operation mode is divided into two categories: single apron cycle and dual apron collaboration. The former only activates one platform while the other is in sleep mode, while the latter allows for parallel operation of two platforms.

[0119] The execution principle is that the collaborative operation control module reads the real-time updated operation mode flag, first accesses the system status storage unit to read the value, and then maps it to the corresponding mode. It is agreed that 0 is the single helipad mode and 1 is the dual helipad mode.

[0120] In step S111, the platform's operational status is divided into four types: available, occupied, faulty, and under maintenance, and the number of drones waiting to land is also specified. This refers to the total number of drones that have made requests but have not yet been assigned a launch platform.

[0121] The execution logic is to sequentially read the status registers of the first and second platforms. , The status was analyzed by traversing the landing request queue and obtaining statistics. The parameters limit the platform status update frequency to 1 time / second and the maximum queue length to 10 platforms.

[0122] In steps S112-S113, a load-triggered switching mechanism is adopted, and the mode switching algorithm is as follows: set a threshold. The platform can be determined using a decision function. (Returns 1 if available, otherwise returns 0), then the update rule for the job mode flag M is:

[0123] ;

[0124] If both conditions are met, the system is set to dual-apron mode; otherwise, it is set to single-apron mode.

[0125] In step S12, a fixed master station priority strategy is adopted to directly select the preset master station (the first station by default).

[0126] In steps S13-S14, a load balancing strategy prioritizing idle time is adopted. The algorithm is as follows: Let the first... The end time of one operation on each platform is The current time is then idle time Target platform The parameters limit the target platform's response time to no more than 100ms.

[0127] This mechanism enables dynamic matching of resources and demand, avoids resource conflicts between dual-platform systems, and balances energy saving under low load with high load throughput.

[0128] In step S2, after the collaborative operation control module determines the target platform, it sends an activation command to its corresponding pneumatic control system, connects the main air circuit power supply and air source valve, and at the same time sends a reset command to all pneumatic cylinder drive components of the target platform, controlling the piston rod to fully retract to the initial position, so that the pneumatic cylinder drive components enter the standby state.

[0129] Activating the pneumatic control system means switching the pneumatic system from a dormant state to a working state, including turning on the power supply to the solenoid valve group, opening the main pneumatic pipeline shut-off valve, and starting the pressure sensor data acquisition function; standby state means that all pneumatic cylinder piston rods are fully retracted, the solenoid valve group is de-energized, and the internal air pressure of the pneumatic cylinder is equal to the atmospheric pressure, so that it can respond to the extension command at any time.

[0130] The principle of activating the air pressure control system is to send control signals to the main air circuit solenoid valve and power relay through the drive circuit to realize the synchronous connection of the air circuit and the circuit. The execution logic is to sequentially connect the DC power supply of the solenoid valve group, open the main air pressure pipeline shut-off valve, and start the real-time data acquisition of the pressure sensors of each branch pipeline.

[0131] The principle of controlling the pneumatic cylinder to enter the standby state is to connect the rodless chamber of the pneumatic cylinder with the exhaust port by switching the solenoid valve. The piston rod retracts under the action of the spring return force. The execution logic is to send retraction commands to the pneumatic cylinders in four directions in sequence. After the position sensor confirms that all piston rods have reached the initial position, the system enters the standby state.

[0132] The parameters are limited to a main air pressure pipeline shut-off valve response time of no more than 200ms, a pneumatic cylinder piston rod retraction time of no more than 500ms, a pressure sensor data acquisition frequency of no less than 10Hz, and a pneumatic cylinder position error of no more than 2mm in standby mode.

[0133] Step S2 addresses the issues of slow startup response and inconsistent initial states in existing pneumatic systems. It ensures rapid response by synchronizing the pneumatic circuit and eliminates accumulated position errors in the pneumatic cylinders through a unified full-stroke reset, ensuring that each operation starts from the same initial position.

[0134] In step S3, after the UAV lands on the target platform, the position detection component collects its position signal relative to the central working area, and the collaborative control module fuses multiple signals to calculate the direction and magnitude of the deviation in the front-back and left-right directions.

[0135] The position detection signal is the position electrical signal output by the sensor. The photoelectric sensor outputs high and low levels, and the ultrasonic sensor outputs distance signals. The central working area is the platform's preset precise docking area, with the center coinciding with the platform and the dimensions matching the landing gear.

[0136] In step S3, the principle of acquiring the position signal is that the four-way sensor synchronously detects the landing gear. The landing gear triggers the sensor to output a signal. The execution logic is that after the UAV stabilizes for two seconds, the signal is synchronously acquired, converted from analog to digital and filtered.

[0137] Deviation calculation algorithm: Assume four-way sensor signals (Record 1 for signal, 0 for no signal), deviation direction Deviation size , The sensor output value is used to determine the direction and calculate the magnitude of the deviation by comparing it with a preset signal table.

[0138] The parameters are limited to a position sensor detection accuracy of no less than 5mm, a response time of no more than 100ms, a filtering window of 200ms, and a deviation calculation error of no more than 3mm.

[0139] In step S3, the problems of low detection accuracy and inaccurate deviation judgment in the existing system are solved. Multi-sensor fusion improves reliability, and a preset signal table quickly determines the direction. Redundant detection combined with digital filtering removes interference from the agricultural environment and ensures accurate detection results.

[0140] In step S4, the collaborative operation control module uses the position deviation direction and magnitude of the UAV relative to the central operation area calculated in step S3. It adopts a step-by-step decoupling correction control method in the front-back and left-right directions to control the pneumatic cylinder drive components in the corresponding directions to move the UAV to the central operation area. After the UAV reaches the central operation area, it controls the pneumatic cylinders in the four directions to enter the locking state simultaneously. Then, it sends a positioning completion signal to the UAV and the host computer system.

[0141] Specifically, in step S4, a Cartesian coordinate system is established with the center point of the central working area as the origin, where the left and right directions are the X-axis and the right side is the positive X-axis; the front and back directions are the Y-axis and the front side is the positive Y-axis.

[0142] The position detection component acquires the front detection distance, rear detection distance, left detection distance, and right detection distance, respectively, and denoted as . The positional deviations of the drone in the forward / backward and left / right directions are calculated using the following formulas: ;

[0143] in, This represents the deviation of the drone in the forward and backward direction. When, it indicates that the drone is veering forward; when When the drone is tilted to the rear, it indicates that the drone is leaning to the rear.

[0144] This indicates the deviation of the drone in the left-right direction. When, it indicates that the drone is veering to the right; when When the drone is tilted to the left, it indicates that the drone is veering to the left.

[0145] Let the permissible deviation threshold in the forward and backward directions be... The permissible deviation threshold in the left and right directions is Whether the drone is within the central operating area is determined according to the following conditions: ;

[0146] When both of the above conditions are met, it is determined that the drone has entered the central operating area; when either condition is not met, it is determined that the drone still has a positional deviation and needs to perform aerodynamic correction actions in the corresponding direction.

[0147] Specifically, step S4, controlling the movement of the pneumatic cylinder drive assembly in the corresponding direction, includes the following steps:

[0148] S41. When there is a positional deviation in the front and rear directions, control one of the front pneumatic cylinder and the rear pneumatic cylinder to extend, while the other remains in a retracted or limited state.

[0149] S42. After the front-rear position deviation is eliminated, control the extended pneumatic cylinder to retract.

[0150] S43. When there is a positional deviation in the left and right directions, control one of the left and right pneumatic cylinders to extend while the other remains in a retracted or limited state.

[0151] S44. After the left and right positional deviation is eliminated, control the extended pneumatic cylinder to retract.

[0152] In step S41, when there is a positional deviation in the forward and backward directions, the following condition is met: ;

[0153] The collaborative operation control module prioritizes position correction in the forward and backward directions. The forward and backward deviations must meet the following conditions. When the drone is tilted forward, the front pneumatic cylinder is extended, causing the piston rod of the front pneumatic cylinder to push the drone to move in the rear direction through the pusher. At the same time, the rear pneumatic cylinder is kept in the retracted or limited state to avoid the rear pneumatic cylinder from malfunctioning and forming a reverse clamp on the drone.

[0154] The current backward direction deviation satisfies When the drone is tilted to the rear, the rear pneumatic cylinder is extended, causing the piston rod of the rear pneumatic cylinder to push the drone to move in the front direction through the pusher head. At the same time, the front pneumatic cylinder is kept in the retracted state or the limit state.

[0155] In step S41, the action selection rule for the forward and backward pneumatic cylinders is expressed by the following formula:

[0156] ;

[0157] in, This indicates the control status of the front pneumatic cylinder. This indicates the control status of the rear pneumatic cylinder. Indicates the extended state. Indicates the retracted state. Indicates the limit status.

[0158] In step S41, the principle of controlling the pneumatic cylinder to enter the limit state is as follows: the collaborative operation control module sends a neutral control signal to the solenoid valve of the corresponding pneumatic cylinder, causing the solenoid valve to switch to the neutral state, thus restricting the piston rod of the pneumatic cylinder to the fully retracted position, preventing it from extending under air pressure. In the limit state, the extension of the pneumatic cylinder does not exceed 1mm, thereby preventing the pneumatic cylinder in the opposite direction from accidentally extending during the correction process and avoiding reverse compression on the drone.

[0159] In step S41, the extension speed of the pneumatic cylinder Meets the following range: ;

[0160] Adjustment time in a single direction satisfy: ;

[0161] Therefore, while ensuring propulsion efficiency, it is necessary to avoid excessively fast extension speed of the pneumatic cylinder, which could cause impact on the drone's landing gear.

[0162] In step S42, as the collaborative operation control module moves the UAV by the pneumatic cylinder in the forward and backward directions, it continuously receives forward and backward position detection signals from the position detection component and updates them in real time. The current backward position deviation satisfies: ;

[0163] And this state continues for a preset stabilization time. Afterwards, it is determined that the positional deviation in the front and rear directions has been eliminated. At this time, the collaborative operation control module sends a retraction command to the extended front or rear pneumatic cylinder, controlling its piston rod to retract to the initial position, and releasing the limit state of the other pneumatic cylinder, so that the front and rear pneumatic cylinder group returns to the standby state.

[0164] In step S42, by retracting the extended pneumatic cylinder after the deviation is eliminated, the pneumatic cylinder can be prevented from continuing to apply lateral coupling force to the UAV during subsequent left and right direction adjustments, thereby reducing motion interference during multi-directional adjustments.

[0165] In step S43, when there is a positional deviation in the left and right directions, the following condition is met: ;

[0166] The collaborative operation control module performs left and right position corrections. When the left and right deviations meet the requirements... This indicates that the drone is veering to the right. At this point, the right pneumatic cylinder extends, causing its piston rod to push the drone to move to the left via a pusher. Simultaneously, the left pneumatic cylinder remains retracted or in a limited position. When the left-right deviation meets the specified conditions... When the drone is tilted to the left, the left pneumatic cylinder is extended, causing the piston rod of the left pneumatic cylinder to push the drone to move to the right through the pusher, while the right pneumatic cylinder is kept in the retracted or limited state.

[0167] In step S43, the action selection rule for the left and right pneumatic cylinders is expressed by the following formula: ;

[0168] in, This indicates the control status of the left-side pneumatic cylinder. This indicates the control status of the right-side pneumatic cylinder. Indicates the extended state. Indicates the retracted state. Indicates the limit status.

[0169] In step S43, the adjustment time in the left and right directions satisfy: ;

[0170] Furthermore, during the left-right adjustment process, only one of the left and right pneumatic cylinders is allowed to extend, while the other remains in a retracted or limited state, in order to avoid the two opposing pneumatic cylinders exerting force simultaneously, causing the drone's landing gear to clamp, deflect, or tip over.

[0171] In step S44, as the collaborative operation control module moves the drone by the pneumatic cylinders in the left and right directions, it continuously receives the left and right position detection signals fed back by the position detection component and updates them in real time. When the positional deviation in the left and right directions satisfies: ;

[0172] And this state continues for a preset stabilization time. Afterwards, it is determined that the left and right positional deviations have been eliminated. At this point, the collaborative operation control module sends a retraction command to the extended left or right pneumatic cylinder, controlling its piston rod to retract to the initial position, and releasing the limit state of the other pneumatic cylinder, so that the left and right pneumatic cylinder group returns to the standby state.

[0173] After step S44, the collaborative operation control module again determines whether the UAV simultaneously meets the center positioning conditions in both the forward / backward and left / right directions, i.e., it determines: ;

[0174] when conditions At the time of its establishment, it was determined that the drones had been moved to the central operating area.

[0175] At this time, the collaborative operation control module simultaneously sends extension commands to the solenoid valves corresponding to the front, rear, left, and right pneumatic cylinders, controlling the piston rods of the pneumatic cylinders in four directions to extend synchronously to the preset locking position, clamping the drone's landing gear from four directions at the same time, preventing the drone from moving on the platform.

[0176] In step S4, the condition for determining the locked state is expressed by the following formula:

[0177] ;

[0178] in, Indicates the first The piston rod extension stroke of a pneumatic cylinder This indicates that the trip is locked by default. Indicates the first The clamping force applied to the drone's landing gear by a pneumatic cylinder This indicates the preset minimum clamping force.

[0179] Preferably, the preset minimum clamping force satisfies: ;

[0180] When all four pneumatic cylinders reach their preset locking stroke and the clamping force of each pneumatic cylinder is not less than 50N, the collaborative operation control module determines that the drone has entered the locked state.

[0181] In step S4, the clamping force of the pneumatic cylinder can be calculated based on the working air pressure of the branch pneumatic pipeline and the effective working area of ​​the pneumatic cylinder. The calculation formula is as follows: ;

[0182] in, Indicates the first The working air pressure of each pneumatic cylinder corresponds to the branch pneumatic pipeline. This indicates the effective pressure-bearing area of ​​the piston in the pneumatic cylinder.

[0183] when When the time is right, the pneumatic cylinder in that direction is determined to meet the locking and clamping requirements.

[0184] In step S4, when the center positioning condition is met simultaneously and locked state conditions At that time, the collaborative operation control module generates a positioning completion signal and sends it to the UAV and the host computer system respectively.

[0185] The positioning completion signal is used to notify the drone and the host computer system that the drone has completed precise centering and mechanical lock, and subsequent refueling, resupply, or other collaborative operation processes can begin.

[0186] Delay in sending positioning completion signal satisfy: .

[0187] This ensures that the host computer system can promptly enter the subsequent operation process, improving the efficiency of continuous drone operation.

[0188] Through the above steps S41 to S44, step S4 adopts a step-by-step decoupled control method of front-back direction adjustment and back-left-right direction adjustment, decomposing the position correction process of the UAV in the two-dimensional plane into two independent one-dimensional correction processes, avoiding motion interference and force coupling problems when the front-back direction pneumatic cylinder group and the left-right direction pneumatic cylinder group move at the same time.

[0189] Meanwhile, by setting limit states on the pneumatic cylinders in opposite directions, it is possible to prevent the non-working side pneumatic cylinder from extending accidentally, thereby improving the safety and stability of the UAV correction process. By controlling the pneumatic cylinders in all four directions to extend to the locked position simultaneously after the UAV reaches the central working area, the UAV landing gear can be clamped from four directions, solving the technical problems of the inability to automatically correct UAV landing position deviations, interference caused by multi-directional adjustments, and insecure locking.

[0190] In step S5, while the UAV is in a locked state, the collaborative operation control module performs air pressure detection, abnormal protection, unlocking, and platform reset processes based on the working air pressure of each branch air pressure pipeline and the release status of the UAV.

[0191] Specifically, the collaborative operation control module collects the working air pressure in real time through pressure sensors installed on each branch air pressure pipeline, and compares the collected working air pressure with the preset normal air pressure range; when the working air pressure is higher than the preset maximum air pressure threshold, it controls the corresponding solenoid valve to switch to the exhaust state.

[0192] When the working air pressure is lower than the preset minimum air pressure threshold, an air pressure abnormality signal is generated and uploaded to the host computer system; when the UAV completes the energy replenishment or refill operation and meets the release conditions, the pneumatic cylinder drive component is controlled to retract to release the lock.

[0193] After the drone leaves the platform, check whether the pneumatic cylinder drive components have all retracted to their initial positions;

[0194] Once it is confirmed that all pneumatic cylinder drive components have retracted to their initial positions, the corresponding platform will be restored to standby status, awaiting the next landing request.

[0195] In step S5, the working air pressure refers to the pressure value of compressed air in each branch air pressure pipeline. The working air pressure serves as the power source for the pneumatic cylinder to generate extension and retraction forces.

[0196] Let the set of branch pneumatic pipeline numbers corresponding to the front pneumatic cylinder, rear pneumatic cylinder, left pneumatic cylinder, and right pneumatic cylinder be: ;

[0197] in, This indicates the front branch air pressure pipeline. Indicates the rear branch pneumatic pipeline. This indicates the left-side branch pneumatic pipeline. Indicates the right-side branch pneumatic pipeline, let the first... Each branch pneumatic pipeline at time The working air pressure is ;

[0198] in, .

[0199] Specifically, such as Figure 5 As shown, step S5 specifically includes the following steps:

[0200] S51. Obtain the working air pressure of each branch air pressure pipeline through the pressure sensor;

[0201] S52. When the working air pressure of any branch air pressure pipeline is higher than the preset maximum air pressure threshold, control the corresponding solenoid valve in the solenoid valve group to switch to the exhaust state.

[0202] S53. When the working air pressure of any branch air pressure pipeline is lower than the preset minimum air pressure threshold, an abnormal air pressure signal is generated.

[0203] S54. When the UAV meets the release conditions, control the pneumatic cylinder drive assembly to retract.

[0204] S55. After the UAV leaves the platform, check whether all pneumatic cylinder drive components have retracted to their initial positions;

[0205] S56. When all pneumatic cylinder drive components have retracted to their initial positions, the corresponding stage will be restored to standby status.

[0206] In step S51, the collaborative operation control module obtains the working air pressure of each branch air pressure pipeline through the pressure sensor.

[0207] Specifically, a pressure sensor is installed on each branch pneumatic pipeline. The pressure sensor collects the analog pneumatic pressure signal in the corresponding pipeline in real time, and then converts it into a digital pneumatic pressure value through an analog-to-digital converter circuit before transmitting it to the collaborative operation control module.

[0208] The collaborative operation control module reads the pressure sensor output values ​​of the front, rear, left and right branch air pressure pipelines in sequence according to the preset acquisition frequency, and filters the read pressure data to obtain the current working air pressure.

[0209] In step S51, in order to reduce the impact of instantaneous noise from the pressure sensor and airflow pulsation on the detection results, the collaborative operation control module can use a moving average filtering method to process the pressure sampled values.

[0210] Let the first Continuous collection of data from each branch pneumatic pipeline The pressure sampling values ​​are respectively The filtered current working air pressure is calculated according to the following formula: ;

[0211] in, Indicates the first The branch pneumatic pipeline is in the first The working air pressure after filtering during the second sampling. Indicates the first The original pressure sampling values ​​of each branch pneumatic pipeline at the corresponding sampling time. This indicates the number of sampling points within the filtering window.

[0212] In step S51, the data acquisition frequency of the pressure sensor is not less than 10Hz, preferably 10-50Hz, to ensure that the collaborative operation control module can obtain the air pressure changes of the pneumatic system in a timely manner. By independently acquiring the air pressure of each branch air pressure pipeline, the operating status of the corresponding air path of each pneumatic cylinder can be determined separately, avoiding the impact of a fault in one branch air path on the control judgment of all pneumatic cylinders.

[0213] In step S52, when the working air pressure of any branch pneumatic pipeline exceeds a preset maximum air pressure threshold, the collaborative operation control module controls the corresponding solenoid valve in the solenoid valve group to switch to the exhaust state. Let the preset maximum air pressure threshold be... When the first When a branch pneumatic pipeline meets the following conditions: ;

[0214] Collaborative operation control module determines the first If a branch pneumatic pipeline experiences excessively high air pressure, an exhaust control signal is sent to the solenoid valve corresponding to that branch pneumatic pipeline. This causes the solenoid valve to switch to the exhaust state, thereby connecting that branch pneumatic pipeline to the atmosphere and expelling excess compressed air from the pipeline.

[0215] In step S52, the principle of controlling the solenoid valve to switch to the exhaust state is as follows: the collaborative operation control module changes the on / off state of the corresponding solenoid valve coil through the drive circuit, so that the valve core of the solenoid valve switches to the exhaust position. At this time, the compressed air in the branch air pressure pipeline is discharged through the exhaust port of the solenoid valve, and the pressure in the branch air pressure pipeline gradually decreases.

[0216] To prevent the solenoid valve from switching frequently near the pressure threshold, a hysteresis pressure value can be set. When the first When the working air pressure of a branch pneumatic pipeline drops to the following range: ;

[0217] The collaborative operation control module controls the corresponding solenoid valve to exit the exhaust state and switch back to the normal operation state.

[0218] In step S52, a maximum air pressure threshold is preset. The preferred pressure is 0.6 MPa, and the preferred normal operating pressure range is: ;

[0219] When the air pressure is higher than 0.6 MPa, the pressure in the branch air pressure pipeline is reduced by automatic exhaust. This can prevent excessive air pressure from causing excessive impact force on the pneumatic cylinder, damage to the solenoid valve seals, or leakage at the pipeline connection, thereby improving the safety of the air pressure control system.

[0220] In step S53, when the working air pressure of any branch air pressure pipeline is lower than the preset minimum air pressure threshold, the collaborative operation control module generates an abnormal air pressure signal. Let the preset minimum air pressure threshold be... When the first When a branch pneumatic pipeline meets the following conditions: ;

[0221] Collaborative operation control module determines the first One branch of the pneumatic pipeline experienced insufficient air pressure and generated an abnormal air pressure signal.

[0222] The abnormal air pressure signal includes the platform number where the abnormality occurred, the branch air pressure pipeline number, the current working air pressure value, the time of the abnormality, and the abnormality type information.

[0223] In step S53, the principle of generating the abnormal air pressure signal is as follows: when the working air pressure of the branch air pressure pipeline is lower than the preset minimum air pressure threshold, it indicates that the branch pipeline cannot provide sufficient driving force to the corresponding pneumatic cylinder, which may cause the pneumatic cylinder to be unable to reliably maintain the lock or to be unable to complete the retraction action.

[0224] Therefore, the collaborative operation control module writes the corresponding abnormal information into the system fault register and sends an abnormal air pressure signal to the host computer system through the communication interface, while triggering the audible and visual alarm device.

[0225] In step S53, the abnormal air pressure state can be represented by the following formula:

[0226] ;

[0227] in, Indicates the first There is an abnormality of insufficient air pressure in one branch air pressure pipeline. Indicates the first No abnormal pressure was found in any of the branch gas pressure pipelines.

[0228] When any branch gas pressure pipeline satisfies: At that time, the collaborative operation control module generates an abnormal air pressure signal and uploads it to the host computer system.

[0229] In step S53, a minimum air pressure threshold is preset. The preferred pressure is 0.4 MPa, and the response time for detecting abnormal air pressure does not exceed 200 ms. The abnormal air pressure signal is repeatedly transmitted at a preset retransmission interval, preferably 5 seconds, while the abnormality remains unresolved. The retransmission logic for the abnormal air pressure signal can be expressed as follows: ;

[0230] in, Indicates the first The time of transmission of sub-bar pressure anomaly signal This indicates the time when the next air pressure anomaly signal will be sent.

[0231] Therefore, when the abnormal air pressure persists, the host computer system can continuously receive abnormal prompts, preventing fault information from being missed.

[0232] In step S54, when the UAV meets the release conditions, the collaborative operation control module controls the pneumatic cylinder drive assembly to retract. The release conditions refer to the state in which the UAV has completed all ground preparations and obtained takeoff clearance, specifically including battery replacement completed, medical kit replenished, all ground connection interfaces disconnected, and receiving a takeoff clearance signal from the host computer system.

[0233] In step S54, the battery replacement completion flag is set to... The medicine box is fully replenished. The ground connection interface disconnection flag is The takeoff clearance signal flag is When the corresponding condition is met, its flag bit is set to 1; when the corresponding condition is not met, its flag bit is set to 0.

[0234] Then the conditions for drone release It can be expressed by the following formula: ;

[0235] Or it can be expressed as: ;

[0236] when At that time, the collaborative operation control module determines that the drone meets the release conditions;

[0237] when At this time, the collaborative operation control module continues to keep the pneumatic cylinder drive component locked, preventing the drone from taking off.

[0238] In step S54, the principle of controlling the retraction of the pneumatic cylinder drive assembly is as follows: the collaborative operation control module simultaneously sends retraction commands to the solenoid valves corresponding to the front pneumatic cylinder, rear pneumatic cylinder, left pneumatic cylinder, and right pneumatic cylinder, causing each solenoid valve to switch to the retraction working position, so that the rod chamber of the pneumatic cylinder is filled with air and the rodless chamber is exhausted, pushing the piston rod to retract into the cylinder, thereby releasing the four-way clamping of the UAV landing gear.

[0239] In step S54, the retraction control state of the pneumatic cylinder drive assembly can be expressed by the following formula:

[0240] ;

[0241] in, Indicates the first The control status of each pneumatic cylinder Indicates the retracted state. This indicates a locked / held state.

[0242] when The pneumatic cylinders in all four directions simultaneously enter the retracted state;

[0243] when At this time, the pneumatic cylinders in all four directions remain locked.

[0244] In step S54, the time for the pneumatic cylinder to unlock does not exceed 500ms, that is: ;

[0245] in, This indicates the time from when the collaborative operation control module issues the retraction command to when the pneumatic cylinder releases the clamp on the UAV landing gear.

[0246] In step S55, after the UAV leaves the platform, the collaborative operation control module detects whether all pneumatic cylinder drive components have retracted to their initial positions. Specifically, after the UAV receives takeoff clearance and leaves the platform, the position detection component detects that the UAV landing gear is no longer on the platform, and the collaborative operation control module begins to read the feedback signals from the position sensors at the ends of each pneumatic cylinder to determine whether the piston rods of each pneumatic cylinder have returned to their initial retracted positions.

[0247] In step S55, let the first The current position of the piston rod of the pneumatic cylinder is The initial retraction position is The allowable position error is Then the first Whether a pneumatic cylinder has retracted to its initial position can be determined according to the following conditions: ;

[0248] When all four pneumatic cylinders meet the above conditions, it is determined that the pneumatic cylinder drive assembly has retracted to its initial position. The determination formula is as follows: ;

[0249] in, This indicates the initial position recovery state of the pneumatic cylinder drive assembly.

[0250] when When this time, it indicates that all pneumatic cylinder drive components have retracted to their initial positions;

[0251] when When this occurs, it indicates that at least one pneumatic cylinder drive assembly has not retracted to its initial position.

[0252] In step S55, the initial position can also be determined by an initial position sensor installed at the end of the pneumatic cylinder. Let the first... The initial position sensor feedback signal of each pneumatic cylinder is When the pneumatic cylinder piston rod reaches the initial position, When the pneumatic cylinder piston rod has not reached the initial position, .

[0253] The formula for determining when all pneumatic cylinders retract to their initial positions is: ;

[0254] when At that time, the collaborative operation control module determined that all pneumatic cylinders had returned to their initial positions;

[0255] when During this time, the collaborative operation control module continues to maintain the reset detection state and can send a reset incomplete prompt to the host computer system.

[0256] In step S55, the collaborative operation control module delays the reading of the position sensor signal for a preset detection time after sending the retraction command. The preset detection time is preferably 3 seconds. By using the delayed detection method, it is possible to avoid the piston rod being mistakenly judged as not reset while it is still in motion, thereby improving the accuracy of the reset judgment.

[0257] In step S56, when all pneumatic cylinder drive components retract to their initial positions, the collaborative operation control module restores the corresponding platform to the standby state.

[0258] Specifically, when the determination is made in step S55 At this time, the collaborative operation control module updates the operation status flag of the corresponding platform, switches it from the occupied state or the released reset state to the available state, and shuts down functional components that do not participate in standby monitoring, so that the platform enters a low-power standby mode. At the same time, the pressure sensor and communication module are kept in working state so as to continue to monitor the air pressure status and the next landing request.

[0259] In step S56, the status flag bit of the corresponding platform is set to... ,in Indicates a standby state. Indicates the occupied status. Indicates the fault status. This indicates the reset state.

[0260] The update rule for restoring the platform to standby state is expressed as follows:

[0261] ;

[0262] The condition of no air pressure anomaly can be expressed as: ;

[0263] Therefore, in step S56, when all pneumatic cylinders retract to their initial positions and the working air pressure of each branch pneumatic pipeline is within the normal range, the collaborative operation control module will restore the corresponding platform to the standby state. The comprehensive judgment condition is: ;

[0264] when When the time comes, restore the corresponding platform to standby mode;

[0265] when When this occurs, the platform is prohibited from entering standby mode, and a corresponding fault message or reset abnormality message is generated.

[0266] In step S56, the time for the stage to return to the standby state does not exceed 1 second, that is: ;

[0267] in, This indicates the time from when the drone is confirmed to have left the platform and all pneumatic cylinder drive components have retracted to their initial positions, until the collaborative operation control module completes the platform status update and enters standby mode.

[0268] This automatic reset process can shorten the turnaround time of the landing pad, enabling the landing pad to quickly respond to the landing request of the next drone.

[0269] In step S5, the air pressure abnormality signal is a digital signal generated by the collaborative operation control module. It is generated when it detects that the working air pressure of any branch air pressure pipeline exceeds the normal working range. The air pressure abnormality signal includes at least the abnormal pipeline number, abnormal platform number, current air pressure value, abnormal type and abnormal time. The abnormal types include air pressure too high abnormality and air pressure too low abnormality.

[0270] Among them, the abnormal high air pressure is handled through the exhaust protection process, while the abnormal low air pressure is handled by generating an abnormal air pressure signal and notifying the host computer system for fault handling.

[0271] In step S5, through real-time air pressure monitoring and graded protection mechanism, it is possible to continuously determine whether each branch air pressure pipeline is in a safe working state during the drone lock-on period. The effect is that when the air pressure is too high, the collaborative operation control module will directly control the corresponding solenoid valve to exhaust, thereby preventing pneumatic components from being damaged due to overpressure.

[0272] When the air pressure is too low, the collaborative operation control module will generate an abnormal air pressure signal to prevent the pneumatic cylinder from locking unreliably or retracting incompletely due to insufficient driving force. In this way, the technical problems of the existing technology, such as the inability to detect abnormal air pressure in the pneumatic system in a timely manner, the imperfect safety protection mechanism, and the untimely system reset, are solved.

[0273] Through steps S51-S56, the collaborative operation control module forms a closed-loop control throughout the entire process of UAV locking, recharging or replenishing, takeoff release, and platform reset. The effect is twofold: firstly, by monitoring the working air pressure of the branch air pressure pipeline in real time through pressure sensors, and combining the preset maximum air pressure threshold and preset minimum air pressure threshold for anomaly judgment, it can effectively avoid damage to pneumatic components caused by excessive air pressure and insufficient driving force of pneumatic cylinders caused by excessive air pressure; secondly, through release condition judgment, synchronous retraction control, and initial position detection, it can ensure that the UAV can safely unlock after meeting the takeoff conditions and quickly return to the platform standby state after the UAV leaves the platform, thereby improving the safety, reliability, and continuous operation efficiency of the agricultural UAV single and dual landing pad collaborative operation mechanism.

[0274] Based on the preferred embodiments of the present invention described above, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A collaborative operation mechanism for single and dual landing pads for agricultural drones, comprising: The helipad body (1), the platform (2) set on the helipad body (1), the pneumatic cylinder drive assembly (3) set on the platform (2), the pneumatic control system (4) connected to the pneumatic cylinder drive assembly (3), and the collaborative operation control module (5) electrically connected to the pneumatic control system (4). Its characteristics are: The platform (2) has a central working area, and the pneumatic cylinder drive assembly (3) is arranged around the central working area. The pneumatic cylinder drive assembly (3) includes a front pneumatic cylinder, a rear pneumatic cylinder, a left pneumatic cylinder and a right pneumatic cylinder. The front and rear pneumatic cylinders are arranged opposite each other in the front-to-back direction, and the piston rods of the front and rear pneumatic cylinders both face the central working area; the left and right pneumatic cylinders are arranged opposite each other in the left-to-right direction, and the piston rods of the left and right pneumatic cylinders both face the central working area. Each pneumatic cylinder drive assembly (3) includes: a pneumatic cylinder body, a fixed flange connected to one end of the pneumatic cylinder body, and a pusher connected to the end of the piston rod. The fixed flange is fixed to the platform (2), and the pusher faces the central working area. The pneumatic control system (4) includes: a main pneumatic pipeline, a branch pneumatic pipeline, a solenoid valve group and a pressure sensor. The main pneumatic pipeline is connected to an external air source. The branch pneumatic pipeline is connected between the main pneumatic pipeline and the pneumatic cylinder body. The solenoid valve group and the pressure sensor are located on the branch pneumatic pipeline. The collaborative operation control module (5) is electrically connected to the solenoid valve group and the pressure sensor, respectively.

2. The agricultural drone single / dual landing pad collaborative operation mechanism according to claim 1, characterized in that: The platform (2) includes a first platform and a second platform arranged side by side on the apron body (1). The first platform is equipped with a first air pressure control circuit, and the second platform is equipped with a second air pressure control circuit. The first air pressure control circuit and the second air pressure control circuit are independent of each other and are both electrically connected to the collaborative operation control module (5).

3. The single-double airstrip cooperative working mechanism for agricultural unmanned vehicles according to claim 1, characterized in that: The air pressure control system (4) has an air source processing device installed on the main air pressure pipeline, the air source processing device including an air filter, a pressure reducing valve and an oil mist lubricator; The solenoid valve group includes several solenoid valves that are respectively connected to the front pneumatic cylinder, the rear pneumatic cylinder, the left pneumatic cylinder and the right pneumatic cylinder. The air inlets of the several solenoid valves are connected to branch pneumatic pipelines, and the working ports of the several solenoid valves are connected to the air inlets and exhaust ports of the corresponding pneumatic cylinder bodies.

4. The agricultural drone single / dual landing pad collaborative operation mechanism according to claim 1, characterized in that: The pneumatic cylinder body includes: a cylinder barrel, a piston rod, and a cylinder head; the fixed flange is connected to the end of the cylinder barrel away from the central working area; and the push head is connected to the end of the piston rod close to the central working area. The front pneumatic cylinder and the rear pneumatic cylinder form a front-to-back pneumatic cylinder group, and the left pneumatic cylinder and the right pneumatic cylinder form a left-to-right pneumatic cylinder group.

5. The agricultural drone single / dual landing pad collaborative operation mechanism according to claim 1, characterized in that: A position detection component is provided on the platform (2), and the position detection component is electrically connected to the collaborative operation control module (5); the position detection component includes position sensors disposed on the front, rear, left and right sides of the platform (2); The collaborative operation control module (5) includes: a main control chip, a communication interface circuit and a drive circuit, wherein the drive circuit is connected between the main control chip and the solenoid valve group.

6. A control method for a single / dual landing pad collaborative operation mechanism for agricultural drones, based on any one of claims 1-9, characterized in that, Includes the following steps: S1. Receive the landing request signal sent by the UAV and determine the target platform based on the current operation mode and platform status; S2. Activate the air pressure control system (4) corresponding to the target platform and control the pneumatic cylinder drive assembly (3) on the target platform to enter the standby state; S3. Acquire the position detection signal of the UAV relative to the central working area, and determine the position deviation direction of the UAV based on the position detection signal; S4. Control the pneumatic cylinder drive assembly (3) in the corresponding direction according to the position deviation direction, adjust the UAV to the center operation area, and control the pneumatic cylinder drive assembly (3) to enter the locked state and send the positioning completion signal. S5. Based on the working air pressure of the branch air pressure pipeline and the release status of the UAV, perform the air pressure detection and release reset process.

7. The control method for a single / dual landing pad collaborative operation mechanism for agricultural unmanned aerial vehicles according to claim 6, characterized in that, The step S4 of controlling the pneumatic cylinder drive assembly (3) in the corresponding direction includes the following steps: S41. When there is a positional deviation in the front and rear directions, control one of the front pneumatic cylinder and the rear pneumatic cylinder to extend, while the other remains in a retracted or limited state. S42. After the front-rear position deviation is eliminated, control the extended pneumatic cylinder to retract. S43. When there is a positional deviation in the left and right directions, control one of the left and right pneumatic cylinders to extend while the other remains in a retracted or limited state. S44. After the left and right positional deviation is eliminated, control the extended pneumatic cylinder to retract.

8. The control method for a single / dual landing pad collaborative operation mechanism for agricultural unmanned aerial vehicles according to claim 6, characterized in that, The process of determining the target platform in step S1 includes the following steps: S11. Obtain the current operation mode. The current operation mode is either the single apron cyclic operation mode or the dual apron collaborative operation mode. S12. In the single-apron cyclic operation mode, select one platform (2) from the first platform and the second platform as the target platform; S13. In the dual-apron collaborative operation mode, obtain the platform operation status of the first platform and the second platform; S14. Determine the target platform based on the platform's operational status.

9. The control method for a single / dual landing pad collaborative operation mechanism for agricultural unmanned aerial vehicles according to claim 8, characterized in that: The job mode determination process in step S11 includes the following steps: S111: Obtain the operational status of the first and second platforms and the number of drones waiting to land. S112. When the number of drones waiting to land reaches a preset threshold and both the first and second landing pads are available, the current operation mode is determined to be the dual-landing pad collaborative operation mode. S113. When the number of drones waiting to land is lower than a preset threshold, or when either the first or second landing platform is unavailable, the current operation mode is determined to be a single landing pad cyclic operation mode.

10. The control method for a single / dual landing pad collaborative operation mechanism for agricultural unmanned aerial vehicles according to claim 6, characterized in that: S5 includes the following steps: S51. Obtain the working air pressure of each branch air pressure pipeline through the pressure sensor; S52. When the working air pressure of any branch air pressure pipeline is higher than the preset maximum air pressure threshold, control the corresponding solenoid valve in the solenoid valve group to switch to the exhaust state. S53. When the working air pressure of any branch air pressure pipeline is lower than the preset minimum air pressure threshold, an abnormal air pressure signal is generated. S54. When the UAV meets the release conditions, control the pneumatic cylinder drive assembly (3) to retract; S55. After the UAV leaves the platform (2), check whether the pneumatic cylinder drive assembly (3) has retracted to its initial position. S56. When all pneumatic cylinder drive components (3) are retracted to their initial positions, the corresponding stage (2) is restored to the standby state.

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