CN116605429B - A dynamic balancing method, device and computer-readable storage medium for combined flight - Google Patents
A dynamic balancing method, device and computer-readable storage medium for combined flightInfo
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- CN116605429B CN116605429B CN202310475465.1A CN202310475465A CN116605429B CN 116605429 B CN116605429 B CN 116605429B CN 202310475465 A CN202310475465 A CN 202310475465A CN 116605429 B CN116605429 B CN 116605429B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/25—Fixed-wing aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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Abstract
本发明公开了一种合体飞行的动态配平方法、设备及计算机可读存储介质，其中，该方法包括：若监测到第一航空器的第一平衡状态为失衡状态，则获取当前的失衡类型，并选定第二平衡状态和第三平衡状态均为非失衡状态的第二航空器和第三航空器；若所述失衡类型为左右失衡，则将选定的所述第二航空器和所述第三航空器分别连接于所述第一航空器的左右两侧，若所述失衡类型为前后失衡，则将选定的所述第二航空器和所述第三航空器分别连接于所述第一航空器的前后两端，以使合体的航空器为非失衡状态。本发明实现了一种基于多个航空器动态合体飞行的动态配平方案，有效地解决了因订单临时变更或货物临时调整所造成的固定翼航空器失衡、且人工调整时效性较差的问题。
The present invention discloses a dynamic balancing method, device, and computer-readable storage medium for combined flight, wherein the method includes: if it is monitored that the first balance state of the first aircraft is an unbalanced state, obtaining the current imbalance type, and selecting a second aircraft and a third aircraft whose second and third balance states are both non-unbalanced states; if the imbalance type is left-right imbalance, connecting the selected second aircraft and the third aircraft to the left and right sides of the first aircraft respectively; if the imbalance type is front-back imbalance, connecting the selected second aircraft and the third aircraft to the front and back ends of the first aircraft respectively, so that the combined aircraft is in a non-unbalanced state. The present invention implements a dynamic balancing solution based on dynamic combined flight of multiple aircraft, effectively solving the problem of fixed-wing aircraft imbalance caused by temporary changes in orders or temporary adjustments to goods, and the poor timeliness of manual adjustment.
Description
Technical Field
The invention relates to the technical field of unmanned aircrafts, in particular to a dynamic balancing method, equipment and a computer readable storage medium for combined flight.
Background
In the prior art, with the continuous development of unmanned aerial vehicle technology, unmanned aerial vehicle-based logistics business is becoming popular.
However, due to the continuous increase of the trim requirement and cargo traffic of the fixed-wing unmanned aerial vehicle, the current trim state of the fixed-wing unmanned aerial vehicle is difficult to meet the real-time order requirement. Particularly, after the unmanned aerial vehicle enters the take-off site, if newly added goods of an order are monitored, or the goods of the order are checked, moved, adjusted and the like caused by the change of the order, the current trim state of the fixed wing unmanned aerial vehicle cannot be timely and effectively adjusted in real time.
In summary, how to dynamically trim a fixed-wing unmanned aerial vehicle that has not yet achieved trimming in time and effectively during the preliminary takeoff stage of the fixed-wing unmanned aerial vehicle becomes a technical problem to be solved in the present day.
Disclosure of Invention
In order to solve the technical defects in the prior art, the invention provides a dynamic balancing method for combined flight, which comprises the following steps:
in the takeoff preparation stage, if the first balance state of the first aircraft is monitored to be an unbalanced state, acquiring the current unbalanced type, and selecting a second aircraft and a third aircraft of which the second balance state and the third balance state are both non-unbalanced states;
And if the unbalance type is left-right unbalance, connecting the selected second aircraft and the selected third aircraft to the left and right sides of the first aircraft, and if the unbalance type is front-rear unbalance, connecting the selected second aircraft and the selected third aircraft to the front and rear ends of the first aircraft, so that a combined aircraft consisting of the first aircraft, the second aircraft and the third aircraft is in a non-unbalanced state.
Optionally, in the takeoff preparation stage, if the first balance state of the first aircraft is monitored to be an unbalanced state, the current unbalanced type is obtained, and the second aircraft and the third aircraft, of which the second balance state and the third balance state are both non-unbalanced states, are selected, including:
acquiring unbalance data in the unbalance state;
quality difference data corresponding to the imbalance data is determined, and the second aircraft and the third aircraft having the quality difference data are selected.
Optionally, in the takeoff preparation stage, if the first balance state of the first aircraft is monitored to be an unbalanced state, the current unbalanced type is obtained, and the second aircraft and the third aircraft, of which the second balance state and the third balance state are both non-unbalanced states, are selected, including:
acquiring an unbalance grade in the unbalance state;
A quality difference level corresponding to the imbalance level is determined, and the second aircraft and the third aircraft having quality differences within the quality difference level are selected.
Optionally, if the unbalance type is left-right unbalance, the second aircraft and the third aircraft are connected to left and right sides of the first aircraft, and if the unbalance type is front-rear unbalance, the second aircraft and the third aircraft are connected to front and rear ends of the first aircraft, so that a combined aircraft composed of the first aircraft, the second aircraft and the third aircraft is in a non-unbalanced state, including:
acquiring imbalance data in the imbalance state, and a second mass of the second aircraft and a third mass of the third aircraft;
And setting the left connecting rod length between the first aircraft and the second aircraft, the right connecting rod length between the first aircraft and the third aircraft or the front end connecting rod length between the first aircraft and the second aircraft and the rear end connecting rod length between the first aircraft and the third aircraft according to the unbalance data, the second mass and the third mass.
Optionally, if the unbalance type is left-right unbalance, the second aircraft and the third aircraft are connected to left and right sides of the first aircraft, and if the unbalance type is front-rear unbalance, the second aircraft and the third aircraft are connected to front and rear ends of the first aircraft, so that a combined aircraft composed of the first aircraft, the second aircraft and the third aircraft is in a non-unbalanced state, including:
acquiring unbalance data in the unbalance state;
and adjusting the second propulsion power parameter of the second aircraft and/or the third propulsion power parameter of the third aircraft according to the unbalance data so as to enable the combined aircraft to be in a dynamically balanced flight state.
The invention also provides a dynamic balancing device for combined flight, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the computer program is realized when being executed by the processor:
in the takeoff preparation stage, if the first balance state of the first aircraft is monitored to be an unbalanced state, acquiring the current unbalanced type, and selecting a second aircraft and a third aircraft of which the second balance state and the third balance state are both non-unbalanced states;
And if the unbalance type is left-right unbalance, connecting the selected second aircraft and the selected third aircraft to the left and right sides of the first aircraft, and if the unbalance type is front-rear unbalance, connecting the selected second aircraft and the selected third aircraft to the front and rear ends of the first aircraft, so that a combined aircraft consisting of the first aircraft, the second aircraft and the third aircraft is in a non-unbalanced state.
Optionally, the computer program is implemented when executed by the processor:
acquiring unbalance data in the unbalance state;
Determining quality difference data corresponding to the imbalance data, and selecting the second aircraft and the third aircraft having the quality difference data;
Or alternatively
Taking the unbalance grade in the unbalance state;
A quality difference level corresponding to the imbalance level is determined, and the second aircraft and the third aircraft having quality differences within the quality difference level are selected.
Optionally, the computer program is implemented when executed by the processor:
acquiring imbalance data in the imbalance state, and a second mass of the second aircraft and a third mass of the third aircraft;
And setting the left connecting rod length between the first aircraft and the second aircraft, the right connecting rod length between the first aircraft and the third aircraft or the front end connecting rod length between the first aircraft and the second aircraft and the rear end connecting rod length between the first aircraft and the third aircraft according to the unbalance data, the second mass and the third mass.
Optionally, the computer program is implemented when executed by the processor:
acquiring unbalance data in the unbalance state;
and adjusting the second propulsion power parameter of the second aircraft and/or the third propulsion power parameter of the third aircraft according to the unbalance data so as to enable the combined aircraft to be in a dynamically balanced flight state.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a dynamic balancing program of the combined flight, and the dynamic balancing program of the combined flight realizes the steps of the dynamic balancing method of the combined flight when being executed by a processor.
The dynamic balancing method, the device and the computer readable storage medium for implementing the combined flight of the invention are characterized in that in a take-off preparation stage, if the first balance state of a first aircraft is detected to be an unbalanced state, the current unbalanced type is acquired, the second aircraft and the third aircraft with the second balanced state and the third balanced state being non-unbalanced states are selected, if the unbalanced type is left-right unbalance, the selected second aircraft and the selected third aircraft are respectively connected to the left side and the right side of the first aircraft, and if the unbalanced type is front-back unbalance, the selected second aircraft and the selected third aircraft are respectively connected to the front end and the back end of the first aircraft, so that the combined aircraft consisting of the first aircraft, the second aircraft and the third aircraft is in the non-unbalanced state. The dynamic balancing scheme based on the dynamic combined flight of the plurality of aircrafts is realized, and the problems of unbalanced fixed-wing aircrafts and poor manual adjustment timeliness caused by temporary change of orders or temporary adjustment of cargoes are effectively solved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a first flow chart of a dynamic trim method for a collective flight of the present invention;
FIG. 2 is a second flow chart of the dynamic trim method of the present invention for integrated flight;
FIG. 3 is a third flow chart of the dynamic trim method of the in-flight of the present invention;
FIG. 4 is a fourth flow chart of the dynamic trim method of the in-flight of the present invention;
Fig. 5 is a fifth flow chart of the dynamic trim method of the present invention for collective flight.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the following description, suffixes such as "module", "component", or "unit" for representing elements are used only for facilitating the description of the present invention, and have no specific meaning per se. Thus, "module," "component," or "unit" may be used in combination.
FIG. 1 is a first flow chart of the dynamic trim method of the present invention for integrated flight. The embodiment provides a dynamic balancing method for combined flight, which comprises the following steps:
s1, in a take-off preparation stage, if the first balance state of the first aircraft is monitored to be an unbalanced state, acquiring a current unbalanced type, and selecting a second aircraft and a third aircraft of which the second balance state and the third balance state are both non-unbalanced states;
And S2, if the unbalance type is left-right unbalance, connecting the selected second aircraft and the selected third aircraft to the left side and the right side of the first aircraft respectively, and if the unbalance type is front-rear unbalance, connecting the selected second aircraft and the selected third aircraft to the front end and the rear end of the first aircraft respectively so that a combined aircraft formed by the first aircraft, the second aircraft and the third aircraft is in a non-unbalanced state.
Optionally, in this embodiment, considering that an actual scenario is that, due to temporary change of an order or temporary adjustment of goods, when a certain fixed wing unmanned aerial vehicle does not reach a trim state, it takes time and effort to manually adjust the trim state, and in a landing site, it is not safe to manually perform temporary trim adjustment, so that in this embodiment, another two other fixed wing aircraft with corresponding conditions are selected, and combined take-off is performed with the fixed wing unmanned aerial vehicle. Based on the integrated aircraft, additional manual balancing flow can be saved, and timeliness and flexibility of logistics transportation are improved.
Optionally, in this embodiment, the first aircraft, the second aircraft, and the third aircraft are all fixed wing aircraft.
Optionally, in this embodiment, if the unbalance type is left-right unbalance, the selected second aircraft and the third aircraft are rigidly connected to the left and right sides of the first aircraft by connecting rods, respectively.
Optionally, in this embodiment, if the unbalance type is front-rear unbalance, the selected second aircraft and the third aircraft are rigidly connected to the front-rear ends of the first aircraft through connecting rods, respectively.
Optionally, in this embodiment, since the mass of the second aircraft and the third aircraft is far greater than the balance difference of the first aircraft in the unbalanced state, and the second balance state and the third balance state of the second aircraft and the third aircraft are both in the unbalanced state, after the first aircraft, the second aircraft and the third aircraft form a combined aircraft, the combined aircraft may be regarded as the unbalanced state.
The method has the advantages that in the takeoff preparation stage, if the first balance state of the first aircraft is detected to be unbalanced, the current unbalanced type is acquired, the second aircraft and the third aircraft, the second balance state and the third balance state of which are not unbalanced, are selected, if the unbalanced type is left-right unbalance, the selected second aircraft and the selected third aircraft are respectively connected to the left side and the right side of the first aircraft, and if the unbalanced type is front-back unbalance, the selected second aircraft and the selected third aircraft are respectively connected to the front end and the back end of the first aircraft, so that a combined aircraft formed by the first aircraft, the second aircraft and the third aircraft is not unbalanced. The dynamic balancing scheme based on the dynamic combined flight of the plurality of aircrafts is realized, and the problems of unbalanced fixed-wing aircrafts and poor manual adjustment timeliness caused by temporary change of orders or temporary adjustment of cargoes are effectively solved.
Fig. 2 is a second flowchart of a dynamic balancing method for integrated flight according to the present invention, wherein in the takeoff preparation stage, if it is detected that the first balance state of the first aircraft is an unbalanced state, the current unbalanced type is obtained, and the second aircraft and the third aircraft, in which the second balance state and the third balance state are both non-unbalanced states, are selected, including:
S11, acquiring unbalance data in the unbalance state;
and S12, determining quality difference data corresponding to the unbalance data, and selecting the second aircraft and the third aircraft with the quality difference data.
Optionally, in the present embodiment, when quality difference data corresponding to the unbalance data exceeds a preset quality threshold, the second aircraft and the third aircraft having the quality difference data are selected.
Optionally, in this embodiment, the preset quality threshold is calculated according to a product of a preset proportional value and a quality value of the first aircraft.
Fig. 3 is a third flowchart of a dynamic balancing method for integrated flight according to the present invention, wherein in the takeoff preparation stage, if it is detected that the first balance state of the first aircraft is an unbalanced state, the current unbalanced type is obtained, and the second aircraft and the third aircraft, in which the second balance state and the third balance state are both non-unbalanced states, are selected, including:
s13, acquiring an unbalance grade in the unbalance state;
and S14, determining a quality difference grade corresponding to the unbalance grade, and selecting the second aircraft and the third aircraft with the quality difference within the quality difference grade.
Alternatively, different from the data division basis of the above-described embodiment, in the present embodiment, the unbalanced grade is divided into the high grade, the medium grade, and the low grade, and corresponding high quality difference grade, medium quality difference grade, and low quality difference grade, and quality difference ranges corresponding to the high quality difference grade, medium quality difference grade, and low quality difference grade, respectively, are set.
Optionally, in this embodiment, the second aircraft and the third aircraft within the quality difference class are determined according to a quality difference range in which an actual quality difference lies.
Fig. 4 is a fourth flowchart of a dynamic balancing method for a collective flight according to the present invention, wherein, according to the above-described embodiment, if the unbalance type is left-right unbalance, the selected second aircraft and third aircraft are connected to the left-right sides of the first aircraft, respectively, and if the unbalance type is front-rear unbalance, the selected second aircraft and third aircraft are connected to the front-rear sides of the first aircraft, respectively, so that the collective aircraft composed of the first aircraft, the second aircraft, and the third aircraft is in a non-unbalanced state, and the method comprises:
S21, acquiring unbalance data in the unbalance state, and obtaining second mass of the second aircraft and third mass of the third aircraft;
S22, setting the left connecting rod length between the first aircraft and the second aircraft, the right connecting rod length between the first aircraft and the third aircraft or the front end connecting rod length between the first aircraft and the second aircraft and the rear end connecting rod length between the first aircraft and the third aircraft according to the unbalance data, the second mass and the third mass.
Optionally, in the present embodiment, a left-side connecting rod length between the first aircraft and the second aircraft, a right-side connecting rod length between the first aircraft and the third aircraft are set according to the unbalance data, the second mass, and the third mass. When the second mass is different from the third mass, the length relation between the left connecting rod length and the right connecting rod length is related to the unbalance data, i.e. the length of the left connecting rod length and the length of the right connecting rod in the balanced state can be calculated according to the lever principle.
Optionally, in the present embodiment, as well, as described above for the front-rear imbalance scenario, the front-end connecting rod length between the first aircraft and the second aircraft, and the rear-end connecting rod length between the first aircraft and the third aircraft are set in the same manner.
Fig. 5 is a fifth flowchart of a dynamic balancing method for a collective flight according to the present invention, wherein, according to the above-described embodiment, if the unbalance type is left-right unbalance, the selected second aircraft and third aircraft are connected to the left-right sides of the first aircraft, respectively, and if the unbalance type is front-rear unbalance, the selected second aircraft and third aircraft are connected to the front-rear sides of the first aircraft, respectively, so that the collective aircraft composed of the first aircraft, the second aircraft, and the third aircraft is in a non-unbalanced state, and the method comprises:
S23, acquiring unbalance data in the unbalance state;
and S24, adjusting a second propulsion power parameter of the second aircraft and/or a third propulsion power parameter of the third aircraft according to the unbalance data so as to enable the combined aircraft to be in a dynamically balanced flight state.
Optionally, the imbalance data different from the above embodiments is imbalance data of the first aircraft, which in this embodiment is imbalance data of a composite aircraft.
Optionally, in this embodiment, based on the unbalance data of the composite aircraft, one or more of the first propulsion power parameter of the first aircraft, the second propulsion power parameter of the second aircraft, and the third propulsion power parameter of the third aircraft are adjusted according to the unbalance data, so that the composite aircraft is in a dynamically balanced flight state.
Based on the above embodiment, the present invention further provides a dynamic balancing device for integrated flight, where the device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is implemented when executed by the processor:
in the takeoff preparation stage, if the first balance state of the first aircraft is monitored to be an unbalanced state, acquiring the current unbalanced type, and selecting a second aircraft and a third aircraft of which the second balance state and the third balance state are both non-unbalanced states;
And if the unbalance type is left-right unbalance, connecting the selected second aircraft and the selected third aircraft to the left and right sides of the first aircraft, and if the unbalance type is front-rear unbalance, connecting the selected second aircraft and the selected third aircraft to the front and rear ends of the first aircraft, so that a combined aircraft consisting of the first aircraft, the second aircraft and the third aircraft is in a non-unbalanced state.
Optionally, the computer program is implemented when executed by the processor:
acquiring unbalance data in the unbalance state;
Determining quality difference data corresponding to the imbalance data, and selecting the second aircraft and the third aircraft having the quality difference data;
Or alternatively
Taking the unbalance grade in the unbalance state;
A quality difference level corresponding to the imbalance level is determined, and the second aircraft and the third aircraft having quality differences within the quality difference level are selected.
Optionally, the computer program is implemented when executed by the processor:
acquiring imbalance data in the imbalance state, and a second mass of the second aircraft and a third mass of the third aircraft;
And setting the left connecting rod length between the first aircraft and the second aircraft, the right connecting rod length between the first aircraft and the third aircraft or the front end connecting rod length between the first aircraft and the second aircraft and the rear end connecting rod length between the first aircraft and the third aircraft according to the unbalance data, the second mass and the third mass.
Optionally, the computer program is implemented when executed by the processor:
acquiring unbalance data in the unbalance state;
and adjusting the second propulsion power parameter of the second aircraft and/or the third propulsion power parameter of the third aircraft according to the unbalance data so as to enable the combined aircraft to be in a dynamically balanced flight state.
It should be noted that the above device embodiments and method embodiments belong to the same concept, the specific implementation process of the device embodiments is detailed in the method embodiments, and technical features in the method embodiments are correspondingly applicable to the device embodiments, which are not repeated herein.
Based on the above embodiment, the present invention further provides a computer readable storage medium, where a dynamic balancing program for combined flight is stored, and when the dynamic balancing program for combined flight is executed by a processor, the steps of the dynamic balancing method for combined flight are implemented.
It should be noted that the medium embodiment and the method embodiment belong to the same concept, the specific implementation process of the medium embodiment and the method embodiment are detailed, and technical features in the method embodiment are correspondingly applicable in the medium embodiment, which is not repeated herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
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| US9650138B2 (en) * | 2012-03-30 | 2017-05-16 | W.Morrison Consulting Group, Inc. | Long range electric aircraft and method of operating same |
| US9550561B1 (en) * | 2014-08-11 | 2017-01-24 | Amazon Technologies, Inc. | Determining center of gravity of an automated aerial vehicle and a payload |
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