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Large airship transferring and flying method based on AGV laager

A technology of airships and car arrays, which is applied in the field of transfer and release of large airships based on AGV car arrays. It can solve problems such as airship structural damage, achieve safe transfer and release, reduce the probability of human error, and overcome the effects of airship structural damage

Pending Publication Date: 2020-12-25
中国人民解放军63660部队
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to solve the technical problem that the structure of the airship is damaged due to the out-of-synchronization in the process of towing the large airship by multiple vehicles

Method used

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  • Large airship transferring and flying method based on AGV laager
  • Large airship transferring and flying method based on AGV laager
  • Large airship transferring and flying method based on AGV laager

Examples

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Embodiment 1

[0041] Such as Figure 1-3 As shown, the type of airship issued in this example is a large blimp, and the AGV formation consists of nine AGVs in three rows. Implement the present invention as follows:

[0042] 1) The AGV car stays in the parking area and waits;

[0043] 2) Determine the form of the AGV formation according to the type of large airship to be transferred, and send the "tethered standby" command to each AGV through the control system, and the No. 1 to No. 9 AGVs will follow the preset guidance according to the preset formation The line automatically drives to the designated position in the mooring area to form an AGV vehicle array;

[0044] 3) Moor the assembled and inflated airship on the AGV array, and send the "forward" command to the AGV array. The reference vehicle in the AGV array will advance along the guiding route at the specified speed, and the rest of the AGV cars will follow and move forward automatically. Adjust the speed of the vehicle and carry t...

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Abstract

The invention belongs to the technical field of large airships, and provides a large airship transferring and flying method based on an AGV laager, and the method comprises the steps: enabling a plurality of AGVs to form the AGV laager which can move synchronously according to the style of an airship; mounting distance measuring equipment on the multiple AGVs, wherein when the AGVs form a vehiclelaager to integrally move, one AGV serves as the benchmark, the other AGVs monitor the distances between the AGV and the adjacent AGVs at the same time, the distances between the AGVs are kept unchanged in a traveling process of the AGV vehicle laager, a threshold value is set in a control program of the AGVs, and vehicle speed adjustment is fed back in real time. keeping all the AGVs to keep synchronously move; inflating the airship and anchoring the airship on the AGV laager; automatically running the AGV laager along a guide route and carrying the airship to drive out of an airship depot; dragging the airship to a proper position by the AGV laager to accomplish airship distribution. The large airship transferring and flying method based on AGV laager can achieve quick, stable and safe transferring and flying of different airships.

Description

technical field [0001] The invention belongs to the technical field of large airships, and in particular relates to a method for transferring and flying large airships based on an AGV vehicle array. Background technique [0002] In recent years, with the continuous improvement of the flight index of the stratospheric airship, the continuous expansion of application occasions, and the continuous increase of the carrying load, the volume of the airship capsule has also increased, and the inertial characteristics have become more obvious. The impact of wind will be affected by various factors such as wind field turbulence, ground crosswind, wind field mutation and so on. Therefore, the main delivery method of large airships is to first complete the assembly and inflation in the boat garage, and then the transfer system will pull the airship out of the warehouse to complete the flight. [0003] According to the movement mode of the transfer system, the current methods of transf...

Claims

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Application Information

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IPC IPC(8): B64F1/10B64F1/22
CPCB64F1/10B64F1/225
Inventor 刘源李云飞叶虎卢都王紫薇耿宝刚张莉姚璇李敏
Owner 中国人民解放军63660部队
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