Continuous air-drop gravity center adjusting method for large freight unmanned aerial vehicle

A center of gravity adjustment, drone technology, applied in the field of cargo drones, can solve problems such as large safety risks, changes in the center of gravity, and the center of gravity of drones exceeds, achieving the effects of good stability, low security risks, and reduced security risks.

Active Publication Date: 2021-07-30
航天时代飞鹏有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the drone achieves continuous airdrops, the center of gravity will change, which may cause the drone's center of gravity to exceed the approved center of gravity envelope, thereby reducing the stability of the drone's flight and causing a greater safety risk

Method used

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Embodiment Construction

[0016] Embodiments of the present invention: a method for adjusting the center of gravity of a continuous airdrop of a large-scale cargo drone, comprising the following steps,

[0017] a. Establish a Cartesian coordinate system (virtual) with a constant relative position to the UAV.

[0018] b. Before the continuous airdrop of the UAV, the weight sensor of each pallet on the conveying device is used to obtain the weight of each cargo and the position of each cargo on the Cartesian coordinate system, and the flight control computer of the UAV is used to calculate the initial unmanned The weight of the drone and the initial position of the center of gravity of the drone, and the initial position of the center of gravity of the drone as the reference coordinates on the Cartesian coordinate system.

[0019] The formula for calculating the weight of the initial drone is Among them, W represents the weight, and the subscripts t, p and i represent the whole UAV (including cargo), t...

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Abstract

The invention discloses a large freight unmanned aerial vehicle continuous air-drop gravity center adjusting method, and the method comprises the following steps: a, establishing a Cartesian coordinate system; b, before continuous air-drop of an unmanned aerial vehicle, acquiring the weight of each cargo and the position of each cargo on the Cartesian coordinate system through a weight sensor, and through a flight control computer of the unmanned aerial vehicle, calculating an initial unmanned aerial vehicle weight and an initial unmanned aerial vehicle gravity center position, and taking the initial unmanned aerial vehicle gravity center position as a reference coordinate on a Cartesian coordinate system; c, in the continuous air-drop process, enabling the flight control computer to calculate the weight of the air-dropped goods according to the weight of the air-dropped goods, the displacement of the air-dropped goods relative to the initial gravity center position of the unmanned aerial vehicle, and the weight and displacement of the moving goods, and calculating the weight weighted variation of the current gravity center position of the unmanned aerial vehicle; d, adjusting the positions of the remaining cargos to enable the current gravity center position of the unmanned aerial vehicle to return to or approach the reference coordinate. The method has the advantage that the safety risk during continuous air-drop of the unmanned aerial vehicle can be reduced.

Description

technical field [0001] The invention relates to a method for adjusting the center of gravity of a continuous airdrop of a large-scale cargo drone, and belongs to the technical field of cargo drones. Background technique [0002] Large-scale cargo drones refer to fixed-wing unmanned aerial vehicles (referred to as unmanned aerial vehicles) with a load capacity of more than 500kg. The cabin of the unmanned aerial vehicle is equipped with a conveying device for delivering goods in a straight line, and the rear end of the conveying device is close to the unmanned aerial vehicle. The cabin door is equipped with an ejection device at the rear end of the conveying device. The conveying device has a plurality of pallets for placing goods, and the bottom of the pallet has a driving mechanism connected to the conveying device. The pallet moves linearly under the action of the driving mechanism, and the position of the pallet is fed back to the flight control computer of the drone in r...

Claims

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Application Information

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IPC IPC(8): B64D1/02
CPCB64D1/02B64U10/25B64U2101/60
Inventor 汪善武魏雅川王富贵郭庆常天星
Owner 航天时代飞鹏有限公司
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