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

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...

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