Ground autonomous sliding guiding method for large freight unmanned aerial vehicle

Abstract

A ground autonomous sliding guiding method for a large freight unmanned aerial vehicle comprises the following steps: planning a route, setting a sliding guiding track for a sliding slideway, and realizing autonomous sliding of the freight unmanned aerial vehicle on the slideway; autonomously sliding, and controlling the direction, speed and angle of autonomous sliding of the freight unmanned aerial vehicle; and ending sliding:after completion of autonomous sliding, selecting normal sliding ending or emergency sliding ending according to on actual sliding state. The guiding method comprises a route planning unit, an autonomous sliding unit and a sliding ending unit, so that the freight unmanned aerial vehicle autonomously slides along the planned route; and autonomous deviation correction control is carried out in real time in the sliding process, the sliding ending unit comprises a normal ending module and an emergency ending module, normal sliding ending of the freight unmanned aerial vehicle and sliding ending under the emergency protection condition are achieved, the turning angle is controlled, and the influence caused by deflection force in the autonomous sliding turning process of the freight unmanned aerial vehicle is reduced, so the abrasion degree of the pulleys of the unmanned aerial vehicle can be effectively reduced.

Description

technical field [0001] The invention relates to the technical field of cargo unmanned aerial vehicles, in particular to a method for ground autonomous gliding guidance of large cargo unmanned aerial vehicles. Background technique [0002] Cargo drone is the abbreviation of unmanned aircraft. Existing cargo drone systems are often used in unmanned reconnaissance aircraft and cargo drones in the military field. Cargo drones are operated by remote control for reconnaissance and transportation operations. It has certain practical significance for the development of cargo drones. [0003] In the prior art, the cargo drone is usually pushed from the apron to the runway by ground tractors. With the increase in the number of cargo drones and the high flight frequency of large cargo drones, this method requires The manpower and material resources are increasing, the efficiency is low and the strength is high, and it cannot meet the needs of efficient and modern airport operations. A...

AI Technical Summary

Problems solved by technology

[0003] In the prior art, the cargo drone is usually pushed from the apron to the runway by ground tractors. With the increase in the number of cargo drones and the high flight frequency of large cargo drones, this method requires The manpower and material resources are increasing, the efficiency is low and the strength is high, and it cannot meet the needs of efficient and modern airport operations. Among them, the publication number is CN109788618B, which discloses a light control method for guiding aircraft to taxi on the ground, including: Periodically update the current coordinates of the target aircraft taxiing on the taxiway; update the trajectory information of the target aircraft according to the current coordinates; calculate the guide centerline for guiding the target aircraft taxiing on the taxiway according to the trajectory information and the guide length Light information; according to the information of the guide center line light, control the corresponding center line light to light up, and guide the target aircraft to taxi on the taxiway. The above invention can guide the aircraft to taxi through the taxiway center line light, avoid taxi errors, and significantly improve the airport scene The safety level and operational efficiency of the traffic, however, during the taxiing process of the cargo drone, the damage to the cargo drone often occurs due to the error of the taxiing guidance, and the cargo drone is guided during the taxiing process. The accuracy is low, and it cannot meet the development of cargo drones in cargo transportation. Therefore, a method of ground autonomous taxiing guidance is proposed

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