A dynamic balancing method, device and computer-readable storage medium for combined flight

Abstract

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

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a dynamic balancing method and device for combined flight, and a computer-readable storage medium. Background Art

[0002] In existing technologies, with the continuous development of unmanned aerial vehicle technology, drone-based logistics services have begun to become popular.

[0003] However, due to the increasing demand for fixed-wing drone trim and the ever-increasing cargo volume, the current trim status of fixed-wing drones is difficult to meet real-time order requirements. In particular, after the drone enters the takeoff site, if additional cargo is detected for an order, or if order changes require inventory, movement, or adjustments, it is impossible to promptly and effectively adjust the fixed-wing drone's current trim status in real time.

[0004] In summary, how to timely and effectively dynamically balance a fixed-wing UAV that has not yet achieved balance during its pre-takeoff phase has become a technical problem that needs to be solved urgently. Summary of the Invention

[0005] In order to solve the above technical defects in the prior art, the present invention proposes a dynamic balancing method for combined flight, which includes:

[0006] In the takeoff preparation phase, if it is monitored that the first balance state of the first aircraft is an unbalanced state, the current imbalance type is obtained, and the second aircraft and the third aircraft are selected, both of which have a second balance state and a third balance state that are not unbalanced.

[0007] If the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft respectively. If the imbalance type is front-back imbalance, the selected second aircraft and the selected third aircraft are connected to the front and back ends of the first aircraft respectively, so that the combined aircraft composed of the first aircraft, the second aircraft and the third aircraft is in a non-imbalanced state.

[0008] Optionally, during the takeoff preparation phase, 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 balance state and third balance state are both non-unbalanced states include:

[0009] Acquiring imbalance data in the imbalance state;

[0010] Mass difference data corresponding to the imbalance data is determined, and the second aircraft and the third aircraft having the mass difference data are selected.

[0011] Optionally, during the takeoff preparation phase, 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 balance state and third balance state are both non-unbalanced states include:

[0012] Obtaining an imbalance level in the imbalance state;

[0013] A mass difference level corresponding to the imbalance level is determined, and the second aircraft and the third aircraft having mass differences within the mass difference level are selected.

[0014] Optionally, if the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft, respectively; if the imbalance type is front-back imbalance, the selected second aircraft and the selected third aircraft are connected to the front and back ends of the first aircraft, respectively, so that the combined aircraft composed of the first aircraft, the second aircraft, and the third aircraft is in a non-imbalanced state, including:

[0015] acquiring imbalance data in the imbalance state, a second mass of the second aircraft, and a third mass of the third aircraft;

[0016] A left connecting rod length between the first aircraft and the second aircraft and a right connecting rod length between the first aircraft and the third aircraft are set according to the imbalance data, the second mass, and the third mass. Alternatively, a front connecting rod length between the first aircraft and the second aircraft and a rear connecting rod length between the first aircraft and the third aircraft are set.

[0017] Optionally, if the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft, respectively; if the imbalance type is front-back imbalance, the selected second aircraft and the selected third aircraft are connected to the front and back ends of the first aircraft, respectively, so that the combined aircraft composed of the first aircraft, the second aircraft, and the third aircraft is in a non-imbalanced state, including:

[0018] Acquiring imbalance data in the imbalance state;

[0019] The second propulsion power parameter of the second aircraft and / or the third propulsion power parameter of the third aircraft are adjusted according to the imbalance data, so that the combined aircraft is in a dynamically balanced flight state.

[0020] The present invention also provides a dynamic balancing device for combined flight, the device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the following is achieved:

[0021] In the takeoff preparation phase, if it is monitored that the first balance state of the first aircraft is an unbalanced state, the current imbalance type is obtained, and the second aircraft and the third aircraft are selected, both of which have a second balance state and a third balance state that are not unbalanced.

[0022] If the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft respectively. If the imbalance type is front-back imbalance, the selected second aircraft and the selected third aircraft are connected to the front and back ends of the first aircraft respectively, so that the combined aircraft composed of the first aircraft, the second aircraft and the third aircraft is in a non-imbalanced state.

[0023] Optionally, when the computer program is executed by the processor, it implements:

[0024] Acquiring imbalance data in the imbalance state;

[0025] determining mass difference data corresponding to the imbalance data, and selecting the second aircraft and the third aircraft having the mass difference data;

[0026] or,

[0027] Taking the imbalance level under the imbalance state;

[0028] A mass difference level corresponding to the imbalance level is determined, and the second aircraft and the third aircraft having mass differences within the mass difference level are selected.

[0029] Optionally, when the computer program is executed by the processor, it implements:

[0030] acquiring imbalance data in the imbalance state, a second mass of the second aircraft, and a third mass of the third aircraft;

[0031] A left connecting rod length between the first aircraft and the second aircraft and a right connecting rod length between the first aircraft and the third aircraft are set according to the imbalance data, the second mass, and the third mass. Alternatively, a front connecting rod length between the first aircraft and the second aircraft and a rear connecting rod length between the first aircraft and the third aircraft are set.

[0032] Optionally, when the computer program is executed by the processor, it implements:

[0033] Acquiring imbalance data in the imbalance state;

[0034] The second propulsion power parameter of the second aircraft and / or the third propulsion power parameter of the third aircraft are adjusted according to the imbalance data, so that the combined aircraft is in a dynamically balanced flight state.

[0035] The present invention also proposes a computer-readable storage medium, which stores a dynamic balancing program for combined flight. When the dynamic balancing program for combined flight is executed by a processor, the steps of the dynamic balancing method for combined flight as described in any one of the above are implemented.

[0036] The dynamic balancing method, device, and computer-readable storage medium for combined flight of the present invention implement this method. During the takeoff preparation phase, if the first balance state of the first aircraft is monitored to be unbalanced, the current imbalance type is obtained, and a second aircraft and a third aircraft are selected whose second and third balance states are both unbalanced. If the imbalance type is left-right imbalance, the selected second aircraft and the third aircraft are respectively connected to the left and right sides of the first aircraft. If the imbalance type is front-back imbalance, the selected second aircraft and the third aircraft are respectively connected to the front and back ends of the first aircraft, so that the combined aircraft composed of the first aircraft, the second aircraft, and the third aircraft is in a unbalanced state. This 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 order changes or cargo adjustments, and the poor timeliness of manual adjustments. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0038] Figure 1 This is a first flow chart of the dynamic balancing method for combined flight of the present invention;

[0039] Figure 2 is a second flow chart of the dynamic balancing method for combined flight of the present invention;

[0040] Figure 3 This is a third flow chart of the dynamic balancing method for combined flight of the present invention;

[0041] Figure 4 is a fourth flow chart of the dynamic balancing method for combined flight of the present invention;

[0042] Figure 5 This is the fifth flow chart of the dynamic balancing method for combined flight of the present invention. DETAILED DESCRIPTION

[0043] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0044] In the subsequent description, suffixes such as "module," "component," or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning. Therefore, "module," "component," or "unit" can be used interchangeably.

[0045] Figure 1 This is the first flow chart of the dynamic balancing method for combined flight of the present invention. This embodiment proposes a dynamic balancing method for combined flight, which includes:

[0046] S1. During the takeoff preparation phase, if it is detected 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;

[0047] S2. If the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft, respectively. If the imbalance type is front-back imbalance, the selected second aircraft and the selected third aircraft are connected to the front and back ends of the first aircraft, respectively, so that the combined aircraft composed of the first aircraft, the second aircraft, and the third aircraft is in a non-imbalanced state.

[0048] Optionally, this embodiment considers a practical scenario where a fixed-wing drone is not in trim due to a temporary order change or cargo adjustment. Manually adjusting its trim is time-consuming and labor-intensive, and manual temporary trimming is unsafe within the takeoff and landing area. Therefore, this embodiment selects two other fixed-wing aircraft that meet the corresponding conditions to perform a combined takeoff with the fixed-wing drone. This combined aircraft can save additional manual trimming processes and improve the timeliness and flexibility of logistics transportation.

[0049] Optionally, in this embodiment, the first aircraft, the second aircraft, and the third aircraft are all fixed-wing aircraft.

[0050] Optionally, in this embodiment, if the imbalance type is left-right imbalance, the selected second aircraft and the third aircraft are rigidly connected to the left and right sides of the first aircraft through connecting rods, respectively.

[0051] Optionally, in this embodiment, if the imbalance type is front-rear imbalance, the selected second aircraft and the third aircraft are rigidly connected to the front and rear ends of the first aircraft through connecting rods, respectively.

[0052] Optionally, in this embodiment, since the masses of the second aircraft and the third aircraft are much greater than the balance difference of the first aircraft in an unbalanced state, and the second balance state and the third balance state of the second aircraft and the third aircraft are both non-unbalanced states, after a combined aircraft is formed by the first aircraft, the second aircraft and the third aircraft, the combined aircraft can be regarded as being in a non-unbalanced state.

[0053] The beneficial effect of this embodiment is that, during the takeoff preparation phase, if the first balance state of the first aircraft is monitored to be unbalanced, the current imbalance type is obtained, and a second aircraft and a third aircraft are selected whose second and third balance states are both unbalanced. If the imbalance type is left-right imbalance, the selected second aircraft and the third aircraft are respectively connected to the left and right sides of the first aircraft; if the imbalance type is front-back imbalance, the selected second aircraft and the third aircraft are respectively connected to the front and back ends of the first aircraft, so that the combined aircraft composed of the first aircraft, the second aircraft, and the third aircraft is in a unbalanced state. This 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 order changes or cargo adjustments, and the poor timeliness of manual adjustments.

[0054] Figure 2 This is a second flow chart of the dynamic balancing method for combined flight according to the present invention. Based on the above embodiment, during the takeoff preparation phase, if the first balance state of the first aircraft is monitored to be an unbalanced state, the current imbalance type is obtained, and a second aircraft and a third aircraft whose second and third balance states are both non-unbalanced are selected. The method includes:

[0055] S11, obtaining imbalance data in the imbalance state;

[0056] S12: Determine quality difference data corresponding to the imbalance data, and select the second aircraft and the third aircraft having the quality difference data.

[0057] Optionally, in this embodiment, when quality difference data corresponding to the imbalance data exceeds a preset quality threshold, the second aircraft and the third aircraft having the quality difference data are selected.

[0058] Optionally, in this embodiment, the preset mass threshold is calculated based on the product of a preset ratio value and the mass value of the first aircraft.

[0059] Figure 3 This is a third flow chart of the dynamic balancing method for combined flight according to the present invention. Based on the above embodiment, during the takeoff preparation phase, if the first balance state of the first aircraft is monitored to be an unbalanced state, the current imbalance type is obtained, and a second aircraft and a third aircraft whose second and third balance states are both non-unbalanced are selected. The method includes:

[0060] S13, obtaining the imbalance level in the imbalance state;

[0061] S14. Determine a mass difference level corresponding to the imbalance level, and select the second aircraft and the third aircraft whose mass differences are within the mass difference level.

[0062] Optionally, different from the data division basis of the above-mentioned embodiment, in this embodiment, the imbalance level is divided into high, medium and low levels, and corresponding high quality difference level, medium quality difference level and low quality difference level are set, as well as the quality difference ranges corresponding to the high quality difference level, medium quality difference level and low quality difference level respectively.

[0063] Optionally, in this embodiment, the second aircraft and the third aircraft within the quality difference level are determined according to the quality difference range of the actual quality difference.

[0064] Figure 4 This is a fourth flow chart of the dynamic balancing method for combined flight according to the present invention. Based on the above embodiment, if the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft, respectively. If the imbalance type is front-back imbalance, the selected second aircraft and the selected third aircraft are connected to the front and back ends of the first aircraft, respectively, so that the combined aircraft composed of the first aircraft, the second aircraft, and the third aircraft is in a non-imbalanced state. The method includes:

[0065] S21. Acquire imbalance data in the imbalance state, a second mass of the second aircraft, and a third mass of the third aircraft;

[0066] S22: Setting a left connecting rod length between the first aircraft and the second aircraft and a right connecting rod length between the first aircraft and the third aircraft based on the imbalance data, the second mass, and the third mass; or setting a front connecting rod length between the first aircraft and the second aircraft and a rear connecting rod length between the first aircraft and the third aircraft.

[0067] Optionally, in this embodiment, the length of the left connecting rod between the first and second aircraft, and the length of the right connecting rod between the first and third aircraft are set based on the imbalance data, the second mass, and the third mass. When the second mass and the third mass are the same, the length relationship between the left and right connecting rod lengths is related to the imbalance data. For example, when the imbalance data indicates that the left side is heavier than the right side, the left connecting rod length is shorter than the right connecting rod length. When the second mass and the third mass are different, the length relationship between the left and right connecting rod lengths is related to the imbalance data, the second mass, and the third mass. In other words, the lengths of the left and right connecting rods in a balanced state can be calculated based on the principle of leverage.

[0068] Optionally, in this embodiment, similarly, as described in the above example, for the scenario of front-rear imbalance, the length of the front connecting rod between the first aircraft and the second aircraft and the length of the rear connecting rod between the first aircraft and the third aircraft are set in the same manner.

[0069] Figure 5 This is a fifth flow chart of the dynamic balancing method for combined flight according to the present invention. Based on the above embodiment, if the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft, respectively. If the imbalance type is fore-aft imbalance, the selected second aircraft and the selected third aircraft are connected to the fore-aft ends of the first aircraft, respectively, so that the combined aircraft composed of the first aircraft, the second aircraft, and the third aircraft is in a non-imbalanced state. The method includes:

[0070] S23, obtaining imbalance data in the imbalance state;

[0071] S24. Adjust the second propulsion power parameter of the second aircraft and / or the third propulsion power parameter of the third aircraft according to the imbalance data, so that the combined aircraft is in a dynamically balanced flight state.

[0072] Optionally, unlike the above embodiment where the imbalance data is the imbalance data of the first aircraft, in this embodiment, the imbalance data is the imbalance data of the combined aircraft.

[0073] Optionally, in this embodiment, based on the imbalance data of the combined aircraft, one or more of the first propulsion power parameters of the first aircraft, the second propulsion power parameters of the second aircraft, and the third propulsion power parameters of the third aircraft are adjusted according to the imbalance data so that the combined aircraft is in a dynamically balanced flight state.

[0074] Based on the above embodiments, the present invention further provides a dynamic balancing device for combined flight, the device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the following is achieved:

[0075] In the takeoff preparation phase, if it is monitored that the first balance state of the first aircraft is an unbalanced state, the current imbalance type is obtained, and the second aircraft and the third aircraft are selected, both of which have a second balance state and a third balance state that are not unbalanced.

[0076] If the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft respectively. If the imbalance type is front-back imbalance, the selected second aircraft and the selected third aircraft are connected to the front and back ends of the first aircraft respectively, so that the combined aircraft composed of the first aircraft, the second aircraft and the third aircraft is in a non-imbalanced state.

[0077] Optionally, when the computer program is executed by the processor, it implements:

[0078] Acquiring imbalance data in the imbalance state;

[0079] determining mass difference data corresponding to the imbalance data, and selecting the second aircraft and the third aircraft having the mass difference data;

[0080] or,

[0081] Taking the imbalance level under the imbalance state;

[0082] A mass difference level corresponding to the imbalance level is determined, and the second aircraft and the third aircraft having mass differences within the mass difference level are selected.

[0083] Optionally, when the computer program is executed by the processor, it implements:

[0084] acquiring imbalance data in the imbalance state, a second mass of the second aircraft, and a third mass of the third aircraft;

[0085] A left connecting rod length between the first aircraft and the second aircraft and a right connecting rod length between the first aircraft and the third aircraft are set according to the imbalance data, the second mass, and the third mass. Alternatively, a front connecting rod length between the first aircraft and the second aircraft and a rear connecting rod length between the first aircraft and the third aircraft are set.

[0086] Optionally, when the computer program is executed by the processor, it implements:

[0087] Acquiring imbalance data in the imbalance state;

[0088] The second propulsion power parameter of the second aircraft and / or the third propulsion power parameter of the third aircraft are adjusted according to the imbalance data, so that the combined aircraft is in a dynamically balanced flight state.

[0089] It should be noted that the above-mentioned device embodiment and method embodiment belong to the same concept, and their specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are applicable to the device embodiment, which will not be repeated here.

[0090] Based on the above embodiments, the present invention also proposes a computer-readable storage medium, which stores a dynamic balancing program for combined flight. When the dynamic balancing program for combined flight is executed by a processor, the steps of the dynamic balancing method for combined flight as described in any of the above items are implemented.

[0091] It should be noted that the above-mentioned medium embodiment and method embodiment belong to the same concept, and their specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are applicable to the medium embodiment, which will not be repeated here.

[0092] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0093] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0094] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0095] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A dynamic balancing method for combined flight, characterized in that: The method comprises: In the takeoff preparation phase, if it is monitored that the first balance state of the first aircraft is an unbalanced state, the current imbalance type is obtained, and the second aircraft and the third aircraft are selected, both of which have a second balance state and a third balance state that are not unbalanced. If the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft respectively. If the imbalance type is front-back imbalance, the selected second aircraft and the selected third aircraft are connected to the front and back ends of the first aircraft respectively, so that the combined aircraft composed of the first aircraft, the second aircraft and the third aircraft is in a non-imbalanced state.

2. The dynamic balancing method for combined flight according to claim 1, characterized in that: In the takeoff preparation phase, if it is monitored that the first balance state of the first aircraft is an unbalanced state, obtaining the current imbalance type and selecting the second aircraft and the third aircraft whose second balance state and third balance state are both non-unbalanced states, including: Acquiring imbalance data in the imbalance state; Mass difference data corresponding to the imbalance data is determined, and the second aircraft and the third aircraft having the mass difference data are selected.

3. The dynamic balancing method for combined flight according to claim 1, characterized in that: In the takeoff preparation phase, if it is monitored that the first balance state of the first aircraft is an unbalanced state, obtaining the current imbalance type and selecting the second aircraft and the third aircraft whose second balance state and third balance state are both non-unbalanced states, including: Obtaining an imbalance level in the imbalance state; A mass difference level corresponding to the imbalance level is determined, and the second aircraft and the third aircraft having mass differences within the mass difference level are selected.

4. The dynamic balancing method for combined flight according to claim 1, characterized in that: If the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft respectively; if the imbalance type is front-back imbalance, the selected second aircraft and the selected third aircraft are connected to the front and back ends of the first aircraft respectively, so that the combined aircraft composed of the first aircraft, the second aircraft, and the third aircraft is in a non-imbalanced state, including: acquiring imbalance data in the imbalance state, a second mass of the second aircraft, and a third mass of the third aircraft; A left connecting rod length between the first aircraft and the second aircraft and a right connecting rod length between the first aircraft and the third aircraft are set according to the imbalance data, the second mass, and the third mass. Alternatively, a front connecting rod length between the first aircraft and the second aircraft and a rear connecting rod length between the first aircraft and the third aircraft are set.

5. The dynamic balancing method for combined flight according to claim 1, characterized in that: If the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft respectively; if the imbalance type is front-back imbalance, the selected second aircraft and the selected third aircraft are connected to the front and back ends of the first aircraft respectively, so that the combined aircraft composed of the first aircraft, the second aircraft, and the third aircraft is in a non-imbalanced state, including: Acquiring imbalance data in the imbalance state; The second propulsion power parameter of the second aircraft and / or the third propulsion power parameter of the third aircraft are adjusted according to the imbalance data, so that the combined aircraft is in a dynamically balanced flight state.

6. A dynamic balancing device for combined flight, characterized in that: The device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the computer program implements: In the takeoff preparation phase, if it is monitored that the first balance state of the first aircraft is an unbalanced state, the current imbalance type is obtained, and the second aircraft and the third aircraft are selected, both of which have a second balance state and a third balance state that are not unbalanced. If the imbalance type is left-right imbalance, the selected second aircraft and the selected third aircraft are connected to the left and right sides of the first aircraft respectively. If the imbalance type is front-back imbalance, the selected second aircraft and the selected third aircraft are connected to the front and back ends of the first aircraft respectively, so that the combined aircraft composed of the first aircraft, the second aircraft and the third aircraft is in a non-imbalanced state.

7. The dynamic balancing device for combined flight according to claim 6, characterized in that: When the computer program is executed by the processor, it realizes: Acquiring imbalance data in the imbalance state; determining mass difference data corresponding to the imbalance data, and selecting the second aircraft and the third aircraft having the mass difference data; or, Taking the imbalance level under the imbalance state; A mass difference level corresponding to the imbalance level is determined, and the second aircraft and the third aircraft having mass differences within the mass difference level are selected.

8. The dynamic balancing device for combined flight according to claim 7, characterized in that: When the computer program is executed by the processor, it realizes: acquiring imbalance data in the imbalance state, a second mass of the second aircraft, and a third mass of the third aircraft; A left connecting rod length between the first aircraft and the second aircraft and a right connecting rod length between the first aircraft and the third aircraft are set according to the imbalance data, the second mass, and the third mass. Alternatively, a front connecting rod length between the first aircraft and the second aircraft and a rear connecting rod length between the first aircraft and the third aircraft are set.

9. The dynamic balancing device for combined flight according to claim 8, characterized in that: When the computer program is executed by the processor, it realizes: Acquiring imbalance data in the imbalance state; The second propulsion power parameter of the second aircraft and / or the third propulsion power parameter of the third aircraft are adjusted according to the imbalance data, so that the combined aircraft is in a dynamically balanced flight state.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a dynamic balancing program for combined flight, and when the dynamic balancing program for combined flight is executed by the processor, the steps of the dynamic balancing method for combined flight according to any one of claims 1 to 5 are implemented.

Images