An aircraft release assist system and precision release method

Abstract

The present application relates to a kind of aircraft delivery auxiliary system and accurate delivery method, including delivery index detection system and delivery state monitoring system;Delivery index detection system is used to obtain delivery index detection data, delivery index detection data includes the kind of article to be dropped, quantity and whether in position information, the angle information of the delivery port landing gear is lowered and recycled and aircraft attitude, speed, position information;And the delivery index detection data is sent to delivery state monitoring system;Delivery state monitoring system is used to set in advance delivery parameter;The delivery index detection data received is compared with the delivery parameter and aircraft delivery position parameter set in advance, judges whether to meet delivery condition and is shown judging result by display module;Solve the problem that pilot cannot monitor air-drop article and delivery state in real time when aircraft air-drops article in prior art, and the poor problem of delivery position accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aircraft delivery technology, in particular to an aircraft delivery auxiliary system and a precise delivery method. BACKGROUND

[0002] In rugged and complex mountainous areas or places where transportation is not convenient, vehicles cannot normally enter and exit, and aircraft delivery of goods is needed to ensure timely supply of people's needs. When the aircraft delivers goods, the pilot needs to accurately grasp the state of the aircraft delivery, the state of the goods in the aircraft, and the state of the cabin floor lowering and recycling, to ensure the safety of the aircraft and effective delivery of goods, so an auxiliary delivery system is needed to monitor the state of the aircraft and the goods to be delivered in real time to ensure safe and effective delivery of goods.

[0003] In addition, after the goods are delivered, due to the influence of the initial delivery height, speed and angle, the dropped goods will have a large range of landing sites, so it is necessary to predict the landing range of the aircraft delivery of goods. In order to achieve precise delivery, a precise aircraft delivery method is needed to achieve the purpose of precise delivery. SUMMARY

[0004] In view of the above analysis, the present application aims to provide an aircraft delivery auxiliary system and a precise delivery method to solve the problem that the pilot cannot monitor the delivery of goods and the delivery state in real time, and the delivery position accuracy is poor in the prior art.

[0005] The purpose of the present application is mainly realized through the following technical solutions:

[0006] On the one hand, the present application provides an aircraft delivery auxiliary system, characterized by:

[0007] It comprises a delivery index detection system and a delivery state monitoring system; the delivery index detection system and the delivery state monitoring system communicate through wireless WIFI signals;

[0008] The delivery index detection system is used to obtain delivery index detection data, which includes the type, quantity and in-place information of the goods to be delivered, the lowering and recycling angle information of the delivery port landing gear, and the attitude, speed and position information of the aircraft; and the delivery index detection data is sent to the delivery state monitoring system;

[0009] The delivery state monitoring system is used to: pre-set delivery parameters, and calculate the aircraft delivery position parameters according to the pre-set parameters; compare the received delivery index detection data with the pre-set delivery parameters and the aircraft delivery position parameters, judge whether the delivery conditions are met, and display the judgment result through a display module.

[0010] Further, the delivery index detection system comprises a first main processor, an Ethernet to wireless WiFi module, a to-be-delivered object detection module, a video detection module, a landing gear retraction detection module, and an aircraft attitude detection module.

[0011] The weight of the to-be-delivered object is detected by the to-be-delivered object detection module, the type and quantity of the to-be-delivered object are detected by the video detection module, and the in-place information is obtained according to the weight, type, and quantity information of the to-be-delivered object; the lowering and recovery angle of the delivery port landing gear is detected by the landing gear retraction detection module; and the three-axis acceleration and three-axis attitude angle of the aircraft are detected by the aircraft attitude detection module to obtain the aircraft attitude, speed, and position information.

[0012] Further, the to-be-delivered object detection module comprises a weighing sensor, a signal speed changer, an analog-to-digital conversion chip, and a level conversion chip; the weighing sensor is fixedly installed on the landing gear of the cabin delivery port, converts the weight of the to-be-delivered object into a corresponding voltage signal, and sends the voltage signal to the signal speed changer for amplification; the amplified voltage signal is sent to the level conversion chip for level conversion after analog-to-digital conversion by the analog-to-digital conversion chip; the voltage signal after level conversion is sent to the first main processor by the level conversion chip, and the first main processor processes the voltage signal to obtain the weight of the to-be-delivered object.

[0013] Further, the landing gear retraction detection module comprises an angle sensor, an analog-to-digital conversion chip, and a level conversion chip; the angle sensor is fixedly installed on the landing gear of the cabin delivery port, converts the angle of the delivery port landing gear of the aircraft into a corresponding voltage signal, and sends the voltage signal to the analog-to-digital conversion chip for analog-to-digital conversion and then to the level conversion chip for level conversion; the voltage signal after level conversion is sent to the first main processor, and the first main processor processes the voltage signal to obtain the retraction angle of the delivery port landing gear of the aircraft.

[0014] Further, the aircraft attitude detection module comprises an IMU-inertial measurement unit; the IMU-inertial measurement unit is fixedly installed on the top of the aircraft, sends the detected three-axis attitude angle and acceleration to the first main processor through an SPI interface, the first main processor calculates the flight speed and position information of the aircraft according to the three-axis attitude angle and acceleration; and judges the flight attitude of the aircraft, and if the flight attitude is abnormal, an alarm is given.

[0015] Further, the video detection module is configured to acquire a picture image inside the cabin, and comprises a camera and an HDMI receiver; the camera is fixedly installed on the top of the airplane, and the HDMI receiver converts the image detected by the camera into a digital signal and sends the digital signal to the first main processor for processing, so as to identify the type and quantity of the to-be-dropped article.

[0016] Further, the identification of the type and quantity of the to-be-dropped article comprises the following steps:

[0017] acquiring a picture image inside the cabin by the camera;

[0018] performing image processing on the picture image inside the cabin by image enhancement, image restoration, image coding and compression, and image segmentation;

[0019] extracting key features of the image by using a HOG feature extraction method, and designing a classifier by using a Bayes method of probability statistics, and performing image recognition classification according to the extracted key features of the image.

[0020] Further, the pre-set dropping parameters comprise: selecting an airplane dropping mode; setting article information to be dropped, a dropping site, an airplane dropping height, a speed, and a landing gear angle parameter;

[0021] the airplane dropping mode comprises: a hovering horizontal dropping mode, a flying horizontal dropping mode, and a flying diving dropping mode;

[0022] according to the pre-set airplane dropping height, speed, and landing gear angle parameters, the horizontal distance between the dropping position and the dropping site is calculated by using the following formula:

[0023] in the hovering horizontal dropping mode:

[0024]

[0025] in the flying horizontal dropping mode:

[0026]

[0027] in the flying diving dropping mode:

[0028]

[0029] wherein, S is the horizontal distance between the dropping position and the dropping site, A is an angle between the landing gear and the ground, V is the flying speed of the airplane, g is the acceleration of gravity, H is the flying height of the airplane, A1 is an angle between the airplane and the ground, and L is the length of the landing gear.

[0030] Determine whether the drop condition is met for accurate drop based on the horizontal distance between the drop position and the drop location.

[0031] In another aspect, the present application also provides a method for accurate drop of an airplane, comprising the following steps:

[0032] Selecting an airplane drop mode and setting drop parameters; the drop parameters include: information of the to-be-dropped article, drop location of the to-be-dropped article, and airplane drop height, speed and landing gear angle;

[0033] Detecting the type, quantity and whether in place of the to-be-dropped article, and the down-put and recovery angle of the drop port landing gear and airplane attitude information by a drop index detection system, to obtain drop index detection data;

[0034] Sending the drop index detection data to the drop state monitoring system through an Ethernet to wireless WiFi module;

[0035] Comparing the received drop index detection data with the pre-selected drop mode and the pre-set drop parameters by the drop state monitoring system, judging whether the drop condition is met, and displaying the judgment result through a display module;

[0036] If the drop condition is met, the to-be-dropped article is dropped, and the drop port landing gear is recovered after the drop;

[0037] Detecting whether the to-be-dropped article is in place and the down-put and recovery angle of the drop port landing gear by a drop index detection system; if the angle of the landing gear is 0° and the to-be-dropped article is not in place, it is judged that the drop is completed.

[0038] Further, the drop mode includes: a hovering horizontal drop mode, a flying horizontal drop mode and a flying diving drop mode;

[0039] The drop position of the airplane is determined by the following formula (the drop formula ignores the friction and all resistances):

[0040] In the hovering horizontal drop mode:

[0041]

[0042] In the flying horizontal drop mode:

[0043]

[0044] In the flying diving drop mode:

[0045]

[0046] Wherein, S is the horizontal distance between the drop position and the landing position, A is the angle between the landing gear and the ground, V is the flight speed of the aircraft, g is the acceleration of gravity, H is the flight height of the aircraft, A1 is the angle between the aircraft and the ground, and L is the length of the landing gear.

[0047] The drop position is determined based on the horizontal distance between the drop position and the landing position.

[0048] The beneficial effects of the technical solution are as follows:

[0049] The present application utilizes wireless communication WiFi for signal transmission without the need to increase other equipment; the state of the goods is detected through the weighing detection module; the state of the landing gear of the cabin drop port is detected through the angle detection module; the three-axis acceleration of the aircraft is detected through the attitude detection module; the state in the cabin is detected through the video acquisition module; the safety of the aircraft is guaranteed to the greatest extent, and the goods are effectively dropped. The present application is suitable for various drop modes, and the drop position accuracy of the goods to be dropped by the aircraft is improved through the determination method of the drop position of each drop mode.

[0050] The aircraft drop auxiliary system of the present application does not need to change the structure of the aircraft, provides information for the pilot to judge the drop state, and makes the optimal decision.

[0051] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be realized and obtained by the structure particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0052] The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0053] Figure 1 The block diagram of the aircraft drop auxiliary system of the embodiment of the present application.

[0054] Figure 2 The block diagram of the drop position determination module of the embodiment of the present application.

[0055] Figure 3 The block diagram of the landing gear retraction and extension detection module of the embodiment of the present application.

[0056] Figure 4 The block diagram of the video detection module of the embodiment of the present application.

[0057] Figure 5 The block diagram of the aircraft attitude detection module of the embodiment of the present application.

[0058] Figure 6This is a schematic diagram of the aircraft deployment mode according to an embodiment of the present invention. Detailed Implementation

[0059] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0060] Example 1:

[0061] One specific embodiment of the present invention discloses an aircraft deployment assistance system, such as... Figure 1 As shown, it includes a delivery index detection system and a delivery status monitoring system; the delivery index detection system and the delivery status monitoring system communicate via wireless WIFI signal.

[0062] The system includes a deployment indicator detection system for obtaining deployment indicator detection data, which includes the type, quantity, and presence information of the items to be deployed, the lowering and retraction angles of the landing gear at the deployment port, and the aircraft's attitude, speed, and position information. This data is then sent to the deployment status monitoring system. The deployment indicator detection system comprises a first main processor, an Ethernet-to-WiFi module, an item deployment detection module, a video detection module, a landing gear retraction detection module, and an aircraft attitude detection module. The item deployment detection module detects the weight of the items to be deployed, the video detection module detects the type and quantity of the items to be deployed, and the presence information is obtained based on the weight, type, and quantity information. The landing gear retraction detection module detects the lowering and retraction angles of the landing gear at the deployment port. The aircraft attitude detection module detects the aircraft's three-axis acceleration and three-axis attitude angles to obtain the aircraft's attitude, speed, and position information.

[0063] As a specific embodiment, the block diagram of the object detection module is as follows: Figure 2 As shown, it includes a weighing sensor, a signal transducer, an analog-to-digital converter (ADC), and a level conversion chip. The weighing sensor is fixedly installed on the landing gear of the aircraft's drop-off port. It converts the weight of the item to be dropped into a corresponding voltage signal and sends the voltage signal to the signal transducer for amplification. The amplified voltage signal is then converted from analog to digital by the ADC and sent to the level conversion chip for level conversion. The level conversion chip sends the level-converted voltage signal to the first main processor, which processes the voltage signal to obtain the weight of the item to be dropped.

[0064] Specifically, the weighing sensor selects a DM-PM planar weighing sensor to detect the weight of the article. The DM-PM planar weighing sensor converts the detected analog signal into a corresponding voltage signal. The voltage signal is small, is amplified by a DM-BS signal speed changer, is subjected to analog-digital conversion by an analog-digital conversion chip AD7705, and is further subjected to level conversion by a level conversion chip SN74LVC4245A to convert 5V into 3.3V. The converted voltage signal is sent to a first main processor XC7Z045-2FFG900 chip for processing. The first main processor samples the digital signal n times to obtain an average value in order to obtain an accurate voltage value, where n is an integer greater than 1, so as to accurately judge the article to be dropped.

[0065] Further, the relationship between the weight of the article to be dropped detected by the weighing sensor and the output voltage is V = W / 100(kg))*5, where V is the voltage output by the DM-BS signal speed changer, and W is the weight of the detected article in kg.

[0066] By sampling and averaging the level, the change of the article to be dropped can be accurately judged, and then the weight, quantity and whether the article to be dropped is in place can be judged.

[0067] The DM-PM planar weighing sensor supports detection of different ranges of pressure. For example, a sensor with a range of 0-100kg is selected, and the output voltage range of the DM-BS signal speed changer can be set to 0-5V.

[0068] As a specific embodiment, a landing gear retraction detection module block diagram is shown in Figure 3 The angle sensor is fixedly installed on the landing gear of the cabin drop port, converts the angle of the landing gear of the drop port of the aircraft into a corresponding voltage signal, and sends the voltage signal to the analog-digital conversion chip for analog-digital conversion and then to the level conversion chip for level conversion. The voltage signal after level conversion is sent to the first main processor, and the first main processor processes the voltage signal to obtain the retraction angle of the landing gear of the drop port of the aircraft.

[0069] Specifically, the angle sensor selects a WDD-D35-D4C sensor to detect the lowering and recovery of the cabin floor. The angle sensor DD-D35-D4C sensor converts the detected analog signal into a corresponding voltage signal. The voltage signal is subjected to analog-digital conversion by an analog-digital conversion chip AD7705 and then subjected to level conversion by a level conversion chip SN74LVC4245A to convert 5V into 3.3V, and the voltage signal is sent to the first main processor for processing. The first main processor samples the level n times to obtain an accurate voltage value, takes an average value, and accurately judges the angle of the bottom plate of the release port. Wherein, n is an integer greater than 1.

[0070] Further, the relationship between the angle of the release port landing gear and the voltage output by the angle DM-BS signal transmission is: V1=(A / 180)*5; wherein V1 is the output voltage of the level conversion chip, and A is the angle between the landing gear and the ground.

[0071] By sampling and averaging the output level of the detection module, the state of the bottom plate can be accurately judged, and the influence of instantaneous value on false judgment is avoided.

[0072] The WDD-D35-D4C sensor supports different ranges of angle detection, for example, the selected angle range is 0-180°, and the output voltage range can be set to 0-5V.

[0073] Further, the block diagram of the aircraft attitude detection module is as shown in Figure 5 The IMU-inertial measurement unit is fixedly installed on the top of the aircraft, and the three-axis attitude angle and acceleration detected by the SPI interface are sent to the first main processor. The first main processor calculates the flight speed and position information of the aircraft according to the three-axis attitude angle and acceleration, calculates the distance between the current position of the aircraft and the release position according to the position information, and judges the flight attitude of the aircraft. If it is an abnormal attitude, an alarm is provided. Specifically, the release state monitoring system includes a second main processor, and the second main processor is electrically connected to a buzzer. When at least one of the aircraft attitude detection, gravity detection, video detection, or angle sensor detection is not within the pre-set range, an alarm is provided.

[0074] Specifically, the ADIS16495-2BMLZ sensor is selected to detect the three-axis attitude angle and acceleration of the aircraft. The ADIS16495-2BMLZ sensor converts the detected three-axis attitude angle and acceleration into an SPI interface signal. The digital signal is transmitted to the first main processor through the SPI interface for processing to obtain the flight speed and position information of the aircraft.

[0075] The ADIS16495-2BMLZ sensor collects three-axis acceleration of the aircraft, and in the software design, the three-axis acceleration is converted into three-directional speed, for example, taking the ground as the reference plane, when the Z-axis direction is zero, the aircraft is flying horizontally.

[0076] Further, the video detection module block diagram as shown in Figure 4 for obtaining the picture image inside the cabin; including a camera and an HDMI receiver; the camera is fixedly installed on the top of the aircraft, and the HDMI receiver converts the image detected by the camera into a digital signal and sends it to the first main processor for processing.

[0077] Specifically, after the video detection module obtains the picture image inside the cabin, it is sent to the first main processor for processing, which is used to identify the number and type of articles to determine the actual situation of the number and type of articles. In this embodiment, a DN-HDC088 camera is selected to detect the picture inside the aircraft. The image detected by the DN-HDC088 camera is converted into an HDMI interface signal. Through a digital conversion circuit, an ADV7611 chip is used to convert the HDMI signal into a digital signal. Finally, the digital signal is transmitted to the first main processor for image recognition.

[0078] The process of identifying the to-be-delivered articles includes the following steps:

[0079] Obtain the picture image inside the cabin through the camera;

[0080] Perform image processing on the picture image inside the cabin through image enhancement, image restoration, image encoding and compression, and image segmentation;

[0081] Use the HOG feature extraction method to extract the key features of the image; use the Bayes method of probability statistics to design the classifier, and perform image recognition classification according to the extracted key features of the image.

[0082] The specific design process is as follows:

[0083] In the first processor, the image processing link uses Xilinx synthesis tool Vivado HLS for image processing. Vivado HLS development tool has a library function of image processing. By calling the corresponding library function, it can be directly converted into a hardware description language, and then encapsulated into an IP core in FPGA for use.

[0084] In the feature extraction link, the HOG feature extraction method is designed by using the Verilog language in the FPGA, specifically including: the specific image is grayed; the Gamma correction method is used to normalize the color space of the input image; the purpose is to adjust the contrast of the image, reduce the influence caused by the local shadow and light change of the image, and at the same time, the noise interference can be suppressed; the gradient (including size and direction) of each pixel of the image is calculated, which is used to capture the contour information and further weaken the interference of light; the image is divided into small units; the gradient histogram of each unit is counted; each n unit is combined into a module (n is an integer greater than 1), and the feature description of all units in the module is concatenated to obtain the HOG feature description of the module; the HOG feature description of all modules in the image is concatenated to obtain the HOG feature description of the image.

[0085] In the classifier design link, the Bayes design of probability statistics is designed by using the Verilog language in the FPGA, specifically including: the prior probability design, the class conditional probability density function design and the posterior probability design are used as the basis for generating the discriminant function, the corresponding discriminant function and decision surface are designed, and the design of the classifier is completed; the classification of the to-be-dropped articles after image recognition is realized.

[0086] The drop state monitoring system of the embodiment of the application is shown in Figure 1 The drop state monitoring system of the embodiment of the application is shown in

[0087] The drop state monitoring system is also used for pre-setting the drop parameters, and calculating the aircraft drop position parameters according to the pre-set parameters; comparing the received drop index detection data with the pre-set drop parameters and the aircraft drop position parameters, judging whether the drop condition is met, and displaying the judgment result through the display module.

[0088] Specifically, the drop parameters need to be pre-set before the aircraft drops, including: selecting the aircraft drop mode; setting the to-be-dropped article information, the to-be-dropped article landing site, the aircraft drop height, the speed and the landing gear angle parameters;

[0089] The aircraft drop mode includes: the suspended horizontal drop mode, the flying horizontal drop mode and the flying diving drop mode.

[0090] Based on the selected drop mode, the horizontal distance between the drop position and the landing site in the corresponding mode is calculated according to the pre-set aircraft drop height, speed and landing gear angle parameters by using the following formula:

[0091] In the mode of horizontal delivery in suspension:

[0092]

[0093] In the mode of horizontal delivery in flight:

[0094]

[0095] In the mode of diving delivery in flight:

[0096]

[0097] Wherein, S is the horizontal displacement of the delivery position from the landing site, A is the angle between the landing gear and the ground, V is the flight speed of the aircraft, g is the acceleration of gravity, H is the flight height of the aircraft, A1 is the angle between the aircraft and the ground, and L is the length of the landing gear.

[0098] The horizontal distance obtained by calculation is compared with the current distance between the aircraft and the landing site to determine whether the delivery condition is met, wherein the current distance between the aircraft and the landing site is calculated based on the landing site of the to-be-delivered article and the current position of the aircraft.

[0099] Embodiment two:

[0100] The application also provides a method for precise delivery of an aircraft, comprising the following steps:

[0101] Selecting a delivery mode of the aircraft and setting delivery parameters; the delivery parameters include: information of a to-be-delivered article, a landing site of the to-be-delivered article, and a delivery height, speed and angle of the landing gear of the aircraft;

[0102] Detecting whether the to-be-delivered article is in place, the lowering and recovery angle of the landing gear of the delivery port and the attitude information of the aircraft by a delivery index detection system to obtain delivery index detection data;

[0103] Sending the delivery index detection data to the delivery state monitoring system through an Ethernet-to-wireless WiFi module;

[0104] Comparing the received delivery index detection data with the pre-selected delivery mode and the pre-set delivery parameters by the delivery state monitoring system to determine whether the delivery condition is met, and displaying the determination result through a display module;

[0105] If the delivery condition is met, the to-be-delivered article is delivered, and the landing gear of the delivery port is recovered after delivery;

[0106] The detection system detects whether the to-be-dropped object is in place and the lowering and recovery angle of the drop port landing gear; if the angle of the landing gear is 0° and the to-be-dropped object is not in place, it is judged that the dropping is completed.

[0107] As shown in the formula (1), the dropping mode includes: hovering horizontal dropping, flight horizontal dropping and flight diving dropping; wherein, the hovering horizontal dropping is suitable for helicopter dropping, the flight horizontal dropping is suitable for other aircraft dropping, and the flight diving dropping is suitable for rapid dropping. Figure 6

[0108] According to different dropping modes, the type of the to-be-dropped object, the flight height, the flight speed, the aircraft attitude and the angle of the drop port landing gear of the aircraft during dropping are set by program.

[0109] In the hovering horizontal dropping state: the aircraft is in a static state relative to the ground, which is suitable for the model of helicopters or unmanned aerial vehicles, and can be used in the occasion of dropping disaster relief supplies, fire extinguishing, etc.; during the dropping process, the angle of the aircraft landing gear during dropping is changed, so that the object has a certain initial speed during the dropping process, thereby achieving the purpose of accurate dropping.

[0110] In the flight horizontal dropping state: the aircraft is in a horizontal flight state, at this time, the speed of the aircraft is V, and the angle with the ground is zero, so that the object has a certain speed during the dropping process, and the flight height H of the aircraft and the speed of the aircraft are changed, thereby achieving the purpose of accurate dropping.

[0111] In the flight diving dropping state: the aircraft is in a diving flight state, which is suitable for rapid dropping applications; the object has a certain speed and diving angle during the dropping process, and the height H of the aircraft and the speed of the aircraft are changed, thereby achieving the purpose of accurate dropping.

[0112] In order to realize the accurate dropping of the aircraft, after the landing site of the to-be-dropped object is determined, the horizontal distance between the dropping position and the landing site is calculated according to the pre-set aircraft dropping height, speed and landing gear angle parameters by using the following formula:

[0113] In the hovering horizontal dropping mode:

[0114]

[0115] In the flight horizontal dropping mode:

[0116]

[0117] In the flight diving dropping mode:

[0118]

[0119] ​Wherein, S is the horizontal displacement of the drop position from the landing site, A is the angle between the landing gear and the ground, V is the flight speed of the aircraft, g is the acceleration of gravity, H is the flight height of the aircraft, A1 is the angle between the aircraft and the ground, L is the length of the landing gear;

[0120] Specifically, the motion time of the to-be-dropped object before landing after being dropped is set as t a Then the flight height H of the aircraft is V y t a +(1 / 2)gt a 2 ,

[0121] Wherein, H is the flight height of the aircraft, V y is the vertical speed of the aircraft, g is the vertical acceleration of gravity, and t a is the motion time.

[0122] Therefore:

[0123]

[0124] The horizontal displacement S of the to-be-dropped object before landing after being dropped is V x *t a , wherein S is the horizontal displacement of the dropped object; V x is the horizontal speed of the aircraft, that is, the initial speed of the dropped object in the horizontal direction; t a is the motion time;

[0125] Therefore:

[0126] The acceleration a of the object sliding along the slope of the landing gear is g*sinA, g is the vertical acceleration of gravity, and A is the angle between the object sliding along the slope and the ground;

[0127] According to L=(1 / 2)at b 2 , wherein L is the length of the landing gear, a is the acceleration of the object sliding along the slope, and t b is the sliding time along the landing gear;

[0128] It is obtained that

[0129] According to V=at b , wherein a is the acceleration of the object sliding along the slope, t b is the sliding time along the landing gear, and V is the speed of the object leaving the landing gear;

[0130] It is obtained that According to

[0131]

[0132] The horizontal displacement distance of the to-be-dropped object and the drop position in the hovering horizontal drop mode is obtained as follows:

[0133]

[0134] wherein g is the gravity acceleration, A is the angle between the landing gear and the ground, L is the length of the landing gear, and H is the flight height of the airplane;

[0135] The horizontal displacement distance of the to-be-dropped object and the drop position in the flight horizontal drop mode is:

[0136]

[0137] wherein V is the flight speed of the airplane, g is the gravity acceleration, and H is the flight height;

[0138] The horizontal displacement distance of the to-be-dropped object and the drop position in the flight dive drop mode is:

[0139]

[0140] wherein V is the flight speed of the airplane, g is the gravity acceleration, H is the flight height, and A1 is the angle between the airplane and the ground.

[0141] In summary, before the drop of the object, the appropriate drop mode can be selected according to the type of the to-be-dropped object and the model of the drop airplane, and the corresponding drop height and the angle of the landing gear at the time of drop can be set. During the flight, the flight information such as the flight height and the flight speed of the airplane, and the information such as the state of the to-be-dropped object and the attitude of the airplane can be output in real time through the display module by the program control in the second main processor. The actual drop position can be calculated and output according to the pre-set drop height, speed and angle of the landing gear, and whether the drop condition is met can be judged by comparison with the current position, so as to achieve the purpose of accurate drop.

[0142] Those skilled in the art can understand that all or part of the processes in the above embodiments can be completed by a computer program instructing the relevant hardware, and the program can be stored in a computer readable storage medium, such as a magnetic disk, an optical disk, a read-only memory or a random access memory.

[0143] The above description is only the preferred embodiment of the present application, and the protection scope of the present application is not limited thereto. Any changes or replacements within the technical scope disclosed by the present application can be easily thought by those skilled in the art, and should be covered within the protection scope of the present application.

Claims

1. An aircraft release assist system, characterized by: The system comprises a delivery index detection system and a delivery state monitoring system; the delivery index detection system and the delivery state monitoring system communicate through wireless WIFI signals; The delivery index detection system is used to obtain delivery index detection data, which includes the type, quantity and in-place information of the to-be-delivered goods, the lowering and recovery angle information of the delivery port landing gear, and the attitude, speed and position information of the airplane; and the delivery index detection data is sent to the delivery state monitoring system; the delivery index detection system comprises a first main processor, an Ethernet-to-wireless WIFI module, a to-be-delivered goods detection module, a video detection module, a landing gear detection module and an airplane attitude detection module; the to-be-delivered goods detection module comprises a weighing sensor, a signal speed changer, an analog-to-digital conversion chip and a level conversion chip; the landing gear detection module comprises an angle sensor, an analog-to-digital conversion chip and a level conversion chip; the airplane attitude detection module comprises an IMU-inertial measurement unit; The weight of the to-be-delivered goods is detected through the to-be-delivered goods detection module, the type and quantity of the to-be-delivered goods are detected through the video detection module, and the in-place information is obtained according to the weight, type and quantity information of the to-be-delivered goods; the lowering and recovery angle of the delivery port landing gear is detected through the landing gear detection module; The three-axis acceleration and three-axis attitude angle of the airplane are detected through the airplane attitude detection module to obtain the attitude, speed and position information of the airplane; The delivery state monitoring system is used to pre-set delivery parameters and calculate the airplane delivery position parameters according to the pre-set parameters; compare the received delivery index detection data with the pre-set delivery parameters and the airplane delivery position parameters, judge whether the delivery condition is met and display the judgment result through a display module; the pre-set delivery parameters include selecting an airplane delivery mode, setting to-be-delivered goods information, to-be-delivered goods drop site, airplane delivery height, speed and landing gear angle parameters; The airplane delivery mode includes a hovering horizontal delivery mode, a flying horizontal delivery mode and a flying diving delivery mode; According to the pre-set airplane delivery height, speed and landing gear angle parameters, the horizontal distance between the delivery position and the drop site is calculated by the following formula: In the hovering horizontal delivery mode: In the flying horizontal delivery mode: In the flying diving delivery mode: Wherein, S is the horizontal distance between the delivery position and the drop site, A is the angle between the landing gear and the ground, V is the flight speed of the airplane, g is the acceleration of gravity, H is the flight height of the airplane, A1 is the angle between the airplane and the ground, and L is the length of the landing gear; The delivery condition is determined based on the horizontal distance between the delivery position and the drop site to perform accurate delivery.

2. An aircraft delivery assistance system according to claim 1, characterised in that, The weighing sensor is fixedly installed on the landing gear of the cabin drop port, converts the weight of the to-be-dropped object into a corresponding voltage signal, and sends the voltage signal to the signal transducer for amplification; the voltage signal after amplification is sent to the analog-digital conversion chip for analog-digital conversion and then to the level conversion chip for level conversion; The level conversion chip sends the voltage signal after level conversion to the first main processor, and the first main processor processes the voltage signal to obtain the weight of the to-be-dropped object.

3. An aircraft delivery assistance system according to claim 1, wherein, The angle sensor is fixedly installed on the landing gear of the cabin drop port, converts the angle of the landing gear of the drop port of the aircraft into a corresponding voltage signal, and sends the voltage signal to the analog-digital conversion chip for analog-digital conversion and then to the level conversion chip for level conversion; The voltage signal after level conversion is sent to the first main processor, and the first main processor processes the voltage signal to obtain the folding and unfolding angle of the landing gear of the drop port of the aircraft.

4. The aircraft delivery aid system of claim 1, wherein, The IMU-inertial measurement unit is fixedly installed on the top of the aircraft, and the three-axis attitude angle and acceleration detected through the SPI interface are sent to the first main processor, and the first main processor calculates the flight speed and position information of the aircraft according to the three-axis attitude angle and acceleration; and judges the flight attitude of the aircraft, and if it is an abnormal attitude, an alarm is given.

5. The aircraft delivery assistance system of claim 1, wherein, The video detection module is used to obtain the picture image inside the cabin; including a camera and an HDMI receiver; the camera is fixedly installed on the top of the aircraft, and the HDMI receiver converts the image detected by the camera into a digital signal and sends it to the first main processor for processing, which is used to identify the type and quantity of the to-be-dropped object.

6. An aircraft delivery assistance system according to claim 5, wherein, The type and quantity of the to-be-dropped object are identified, including the following steps: Obtain the picture image inside the cabin through the camera; Image processing is performed on the picture image inside the cabin through image enhancement, image restoration, image coding and compression, and image segmentation; Use HOG feature extraction method to extract the key features of the image; use Bayes method of probability statistics to design the classifier, and perform image recognition classification according to the extracted key features of the image.

7. A method of precision delivery of an aircraft using the aircraft delivery aid system of claim 1, wherein, Including the following steps: Select the aircraft drop mode and set the drop parameters; the drop parameters include: to-be-dropped object information, to-be-dropped object drop site, and aircraft drop height, speed and landing gear angle; Detect the type, quantity and whether in place of the to-be-dropped object, the lowering and recovery angle of the drop port landing gear and the aircraft attitude information through the drop index detection system to obtain drop index detection data; Send the drop index detection data to the drop state monitoring system through the Ethernet to wireless WiFi module; Compare the received drop index detection data with the pre-selected drop mode and the pre-set drop parameters through the drop state monitoring system to determine whether the drop conditions are met, and display the determination result through the display module; the drop mode includes: suspended horizontal drop mode, flight horizontal drop mode and flight diving drop mode; The dropping position of the aircraft is determined by the following formula: In the hovering horizontal dropping mode: In the flying horizontal dropping mode: In the flying diving dropping mode: Wherein, S is the horizontal distance between the dropping position and the landing site, A is the angle between the landing gear and the ground, V is the flight speed of the aircraft, g is the acceleration of gravity, H is the flight height of the aircraft, A1 is the angle between the aircraft and the ground, and L is the length of the landing gear; The dropping position is determined based on the horizontal distance between the dropping position and the landing site to determine whether the dropping position meets the dropping condition; If the dropping condition is met, the to-be-dropped object is dropped, and the dropping port landing gear is recovered after dropping; The dropping indicator detection system is used to detect whether the to-be-dropped object is in place and the lowering and recovery angle of the dropping port landing gear; if the angle of the landing gear is 0° and the to-be-dropped object is not in place, it is judged that the dropping is completed.

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