CN111055990A - Method for completing dynamic mooring control of airship by using unmanned aerial vehicle - Google Patents
Method for completing dynamic mooring control of airship by using unmanned aerial vehicle Download PDFInfo
- Publication number
- CN111055990A CN111055990A CN201911291324.4A CN201911291324A CN111055990A CN 111055990 A CN111055990 A CN 111055990A CN 201911291324 A CN201911291324 A CN 201911291324A CN 111055990 A CN111055990 A CN 111055990A
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- China
- Prior art keywords
- airship
- aerial vehicle
- unmanned aerial
- butt joint
- hard
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- 238000000034 method Methods 0.000 title claims abstract description 19
- 210000001503 joint Anatomy 0.000 claims abstract description 19
- 239000000523 sample Substances 0.000 claims abstract description 12
- 238000013459 approach Methods 0.000 claims abstract description 8
- 239000000725 suspension Substances 0.000 claims description 3
- 240000002853 Nelumbo nucifera Species 0.000 claims description 2
- 235000006508 Nelumbo nucifera Nutrition 0.000 claims description 2
- 235000006510 Nelumbo pentapetala Nutrition 0.000 claims description 2
- 238000003032 molecular docking Methods 0.000 description 11
- 238000011161 development Methods 0.000 description 3
- 239000000446 fuel Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/66—Mooring attachments
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of airship and unmanned aerial vehicle control, and particularly relates to a method for completing dynamic mooring control on an airship by using an unmanned aerial vehicle. The method comprises the following steps: the method comprises the following steps: lifting off an airship in a conventional manner and suspending the airship in a non-mission airspace, wherein the airship is mainly a hard airship or a semi-hard airship; step two: the unmanned aerial vehicle is lifted off and flies in a maneuvering mode to approach the airship; step three: the unmanned aerial vehicle approaches to the airship in a hovering mode and is in butt joint with a butt joint probe on the airship through a joint capturer to form a temporary airship and unmanned aerial vehicle combination; step four: the unmanned aerial vehicle drags the airship to implement air maneuver according to the planned route. The invention can provide the required external power source for the airship by the aerial butt joint of the unmanned aerial vehicle and the airship under the condition of not changing the effective load state of the airship. Under the dragging of the unmanned aerial vehicle, the airship can be maneuvered and accurately positioned in the air. The remote range or the long-range maneuvering of the airship can be realized through relay dragging of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of control of an airship and an unmanned aerial vehicle, and particularly relates to the field of a dynamic mooring control method of the airship.
Background
With the continuous development of modern technology, the airship, once a brilliant aircraft, again walks into the line of sight of human beings, gaining favor. However, the inherent defects of the airship still restrict the development and application of the airship. Particularly in the field of airship dynamic mooring control, unpowered airships cannot be dynamically moored for control; with a powered airship, the payload of the airship may be reduced due to the total amount of the power plant itself. Meanwhile, the flight is also limited by the fuel quantity carried by the aircraft. The development of modern unmanned aerial vehicle technology provides an effective way for solving the contradiction.
An airship suspending in sub-space as a relay node for communication or as a regional monitoring platform is an area being explored, but the accurate positioning of the airship is a problem which is not solved effectively so far.
Disclosure of Invention
The purpose of the invention is as follows: the method for controlling the dynamic mooring of the airship by the unmanned aerial vehicle is provided, so that the airship suspended in the air can be dynamically moved in the air for mooring and accurate positioning control through butt joint with the unmanned aerial vehicle and under the dragging of the unmanned aerial vehicle.
The technical scheme is as follows: a method for completing dynamic mooring control of an airship by using an unmanned aerial vehicle comprises the following steps:
the method comprises the following steps: lifting off an airship in a conventional manner and suspending the airship in a non-mission airspace, wherein the airship is mainly a hard airship or a semi-hard airship;
step two: the unmanned aerial vehicle is lifted off and flies in a maneuvering mode to approach the airship;
step three: the unmanned aerial vehicle approaches to the airship in a hovering mode and is in butt joint with a butt joint probe on the airship through a butt joint capturer to form a temporary airship and unmanned aerial vehicle combination;
step four: the unmanned aerial vehicle drags the airship to implement air maneuver according to the planned route.
Further, in the first step, the airship can be in an air suspension state, and the working position needs to be calibrated or replaced.
Further, the catching device is a hard butt joint device, is an openable and closable mechanical device simulating lotus petal shape, and is installed on the unmanned aerial vehicle.
Furthermore, the docking probes are installed on an airship, a plurality of docking probes can be installed on the airship, and the specific number needs to be set according to the specific requirements of the airship.
Further, multiple drones can be docked at the same time on one airship.
The invention has the beneficial effects that: the invention can provide the required external power source for the airship by the aerial butt joint of the unmanned aerial vehicle and the airship under the condition of not changing the effective load state of the airship. Under the dragging of the unmanned aerial vehicle, the airship can be maneuvered and accurately positioned in the air. And the remote range or long-range maneuvering of the airship can be realized by relay dragging of the unmanned aerial vehicle.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention are described in more detail below. The same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The following examples are illustrative and are not to be construed as limiting the invention
The invention relates to a method for completing dynamic mooring control of an airship by using an unmanned aerial vehicle, which comprises the following steps: the system comprises an unmanned aerial vehicle, an airship, a docking device, a docking capturer and a docking probe;
the airship is mainly a hard or semi-hard airship or a soft airship with a hard hanging basket;
in the embodiment, the airship is a load aerostat, and the mounting task load is suspended in a task airspace;
the unmanned aerial vehicle is a type with hovering capability;
in the embodiment, the unmanned aerial vehicle is used as an external power source for the air maneuvering of the airship;
the docking device is divided into a docking catcher and a docking probe;
in this embodiment, the docking capturer is mounted on the unmanned aerial vehicle;
in the embodiment, the docking probes are installed on the airship, a plurality of docking probes can be installed on the airship, and the specific number needs to be set according to the specific requirements of the airship;
in the specific implementation, the method comprises the flow steps of the unmanned aerial vehicle and the airship, such as lift-off, air butt joint, mobile dragging, unmanned aerial vehicle unlocking and return voyage and the like;
in the embodiment, the airship is lifted off in a conventional manner and suspended in a non-mission airspace;
in the embodiment, when the airship needs to move, the unmanned aerial vehicle is lifted off and flies to approach the airship in a maneuvering manner;
in the embodiment, the unmanned aerial vehicle approaches to the airship in a hovering mode and is in butt joint with the butt joint probe on the airship through the butt joint capturer to form a temporary airship and unmanned aerial vehicle combination;
in the embodiment, the unmanned aerial vehicle drags the airship to implement air maneuvering according to the planned route;
after the airship is dragged to a task airspace and accurately positioned, the unmanned aerial vehicle completes aerial maneuvering, the butt joint with the airship is removed, the airship is returned and recovered, and the airship keeps a suspension state at a new mooring position.
A uses the unmanned aerial vehicle to finish the dynamic mooring control method to the airship, make full use of the advantage of unmanned aerial vehicle and airship respectively, can keep the powerful lift-off ability and long-term retention aerial performance of the airship, can obtain the maneuvering ability needed when the airborne maneuvers and pinpoints through the unmanned aerial vehicle; when the airship needs to be mechanically tethered in the air, the unmanned aerial vehicle provides power for the maneuvering in the air, and the airship is dragged to finish moving in the air until a new mooring space is reached; the long-range or long-term movement of the airship can be achieved through relay towing of the unmanned aerial vehicle (the unmanned aerial vehicle with the fuel consumed completely is replaced by the unmanned aerial vehicle with the fuel sufficient), and the payload of the airship does not need to be changed.
Claims (5)
1. A method for controlling dynamic mooring of an airship by using an unmanned aerial vehicle is characterized in that: the method comprises the following steps:
the method comprises the following steps: lifting off an airship in a conventional manner and suspending the airship in a non-mission airspace, wherein the airship is mainly a hard airship or a semi-hard airship;
step two: the unmanned aerial vehicle is lifted off and flies in a maneuvering mode to approach the airship;
step three: the unmanned aerial vehicle approaches to the airship in a hovering mode and is in butt joint with a butt joint probe on the airship through a joint capturer to form a temporary airship and unmanned aerial vehicle combination;
step four: the unmanned aerial vehicle drags the airship to implement air maneuver according to the planned route.
2. The method of claim 1 for performing dynamic mooring control of an airship using a drone, wherein: in the first step, the airship can be in an air suspension state, and the working position needs to be calibrated or replaced.
3. The method of claim 1 for performing dynamic mooring control of an airship using a drone, wherein: the catching device in the third step is a hard butt joint device, is a mechanical device which can be opened and closed in the shape of a lotus petal shape and is installed on the unmanned aerial vehicle.
4. The method of claim 1 for performing dynamic mooring control of an airship using a drone, wherein: the butt joint probes are installed on an airship, a plurality of butt joint probes are installed on the airship, and the specific number needs to be set according to the specific requirements of the airship.
5. The method of claim 1 for performing dynamic mooring control of an airship using a drone, wherein: the unmanned aerial vehicle quantity is many.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911291324.4A CN111055990A (en) | 2019-12-17 | 2019-12-17 | Method for completing dynamic mooring control of airship by using unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911291324.4A CN111055990A (en) | 2019-12-17 | 2019-12-17 | Method for completing dynamic mooring control of airship by using unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111055990A true CN111055990A (en) | 2020-04-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911291324.4A Pending CN111055990A (en) | 2019-12-17 | 2019-12-17 | Method for completing dynamic mooring control of airship by using unmanned aerial vehicle |
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| Country | Link |
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| CN (1) | CN111055990A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113238265A (en) * | 2021-05-10 | 2021-08-10 | 杭州星辰大海科技有限公司 | Unmanned aerial vehicle capturing system and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE614036C (en) * | 1932-05-25 | 1935-12-09 | Ernst Blochmann | Air tow with a tug and one or more trailers |
| DE10155993A1 (en) * | 2001-11-15 | 2003-06-05 | Lesniak Jan | Transporting goods by airships involves lifting goods with airship, connecting airship to independent flying object, and exerting traction or pushing forces with non-zero horizontal component |
| CN2837161Y (en) * | 2005-11-26 | 2006-11-15 | 王秋夏 | Traction type electric airship |
| US20080179453A1 (en) * | 2007-01-26 | 2008-07-31 | Thompson Mark N | Modular airship system and method |
| CN108032985A (en) * | 2017-12-05 | 2018-05-15 | 哈尔滨工程大学 | Kite balloon airship system based on the comprehensive monitoring of marine desired target area |
| CN110422341A (en) * | 2019-07-31 | 2019-11-08 | 南京航空航天大学 | A kind of Marsokhod kite balloon airship system and its working method for mars exploration |
-
2019
- 2019-12-17 CN CN201911291324.4A patent/CN111055990A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE614036C (en) * | 1932-05-25 | 1935-12-09 | Ernst Blochmann | Air tow with a tug and one or more trailers |
| DE10155993A1 (en) * | 2001-11-15 | 2003-06-05 | Lesniak Jan | Transporting goods by airships involves lifting goods with airship, connecting airship to independent flying object, and exerting traction or pushing forces with non-zero horizontal component |
| CN2837161Y (en) * | 2005-11-26 | 2006-11-15 | 王秋夏 | Traction type electric airship |
| US20080179453A1 (en) * | 2007-01-26 | 2008-07-31 | Thompson Mark N | Modular airship system and method |
| CN108032985A (en) * | 2017-12-05 | 2018-05-15 | 哈尔滨工程大学 | Kite balloon airship system based on the comprehensive monitoring of marine desired target area |
| CN110422341A (en) * | 2019-07-31 | 2019-11-08 | 南京航空航天大学 | A kind of Marsokhod kite balloon airship system and its working method for mars exploration |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113238265A (en) * | 2021-05-10 | 2021-08-10 | 杭州星辰大海科技有限公司 | Unmanned aerial vehicle capturing system and method |
| CN113238265B (en) * | 2021-05-10 | 2024-04-09 | 杭州星辰大海科技有限公司 | Unmanned aerial vehicle capturing system and method |
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Application publication date: 20200424 |
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