CN112124612A - Large airship transferring and flying method based on AGV array - Google Patents
Large airship transferring and flying method based on AGV array Download PDFInfo
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- CN112124612A CN112124612A CN202010983907.XA CN202010983907A CN112124612A CN 112124612 A CN112124612 A CN 112124612A CN 202010983907 A CN202010983907 A CN 202010983907A CN 112124612 A CN112124612 A CN 112124612A
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 239000011159 matrix material Substances 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 7
- 238000004873 anchoring Methods 0.000 claims abstract description 5
- 230000001360 synchronised effect Effects 0.000 claims abstract description 4
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 description 6
- 239000000969 carrier Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 2
- 239000002775 capsule Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
- B64F1/10—Ground or aircraft-carrier-deck installations for launching aircraft using self-propelled vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/223—Ground or aircraft-carrier-deck installations for handling aircraft for towing aircraft
- B64F1/225—Vehicles specially adapted therefor, e.g. aircraft tow tractors
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention belongs to the technical field of large-scale airships, and provides a method for transferring and flying a large-scale airship based on an AGV (automatic guided vehicle) array, wherein a plurality of AGV dollies form the AGV array capable of synchronously moving according to the airship pattern; when the AGV trolleys form a train array to move integrally, one AGV trolley is taken as a reference, the distance between each other AGV trolley and the adjacent AGV trolley is monitored simultaneously, the distance between each AGV trolley and the adjacent AGV trolley is kept unchanged in the running process of the AGV train array, a threshold value is set in a control program of the AGV trolleys, and the speed of the AGV trolleys is fed back to be adjusted in real time, so that all the AGV trolleys keep synchronous movement; inflating the airship and anchoring the airship on the AGV matrix; the AGV vehicle array automatically runs along a guide route, and carries the airship to run out of the airship storehouse; and the AGV matrix pulls the airship to a proper position to complete the distribution of the airship. The invention can realize the rapid, stable and safe transfer and flying of different types of airships.
Description
Technical Field
The invention belongs to the technical field of large-scale airships, and particularly relates to a method for transferring and flying a large-scale airship based on an AGV matrix.
Background
In recent years, with the continuous improvement of flight indexes and the continuous expansion of application occasions of stratospheric airships, the volume of an airship capsule is increased along with the continuous increase of carrying load, the inertia characteristic is more obvious, and the airships are extremely easily influenced by ground wind in the transferring process and bear the influence of various factors such as wind field turbulence, ground crosswind, wind field sudden change and the like. Therefore, the main distribution mode of the existing large airship is to firstly complete assembly and inflation in the airship warehouse and then to finish flying by using the transfer system to pull the airship out of the warehouse.
According to the moving mode of a transfer system, the transfer and flying method of the existing large airship mainly comprises two main types: one type is vehicle-mounted transfer and flying. However, the vehicle-mounted transfer flying needs to manually control the traveling direction of the vehicle carriers, and particularly when the airship is pulled by a plurality of vehicle carriers, the synchronism of all the vehicle carriers must be ensured so as to avoid the structural damage of the airship caused by the asynchronism of the vehicle carriers; in addition, when one vehicle is used for towing the airship to transport, the vehicle is required to have larger space size and weight, and the requirements on the structural strength and the stability of the whole vehicle are higher;
the other is an orbital transfer fly-off. However, the rail type transfer and release needs to construct a transfer rail between the boat warehouse and the release point, the construction cost is high, the airship transfer can only travel along the rail direction, and the transfer and release requirement under a specific wind direction cannot be met.
With the continuous increase of the volume of the airship, the limitation of the existing flying method is remarkable, so that the flying requirement of higher standards and more flexibility cannot be met, and a new flying method of a large airship needs to be researched to adapt to the continuous increase of airship capsules to smoothly complete flying.
Disclosure of Invention
The invention aims to solve the technical problem of airship structure damage caused by asynchronism in the process of transporting a large airship towed by a plurality of vehicle carriers.
In order to solve the technical problems, a large airship transferring and flying method based on an AGV (Automatic Guided Vehicle) array is provided, and the technical scheme is as follows:
step one, forming an AGV array capable of moving synchronously by a plurality of AGV trolleys according to the airship pattern;
when the AGV trolleys form a train array to move integrally, one AGV trolley is taken as a reference, the distance between each other AGV trolley and the adjacent AGV trolley is monitored simultaneously, the distance between each AGV trolley and the adjacent AGV trolley is kept unchanged in the running process of the AGV train array, a threshold value is set in a control program of the AGV trolleys, and the speed of the AGV trolleys is fed back to be adjusted in real time, so that all the AGV trolleys keep synchronous movement;
inflating the airship and then anchoring the airship on the AGV matrix;
each AGV trolley is provided with a mooring device, one end of a cable is connected with the mooring device on the AGV trolley, and the other end of the cable is connected with a pull tab on the airship, so that the airship is anchored on the AGV array;
further, a cabin is built, and a transfer road special for the airship is arranged in the cabin and used for inflating and transferring the airship.
Step three, the AGV vehicle array automatically runs along a guide route, and carries the airship to run out of the airship storehouse;
each AGV is provided with an electromagnetic or optical automatic guiding device and the like, and automatically runs according to a set guiding route;
and step four, the AGV array pulls the airship to a proper position to complete the distribution of the airship.
The invention has the beneficial effects that:
1) compared with a vehicle-mounted airship releasing method, the large-scale airship transferring and releasing method based on the AGV has the advantages that the AGV array formed by the AGV dollies is high in adjusting efficiency and strong in synchronism, effectively solves the problem that the vehicle-mounted airship releasing method is difficult to synchronize and easily causes damage to an airship structure, is safe and controllable, and has high reliability; the transfer system formed by modularly combining a plurality of vehicle carriers can realize rapid, stable and safe transfer and flying of different types of airships.
2) AGV arrays with various sizes can be formed by cooperatively controlling the AGV dollies, and the distance between the AGV dollies can be flexibly adjusted, so that the transferring and flying requirements of different types of airships can be met;
3) the automatic running of a large airship transferring system can be realized, manual operation links are reduced, and the probability of manual operation errors is reduced;
drawings
FIG. 1 is a schematic diagram of an AGV matrix formed in a mooring area by AGV dollies in embodiment 1;
FIG. 2 is a schematic diagram illustrating the transfer of an airship carried by an AGV array in embodiment 1;
fig. 3 is a schematic diagram of the airship flying off the AGV array in example 1.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
AGVs are acronyms of Automatic Guided vehicles (automated Guided vehicles), and refer to transport vehicles equipped with an electromagnetic or optical Automatic guide device, which can travel along a predetermined guide route, and having a Vehicle traveling and stopping device, a safety protection device, and various transfer functions. The material handling device has good adaptability to the working environment, can fully utilize the space of the working environment, relatively easily change the operation line, and has flexible material handling capability.
The method mainly includes the following steps that a plurality of AGV dollies are aggregated to form an AGV car array, namely the AGV dollies form the AGV car array after receiving instructions, mooring devices are arranged on the AGV dollies on the two sides and the front end and the rear end of the AGV dollies, and the mooring devices are connected with an airship through cables to realize the anchoring of the airship; an operation surface can be installed on an AGV trolley in the middle of an AGV array and is used for supporting a pod or a tail part of an airship. One vehicle in the vehicle array serves as a lead vehicle, and a system control computer on the lead vehicle generates a virtual and movable virtual formation diagram according to a preset array interval and an instruction sent by an external control center; a system control computer on the lead vehicle collects real-time positioning information of each trolley in the formation through a data chain, calculates the deviation between the actual position of each trolley and the position of each trolley in the virtual formation diagram, and sends the deviation value to all corresponding vehicles in the formation; and finely adjusting the speed of the whole vehicle according to the position deviation value sent by the lead vehicle by the vehicle controller of each small vehicle to enable the actual position of the vehicle to be approximately coincident with the virtual position.
The AGV train array is unmanned in the advancing process, an automatic tracking technology is adopted, and a tracking sensor arranged on a leading train detects the position of the leading train to obtain the position deviation and the oblique angle between the leading train and a road. The master controller automatically corrects according to the parameters and the task requirements, so that accurate and automatic running is realized.
The AGV array in the method can automatically complete the functions of array formation, forward moving, backward moving, turning, transverse moving and the like according to the instructions.
The invention comprises the following steps:
step one, forming an AGV array capable of moving synchronously by a plurality of AGV trolleys according to the airship pattern;
when the AGV trolleys form a train array to move integrally, one AGV trolley is taken as a reference, the distance between each other AGV trolley and the adjacent AGV trolley is monitored simultaneously, the distance between each AGV trolley and the adjacent AGV trolley is kept unchanged in the running process of the AGV train array, a threshold value is set in a control program of the AGV trolleys, and the speed of the AGV trolleys is fed back to be adjusted in real time, so that all the AGV trolleys keep synchronous movement;
each AGV dolly all is equipped with range unit, and range unit contains leading camera and rear camera for discernment advances and retreat in-process road surface guidance route position and discernment road sign. And each trolley is provided with a laser radar for monitoring the distance between the adjacent trolley and the front trolley in real time. The front wheel and the rear wheel of the trolley are integrally controlled by power and steering, the driving motor is used for providing power to adjust the distance between the front wheel and the rear wheel, and the steering motor is used for adjusting the angle of the trolley body to ensure that the central axis of the trolley coincides with the guide route.
Inflating the airship and then anchoring the airship on the AGV matrix;
aerify for the airship, herein aerify and realize transporting for the airship better, can build the hangar, also provide the place for parking and maintaining of AGV dolly simultaneously, the AGV dolly neatly arranges and stops in the hangar, aerifys for the equipment of airship in the hangar and has reserved sufficient space, has also avoided the influence that weather factor aerifys the cause to the airship simultaneously. And a special transfer road for the airship is arranged in the airship warehouse, so that a guide line is convenient to arrange, and the AGV trolley can recognize and track. Under the condition of having a special transfer road for the boat depot and the airship, the method can obtain better benefits
Each AGV trolley is provided with a mooring device, one end of a cable is connected with the mooring device on the AGV trolley, and the other end of the cable is connected with a pull tab on the airship, so that the airship is anchored on the AGV array;
the AGV trolley is provided with an interface for installing the mooring device, and the mooring device is installed on the trolley needing to be arranged with mooring points according to the form of the train array. The mooring device is internally provided with a winch, and the mooring height of the airship can be adjusted by winding and unwinding the cable through the winch.
Step three, the AGV vehicle array automatically runs along a guide route, and carries the airship to run out of the airship storehouse;
each AGV is provided with an electromagnetic or optical automatic guiding device and the like, and automatically runs according to a set guiding route;
the automatic guidance of the train array is realized by adopting a tracking technology, guiding routes are preset in the submarine depot and on roads outside the submarine, tracking sensors on the trolleys are used for identifying, the relative position information of the trolleys and a guiding line is obtained, a master control system calculates the deviation between the actual position of each trolley and the position of each trolley in a preset virtual array chart according to the information transmitted back by each trolley, and the deviation value is transmitted and fed back to each trolley; and finely adjusting the speed of each trolley according to the position deviation value sent by the control system to ensure that the actual position of each trolley tends to coincide with the virtual position, and finally ensuring that all trolleys in the array formation move at a stable equal interval. The master control system can automatically correct according to the parameters, thereby realizing accurate and automatic driving.
And step four, the AGV array pulls the airship to a proper position to complete the distribution of the airship.
Example 1
As shown in fig. 1-3, the type of airship delivered in this example is a large blimp, and the array of AGVs consists of 9 AGVs in three rows. The invention is implemented as follows:
1) the AGV stays in the parking area for waiting;
2) determining an AGV matrix form according to the type of a large airship to be transferred, sending a mooring standby command to each AGV through a control system, and automatically driving the AGV dollies from No. 1 to No. 9 to specified positions of a mooring area along a preset guide line according to the preset matrix form to form the AGV matrix;
3) the assembled and inflated airship is tied on the AGV matrix, an 'advancing' command is sent to the AGV matrix, a reference vehicle in the AGV matrix advances along a guide route at a specified speed, the other AGV vehicles advance along the guide route, the speed of the other AGV vehicles is automatically adjusted, and the airship is carried to be transported;
4) the method comprises the following steps that an AGV array pulls an airship to a preset flying point according to a specified route, connection between the airship and the AGV array is removed, and the airship flies;
5) after the airship flies, sending a 'return flight' command to an AGV array, and returning the AGV array to the mooring area along a guide route for parking;
6) and returning all the AGV trolleys to each station of the parking area for charging, maintaining and the like.
Claims (2)
1. A large airship transferring and flying method based on an AGV array is characterized by comprising the following steps:
step 1, forming an AGV array capable of moving synchronously by a plurality of AGV trolleys according to the airship pattern;
when the AGV trolleys form a train array to move integrally, one AGV trolley is taken as a reference, the distance between each other AGV trolley and the adjacent AGV trolley is monitored simultaneously, the distance between each AGV trolley and the adjacent AGV trolley is kept unchanged in the running process of the AGV train array, a threshold value is set in a control program of the AGV trolleys, and the speed of the AGV trolleys is fed back to be adjusted in real time, so that all the AGV trolleys keep synchronous movement;
step 2, inflating an airship and anchoring the airship on an AGV matrix;
each AGV trolley is provided with a mooring device, one end of a cable is connected with the mooring device on the AGV trolley, and the other end of the cable is connected with a pull tab on the airship, so that the airship is anchored on the AGV array;
step 3, the AGV vehicle array automatically runs along a guide route, and carries the airship to run out of the airship storehouse;
each AGV is provided with an electromagnetic or optical automatic guiding device and the like, and automatically runs according to a set guiding route;
and 4, dragging the airship to a proper position by the AGV array to complete the issuing of the airship.
2. The AGV array-based large airship transferring and flying method according to claim 1, wherein in the step 2, a boat depot is built, and a transfer road dedicated to the airship is arranged in the boat depot, so that the airship is more conveniently inflated and transferred.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010983907.XA CN112124612A (en) | 2020-09-18 | 2020-09-18 | Large airship transferring and flying method based on AGV array |
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| CN202010983907.XA CN112124612A (en) | 2020-09-18 | 2020-09-18 | Large airship transferring and flying method based on AGV array |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112896365A (en) * | 2021-02-20 | 2021-06-04 | 北京卫星制造厂有限公司 | Multi-agent reconstruction assembly and multi-degree-of-freedom posture adjusting system |
| CN114572898A (en) * | 2022-04-12 | 2022-06-03 | 天津航天机电设备研究所 | AGV transfer car (automatic guided vehicle) and multi-car flexible linkage system |
| CN115268347A (en) * | 2022-09-28 | 2022-11-01 | 山西航天清华装备有限责任公司 | Remote control transfer trolley and control system and method thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112896365A (en) * | 2021-02-20 | 2021-06-04 | 北京卫星制造厂有限公司 | Multi-agent reconstruction assembly and multi-degree-of-freedom posture adjusting system |
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Application publication date: 20201225 |