CN112650302A

CN112650302A - Autonomous coordinated transportation system and method for fixed-wing unmanned aerial vehicle and rotor unmanned aerial vehicle

Info

Publication number: CN112650302A
Application number: CN202110038251.9A
Authority: CN
Inventors: 李旭东; 贾圣德
Original assignee: National University of Defense Technology
Current assignee: National University of Defense Technology
Priority date: 2021-01-12
Filing date: 2021-01-12
Publication date: 2021-04-13

Abstract

The invention provides an autonomous cooperative transportation system and method of a fixed-wing unmanned aerial vehicle and a rotor unmanned aerial vehicle, which comprises the fixed-wing unmanned aerial vehicle, the rotor unmanned aerial vehicle and a ground station, wherein the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle are connected with the ground station through a communication module; the fixed wing unmanned aerial vehicle is used for long-distance cargo transportation and is used for cooperatively transferring cargo with the rotor unmanned aerial vehicle in the air; the rotor unmanned aerial vehicle is used for transferring goods from the ground to the air and transferring the goods to the fixed-wing unmanned aerial vehicle or transferring the goods carried by the fixed-wing unmanned aerial vehicle to the ground; ground station and fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle communication are responsible for providing air route planning, cooperative control and information monitoring function for fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle. After the fixed-wing unmanned aerial vehicle reaches a designated airspace, the ground station controls the rotor unmanned aerial vehicle to lift and butt, the cargo transfer operation is completed in the double-machine cooperative stable flight process, and the rapid cargo transfer work under the condition of complex terrain can be realized.

Description

Autonomous coordinated transportation system and method for fixed-wing unmanned aerial vehicle and rotor unmanned aerial vehicle

Technical Field

The invention relates to the technical field of autonomous and cooperative control of unmanned aerial vehicles, in particular to an autonomous cooperative transportation system and method of a fixed-wing unmanned aerial vehicle and a rotor unmanned aerial vehicle.

Background

With the opening of low-altitude airspace in China, the domestic unmanned aerial vehicle industry enters a period of high-speed development. The multi-rotor unmanned aerial vehicle has the advantages of small size, vertical take-off and landing, hovering in the air, omnidirectional flight and the like, is simple and feasible in position switching and fixing, can carry articles with certain weight, has the characteristics of low cost, simplicity in operation, safety in operation and the like, is suitable for carrying out tasks such as transportation, monitoring, investigation and the like at low altitude, and is widely applied to multiple fields such as military, civil and scientific research.

The fixed wing unmanned aerial vehicle is commonly used for transportation and high-altitude investigation, has the advantages of fast speed, long range, strong loading capacity, stable flight and the like, and is controlled by the ailerons and the elevator, and the control method is simpler. The method is widely applied to the fields of military transportation, military investigation and civil aviation, and the related technology relates to a plurality of subject fields of aerodynamics, control science, mechanical design, computers, communication and the like.

Both multi-rotor unmanned aerial vehicles and fixed-wing unmanned aerial vehicles have wide development prospects, but have the defects difficult to overcome. Many rotor unmanned aerial vehicle duration is limited, can not fly for a long time, and lift is offset by power completely, and the conveying efficiency is low. The fixed wing unmanned aerial vehicle has long takeoff distance, wide wingspan and harsh takeoff conditions. At present, to the quick transportation technique in the city, all confine the mode that ground transportation is leading, there is one kind to take rotor unmanned aerial vehicle and intelligent car's transportation mode in coordination, and rotor unmanned aerial vehicle mainly is responsible for the last stage of delivering of express delivery as unmanned car's appurtenance, but its range of application is narrow, and the traveling of unmanned car is influenced by urban traffic, and the potential safety hazard is high, and efficiency is not high.

Disclosure of Invention

The invention provides an autonomous cooperative transportation system and method for a fixed wing unmanned aerial vehicle and a rotor unmanned aerial vehicle, and aims to solve the problem that the existing scheme for transferring goods by combining the unmanned aerial vehicle with other tools cannot solve the problem of fast transferring goods in complex environments such as cities. The invention realizes the autonomous coordinated transportation of the fixed wing unmanned aerial vehicle and the rotor unmanned aerial vehicle, and can more widely apply the remote delivery of the unmanned aerial vehicle to the rapid transfer of articles in cities, the delivery of military strategic materials and other conditions requiring article transfer.

In order to achieve the technical purpose, the technical scheme of the invention is as follows:

fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle independently transport system in coordination includes:

the rotor unmanned aerial vehicle is communicated with the ground station and the fixed-wing unmanned aerial vehicle, the position and speed information of the rotor unmanned aerial vehicle is sent to the ground station in real time, and the flight line and the working state of the rotor unmanned aerial vehicle are controlled by the ground station; the system is used for loading goods to be transported on the ground, transporting the goods from the ground to the air under the control of a ground station, identifying and approaching the fixed-wing unmanned aerial vehicle, and returning the goods to the ground after transferring the goods to the fixed-wing unmanned aerial vehicle, or/and identifying and approaching the fixed-wing unmanned aerial vehicle in the air under the control of the ground station, transferring the goods from the fixed-wing unmanned aerial vehicle to the rotor unmanned aerial vehicle, and transporting the goods to the ground by the rotor unmanned aerial vehicle;

the fixed-wing unmanned aerial vehicle is communicated with the ground station and the rotor unmanned aerial vehicle, the position and speed information of the fixed-wing unmanned aerial vehicle is sent to the ground station in real time, and the flight line and the working state of the fixed-wing unmanned aerial vehicle are controlled by the ground station; receiving goods sent by the rotor unmanned aerial vehicle in the air and transferring the goods to a designated place under the control of the ground station, or/and transferring the goods transferred from the designated place to the rotor unmanned aerial vehicle in the air under the control of the ground station;

ground station for receive the information that fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle returned, and carry out route planning and flight control to fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle, control rotor unmanned aerial vehicle takes off and is close fixed wing unmanned aerial vehicle, accomplish the goods switching when fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle stabilize the flight in coordination.

As a further limitation of the present invention, the rotary-wing drone includes a flight control module, an image acquisition module, an onboard computer, an onboard GPS module, an onboard communication module, and a cargo module. The image acquisition module is connected with an airborne computer, the airborne GPS module is connected with the flight control module, the airborne communication module and the cargo carrying module are all connected with the airborne computer, and the airborne computer is in communication connection with the ground station through the communication module;

the flight control module is used for controlling the unmanned aerial vehicle to fly according to the instruction of the airborne computer and simultaneously sending the flight information of the unmanned aerial vehicle to the airborne computer;

the image acquisition module is a portable camera with a holder, and the camera is installed at the bottom of the rotor unmanned aerial vehicle and used for acquiring images in a specified direction and sending the images to the airborne computer;

the airborne computer is used for controlling the work of the image acquisition module, the flight control module and the cargo carrying module, receiving information returned by the flight control module and image information acquired by the image acquisition module, analyzing and processing the information, issuing a flight instruction to the flight control module, controlling the cooperative stable flight of the rotor unmanned aerial vehicle and the fixed wing unmanned aerial vehicle, controlling the cargo carrying module to perform corresponding operation according to the instruction, and sending the received GPS information, the image information and the cargo carrying module information to the ground station through the airborne communication module;

the airborne GPS module is used for acquiring GPS information of the unmanned aerial vehicle in real time and sending the GPS information to the flight control module;

the airborne communication module is used for communicating with a ground station;

the cargo module for load the goods that need transport, and break away from goods and rotor unmanned aerial vehicle or link up goods and rotor unmanned aerial vehicle according to the instruction.

As a further limitation of the invention, the fixed-wing unmanned aerial vehicle comprises a flight control module, an airborne embedded module, an airborne GPS module, an airborne communication module and a cargo carrying module, wherein the flight control module is connected with the airborne GPS module, the flight control module, the airborne communication module and the cargo carrying module are connected with an airborne computer, and the airborne computer is in communication connection with a ground station through the airborne communication module;

the flight control module is used for controlling the fixed-wing unmanned aerial vehicle to fly according to the instruction of the airborne computer, and simultaneously sending the flight attitude information of the unmanned aerial vehicle and the information of the airborne GPS module to the airborne computer;

the airborne embedded module is used for analyzing an instruction from the ground station, controlling the normal work of a flight control module and a cargo carrying module of the unmanned aerial vehicle, receiving information of the flight control module and the cargo carrying module and sending the information to the ground station;

the cargo module is used for loading cargos delivered by the rotor unmanned aerial vehicle or cargos needing to be transferred to the rotor unmanned aerial vehicle.

As a further limitation of the present invention, the ground station includes a PC end, and the PC end is provided with a cooperative control module, a path planning module, a communication module and a supervision module; the communication module is connected with airborne communication modules of the fixed wing unmanned aerial vehicle and the rotor unmanned aerial vehicle;

the cooperative control module comprises a cooperative control module for the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle, is used for controlling flight routes and speeds of the fixed-wing unmanned aerial vehicle, is used for controlling take-off opportunities, flight routes and flight speeds of the rotor unmanned aerial vehicle, is used for controlling the opportunity of the cargo carrying module of the rotor unmanned aerial vehicle to break away from cargos, is used for controlling the opportunity of the fixed-wing unmanned aerial vehicle for receiving cargos, and is used for controlling a return route of the unmanned aerial vehicle after the cargos are handed over;

the path planning module is used for planning a flight route of the fixed-wing unmanned aerial vehicle in the cargo transferring process and cooperatively planning a flight route of the rotor unmanned aerial vehicle in butt joint with the fixed-wing unmanned aerial vehicle;

the communication module is used for realizing communication between the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle and the ground station, receiving flight states of the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle and sending a ground station control instruction and planned route information to the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle;

the supervision module comprises three parts, namely a fixed-wing unmanned aerial vehicle state information receiving and monitoring module, a rotor unmanned aerial vehicle state information receiving and monitoring module, and a flight path planning and control and man-machine interaction module for the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle.

As a further limitation of the invention, said onboard computer of the rotorcraft is implemented by Nvidia Jetson TX 2. As a further limitation of the invention, the onboard embedded module of the fixed wing drone is implemented by STM 32.

As a further limitation of the present invention, the airborne communication modules of the rotor unmanned aerial vehicle and the fixed-wing unmanned aerial vehicle are wireless 4G communication modules. The wireless 4G communication module is connected with the Nvidia Jetson TX2 or the STM32 to realize data receiving and transmitting. Wireless 4G communication module passes through forwarding of cloud ware, realizes rotor unmanned aerial vehicle, fixed wing unmanned aerial vehicle and ground satellite station's network deployment, and can realize fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle's directly linking under the necessary circumstances. The ground station receives the state information of the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle through the wireless 4G communication module, and sends a flight line and a control instruction to the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle.

The invention provides an autonomous coordinated transportation method for a fixed wing unmanned aerial vehicle and a rotor unmanned aerial vehicle, which comprises the following steps:

step 1: starting a ground station, a rotor unmanned aerial vehicle and a fixed-wing unmanned aerial vehicle;

step 2: judging the current task type, wherein the task type comprises transferring goods from the ground to the air and transferring goods from the air to the ground;

step 3, if the current task is to transfer goods from the ground to the air, loading the goods for the rotor unmanned aerial vehicle and sending a transfer demand to a ground station; controlling the fixed-wing unmanned aerial vehicle to enter a specified transfer route for flying, and waiting for a ground station instruction; the ground station receives the transfer requirement of the rotor unmanned aerial vehicle, searches for a fixed-wing unmanned aerial vehicle with a nearby air route meeting the current cargo transfer destination, and sends an instruction to guide the fixed-wing unmanned aerial vehicle to receive the cargo;

if the current task is to transfer goods from the air to the ground, keeping the rotor unmanned aerial vehicle in an idle state, and waiting for a control instruction of a ground station; the fixed wing unmanned aerial vehicle is about to enter an airspace needing to transfer goods, and sends a request for transferring to a ground station; the ground station receives a request of the fixed-wing unmanned aerial vehicle and starts the rotor unmanned aerial vehicle to prepare lift-off docking;

and 4, step 4: the method comprises the following steps that a path planning module of a ground station plans a flight path of a transfer cargo process for a fixed-wing unmanned aerial vehicle, uploads the flight path to the fixed-wing unmanned aerial vehicle, and sends a take-off instruction to a rotor unmanned aerial vehicle after a fixed wing flies to a proper position and enters a transfer cargo preparation state, and controls the rotor unmanned aerial vehicle to approach and identify a target fixed-wing unmanned aerial vehicle;

and 5: the rotor unmanned aerial vehicle identifies a target fixed-wing unmanned aerial vehicle and approaches the target fixed-wing unmanned aerial vehicle, moves to a position where the target fixed-wing unmanned aerial vehicle can realize cargo transfer relative to the fixed-wing unmanned aerial vehicle under the control of a cooperative stabilization module in an onboard computer of the rotor unmanned aerial vehicle, and then flies for a certain distance in cooperation with the fixed-wing unmanned aerial vehicle, the rotor unmanned aerial vehicle and the fixed-wing unmanned aerial vehicle are guaranteed to be relatively static during cooperative flight, and a cargo carrying module completes cooperative transfer operation of cargos during cooperative flight;

step 6: the ground station confirms that goods switching operation is accomplished, for fixed wing unmanned aerial vehicle planning route of returning a voyage, for rotor unmanned aerial vehicle planning route of returning a voyage, then uploads fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle respectively.

And 7: controlling the fixed-wing unmanned aerial vehicle to return to the original air route for continuous flight; and controlling the rotor unmanned aerial vehicle to return to the ground, waiting for continuously loading the goods, or unloading the goods transferred, and preparing for next transfer task.

As a further limitation of the present invention, the path planning scheme of the path planning module of the ground station in step 4 is determined based on analysis of a three-dimensional stereo environment around a place where the transportation activity occurs, and the main method thereof is as follows: and guiding the fixed-wing unmanned aerial vehicle to fly away from the original air route to a transfer cargo airspace, and finding a linear air route with enough length and safe height in a three-dimensional environment to serve as the air route for transferring the cargo between the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle.

As a further limitation of the present invention, the target targeted by the cooperative control module of the ground station in step 4 is mainly a rotorcraft, and the control scheme thereof is as follows: the performance of each item to rotor unmanned aerial vehicle assesses, calculate the maximum flight speed that rotor unmanned aerial vehicle can reach under the circumstances of carrying cargo, and real-time supervision fixed wing unmanned aerial vehicle's position and speed, through design rotor unmanned aerial vehicle's the time of taking off and flight path, make fixed wing unmanned aerial vehicle can be caught by rotor unmanned aerial vehicle's image acquisition module before the straight course that gets into step 4 route planning module planning, should guarantee rotor unmanned aerial vehicle in fixed wing unmanned aerial vehicle's top during the catch.

As a further limitation of the present invention, the cooperative control of the cooperative stabilization module in step 5 is a servo control method based on visual image recognition, and the scheme thereof is as follows: the method comprises the following steps that an image acquisition module of the rotor unmanned aerial vehicle acquires image information in a specified direction, transmits the image information to an onboard computer of the rotor unmanned aerial vehicle, and is processed by the onboard computer of the rotor unmanned aerial vehicle; the processing of the onboard computer of the rotor unmanned aerial vehicle is divided into two parts, the first part is used for identifying and approaching a target fixed-wing unmanned aerial vehicle, the target fixed-wing unmanned aerial vehicle is captured by an image acquisition module of the rotor unmanned aerial vehicle, the onboard computer of the rotor unmanned aerial vehicle processes images to obtain the distance between the target fixed-wing unmanned aerial vehicle and the direction in which the target fixed-wing unmanned aerial vehicle is located, the rotor unmanned aerial vehicle is controlled to fly through a PID algorithm, the distance between the rotor unmanned aerial vehicle and the target fixed-wing unmanned aerial vehicle is shortened, and when the distance is shortened to a certain distance, a set mark on a body of the fixed-wing unmanned aerial vehicle can be clearly captured by the image; the second part is the image data of the on-board computer through handling the collection of image acquisition module, the analysis obtains the setting for the sign on the target fixed wing unmanned aerial vehicle and then removes the relative position of demarcating in advance by the on-board computer control rotor unmanned aerial vehicle, utilize image servo control algorithm control rotor unmanned aerial vehicle to do in this relative position for the stable flight of fixed wing unmanned aerial vehicle, rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle fly a section distance in coordination promptly, rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle guarantee relatively static during the flight in coordination.

As a further limitation of the present invention, in step 5, the cargo modules include a cargo module of a fixed-wing drone and a cargo module of a rotor-wing drone, and there is a cooperative cargo transferring operation between the two cargo modules, where the specific process is as follows: rotor unmanned aerial vehicle carries cargo module and loads the goods from ground and takes off, when rotor unmanned aerial vehicle does relatively stable flight to fixed wing unmanned aerial vehicle, fixed wing unmanned aerial vehicle's storage tank is opened, get into and prepare the switching goods stage, rotor unmanned aerial vehicle self gesture makes the goods aim at fixed wing unmanned aerial vehicle storage tank, rotor unmanned aerial vehicle will carry the goods and break away from the cargo module or dock goods and the cargo module, fixed wing unmanned aerial vehicle confirms that the goods is received or confirm that the goods is closed after tak away from by rotor unmanned aerial vehicle.

Compared with the prior art, the invention can obtain the following technical effects:

the unmanned aerial vehicle has the advantages that the development trend of the unmanned aerial vehicle is considered to be rapid, the unmanned aerial vehicle flies in the air, the action is convenient and flexible, the transportation speed is higher compared with that of a vehicle, the reachable area is wider, and the unmanned aerial vehicle has a very wide application prospect in the transportation of small and medium-sized goods. The invention adopts the staged processing, namely, a ground station firstly controls the fixed-wing unmanned aerial vehicle to be switched into a fixed channel, then controls the rotor unmanned aerial vehicle to take off and be in butt joint with the fixed-wing unmanned aerial vehicle, the rotor unmanned aerial vehicle identifies the fixed-wing unmanned aerial vehicle and is in butt joint, the rotor unmanned aerial vehicle controls the rotor unmanned aerial vehicle to stably fly relative to the fixed-wing unmanned aerial vehicle, the cargo switching operation is completed, the rotor unmanned aerial vehicle returns to the ground, and the fixed-wing unmanned aerial vehicle returns.

In the whole process, the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle are supervised by a ground station, the ground station plans a path for the fixed-wing unmanned aerial vehicle, the rotor unmanned aerial vehicle and the fixed-wing unmanned aerial vehicle are in coordinated control and are in butt joint, and the working states and flight states of the rotor unmanned aerial vehicle and the fixed-wing unmanned aerial vehicle are both sent to the ground station through the communication module; rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle's machine carries communication module is wireless 4G communication module, forwards the ground satellite station of connecting the internet with information through the cloud ware, because the cloud ware can set up between the arbitrary wireless 4G module, the data forwarding mode of wireless 4G module and ground satellite station, has greatly improved network deployment ability, makes things convenient for future to many fixed wing unmanned aerial vehicle and many rotor unmanned aerial vehicle transportation direction extension in coordination.

The airborne computer of rotor unmanned aerial vehicle adopts Nvidia Jetson TX2, can realize the real-time processing to the image, and the stable servo control in coordination of rotor unmanned aerial vehicle relative fixed wing unmanned aerial vehicle has been guaranteed to the power.

According to the co-transportation system of the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle, the full automation is realized in three processes of butt joint of the rotor unmanned aerial vehicle and the fixed-wing unmanned aerial vehicle, co-stable flight of the rotor unmanned aerial vehicle and the fixed-wing unmanned aerial vehicle and co-transfer of goods by the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle, and the transfer work of the goods from the ground to the aerial fixed-wing unmanned aerial vehicle can be conveniently, simply and quickly realized.

Drawings

In order to illustrate more clearly the embodiments of the invention or the prior art solutions, the drawings used in the description of the embodiments or the prior art will be briefly described below, taking the example of the transfer of cargo from the ground to the air, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be derived from these drawings by a person skilled in the art without any inventive effort.

FIG. 1 is a schematic block diagram of an embodiment of the present invention;

FIG. 2 is a schematic diagram of cooperative control according to an embodiment of the present invention;

FIG. 3 is a flow chart of ground-to-air transfer of cargo in one embodiment of the present invention;

FIG. 4 is a flow chart of an embodiment of the present invention for transferring cargo from the air to the ground;

fig. 5 is a flow chart of cooperative transfer of cargo for ground-to-air cargo transfer according to an embodiment of the present invention;

FIG. 6 is a flow chart of the cooperative transfer of cargo for air-to-ground cargo transfer according to an embodiment of the present invention;

fig. 7 is a schematic diagram of coordinated stable flight of a fixed wing drone and a rotary wing drone of an embodiment of the present invention.

Detailed description of the preferred embodiments

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.

Referring to fig. 1, the autonomous cooperative transportation system of a fixed-wing drone and a rotor-wing drone provided in an embodiment of the present invention includes a fixed-wing drone, a rotor-wing drone, and a ground station, where the fixed-wing drone and the rotor-wing drone are both connected to the ground station through a communication module and a cloud server, and direct data exchange between the rotor-wing drone and the fixed-wing drone may also be performed through the cloud server; the unmanned aerial vehicle is connected with the server through the 4G communication module, and data forwarding is carried out by the server, so that the network expansion capability of the system is greatly enhanced.

The rotor unmanned aerial vehicle comprises a flight control module, an image acquisition module, an airborne computer, an airborne GPS module, an airborne communication module and a cargo carrying module. The image acquisition module is connected with an airborne computer, the airborne GPS module is connected with the flight control module, the airborne communication module and the cargo carrying module are all connected with the airborne computer, and the airborne computer is in communication connection with the ground station through the airborne communication module.

The flight control module is used for receiving the positioning information sent by the airborne GPS module, controlling the unmanned aerial vehicle to fly according to an instruction given by the airborne computer, and sending the positioning information and the attitude information of the unmanned aerial vehicle to the airborne computer;

the airborne computer for control the work of image acquisition module, flight control module and the module of carrying cargo, be used for receiving the information of flight control module passback and the image information of image acquisition module collection and carry out analysis processes, be used for assigning flight instruction to flight control module, be used for controlling rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle's stable flight in coordination, be used for carrying cargo the module according to instruction control and carry out corresponding operation, be used for sending received GPS information, image information, the module information of carrying cargo to ground satellite station through airborne communication module. In a preferred embodiment of the invention, the on-board computer of the rotorcraft is implemented by Nvidia Jetson TX 2.

The fixed wing unmanned aerial vehicle comprises a flight control module, an airborne embedded module, an airborne GPS module, an airborne communication module and a cargo carrying module, wherein the flight control module is connected with the airborne GPS module, the flight control module, the airborne communication module and the cargo carrying module are connected with an airborne computer, and the airborne computer is in communication connection with a ground station through the airborne communication module;

the airborne embedded module is used for analyzing data from the ground station, controlling the flight control module of the unmanned aerial vehicle to fly according to a specified air route, controlling the goods carrying module to normally work, and receiving information of the flight control module and the goods carrying module and transmitting the information to the ground station. In a preferred embodiment of the invention, the onboard embedded module of the fixed wing drone is implemented by STM 32.

The ground station comprises a PC end, and a cooperative control module, a path planning module, a communication module and a supervision module are arranged on the PC end; the communication module is connected with airborne communication modules of the fixed wing unmanned aerial vehicle and the rotor unmanned aerial vehicle;

the supervision module comprises three parts, namely a fixed-wing unmanned aerial vehicle state information receiving and monitoring module, a rotor unmanned aerial vehicle state information receiving and monitoring module, a planning and control module and a man-machine interaction module for the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle.

In one embodiment of the invention, the rotor wing unmanned aerial vehicle is responsible for loading goods to be transported on the ground, transporting the goods to the air from the ground under the control of the ground station, identifying and approaching the fixed wing unmanned aerial vehicle, transferring the goods to the fixed wing unmanned aerial vehicle and then returning the goods to the ground, wherein the whole process is controlled by the ground station, and the position, speed information and working state of the rotor wing unmanned aerial vehicle are sent to the ground station in real time. Rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle's the stable flight phase in coordination, rotor unmanned aerial vehicle is in autonomous state. The cooperative cargo transferring process of the rotor unmanned aerial vehicle is divided into two stages.

The first stage of the rotor unmanned aerial vehicle is as shown in fig. 2, the aircraft flight line and the takeoff instruction uploaded by the ground station are loaded on the ground, the aircraft flight line and the takeoff instruction uploaded by the ground station are waited, the aircraft-mounted computer module of the rotor unmanned aerial vehicle flies to a designated airspace according to a preset track when the takeoff instruction of the ground station is received, the image obtained by the image acquisition module is processed by the aircraft-mounted computer module of the rotor unmanned aerial vehicle at the moment, the target fixed-wing unmanned aerial vehicle is detected, the distance between the rotor unmanned aerial vehicle and the target fixed-wing unmanned aerial vehicle and the direction of the target fixed-wing unmanned aerial vehicle are obtained by analyzing and calculating, the rotor unmanned aerial vehicle is controlled to fly by an aircraft-mounted computing operation PID algorithm, the distance between the rotor unmanned aerial vehicle and the target fixed-wing unmanned aerial vehicle.

Rotor unmanned aerial vehicle's second stage is the stable stage in coordination, rotor unmanned aerial vehicle is demarcated in advance for fixed wing unmanned aerial vehicle's height and for the angle of setting for the sign (like circular red sign), the position of demarcating in advance should make rotor unmanned aerial vehicle can just in time put into fixed wing unmanned aerial vehicle's storage tank with the goods, rotor unmanned aerial vehicle catches behind the sign of setting for on the fixed wing unmanned aerial vehicle fuselage (like circular red sign), utilize image servo control algorithm control rotor unmanned aerial vehicle to do the stable flight for fixed wing unmanned aerial vehicle in this relative position, rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle fly a section distance in coordination promptly, rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle guarantee relatively static during the collaborative flight. And returning according to the instructions of the ground station after the goods are handed over.

In an embodiment of the invention, the fixed-wing drone is used for receiving goods sent by the rotor-wing drone in the air and transferring the goods to a designated place, the fixed-wing drone flies according to a flight path uploaded by a ground station after receiving a goods receiving instruction from the ground station, and in the whole flying process, the flight control of the fixed-wing drone is mainly completed by the fixed-wing drone autonomously, and the fixed-wing drone receives a cooperative control instruction from the ground station and sends the flight information (position and speed) and the working state to the ground station.

In an embodiment of the invention, the ground station is used for receiving information transmitted back by the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle, performing path planning and flight control on the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle, controlling the rotor unmanned aerial vehicle to take off and approach the fixed-wing unmanned aerial vehicle, completing cargo transfer when the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle fly stably in a coordinated manner, and displaying through a graphical interface to realize human interaction and interaction.

In an embodiment of the invention, the ground station analyzes the current route of the fixed-wing unmanned aerial vehicle and the position of the rotor unmanned aerial vehicle needing to transfer goods, plans an optimal goods receiving route for the fixed-wing unmanned aerial vehicle, controls the fixed-wing unmanned aerial vehicle to receive the goods transferred by the rotor unmanned aerial vehicle, receives flight information (including flight height, speed, longitude, latitude, current route and the like) and attitude of the fixed-wing unmanned aerial vehicle in real time, and supervises the fixed-wing unmanned aerial vehicle in real time through the ground station.

In one embodiment of the invention, a ground station analyzes the cargo capacity of the rotor unmanned aerial vehicle, evaluates various performances of the rotor unmanned aerial vehicle, plans an optimal transfer route for the rotor unmanned aerial vehicle, controls the rotor unmanned aerial vehicle to take off and lift off in due time to be in butt joint with the rotor unmanned aerial vehicle, adjusts and controls the rotor unmanned aerial vehicle to enter a coordinated stable flight stage with a fixed-wing unmanned aerial vehicle, controls the rotor unmanned aerial vehicle and the fixed-wing unmanned aerial vehicle to finish cargo transfer operation, and receives flight information and working information of the rotor unmanned aerial vehicle in real time and displays the flight information and the working information through the ground station to realize human-.

In one embodiment of the invention, the selected rotor unmanned aerial vehicle is a Pixhawk four-rotor aircraft carrying 5300mHA3S lithium batteries. Controlled by the ground station to be in butt joint with the fixed-wing unmanned aerial vehicle and fly stably above the fixed-wing unmanned aerial vehicle in a coordinated manner. The flight control module adopts a pixhawk V5 flight control module of the radar; the image acquisition module adopts a portable GOPRO5 camera with a cloud deck; the onboard computer is realized through Nvidia Jetson TX2, an onboard computer module adopts an additional Ubuntu18.04+ Opencv3.4.2 processing platform to identify the obtained image, controls the flight state of the airplane according to the image processing result, and receives the information transmitted by other modules through Nvidia Jetson TX 2; the airborne GPS module adopts a GPS module with the model number of NEO V2 Pro and is used for acquiring GPS information of the unmanned aerial vehicle in real time and transmitting the GPS information to the flight control module; the airborne communication module adopts a 4G wireless communication module WH-LTE-7S4-V2 of a manned company; the cargo carrying module uses an electromagnet to adsorb the goods to be transported.

In an embodiment of the invention, the selected fixed wing unmanned aerial vehicle is a Pixhawk fixed wing aircraft, and carries 5300mHA3S lithium battery. The aircraft flies on a receiving cargo air route which is controlled by the ground station and is planned to be transferred from the original air route to the ground station, and receives cargoes transferred by the rotor unmanned aerial vehicle; the flight control module adopts a pixhawk V5 flight control module of the radar; the airborne computer is realized by adopting an STM32F103 embedded controller according to requirements, the STM32F103 needs to forward a flight control signal received by the communication module to the flight control module, forward row line information and control the work of the cargo module at the same time, and the STM32F103 is used for collecting the information of the flight control module of the fixed-wing unmanned aerial vehicle and the information of the cargo module and forwarding the information to the ground station by the communication module; the airborne GPS module adopts a GPS module with the model number of NEO V2 Pro and is used for acquiring GPS information of the unmanned aerial vehicle in real time and transmitting the GPS information to the flight control module; the airborne communication module adopts a 4G wireless communication module WH-LTE-7S4-V2 of a manned company; the cargo module is a storage box with partial automation function, can identify whether the goods are put into the box, can automatically control the opening and closing of the box body, can communicate with the STM32F103 and can control the opening and closing of the box body through the STM32F 103.

In an embodiment of the present invention, the ground station includes a PC terminal, and the ubuntu18.04+ ROS system is installed at the PC terminal.

In an embodiment of the invention, the cooperative control module of the ground station comprises a cooperative control module for the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle, and is used for controlling the flight route and speed of the fixed-wing unmanned aerial vehicle; when control rotor unmanned aerial vehicle and rotor unmanned aerial vehicle's goods switching, when fixed wing unmanned aerial vehicle realized coordinating with rotor unmanned aerial vehicle and stably flown, control fixed wing unmanned aerial vehicle opened the packing box then rotor unmanned aerial vehicle's the module that carries cargo breaks away from the goods, control fixed wing unmanned aerial vehicle receives the goods and closes the packing box, then control unmanned aerial vehicle accomplishes the safe original state that returns after the goods handing-over.

In an embodiment of the present invention, the path planning module of the ground station is configured to plan a flight route of the fixed-wing drone entering the cargo preparation receiving phase, cooperatively plan a flight route of the rotor-wing drone captured and approaching the rotor-wing drone, and upload the flight route to the fixed-wing drone and the rotor-wing drone, respectively. The method for finding the optimal flight path of the fixed-wing aircraft by adopting the RTT (round trip time) path finding algorithm principle comprises the following steps: and the ground station imports a three-dimensional map of a cargo transfer area, sets the flight height, and plans a flight path according to the RTT algorithm according to the starting point of the currently set path of the fixed-wing aircraft. And respectively planning the fixed-wing unmanned aerial vehicle flying to a cargo receiving place by an original air route, a height-reducing collaborative stable flight stage and a return air route, and then uploading the three air route tasks to the fixed-wing unmanned aerial vehicle. Planning the air route of the rotor wing unmanned aerial vehicle according to the current air route of the fixed wing unmanned aerial vehicle, and mainly controlling the takeoff time to ensure that the rotor wing unmanned aerial vehicle can be just butted with the fixed wing unmanned aerial vehicle after being lifted off.

In an embodiment of the invention, the communication between the fixed-wing unmanned aerial vehicle and the ground station and the communication between the rotor unmanned aerial vehicle and the ground station are realized by forwarding through the cloud server, the flight states of the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle are received, the ground station control information and the planned path information are sent to the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle, the ground station runs on a PC (personal computer) which can be connected with the internet, the airborne communication module sends data to the cloud through the wireless 4G module, a data forwarding mode is set on the cloud server, and the data forwarded by the server can be received by simulating a serial port on the PC.

In an embodiment of the invention, the ground station supervision module comprises three parts, namely a fixed-wing unmanned aerial vehicle state information receiving and monitoring module, a rotor unmanned aerial vehicle state information receiving and detecting module, a planning and control module for the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle, and a human-computer interaction module. The graphical interface of the ground station is realized through QT, and the ground station compiles related functions based on ROS.

As shown in fig. 3, the present task of the autonomous cooperative transportation method for a fixed-wing drone and a rotor-wing drone provided in an embodiment of the present invention is to transfer goods from the ground to the air, and the steps are as follows:

step 2: loading cargoes for the rotor unmanned aerial vehicle and sending a transfer demand to a ground station;

and step 3: controlling the fixed-wing unmanned aerial vehicle to enter a designated transportation route for flying, and waiting for a ground station instruction;

and 4, step 4: the ground station receives the transfer requirement of the rotor unmanned aerial vehicle, searches for a fixed-wing unmanned aerial vehicle of which the nearby air route meets the current cargo transfer destination, selects the fixed-wing unmanned aerial vehicle meeting the requirement, guides the fixed-wing unmanned aerial vehicle to change the current air route, and flies to the location of the rotor unmanned aerial vehicle with the transfer requirement;

and 5: the method comprises the following steps that a path planning module of a ground station plans a flight route for a fixed-wing unmanned aerial vehicle in a cargo receiving process, uploads the flight route to the fixed-wing unmanned aerial vehicle, and after the fixed wing flies to a proper position and enters a cargo receiving preparation state, a cooperative control module sends a takeoff instruction to a rotor unmanned aerial vehicle and controls the rotor unmanned aerial vehicle to approach and identify a target fixed-wing unmanned aerial vehicle;

step 6: the rotor wing unmanned aerial vehicle identifies a target fixed wing unmanned aerial vehicle and approaches the target fixed wing unmanned aerial vehicle, identifies a corresponding identifier on the fixed wing unmanned aerial vehicle, moves to a position where goods can be transferred relative to the fixed wing unmanned aerial vehicle under the control of the cooperative stabilizing module, then flies for a certain distance in a cooperative manner, ensures that the rotor wing unmanned aerial vehicle is relatively static, and the goods carrying module completes the transfer operation of the goods during the cooperative flight;

as shown in fig. 5 the module that carries cargo includes fixed wing unmanned aerial vehicle's the module that carries cargo and rotor unmanned aerial vehicle's the module that carries cargo, the trigger condition that the module that carries cargo begins work is that fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle stabilize the flight in coordination, the storage tank is at first opened to fixed wing unmanned aerial vehicle this moment, rotor unmanned aerial vehicle finely tunes the flight gesture once more, be the accurate storage tank of putting into of goods, after the goods is put to the storage tank affirmation, rotor unmanned aerial vehicle breaks away from with the goods, affirmation rotor unmanned aerial vehicle breaks away from the back with the goods. The entire process requires coordinated control of the fixed wing drone cargo module, the rotor drone cargo module, and the ground station.

As shown in fig. 7, fig. 7 is a schematic diagram of cooperative stable flight of a fixed-wing drone and a rotor-wing drone according to an embodiment of the present invention, and mainly depends on processing of an image acquisition module and an onboard computer of the rotor-wing drone and a red circular marker on the fixed-wing drone. The final result that the stable flight in coordination realized is shown in fig. 7, and rotor unmanned aerial vehicle is close to fixed wing unmanned aerial vehicle but contactless this moment, is the storage tank under rotor unmanned aerial vehicle, and rotor unmanned aerial vehicle's oblique below is circular red sign. When rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle stabilized flight in coordination, the directional circular red sign of rotor unmanned aerial vehicle image acquisition module, relative position demarcate subaerial in advance, utilize PID algorithm control rotor unmanned aerial vehicle keep with the same position of demarcating in advance. The cooperative stable flight can be realized by a cooperative stable module, which is a program working on an onboard computer of the rotary-wing drone.

The image processing module adopts a camera with a holder, and the pointing angle of the camera can be controlled by an onboard computer.

And 7: the ground station confirms that the switching operation is accomplished, for the safe route of returning of fixed wing unmanned aerial vehicle planning, for rotor unmanned aerial vehicle planning route returns former route, then uploads fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle respectively.

And 8: controlling the fixed-wing unmanned aerial vehicle to return to the original air route for continuous flight; and controlling the rotor unmanned aerial vehicle to return to the ground, waiting for the continuous loading of goods, and completing the next transfer task.

The ground station is a master control system of the system, namely has the highest control authority, monitors the data transmission and working state of the whole system, commands the fixed-wing unmanned aerial vehicle to receive goods, controls the rotor unmanned aerial vehicle to lift off and butt joint, controls the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle to cooperatively transport the goods, and controls the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle to safely return to the air. The ground station is software running at a PC (personal computer) end, has an imaging interaction function, can display the flight attitude and the working state of the unmanned aerial vehicle in an imaging manner, and displays the current air route of the fixed-wing aircraft and the image acquired by the image acquisition module of the rotor unmanned aerial vehicle.

As shown in fig. 4, the present invention provides a method for autonomous coordinated transportation of a fixed-wing drone and a rotor-wing drone, wherein the current task is to transfer goods from the air to the ground, and the method comprises the following steps:

step 2: keeping the rotor unmanned aerial vehicle in an idle state, and waiting for a control instruction of a ground station;

and step 3: controlling the fixed wing unmanned aerial vehicle to enter an airspace needing to transfer goods, and sending a request for transferring to a ground station;

and 4, step 4: the ground station receives a request of the fixed-wing unmanned aerial vehicle and starts the rotor unmanned aerial vehicle to prepare lift-off docking;

and 5: the method comprises the following steps that a path planning module of a ground station plans a flight path of a transfer cargo process for a fixed-wing unmanned aerial vehicle, uploads the flight path to the fixed-wing unmanned aerial vehicle, and sends a take-off instruction to a rotor unmanned aerial vehicle after a fixed wing flies to a proper position and enters a transfer cargo preparation state, and controls the rotor unmanned aerial vehicle to approach and identify a target fixed-wing unmanned aerial vehicle;

step 6: rotor unmanned aerial vehicle discernment target fixed wing unmanned aerial vehicle and be close to target fixed wing unmanned aerial vehicle, remove to the position that relative fixed wing unmanned aerial vehicle can realize the goods switching under the control of cooperative control module, then with one section distance of fixed wing unmanned aerial vehicle collaborative flight, rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle guarantee relatively static during collaborative flight, carry cargo module when collaborative flight and accomplish the collaborative switching operation of goods.

And 7: the ground station confirms that the goods transfer operation is completed, plans a return route for the fixed-wing unmanned aerial vehicle, plans a return route for the rotor unmanned aerial vehicle, and then uploads the return routes to the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle respectively;

and 8: controlling the fixed-wing unmanned aerial vehicle to return to the original air route for continuous flight; and controlling the rotor unmanned aerial vehicle to return to the ground, waiting for continuously loading the goods, or unloading the goods transferred, and preparing for next transfer task.

As shown in fig. 6 the module that carries cargo includes fixed wing unmanned aerial vehicle's the module that carries cargo and rotor unmanned aerial vehicle's the module that carries cargo, the trigger condition that the module that carries cargo begins work is that fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle stabilize the flight in coordination, the storage tank (perhaps called the storage tank) is opened at first to fixed wing unmanned aerial vehicle this moment, rotor unmanned aerial vehicle finely tunes flight gesture once more, combine goods and self module that carries cargo, confirm rotor unmanned aerial vehicle's the module that carries cargo and goods combine, confirm that the goods leaves the fixed wing unmanned aerial vehicle storage tank, fixed wing unmanned aerial vehicle closes. The entire process requires coordinated control of the fixed wing drone cargo module, the rotor drone cargo module, and the ground station.

In summary, although the present invention has been described with reference to the embodiments, it is not limited to the embodiments, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention.

Claims

1. Fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle are transportation system in coordination independently, its characterized in that includes:

2. The autonomous coordinated transportation system of a fixed-wing drone and a rotary-wing drone of claim 1, wherein the rotary-wing drone includes a flight control module, an image acquisition module, an onboard computer, an onboard GPS module, an onboard communication module, and a cargo module; the image acquisition module is connected with an airborne computer, the airborne GPS module is connected with the flight control module, the airborne communication module and the cargo carrying module are all connected with the airborne computer, and the airborne computer is in communication connection with the ground station through the communication module;

3. The autonomous coordinated transportation system of fixed-wing drones and rotary-wing drones according to claim 2, characterized in that the onboard computer of the rotary-wing drone is realized through Nvidia Jetson TX 2.

4. The autonomous cooperative transportation system of the fixed-wing unmanned aerial vehicle and the rotary-wing unmanned aerial vehicle as claimed in claim 2 or 3, wherein the fixed-wing unmanned aerial vehicle comprises a flight control module, an airborne embedded module, an airborne GPS module, an airborne communication module and a cargo carrying module, the flight control module is connected with the airborne GPS module, the flight control module, the airborne communication module and the cargo carrying module are connected with an airborne computer, and the airborne computer is in communication connection with a ground station through the airborne communication module;

5. The system according to claim 4, wherein the onboard embedded modules of the fixed wing drones are implemented by STM 32.

6. The autonomous coordinated transportation system of a fixed-wing drone and a rotary-wing drone of claim 4, wherein the ground station comprises a PC end, on which a coordinated control module, a path planning module, a communication module and a supervision module are provided; the communication module is connected with airborne communication modules of the fixed wing unmanned aerial vehicle and the rotor unmanned aerial vehicle;

7. The autonomous coordinated transportation system of fixed-wing drones and rotary-wing drones according to claim 6, wherein the airborne communication modules of the rotary-wing drones and fixed-wing drones are wireless 4G communication modules; the wireless 4G communication module realizes networking of the rotor unmanned aerial vehicle, the fixed-wing unmanned aerial vehicle and the ground station through forwarding of the cloud server, and can realize direct connection of the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle; the ground station receives the state information of the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle through the wireless 4G communication module, and sends a flight line and a control instruction to the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle.

8. A method for autonomous cooperative transportation of a fixed-wing unmanned aerial vehicle and a rotor unmanned aerial vehicle is characterized by comprising the following steps:

step 6: the ground station confirms that the goods transfer operation is completed, plans a return route for the fixed-wing unmanned aerial vehicle, plans a return route for the rotor unmanned aerial vehicle, and then uploads the return routes to the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle respectively;

9. The method for autonomous coordinated transportation of a fixed-wing drone and a rotary-wing drone according to claim 8, wherein the path planning scheme of the path planning module of the ground station in step 4 is determined based on an analysis of the three-dimensional environment around the place where the transportation activity occurs, the method comprising: and guiding the fixed-wing unmanned aerial vehicle to fly away from the original air route to a transfer cargo airspace, and finding a linear air route with enough length and safe height in a three-dimensional environment to serve as the air route for transferring the cargo between the fixed-wing unmanned aerial vehicle and the rotor unmanned aerial vehicle.

10. The autonomous cooperative transportation method of the fixed-wing drone and the rotary-wing drone of claim 9, wherein the target targeted by the cooperative control module of the ground station in the step 4 is the rotary-wing drone, and the control scheme is as follows: the performance of each item to rotor unmanned aerial vehicle assesses, calculate the maximum flight speed that rotor unmanned aerial vehicle can reach under the circumstances of carrying cargo, and real-time supervision fixed wing unmanned aerial vehicle's position and speed, through design rotor unmanned aerial vehicle's the time of taking off and flight path, make fixed wing unmanned aerial vehicle can be caught by rotor unmanned aerial vehicle's image acquisition module before the straight course that gets into step 4 route planning module planning, should guarantee rotor unmanned aerial vehicle in fixed wing unmanned aerial vehicle's top during the catch.

11. The autonomous cooperative transportation method of a fixed-wing drone and a rotary-wing drone of claim 8, wherein the cooperative control of the cooperative stabilization module in step 5 is implemented by: the method comprises the following steps that an image acquisition module of the rotor unmanned aerial vehicle acquires image information in a specified direction, transmits the image information to an onboard computer of the rotor unmanned aerial vehicle, and is processed by the onboard computer of the rotor unmanned aerial vehicle; the processing of the onboard computer of the rotor unmanned aerial vehicle is divided into two parts, the first part is used for identifying and approaching a target fixed-wing unmanned aerial vehicle, the target fixed-wing unmanned aerial vehicle is captured by an image acquisition module of the rotor unmanned aerial vehicle, the onboard computer of the rotor unmanned aerial vehicle processes images to obtain the distance between the target fixed-wing unmanned aerial vehicle and the direction in which the target fixed-wing unmanned aerial vehicle is located, the rotor unmanned aerial vehicle is controlled to fly through a PID algorithm, the distance between the rotor unmanned aerial vehicle and the target fixed-wing unmanned aerial vehicle is shortened, and when the distance is shortened to a certain distance, a set mark on a body of the fixed-wing unmanned aerial vehicle can be clearly captured by the image; the second part is the image data of the on-board computer through handling the collection of image acquisition module, the analysis obtains the setting for the sign on the target fixed wing unmanned aerial vehicle and then removes the relative position of demarcating in advance by the on-board computer control rotor unmanned aerial vehicle, utilize image servo control algorithm control rotor unmanned aerial vehicle to do in this relative position for the stable flight of fixed wing unmanned aerial vehicle, rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle fly a section distance in coordination promptly, rotor unmanned aerial vehicle and fixed wing unmanned aerial vehicle guarantee relatively static during the flight in coordination.

12. The method for autonomous cooperative transportation of a fixed-wing drone and a rotary-wing drone of claim 8, wherein the cargo modules in step 5 include a cargo module of the fixed-wing drone and a cargo module of the rotary-wing drone, and the cargo modules cooperatively transfer cargo therebetween by: rotor unmanned aerial vehicle carries cargo module and loads the goods from ground and takes off, when rotor unmanned aerial vehicle does relatively stable flight to fixed wing unmanned aerial vehicle, fixed wing unmanned aerial vehicle's storage tank is opened, get into and prepare the switching goods stage, rotor unmanned aerial vehicle self gesture makes the goods aim at fixed wing unmanned aerial vehicle storage tank, rotor unmanned aerial vehicle will carry the goods and break away from the cargo module or dock goods and the cargo module, fixed wing unmanned aerial vehicle confirms that the goods is received or confirm that the goods is closed after tak away from by rotor unmanned aerial vehicle.