CN113778131A - Control method for automatic return flight of large freight unmanned aerial vehicle due to air link loss - Google Patents
Control method for automatic return flight of large freight unmanned aerial vehicle due to air link loss Download PDFInfo
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- CN113778131A CN113778131A CN202111129411.7A CN202111129411A CN113778131A CN 113778131 A CN113778131 A CN 113778131A CN 202111129411 A CN202111129411 A CN 202111129411A CN 113778131 A CN113778131 A CN 113778131A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/04—Landing aids; Safety measures to prevent collision with earth's surface
- B64D45/06—Landing aids; Safety measures to prevent collision with earth's surface mechanical
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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
- B64F1/02—Arresting gear; Liquid barriers
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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
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
A control method for automatic return flight of large freight transport unmanned aerial vehicle when air link is lost belongs to the technical field of unmanned aerial vehicles, the automatic return operation is realized through the slideway and the freight transport unmanned aerial vehicle, the slideway is provided with the blocking block, the left side of the blocking block is fixedly connected with a limiting ring, the rear end of the freight transport unmanned aerial vehicle is provided with a blocking area, the interior of the arresting area is provided with an installation groove and a sliding groove, the interior of the installation groove is provided with an arresting component and an adjusting block, the arresting component is connected with the corresponding limiting ring, the adjusting block is connected with the arresting area in a sliding way through the sliding chute, the arresting component is arranged in the freight transport unmanned aerial vehicle, therefore, in the process of self-sliding of the freight unmanned aerial vehicle in advance when meeting environmental problems, the blocking component and the blocking block are utilized to limit the freight unmanned aerial vehicle in the sliding process, therefore, the defect that the return direction generated by inertia deviates in the sliding process of the freight unmanned aerial vehicle can be effectively overcome.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a control method for automatic return flight of a large freight unmanned aerial vehicle due to air link loss.
Background
The unmanned aerial vehicle is a general name of unmanned aerial vehicles controlled by a radio device remote control or airborne flight control system, and the unmanned aerial vehicle runaway return is that the unmanned aerial vehicle automatically returns to safely land when the distance between the bodies is too far or the signals are interfered and lose contact.
In the prior art, after unmanned aerial vehicle receives the flight environment influence, control communication link among the unmanned aerial vehicle loses, lead to unmanned aerial vehicle to appear the phenomenon out of control, be unfavorable for the safety of unmanned aerial vehicle flight in-process flight, current unmanned aerial vehicle sets up the automatic back-navigation after the link loses, after returning to ground, the aircraft carries out the in-process that independently slides, because the inertial reason of aircraft, lead to unmanned aerial vehicle to deviate from original route at the in-process that independently slides of backing a journey, cause large-scale freight transportation unmanned aerial vehicle to return to navigate the accuracy low, thereby cause a series of safety problems, for this reason, a control method that large-scale freight transportation unmanned aerial vehicle airlink loses automatic back-navigation is proposed.
Disclosure of Invention
The invention aims to provide a control method for automatic return flight of a large freight unmanned aerial vehicle due to air link loss, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the control method for automatic return flight when the air link of the large freight unmanned aerial vehicle is lost comprises the steps of realizing automatic return flight operation through a slide way and the freight unmanned aerial vehicle, wherein a blocking block is installed on the slide way, a limit ring is fixedly connected to the left side of the blocking block, a blocking area is arranged at the rear end of the freight unmanned aerial vehicle, a mounting groove and a sliding groove are formed in the blocking area, a blocking component and a regulating block are installed in the mounting groove, and the blocking component is connected with the corresponding limit ring.
As a further scheme of the invention: the regulating block passes through spout and arresting area sliding connection, the one end fixedly connected with second axis of rotation that the regulating block is close to the spout, the regulating block passes through the second axis of rotation and blocks the district rotation and be connected, the one end fixedly connected with regulation rope of spout is kept away from to the regulating block, the fixed cover that has cup jointed on the left side surface of arresting subassembly has the elastic sleeve, the one end and the elastic sleeve fixed connection of regulating block are kept away from to the regulation rope, regulation rope and regulating block all are the vertical state setting with the arresting subassembly.
As a still further scheme of the invention: the arresting assembly comprises an arresting cable and a cable hook, the cable hook is fixedly connected with the right end of the arresting cable, a first rotating shaft is fixedly connected with the left end of the arresting cable, the arresting cable is rotatably connected with an arresting area through the first rotating shaft, the arresting cable comprises a cable core, first cable strands and second cable strands, the first cable strands and the second cable strands are sleeved on the outer surface of the cable core, the two first cable strands are located on the outer surfaces of the two sides of the cable core respectively, the second cable strands are located on the outer surface of the middle portion of the cable core, and the first cable strands and the second cable strands are both made of synthetic fibers.
As a still further scheme of the invention: the cable core is in a left-twisted form, the first strands mounted on the outer surfaces of the two end portions of the cable core are in a left-twisted form, and the second strands mounted on the outer surface of the middle portion of the cable core are in a right-twisted form.
As a still further scheme of the invention: the method comprises the following steps: signal induction, namely inducing the surrounding environment by the freight transport unmanned aerial vehicle, and judging the signal connection condition of the communication link in real time through the detection of the surrounding environment; return planning, namely, realizing the autonomous return operation of the freight unmanned aerial vehicle by utilizing the wireless return arranged in the freight unmanned aerial vehicle; and the freight unmanned aerial vehicle autonomously slides, and after the freight unmanned aerial vehicle lands on the slide way, the freight unmanned aerial vehicle retrieves the communication link to realize autonomous sliding of the freight unmanned aerial vehicle.
As a still further scheme of the invention: the signal induction, the return flight planning and the autonomous sliding are realized through an automatic return flight system, the automatic return flight system comprises a control center and an automatic return flight control area, the control center is in signal connection with the automatic return flight control area, namely after a communication link of the freight unmanned aerial vehicle is lost in the flight process, the freight unmanned aerial vehicle is out of contact with a ground control center, the ground control center cannot control the freight unmanned aerial vehicle, at the moment, the automatic return flight control area is controlled by the control center inside the freight unmanned aerial vehicle, the automatic return flight control area comprises a signal induction unit, a return flight planning unit and an autonomous sliding unit, the signal induction unit is in signal connection with the return flight planning unit, and the return flight planning unit is in signal connection with the autonomous sliding unit.
As a still further scheme of the invention: the signal induction unit comprises an environment detection module, a fuel oil detection module and an aircraft state detection module, the return flight planning unit comprises a route selection module, a course control module and a return flight landing module, the autonomous sliding comprises a height detection module, a lateral deviation regulation module and a sliding ending module, and the fuel oil detection module is in signal connection with the route selection module.
As a still further scheme of the invention: the method specifically comprises the following steps:
s1: signal induction, after the freight unmanned aerial vehicle is away from the ground for a certain height, the environment detection module starts to detect the environment around the freight unmanned aerial vehicle, so as to avoid the environment of an obstacle interference signal, when the environment with the obstacle around the freight unmanned aerial vehicle causes the signal interference of the freight unmanned aerial vehicle, the freight unmanned aerial vehicle detects the fuel content through the fuel oil detection module, meanwhile, when the fuel oil detection module detects the fuel oil, the aircraft state detection module detects the running state of the freight unmanned aerial vehicle, the signal induction of the freight unmanned aerial vehicle is completed, and thus the return flight planning of the freight unmanned aerial vehicle is prepared;
s2: the return planning is controlled by a return planning unit, the fuel content condition and the aircraft state of the freight unmanned aerial vehicle are detected by a fuel detection module and an aircraft state detection module in a signal sensing unit, the return planning route is selected according to the fuel content and the aircraft state of the freight unmanned aerial vehicle, when the content and the flight state of the freight unmanned aerial vehicle are good, a flight forbidden area is avoided, the shortest route is selected for return planning, and when the fuel content and the aircraft state are not enough to support the return of the freight unmanned aerial vehicle, an obstacle-free area is selected for forced landing, so that the safety of the freight unmanned aerial vehicle in the return process is guaranteed;
s3: and the cargo unmanned aerial vehicle returns to the slideway through the return planning unit when the fuel content and the state of the aircraft are good, after landing, the cargo unmanned aerial vehicle starts to autonomously slide under the action of inertia, and the autonomous sliding is controlled through the autonomous sliding unit.
Compared with the prior art, the invention has the beneficial effects that:
1. in the invention, the blocking component is arranged in the freight unmanned aerial vehicle, so that the freight unmanned aerial vehicle in the sliding process is limited by the blocking component and the blocking block in the process of autonomous sliding when the freight unmanned aerial vehicle is subjected to environmental problems and returns to the home in advance, the defect that the return direction is deviated due to inertia in the sliding process of the freight unmanned aerial vehicle can be effectively overcome, meanwhile, the elastic sleeve is arranged on the blocking component, the gravity moment of a cable hook to a cable hook mounting point is changed through the elastic sleeve, the bouncing performance of the blocking component is changed, the phenomenon that the blocking component is unstable due to bouncing is solved, meanwhile, the moment of the blocking component is changed, the situation that the blocking component is broken can be effectively reduced, the service life of the blocking component is effectively prolonged, the adjusting block is always arranged to be vertical to the blocking component, and the acting force of the adjusting block on the blocking cable can be effectively reduced, the phenomenon that the action force of the adjusting block is reduced to the arresting cable can not be caused by dividing the action force, so that the adjusting block can adjust the arresting cable conveniently, the action force generated by the adjusting block to the arresting cable is used for adjusting the bearing force of the arresting cable, and meanwhile, the defect that the arresting cable is subjected to extra stress due to the action force generated by the adjusting block to the arresting cable is avoided, and the stability of the arresting cable is further improved.
2. Through setting up the unit of independently slideing, and set up height detection module, yaw regulation and control module in independently slideing the unit, can carry out real time supervision to the independently slideing of cargo transportation unmanned aerial vehicle in returning to the navigation, return to the navigation at cargo transportation unmanned aerial vehicle and begin the in-process of independently slideing to realize real time control on the slide, thereby can further promote the accuracy nature of the route of sliding that cargo transportation unmanned aerial vehicle returned to the navigation, reduce the unmanned aerial vehicle and return to the navigation in-process and produce the emergence of the potential safety hazard that the deviation caused.
3. The first strand and the second strand are wound on the cable core through the positions of the cable core, the first strand and the second strand on the arresting cable and the twisting method, the first strands are respectively wound on the outer surfaces of the left end part and the right end part of the cable core, the second strands are wound on the outer surface of the middle part of the cable core, the cable core is in a left-twisted form, the first strands on the outer surfaces of the two end parts are in a left-twisted form, the second strands on the outer surface of the middle part of the cable core are in a right-twisted form, i.e. the first strand and the core are twisted in the same direction, the second strand is in the form of an inverse twist with respect to the first strand and the core, by arranging the positions of the first strands and the second strands on the cable core and arranging the twisting directions of the first strands and the second strands on the corresponding positions and the cable core, the stress born by the interior of the arresting assembly can be further reduced, and the possibility of fracture of the arresting assembly is further reduced.
4. Anti-corrosion lubricating oil is smeared on the outer surface of the arresting cable, so that the corrosion resistance of the arresting cable can be effectively improved, and the defect that the arresting cable is prone to corrosion in the process of carrying out freight transportation by the freight transportation unmanned aerial vehicle is avoided.
Drawings
Fig. 1 is a route diagram of an automatic return flight of a large freight unmanned aerial vehicle when an airlink is lost.
Fig. 2 is a schematic structural diagram of the blocking block and the cable hook in butt joint after the freight unmanned aerial vehicle returns.
Fig. 3 is a top view of the blocker block of fig. 2 engaged with the cord hook.
Fig. 4 is an enlarged view of a portion a in fig. 3.
Fig. 5 is a schematic structural view of the arresting assembly and the arresting area of the cargo drone.
Fig. 6 is a state view of the damming assembly of fig. 5.
Fig. 7 is a schematic structural view of a check rope twisting method.
Fig. 8 is a schematic structural diagram of a control method for automatic return flight in case of air link loss of a large-scale cargo unmanned aerial vehicle.
Fig. 9 is a block diagram of a control method for automatic return flight in case of air link loss of a large-scale cargo unmanned aerial vehicle.
In the figure: 10. a slideway; 20. an energy absorber; 201. a blocking block; 202. a limiting ring; 30. a freight unmanned aerial vehicle; 31. a damming zone; 311. mounting grooves; 312. a chute; 40. a damming assembly; 41. a check rope; 411. a first rotating shaft; 412. a first strand; 413. a cable core; 414. a second strand; 42. a rope hook; 43. an elastic sleeve; 44. an adjusting block; 441. adjusting the rope; 442. a second axis of rotation.
Detailed Description
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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, an element of the present invention may be said to be "fixed" or "disposed" to another element, either directly on the other element or with intervening elements present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Referring to fig. 1 to 9, in the present invention, a method for controlling an automatic return flight of a large-scale cargo unmanned aerial vehicle due to an airlink loss includes the following steps: signal induction, namely inducing the surrounding environment by the freight unmanned aerial vehicle 30, and judging the signal connection condition of the communication link in real time through the detection of the surrounding environment; return planning, namely, utilizing the wireless return flight arranged in the freight unmanned aerial vehicle 30 to realize the autonomous return flight operation of the freight unmanned aerial vehicle 30; and (3) autonomous sliding, wherein after the freight unmanned aerial vehicle 30 lands on the slide way 10, the freight unmanned aerial vehicle 30 retrieves the communication link to realize autonomous sliding of the freight unmanned aerial vehicle 30.
The signal induction, the return flight planning and the autonomous sliding are realized through an automatic return flight system, the automatic return flight system comprises a control center and an automatic return flight control area, the control center is in signal connection with the automatic return flight control area, namely after a communication link of the freight unmanned aerial vehicle 30 is lost in the flight process, the freight unmanned aerial vehicle 30 is out of contact with a ground control center, the ground control center cannot control the freight unmanned aerial vehicle 30, at the moment, the control center inside the freight unmanned aerial vehicle 30 controls the automatic return flight control area, the automatic return flight control area comprises a signal induction unit, a return flight planning unit and an autonomous sliding unit, the signal induction unit is in signal connection with the return flight planning unit, and the return flight planning unit is in signal connection with the autonomous sliding unit.
The signal induction unit comprises an environment detection module, a fuel oil detection module and an aircraft state detection module, the return flight planning unit comprises a route selection module, a course control module and a return flight landing module, the autonomous sliding comprises a height detection module, a lateral deviation regulation module and a sliding ending module, and the fuel oil detection module is in signal connection with the route selection module.
It should be noted that, after the link is lost, a signal is lost between the ground control center and the freight unmanned aerial vehicle 30, the freight unmanned aerial vehicle 30 realizes autonomous return of the freight unmanned aerial vehicle 30 through the control center inside the freight unmanned aerial vehicle 30, the autonomous return of the freight unmanned aerial vehicle 30 is preset in a return system, an automatic return control area is not affected by signal connection of the ground control center, when the link is lost, the freight unmanned aerial vehicle 30 starts the self-return control area to realize autonomous return of the freight unmanned aerial vehicle 30, after the freight unmanned aerial vehicle 30 returns to the slide way 10, due to change of surrounding environment, an obstacle does not generate signal interference on the freight unmanned aerial vehicle 30 any more, at this moment, the freight unmanned aerial vehicle 30 finds the communication link, the freight unmanned aerial vehicle 30 realizes signal connection with the ground control center, and the ground control center controls autonomous sliding of the freight unmanned aerial vehicle 30.
The method specifically comprises the following steps:
s1: signal induction, after the freight unmanned aerial vehicle 30 is away from the ground for a certain height, the environment detection module starts to detect the environment around the freight unmanned aerial vehicle 30, so as to avoid the environment where the obstacle interferes with the signal, after the environment with the obstacle around the freight unmanned aerial vehicle 30 causes the signal interference of the freight unmanned aerial vehicle 30, the freight unmanned aerial vehicle 30 detects the fuel content through the fuel detection module, meanwhile, when the fuel detection module detects the fuel, the aircraft state detection module detects the running state of the freight unmanned aerial vehicle 30, the signal induction of the freight unmanned aerial vehicle 30 is completed, and thus preparation is made for return planning of the freight unmanned aerial vehicle 30;
s2: the return planning is controlled by a return planning unit, the fuel content condition and the aircraft state of the freight unmanned aerial vehicle 30 are detected by a fuel detection module and an aircraft state detection module in a signal sensing unit, the return planning route is selected according to the fuel content and the aircraft state of the freight unmanned aerial vehicle 30, when the content and the flight state of the freight unmanned aerial vehicle 30 are good, a flight forbidden area is avoided, the shortest route is selected for return planning, and when the fuel content and the aircraft state are not enough to support the return of the freight unmanned aerial vehicle 30, an obstacle-free area is selected for forced landing, so that the safety of the freight unmanned aerial vehicle 30 in the return process is guaranteed;
s3: and (3) autonomous sliding, wherein when the fuel content and the state of the aircraft are good, the freight unmanned aerial vehicle 30 returns to the slideway 10 through the return planning unit, after landing, the freight unmanned aerial vehicle 30 starts autonomous sliding under the action of inertia, and the autonomous sliding is controlled through the autonomous sliding unit.
The self-sliding of the freight unmanned aerial vehicle 30 is carried out on the slide way 10, the freight unmanned aerial vehicle 30 lands on the slide way 10, the slide way 10 is provided with the energy absorbers 20, the blocking block 201 is fixedly connected between the two energy absorbers 20, the two energy absorbers 20 are respectively positioned at two sides and can provide a uniform adsorption acting force for the freight unmanned aerial vehicle 30 in the self-sliding process, so that the damage of inertia to the freight unmanned aerial vehicle 30 can be further reduced, the left side of the blocking block 201 is fixedly connected with the limiting ring 202, the rear end of the freight unmanned aerial vehicle 30 is provided with the blocking area 31, the blocking area 31 is internally provided with a mounting groove 311 and a sliding groove 312, the blocking component 40 and the adjusting block 44 are mounted inside the mounting groove 311, the blocking component 40 is connected with the corresponding limiting ring 202, and the adjusting block 44 is in sliding connection with the blocking area 31 through the sliding groove 312, the adjusting block 44 is fixedly connected with a second rotating shaft 442 at one end close to the sliding chute 312, the adjusting block 44 is rotatably connected with the arresting area 31 through the second rotating shaft 442, an adjusting rope 441 is fixedly connected with one end of the adjusting block 44 far from the sliding chute 312, an elastic sleeve 43 is fixedly sleeved on the outer surface of the left side of the arresting component 40, one end of the adjusting rope 441 far from the adjusting block 44 is fixedly connected with the elastic sleeve 43, the adjusting rope 441 is arranged in a rolling state, the adjusting rope 441 and the adjusting block 44 are both arranged in a vertical state with the arresting component 40, the arresting component 40 comprises an arresting cable 41 and a cable hook 42, the cable hook 42 is fixedly connected with the right end of the arresting cable 41, the left end of the arresting cable 41 is fixedly connected with a first rotating shaft 411, the arresting cable 41 is rotatably connected with the arresting area 31 through the first rotating shaft 411, the arresting cable 41 comprises a cable core 413, a first cable strand 412 and a second cable strand 414, the first strands 412 and the second strands 414 are sleeved on the outer surface of the cable core 413, the two first strands 412 are respectively located on the outer surfaces of two sides of the cable core 413, the second strands 414 are located on the outer surface of the middle of the cable core 413, and the first strands 412 and the second strands 414 are both made of synthetic fibers.
It should be noted that, as known from the publication 261 and 264, the stress to be applied to the rope is related to the twisting manner of the rope, and therefore, for the twisting manner in which the core 413, the first strand 412 and the second strand 414 are respectively combined in different twisting manners, under the same condition, the core 413 is in the form of left twist, the first strands 412 on the outer surfaces of the two end portions are in the form of left twist, the second strands 414 on the outer surfaces of the middle portion of the core 413 are in the form of right twist, the stress to be applied to the arresting rope 41 is the minimum, that is, the first strands 412 and the core 413 are twisted in the same direction, the second strands 414 are in the form of reverse twist relative to the first strands 412 and the core 413, by arranging the positions of the first strands 412 and the second strands 414 on the core 413, and arranging the corresponding positions of the first strands 412, the second strands 414 and the core 413 in the same direction, can further reduce the inside stress that bears of arresting subassembly 40 to further reduce the cracked possibility of arresting subassembly 40, anticorrosive lubricating oil is paintd to the surface of arresting cable 41, can effectual promotion arresting cable 41's corrosion resisting property, thereby avoid freight transportation unmanned aerial vehicle 30 at the in-process of carrying out the freight transportation, arresting cable 41 receives the drawback of corrosion of bowing easily.
After the freight unmanned aerial vehicle 30 losing the link returns to the slide way 10 through the signal sensing unit and the return planning unit, the surrounding environment changes, and the interference of the obstacle on the signal of the freight unmanned aerial vehicle 30 is eliminated, at this time, the freight unmanned aerial vehicle 30 finds the communication link, a signal connection is generated between the ground control center and the autonomous sliding unit in the freight unmanned aerial vehicle 30, the ground control center controls the freight unmanned aerial vehicle 30 through the height detection module, the lateral deviation detection module and the sliding ending module, and the sliding state of the freight unmanned aerial vehicle 30 on the slide way 10 is adjusted in real time, so that the deviation phenomenon caused by the freight unmanned aerial vehicle 30 in return can be effectively avoided, after the freight unmanned aerial vehicle 30 lands on the slide way 10, the ground control center starts to control the arresting component 40 in the freight unmanned aerial vehicle 30 to correspond to the arresting block 201 on the slide way 10, and controls the arresting component 40 to limit the limiting ring 202 on the arresting block 201, the deviation phenomenon caused by the cargo unmanned aerial vehicle 30 under the action of inertia can be effectively reduced through the arresting block 201, so that the accuracy of the autonomous return of the cargo unmanned aerial vehicle 30 is improved, it should be noted that when the arresting component 40 rotates through the first rotating shaft 411, the adjusting block 44 is synchronously controlled to slide and rotate along the sliding groove 312, so that the adjusting block 44 and the arresting component 40 are always in a vertical state, the acting force of the adjusting block 44 on the arresting cable 41 is adjusted, the phenomenon that the acting force of the adjusting block 44 on the arresting cable 41 is reduced due to dividing the acting force is avoided, the adjusting block 44 is convenient to adjust the arresting cable 41, the acting force of the adjusting block 44 on the arresting cable 41 is used for bearing force adjustment of the arresting cable 41, the defect that the arresting cable 41 is subjected to extra stress due to the acting force of the adjusting block 44 on the arresting cable 41 is avoided, and the stability of the arresting cable 41 is further improved, set up elastic sleeve 43 on arresting subassembly 40, regulating block 44 provides the effort to elastic sleeve 43 through the rolling of regulation rope 441, changes the gravity moment of cable hook 42 to cable hook 42 mounting point through elastic sleeve 43 to change arresting subassembly 40 spring performance, solved arresting subassembly 40 spring and caused spacing unstable phenomenon, simultaneously, change arresting subassembly 40 moment, cracked condition can appear in effectual reduction arresting subassembly 40, thereby the effectual life who prolongs arresting subassembly 40.
It should be particularly noted that in the present application, the arresting cable 41 is an application of the prior art, and the adjusting block 44 is an innovation point of the present application, and it effectively solves the problem of low return accuracy of the unmanned aerial vehicle caused by inertia.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The control method for automatic return flight when the air link of the large freight unmanned aerial vehicle is lost is characterized in that automatic return flight operation is realized through a slide way (10) and the freight unmanned aerial vehicle (30), a blocking block (201) is installed on the slide way (10), a limiting ring (202) is fixedly connected to the left side of the blocking block (201), a blocking area (31) is arranged at the rear end of the freight unmanned aerial vehicle (30), a mounting groove (311) and a sliding groove (312) are formed in the blocking area (31), a blocking component (40) and a regulating block (44) are installed in the mounting groove (311), and the blocking component (40) is connected with the corresponding limiting ring (202).
2. The control method for automatic return of the large freight unmanned aerial vehicle due to airlink loss according to claim 1, wherein the adjusting block (44) is slidably connected to the blocking area (31) through a sliding slot (312), a second rotating shaft (442) is fixedly connected to one end of the adjusting block (44) close to the sliding slot (312), the adjusting block (44) is rotatably connected to the blocking area (31) through the second rotating shaft (442), an adjusting rope (441) is fixedly connected to one end of the adjusting block (44) far away from the sliding slot (312), an elastic sleeve (43) is fixedly sleeved on the outer surface of the left side of the blocking assembly (40), one end of the adjusting rope (441) far away from the adjusting block (44) is fixedly connected to the elastic sleeve (43), and the adjusting rope (441) and the adjusting block (44) are both arranged in a perpendicular state to the blocking assembly (40).
3. The method for controlling automatic return of lost airlink of a large-scale cargo unmanned aerial vehicle according to claim 1, wherein the arresting component (40) comprises an arresting cable (41) and a cable hook (42), the cable hook (42) is fixedly connected with the right end of the arresting cable (41), the left end of the arresting cable (41) is fixedly connected with a first rotating shaft (411), the arresting cable (41) is rotatably connected with the arresting area (31) through the first rotating shaft (411), the arresting cable (41) comprises a cable core (413), a first cable strand (412) and a second cable strand (414), the first cable strand (412) and the second cable strand (414) are sleeved on the outer surface of the cable core (413), the two first cable strands (412) are respectively located on the two outer surfaces of the cable core (413), and the second cable strand (414) is located on the middle outer surface of the cable core (413), the first strand (412) and the second strand (414) are both made of synthetic fibers.
4. The method for controlling automatic return of lost airlink of a large-scale cargo unmanned aerial vehicle according to claim 3, wherein said core (413) is left-twisted, said first strands (412) mounted on the outer surfaces of both ends of said core (413) are left-twisted, and said second strands (414) mounted on the outer surface of the middle portion of said core (413) are right-twisted.
5. The method for controlling automatic return flight of large freight unmanned aerial vehicle due to airlink loss according to claim 1, comprising the following steps: signal induction, namely inducing the surrounding environment by the freight transport unmanned aerial vehicle (30), and judging the signal connection condition of the communication link in real time through the detection of the surrounding environment; return planning, namely, realizing the autonomous return operation of the freight unmanned aerial vehicle (30) by utilizing the wireless return arranged in the freight unmanned aerial vehicle (30); and (3) autonomous sliding is realized, after the freight unmanned aerial vehicle (30) lands on the slide way (10), the freight unmanned aerial vehicle (30) retrieves the communication link, and the autonomous sliding of the freight unmanned aerial vehicle (30) is realized.
6. The method for controlling automatic return flight when the airlink of the large-scale unmanned aerial vehicle loses the flight path according to claim 5, wherein the signal sensing, the return flight planning and the autonomous sliding are realized by an automatic return flight system, the automatic return flight system comprises a control center and an automatic return flight control area, the control center is in signal connection with the automatic return flight control area, namely, after the communication link of the unmanned aerial vehicle (30) is lost during the flight process, the unmanned aerial vehicle (30) loses contact with a ground control center, the ground control center cannot control the unmanned aerial vehicle (30), at the moment, the automatic return flight control area is controlled by the control center inside the unmanned aerial vehicle (30), the automatic return flight control area comprises a signal sensing unit, a return flight planning unit and an autonomous sliding unit, and the signal sensing unit is in signal connection with the return flight planning unit, and the return planning unit is in signal connection with the autonomous sliding unit.
7. The method for controlling automatic return flight of large-scale cargo unmanned aerial vehicle due to airlink loss according to claim 6, wherein the signal sensing unit comprises an environment detection module, a fuel detection module and an aircraft state detection module, the return flight planning unit comprises a route selection module, a course control module and a return flight landing module, the autonomous taxiing comprises an altitude detection module, a yaw regulation and control module and a taxi ending module, and the fuel detection module is in signal connection with the route selection module.
8. The method for controlling automatic return flight of large freight unmanned aerial vehicle due to airlink loss according to claim 5, comprising the following steps:
s1: signal induction, after the freight unmanned aerial vehicle (30) is far away from the ground for a certain height, the environment detection module starts to detect the environment around the freight unmanned aerial vehicle (30), thereby avoiding the environment of an obstacle interference signal, after the environment with the obstacle around the freight unmanned aerial vehicle (30) causes the signal interference of the freight unmanned aerial vehicle (30), the freight unmanned aerial vehicle (30) detects the fuel content through the fuel oil detection module, meanwhile, when the fuel oil detection module detects the fuel oil, the aircraft state detection module detects the running state of the freight unmanned aerial vehicle (30), the signal induction of the freight unmanned aerial vehicle (30) is completed, thereby preparing for return planning of the freight unmanned aerial vehicle (30);
s2: the return flight planning is controlled by a return flight planning unit, the fuel content condition and the aircraft state of the freight unmanned aerial vehicle (30) are detected by a fuel detection module and an aircraft state detection module in a signal sensing unit, the return flight planning route is selected according to the fuel content and the aircraft state of the freight unmanned aerial vehicle (30), when the content and the flight state of the freight unmanned aerial vehicle (30) are good, a flight forbidden area is avoided to select the shortest route for return flight, and when the fuel content and the aircraft state are not enough to support the return flight of the freight unmanned aerial vehicle (30), an obstacle-free area is selected for forced landing, so that the safety of the freight unmanned aerial vehicle (30) in the return flight process is guaranteed, and in the return flight process, the course control module and the return flight landing module perform real-time adjustment on the return flight route, and the accuracy of the return flight is guaranteed;
s3: and (2) autonomous sliding, wherein when the fuel content and the state of the aircraft are good, the freight unmanned aerial vehicle (30) returns to the slideway (10) through the return planning unit, after landing, the freight unmanned aerial vehicle (30) starts autonomous sliding under the action of inertia, and the autonomous sliding is controlled through the autonomous sliding unit.
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