CN115524995A

CN115524995A - Transportation method, ground station, transportation airplane and transportation system

Info

Publication number: CN115524995A
Application number: CN202211058766.6A
Authority: CN
Inventors: 田瑜; 郑凌翔; 元科焱; 石俊杰; 郭栋
Original assignee: Autoflight Kunshan Co Ltd
Current assignee: Autoflight Kunshan Co Ltd
Priority date: 2022-08-30
Filing date: 2022-08-30
Publication date: 2022-12-27
Also published as: WO2024046261A1

Abstract

The embodiment of the invention discloses a transportation method, a ground station, a transportation airplane and a transportation system. The method comprises the following steps: generating a target transportation route according to the transportation task; performing flight simulation according to the aircraft simulation parameters based on the target transportation route to obtain a simulated flight track; and judging whether the simulated flight path has simulated fault information according to preset flight conditions to obtain a fault judgment result, and carrying out corresponding transportation operation according to the fault judgment result. By carrying out fault judgment on the simulated flight trajectory, whether the fault setting influencing flight transportation exists in the transportation task can be judged in advance according to the fault judgment result, the transportation task is improved, the corresponding target transportation route is optimized, and the transportation efficiency is improved. The ground station is used for transmitting the transportation task and the target transportation route to the transportation airplane, so that the problem of high transportation cost caused by the adoption of a helicopter manual transportation mode can be solved.

Description

Transportation method, ground station, transportation airplane and transportation system

Technical Field

The embodiment of the invention relates to the technical field of aircrafts, in particular to a transportation method, a ground station, a transportation airplane and a transportation system.

Background

For transportation points in areas with remote and complex terrain, such as islands, remote mountainous areas, deserts and other areas, when long-distance transportation of goods or rescue goods and materials is carried out in the areas, no direct ground road can reach the transportation points to realize transportation under most conditions.

At present, goods, rescue materials and the like are generally transported in a helicopter mode, but problems of high labor cost, high transportation cost and the like are caused by the adoption of the mode. In addition, there is also the mode that adopts unmanned aerial vehicle to carry out the commodity circulation transportation, but some uncontrollable trouble problems may appear in this kind of mode in the transportation, influence the efficiency of transportation.

Disclosure of Invention

The embodiment of the invention provides a transportation method, a ground station, a transportation airplane and a transportation system, which aim to solve the problem of high transportation cost and improve the transportation efficiency.

According to an aspect of the embodiments of the present invention, there is provided a transportation method applied to a ground station, including:

generating a target transportation route according to the transportation task;

performing flight simulation according to aircraft simulation parameters based on the target transportation route to obtain a simulated flight track;

and judging whether the simulated flight trajectory has simulated fault information according to preset flight conditions to obtain a fault judgment result, and carrying out corresponding transportation operation according to the fault judgment result.

According to another aspect of the embodiments of the present invention, there is provided a transportation method for transporting an aircraft, including:

receiving a transportation task and a target transportation route transmitted by a ground station;

starting flight transportation according to a task starting command based on the transportation task and the target transportation route;

in the flight transportation process, if the transportation aircraft has a flight fault, executing a first landing operation;

and if the transport aircraft has no flight fault, executing a second landing operation after the transport aircraft flies to the coordinates of each freight point.

According to another aspect of embodiments of the present invention, there is provided a ground station comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a transportation method according to any of the embodiments of the invention.

According to another aspect of an embodiment of the present invention, there is provided a transport aircraft including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

According to another aspect of an embodiment of the present invention, there is provided a transportation system, including: a ground station as provided by embodiments of the present invention, and a transport aircraft as provided by embodiments of the present invention.

According to the technical scheme of the embodiment of the invention, firstly, a target transportation route is generated according to a transportation task; then, carrying out flight simulation according to the aircraft simulation parameters based on the target transportation route to obtain a simulated flight track; and finally, judging whether the simulated flight trajectory has simulated fault information according to preset flight conditions to obtain a fault judgment result, and carrying out corresponding transportation operation according to the fault judgment result. According to the method, flight simulation is carried out on the target transportation route, fault judgment is carried out based on the obtained simulated flight track, and whether the transportation task has fault setting influencing flight transportation can be judged in advance according to the fault judgment result, so that the transportation task is improved, the corresponding target transportation route is optimized, and the transportation efficiency is improved. In addition, the ground station is used for transmitting the transportation task and the automatically generated target transportation route to the transportation airplane, so that the problem of high transportation cost caused by the adoption of a helicopter manual transportation mode can be effectively solved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flow chart of a transportation method according to an embodiment of the present invention;

fig. 2 is a flowchart of a transportation method according to a second embodiment of the present invention;

fig. 3 is a schematic diagram illustrating an implementation of a transportation method according to a second embodiment of the present invention;

fig. 4 is a schematic view of another transportation method according to a second embodiment of the present invention;

fig. 5 is a schematic structural diagram of a transportation device according to a third embodiment of the present invention;

fig. 6 is a schematic structural diagram of a transportation device according to a fourth embodiment of the present invention;

fig. 7 is a schematic structural diagram of a ground station according to a fifth embodiment of the present invention;

fig. 8 is a schematic structural view of a transport aircraft according to a sixth embodiment of the present invention;

fig. 9 is a schematic structural diagram of a transportation system according to a seventh embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, 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 making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," "target," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example one

Fig. 1 is a flowchart of a transportation method according to an embodiment of the present invention, where the method is applicable to a ground station, and the method may be performed by a transportation device, which may be implemented in hardware and/or software, and the transportation device may be configured in the ground station. As shown in fig. 1, the method includes:

and S110, generating a target transportation route according to the transportation task.

In the present embodiment, a ground station is understood to be a ground device that is disposed on the ground and that can communicate with a transport aircraft. A transport aircraft is understood to be an unmanned aircraft for the transport of goods, for example a transport aircraft may be a heavy-duty vertical takeoff and landing drone.

The transportation task may refer to a task associated with the transportation of the cargo, for example, the transportation task may include information such as a departure point coordinate of the transportation aircraft (e.g., the transportation aircraft may take off vertically in a rotor manner and convert to a fixed-wing state after reaching a set altitude), a hover departure point coordinate (e.g., the transportation aircraft may hover up to a desired flight line altitude in a fixed-wing manner with reference to a hover departure point), a freight point coordinate (i.e., which may be understood as a cargo transportation point coordinate), a hover landing point coordinate (i.e., the transportation aircraft may hover down to a set altitude in a fixed-wing manner and a landing point coordinate (which may be set to coincide with the departure point coordinate, but is not limited thereto; and may descend from the set altitude to the landing point in a rotor manner). The transport mission may be sent to the ground station by the operator associated with the departure point.

The target transportation route can be understood as an optimal transportation route which is automatically generated by the ground station according to the transportation task and has the advantages of low energy consumption, short transportation time and continuous route curvature. The low energy consumption is understood to be that the fixed flight energy consumption is far lower than the rotor flight energy consumption, so that the energy consumption of the generated transportation route is low, and is not limited in particular here. A shorter transit time may be understood as the route having the shortest flight transit time in which the mission can be completed through all points of cargo transit. Continuation of course curvature may be understood as making the turning curvature of the transport course continuous to ensure that the transport aircraft may always follow the transport course during fixed-wing flight. There is no limitation on how the target transportation route is specifically generated based on the transportation task.

And S120, carrying out flight simulation according to aircraft simulation parameters based on the target transportation route to obtain a simulated flight track.

In the present embodiment, the aircraft simulation parameters may be understood as simulation parameters associated with aircraft flight simulation; the specific content of the aircraft simulation parameters is not limited, and the aircraft simulation parameters can be flexibly set according to actual requirements, for example, the aircraft simulation parameters can include parameters such as an aircraft pneumatic model, an aircraft control model, an aircraft power supply model, aircraft load capacity information, weather information and terrain elevation information.

Optionally, the aircraft simulation parameters include one or more of: the system comprises an aircraft pneumatic model, an aircraft control model, an aircraft power supply model, aircraft load capacity information, weather information and terrain elevation information.

The aircraft aerodynamic model can be understood as a mathematical model describing the relationship between the motion parameters such as the attitude, the speed and the position of the transport aircraft, the aircraft aerodynamic parameters and the flight control quantity based on the own dynamic equation and the kinematic equation. That is, the aircraft aerodynamic model may provide motion information such as attitude, angular velocity, acceleration, etc. of the transporting aircraft.

The aircraft control model is understood to be a control system model established according to the characteristics of the transport aircraft, for example, the adopted control method can be a classical Proportional-Integral-derivative (PID) control, and can include a power distribution mode when the transport aircraft is in a rotor flight, an attitude control mode when the fixed wing is in a flight, and the like.

An aircraft power model may be understood as a mathematical model based on the power control of a transport aircraft. The aircraft power model may include information about the power of the transportation aircraft (e.g., the power of the transportation aircraft may be reduced according to the consumption of the flight process), and information about the voltage (e.g., the voltage drops immediately due to the sudden increase of the load when the transportation aircraft performs a heavy maneuver flight), etc.

Aircraft payload information may be understood as the weight that a transport aircraft may carry while in flight.

The weather information may be understood as a weather condition within a set time period for the target transportation route, such as a weather condition within one day or a weather condition within two days, and is not specifically limited herein.

The topographic elevation information is understood to mean the distance of a point from the absolute base level in the direction of the vertical, i.e. the distance of the point from the absolute base level in the direction of the vertical at which the transport aircraft is located during the flight. It will be appreciated that the terrain elevation information for each point location may be different.

It should be noted that, the information provided by the aircraft pneumatic model, the aircraft control model, the aircraft power model, the aircraft payload information, the weather information, and the terrain elevation information is not limited, and can be flexibly set according to the actual requirements of the flight simulation.

Based on the target transportation route, flight simulation is carried out according to the aircraft simulation parameters of the transportation aircraft, and a simulated flight track can be obtained. The simulated flight trajectory can be understood as a flight trajectory obtained by performing flight simulation based on a target transportation route according to various flight-related parameter information provided by an aircraft pneumatic model, an aircraft control model, an aircraft power supply model, aircraft load information, weather information, terrain elevation information and the like. For example, the obtained simulated flight trajectory may be drawn on a display interface of the ground station as a predicted flight trajectory, and the simulated flight trajectory is taken as a reference, so that a related technician (such as a transport aircraft operator) can conveniently have a clear prejudgment on the flight trajectory of the transport aircraft before takeoff.

S130, judging whether the simulated flight trajectory has simulated fault information according to preset flight conditions to obtain a fault judgment result, and carrying out corresponding transportation operation according to the fault judgment result.

In this embodiment, the preset flight condition may refer to a preset condition for determining a flight simulation fault, and the preset flight condition is not specifically limited herein, for example, the preset flight condition may include a preset electric quantity required for a transportation mission, a preset maximum angle of a roll angle or a pitch angle of a transportation aircraft, and a preset airspeed when the fixed wing is in a flight state in the transportation mission, and the like.

The fault judgment result can be understood as a judgment result of whether the simulated flight path has simulated fault information. The simulation fault information can be understood as fault information which influences the flight transportation of the transport aircraft and exists during flight simulation.

The simulation fault information is not specifically limited, and how to modify the corresponding transportation task according to the simulation fault information is also not limited. For example, the simulated fault information may include that the remaining power of the transportation aircraft is lower than the power required by the transportation mission (at which time the single transportation weight of the transportation mission may be modified, such as reducing the single transportation weight, or notifying the relevant technician to change the battery of the transportation aircraft to a full-power battery, etc.), that the roll angle or pitch angle setting of the transportation aircraft in the transportation mission exceeds a preset maximum angle (at which the turning radius of the transportation aircraft in the fixed-wing mode in the transportation mission may be modified, such as increasing the turning radius of the transportation aircraft in the fixed-wing mode), that the airspeed is too low (at which the maximum climbing rate of the transportation aircraft in the fixed-wing mode may be modified, such as reducing the maximum climbing rate of the fixed-wing mode), and that the transition of the rotor to fixed-wing mode transition in the transportation mission may be overtime (at which the tail rotor thrust setting in the transition or the desired airspeed setting for increasing the transition) may be performed).

It should be noted that the ground station may automatically modify the corresponding transportation task according to the simulation fault information, or the ground station related technician may manually modify the corresponding transportation task according to the simulation fault information, which is not specifically limited herein.

Illustratively, if the obtained simulated flight trajectory has the simulated fault information, the operation of generating the target transportation route and obtaining the simulated flight trajectory by flight simulation can be executed again according to the modified transportation task corresponding to the simulated fault information until the obtained simulated flight trajectory does not have the simulated fault information.

If the obtained simulated flight trajectory does not have the simulated fault information, the current transportation task and the target transportation route can be shown to meet the requirements, the transportation task and the target transportation route can be transmitted to the corresponding transportation aircraft, and the transportation aircraft transports goods based on the transportation task and the target transportation route.

The time for loading and unloading the goods at each freight point can also be considered during flight simulation, so the simulated flight trajectory can comprise the time for the transport aircraft to reach each freight transportation point in the transportation task. The ground station can transmit the time to each goods transportation point, so that the related technical personnel (such as operators for loading and unloading goods) of each goods transportation point can prepare for receiving the goods in advance, and the transportation efficiency is improved.

For example, the ground station may communicate with the transport aircraft via a wireless data transfer unit, such as by transmitting the transport mission and the target transport route via the wireless data transfer unit into a flight controller of the transport aircraft. A wireless data transfer unit is understood to be a unit that performs wireless data transfer.

Optionally, the corresponding transportation operation is performed according to the fault determination result, and includes: and if the fault judgment result indicates that the simulated flight path has the simulated fault information, returning to execute the operation of generating the target transportation route and the flight simulation according to the modified transportation task until the obtained simulated flight path does not have the simulated fault information.

If the fault judgment result indicates that the simulated flight path has the simulated fault information, the operation of generating the target transportation route and the flight simulation can be returned to be executed according to the modified transportation task until the obtained simulated flight path does not have the simulated fault information. On the basis, the modified transportation tasks and the target transportation routes which meet the requirements can be transmitted to the corresponding transportation airplanes.

Optionally, the corresponding transportation operation is performed according to the fault determination result, and includes: and if the fault judgment result indicates that the simulated flight path does not have the simulated fault information, transmitting the transportation task and the target transportation route to the corresponding transportation airplane.

And if the fault judgment result indicates that the simulated flight path does not have the simulated fault information, the transportation task and the target transportation route can be transmitted to the corresponding transportation airplane.

The first embodiment provides a transportation method, firstly, a target transportation route is generated according to a transportation task; then, carrying out flight simulation according to the aircraft simulation parameters based on the target transportation route to obtain a simulated flight track; and finally, judging whether the simulated flight trajectory has simulated fault information according to preset flight conditions to obtain a fault judgment result, and carrying out corresponding transportation operation according to the fault judgment result. According to the method, flight simulation is carried out on the target transportation route, fault judgment is carried out based on the obtained simulated flight track, and whether the transportation task has fault setting influencing flight transportation can be judged in advance according to the fault judgment result, so that the transportation task is improved, the corresponding target transportation route is optimized, and the transportation efficiency is improved. In addition, the ground station is used for transmitting the transportation task and the automatically generated target transportation route to the transportation airplane, so that the problem of high transportation cost caused by the adoption of a helicopter manual transportation mode can be effectively solved.

Example two

Fig. 2 is a flowchart of a transportation method according to a second embodiment of the present invention, where the method is applicable to a transportation aircraft, and the method may be performed by a transportation device, where the transportation device may be implemented in a form of hardware and/or software, and the transportation device may be configured in the transportation aircraft. As shown in fig. 2, the method includes:

and S210, receiving the transportation task and the target transportation route transmitted by the ground station.

In this embodiment, the transport aircraft receives the transport mission and the target transport route transmitted by the ground station.

And S220, starting flight transportation according to a task starting command based on the transportation task and the target transportation route.

In the present embodiment, the task start command may be understood as a command issued by a related technician to start execution of a transportation task. The transport aircraft may initiate flight transport in accordance with the received task initiation command based on the received transport task and the target transport route. For example, when the flying transportation is started, the flying transportation can take off in an automatic rotor mode at the flying point, and after the flying transportation is carried out by ascending to a set height and aligning the direction to the next freight transportation point, the rotor wing can be switched to a fixed wing mode for flying transportation.

S230, judging whether the transport airplane has a flight fault or not in the flight transport process, and if so, executing S240; if not, go to S250.

In the present embodiment, a flight fault can be understood as a fault problem that may occur in a transport aircraft during flight transport. For example, the flight fault may include failure of the control surface of the fixed wing of the transport aircraft, failure to maintain a normal fixed wing flight attitude, or failure of the fixed wing thrust paddles, failure to maintain a minimum fixed wing flight airspeed, etc., and is not specifically limited herein.

In the flight transportation process of the transport airplane, whether the transport airplane has a flight fault or not can be judged, and if the flight fault occurs, a first landing operation can be executed; if no flight fault occurs, a second landing operation can be executed after the aircraft flies to each freight point coordinate.

And S240, executing a first falling operation.

In the present embodiment, the first landing maneuver is understood to be a landing maneuver in the event of a flight fault of the transport aircraft. When the transport airplane has flight faults, the current airplane is not suitable for continuous flight transport, and the optimal landing point capable of landing at present can be searched for landing.

Optionally, if the transport aircraft has a flight fault, a first landing operation is performed, including: if the transport plane has flight faults, switching from a fixed wing flight mode to a rotor wing flight mode; determining an optimal landing point from the target points according to the current power consumption information of the transport airplane and the distance between the current position and the target point, wherein the target point comprises a flying point, a standby landing point and a freight point closest to the current position; judging whether the electric quantity corresponding to the current electric quantity information of the transport airplane is larger than a target electric quantity, wherein the target electric quantity is the electric quantity required by flying to an optimal landing point; if yes, flying to the optimal landing point for landing, and transmitting the coordinate of the optimal landing point to the ground station; if not, determining a temporary landing point according to the terrain environment information in the set range, flying to the temporary landing point for landing, and transmitting the coordinates of the temporary landing point to the ground station; the set range is a range which can be reached under the current electric quantity information.

If the transport plane has flight faults, the flight mode of the fixed wing can be switched to the flight mode of the rotor wing, and a landing point is prepared to be searched for landing.

An optimal landing point may then be determined from the target points based on the current power consumption information of the transport aircraft and the distance between the current location and the target points. The current power consumption information may refer to current power consumption information of the transport aircraft. The distance between the current position and the target point may refer to a distance required for the transport aircraft to fly from the current position to the target point. The target point can be a point which can be used as a standby landing point, for example, the target point can comprise a flying point, a standby landing point and a freight point which is closest to the current position; the standby drop point can be understood as a preset drop point for standby; the freight point closest to the current position may refer to the freight point closest to the current position among all freight points (for example, all freight points of a transportation task, or all freight points of an area where an airplane is transported). The optimal landing point can be understood as a landing point which is selected from the target points, has the closest distance and can be reached by maintaining power consumption based on the current power consumption information of the transport aircraft and the distance between the current position and the target points.

And finally, judging whether the electric quantity corresponding to the current electric quantity information of the transport airplane is larger than a target electric quantity, wherein the current electric quantity information can refer to the current residual electric quantity information of the transport airplane, and the target electric quantity can be the electric quantity required by flying to the optimal landing point. If the current electric quantity is larger than the target electric quantity, the electric quantity of the transport plane can be shown to maintain the flight to the optimal landing point, at the moment, the transport plane can fly to the optimal landing point to land, and the optimal landing point coordinate is transmitted to the ground station.

If the current electric quantity is less than or equal to the target electric quantity, it may be indicated that the electric quantity of the transportation aircraft may not maintain the flight to the optimal landing point (it may be understood that the probability that the current electric quantity is equal to the target electric quantity may also occur and the flight to the optimal landing point may not be maintained, so for flight safety, the current electric quantity is equal to the target electric quantity, and the position where the nearest terrain environment is a flat ground may be selected as the temporary landing point according to the terrain environment information within the set range, and how to determine the temporary landing point according to the terrain environment information within the set range is not limited herein. On the basis, the transport airplane can fly to the temporary landing point for landing, and the coordinates of the temporary landing point are transmitted to the ground station. The set range may be a range that can be reached under the current electric quantity information. The topographic environment information may refer to information representing the topographic environment, such as whether the topographic environment is a water surface, whether the topographic environment includes trees, whether the topographic environment is flat, and the like, and is not limited herein. The temporary landing point may refer to a position where the vehicle can temporarily land within a set range with the current position as a center.

It can be understood that the optimal landing point or the temporary landing point is transmitted to the ground station, so that the ground station-related technicians can know the position information of the transport airplane in real time, and timely inform the related technicians to perform fault inspection, maintenance treatment and the like on the transport airplane at the optimal landing point.

And S250, after flying to each freight point coordinate, executing a second landing operation.

In the present embodiment, the second landing operation is understood to be a landing operation when the transport aircraft has not a flight fault. When the transport plane has no flight fault, the transport plane can normally fly according to a target transport route, and after flying to the coordinates of each freight point, the current flight mode is switched, and the transport plane descends to the ground under the condition that the ground of the freight point meets the landing condition, so that the landing is completed.

Landing conditions are understood to mean that the ground of the freight point to be currently landed is free of piled goods and persons staying thereon, and the landing conditions are not particularly limited as long as the safe landing of the transport aircraft to the ground is not affected.

Optionally, if the transport aircraft has no flight fault, after flying to each freight transportation point coordinate, executing a second landing operation, including: if the transport aircraft has no flight fault, after flying to each freight point coordinate, switching from a fixed wing flight mode to a rotor wing flight mode; determining the ground information of a freight point corresponding to the freight point coordinate through a set sensor; if the ground information meets the landing condition, landing to a freight point in a rotor wing flying manner; and if the ground information does not meet the landing condition, setting the ground station to be in a hovering waiting state, and transmitting the hovering waiting state information to the ground station.

If the transport aircraft has no flight fault, the fixed wing flight mode can be switched to the rotor wing flight mode after the transport aircraft flies to the coordinates of each freight transport point.

And then, determining the ground information of the freight point corresponding to the freight point coordinate through a set sensor. The setting sensor may refer to a preset sensor for acquiring a ground image of the freight transportation point, for example, the setting sensor may be a camera or an image sensor. Ground information may refer to information characterizing the ground environment of the point of shipment, for example, ground information may include the presence of piled cargo, the presence of stop personnel, and the like.

And finally, judging whether the ground information meets the landing condition. If the ground information meets the landing condition, the aircraft can land to a freight transportation point in a rotor wing flying manner; if the ground information does not meet the landing condition, the current flight state of the transport aircraft can be set to be a hovering waiting state, and the corresponding hovering waiting state information is transmitted to the ground station. The hover waiting state information can be understood as information for representing the hover waiting state of the transport aircraft, so that technical personnel related to the ground station can know the flight condition of the transport aircraft in real time and inform freight site operators of clearing the ground of the freight site in time so as to facilitate landing of the transport aircraft.

Optionally, after landing to a freight transportation point in a rotor flight manner, the method further comprises: setting the current airplane state as a power locking state; if the task instruction is not received within the first time, sending first prompt information in a first prompt mode, and transmitting the first prompt information to the ground station, wherein the first prompt information is information that the task instruction is not received within the first time; and if the task instruction is received within the first time, sending a second prompt message in a second time before the power locking state is released, and transmitting the second prompt message to the ground station, wherein the second prompt message is the information about the power locking state to be released.

After landing to a freight point in a rotor flight mode during transportation of the aircraft, the current aircraft state may be set to a power-locked state. A power-locked condition is understood to mean that the flight power of the transporting aircraft is in a locked armed state.

On the basis, if the task instruction is not received in the first time, the first prompt information can be sent out in a first prompt mode and transmitted to the ground station, so that the ground station can conveniently perform corresponding processing. The first time may refer to a preset time period for waiting for a next task instruction, and a specific value of the first time is not limited herein, and may be 5 minutes or 10 minutes, for example. The mission command may refer to a command for a next mission from a freight point operator or a ground station, such as return or flight to a next freight point. The first prompting mode may be a mode for prompting that no task instruction is received in the first time, such as a voice prompting mode, a buzzer prompting mode, or an indicator light prompting mode. The first prompt may refer to a message that the transport aircraft has not received the mission instruction within a first time.

If the task instruction is received within the first time, the second prompt information can be sent out in a second time before the power locking state is relieved, and the second prompt information is transmitted to the ground station, so that the ground station can conveniently perform corresponding processing. The second time may refer to a time set in advance for prompting that the power-locked state of the transporting aircraft is about to be released. The specific value of the second time is not limited, and may be 30 seconds, 1 minute, or the like. The second prompting means may be a means for prompting that the power locking state is about to be released, and may be a voice prompting means, a buzzer prompting means, an indicator light prompting means, or the like. The second prompt message may be a message that the power lock state is about to be released.

It should be noted that, if the first and second prompting manners are the same, and if both the first and second prompting manners employ a buzzer manner, it is understood that different buzzer alarm manners may be set for distinguishing the prompts, and how to set the different buzzer alarm manners is not limited herein.

The second embodiment provides a transportation method, which includes firstly receiving a transportation task and a target transportation route transmitted by a ground station; then starting flight transportation according to a task starting command based on the transportation task and the target transportation route; finally, in the flying and transporting process, if the transporting airplane has a flying fault, executing a first landing operation; and if the transport aircraft has no flight fault, executing a second landing operation after flying to each freight point coordinate. According to the method, different flight transportation conditions of the transport aircraft can be flexibly processed through different landing operations of the transport aircraft under the conditions of flight faults and no flight faults, and the flexibility and the safety of flight transportation are improved.

The invention is illustrated below:

the embodiment of the invention can be a remote cargo transportation method based on a heavy-load vertical take-off and landing aircraft. Fig. 3 is a schematic diagram illustrating an implementation of a transportation method according to a second embodiment of the present invention. As shown in fig. 3, point a is a task starting point (also can be regarded as a flying point), and a complete set of operating system and related operators or technicians can be arranged at point a, and send a flight path and give a task starting instruction. The point B and the point C are respectively a cargo transportation point 1 and a cargo transportation point 2 (namely a cargo transportation point), less related operators are arranged at the point B and the point C for cargo loading and unloading operation, a transportation airplane cannot be operated, and the ground station is disconnected or only has satellite communication. The mission route in the figure is not a straight line in actual conditions, but has a reasonable route (including a spiral flying point, a spiral landing point and the like) which is planned and can be detected by the route, and the route is only schematically illustrated.

The specific process is as follows:

1. the transport aircraft takes off from point a with the cargo loaded, transports to points B and C (if there are multiple transport points, transport to multiple transport points), and returns to point a.

2.A takes off without load, flies to point B and point C (if there are multiple transportation points, it can be transported to multiple transportation points) to load goods, and transports the airplane to return to point A.

3.A loads goods take off from point A, drop to points B and C, load goods from points B and C, and transport the plane back to point A.

The implementation method of logistics transportation in this embodiment is as follows: (taking a transport airplane as an unmanned plane for explanation)

1. The unmanned aerial vehicle operator loads goods at the point A, sets a transportation task through a ground station, and inputs coordinates of goods transportation points (the coordinate information of the goods transportation points is sent to the operator at the point A by the operator at the goods transportation point, and if a transportation history exists, the operator at the goods transportation point can directly confirm the transportation history with the operator at the goods transportation point and then use a corresponding history transportation point);

2. the ground station automatically generates an optimal air route (namely a target transport air route) according to the transport task and the freight point, and fast flight simulation is carried out by combining an aircraft pneumatic model, a control model, a power supply model, the load capacity, the real-time weather condition and terrain elevation data passed by the air route, whether the transport task and the air route are safe and reliable is automatically checked through the flight simulation, the simulated flight track is drawn on a ground station flight interface to serve as a predicted flight track, and an A-point unmanned aerial vehicle operator can have a clear and reliable prejudgment on the flight track before the aircraft takes off. If the flight simulation does not pass, the ground station can list simulation fault reasons and potential problem points, and the unmanned aerial vehicle operating personnel at the A point can modify the transportation task conveniently.

3. The ground station rapid flight simulation can also accurately estimate the time of arriving at the point B (for example, the time of arriving at each freight point can be estimated), and the operator at the point A tells the operator at the point B the time of receiving the freight, so that the operator at the point B prepares to receive the freight in advance, and the transportation efficiency is improved.

4. After flight simulation, the flight task and the optimal air route are transmitted to a flight controller through a wireless data transmission unit, and after the normal state of the airplane is checked, corresponding operators are informed to start the transportation task (namely, a task starting command is sent out).

5363 and the unmanned aerial vehicle operator sends a command of starting mission at 5.A, the unmanned aerial vehicle takes off by automatic rotor wing, rises to the target height, is switched to a fixed wing state after the course of the unmanned aerial vehicle is aligned with the next waypoint, and flies to the next freight point (namely the next waypoint) in a fixed wing mode.

6. In the course of air line transportation, if the unmanned aerial vehicle (i.e. transportation aircraft) system has a fault, for example, the control surface of the fixed wing fails, and the normal flying attitude of the fixed wing cannot be maintained, or the thrust propeller of the fixed wing fails and the lowest flying airspeed of the fixed wing cannot be maintained, the aircraft will be automatically switched into a rotor flight mode immediately, and according to the current power consumption, the residual electric quantity, the distance to the departure point, the distance to the nearest freight point and the distance to the standby landing point, the nearest landing point which can be reached is selected for landing, if the electric quantity is not enough to support the aircraft to fly to the nearest landing point for landing, the best landing point can be searched for and the landing point coordinate is sent back to the control center of the ground station, or a signal is sent to a corresponding operator through satellite communication. If the lift propellers fail in the flying mode of the take-off rotor and the landing rotor, the power distribution can be carried out on the transport plane again according to the serial numbers of the failed propellers immediately, and the plane can be ensured to land stably.

Understandably, the drone system itself fails, where failure may mean that the transport aircraft needs to be switched from fixed-wing to rotorcraft mode flight. If the transport plane can fly in a fixed wing mode, the power is low, whether the transport plane can reach the nearest landing point and enough power allowance is reserved can be continuously judged, namely, the transport plane can be always guaranteed to land to a preset landing point by a corresponding judgment algorithm, and otherwise the transport plane can return to the home in advance. After the transportation aircraft is switched into a rotor mode from a fixed wing, the power consumption can be greatly improved, and the optimal landing point can be selected for landing.

7. After the transport aircraft reaches a freight point, the transport aircraft is automatically switched into a rotor wing state, the transport aircraft lands at a freight point B meeting the landing requirement of the aircraft in a rotor wing mode, the landing condition of the aircraft can be confirmed through a sensor (such as a ground camera) arranged on the aircraft before landing, if the landing condition is not met, the aircraft is in a hovering waiting state, and the state is sent back to a ground station control center or a satellite communication signal is sent to inform a corresponding operator.

8. The transport plane safely lands and enters a power locking standby state, then automatically finishes unloading and informs the operator of the current freight site after unloading is finished.

9. The state of the airplane can prompt the operator of the freight point through the state lamp and the buzzer.

10. After the cargo transportation point operator confirms that the unloading is finished, the operator can send a corresponding execution command (such as a direct return command, a command of continuing flying to the next transportation point (if the task only has the only cargo transportation point or the current cargo transportation point is the last cargo transportation point, the command is to actually execute the direct return operation), a cancellation command (enter a power locking standby state) and the like) to the aircraft through the button operation on the aircraft wings.

11. And the transport aircraft carries out self-checking after receiving the instruction, if the transport aircraft is abnormal, an alarm prompt can be given, the continuation of the task is refused, and the fault information of the aircraft is sent back to the control center of the A-point ground station.

12. After the transport plane receives the instruction and has no abnormity in self-checking, the transport plane waits for a period of time (the transport plane is convenient for operators to evacuate and is reminded before taking off, and the transport plane can continue to operate and forbid taking off before reminding) to take off automatically and execute subsequent tasks; except for taking off and landing, the airplane flies to a target navigation point in a fixed wing mode.

13. If it is desired to load cargo at the cargo transportation site, the operator should complete with the aircraft in a power-lock armed state for safety.

The logistics transportation method of the embodiment has low requirement on the professional level of the operators at the freight site, is simple to operate and is safe and reliable.

Fig. 4 is a schematic implementation diagram of another transportation method provided in the second embodiment of the present invention. As shown in fig. 4, the specific process is as follows:

s1, transporting the airplane in transportation and flying.

And S2, the transport plane lands on a cargo transport point, and locks the paddles to wait for a task command.

Before the transport plane arrives, the landing point is cleared, the landform of the landing point is flat, no articles are stacked, and no irrelevant personnel stay.

The transport plane enters a power locking standby state, and the operator at the freight transport point can load the freight (according to actual requirements). The loading weight should meet the airplane loading requirement, otherwise the transport airplane will refuse to take off, and the cargo compartment position status light of the transport airplane will remind that the loading is too large.

S3, the transport aircraft confirms the task command and performs self-checking whether the command is abnormal or not, and if so, S4 is executed; if not, S7 is executed.

After confirming that the unloading of the goods is completed or the loading of the goods is completed, the operator at the goods transportation point sends a task command to guide the transportation aircraft to execute a subsequent task (such as a command of triggering return flight by a key or a command of continuing flying to the next goods transportation point); if the transport plane does not receive the task command for a long time, voice reminding of operators can be carried out, and the state is sent to a ground station center (after the relevant operators of the ground station acquire the state information, the operators can immediately contact a goods transport point to receive goods and start the transport plane to return through a key), and at the moment, the transport plane is always in a power locking standby state.

And if the task command is cancelled, returning to execute S2.

And S4, starting a primary alarm and continuing to execute S5.

The primary alarm can indicate that a state indicator lamp and a buzzer are additionally arranged to remind the current state of the airplane, a buzzing alarm is given 15 seconds before power unlocking, and after the buzzing sound is sounded, relevant operators can withdraw the airplane from transportation immediately.

And S5, starting secondary alarm when the power propeller of the transport plane is about to be unlocked.

The second-level alarm can indicate that a state indicator lamp and a buzzer are additionally arranged to remind the current state of the airplane, a buzzing prompt alarm prompt is given 5 seconds before power unlocking, and after a buzzing sound is sounded, relevant operators need to withdraw the transport airplane immediately.

And if the task command is cancelled, returning to execute S2.

And S6, the transport aircraft executes the task command, the transport aircraft power propeller unlocks and takes off, and the S1 is executed in a returning mode.

S7, self-checking the transport aircraft to be abnormal, giving an alarm prompt, refusing to continue to execute a task command, and returning abnormal information to the ground station center.

For safety reasons, command buttons for a transport aircraft may be located on the wing at a location remote from the rotor. This may be advantageous for freight point operators to evacuate after the shuttle return command is initiated or to cancel the command before the command is locked (e.g., if the operator detects that the warehouse has forgotten to load cargo after triggering the return mission, then the command may need to be cancelled). To prevent the command button from being triggered by a non-operator, the command button is only active when the security key is inserted into the security lock, which may be located a set distance beside the command button.

The condition of cargo loading is not required, and the cargo can be handled after the transportation aircraft flies away by the cargo transportation point operator.

EXAMPLE III

Fig. 5 is a schematic structural diagram of a transportation device according to a third embodiment of the present invention. As shown in fig. 5, the apparatus may be configured at a ground station, the apparatus comprising: a route generation module 310, a trajectory determination module 320, and a transport operations module 330;

a route generation module 310, configured to generate a target transportation route according to the transportation task;

the track determining module 320 is used for performing flight simulation according to aircraft simulation parameters based on the target transportation route to obtain a simulated flight track;

and the transportation operation module 330 is configured to determine whether the simulated flight trajectory has simulated fault information according to preset flight conditions, obtain a fault determination result, and perform corresponding transportation operation according to the fault determination result.

Firstly, generating a target transportation route according to a transportation task through a route generation module 310; then, by a track determining module 320, flight simulation is carried out according to the airplane simulation parameters based on the target transportation route to obtain a simulated flight track; and finally, judging whether the simulated flight trajectory has simulated fault information according to preset flight conditions through a transportation operation module 330 to obtain a fault judgment result, and performing corresponding transportation operation according to the fault judgment result. The device can judge whether the fault setting influencing the flying transportation exists in the transportation task according to the fault judgment result by performing the flying simulation on the target transportation route and judging the fault based on the obtained simulated flight track, thereby improving the transportation task, optimizing the corresponding target transportation route and improving the transportation efficiency. In addition, the ground station is used for transmitting the transportation task and the automatically generated target transportation route to the transportation airplane, so that the problem of high transportation cost caused by the adoption of a helicopter manual transportation mode can be effectively solved.

Optionally, the transportation operation module 330 is specifically configured to:

and if the fault judgment result indicates that the simulated flight path has the simulated fault information, returning to execute the operations of generating the target transportation route and simulating the flight according to the modified transportation task until the obtained simulated flight path does not have the simulated fault information.

Alternatively to this, the first and second parts may,

the transport operation module 330 is specifically configured to:

and if the fault judgment result indicates that the simulated flight path does not have the simulated fault information, transmitting the transportation task and the target transportation route to a corresponding transportation airplane.

Optionally, the aircraft simulation parameters include one or more of the following: the system comprises an aircraft pneumatic model, an aircraft control model, an aircraft power supply model, aircraft load capacity information, weather information and terrain elevation information.

The transportation device provided by the embodiment of the invention can execute the transportation method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example four

Fig. 6 is a schematic structural diagram of a transportation device according to a fourth embodiment of the present invention. As shown in fig. 6, the apparatus may be configured for use with a transport aircraft, the apparatus comprising: a receiving module 410, a starting module 420, a first executing module 430, and a second executing module 440;

a receiving module 410, configured to receive the transportation task and the target transportation route transmitted by the ground station;

a starting module 420 for starting flight transportation according to a task starting command based on the transportation task and the target transportation route;

the first executing module 430 is configured to, in a flight transportation process, execute a first landing operation if the transportation aircraft has a flight fault;

and a second executing module 440, configured to execute a second landing operation after the transportation aircraft flies to each freight point coordinate if the transportation aircraft has no flight fault.

The device firstly receives a transportation task and a target transportation route transmitted by a ground station through a receiving module 410; then, starting flight transportation according to a task starting command based on the transportation task and the target transportation route through a starting module 420; then, through the first execution module 430, in the flight transportation process, if the transportation aircraft has a flight fault, a first landing operation is executed; finally, through the second executing module 440, if the transport aircraft has no flight fault, after flying to each freight point coordinate, a second landing operation is executed. The device can flexibly process different flight transportation conditions of the transport airplane through different landing operations of the transport airplane under the condition of flight faults and non-flight faults, and improves the flexibility and the safety of flight transportation.

Optionally, the first executing module 430 is specifically configured to:

if the transport plane has flight faults, switching from a fixed wing flight mode to a rotor wing flight mode;

determining an optimal landing point from the target points according to the current power consumption information of the transport aircraft and the distance between the current position and the target point, wherein the target point comprises a flying point, a standby landing point and a freight point closest to the current position;

judging whether the electric quantity corresponding to the current electric quantity information of the transport aircraft is larger than a target electric quantity, wherein the target electric quantity is the electric quantity required by flying to the optimal landing point;

if yes, flying to the optimal landing point for landing, and transmitting the coordinate of the optimal landing point to a ground station;

if not, determining a temporary landing point according to the terrain environment information in the set range, flying to the temporary landing point for landing, and transmitting the coordinates of the temporary landing point to a ground station; and the set range is the range which can be reached under the current electric quantity information.

Optionally, if the transportation aircraft has no flight fault, after flying to each freight transportation point coordinate, executing a second landing operation, including:

if the transport aircraft has no flight fault, after flying to each freight point coordinate, switching from a fixed wing flight mode to a rotor wing flight mode;

determining the ground information of the freight point corresponding to the freight point coordinate through a set sensor;

if the ground information meets the landing condition, landing to the freight transportation point in a rotor wing flying mode;

and if the ground information does not meet the landing condition, setting the ground information to be in a hovering waiting state, and transmitting the hovering waiting state information to the ground station.

Optionally, the apparatus further comprises:

a setting module for setting a current aircraft state to a power-on state after landing to the freight point in the rotorcraft mode;

the first prompting module is used for sending first prompting information in a first prompting mode and transmitting the first prompting information to the ground station if the task instruction is not received within a first time, wherein the first prompting information is information that the task instruction is not received within the first time;

and the second prompting module is used for sending second prompting information in a second prompting mode in a second time before the power locking state is released after receiving the task instruction in the first time, and transmitting the second prompting information to the ground station, wherein the second prompting information is the information about the power locking state to be released.

EXAMPLE five

Fig. 7 is a schematic structural diagram of a ground station according to a fifth embodiment of the present invention. The ground station 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The ground station 10 may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 7, the ground station 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the ground station 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

A number of components in the ground station 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the ground station 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as the transportation method.

In some embodiments, the transportation method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed on the ground station 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the transportation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the transportation method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.

EXAMPLE six

Fig. 8 is a schematic structural diagram of a transport aircraft according to a sixth embodiment of the present invention. Transport aircraft 20 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Transport aircraft 20 may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 8, the transport aircraft 20 includes at least one processor 21, and a memory communicatively connected to the at least one processor 21, such as a Read Only Memory (ROM) 22, a Random Access Memory (RAM) 23, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 21 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 22 or the computer program loaded from the storage unit 28 into the Random Access Memory (RAM) 23. In the RAM 23, various programs and data necessary for the operation of the transport aircraft 20 can also be stored. The processor 21, the ROM 22, and the RAM 23 are connected to each other via a bus 24. An input/output (I/O) interface 25 is also connected to bus 24.

Various components in transport aircraft 20 are connected to I/O interface 25, including: an input unit 26 such as a keyboard, a mouse, etc.; an output unit 27 such as various types of displays, speakers, and the like; a storage unit 28, such as a magnetic disk, optical disk, or the like; and a communication unit 29 such as a network card, modem, wireless communication transceiver, etc. The communication unit 29 allows the transport aircraft 20 to exchange information/data with other equipment via a computer network, such as the internet, and/or various telecommunication networks.

The processor 21 may be any of various general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of the processor 21 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 21 performs the various methods and processes described above, such as the transportation method.

In some embodiments, the transportation method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 28. In some embodiments, part or all of the computer program may be loaded and/or installed onto transport aircraft 20 via ROM 22 and/or communications unit 29. When the computer program is loaded into the RAM 23 and executed by the processor 21, one or more steps of the transportation method described above may be performed. Alternatively, in other embodiments, the processor 21 may be configured to perform the transportation method in any other suitable manner (e.g., by means of firmware).

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here may be implemented on a ground station having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the ground station. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

EXAMPLE seven

Fig. 9 is a schematic structural diagram of a transportation system according to a seventh embodiment of the present invention. As shown in fig. 9, the system includes: such as ground station 510 and transport aircraft 520 provided by embodiments of the present invention.

Wherein the ground station 510 and the transport aircraft 520 may be communicatively coupled.

A ground station 510 for generating a target transportation route according to the transportation task; performing flight simulation according to aircraft simulation parameters based on the target transportation route to obtain a simulated flight track; and judging whether the simulated flight trajectory has simulated fault information according to preset flight conditions to obtain a fault judgment result, and carrying out corresponding transportation operation according to the fault judgment result.

A transport airplane 520 for receiving the transport mission, the target transport route, and the target time transmitted from the ground station 510; starting flight transportation according to a task starting command based on the transportation task, the target transportation route and the target time; in the flight transportation process, if the transportation aircraft 520 has a flight fault, a first landing operation is executed; if the transport aircraft 520 has no flight fault, a second landing operation is performed after flying to each freight point coordinate.

The transportation system provided by the embodiment of the invention can execute the transportation method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.

It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of transportation, for use at a ground station, the method comprising:

generating a target transportation route according to the transportation task;

2. The method of claim 1, wherein performing the corresponding transportation operation according to the fault determination result comprises:

and if the fault judgment result indicates that the simulated flight path has the simulated fault information, returning to execute the operation of generating the target transportation route and flight simulation according to the modified transportation task until the obtained simulated flight path does not have the simulated fault information.

3. The method of claim 2, wherein performing the corresponding transportation operation according to the fault determination result comprises:

4. The method of claim 1, wherein the aircraft simulation parameters include one or more of: the system comprises an aircraft pneumatic model, an aircraft control model, an aircraft power supply model, aircraft load capacity information, weather information and terrain elevation information.

5.A method of transportation, for use in transporting an aircraft, the method comprising:

6. The method of claim 5, wherein performing a first landing maneuver if the transport aircraft experiences a flight fault comprises:

determining an optimal landing point from the target points according to the current power consumption information of the transport aircraft and the distance between the current position and the target points, wherein the target points comprise a flying point, a standby landing point and a freight point closest to the current position;

7. The method of claim 5, wherein performing a second landing maneuver after flying to each of the freight point coordinates if the transport aircraft is not experiencing a flight fault comprises:

8. The method of claim 7, further comprising, after landing in the rotorcraft mode to the freight point:

setting the current airplane state as a power locking state;

if the task instruction is not received within the first time, sending first prompt information in a first prompt mode, and transmitting the first prompt information to the ground station, wherein the first prompt information is information that the task instruction is not received within the first time;

and if a task instruction is received within the first time, sending second prompt information in a second time before the power locking state is released, and transmitting the second prompt information to a ground station, wherein the second prompt information is the information about the power locking state to be released.

9. A ground station, characterized in that the ground station comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the transportation method of any one of claims 1-4.

10. A transport aircraft, characterized in that it comprises:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the transportation method of any one of claims 5-8.

11. A transportation system, characterized in that the system comprises: a ground station according to claim 9, and a transport aircraft according to claim 10.