阅读说明：本技术 一种大中型固定翼无人机空投系统及空投控制方法 (Air-drop system and air-drop control method for large and medium-sized fixed wing unmanned aerial vehicle ) 是由 谷宝明 郭宏选 李星辉 于 2021-09-27 设计创作，主要内容包括：本发明公开了一种大中型固定翼无人机空投系统,本发明在原有无人机基础上,增设近地告警系统和任务计算机,该系统能够通过采集飞机上的相关飞行数据信息,利用自身的地形数据库、机场跑道/障碍物数据库,进行告警运算,来判断飞机是否存在可能的近地危险,通过提前向机组提醒或告警,避免在雨雾等恶劣天气中无法有效控制无人机的情况下或者对空间方向感判断失误的情况下发生飞机撞地、撞山或飞入水中的事故。本发明公开了一种大中型固定翼无人机空投控制方法,这项技术可以使改型后无人机空投时飞行高度降低至200米。进而大大降低空投高度,提高空投精度。(The invention discloses an air-drop system of a large and medium-sized fixed wing unmanned aerial vehicle, which is characterized in that a near-ground warning system and a task computer are additionally arranged on the basis of the original unmanned aerial vehicle, the system can judge whether the aircraft has possible near-ground danger by collecting relevant flight data information on the aircraft and utilizing a terrain database and an airport runway/obstacle database of the system to carry out warning operation, and accidents that the aircraft collides the ground, hits a mountain or flies into water under the condition that the unmanned aerial vehicle cannot be effectively controlled in severe weather such as rain fog and the like or under the condition that the judgment on the spatial direction is wrong are avoided by reminding or warning the aircraft to a unit in advance. The invention discloses an airdrop control method for large and medium-sized fixed wing unmanned aerial vehicles, which can reduce the flying height of the modified unmanned aerial vehicles to 200 meters during airdrop. Thereby greatly reducing the air-drop height and improving the air-drop precision.)

1. An air-drop system of a large and medium-sized fixed wing unmanned aerial vehicle is characterized by comprising a flight control system and an air-drop task system, wherein the air-drop task system comprises a wind measuring system, a ground proximity warning system and a task execution system;

the wind measuring system is used for obtaining current wind speed and wind direction information and feeding the current wind speed and wind direction information back to the flight control system;

the ground proximity warning system is used for judging whether ground proximity danger exists or not according to preset database information and current flight data information and outputting warning information to the flight control system according to a judgment result, wherein the preset database comprises a terrain database, an airport runway and an obstacle database;

the task execution system is used for executing a launching task according to a launching instruction of the flight control system;

and the flight control system is used for outputting the throwing instruction according to the wind speed and direction information and the alarm information.

2. The aerial delivery system of claim 1, wherein the wind measurement system is a three-dimensional wind lidar configured to detect a three-dimensional wind field in real time to obtain a wind speed, a wind direction, and a wind profile; the three-dimensional wind measuring laser radar is arranged at the lower part of the machine body.

3. The aerial delivery system of claim 1, wherein the task execution system comprises an intracabin parachuting aerial delivery system and a throwing pod system externally arranged on a wing; the cabin parachute drop and airdrop system comprises a container, a drop device and a parachute device; the throwing device is used for fixing containers in the cargo hold, moving the containers back and forth and throwing in the air, and each container is provided with a parachute device; the throwing nacelle system is symmetrically arranged at the lower parts of two sides of the wing.

4. The airdrop system of the large and medium-sized fixed-wing unmanned aerial vehicle according to claim 1, wherein the flight control system comprises a calculation module, the calculation module is used for obtaining drop information according to wind speed and wind direction information, and the drop information comprises drop time, aircraft position and flight speed during drop; and the flight control system outputs the launching instruction according to the launching information and the judgment result of the ground proximity warning system.

5. The aerial delivery system of claim 3, wherein the fixed-wing drone aircraft,

the air drop task system further comprises a pod cabin door control system, and the pod cabin door control system switches the cabin door based on a cabin door control command of the flight control system.

6. The aerial delivery system of claim 1, wherein the aerial delivery mission system further comprises an aerial delivery monitoring system, and the aerial delivery monitoring system feeds back monitoring information to the flight control system for issuing cabin door control commands.

7. The airdrop system of claim 6, wherein the airdrop monitoring system comprises a pressure sensor arranged on the floor of the cargo compartment and/or a camera installed in the aircraft, the camera monitors that the flight control system issues a command for opening the cabin door when the preset throwing position is reached, and the pressure sensor or the camera monitors that the flight control system issues a command for closing the cabin door after the throwing is completed.

8. The aerial delivery system of the medium and large fixed-wing drone according to any one of claims 1 to 7, further comprising a mission computer, the mission computer being connected to the flight control system and the aerial delivery mission system, respectively, for information transmission between the flight control system and the aerial delivery mission system.

9. A large and medium-sized fixed wing unmanned aerial vehicle airdrop control method is characterized by comprising the following specific operation steps:

step 1: detecting three-dimensional wind field information in real time by using a three-dimensional wind measuring laser radar, obtaining wind speed, wind direction and wind profile, and sending the information to a flight control system;

step 2: collecting relevant flight data information on the unmanned aerial vehicle by using a near-ground warning system, performing warning operation by using a terrain database and an airport runway/obstacle database of the unmanned aerial vehicle to judge whether the unmanned aerial vehicle has a near-ground risk, sending information to a flight control system to readjust the flight state of the unmanned aerial vehicle if the unmanned aerial vehicle has the near-ground risk, and sending the information to the flight control system if the unmanned aerial vehicle does not have the near-ground risk;

and step 3: the flight control system issues a throwing instruction to the task execution system according to the three-dimensional wind field information in the step 1, the near-ground risk information of the near-ground warning system in the step 2 and throwing information; the releasing information comprises releasing time, airplane position and flying speed;

and 4, step 4: the task execution system executes the releasing task after receiving the releasing instruction in the step 3, and realizes linkage umbrella opening with the triggering mechanism in the cargo hold discharging process of the cargo container, so that the cargo container is released and stably lands; after the unmanned aerial vehicle enters the launching route, the pod is safely taken off the aircraft, and the parachute is popped out, so that the cargo pod is safely landed.

10. The airdrop control method for the large and medium-sized fixed-wing unmanned aerial vehicles according to claim 9, wherein the method for obtaining the three-dimensional wind field information in the step 1 is as follows:

the three-dimensional wind measurement laser radar carries out wind field detection by taking micro particles in the atmosphere as tracers, the micro particles move to generate backscattering signals with Doppler frequency shift, the Doppler frequency shift of the backscattering signals is measured by detecting echo signals of the micro particles, the radial speeds of the echo signals in different directions are obtained by utilizing the relation between the Doppler frequency shift and the wind speed, the wind direction and the wind profile are obtained by vector synthesis.

Technical Field

The invention belongs to the technical field of unmanned aerial vehicle control, and particularly relates to an air-drop system of a large and medium-sized fixed-wing unmanned aerial vehicle, and further relates to an air-drop control method of the large and medium-sized fixed-wing unmanned aerial vehicle.

Background

Air-drop is a very important means for troop delivery and material supply, and plays an indispensable role in modern war. The development of the system brings fundamental change of military logistics, realizes timely, proper and accurate positioning of equipment, supplies and military supplies, namely, the logistics materials in remote mountainous areas, plateau areas, offshore island reefs and other areas can also be intelligently, quickly and accurately delivered under complex meteorological conditions, and makes up the defects that the transportation means in the areas are single and are greatly influenced by seasonal climate; for severe weather such as man-machine weather, rain, fog, strong wind and the like, visibility is reduced, sight of a pilot is affected, difficulty of controlling an airplane by the pilot is increased, and probability of flight accidents is multiplied; unmanned aerial vehicles can deviate from flight routes under the influence of severe weather, delivery tasks cannot be accurately completed, and accidents such as the aircraft colliding with the ground, colliding with mountains, entering water or flying into residential areas can also occur.

The low-altitude flight height of the unmanned aerial vehicle influences the falling time after the goods are airdropped, and the index directly influences the airdrop precision in a complex environment. At present, the large and medium-sized fixed wing unmanned aerial vehicle can reach the flying height of 500 meters. When the unmanned aerial vehicle airdrops, the selection of the throwing opportunity has great influence on the throwing accuracy, and the coordinates of the throwing point, the meteorological environment of the throwing point and the current flight parameters of the airplane need to be known definitely at the good throwing opportunity.

Disclosure of Invention

The invention aims to provide an air-drop system of a large and medium-sized fixed wing unmanned aerial vehicle, which measures the atmospheric data of a throwing area relative to a wind field through a three-dimensional wind measurement laser radar; the ground proximity warning system utilizes a database of the ground proximity warning system to perform warning operation on the environment around the airport so as to judge whether the airplane has possible ground proximity collision danger. The invention can reduce the throwing height, improve the throwing precision and improve the success rate of accurate delivery.

The invention aims to provide an air-drop control method for large and medium-sized fixed wing unmanned aerial vehicles.

The first technical scheme adopted by the invention is as follows: an air-drop system of a large and medium-sized fixed wing unmanned aerial vehicle comprises a flight control system and an air-drop task system, wherein the air-drop task system comprises a wind measuring system, a near-ground warning system and a task execution system;

the wind measuring system is used for obtaining current wind speed and wind direction information and feeding the current wind speed and wind direction information back to the flight control system;

the ground proximity warning system is used for judging whether ground proximity danger exists or not according to preset database information and current flight data information and outputting warning information to the flight control system according to a judgment result, wherein the preset database comprises a terrain database, an airport runway and an obstacle database;

the task execution system is used for executing the launching task according to the launching instruction of the flight control system;

and the flight control system is used for outputting a throwing instruction according to the wind speed and direction information and the alarm information.

The present invention is also characterized in that,

the wind measuring system is a three-dimensional wind measuring laser radar and is used for detecting a three-dimensional wind field in real time to obtain wind speed, wind direction and wind profile; the three-dimensional wind measuring laser radar is arranged at the lower part of the machine body.

The task execution system comprises an in-cabin parachuting aerial dropping system and a throwing nacelle system externally arranged on the wings; the cabin parachute drop air drop system comprises a container, a drop device and a parachute device; the throwing device is used for fixing containers in the cargo hold, reciprocating movement of the containers and throwing in the air, and each container is provided with a parachute device; the throwing nacelle system is symmetrically arranged at the lower parts of two sides of the wing.

The flight control system comprises a calculation module, wherein the calculation module is used for obtaining delivery information according to wind speed and wind direction information, and the delivery information comprises delivery time, aircraft position and flight speed during delivery; and the flight control system outputs a throwing instruction according to the throwing information and the judgment result of the ground proximity warning system.

The air drop task system further comprises a pod cabin door control system, and the pod cabin door control system switches the cabin door based on a cabin door control command of the flight control system.

The air-drop task system further comprises an air-drop monitoring system, and the air-drop monitoring system feeds back monitoring information to the flight control system for issuing cabin door control instructions.

The air-drop monitoring system comprises a pressure sensor arranged on the cargo compartment floor and/or a camera arranged in the aircraft, the flight control system issues an instruction for opening the cabin door when the camera monitors a preset drop position, and the flight control system issues an instruction for closing the cabin door after the air-drop monitoring system completes the drop.

The air-drop system also comprises a task computer, and the task computer is respectively connected with the flight control system and the air-drop task system and is used for information transmission between the flight control system and the air-drop task system.

The second technical scheme adopted by the invention is that the airdrop control method of the large and medium-sized fixed wing unmanned aerial vehicle comprises the following specific operation steps:

step 1: detecting three-dimensional wind field information in real time by using a three-dimensional wind measuring laser radar, obtaining wind speed, wind direction and wind profile, and sending the information to a flight control system;

step 2: collecting relevant flight data information on the unmanned aerial vehicle by using a near-ground warning system, performing warning operation by using a terrain database and an airport runway/obstacle database of the unmanned aerial vehicle to judge whether the unmanned aerial vehicle has possible near-ground risks, if the unmanned aerial vehicle has the near-ground risks, sending the information to a flight control system to readjust the flight state of the unmanned aerial vehicle, and if the unmanned aerial vehicle has no near-ground risks, sending the information to the flight control system;

and step 3: the flight control system issues a throwing instruction to the task execution system according to the three-dimensional wind field information in the step 1, the near-ground risk information of the near-ground warning system in the step 2 and throwing information; the releasing information comprises releasing time, airplane position and flying speed;

and 4, step 4: the task execution system executes the releasing task after receiving the releasing instruction in the step 3, and realizes linkage umbrella opening with the triggering mechanism in the cargo hold discharging process of the cargo container, so that the cargo container is released and stably lands; after the unmanned aerial vehicle enters the launching route, the pod is safely taken off the aircraft, and the parachute is popped out, so that the cargo pod is safely landed.

The present invention is also characterized in that,

the method for acquiring the three-dimensional wind field information in the step 1 comprises the following steps:

the three-dimensional wind measurement laser radar carries out wind field detection by taking micro particles in the atmosphere as tracers, the micro particles move to generate backscattering signals with Doppler frequency shift, the Doppler frequency shift of the backscattering signals is measured by detecting echo signals of the micro particles, the radial speeds of the echo signals in different directions are obtained by utilizing the relation between the Doppler frequency shift and the wind speed, the wind direction and the wind profile can be obtained by vector synthesis.

The invention has the beneficial effects that: on the basis of the original unmanned aerial vehicle, the three-dimensional wind measuring laser radar, the ground proximity warning system, the task execution system and the flight control system are in cross-linking. Measuring atmospheric data related to a wind field in a throwing area by a wind measuring radar; the ground proximity warning system utilizes a database of the ground proximity warning system to perform warning operation on the environment around the airport so as to judge whether the airplane has possible ground proximity collision danger. The invention can reduce the throwing height, improve the throwing precision and improve the success rate of accurate delivery. The problem of unmanned aerial vehicle accurate air-drop air-delivery and intelligent freight transportation is solved to satisfy civilian market growing material transportation and input demand.

Drawings

Fig. 1 is a schematic structural diagram of an airdrop system of a large and medium-sized fixed-wing unmanned aerial vehicle according to the invention.

Fig. 2 is a schematic structural diagram of another embodiment of an airdrop system of a large and medium-sized fixed-wing drone according to the present invention.

Detailed Description

The invention discloses an airdrop system of a large and medium-sized fixed wing unmanned aerial vehicle, which comprises a flight control system and an airdrop task system as shown in figure 1, wherein the airdrop task system comprises a wind measuring system, a near-ground warning system and a task execution system;

the wind measuring system is used for obtaining current wind speed and wind direction information and feeding the current wind speed and wind direction information back to the flight control system;

the ground proximity warning system is used for judging whether ground proximity danger exists or not according to preset database information and current flight data information and outputting warning information to the flight control system according to a judgment result, wherein the preset database comprises a terrain database, an airport runway and an obstacle database;

the ground proximity warning system mainly comprises a CPU board, a power supply bottom board and a structural case, wherein the power supply bottom board is used for switching external RS422 data to an internal CPU board, simultaneously converting 28V input power into 5V logic power and supplying the 5V logic power to the CPU board, the CPU board adopts a PowerPC processor P2020, calculates by utilizing airborne data, a terrain database and an airport barrier database, and gives a warning or reminds an area which is about to be in danger, so that a warning function is realized; the ground proximity warning system receives airborne information, control instructions and the like of the flight control system in real time through the RS422 interface, and reports warning information, real-time equipment state and fault information to the flight control system.

The task execution system is used for executing the launching task according to the launching instruction of the flight control system;

and the flight control system is used for outputting a throwing instruction according to the wind speed and direction information and the alarm information.

The wind measuring system is a three-dimensional wind measuring laser radar and is used for detecting a three-dimensional wind field in real time to obtain wind speed, wind direction and wind profile; the three-dimensional wind measuring laser radar is arranged at the lower part of the machine body.

The three-dimensional wind measurement laser radar carries out wind field detection by taking micro particles in the atmosphere as tracers, the micro particles move to generate backscattering signals with Doppler frequency shift, the Doppler frequency shift of the backscattering signals is measured by detecting echo signals of the micro particles, the radial speeds of the echo signals in different directions are obtained by utilizing the relation between the Doppler frequency shift and the wind speed, the wind direction and the wind profile can be obtained by vector synthesis.

The task execution system comprises an in-cabin parachuting aerial dropping system and a throwing nacelle system externally arranged on the wings; the parachute drop system in the cargo hold comprises a cargo container, a drop device and a parachute device; the throwing device is used for fixing containers in the cargo hold, moving the containers back and forth and throwing in the air, and each container is provided with a parachute device.

The task execution system is used for completing an air-drop and air-delivery task, and realizing linkage parachute opening with the trigger mechanism in the cargo hold delivery process of the cargo container, so that the cargo container is ensured to be dropped stably and land; in order to ensure the balance of the gravity center of the airplane, the throwing nacelle systems are arranged on the lower portions of the wings on the two sides symmetrically, and after the unmanned aerial vehicle enters a throwing route, the flight control system sends out an instruction, the nacelle is safely taken off the airplane, a parachute is popped out, and the cargo nacelle is safely landed.

The flight control system comprises a calculation module, wherein the calculation module is used for obtaining delivery information according to wind speed and wind direction information, and the delivery information comprises delivery time, aircraft position and flight speed during delivery; and the flight control system outputs a throwing instruction according to the throwing information and the judgment result of the ground proximity warning system.

The air drop task system further comprises a pod cabin door control system, and the pod cabin door control system switches the cabin door based on a cabin door control command of the flight control system.

The air-drop task system further comprises an air-drop monitoring system, and the air-drop monitoring system feeds back monitoring information to the flight control system for issuing cabin door control instructions.

The air drop monitoring system is mainly used for monitoring the air drop condition and comprises a camera which is arranged in the air drop monitoring system and is used for monitoring the delivery condition of goods; installing a pressure sensor on the cargo compartment floor, and monitoring delivery conditions by sensing pressure changes of a container; the opening and closing of the intelligent cargo door is directly controlled by the pod door control system, and can be remotely operated, so that the opening operation of the cargo door before air drop and the closing operation after air drop are realized.

As shown in fig. 2, in order to reduce the requirement on the number of interfaces of the flight control system, a task computer is additionally provided, and the task computer is respectively connected with the flight control system and the airdrop task system, and is used for acquiring flight data information and flight control instructions of the flight control system and transmitting the flight data information and the flight control instructions to a corresponding system in the airdrop task system, and is also used for transmitting alarm information, monitoring information, wind farm information and the like generated in the airdrop task system to the flight control system. In addition, the task computer is favorable for expanding an air-drop task system, and the limitation of the number of the conventional interfaces of the flight control system is avoided.

The task computer is the core of the invention, and is linked with the three-dimensional wind measuring laser radar, the ground proximity warning system, the task execution system and the air drop monitoring system, and is responsible for reporting warning information and environment information to the flight control system, sending a sending instruction sent by the flight control system to the task execution system and finishing sending.

The invention discloses a large and medium-sized fixed wing unmanned aerial vehicle air-drop control method, which comprises the following specific operation steps of:

step 1: detecting three-dimensional wind field information in real time by using a three-dimensional wind measuring laser radar, obtaining wind speed, wind direction and wind profile, and sending the information to a flight control system;

the method for obtaining the three-dimensional wind field information comprises the following steps:

the three-dimensional wind measurement laser radar carries out wind field detection by taking micro particles in the atmosphere as tracers, the micro particles move to generate backscattering signals with Doppler frequency shift, the Doppler frequency shift of the backscattering signals is measured by detecting echo signals of the micro particles, the radial speeds of the echo signals in different directions are obtained by utilizing the relation between the Doppler frequency shift and the wind speed, the wind direction and the wind profile can be obtained by vector synthesis.

Step 2: collecting relevant flight data information on the unmanned aerial vehicle by using a near-ground warning system, performing warning operation by using a terrain database and an airport runway/obstacle database of the unmanned aerial vehicle to judge whether the unmanned aerial vehicle has possible near-ground risks, if the unmanned aerial vehicle has the near-ground risks, sending the information to a flight control system to readjust the flight state of the unmanned aerial vehicle, and if the unmanned aerial vehicle has no near-ground risks, sending the information to the flight control system;

and step 3: the flight control system issues a throwing instruction to the task execution system according to the three-dimensional wind field information in the step 1, the near-ground risk information of the near-ground warning system in the step 2 and throwing information; the releasing information comprises releasing time, airplane position and flying speed;

and 4, step 4: the task execution system executes the releasing task after receiving the releasing instruction in the step 3, and realizes linkage umbrella opening with the triggering mechanism in the cargo hold discharging process of the cargo container, so that the cargo container is released and stably lands; external throwing nacelle systems are symmetrically installed on the lower portions of two sides of the wing, after the unmanned aerial vehicle enters a throwing route, the nacelle safely leaves the aircraft, a parachute pops up, and the cargo nacelle is guaranteed to safely fall to the ground.

In order to make the technical scheme and advantages of the invention more clear, the invention is further described in detail by combining specific embodiments. These descriptions are merely exemplary.

An air-drop system of a large and medium-sized fixed-wing unmanned aerial vehicle comprises a task computer, a three-dimensional wind measuring laser radar, a near-ground warning system, a task delivery system and an air-drop monitoring system. The task computer is hung with equipment such as a three-dimensional wind measuring laser radar, a ground proximity warning computer, an air-drop task system, an internal camera, a pressure sensor, a pod door control system and the like, is in charge of communicating with an original aircraft flight control system, uploads data of the three-dimensional wind measuring laser radar and the ground proximity warning system to the flight control system, and transmits an instruction transmitted from the flight control system to the air-drop task system to a task execution system, so that the accurate delivery function is completed.

In an optional aerial delivery example, three-dimensional wind field data such as wind speed, wind direction and wind profile of a delivery point are accurately measured by using a three-dimensional wind measuring laser radar; and calculating the vector speed of the thrown object when the thrown object leaves the aircraft according to the flight speed of the aircraft, integrating three-dimensional wind field data, the speed of the aircraft and the vector speed, accurately calculating parameters such as throwing opportunity, throwing height, throwing point coordinates and the like, and completing a throwing task.

In an optional air delivery example, the ground proximity warning system collects relevant flight data information on the airplane, performs warning operation by using a terrain database and an airport runway/obstacle database of the ground proximity warning system to judge whether the airplane has possible ground proximity danger, and reminds or warns a unit in advance. And reducing the throwing height. The throwing safety is improved.

In an alternative aerial delivery example, the delivery device is used to accelerate an aerial delivery container/pallet at the cargo door out of the door to effect an aerial delivery function. The throwing device uses a high-pressure gas cylinder as a power source, can be repeatedly used, and can meet the requirement of 3 air-drop containers/pallets for throwing out. In order to ensure the precision of the container/pallet air-drop cabin, the flight control system calculates the air-drop time in real time according to the ground speed, the wind speed and the height of the unmanned aerial vehicle, the flight parameters of the unmanned aerial vehicle, target coordinates and the like.

In an optional aerial delivery example, before aerial delivery, the flight control system controls to open the intelligent cargo compartment door, the delivery condition of the cargo is monitored through the camera and the pressure sensor, delivery is completed, and the intelligent cargo compartment door is remotely controlled to be closed.

The above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention.