CN-121973944-A - Large-scale unmanned aerial vehicle cargo hold load balancing method, equipment and medium

CN121973944ACN 121973944 ACN121973944 ACN 121973944ACN-121973944-A

Abstract

The invention provides a cargo hold load balancing method of a large-sized carrying and throwing unmanned aerial vehicle, which comprises the steps of receiving a carrying and throwing task instruction, determining the total weight of cargoes and the number of unit packages, wherein the total weight of cargoes and the number of unit packages are smaller than the limit value of the cargo hold of the unmanned aerial vehicle, traversing to generate a plurality of load schemes which accord with load constraint, screening to generate a load scheme set of loading gravity center wrapping lines, establishing an efficiency evaluation equation based on a predetermined optimization factor to determine N groups of candidate load schemes from the load scheme set, determining a load scheme which accords with the air-throwing gravity center wrapping line and has the smallest gravity center dynamic change range from the N groups of candidate load schemes based on a set of fixed air-throwing time sequence, and generating load information of each unit package based on the determined load scheme. The invention greatly simplifies the cargo hold balance control operation method, remarkably reduces the operation and maintenance cost of users, not only can avoid unbalanced load of cargoes and extra weight increase, but also can efficiently and reasonably output the optimal load balancing scheme.

Inventors

LIU JIANG
WANG CHANGYOU
HU BIN
ZHANG JUNBAO
LI JIANQIU

Assignees

四川腾盾科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251216

Claims (10)

1. The cargo hold load balancing method for the large-scale unmanned aerial vehicle is characterized by comprising the following steps of: Receiving a delivery task instruction, and determining the total weight of the goods and the number of the container units, wherein the total weight of the goods and the number of the container units are smaller than the limit value of the cargo hold of the unmanned aerial vehicle; traversing based on the total weight of the goods and the number of the container units to generate a plurality of allocation schemes conforming to the load constraint, and screening to generate an allocation scheme set of the loading gravity center envelope; establishing a performance evaluation equation to determine N groups of candidate loading schemes from the loading scheme set based on a predetermined optimization factor; based on a group of fixed airdrop time sequences, determining a load scheme which accords with an airdrop gravity center envelope and has the minimum gravity center dynamic change range from N groups of candidate load schemes; Load information for each unit of load is generated based on the determined load scheme, the load information including the weight of the unit of load and the slot in which the unit of load is stored.
2. The method for balancing cargo holds of a large unmanned aerial vehicle according to claim 1, wherein the generating a plurality of load schemes conforming to load constraints based on the total weight of the cargo and the number of unit containers comprises: And acquiring all conditions of distributing the total weight of the cargo into NUM packaging units according to a preset minimum dividing weight, and filling the NUM packaging units into each slot position of the unmanned aerial vehicle cargo hold, wherein each condition represents a loading scheme, NUM is the determined number of packaging units, and NUM is less than or equal to the number of the slot positions of the unmanned aerial vehicle cargo hold.
3. The method for balancing cargo holds of a large unmanned aerial vehicle according to claim 1, wherein the screening generates a set of loading schemes for loading a center of gravity envelope, specifically comprising: And calculating the center of gravity of the whole machine of each loading scheme, outputting to a matched loading scheme set if the center of gravity meets a preset loading center of gravity envelope, and calculating the center of gravity of the next loading scheme if the center of gravity does not meet the preset loading center of gravity envelope.
4. The method for balancing cargo holds of a large-scale unmanned aerial vehicle according to claim 3, wherein the formula for calculating the center of gravity of the whole unmanned aerial vehicle comprises: Wherein, the Is the gravity center of the whole machine, The weight of the i-th NUM unit is the weight of the air conditioner and the fuel; The system comprises the gravity centers of 1-NUM integrated units and the gravity centers of air engines and fuel oil.
5. The method of cargo compartment load balancing for a large unmanned aerial vehicle according to claim 1, wherein establishing a performance evaluation equation from the set of load schemes comprises: based on the selection of the economic cruising gravity center and the full-machine pitching inertia, establishing a comprehensive efficiency evaluation equation; Calculating the center of gravity and the pitching inertia of the whole machine of each loading scheme in the loading scheme set, and inputting the center of gravity and the pitching inertia of the whole machine into a comprehensive efficiency evaluation equation to obtain the value of each scheme; and (5) sorting the values of all the allocation schemes in a descending order, and screening the top N groups of allocation schemes as candidate allocation schemes.
6. The method of balancing cargo holds of a large unmanned aerial vehicle according to claim 5, wherein the comprehensive performance evaluation equation is: Wherein, the For the value of the load-on scheme, To characterize the factor of the quality of the position of the center of gravity, The method is a factor for representing the quality of the inertia of the whole machine; And The weight of the factors representing the quality of the gravity center position and the factors representing the quality of the inertia of the whole machine are respectively; 、 a center of gravity rear limit and a center of gravity front limit respectively, Is the gravity center of the whole machine, For an economical cruising centre of gravity, Is the inertia of the whole machine, and the inertia of the whole machine, Is the inertia of the ith unit of packaging.
7. The cargo compartment load balancing method of a large-scale unmanned aerial vehicle according to claim 1, wherein the determining, based on a set of fixed airdrop time sequences, a load scheme that conforms to an airdrop center of gravity envelope and has a minimum dynamic change range of center of gravity from N sets of candidate load schemes specifically comprises: storing each group of candidate load schemes into a linked list, wherein the node information of the single linked list comprises: the slot number, the weight of the container unit, the gravity center of the container unit, the unlocking moment of the goods and the pointer pointing to the next node; based on a group of fixed airdrop time sequences, traversing and updating a linked list corresponding to each group of candidate allocation schemes and the gravity centers of all nodes, and determining the variation range of the airdrop gravity centers in the traversing process; And sequencing the gravity center change range of the aerial delivery of each group of candidate loading schemes, and taking the candidate loading scheme with the smallest gravity center change range of the aerial delivery as the optimal loading scheme.
8. The method for balancing cargo hold of a large-scale unmanned aerial vehicle according to claim 7, wherein the steps of traversing and updating the linked list corresponding to each candidate scheme and the gravity centers of the nodes based on a set of fixed airdrop time sequences, and determining the variation range of the gravity center of the airdrop in the traversing process comprise the following steps: S1, initializing data required by calculation, wherein the data comprises time T=0, initializing container unit information in a linked list LoadList into given input information, and calculating acceleration a according to a given aircraft drop moment aircraft attack angle and a cargo platform friction coefficient; S2, traversing the linked list, and updating the linked list and the gravity center STA of each node if And (3) explaining unlocking of the i-slot cargo at the moment T and updating the gravity center STA: S3, judging whether the updated gravity center STA is larger than the gravity center STA leave of the out-of-cabin station, if so, deleting the node from the linked list; s4, traversing the updated linked list, calculating the center of gravity of the whole machine, judging whether the center of gravity of the whole machine is overrun, if so, directly exiting the circulation, outputting a center of gravity overrun warning, and if not, recording the moment T and the center of gravity of the whole machine; S5, judging whether the linked list is empty, if not, updating the time T+ =0.01, returning to S2, if so, exiting the cycle, and outputting the time T and the center of gravity of the whole machine Is a relation diagram of the gravity center change range of the air drop : Wherein, the And The maximum value and the minimum value of the gravity center change in the air drop process are respectively.
9. An electronic device, comprising: And a memory communicatively coupled to the at least one processor; Wherein the memory stores instructions executable by the at least one processor, by executing the instructions stored by the memory, causing the at least one processor to perform the method of any one of claims 1-8.
10. A computer readable storage medium for storing instructions that, when executed, cause the method of any one of claims 1-8 to be implemented.

Description

Large-scale unmanned aerial vehicle cargo hold load balancing method, equipment and medium Technical Field The invention relates to the field of large-scale unmanned aerial vehicles, in particular to a cargo hold load balancing method, equipment and medium for a large-scale unmanned aerial vehicle. Background Along with the rapid development of low-altitude economy and unmanned intelligent upgrading of logistics industry, the large-scale unmanned aerial vehicle for transportation and throwing is increasingly widely applied to the fields of aviation logistics, emergency rescue material delivery, military logistics guarantee and the like. The cargo transportation and the throwing are efficiently and safely completed when the unmanned aerial vehicle is in a core task, the balance state of the cargo hold is directly related to the flight stability, the air-drop safety, the structural safety and the task execution reliability, if the cargo in the cargo hold is unbalanced in load distribution, the gravity center deviation and the pneumatic characteristic abnormality of the unmanned aerial vehicle can be caused, and the flight attitude is out of control and even crashes can be caused when the cargo is serious. Therefore, the cargo hold balance control technology research work has very clear and important engineering application value. For the cargo hold balance control of a large-scale unmanned aerial vehicle, the following two methods exist at present: The gravity center of the cargo hold is regulated by a traditional unmanned aerial vehicle usually adopting a mechanical balancing weight or a preset weight. For example, the machine head is provided with a balancing weight with adjustable size so as to offset the gravity center offset caused by unbalanced load of the goods. The method is simple in structure and low in cost, but has obvious limitations that firstly, the balancing weight can only cope with typical loading scenes preset in the scheme design stage and cannot adapt to dynamic changes of the types, the quantity or the loading positions of cargoes, secondly, the mechanical leveling needs manual intervention, the response speed is low, the requirement of quick loading and unloading of the large unmanned aerial vehicle cannot be met, thirdly, the dead weight of the unmanned aerial vehicle can be increased by the additional balancing weight, and the effective load ratio is reduced. The manual balancing technology based on the weight balance manual is characterized in that a trained operator refers to the weight balance manual provided by an unmanned aerial vehicle manufacturer, and adopts Excel table arrangement and combination of various balancing schemes to manually select a balancing scheme meeting the center of gravity envelope. The method requires the user to increase the load balancing designer with business knowledge capability, and has the defects of low load efficiency, time and labor waste, failure in obtaining an optimal value and the like. Disclosure of Invention The embodiment of the application provides a cargo hold load balancing method, equipment and medium for a large-scale unmanned aerial vehicle, which are used for solving the problems in the background technology. Other features and advantages of the application will be apparent from the following detailed description, or may be learned by the practice of the application. According to a first aspect of an embodiment of the present application, there is provided a cargo hold load balancing method for a large-scale unmanned aerial vehicle, including: Receiving a delivery task instruction, and determining the total weight of the goods and the number of the container units, wherein the total weight of the goods and the number of the container units are smaller than the limit value of the cargo hold of the unmanned aerial vehicle; traversing and generating a plurality of allocation schemes conforming to load constraints based on the total weight of the goods and the number of the container units, and screening and generating an allocation scheme set of the loading gravity center envelope; establishing a performance evaluation equation to determine N groups of candidate loading schemes from the loading scheme set based on a predetermined optimization factor; based on a group of fixed airdrop time sequences, determining a load scheme which accords with an airdrop gravity center envelope and has the minimum gravity center dynamic change range from N groups of candidate load schemes; Load information for each unit of load is generated based on the determined load scheme, the load information including the weight of the unit of load and the slot in which the unit of load is stored. In one embodiment of the present application, the generating a plurality of allocation schemes conforming to load constraints based on the total weight of the cargo and the number of unit containers comprises: And acquiring all conditions of distributing the total weigh