3573results about "Launching weapons" patented technology

The invention relates to the technical field of artificial intelligence rescue, and discloses an unmanned aerial vehicle and robot dog rescue emergency system and method, and the system comprises an unmanned aerial vehicle cluster module which is used for air data collection, communication guarantee and emergency material distribution; the robot dog cluster module is used for ground environment detection, sample collection and special task execution; the communication cooperation module is used for ensuring information intercommunication and task cooperation between air-ground equipment; the central control module provides task instructions for the unmanned aerial vehicle cluster and the robot dog cluster; the human-computer interaction interface module is used for realizing effective communication between rescue workers and the system; the modules work cooperatively, multi-source data acquisition, three-dimensional scene reconstruction, semantic segmentation, risk assessment, fire spreading prediction and decision support information generation of a disaster site are realized, and a reliable basis is provided for rescue command decision.

An unmanned aerial vehicle (UAV) is disclosed that includes a retractable payload delivery system. The payload delivery system can lower a payload to the ground using a delivery device that secures the payload during descent and releases the payload upon reaching the ground. The location of the delivery device can be determined as it is lowered to the ground using image tracking. The UAV can include an imaging system that captures image data of the suspended delivery device and identifies image coordinates of the delivery device, and the image coordinates can then be mapped to a location. The UAV may also be configured to account for any deviations from a planned path of descent in real time to effect accurate delivery locations of released payloads.

The invention discloses an unmanned aerial vehicle-mechanical arm system cooperative control method for precise spraying. According to the method, through a depth camera and a point cloud reconstruction algorithm, three-dimensional modeling of a target surface and semantic recognition of a spraying area are achieved, and a spraying path and spraying posture data are generated. Based on spraying task requirements, a spraying film thickness experience estimation model is established, and path point-level spraying parameters are obtained. Load mass change, mechanical arm mass center change and spraying reaction force of each path point are calculated, and a coupling dynamic model is constructed in combination with the system state. And dynamic compensation control input is generated by using an adaptive sliding mode control algorithm. After spraying is completed, the actual spraying effect is collected through image and point cloud detection, color, film thickness and texture features are extracted and compared with task requirements, error feedback is generated, and control parameters are adjusted online. According to the method, the problems of dynamic change and error compensation in the spraying process are effectively solved, and the method is suitable for a high-precision spraying task in a complex environment.

A suppression device for a rotary machine gun includes a body; and a core configured to fit inside the body, wherein the core includes: a plurality of suppression tubes symmetrically oriented around the core with one each of the plurality of suppression tubes corresponding to one of a plurality of barrels of the rotary machine gun, and a redirector at a distal end of the core and including an angled surface to direct propellant gas emitted through a central channel of the core radially outward.

The invention relates to the technical field of image recognition, and discloses a multispectral image and deep learning-based forest disease and insect pest automatic recognition method, which comprises the following steps of 1, carrying a multispectral camera containing a red edge wave band through an unmanned aerial vehicle to obtain a forest region image; 2, calculating a red edge normalized vegetation index of the image; 3, performing time sequence modeling on the red edge normalized vegetation index data of more than five consecutive periods, and inputting a time sequence convolutional network to generate an early lesion probability graph; 4, detecting a pest and disease damage target by adopting a multi-scale adaptive feature pyramid network; 5, outputting a disease and pest distribution thermodynamic diagram; and 6, driving the unmanned aerial vehicle cluster to execute precise pesticide spraying. According to the method, through the high sensitivity of the red-edge wave band to chlorophyll degradation and in combination with sequential convolutional network dynamic modeling, an initial lesion area can be recognized 7-10 days before disease development, the early disease recognition capability is remarkably improved, the disease discovery period is shortened, and large-scale disease diffusion is effectively avoided.

The invention relates to an aircraft high-speed throwing control method and device and electronic equipment, and relates to the technical field of aircraft flight control, and the method comprises the steps: calculating an optimal control instruction sequence in a preset time domain in a rolling manner based on an expected throwing trajectory, a predicted throwing trajectory model and a multi-objective optimization function, and generating a main control quantity, the main control quantity is a control instruction in the optimal control instruction sequence; performing feedforward compensation on the main control quantity based on the disturbance observation result, and performing superposition processing of the sliding mode control quantity on the main control quantity after feedforward compensation based on the disturbance observation result to obtain a superposed main control quantity; high speed throwing of the aircraft cargo is performed based on the superimposed master control quantity. Through application of the scheme, the problem of throwing track deviation caused by posture change and airflow disturbance is effectively solved, it is ensured that the goods can accurately reach the target position according to expectation, and the accuracy of goods throwing is remarkably improved.

The invention relates to the technical field of desertification control, in particular to a sand barrier aerial seeding collaborative layout optimization system and method based on an unmanned aerial vehicle cluster game, which constructs a microenvironment digital model of terrain, wind field, humidity and temperature through a multi-mode desert microenvironment sensing module and combines with a sand barrier-vegetation coupling dynamic model. Space-time correlation between sand barrier configuration and vegetation growth is achieved, the self-adaptive sand barrier parameter optimization module and the precise seed aerial seeding control module work cooperatively, seed putting is optimized, the sand stabilization efficiency and the vegetation survival rate are remarkably improved to 60%-75%, the treatment period is shortened to 1.5-2.5 years, and the control cost is reduced. The closed-loop feedback and dynamic optimization module further ensures continuous improvement of the treatment effect, a traditional'sand blocking 'strategy is converted into'ecological microenvironment engineering', a complete microenvironment regulation and control mechanism is constructed, the treatment efficiency is improved by 35%-50%, and fundamental change of the treatment concept is achieved.

Unmanned systems, and primarily vehicles, and in most embodiments unmanned aerial systems (UAS), as well as novel guided and unguided munitions are presented herein. to the two combine to present unmanned weaponized systems that not only carry weapons functionality, but allow for advanced observation and reconnaissance. These unmanned systems are largely directed toward military applications where the weaponized unmanned system may be forward deployed to allow human warfighters to remain at long range distances from the potential targets, and to provide surveillance, target identification and tracking, general reconnaissance information, and the like, while also providing weaponized attack capabilities. The unmanned systems may, in some embodiments, include advanced command and control capabilities for communication between the system and the remote, rear-positioned warfighter, and between separate elements of the unmanned system. Many embodiments also include weapons systems, munitions, or rounds with guidance and real-time maneuverability capabilities as well.

The invention discloses a three-dimensional space self-adaptive unmanned aerial vehicle accurate spraying method and system and an unmanned aerial vehicle. The method relates to the technical field of unmanned aerial vehicle spraying, and comprises the following steps: scanning a spraying area on the bottom surface of a viaduct through an unmanned aerial vehicle to obtain unmanned aerial vehicle spraying quality data, and analyzing, optimizing and adjusting the unmanned aerial vehicle spraying quality data. The method comprises the following steps: scanning a spraying area on the bottom surface of a viaduct through an unmanned aerial vehicle to obtain three-dimensional point cloud data, adaptively generating a flight path and a spraying track of the unmanned aerial vehicle based on the data, flying according to a planned path and spraying, collecting spraying quality data through a sensor, analyzing the spraying quality data, and determining the spraying quality of the viaduct. The dynamic liquid level monitoring error quantized value and the unmanned aerial vehicle precise spraying method stability quantized value are obtained and analyzed with threshold values in a database, the unmanned aerial vehicle precise spraying method is optimized and adjusted, the stability of the unmanned aerial vehicle precise spraying method is improved, and the problem that in the prior art, an unmanned aerial vehicle precise spraying method is insufficient in stability is solved.

The invention relates to the technical field of unmanned aerial vehicle inspection, and provides an unmanned aerial vehicle-based forest fire prevention inspection and disposal method, device and system. When an inspection unmanned aerial vehicle equipped with a multi-modal sensor is deployed to cruise according to a preset route, a visible light camera of the inspection unmanned aerial vehicle continuously collects forest region videos and transmits the videos to edge computing equipment of an inspection airport; fire hazards are analyzed in real time through a target recognition algorithm, and when a fire source is detected, position information is reported to a background terminal immediately; the system automatically dispatches the nearest fire extinguishing airport to dispatch the fire extinguishing unmanned aerial vehicle, and secondary accurate positioning is performed on a fire source by using the airborne infrared vision module, so that accurate throwing of the fire extinguishing bomb is ensured. The whole system enhances the real-time analysis capability through the edge computing device, breaks through the single-machine computing power limitation, also realizes the full-process automation from fire behavior recognition to fire extinguishing treatment, and significantly improves the response efficiency and treatment safety of forest fire prevention.

The invention relates to an autonomous flight unmanned aerial vehicle interception system carrying an anti-riot capture net gun, and aims to realize intelligent identification and accurate interception of a high-dynamic target. The sensing module collects multi-source data such as images, laser radar, air pressure and wind speed and fuses the multi-source data to generate a flight space topological graph, and the recognition module extracts target position, speed and deformation information according to the graph and outputs target motion parameters and deformation characteristics. The control unit constructs a target trajectory prediction model and a risk level incidence matrix based on the information, and dynamically generates an interception path, a posture adjustment instruction and a capture trigger strategy. The propulsion assembly adjusts the three-dimensional pose of the aircraft in real time according to the pose adjustment instruction, has anti-interference stability and is suitable for flight in a complex environment. The launching assembly is integrated in the aircraft structure and completes anti-riot net gun launching and target capturing according to a triggering strategy. The system has autonomous perception, dynamic prediction and accurate execution capabilities, and is suitable for target interception and control tasks in complex scenes.

A UAV including a wing attached to a fuselage body, a rotatable cargo bay in the fuselage body, the cargo bay having an entrance for receiving the payload, an actuator in the fuselage body operable to rotate the cargo bay about a pivot axis into a first position where the entrance of the cargo bay is positioned above the fuselage body to allow for entry of the payload into the cargo bay, and the cargo bay extends through an opening in an upper surface of the fuselage body, rotatable into a second position where the entrance of the cargo bay is positioned within the fuselage body during transport; and rotatable into a third position where the entrance of the cargo bay is positioned below the fuselage body to allow for exiting of the payload, and the cargo bay extends through an opening in a lower surface of the fuselage body.

The invention discloses a shape adaptive planning and control method for a deformable unmanned aerial vehicle, and the method comprises the steps: carrying out the searching based on an occupied grid map of a scene through employing a variable-size kinematics A * path planning algorithm, and obtaining an initial path; by taking the initial path as an initial condition, shape-adaptive trajectory optimization in a continuous space-time space is carried out to obtain an optimized trajectory, and in the trajectory optimization process, the mass center position and deformation parameters of the unmanned aerial vehicle are optimized at the same time; and based on the optimized trajectory, on the basis of a nonlinear model predictive controller and by combining an incremental nonlinear dynamic inverse algorithm, calculating and compensating external force disturbance and external torque disturbance caused by deformation of the unmanned aerial vehicle and a load, so as to realize shape adaptive control of the deformable unmanned aerial vehicle.

The invention relates to the technical field of image detection, in particular to a pest and disease identification method and system based on unmanned aerial vehicle remote sensing. The method comprises the following steps: acquiring health indexes of each plant; marking suspicious points; spraying preset hormones to the suspicious points; after a first preset time interval, obtaining the health index of the hormone-induced plant again, and distinguishing whether the plant is pathological abnormality or physiological abnormality according to the change of the health index; on the basis of the pathology and physiology distinguishing result, a definite diagnosis threshold value in a preset range of the suspicious point is adjusted, so that when the plant at the suspicious point is pathologically abnormal and the health indexes of other plants in the preset range adjacent to the suspicious point are abnormal, the condition that the other plants are pathologically abnormal can be detected more sensitively; and using the adjusted pest and disease damage early warning threshold value to identify pest and disease damage conditions of plants of which suspicious points are adjacent to a preset range. According to the invention, the pest and disease states of crops can be detected more accurately.

The invention relates to an aerial seeding seed microenvironment prediction system based on sand grain motion simulation and a method thereof, belongs to the field of unmanned aerial vehicle aerial seeding technology and environment simulation prediction, and provides a method for acquiring environment data through a multi-source heterogeneous micro-scale sensing network, predicting flow field data by using a sand grain-airflow coupling simulation engine driven by a graph neural network, and predicting the flow field data by using a multi-source heterogeneous micro-scale sensing network. And calculating a seed motion track and an anti-displacement coefficient through a seed-sand multi-physics field coupling behavior prediction model, and generating a displacement risk probability distribution diagram. And the self-adaptive aerial seeding parameter intelligent optimization system optimizes the hovering height and the ejection parameters according to the parameters, and precise ejection is realized through a variable-rigidity ejection execution mechanism. According to the system, the anti-displacement coefficient of the seeds is remarkably improved to 2.8 times, the problem that the seeds are prone to displacement in the sand wind environment is effectively solved, the precision and success rate of aerial seeding of the unmanned aerial vehicle are improved, and efficient technical support is provided for desertification control.

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an intelligent aerial 3D printing and spraying system and method based on an unmanned aerial vehicle cluster, and the system comprises a spatial three-dimensional laser ranging scanning modeling module for generating a real-size scene model, a three-dimensional positioning network module, and a three-dimensional positioning network composed of a plurality of laser radar arrays. Wherein the laser radar or the wireless positioning beacon array is arranged on a working plane to construct a three-dimensional space coordinate reference system; the printing module is integrated on the unmanned aerial vehicle, compared with traditional high-altitude operation, the construction efficiency is improved, the constraint of tedious procedures such as scaffold building and manual high-altitude operation is thoroughly eliminated, the unmanned aerial vehicle cluster can be rapidly deployed in a short time, and operation tasks such as large-area single-color or full-color spraying, repairing, modeling and printing are efficiently completed with high precision; the project construction period is greatly shortened, the comprehensive construction cost is reduced, the safety construction level is improved, the engineering income is improved, and the construction accident risk is reduced.

An embodiment herein provides a re-configurable unmanned aerial vehicle that re-configures its shape based on the shape, size, weight of a payload, and efficiently performs payload delivery in real-time. The re-configurable unmanned aerial vehicle includes one or more rotor units placed at corners and is connected by one or more scissor units. The re-configurable unmanned aerial vehicle approaches the payload in a first location, and analyses the position and dimension of the payload with a camera, that enables the one or more scissor units to adjust its length by at least one elongation or compression following size and shape of the payload and fit the payload within the re-configurable unmanned aerial vehicle. The re-configurable unmanned aerial vehicle takes off carrying the payload from the first location and lands at a second location.

The present invention relates to the technical field of intelligent unmanned aerial vehicles, and particularly to a fixed-point delivery device and operation method for an unmanned aerial vehicle; Technical problem: The attitude pre-adjustment of the fixed-point delivery device for an unmanned aerial vehicle in the prior art is insufficient, the delivery control is inaccurate, and the attitude feedback and adjustment mechanism is imperfect; Technical solution: A fixed-point delivery device and operation method for an unmanned aerial vehicle, including an unmanned aerial vehicle frame, an integrated sensor module, a signal transmission module, a bracket, and a delivery component; The present invention precisely pre-adjusts the attitude of the unmanned aerial vehicle through a ground control station to ensure that the unmanned aerial vehicle is in the best stable state before delivery. According to the real-time position and attitude data of the unmanned aerial vehicle, the opening and closing timing and force of the electric telescopic rod and the electromagnetic block are dynamically adjusted to improve the accuracy and reliability of delivery. When the unmanned aerial vehicle has an attitude deviation, the deviation can be corrected through the attitude feedback and adjustment mechanism to ensure that the unmanned aerial vehicle can fly stably and complete the subsequent delivery task.

The invention provides a power transmission line icing multi-mode monitoring method and system, relates to a line deicing technology, and adopts a flaming type unmanned aerial vehicle to perform deicing operation, to perform deicing operation on a power transmission line through a single unmanned aerial vehicle, and to perform deicing operation on the power transmission line through cooperation of a plurality of unmanned aerial vehicles. According to the unmanned aerial vehicle, the deviation degree of flames can be detected in the deicing process, so that the deicing angle of the unmanned aerial vehicle can be adjusted when the deviation of the flames is too large, flame deviation and heat loss caused by wind interference are reduced, heat can be more effectively transmitted to an ice layer, ice layer melting is accelerated, and the deicing speed and effect are improved.

The invention belongs to the technical field of intelligent disaster relief equipment, and particularly relates to a long-endurance high-altitude fire-fighting unmanned aerial vehicle, which comprises a flying fuselage, no water tank load is arranged on the fuselage, a water pipe is fixedly arranged in the fuselage, and one end of the water pipe is communicated with a sprinkler head; the other end of the water pipe communicates with a water injection head, and a cushioning sealing assembly is arranged in the water injection head. The control seat is arranged on the machine body, a plurality of detection units are arranged on the control seat and the machine body, and a power supply end is arranged on one side wall of the control seat; through the design of the ground end, the buffer sealing assembly and the like, the unmanned aerial vehicle can carry a cable and a water pipe, the water pipe or the cable can be prevented from excessively floating in the air while long-time endurance fire extinguishing in the air is completed, the flight stability is guaranteed, various data can be collected, and the rescue efficiency is improved.

The invention relates to the technical field of precision agriculture and grape cultivation, and discloses a vineyard fertilization method based on unmanned aerial vehicle multi-source remote sensing data, and the method comprises the steps: obtaining a canopy multi-spectral image and three-dimensional structure data through an unmanned aerial vehicle; carrying out image preprocessing and finely extracting a grape canopy region; fusing the extracted spectral vegetation index, texture features and three-dimensional structure features, and constructing a multi-source feature vector; constructing and optimizing a nitrogen nutrition inversion model through a machine learning algorithm by utilizing actually measured nitrogen nutrition parameters; generating a nitrogen content distribution diagram based on a model inversion result, calculating the nitrogen deficiency amount and the recommended dressing pure nitrogen amount of each space unit in combination with critical nitrogen concentration diagnosis and target yield, and converting the nitrogen deficiency amount and the recommended dressing pure nitrogen amount into the use amount of a foliage spraying working solution; and generating a variable fertilization prescription map, and converting the variable fertilization prescription map into a nozzle flow control instruction executable by the unmanned aerial vehicle to realize on-demand accurate variable fertilization. According to the invention, closed-loop management from nitrogen nutrition monitoring to variable rate fertilization is realized, and the nitrogen fertilizer utilization efficiency and the fertilization accuracy are improved.

The invention belongs to but not limited to the technical field of interception nets, and particularly relates to a multi-point traction type interception net launching device which comprises a base, a power device, a launcher and an interception net. The base can be adjusted and positioned at multiple angles, the borne impact force is at least not less than 15 KN, the base is designed into a folding structure, the packaging size is reduced, and transportation and storage are facilitated; the power device adopts compressed air as a power source, an air storage chamber is filled with high-pressure air, when a switch is turned on, energy of the high-pressure air is released instantly, and huge aerodynamic force acts on the pressed area of an object, so that the object moves in an accelerated mode from a static state and is thrown out. The power device body is composed of a launching tube, an air chamber, a valve element assembly, a firing device, a trigger, a carbon fiber air cylinder, a shell and the like, the launching tube, the carbon fiber air cylinder and the shell are distributed on the two sides of the air chamber, the firing device is arranged above the air chamber, and the trigger is pressed on the firing device; the launcher is in a horn shape, and four cylindrical storage bins connected with the launching tube are arranged on the edge of the launcher.

The invention discloses an agricultural protection unmanned aerial vehicle and a dynamic path optimization method, and belongs to the technical field of unmanned aerial vehicles. The agricultural protection unmanned aerial vehicle comprises an unmanned aerial vehicle body, a mounting part is arranged on the unmanned aerial vehicle body, a pesticide barrel which is vertically arranged and used for containing pesticide liquid is arranged in the mounting part, and a plurality of nozzles which are annularly arranged and used for pesticide spraying operation are arranged at the bottom of the pesticide barrel; the unmanned aerial vehicle body is further provided with an acquisition module used for acquiring a whole area image of a plant operation area and an image processing module used for identifying the acquired image according to plants and marking plant growth density in a partitioned mode. Compared with the prior art, the self-adaptive pesticide spraying device has the advantages that self-adaptive pesticide distribution and spraying are realized according to different growth densities, the conditions of excessive spraying and insufficient spraying of the plants in areas with lower growth densities are avoided, and the spraying efficiency of the plants is improved. The crop planting quality is improved, and the high use value is achieved.

The invention provides an intelligent emergency unmanned aerial vehicle logistics lifting device and method. The lifting device comprises a cable descending winch system and a damping balance frame. The damping balance frame comprises an upper mounting frame and a lower mounting frame which are oppositely arranged up and down, the upper mounting frame and the lower mounting frame are connected through a telescopic damping mechanism, the telescopic damping mechanism comprises at least three telescopic damping units, the three telescopic damping units are uniformly distributed, and the two ends of each telescopic damping unit are movably connected with the upper mounting frame and the lower mounting frame respectively; and the cable descending winch system is fixedly mounted on the lower mounting frame. The three telescopic damping units not only can bear the load of the suspended object, but also can enable the suspended object to be finally transmitted to the three telescopic damping units no matter which horizontal direction deflection force is applied to the suspended object, so that the suspended object is located on the course axis of the intelligent emergency unmanned aerial vehicle as far as possible and can better adapt to external disturbance; therefore, the self-balance of the hoisted object is realized, and the unmanned aerial vehicle is kept stable in the transportation operation process.

The invention discloses a mounting device and a flight mounting system, and relates to the field of aircraft equipment. The mounting device provided by the embodiment of the invention comprises a mounting mechanism and a connecting piece, the connecting piece is arranged on the airborne load, and a matching structure is arranged on the connecting piece. The mounting mechanism comprises a base, a driving assembly and a bearing assembly, the base is used for being connected with the aircraft, the driving assembly is arranged on the base, and the bearing assembly is in sliding fit with the base and is in transmission connection with the driving assembly. The driving assembly is used for driving the bearing assembly to move between the first position and the second position. The bearing assembly can be matched with the matching structure of the connecting piece at the first position so as to support the connecting piece; and the release structure can be separated from the matching structure at the second position so as to release the connecting piece. The mounting device provided by the invention is good in structural stability, and can efficiently and reliably realize mounting and putting of the airborne load. The flight mounting system provided by the invention adopts the mounting device to realize mounting and putting of the airborne load.

The invention discloses a fuselage-free unmanned aerial vehicle, an aviation container and a modular transportation system and method, and aims to solve the problems of high transportation cost of traditional aviation goods and low transportation efficiency of land goods. The aircraft is not provided with a warehouse and adopts a flying wing type layout or a conventional layout, wings in the flying wing type layout or the conventional layout are used for generating lift force and enter a straight wing flight mode after taking off, and the wings are provided with power systems, flight control systems and mounting structures used for being detachably connected with the streamline aerodynamic configuration aviation containers. Through the dynamic combination mode of the aircraft and the containers, the single aircraft can achieve the operation cycle of circularly transporting at least three containers. Through continuous container reloading operation, the aircraft can keep a continuous flight state without waiting for a loading and unloading process. And meanwhile, the container can be quickly circulated among different aircrafts through the modular design. According to the transportation mode, optimal configuration of transportation resources is achieved through efficient cooperation of the aircraft and the container.

The cabin washing device for the ship comprises an aircraft, a first mechanical arm, an adsorption device and a controller, and the aircraft, the first mechanical arm and the adsorption device are all electrically connected with the controller; the first mechanical arm is fixed to the upper portion of the aircraft, a high-pressure spray head is detachably connected to the first mechanical arm, and the high-pressure spray head is connected with an external pipeline; the adsorption device is detachably fixed at the lower part of the aircraft; the adsorption device comprises a shell and a rubber pad, the rubber pad is fixedly connected to the adsorption side of the shell, the rubber pad and the adsorption side are in sealed connection, a plurality of adsorption holes are formed in the rubber pad, a vacuum pump is arranged in the shell, and the vacuum pump is communicated with the adsorption holes; the cabin washing device for the ship can improve the cabin washing efficiency and reduce danger.

The invention belongs to the technical field of agricultural irrigation, and discloses a crop irrigation system and method, and the method comprises the steps: a sensor arrangement module reasonably arranges various sensors; the environment data acquisition module acquires environment data; the meteorological data acquisition module is used for actually collecting meteorological data; the route planning module plans a flight irrigation route of the unmanned aerial vehicle; the cruise irrigation mechanism is used for spraying water to irrigate crops; the image acquisition module acquires high-definition images of crops; the image preprocessing module preprocesses the image; the feature extraction module performs feature extraction on the image; the abnormity recognition module recognizes abnormal growth conditions of crops; the growth period identification module accurately identifies the growth period of the crops; and the comprehensive evaluation module predicts the growth trend of the crops. By means of the automatic and intelligent irrigation system, the workload of manual inspection and manual irrigation is reduced; abnormal conditions such as plant diseases and insect pests, water shortage and seedling shortage in the growth process of crops can be found in time.

The invention relates to the technical field of unmanned aerial vehicle control, and discloses a fire-fighting unmanned aerial vehicle flight attitude instability control device and a control method thereof. The device at least comprises a control module which is configured to estimate an equivalent disturbance torque vector generated by throwing a fire extinguishing bomb in real time by utilizing an expansion state observer according to an attitude state quantity, a load state parameter and a current motor control instruction, a self-adaptive sliding mode controller fuses the equivalent disturbance torque vector and a feedback control quantity obtained through sliding mode control based on the current attitude error, a total compensation torque instruction needed by the fire-fighting unmanned aerial vehicle to recover stability is generated, and the total compensation torque instruction is decomposed into a target displacement instruction and a differential speed adjusting instruction; and the execution module is configured to execute the target displacement instruction by using the movable counterweight mechanism to drive the counterweight block to move, and execute the differential speed adjustment instruction through the power fine adjustment mechanism to adjust the rotating speed of the motor. The problem of attitude instability after bomb dropping of the fire-fighting unmanned aerial vehicle is effectively solved.