2016results about "Launching weapons" patented technology

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 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 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.

The invention relates to the technical field of wind turbine generator maintenance, and discloses a wind turbine generator blade unmanned aerial vehicle deicing assembly and method.The wind turbine generator blade unmanned aerial vehicle deicing assembly comprises an unmanned aerial vehicle, and a laser radar and an installation shell integrating an ultrasonic transducer, a pulse nozzle and a hydraulic pump are installed at the bottom of the unmanned aerial vehicle. The deicing control system obtains focus space coordinates and interface resonance frequency of the blade surface by using a space state sensing module; the stress field focusing module calculates the phase delay amount of the ultrasonic transducer, compensates the pose deviation of the unmanned aerial vehicle by adjusting the emission time sequence, and drives the ultrasonic transducer to generate resonance stress on an ice layer-skin interface; and the sound stream synchronous control module determines a jet flow triggering moment according to synchronous phase locking solution, drives a pulse nozzle at an instantaneous negative pressure phase point of a sound wave period to inject a small amount of deicing fluid into an interface crack, and generates shear stress to induce the interface crack to expand and peel off an ice layer. Accurate throwing of deicing energy is achieved, and the icebreaking efficiency is improved on the premise that the safety of the blade structure is guaranteed.

An aircraft has a boom, a propulsion assembly coupled to a first end of the boom, and a first wing coupled to a second end of the boom. The propulsion assembly is coupled to the boom by a rotating joint. A second wing is optionally coupled to the rotating joint. The first wing is coupled to the boom by a rotating joint. The first wing is coupled to the rotating joint by a hinge. A vehicle with roll, pitch, and yaw maneuverability able to mirror the aircraft movements may be coupled to the second end of the boom. The vehicle body may be picked up with a vehicle chassis disconnected from the vehicle body. The boom houses an energy source to power the propulsion assembly. A rudder is coupled to the second end of the boom. A paddle is disposed between the propulsion assembly and the boom.

There is disclosed an autonomous docking system for aerial delivery of a payload from a ground station. The system may comprise an unmanned aerial vehicle (UAV) having one or more motors for powered flight and a pyramidal bottom surface opening downward to terminate in a base perimeter. A cargo pod may be included to carry the payload and may have a pyramidal top surface complementary to the pyramidal bottom surface of the UAV. The system may further include a latching system for locking the UAV to the cargo pod and one or more steering components for approaching the cargo to within a steering accuracy. The UAV may be configured to dock by steering downward until the base perimeter slidably contacts the pyramidal top surface of the cargo pod for gravity-aligning the UAV in azimuth and laterally. The system may be further defined by a capture radius of the base perimeter being greater than a lateral component of the steering accuracy.

The invention discloses an agricultural plant protection unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles. The agricultural plant protection unmanned aerial vehicle comprises a vehicle body provided with supporting legs and further comprises wings, the multiple wings are circumferentially and evenly arranged on the vehicle body, the tail end of each wing is provided with a fan blade driven by a motor, and the side, away from the fan blade, of each wing is provided with a nozzle; the water tank is arranged on the lower side of the machine body, and a feeding assembly for supplying water to the nozzles is arranged on the water tank; the anti-shaking assembly is arranged in the water tank and used for restraining water in the water tank from shaking; the movable floating plate capable of moving up and down along with the liquid level is attached to the liquid level all the time, the elastic element is used for buffering, shaking of liquid in flight is effectively restrained, and flight stability is guaranteed.

The invention discloses an unmanned aerial vehicle inspection device and method for electric power inspection, and relates to the technical field of electric power inspection. A mounting base is fixed to the front side of the unmanned aerial vehicle body, a second camera is mounted on the front side of the mounting base, a buffer assembly is mounted on the lower side of the unmanned aerial vehicle body, and the cable is shot by arranging the second camera; the moving assembly comprises fixing frames, a T-shaped block, a threaded rod, a limiting rod and a first motor, the two corresponding fixing frames are fixed to the lower side of the unmanned aerial vehicle body, the T-shaped block is arranged between the two fixing frames, a threaded hole is formed in the edge of the right side of the T-shaped block, and the threaded rod is in threaded connection with the interior of the threaded hole; and the threaded rod is rotationally connected to the interior of the fixing frame on the right side, a first motor is installed on the lower side of the fixing frame on the right side, residues attached to the surface of the cable can be cleaned, and meanwhile damage points of the cable can be marked.

A communications interconnect between the countermeasure controller of a countermeasure system and the dispenser containing the countermeasure payloads therein. Additionally, the present disclosure provides a power connection between the countermeasure controller and the countermeasure dispenser to deliver power to the countermeasure payloads, including smart payloads, utilizing existing vehicle wiring harnesses and wiring kits.

The invention relates to an intelligent fire extinguishing method, system and equipment for a fire-fighting unmanned aerial vehicle and a medium. The method comprises the following steps: acquiring an original depth image and an original infrared image, extracting geometric and thermal feature vectors based on the original depth image and the original infrared image, and generating a dynamic fire source attention map; generating an enhanced environment state vector by fusing the dynamic fire source attention map with the multi-modal features, inputting the vector and the historical state memory at the current moment into a time sequence decision model for time sequence updating to obtain updated historical state memory, inputting the updated historical state memory into a strategy generation model, and outputting a continuous action instruction; and inputting the instruction into a preset simulation environment model for analogue simulation, and calculating and optimizing the time sequence decision model and the strategy generation model based on the composite reward. According to the method, through multi-modal feature fusion and a dynamic attention mechanism, in combination with time sequence decision optimization, the autonomous fire extinguishing capability of the fire-fighting unmanned aerial vehicle in a complex fire scene environment is remarkably improved, and the fire extinguishing efficiency and safety are enhanced.

The utility model belongs to the technical field of agricultural unmanned aerial vehicles, and particularly relates to a bionic agricultural pesticide spraying aircraft. Comprising a fuselage and n supporting legs evenly distributed around the fuselage, n is an even number larger than or equal to 4, and each supporting leg is provided with a set of propellers driven by a motor; a plurality of independent pesticide bins are arranged in the machine body, an outlet of each pesticide bin is connected with a mixing box in the machine body through a water path, a metering pump is connected into the water path, a stirring device is arranged in the mixing box, a plurality of nozzles are evenly distributed on the periphery of the machine body, an outlet pipeline of the mixing box is divided into branches with the same number as the nozzles, and the branches are connected with the nozzles in a one-to-one mode. A booster pump is mounted on the branch; depth cameras are distributed outside the fuselage and used for acquiring environment images, and the aircraft controls a flight path according to the environment images; the unmanned aerial vehicle adopts a partitioned pesticide bin and octopus bionic eight-rotor design, and has high pesticide mixing capacity and stable flight control performance.

An air drop rack assembly is mounted within the cargo compartment of a cargo aircraft and has a forward part secured to the load deck and an aft part secured to the aircraft cargo ramp. The rack parts have rollers in conveyor assemblies mounted between C-channels which engage skidboards which support smaller aircraft such as gliders or cruise missiles. When the ramp is up two rack parts are tilted with respect to each other. At payload drop, ramp is deployed to bring the rack part conveyor assemblies into alignment. Although the aligned rack parts are spaced apart, when the cargo aircraft is tilted upwardly, the individual payloads on skidboards are discharged out the aircraft aft opening. Cruise missiles or bombs may be supported on a skidboard with a deformable surface, a forward ballast weight, and a spring, such that once launched the skidboard is pushed away from the payload.

The invention relates to the technical field of anti-riot vehicles, and discloses a police anti-riot command vehicle which comprises a vehicle chassis, a compartment body arranged on the vehicle chassis and a command communication system arranged in the compartment body, and further comprises an anti-riot net laying device integrated on the top of the compartment body and used for rapidly launching and unfolding an anti-riot net towards the outside of the vehicle; the emergency supporting wheel mechanism is arranged on the vehicle chassis, corresponds to vehicle tires installed on the side face of the vehicle chassis and is used for providing emergency supporting when the vehicle tires fail. The anti-riot net laying device comprises a launching cylinder, an anti-riot net contained in the launching cylinder and a driving mechanism providing power for launching of the anti-riot net, and the launching cylinder is arranged at the top of the compartment through a mounting base. Through an integrated anti-riot net laying device and a centralized control system, a non-fatal interception means and a command center are deeply fused, and seamless connection from situation awareness to rapid disposal is achieved.

The invention relates to the technical field of unmanned aerial vehicle photovoltaic frame cleaning, and discloses a combined blowing and spraying photovoltaic panel cleaning system carried on an unmanned aerial vehicle, which comprises an undercarriage, a water tank and a plurality of sensors arranged on the undercarriage, and a pressurization system connected with the undercarriage, the composite blowing and spraying subsystem is arranged on the undercarriage; the pipeline system is used for water flow transportation and is arranged on the undercarriage; the combined blowing and spraying subsystem comprises a spraying system support fixedly installed on the undercarriage, a spraying turret movably arranged on the triangular support and a monitoring camera arranged on the spraying turret, wherein the spraying system support extends in the direction away from the undercarriage and forms a triangular support. The initial positioning coordinates are corrected by presetting the light reflection judgment threshold value and the water mist judgment threshold value in combination with the current temperature and the vertical distance of the photovoltaic panel, so that the unmanned aerial vehicle is prevented from swinging and shifting, and the risk of collision with the photovoltaic panel is reduced.

The utility model provides an unmanned aerial vehicle multi-angle sprinkler head, which relates to the unmanned aerial vehicle field, and comprises a connecting rod and a mounting rack, the side wall of the connecting rod is provided with a first motor, the output end of the first motor is provided with a first transmission shaft, and the upper part of the mounting rack is connected with the first transmission shaft through an adjusting rod; adjusting seats are connected to the two sides of the mounting frame through electric push rods, nozzles are arranged on the adjusting seats through second transmission shafts, second motors are connected to the output ends of the second transmission shafts, and intelligent sensing assemblies are further arranged on the connecting rods and the mounting frame. According to the utility model, a wind speed sensor in the intelligent sensing assembly is used for detecting wind speed, a laser radar sensor is used for carrying out terrain scanning, a flow sensor is used for detecting the flow of the nozzle, and data of a plurality of sensors are combined, so that the control module can more comprehensively know the working environment, and the angle of the nozzle can be more intelligently adjusted; the practicability of the device is improved.

The invention discloses a self-adaptive suspension type outer wall cleaning unmanned aerial vehicle system and method based on constant tension control, and relates to the technical field of outer wall cleaning unmanned aerial vehicles. The system comprises a cleaning unmanned aerial vehicle subsystem, a water and electricity supply guarantee subsystem and an intelligent suspension retraction subsystem which are connected through a photoelectric liquid composite mooring rope; the intelligent suspension take-up and pay-off subsystem comprises a constant-tension take-up and pay-off device which monitors and adjusts the tension of a mooring rope in real time so as to maintain a constant micro-tension state, and it is ensured that the unmanned aerial vehicle flies stably. The water and electricity supply guarantee subsystem provides high-voltage direct-current electric energy and high-voltage fluid; the cleaning unmanned aerial vehicle subsystem comprises a self-adaptive telescopic spraying rod, and the position of a nozzle is dynamically adjusted according to the building facade structure so as to execute cleaning operation. By integrating constant tension control, high-voltage power supply and a self-adaptive cleaning mechanism, high efficiency, flight stability and operation safety of outer wall cleaning operation are achieved.

Apparatus and associated methods relate to an Aerial Munitions Loading and Delivery System (LBDS) configured to be mounted on an unmanned aerial platform, the LBDS having a munition holding unit including: a lever engaging frame configured to engage a interlock engagement frame of a fused munition, and a spring-loaded pin coupled to a top end of the munition configured to vertically support the munition, wherein, when the munition is loaded into the LBDS, the lever engaging frame includes an aperture configured to allow access to a safety pin of the munition. The lever engaging frame and the spring-loaded pin may, for example, exert a force in opposite directions along a horizontal axis to deactivate the munition, such that the safety pin can be removed without activating the munition.

The invention belongs to the technical field of fire fighting and unmanned aerial vehicle control, and provides a fire fighting method and system for cooperative control of an unmanned aerial vehicle cluster, and the technical scheme comprises the steps: generating a task instruction in response to a configured task parameter, and transmitting the task instruction to the unmanned aerial vehicle cluster; receiving multi-source data acquired by the unmanned aerial vehicle cluster in a task execution process; a plurality of monitoring indexes are calculated based on the multi-source data, whether each monitoring index meets a set alarm condition is judged, if any index meets the set alarm condition, a corresponding alarm instruction is triggered, and when any alarm instruction is triggered, the alarm instruction is triggered. And generating a corresponding fire extinguishing strategy according to the fire source space distribution and the state parameter of each unmanned aerial vehicle in the unmanned aerial vehicle cluster so as to control the unmanned aerial vehicle cluster to cooperatively extinguish fire. And the real-time coping requirement of a complex fire scene can be met.

The utility model relates to the technical field of logistics distribution, and discloses a logistics pod and an unmanned aerial vehicle, which not only can realize automatic delivery of articles, but also can reduce recovery cost. The pod comprises a pod body, a base and a control module, a first opening is formed in the bottom of the pod body, and at least one first connecting part is arranged on the periphery of the first opening; at least one second connecting part is arranged on the periphery of the base; the control module is electrically connected with the first connecting part. According to the utility model, the locking connection or separation of the base and the pod body can be realized by matching the locking connection or separation of the first connecting part and the second connecting part, and when the base is separated from the pod body, an article and the base can be separated from the pod body together, so that not only is the automatic throwing of the article realized, but also only the base needs to be recycled subsequently, and the cost is reduced. And the recovery cost is effectively reduced.

The invention provides a high-voltage electrical equipment live-line cleaning machine system based on an unmanned aerial vehicle, and belongs to the field of electrical equipment maintenance. Comprising a cleaning nozzle, a cleaning agent storage box and a conveying device, and the conveying device conveys a cleaning agent in the cleaning agent storage box to the cleaning nozzle; the visual positioning module is integrated with a high-definition camera and an AI visual algorithm and is used for identifying a dirty area of the high-voltage electrical equipment; and the path planning module is internally provided with a discharge area identification algorithm and path obstacle avoidance logic, and automatically plans to avoid the equipment discharge area. According to the invention, an environment-friendly cleaning module, a visual positioning module and a path planning module are integrated to construct a complete operation closed loop. The environment-friendly cleaning module accurately conveys and distributes a cleaning agent through a conveying device, the visual positioning module is matched, the dirty area of the equipment can be rapidly recognized and locked, compared with traditional manual work, the limitation of complex scene operation is broken through, the coverage range and positioning precision of cleaning operation are improved, and the dirt removing task is efficiently completed.

A payload container includes a nose cone electronics hub assembly, a collar assembly, a canister assembly, and a grid fin system. The nose cone electronics hub assembly has a nose cone housing electronic components in support of flight and detonator systems. The collar assembly includes a collar coupling the nose cone electronics hub and canister together. A canister of the canister assembly houses separate parts when in a shipping configuration that can be attached to an exterior of the payload container in a deployment configuration. A fin assembly facilitates vertical descent of the payload container when dropped from an unmanned aircraft.

The invention relates to the technical field of agricultural machinery and auxiliary equipment, and discloses a precise seedling dropping device of an unmanned aerial vehicle. A seedling carrying plate is arranged on the rack, and a seedling throwing opening is formed in the seedling carrying plate; the seedling supply mechanism is arranged on the seedling carrying plate and comprises a seedling pipe frame, and a plurality of seedling storage pipes are arranged on the seedling pipe frame; the control system is fixed at the bottom of the seedling carrying plate and comprises a driving mechanism and a transmission shaft connected with the driving mechanism, and the transmission shaft is connected with the seedling pipe frame to drive the seedling supply mechanism to rotate; when the seedling storage pipe is driven to rotate to be aligned with a seedling throwing opening in the seedling carrying plate, seedlings stored in the seedling storage pipe in advance fall to the seedling guide mechanism; the seedling guide mechanism comprises a guide pipe and a branch pipe, one end of the branch pipe is communicated with the seedling throwing opening, the other end of the branch pipe is communicated with the guide pipe, and the guide pipe is arranged at the bottom of the seedling carrying plate and used for guiding seedlings to be vertically and downwards thrown; the air blowing mechanism is fixed to the rack and used for providing downward airflow for the guide pipe. The precise seedling dropping device of the unmanned aerial vehicle can realize single-plant fixed-point precise dropping.

In one embodiment, a system for an aerial application aircraft includes a hopper cover, an electric actuator coupled to the hopper cover, a latch sequencing mechanism, a spring, and a dual latch mechanism. The latch sequencing mechanism includes a latch rod coupled to the electric actuator that moves the latch rod between a latched position and an unlatched position. The spring is coupled to the latch sequencing mechanism and the latch rod, and the spring exerts linear mechanical force based on the latch rod being in the latched or unlatched position. The dual latch mechanism is coupled to the latch rod and includes a first latch pin that engages a first latch box and a second latch pin that engages a second latch box opposite the first latch box.

The invention discloses an energy storage station fire-fighting intelligent fire extinguishing unmanned aerial vehicle unattended system and a fire extinguishing method, and relates to the technical field of fire fighting and extinguishment, the system comprises an unmanned aerial vehicle, a control terminal and a fire extinguishing device, and the fire extinguishing device is carried on the unmanned aerial vehicle; the control terminal is used for planning a flight path of the unmanned aerial vehicle according to the fire occurrence position of the energy storage station and the position of the unmanned aerial vehicle, controlling the unmanned aerial vehicle to fly to the fire occurrence position of the energy storage station according to the flight path, and triggering the fire extinguishing device to extinguish fire; the control terminal is further used for controlling the unmanned aerial vehicle to return automatically after the fire extinguishing task is completed, and receiving and processing inspection data and fire extinguishing data returned by the unmanned aerial vehicle. The fire extinguishing efficiency and safety of the energy storage station are improved, the intelligent fire extinguishing and unattended operation functions are achieved, and the defect that an existing fire-fighting unmanned aerial vehicle is insufficient in systematization capacity is overcome.

The present application relates to the field of unmanned aerial vehicle and fire fighting technology, especially to a multi-attitude adjusting fire extinguishing bomb launching system and method based on unmanned aerial vehicle, the system comprises: a launching execution mechanism, which contains a fire extinguishing bomb slide, a single-degree-of-freedom rotating guide sleeve capable of being adjusted and locked, an angle driving unit and a state locking unit. The method comprises: constructing a gravity self-adaptive launching execution mechanism; establishing a multi-dimensional collaborative launching decision model based on flight state sensing; and executing a collaborative launching control process. The present application solves or at least alleviates the problem of launching precision decline caused by the deviation of the launching direction of the fire extinguishing bomb from the direction of gravity and the inertial lag during the dynamic flight of the unmanned aerial vehicle, provides a multi-attitude adjusting fire extinguishing bomb launching system and method based on unmanned aerial vehicle, realizes high-precision launching of the fire extinguishing bomb along the preset direction of gravity under various flight attitudes, effectively compensates for the dynamic lag effect, and improves the launching reliability and efficiency.

The invention provides a method and device for automatically starting and stopping a spray gun based on path node information, and relates to the technical field of automation control, and the method for automatically starting and stopping the spray gun based on the path node information comprises the steps: collecting three-dimensional point cloud data of a target operation object; based on the three-dimensional point cloud data, constructing an initial three-dimensional geometric model of the target operation object, and planning and generating an initial operation path based on the initial three-dimensional geometric model; detecting and inserting one or more geometric feature nodes on the initial operation path according to the geometric features of the initial three-dimensional geometric model; configuring an operation parameter set containing a spraying instruction for the geometric feature nodes; and the unmanned aerial vehicle is controlled to fly along the initial operation path, and when the unmanned aerial vehicle arrives at the geometric feature nodes, spraying starting and stopping operation is executed according to spraying instructions in the operation parameter set.

The invention discloses a bionic mechanical clamping jaw for an aircraft. The bionic mechanical clamping jaw comprises a base, a driving assembly, a collecting mechanism, a leg mechanism and a jaw mechanism. A driving assembly and a collecting mechanism are arranged on the base; leg mechanisms are symmetrically arranged at the left and right ends of the bottom of the base, and claw mechanisms are installed at the bottoms of the leg mechanisms. The base is used for connecting the ornithopter and the leg mechanism; the driving assembly is used for driving the claw mechanism to move; the collecting mechanism is used for collecting the claw part mechanism through a collecting steering engine on the collecting mechanism; the leg mechanism is used for a middle carrier and a core buffer component for force transmission in the grabbing process. And the claw mechanism completes object grabbing and object loosening through tensioning and loosening movement. According to the invention, the adaptability and operation capability of the flapping-wing air vehicle for executing grabbing and carrying tasks in a complex environment can be further improved.

The application discloses a fire-fighting unmanned aerial vehicle bomb-throwing device, which belongs to the technical field of unmanned aerial vehicle bomb-throwing technology and comprises an unmanned aerial vehicle body and a fixing block. The bottom of the unmanned aerial vehicle body is fixed with the fixing block. One side of the fixing block is provided with a mounting frame. The top of the fixing block is provided with a pressing ring. One side of the pressing ring is provided with a side ring. The side ring and the pressing ring are rotationally connected. One side of the side ring is provided with a supporting ring. One end of the supporting ring is provided with an insertion block. One side of the insertion block is embedded with a receiving groove. The inside of the receiving groove is fixed with a first spring. The inside of the receiving groove is provided with a buckle. One end of the mounting frame is provided with a clamping groove. One side of the mounting frame is provided with a fixing frame. The inside of the fixing frame is provided with an electric telescopic rod. Through the mounting frame, the pressing ring, the side ring, the supporting ring, the insertion block, the receiving groove, the first spring, the buckle, the clamping groove, the fixing frame, the electric telescopic rod and the pressing block, the fixing and throwing of the fire-extinguishing bomb are realized. The insertion block is inserted into the inside of the mounting frame, the buckle is clamped into the inside of the clamping groove, and the fixing is completed.

The invention discloses an unmanned aerial vehicle lifting device and method, and relates to the aviation equipment industry, and the device comprises an unmanned aerial vehicle, a hanging mechanism and a container; the hanging mechanism comprises a grabbing terminal and a lifting executing mechanism. The grabbing terminal comprises a grabbing hand module and an automatic positioning module, the top of the grabbing hand module is fixedly connected with the lifting executing mechanism, the grabbing hand module comprises a mounting base, two claw bodies and a telescopic driving mechanism, the two claw bodies are movably and oppositely arranged on the mounting base, and the telescopic driving mechanism is arranged on the mounting base. The telescopic driving mechanism is used for driving the two claw bodies to swing oppositely or reversely; the automatic positioning module comprises an image recognition module and a positioning mark, the image recognition module is arranged at the bottom of the gripper module, and the positioning mark is arranged at the top of the container. The unmanned aerial vehicle can rapidly and stably achieve automatic positioning, accurate grabbing and safe hoisting of the box body, and the unmanned aerial vehicle is suitable for the complex mountain working environment.

The invention relates to the technical field of building automation maintenance, and discloses a concrete crack repairing method fusing unmanned aerial vehicle vision and a 3D printing technology, and the method comprises the steps: collecting a high-resolution image and three-dimensional point cloud data of a crack through an inspection unmanned aerial vehicle; processing the data by using a central processing unit to generate a crack three-dimensional digital model; according to the crack three-dimensional digital model, a three-dimensional printing deposition path and a flight path are generated for a printing unmanned aerial vehicle; and finally, the printing unmanned aerial vehicle deposits a repairing material into the crack through the carried 3D printing system along the planned path. According to the method, the high-precision three-dimensional model is established, and accurate filling of the repairing material is achieved. The deposition process is dynamically corrected by adopting a closed-loop quality control step, and long-acting healing is realized by utilizing a microbial self-repairing material, so that automation and intelligence of crack repairing are realized, the operation efficiency and safety are improved, and the method is particularly suitable for environments such as bridges, high-rise buildings and the like which are highly endangered and difficult to reach by manpower.