59results about How to "Achieve hover" patented technology

The invention discloses a low-altitude autonomous navigation system for a rotary-wing unmanned plane. The low-altitude autonomous navigation system is composed of a data acquisition device, a data preprocessing module, a data fusion module, a guidance control loop module and an attitude control loop module. The data preprocessing module is used for carrying out sampling filtering and error compensation on current location data information collected by the data acquisition device; the data fusion module is used for carrying out fusion and updating and obtaining a current position and speed of the rotary-wing unmanned plane; the guidance control loop module is used for calculating an expected attitude angle and an expected height value; and the attitude control loop module is used for generating a controlled quantity. According to the technical scheme, a problem of poor attitude estimation precision of the conventional navigation system can be solved; and requirements of high-precision heading attitude calculation and position and speed fusion of the rotary-wing unmanned plane can be met. High-precision filtering of the system is realized. On the basis of the analysis and calculation of the autonomous navigation system, the flight route and height can be corrected and the flight attitude can be adjusted autonomously; and the autonomous flight of the unmanned plane can be realized.

The invention discloses an unmanned aerial vehicle and a control device of the same. The control device comprises a distance sensor and a main control module, the distance sensor is used for acquiring distance information between the unmanned aerial vehicle and an obstacle, and the main control module is used for acquiring the distance information from the distance sensor and realizing hovering of the unmanned aerial vehicle relative to the obstacle according to the distance information. By the above mode, hovering of the unmanned aerial vehicle relative to the obstacle can be realized under the circumstance that GPS (global positioning system) signals cannot be acquired.

An embodiment of the invention provides an unmanned aerial vehicle, an unmanned aerial vehicle takeoff control method and apparatus. The control method and the apparatus are used to control the unmanned aerial vehicle. The unmanned aerial vehicle takeoff control method is performed through the following steps: receiving takeoff preparatory signals that are generated by being triggered when the unmanned aerial vehicle is positioned to a preset takeoff height; controlling the rotor wings of the unmanned aerial vehicle to rotate at an idle speed according to the takeoff preparatory signals; and controlling the rotor wings to pick up to a rated rotation speed. With the control method and the apparatus, the rotor wings of an unmanned aerial vehicle can pick up speed to a rated speed at a preset position, thus achieving a hovering effect.

The invention relates to the field of aircrafts, in particular to a six rotor-wing aircraft. The six rotor-wing aircraft comprises a body, six rotor wings, a power device and an electric control system arranged in the body, wherein the power device is directly connected with the rotor wings or is arranged inside the body to be connected with the rotor wings through a transmission device; the body is provided with six connecting rods which are distributed at the periphery of the body; the rotor wings are arranged at outer ends of the connecting rods; six angles of inclination are formed between rotating surfaces of the six rotor wings and an XOY plane of a body coordinate system; angles of inclination between each rotor wing and the third rotor wing which is two rotor wings away are equal; and positive and reverse propellers are arranged on two rotor wings and have opposite rotating directions. By controlling rotating speeds of the six rotor wings with non-parallel rotating planes, three-axis motion and posture are completely decoupled, and the aircraft has high maneuverability, and can realize vertical takeoff and landing, rapid forward flight, upside down flight, hovering and change of flight in any direction.

The invention discloses an aircraft and a control method thereof.The defects of fixed wing type aircrafts and rotary wing type aircrafts in the prior art are overcome.The aircraft comprises an aircraft body, an aircraft head, a left wing, a right wing, a control system, a left control plane, a right control plane, a left motor, a right motor, a left vertical tail and a right vertical tail.The left wing and the right wing are arranged on the two sides of the aircraft body respectively and can glide with the assistance of airflow in the flat flying process, the left control plane and the right control plane are arranged at the bottom of the left wing and the bottom of the right wing and can be adjusted in moving angle, and the left vertical tail and the right vertical tail are arranged at the bottom of the left wing and the bottom of the right wing respectively and serve as an undercarriage.The left motor and the right motor are installed on the left wing and the right wing respectively and are provided with propellers.The output end of the control system is connected with the left motor, the right motor, the left control plane and the right control plane, and the control system comprises a processor, a gyroscope and an accelerometer, wherein the gyroscope and the accelerometer are connected with the processor.By means of the technical scheme, problems in the prior art can be well solved.

The invention relates to the technical field of hinges, and discloses a refrigerator door hinge with a damping buffering structure. The refrigerator door hinge comprises a base used for connecting a refrigerator cabinet body, and a connecting rod used for connecting a refrigerator door, wherein the base is rotatably connected with a cam disc by virtue of a center pin shaft, one end of the connecting rod is provided with a connecting hole used for being connected with the refrigerator door, the other end of the connecting rod is connected with the cam disc by virtue of a first hinge shaft, thebase is provided with a cam jacking and pressing mechanism for controlling the rotating speed of the cam disc, and the cam jacking and pressing mechanism comprises a cam jacking and pressing head applying the pressure onto a cam surface of the cam disc; and the base is also provided with a damper for retarding the closing speed of the refrigerator door, the connecting rod is provided with a connecting rod extension section, and the end part of the connecting rod extension section is in contact with the damper when the refrigerator door rotation angle is smaller than or equal to a set criticalangle. By adopting the refrigerator door hinge with the damping buffering structure, the user experience to open and close the refrigerator door is improved, and the service life of products is prolonged.

The invention discloses a novel flapping rotary wing structure and a corresponding micro-miniature flapping rotary wing device. The flapping rotary wing structure is characterized in that two pairs of complete flapping wings are arranged on two ends of a cross beam in a dissymmetry manner, a flex-wing film generates a lifting force and a thrust force simultaneously during an upper-down flapping process of flapping wings, two thrust forces in opposite directions form a force couple to drive the cross beam and the flapping wings to perform self-driven rotation without generating reaction torque. The flapping rotary wing device designed by utilizing the structure comprises the flapping wings, an assembling body provided with a driving mechanism and a power supply, a connecting shaft and half cross beams, wherein the half cross beams are assembled together to form the cross beam, the middle of the cross beam is fixedly connected with one end of the connecting shaft, and the flapping wings are fixed on the assembling body; an axis which is relative to the connecting shaft is installed at the two ends of the cross beam in the dissymmetry manner. The flapping rotary wing structure provided by the invention has the good lifting efficiency, the useful load of an aircraft can be obviously increased, the requirements of hovering and level flight can be simultaneously met, and the application range of a micro-miniature aircraft is effectively widened.

The invention provides a lifting-pushing type large-scale solar-powered unmanned aerial vehicle capable of taking off and landing in a non-runway field and hovering. The unmanned aerial vehicle has the layout of front-and-back parallel wings in a ladder shape; solar batteries are laid on the whole upper surface of a back wing; an elevon with the overall span is installed on the trailing edge of a front wing, and solar batteries are laid on other areas of the upper surface of the front wing except the elevon; four vertical plates are fixedly arranged on the lower surface of the back wing, and the lower end surfaces of the four vertical plates are fixedly connected with the four end surfaces of the front wing in the span direction by stay bars; a power propulsion system is fixedly installed on the leading edge of the back wing; and two vertical lifting systems are respectively fixed in two spaces formed by the front wing, the back wing and the stay bars. According to the lifting-pushing type large-scale solar-powered unmanned aerial vehicle, the problem of ultra-short distance/vertical takeoff and landing of a large-scale solar-powered airplane is solved by increasing the direct lifting power and reducing the takeoff field length, and additionally, the direct lifting power can be provided in a near space to realize spot hovering to perform a task.

The invention discloses a variable-volume deep-sea butterfly-shaped net cage and a regulation and control method thereof. A central column sequentially penetrates through the middles of an upper butterfly-shaped net cage and a lower butterfly-shaped net cage, the upper butterfly-shaped net cage and the lower butterfly-shaped net cage are symmetrically arranged, the opposite ends of the upper butterfly-shaped net cage and the lower butterfly-shaped net cage are connected to the end parts of the central column through an upper flange plate and a lower flange plate respectively, the opposite ends of the upper butterfly-shaped net cage and the lower butterfly-shaped net cage are rotationally connected to the middle of the central column correspondingly, the periphery is connected through multiple pins, the upper flange plate and the lower flange plate are correspondingly connected to a signal collector, an underwater power generation traction platform is connected to the lower flange plate, a control system is installed on the underwater power generation traction platform and is in signal connection with the underwater power generation traction platform, and the upper butterfly-shaped net cage, the lower butterfly-shaped net cage and the signal collector are correspondingly in signal connection with the underwater power generation traction platform and the control system. According to the variable-volume deep-sea butterfly-shaped net cage and the regulation and control method thereof, damage caused by collision among rod pieces due to impact force of wave motion can be effectively avoided, a large amount of labor force can be saved, safety accidents caused by underwater work of workers in a severe environment are avoided, and response can be made in time in the sudden change environment, and damage to the net cages is avoided.

The invention discloses a full-embedded range hood comprising a range hood main body, a main smoke collection cavity, an auxiliary smoke collection cavity, a steady flow plate, a first driving mechanism, a second driving mechanism, an oil smoke sensor and an electrical control system. The steady flow plate is opened and closed rotationally at the bottom of the auxiliary smoke collection cavity. The first driving mechanism drives the steady flow plate to rotate. The second driving mechanism drives the main smoke collection cavity to move up and down. The oil smoke sensor detects the oil smoke concentration of an oil smoke area in real time and feeds back the oil smoke concentration to the electrical control system. The electrical control system is in electric connection with the first driving mechanism and the second driving mechanism. The electrical control system judges the magnitude of the oil smoke concentration to control the strokes of the first driving mechanism and the second driving mechanism and then controls opening and closing angles of the steady flow plate and the moving-down stroke of the main smoke collection cavity. The invention further discloses an opening and closing control method of the full-embedded range hood. With the adoption of the full-embedded range hood and the opening and closing control method thereof, the work utilization rate of the range hood can be increased effectively, and the smoke collection effect of the full-embedded range hood can also be improved effectively.

The invention belongs to the technical field of machinery and relates to a bat bionic-based suspension four-rotor aircraft. The technical problem that an existing four-rotor aircraft has short endurance is solved. The four-rotor aircraft comprises a body, four rotor motors are evenly disposed around the body, the output end of each rotor motor is connected with a propeller, the four-rotor aircraftalso includes mechanical hands distributed on the two sides of the body at intervals, each mechanical hand includes a mechanical arm, the lower end of the mechanical arm is connected with the body, and a clamping opening capable of being opened and folded is movably disposed at the upper end of the mechanical arm. The bat bionic-based suspension four-rotor aircraft has the advantages of long endurance and the like.

The invention provides a constant force lifting device. The constant force lifting device comprises a bracket (1), a heavy matter rack (2), a pulley block (3), a traction line (4), a power structure and a power adjusting device; the power structure comprises a tower-shaped wire spool (5) and a contact type flat spiral spring (6); one end of the traction line (4) is fixed to the root part of a line slot (14) in the tower-shaped wire spool (5), and while the other end of the traction line (4) is bypassed a fixed pulley of a fixed pulley block and a movable pulley of a movable pulley block to be fixed to the fixed pulley block; the heavy matter rack (2) is connected with the movable pulley block, and two sides of the heavy matter rack (2) are glidingly connected to two parallel guide rails (7) on the front surface of the bracket (1); the outer end part of the contact type flat spiral spring (6) is fixed to the inner wall of the tower-shaped wire spool (5), and while the inner end part of the contact type flat spiral spring (6) is connected with the power adjusting device. With the adoption of the constant force lifting device, the constant force can be increased and decreased in the whole bracket range, and moreover, the force can be saved.

The invention discloses a multi-dimensional moving disc type underwater glider and relates to the field of underwater gliders. The underwater glider is in a disc structure form. A main body structurecan move in all directions and has same hydrodynamic performance as a result of the symmetrical structures. A buoyancy adjusting device can adjust the size of net buoyance to generate a driving force,through which the underwater glider sinks and floats and the underwater glider suspends underwater. A linked adjusting device adjusts distribution of center of gravity of the underwater glider by linking a follow-up stable wing and a sliding mass block, so that the underwater glider glides stably along a direction and turns quickly. The underwater glider has a multi-dimensional moving ability inan underwater space and can meet the actual demand on investigation of a three-dimensional marine environment and the demand on long-term monitoring and data acquisition in a key area.

The invention provides an umbrella-shaped boosting solar aircraft. The aircraft comprises an aircraft body, a rocket engine, a solar film, a coaxial double-rotor mechanism, an energy storage battery and an umbrella-shaped retractable structure; the coaxial double-rotor mechanism is installed at the upper end of the aircraft body, the rocket engine is installed at the lower end of the aircraft body, the umbrella-shaped retractable structure is installed outside the middle section, and the energy storage battery is installed inside the aircraft body; the umbrella-shaped retractable structure isclung to the outer wall of the aircraft body when being folded, is conical when being unfolded and is coaxial with the aircraft body; and the solar film covers the upper surface of the umbrella-shapedretractable structure and supplies power to the energy storage battery. The launching initial speed can be increased, the initial loss energy is reduced, the variable structure design of the aircraftis realized, and the aircraft is more convenient to launch, recover and store.

The invention relates to a vertical take-off and landing fixed-wing aircraft. The vertical take-off and landing fixed-wing aircraft comprises an aircraft body and semicircular wings, wherein the semicircular wings are symmetrically distributed relative to the aircraft body on the left and on the right; and propellers, which rotate around the axial directions of the semicircular wings, are arrangedin the semicircular wings. According to the vertical take-off and landing fixed-wing aircraft, as the semicircular wings are symmetrically arranged on the left and right sides of the aircraft body, the propellers, which rotate around the axial directions of the semicircular wings, are arranged in the semicircular wings, and the semicircular wings and the propellers integrally rotate around the axis perpendicular to the aircraft body, the vertical take-off and landing, hovering and cruising of an unmanned aerial vehicle are realized by adjusting postures of the semicircular wings and the propellers, the duration of flight of the unmanned aerial vehicle is prolonged, the volume and weight of the unmanned aerial vehicle are reduced by using the semicircular wings to replace the traditional fixed wings, the loading capacity and flexibility of the unmanned aerial vehicle are improved, the operation of the unmanned aerial vehicle is stable, and the aerodynamic performance of the unmanned aerial vehicle is good.

The invention relates to an unmanned aerial vehicle hovering in air through an air bag and a control method. When an unmanned aerial vehicle carries out operation, a gas with density lower than air density is inflated into a balloon located above the unmanned aerial vehicle body; a first motor is controlled to enable a first rotating shaft to rotate; an air bag sinks and penetrates through a vegetation opening; the air bag is inflated with air and the air bag is expanded; vegetation below the unmanned aerial vehicle body is hooked so that the unmanned aerial vehicle is prevented from being blown away by wind, which means that a lifting force provided by the balloon and the hook between the air bag and the vegetation below the unmanned aerial vehicle body are utilized to realize the hovering of the unmanned aerial vehicle, at the moment, the rotating speed of the rotor wings of the unmanned aerial vehicle body can be reduced or stopped to save an electric quantity and realize long-timehovering of the unmanned aerial vehicle; and enough hovering time is provided to enable the unmanned aerial vehicle to complete operation, and when the operation is completed, the air bag is deflatedto be separated from hooking with vegetation, the rotor wings are started and the balloon is deflated to realize re-flight.

The invention aims to design a controllable manned balloon. The controllable manned balloon is characterized by consisting of a floating sphere, an operating room connected to the lower part of the floating sphere, a power device, a propeller, landing legs, an anchor cable connected to the ground, and the like, wherein the inner part of the floating sphere is loaded with low-density gas in an airtight manner, and buoyance produced by the floating sphere is greater than the sum of gravity of the operating room connected to the lower part of the floating sphere, the power device, the propeller, the landing legs and the anchor cable connected to the ground, and besides, is smaller than the sum of the gravity of the operating room connected to the lower part of the floating sphere, the power device, the propeller, the landing legs and the anchor cable connected to the ground, and the gravity of loaded operating personnel. When the controllable manned balloon is not used, the manned balloon is fixed on the ground through the anchor cable connected to the ground; when the controllable manned balloon is enabled to go up to the sky with people, the power device is turned on to drive the propeller to generate upward lifting force so that the controllable manned balloon goes up to the sky, and by adjusting the magnitude of power output from the power device, the purposes that the controllable manned balloon goes up to the sky, descends and hangs in the air are realized.

The invention discloses a vertical/short-distance take-off and landing aircraft with distributed power coupling lift augmentation airfoils, and belongs to the field of aviation aircrafts. The aircraft comprises lift fans, an aircraft body, wings, high lift airfoils, distributed ducted fans and a motion mechanism, wherein the fuselage and the wings are in a flying wing layout with a fused wing body; the lift fan is embedded in the middle of the nose, is in a coaxial contra-rotating form and is used for generating a vertical upward lifting force; the distributed ducted fans are symmetrically distributed at the tail of the fuselage, and the side walls of the two ends of each distributed ducted fan are hinged to side plates fixed to the fuselage through rotating shafts correspondingly. The high-lift airfoil comprises an upper straight wing and a lower straight wing which are arranged in parallel and located at the upper end and the lower end of the outer side of an outlet of the distributed ducted fan respectively, and the two ends of each straight wing are connected with the side plates through movement mechanisms respectively and can tilt relative to the fuselage along the movement mechanisms. Hovering, vertical/short-distance taking-off and landing and cruising level flight of the aircraft in the air can be achieved, and due to the fact that lift force is provided in a lift augmentation airfoil mode, the aircraft can fly more safely and stably in a transition mode.

The invention discloses a tilting component of a tilting rotor unmanned aerial vehicle, which comprises a propeller, a motor base, a steering engine and a tilting base, wherein the propeller is connected with a direct-current brushless motor through propeller fixing screws; the direct-current brushless motor is arranged on the motor base through motor base fixing screws; the steering engine is fixed on a steering engine disc through steering engine fixing screws; the steering engine disc, the motor base and the tilting base are connected, and the tilting base is connected with the wings through tilting base fixing screws; the propeller is driven by the direct-current brushless motor controlled by a steering engine to be switched between a first rotating plane and a second rotating plane, and the first rotating plane is perpendicular to the second rotating plane. In addition, the invention further discloses a tiltable rotor unmanned aerial vehicle which comprises the tilting component of the tiltable rotor unmanned aerial vehicle. Moreover, the invention further discloses a using method of the tiltable rotor unmanned aerial vehicle.

The invention relates to a compound control plane used on a vertical takeoff and landing aircraft. The compound control plane comprises a compound control plane body, the compound control plane body is divided into an upper control plane and a lower control plane, the compound control plane body is mounted at the tail end of a wing, an engine nacelle is arranged on one side of the wing, and a propeller is arranged at the tail end of the engine nacelle; the wing comprises a front wing and a rear wing, and a wing tilting mechanism is mounted at the wing root of the wing; and the engine nacelle is fixedly connected with the wing, and the engine nacelle and the wing can tilt around a tilting shaft under driving of the tilting mechanism. The compound control plane used on the vertical takeoff and landing aircraft has the advantages that hovering of the vertical takeoff and landing aircraft is achieved through adjusting of the opening quantity of the compound control plane which is mounted on the wing, the compound control plane can achieve the common multi-face functions in the level flight process, a control system is simple and practicable, the structure is simple, and the response is rapid.

The invention provides a squid-like flying robot. The buoyancy is provided by the air cylinder filled with low-density gas, which lifts the flying robot into the air. The fin transmission device transmits power through the gear set, and uses the deformation mechanism of the crank rocker as the actuator. The fin transmission device drives the fin membrane with a special curved surface to make regular agitation, thereby generating a driving force for forward movement and realizing microwave forward movement. Two liquid solutions that produce a large amount of gas after a chemical reaction are stored separately in the gas injection device. When a rapid advance is required, the solenoid valve is opened, and the two liquids mix and react, and a large amount of gas is rapidly generated through the conduit and discharged from the jet port, thereby generating a driving force. The direction of the jet port driven by the steering gear can be changed, finally realizing the steering of the flying robot. This robot can achieve tasks such as battlefield reconnaissance, disaster relief and target positioning.