18results about How to "Flight safety" patented technology

The invention relates to the field of unmanned aerial vehicle automation, in particular to a three-dimensional modeling and unmanned aerial vehicle landing area address selection method based on laser point cloud data. The method comprises the steps of collection and dynamic compensation of laser radar point cloud data, multi-scale adaptive registration of three-dimensional point cloud, topographic feature extraction and evaluation, selection of an optimal landing point, path planning based on an improved A algorithm, and real-time environmental data updating and dynamic adjustment mechanism. According to the method, point cloud data is dynamically compensated through Kalman filtering, a 3D-NDT algorithm is utilized to perform high-precision three-dimensional environment modeling, key topographic features are extracted through an RANSAC algorithm to comprehensively evaluate topographic complexity and safety distance, an optimal landing point is selected, an optimal path of an unmanned aerial vehicle is planned in combination with an improved A algorithm, and path safety and flight energy efficiency are ensured. By updating environment data in real time and dynamically adjusting a flight path and a landing point, the unmanned aerial vehicle is adapted to sudden environment changes, and safe and stable autonomous landing of the unmanned aerial vehicle in a complex and changeable environment is ensured.

The invention discloses a VR-based unmanned aerial vehicle inspection method and system, a storage medium and a program product, and the method comprises the steps: calculating a low-polygon terrain model, and carrying out the subdivision smoothing processing, and obtaining a three-dimensional terrain image; matching and registering the panoramic image sequence and the three-dimensional topographic image to obtain a point cloud map; generating a virtual mining area environment map; calculating image quality parameters; when the image quality parameter is lower than a preset threshold value, generating a semi-real and semi-virtual fusion display picture; transmitting the semi-real and semi-virtual fusion display picture to a VR helmet for display, and synchronizing the attitude information of the unmanned aerial vehicle to the VR helmet; when it is determined that a fatigue feature appears according to the brain wave data, the unmanned aerial vehicle is controlled to be switched to a preset autonomous flight mode; constructing a virtual anti-collision boundary; and obtaining an optimized flight path according to the virtual anti-collision boundary, and controlling the unmanned aerial vehicle to inspect according to the optimized flight path. The continuity and reliability of the inspection task are improved, and the safety risk of the inspection task is reduced.

The invention relates to the technical field of unmanned aerial vehicle flight planning, and discloses an unmanned aerial vehicle cluster optimal path planning method and system, and the method comprises the steps: firstly constructing an unmanned aerial vehicle flight state prediction model and a path planning decision model, predicting the future state of an unmanned aerial vehicle, and making a decision of an optimal path; the two models are trained innovatively by adopting a dual machine learning algorithm, the accuracy of model prediction and decision making is improved, the path planning result is effectively corrected and optimized by constructing a residual error fitting model, and the planning robustness is enhanced. According to the method, the dynamic flight state, the environment uncertainty and the task target diversity of the unmanned aerial vehicle are comprehensively considered, and the unmanned aerial vehicle cluster optimal path planning instruction conforming to the actual flight condition can be generated in real time. The method improves the task execution efficiency and safety of the unmanned aerial vehicle cluster, is suitable for multiple fields of military reconnaissance, disaster rescue, logistics distribution and the like, and has a wide application prospect and an important practical value.

The invention discloses an indoor unmanned aerial vehicle positioning navigation path planning method and system, and the method comprises the steps: installing a binocular camera device and an inertial measurement unit sensor for an unmanned aerial vehicle, and obtaining a binocular camera image and inertial measurement unit data for the unmanned aerial vehicle; performing feature extraction on the binocular camera image to obtain image feature points, and establishing a time sequence corresponding relation database of the image feature points based on the image feature points; estimating the pose of the unmanned aerial vehicle by using the time sequence corresponding relation database of the image feature points and the data of the inertial measurement unit; constructing a 3D space through the image feature points, and constructing a local environment map for the constructed 3D space by using the image feature points; the unmanned aerial vehicle performs path planning according to the local environment map to generate an unmanned aerial vehicle flight path; and optimizing the pose of the unmanned aerial vehicle based on the flight path of the unmanned aerial vehicle and a visual semi-direct method to obtain the final pose of the unmanned aerial vehicle. The optimal path is calculated, and the pose of the unmanned aerial vehicle is optimized, so that the estimation error of the position of the unmanned aerial vehicle is reduced.

The invention discloses a reservoir bank slope inspection method and system based on an unmanned aerial vehicle laser radar, and relates to the technical field of unmanned aerial vehicle reservoir bank slope inspection, and the method comprises the following steps: 1, guaranteeing the normal working state of an unmanned aerial vehicle, starting the laser radar, connecting a ground GNSS reference station on the shore, calibrating the position of the unmanned aerial vehicle and a communication signal, an inspection area boundary and flight parameters are set; navigation data provided by a shoreside base station is utilized. According to the reservoir bank slope inspection method and system based on the unmanned aerial vehicle laser radar, the inspection efficiency is improved, and the endurance time is prolonged; the system is high in autonomy, reduces the labor cost, achieves the whole-course autonomous navigation, path optimization, obstacle avoidance and dynamic adjustment, does not need manual intervention, effectively reduces the workload and operation difficulty of inspection personnel, reduces the labor cost, improves the intelligent level of inspection tasks, and improves the autonomous adaptability of the unmanned aerial vehicle to complex terrains.

The invention provides an ammonia / kerosene dual-fuel precooling engine and a fuel cell power generation system, and belongs to the technical field of aviation systems. The problems of poor variable working condition performance of an engine, difficulty in matching of a gas compressor and a turbine, low working efficiency, fuel waste and the like due to the fact that working of the gas compressor is limited by overhigh total temperature of flying incoming flow air under the high Mach number of an aircraft are solved. According to the invention, the electric energy generated by the solid oxide fuel cell system is supplied to the aircraft load and the motor, and the motor drives the secondary gas compressor to do work in a manner of coaxial installation with the secondary gas compressor, so that the previous single-pole compression is changed into multi-stage compression. A dual-fuel pre-cooling propulsion method is adopted, liquid ammonia and aviation kerosene are selected as dual fuels of the system, the heat sink requirement for incoming flow air pre-cooling can be met, the fuel heat value requirement needed when the aircraft flies at the high Mach number can also be met, and therefore stable and safe flight of the aircraft at the hypersonic speed becomes possible.

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle route real-time planning method and system, a storage medium and an unmanned aerial vehicle. Determining a target distance between a target unmanned aerial vehicle and a target object in the target area; and according to the target distance, determining a current operation parameter of the target unmanned aerial vehicle, and according to the current operation parameter, adjusting a route of the target unmanned aerial vehicle. According to the invention, the terrain features of the regional three-dimensional point cloud data can be combined to realize real-time planning of the route of the unmanned aerial vehicle, and the flight safety and the flight efficiency are improved.

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle near obstacle control method based on a complex environment, and the method comprises the following steps: 1, obtaining a curve between obstacles through employing a binocular camera; 2, estimating the collision force of the obstacle according to the curve to obtain a {p, v} pair; 3, designing a gradient-based trajectory optimizer to extract information of an obstacle collided with the current trajectory; 4, numerical optimization is carried out; and 5, designing an MPC controller according to the obtained {p, v} pairs, and outputting an optimal control trajectory of the unmanned aerial vehicle near the obstacle based on the MPC controller. According to the invention, the obtained distance field information and height information are used to predict the performance of the unmanned aerial vehicle in a certain time period in the future so as to carry out optimization control, and the distance field, the height and the acceleration are constrained. And safe flight, very small overshoot, very small steady-state error and trajectory prediction of the unmanned aerial vehicle in near obstacle control are ensured.

The invention discloses a method and a system for generating and executing an anti-interference flight strategy of a C2 link of an unmanned aerial vehicle, and particularly relates to the technical field of unmanned aerial vehicle communication. The method comprises the following steps: acquiring urban building material parameters and unmanned aerial vehicle flight parameters; based on the parameters, combining a free space path loss model, a Rice fading model and a blade peak diffraction model to construct an urban environment channel model; injecting same-frequency Wi-Fi interference and building reflection interference signals to calculate a signal to interference plus noise ratio; based on the signal to interference plus noise ratio, calculating the bit error rate and evaluating the anti-interference performance, and generating an anti-interference optimization scheme including frequency band switching and flight height adjustment; and controlling the unmanned aerial vehicle to execute the strategy. Aiming at the problems of Wi-Fi co-frequency interference, building shielding, glass curtain wall multipath reflection and the like in a complex urban environment, frequency band self-adaptive switching and flight height optimization are realized through multi-model joint simulation and dynamic strategy generation, the bit error rate is reduced, the anti-interference capability is improved, and the method has the advantages of being simple in structure and convenient to operate. And the communication reliability and the flight safety of the unmanned aerial vehicle in a complex urban environment are effectively guaranteed.

The present application discloses a large aspect ratio wing flutter control method and control device thereof, including: obtaining the initial flutter speed of the wing; installing a steel cable on the wing, and applying a preload force to the steel cable in flight through a servo mechanism to limit the wing torsion; obtaining the extended flutter speed of the wing after the steel cable applies the preload force; enabling the wingtip angular displacement sensor during the flight of the UAV, and the wingtip angular displacement sensor is used to monitor the wingtip torsion angle and torsion angular velocity in real time; when the flight speed of the UAV exceeds the extended flutter speed, using the servo mechanism for dynamic control. The method solves the problem of how to increase the flutter speed, so that the UAV can fly safely at a higher speed, thereby improving its flight performance.

The invention relates to the technical field of electronic fuel injection engine control, in particular to an engine throttle opening degree measurement self-calibration method, system, device, program product and medium, and the method comprises the steps: collecting position signal values of two throttle valves and the output quantity of a steering engine; calibrating the positions of the throttle valves according to the position signal values of the two throttle valves and the output quantity of the steering engine; and controlling the positions of the two throttle valves according to the calibrated throttle valve position values. Through signal redundancy processing, measurement errors caused by drifting and faults of the throttle position sensor can be effectively eliminated, and safe and reliable flight of the unmanned aerial vehicle is guaranteed.

The application relates to the technical field of unmanned planes, in particular to a linkage device for folding and locking a machine arm for plane performance, which comprises a plane main body, a rotating machine arm module, a folding and locking module and a central control module. The central control module is fixedly arranged at the top outer side of the plane main body and comprises a central control box, a driving control assembly, a transmission control assembly and a cooperative control assembly; the driving control assembly is connected with the folding and locking module through the transmission control assembly, and the driving control assembly is also connected with the installed rotating machine arm module through the cooperative control assembly. The folding and locking module and the rotating machine arm module are synchronously controlled through the central control module, the machine arm can be automatically turned over and unfolded and locked in multiple sections, the automatic unfolding and locking of the folded arm can be realized, the problem that the existing unmanned plane folding machine arm operation is complicated and is prone to accidental folding is solved, the linkage device has high portability, high reliability and rapid deployment capacity, and is especially suitable for unmanned plane formation performance scenes.

The invention discloses a method for optimizing the size of a rotor pitch rocker arm and an unmanned helicopter using the method, which is used for a helicopter with a foldable rotor, and comprises: step 1, obtaining the flapping frequency, Locke number and time constant of the rotor based on the flapping hinge extension of the helicopter; step 2, obtaining the taper angle, rear chamfer angle and side chamfer angle of the rotor based on the flapping frequency, Locke number, time constant, lateral control input pitch angle and longitudinal control input pitch angle; step 3, obtaining the pitch control moment and roll control moment of the rotor based on the taper angle, rear chamfer angle and side chamfer angle; step 4, obtaining the longitudinal periodic pitch value and lateral periodic pitch value of the rotor based on the pitch control moment or the roll control moment; step 5, reversely obtaining the phase angle of the pitch rocker arm through the longitudinal periodic pitch value and the lateral periodic pitch value, so as to obtain the pitch control moment or roll control moment corresponding to different phase angles of the pitch rocker arm.

The invention relates to a data transmission method of a satellite navigation system, which comprises the following steps: a data center receives target data sent by a base station, and the data center comprises a mixed data service subscription interface; the user terminal is provided with mixed data subscription software, through a trigger mechanism integrated in the user terminal, a user can set acquisition conditions of high-precision data according to needs, send a high-precision data triggering request to the data center, and perform identity verification; after the authentication is passed, the authorized high-precision data is encrypted to generate an encryption key, and an authentication token is generated; and the user terminal decrypts the high-precision data by using the key in the transmitted security data packet. Through a mixed data service subscription mechanism, a user can flexibly adjust data precision according to actual requirements, a real-time verification and authorization process ensures the security of data transmission, data leakage and tampering are prevented, and data encryption and transmission measures further improve the security of data transmission.

This invention discloses a self-stabilizing, wind-resistant VTOL fixed-wing UAV, belonging to the field of UAVs. The self-stabilizing, wind-resistant VTOL fixed-wing UAV includes a connector. A motor is fixedly connected to the top of the connector, and a rotating ring is fixedly connected to the top of the motor. A rotor blade is fixedly connected to the outer side of the rotating ring. A through groove is formed on the outer side of the rotating ring, and a cover plate is provided on the top of the rotating ring. An extension block is fixedly connected to the side of the cover plate near the through groove. A retaining plate is fixedly connected to the inner wall of the through groove, and a slot is formed on the inner side of the extension block. The retaining plate is located inside the slot. The rotating ring and the cover plate are snapped together by the retaining plate and the through groove. The rotating ring and the cover plate form a snap-fit ​​quick-release structure through the through groove, the retaining plate, the cylinder, and the round hole and slot of the extension block, achieving convenient assembly and disassembly with a stable connection. This effectively improves the efficiency of rotor blade assembly and disassembly and the ease of maintenance. Simultaneously, the tight snap-fit ​​ensures the dynamic balance of rotor rotation, enhancing the operational stability and wind resistance reliability of the UAV.

The invention relates to the technical field of unmanned aerial vehicle path planning, and particularly discloses a three-dimensional route planning method for a fixed-wing unmanned aerial vehicle in a complex mountain, which comprises the following steps: acquiring mountain model information, determining coordinates of a starting point and an end point, and generating a complex mountain map; the safe turning radius and the pitch angle of the fixed-wing unmanned aerial vehicle are constrained and set, so that the fixed-wing unmanned aerial vehicle can fly more safely and efficiently; and meanwhile, by introducing a golden sine strategy, Bernoulli chaotic mapping, a dynamic adaptive weight strategy and an adaptive Gaussian-Cauchy mixed variation disturbance strategy, the regional development and global search capability and convergence performance of the algorithm are improved. The algorithm performance of the improved multi-strategy dung beetle optimization algorithm and the algorithm performance of the basic dung beetle optimization algorithm on eight benchmark test functions are compared, and the result shows that the improved multi-strategy dung beetle optimization algorithm has higher convergence speed and stability. The objective of the invention is to solve the problems of insufficient global search capability and low convergence speed of an existing unmanned aerial vehicle route planning method.

This invention relates to a flight control method and system for unmanned aerial vehicles (UAVs) based on fused altitude, comprising the following steps: after controlling the UAV to leave the ground, obtaining a first fused altitude H(k) based on a barometer mounted on the UAV; controlling the UAV to fly based on the first fused altitude H(k) until the first fused altitude H(k) ≥ the ground clearance H. G At that time, the second fused altitude H(p) is obtained based on the laser altimeter and barometer mounted on the UAV; and when the first fused altitude H(k) ≥ the ground altitude H G The drone is continuously controlled based on the second fused altitude H(p). This invention allows for the selection of corresponding altitude fusion strategies when the drone is at different altitudes, maximizing the accuracy of the altitude fusion results and thereby controlling the drone's safe and stable flight based on high-precision altitude information.

The invention relates to the technical field of unmanned aerial vehicles, and discloses a railway tunnel unmanned aerial vehicle auxiliary sensing method, device and system and a medium. The method comprises the following steps: acquiring environment images of a current position and different angles in a railway tunnel in an operation process of an unmanned aerial vehicle system; splicing the environment images at different angles to obtain a panoramic image of the current position; according to the current position, an unmanned aerial vehicle coordinate system is converted into a railway tunnel coordinate system, and the railway tunnel coordinate system is a linear coordinate system changing along with the track tangential direction in a railway tunnel; and transmitting a target image in a selected angle range in the panoramic image of the current position to the ground, and transmitting the current position and the converted unmanned aerial vehicle coordinate system to the ground. Auxiliary perception can be provided for beyond-visual-range operation of the unmanned aerial vehicle in the railway tunnel, so that operation of the unmanned aerial vehicle conforms to the real situation of the tunnel, and safe and reliable flight is guaranteed. The safety and the working efficiency of the operation of the unmanned aerial vehicle outside the tunnel in the tunnel are obviously improved.