357results about How to "Improve flight efficiency" patented technology

The invention provides a fixed-wing multi-shaft aircraft, and belongs to the field of aircrafts. The fixed-wing multi-shaft aircraft comprises a fixed wing and a multi-shaft rotor wing rack which are connected with each other, and the multi-shaft rotor wing rack is provided with multiple rotor wing mechanisms; the rotor wing mechanisms comprise propellers and rotating shafts, the propellers are rotatably connected with drive devices, the drive devices are fixedly connected with the rotating shafts, and the rotating shafts are connected with rotating control mechanisms. The fixed-wing multi-shaft aircraft has the advantages of both a fixed-wing aircraft and a multi-shaft aircraft, can achieve a multi-shaft mode, a fixed-wing mode and a fixed-wing and multi-shaft mixed mode and also has the advantages of achieving vertical taking-off and landing and hovering and being high in flying speed and long in flying time.

The invention relates to an efficient vertical takeoff and landing aircraft, and discloses an efficient vertical takeoff and landing fixed-wing unmanned aerial vehicle, which comprises a fuselage, a wing, a horizontal tail, a vertical tail, a control surface, a power unit, a tilting mechanism and an undercarriage. The tilting mechanism controls the tilting angle of the wing and the horizontal tail to realize the mutual conversion of a vertical takeoff and landing state and a flat flight state of the aircraft. A propeller power unit is arranged on each of the wing and the horizontal tail, a part of lift at the vertical takeoff and landing stage is provided by the wing propeller power unit, and the tail propeller power unit is responsible for the aircraft pitch balance adjustment; the power device installed on the wing is closed in the flat flight state, and the tail propeller power unit provides forward thrust in order to improve the efficiency of the aircraft in a cruising state. Compared with the existing vertical takeoff and landing fixed-wing unmanned aerial vehicle design scheme, the flight aerodynamic efficiency of the aircraft in the fixed-wing flat flight state is taken into account while the layout is simplified, and reliability and practicability are relatively high.

The invention discloses a path planning method suitable for an aircraft under a complicated low altitude, and belongs to the technical field of flying management methods and systems. The method comprises the following steps of firstly establishing an aircraft path planning model, and carrying out path planning on a single aircraft by adopting a self-adaption difference target evolutionary algorithm. The invention also provides a path planning method of multiple aircrafts based on the path planning method of the single aircraft. The path planning method provided by the invention has the advantages that the method is a multi-machine coevolution conflicting liberation method, the operation efficiency is high, and a requirement of a planning path is met; single machine and multi-machine planning path requirements under a low altitude airspace free flying condition are met, the method has certain feedback arrangement, the security of path planning is guaranteed, and meanwhile, the high flying efficiency is also obtained.

The invention provides a general aviation flight plan management system which comprises a flight plan database, a plan period management module, a plan generation reporting and recording module, a plan data service module and a system operation module. The flight plan database keeps flight plan data, basic and dynamic information data and user and system information data; the plan period management module is connected with the flight plan data and the basic and dynamic information data from the plan data service module to realize management operation of the flight plan; the plan generation reporting and recording module is connected with the flight plan data and the basic and dynamic information data from the plan data service module, and generates and reports and records a real-time flight plan according to user requests; the plan data service module is connected with the flight plan data and the basic and dynamic information data from the flight plan database for the plan period management module and the plan generation reporting and recording module to call; and the system operation module determines operation authority of users according to the user and system information data in the flight plan database.

Main rotor blades of the dual, counter-rotating, rigid coaxial rotor system exhibit a unique unconventional combination of positive and negative twist gradients in which the rotor system rotor Figure of Merit (hover efficiency) is improved by providing a dissimilar twist distribution between the lower rotor blade and the upper rotor blades. This improvement is specifically a result of reduced profile drag of the lower rotor system, achieved by driving the effective operating condition of the lower rotor blades to be similar to the upper rotor blade such that the tip drag losses of the lower main rotor have been reduced considerably using a mathematically vigorous approach. While minimal induced power consumption resulted due to the dissimilar lower main rotor twist, a significant profile power benefit is realized, resulting in the improved hover efficiency with essentially no reduction in rotor forward flight performance.

A flying-wing double-ducted vertical take-off and landing aircraft. It mainly consists of five parts. The first part is the fuselage 1, the second part is the No. 1 ducted engine 4, the No. 2 ducted engine 5 and the rear engine 6, the third part is the vertical tail 16, the No. 1 horizontal tail 12, the No. 2 horizontal tail 13, No. 3 horizontal stabilizer 14, No. 4 horizontal stabilizer 15, No. 1 winglet 10, No. 2 winglet 11. The fourth part is the support rod 19 , and the fifth part is the externally mounted pan / tilt head and the camera or photoelectric sensor 20 . The fuselage 1 is a flying wing type, the fuselage 1 can be folded, and the fold line 17 and the fold line 2 18 are the folding points of the fuselage. There are No. 1 duct 2 and No. 2 duct 3 distributed on the fuselage 1. No. 1 ducted engine 4 and No. 2 ducted engine 5 are located in the center of No. 1 duct 2 and No. 2 duct 3, respectively, and are connected by connecting The rod 22 is fixed. The No. 1 ducted engine 4 and the No. 2 ducted engine 5 are respectively equipped with a No. 1 propeller 7 and a No. 2 propeller 8 . The rear engine 6 is located in the center of the tail of the fuselage 1 , and a rear propeller 9 is installed on the rear engine 6 . The No. 1 horizontal stabilizer 12 , the No. 2 horizontal stabilizer 13 , the No. 3 horizontal stabilizer 14 , and the No. 4 horizontal stabilizer 15 of the aircraft are respectively located at the rear of the fuselage 1 . The No. 1 winglet 10 and the No. 2 winglet 11 of the aircraft are located on the left and right sides of the fuselage 1 respectively, and are bent downward. The vertical tail 16 of the aircraft is located in the middle of the tail of the fuselage 1 , on the upper part of the fuselage 1 . The support rod 19 is located in the middle of the front part of the fuselage 1 , and is located in the lower part of the fuselage 1 . The camera or photoelectric sensor is located in the middle of the front of the body 1 and is installed under the body 1 . The sweep angle 21 is the sweep angle of the flying wing fuselage 1 .

The invention discloses a multi-rotor aircraft driven by duct lift fans with diversion helms. The multi-rotor aircraft comprises the multiple duct lift fans with diversion helms, and an aircraft fuselage, wherein the aircraft fuselage comprises a frame, a landing gear, a power module, a flight control module , a load cabin and other function modules; the duct lift fans with the diversion helms are mounted on the aircraft fuselage and mainly consist of propellers, propeller driving units, the diversion helms, diversion helm driving units, ducts and the like, and the ducts are arranged at the peripheries of the propellers and used for improving the efficiency of the propellers, protecting the propellers and reducing the noise of the propellers; the propellers are driven by the propeller driving units; and the diversion helms driven by the diversion helm driving units are arranged on the air inlet sides or the air outlet sides of the duct lift fans.

The invention provides a flight control method based on battery monitor. The method is used for controlling the flight of an unmanned aerial vehicle. The method comprises the following steps: acquiring current remained power of the battery, current position and current height of an unmanned aerial vehicle according to the first set interval time; calculating the minimum electricity of flight according to the current position and the destination location of the unmanned aerial vehicle; calculating the minimum electricity of landing according to the current height of the unmanned aerial vehicle; calculating the first flight threshold electricity of the unmanned aerial vehicle according to the minimum electricity of flight and minimum electricity of landing; and comparing the first flight threshold electricity with the current remained electricity, and prompting a user to make a return voyage or land when the current remained electricity is less than or equal to the first flight threshold electricity. The invention further provides a battery monitor based flight control device. The device and the method can be used for well improving the flight efficiency of an unmanned aerial vehicle and avoiding occurrence of power down.

The invention provides a power-driven tilt three-rotor unmanned aerial vehicle. The power-driven tilt three-rotator unmanned aerial vehicle has flight characteristics of both a helicopter and a fixed-wing aircraft and can take off and land in a vertical and short-distance way. The integral structure of the power-driven tilt three-rotor unmanned aerial vehicle is composed of all-moving canard wings, straight low wings and a fixed V tail. Two motors and rotors of the unmanned aerial vehicle are fixed at the wing tips of the canard wings and can independently tilt by certain angles along with the canard wings, and another motor and rotor of the unmanned aerial vehicle are installed in the V tail and can tilt by certain angles around a rotating shaft. When the rotating shafts of the thee rotors of the unmanned aerial vehicle tilt to a position near a Z axis, the unmanned aerial vehicle can fly like the helicopter; and when the thee rotors tilt to a position near an X axis, the unmanned aerial vehicle can fly like the fixed-wing aircraft. Through simultaneous control of the thrust and directions of the thee rotors, the reaction torque of the rotors is overcome and the posture of the unmanned aerial vehicle is controlled. The unmanned aerial vehicle provided by the invention can take off and land in a limited place or runway to execute special tasks and is improved in flight speed, duration of flight and payload.

The invention provides a hybrid type tilting rotor-wing unmanned aerial vehicle. The hybrid type tilting rotor-wing unmanned aerial vehicle comprises a vehicle body, a power system, a control system and a tilting mechanism. The vehicle body comprises a fuselage, wings and an empennage; the power system is composed of screw propeller power cabins which are located at two ends of the wings and a tail duct power cabin; each power cabin can be tilted for a large angle; the control system can be used for carrying out stabilization and posture control on parallel flight and vertical flight states of the unmanned aerial vehicle; the tilting mechanism is responsible for changing tilting angles of the three power cabins. When the unmanned aerial vehicle is at a multi-rotor-wing mode, the unmanned aerial vehicle can vertically ascend and descend and suspend in the air; when the unmanned aerial vehicle is at a fixed-wing mode, the flight speed is relatively rapid and the efficiency is relatively high. The hybrid type tilting rotor-wing unmanned aerial vehicle fuses advantages of multi-rotor wings and a fixed wing, and has wide application prospect.

The present invention discloses a UAV obstacle avoidance method and a UAV. The method includes: acquiring the stereo disparity map of a current environment image by a binocular camera and clustering pixels in the stereo disparity map to obtain clustering areas; based on each clustering area, calculating the flight distance from an environment area corresponding to each clustering area to the UAV; by determining whether the flight distance between each environment area and the UAV is greater than a distance threshold, enabling the UAV to select any one diversion area from the environment areas with flight distance greater than the distance threshold and calculate the rotation angle that the UAV turns to the any one diversion area, and controlling the UAV to fly around according to the rotation angle. The UAV obstacle avoidance method realizes the autonomous obstacle avoidance and diversion of the UAV and improves flight efficiency.

The invention discloses a flight-line design method with single-lens oblique photography, a system and an aerial photography method. The flight-line design method comprises the following steps: obtaining the aerial range and the technical requirements; installing a single-lens camera, calculating aerial parameters, and carrying out flight-line design according to the aerial parameters. The flight-line design method, the system and the aerial photography method disclosed by the invention can be used for popularizing oblique photography of an unmanned aerial vehicle, and have the advantages that the threshold of the oblique photography is lowered and the efficiency of the oblique photography of the unmanned aerial vehicle is improved.

The invention relates to a composite rotor craft. The composite rotor craft comprises a craft main body, an energy device, a plug-in connector and a control device, wherein the craft main body comprises a main propeller and a plurality of auxiliary propellers; the main propeller comprises a main rotor I, a main rotor II and a main duct; the main rotor I and the main rotor II are fixed in the main duct through a main duct supporting frame; the part, in the main duct, of the outer edge of the main duct supporting frame is provided with a plurality of vertical connecting rods; cantilevers are outward and horizontally arranged at the bottoms of all the vertical connecting rods; the auxiliary propellers are arranged at the outer ends of all the cantilevers. The composite rotor craft has the benefits that the integration of various rotor flight modes is adopted, the flight efficiency is greatly improved, the flexibility of the craft is greatly improved, and the flight stability and reliability are also greatly improved; an advanced flight control mode is adopted, a plurality of rotors can be simultaneously controlled and adjusted, the control difficulty of the craft is greatly reduced, and the flight efficiency of the craft is improved.

A bidirectional synchronous automatic turning flapping-wing aircraft belongs to the field of astronautic bionic aircraft device, comprising an airframe (8), a wing flapping mechanism (1), a bidirectional synchronous output deceleration mechanism (2), a connecting rod (3), an airfoil (4), an empennage control mechanism (5) and an empennage (6); the bidirectional synchronous automatic turning flapping-wing aircraft is characterized in that the wing flapping mechanism (1) comprises a crossed frame (10) and two wing roots (11); the crossed frame (10) is installed on the front end of the airframe (8) through a bearing; two wing roots (11) are respectively installed on two sides of the crossed frame (10); the airfoil (4) is connected with the wing root (11) through a wing bone; the bidirectional synchronous output deceleration mechanism (2) is connected with the wing root (11) through the connecting rod (3); the empennage control mechanism (5) is installed on the rear end of the airframe (8); the empennage (6) is connected with the empennage control mechanism (5). The airfoil is in spot connection with the airframe and performs the bidirectional synchronous automatic turning with high flying efficiency.

The invention provides a translational flapping wing real-time controllable in direction and pitching and automatic in inclination angle change. The translational flapping wing adopts a parallelogramdriving mechanism to drive a wing panel, so that the wing panel can always be horizontal when fluttering; furthermore, a steering control mechanism and a pitching control mechanism are arranged for respectively controlling the deflection angle and pitch angle of the wing panel during operation, so that the flapping wing has an ability to resist lateral wind and is flexible to operate. The wing panel of the flapping flap is controlled by a rotating frame consisting of a variable inclination angle shaft and variable inclination angle beams, and a flapping wing beam together; when flapping downwards, the wing panel is subjected to the pressure of the flapping wing beam; when resetting upwards, the wing panel rotates around the variable inclination angle shaft and leaves the flapping wing so as to be not subjected to the force; therefore, the wing panel can automatically change the inclination angle when fluttering up and down, and the flight efficiency is higher. The translational flapping wing is low in energy consumption, high in flight efficiency, simple and firm in structure, low in manufacturing and use costs and good in flexibility and mobility, and is widely used in the fieldssuch as transportation, military, disaster relief, tourism and entertainment.

The invention relates to the technical field of unmanned aerial vehicles, and particularly relates to an unmanned aerial vehicle with a tailed flying wing configuration, which has a plurality of working modes such as vertical take-off and landing / short-distance take-off and landing / conventional take-off and landing / low-speed forward flight / high-speed forward flight and the like and can realize coast-based / vessel-based multi-based configuration. The unmanned aerial vehicle comprises a lifting body type vehicle body of which the longitudinal section is of an airfoil shape, and main airfoils, upper airfoils and end airfoils which are arranged at both sides of the vehicle body and form smooth integration with the vehicle body, and a duct propeller propulsion device and a vertical fin which are arranged at the tail of the vehicle body, wherein the lower end of the vertical fin is fixedly connected with a duct structure of the duct propeller propulsion device arranged at the tail of the vehicle body. According to the invention, the tailed flying wing configuration integrated with jointed wings is adopted, so that the unmanned aerial vehicle has various advantages such as excellent aerodynamic characteristics and high effective load factor of the conventional flying wing configuration, and also effectively overcomes the inherent defects of the conventional flying wing configuration in aspects of stability and operability.

The invention relates to a ducted single-propeller saucer-shaped unmanned aerial vehicle which is characterized in that the upper end part of a landing gear is fixed with a duct, the upper end part of the duct is provided with a frame, the middle part of the frame is provided with a power plant arranged along the central axis of the duct, fuel tanks are symmetrically arranged at two sides of the power plant above the frame, the power plant is connected with a propeller arranged at the upper part in the duct by a propeller shaft, swirl-reducing fixed control surfaces which are uniformly and circumferentially arranged are installed between the inner wall at the lower part of the duct and the outer wall of a main hold, the vertical front and back ends at the bottom of the duct are symmetrically provided with a group of air flow nozzle rudders respectively, the lateral left and right ends at the bottom of the duct are symmetrically provided with a group of air flow nozzle rudders respectively, avionics are arranged in the duct, and an autopilot is installed in the main hold. The invention is economical and practical and has the advantages of compact structure, reasonable design, very good concealment, high flight efficiency, fuel saving, convenient maintenance and strong adaptability. In addition, the invention can take off and land vertically, hover, whirl and fly with low noise at any place.

The invention relates to a wing structure of bionic aircraft, characterized in that the wing is formed by a skeleton, movables fin, a control connecting rod, a control line, and a fixed baffle rod, wherein one edge of the movable fin is fixed on the skeleton to rotate around the edge, the control connecting rod is at one side of the movable fine to serially connect the movable fins, the control line connects the skeleton and the control connecting rod, and the fixed baffle rod is fixed with the skeleton. The inventive wing is formed by several movable fins, therefore, when lifts up, and wings moves downwards, the fins are integral to fly via counter force of air, and when fins return, the movable fins can change position to sag the movable fins, to improve the flying efficiency.

The invention provides an unmanned aerial vehicle obstacle avoidance control method and a system thereof, and an unmanned aerial vehicle and relates to the unmanned aerial vehicle control technology field. The method comprises the following steps of through a radar detection apparatus of the unmanned aerial vehicle, detecting obstacle information in an unmanned aerial vehicle flight environment; collecting current flight information of the unmanned aerial vehicle; according to the obstacle information and the current flight information, calculating an obstacle avoidance flight plan; and executing obstacle avoidance flight by the unmanned aerial vehicle according to the obstacle avoidance flight plan. In the invention, through the radar detection apparatus of the unmanned aerial vehicle, the radar detection apparatus can detect a flight speed and a flight direction of an obstacle in the unmanned aerial vehicle flight environment and can accurately determine a motion trend of the obstacle so that identification and avoidance capabilities of the unmanned aerial vehicle to the obstacle in an air route usage environment of a moving object are increased. Simultaneously, according to the obstacle information and the current flight information, the obstacle avoidance flight plan is calculated so that reliability and stability of unmanned aerial vehicle flight are increased.

The invention discloses a mooring and cruising multi-mode vertical take-off and landing unmanned aerial vehicle which can execute various flying task modes and can vertically take off and land in a narrow and small space. The mooring and cruising multi-mode vertical take-off and landing unmanned aerial vehicle comprises a fixed wing airframe, a wing, empennages, a horizontal propeller power system, vertical propeller motor systems, supports, a rotor wing airframe, a cable and an effective load part. The mooring and cruising multi-mode vertical take-off and landing unmanned aerial vehicle has the beneficial effects that according to different task requirements, the structure of the aircraft can be changed by disassembling and assembling parts in a short period of time, and the modes adapting to executing the task requirements are selected. When used in a mooring unmanned aerial vehicle mode, the mooring and cruising multi-mode vertical take-off and landing unmanned aerial vehicle which has the beneficial effects of being high in maneuverability, long in hovering time and the like; and when used in a cruising vertical take-off and landing unmanned aerial vehicle mode, the mooring and cruising multi-mode vertical take-off and landing unmanned aerial vehicle has the beneficial effects that efficient cruising flying is achieved, and the mooring and cruising multi-mode vertical take-off and landing unmanned aerial vehicle can hover above a target area and can vertically take off and land in a narrow and small space. When the mooring and cruising multi-mode vertical take-off and landing unmanned aerial vehicle is not used, main parts can be detached to be placed so that the storage space can be saved.

The invention relates to a small flapping wing type ducted aircraft. A flapping wing mechanism and ducted engines are organically combined, and three ducted engines and the flapping wing mechanism provide power commonly, so that multi-pose and flexible flight can be achieved; the flapping wing mechanism adopts a crank rocker based deformation mechanism to realize bionic flapping wing motion; the three ducted engines are in triangular pneumatic layout, the ducted engine positioned in the middle is a main ducted engine and is immobilized; the other two ducted engines positioned at sides are small ducted engines and can rotate obliquely; the aircraft can realize vertical take-off and landing, and at the moment, the three ducted engines can provide power in a vertical direction; when the flapping wing is immobilized at a horizontal position, the two small ducted engines obliquely rotate to a horizontal position and provide pushing force in a horizontal direction to realize high-speed level flight or steering of the aircraft; and the aircraft can cruise slowly when in a flapping wing movement manner. The small flapping wing type ducted aircraft adopts combination driving and multi-pose flight, so that the flight efficiency and the motility of the aircraft can be greatly improved.

The invention discloses an aerial photography folding wing unmanned aerial vehicle which comprises an airframe and wings. The airframe is provided with an inner cavity; the left side and the right side of the inner cavity are communicated; a first motor is arranged on a front plate of the inner cavity and connected with a lead screw arranged in the same direction as the airframe; gears are symmetrically arranged on the two sides of the lead screw in a meshed mode; the centers of the gears are connected to the airframe through center shafts; rotating plates are connected to the side walls of the gears; supporting plates are perpendicularly connected to the outer ends of the rotating plates; first cylinders are connected to the front ends of the supporting plates; second motors are connected to the front ends of the first cylinders; output shafts of the second motors are connected with first threaded rods; the front plate of the inner cavity is further provided with first nuts screwed to the first threaded rods; the side walls, on the same side as the rotating plates, of the supporting plates are provided with second cylinders. According to the aerial photography folding wing unmanned aerial vehicle, the wings can be folded, storage is convenient, and practicability is achieved.

The invention discloses a folding-wing unmanned aerial vehicle for a municipal garden. The folding-wing unmanned aerial vehicle comprises a vehicle body and wings, the vehicle body is provided with an inner cavity, the left side and the right side of the inner cavity are communicated, a first motor is arranged on a front plate of the inner cavity, a lead screw which is arranged in the same direction as the vehicle body is connected to the first motor, gear wheels are symmetrically meshed with the two sides of the lead screw, the center of each gear wheel is connected to the vehicle body through a center shaft, a rotating plate is connected to the side wall of each gear wheel, a supporting plate is vertically connected to the outer end of each rotating plate, a first cylinder is connected to the front end of each supporting plate, a second motor is connected to the front end of the first cylinder, a first threaded rod is connected to an output shaft of the second motor, the front plate of the inner cavity is further provided with a first nut which is screwed with the first threaded rod, and a second cylinder is arranged on the side wall, on the same side of each rotating plate, of the corresponding supporting plate. According to the folding-wing unmanned aerial vehicle for the municipal garden, the wings can be folded conveniently, storage is convenient, and the practicability is achieved.

This invention relates to a ring-foil unattended airplane, wherein the divider divides the volume into two-piece volumes in an empty ducted, the upper volume has the airplane's fuel tank in it, and the down volume has the airplane's control embarkation storehouse in it, the center part of the ducted has the engine, and the down part of the engine is assembled with the fixed bar, which connects with the ducted inwall, the upper end of the engine has the locking, and the upper end of the duct's center part has the load storehouse, wherein the frame connects with the ducted outwall, the down part of the fixed bar has the blind, which connects with the ducted inwall, the bottom end of the blind has the vane, and the bottom end of the ducted has the airplane frame.

The invention discloses a method and a system for the flight navigation of an unmanned aerial vehicle. The method comprises the following steps of obtaining a starting point and a target point, from and to which the unmanned aerial vehicle is planned to fly; carrying out obstruction detection on the target point, determining a vectoring point, vector the unmanned aerial vehicle to fly for avoiding an obstacle, and generating a flight route of the unmanned aerial vehicle according to the vectoring point; determining a final flight route of the unmanned aerial vehicle; carrying out node expansion according to the final flight route, switching the vectoring point to continuously carry out the node expansion, and generate a track line of the unmanned aerial vehicle; making the unmanned aerial vehicle fly according to the navigation of the track line. By adopting the method and the system which are provided by the invention, the vectoring point can be autonomously detected and generated along a constraint direction according to the difference of a direction constraint in a threatening area of the target point; the shortage of manual setting is avoided; the precision is improved. Meanwhile, due to the generation of the vectoring point, the direction guidance is provided for the autonomous flight of the unmanned aerial vehicle; the flight efficiency is improved; the real-time requirement of the autonomous flight of the unmanned aerial vehicle is met.

The invention provides a bird-like flapping-wing micro air vehicle, comprising a rack, a drive mechanism, a control mechanism, a lithium battery, a steering mechanism, a left flapping mechanism, a left flapping wing, a right flapping mechanism, a right flapping wing, an empennage and a pitching mechanism; the drive mechansim is installed on the rack; the left flapping mechanism and the right flapping mechanism are respectively installed at two sides of the rack, driven by the drive mechanism, and respectively connected with the left flapping wing and the right flapping wing, the flapping of the left flapping wing and the right flapping wing is controlled, so that the motion tracks of the tail ends of the left flapping wing and the right flapping wing are spherical 8-shaped; the steering mechanism is installed on the rack to control the left and right steering of the air vehicle. the pitching mechanism is installed on the rack to control the empennage to swing up and down; the lithium battery provides power to the air vehicle, and the control mechanism receives external signals and controls the overall flight state of the air vehicle. The air vehicle provided by the invention aims at solving the problems of complex structure, unstable flight, low flight efficiency, low bionic degree and the like of the existing flapping-wing air vehicle.

The invention discloses a splay-track flapping wing mechanism. The splay-track flapping wing mechanism comprises a stander, a wing, a tail wing and a driving motor, wherein the wing is arranged above the stander, the tail wing is arranged behind the stander, and the driving motor is fixed on the stander; the wing comprises two rocking bars and two flapping wings; the two rocking bars are symmetrically arranged, and the two flapping wings are arranged on the outer ends of the two rocking bars; a gear driving assembly, a connecting rod assembly, a universal joint driving device and a ball pair sleeve are arranged between the wing and the driving motor. According to the splay-track flapping wing mechanism, the rocking bars are driven by the connecting rod assembly to do two-dimensional splay-track flapping and wing surface torsion, and the three-dimensional splay-track flapping of the rocking bars is achieved by virtue of the ball pair sleeve and the universal joint driving device; compared with a flapping wing mechanism, the splay-track flapping wing mechanism is high in speed and flight efficiency.

The invention discloses an environment-friendly unmanned aerial vehicle for constructional engineering. The environment-friendly unmanned aerial vehicle for constructional engineering comprises a vehicle body, a tail wing and vehicle wings and is characterized in that the vehicle wings are connected with the vehicle body through a folding mechanism; an undercarriage is arranged below the vehicle body and comprises an installation seat connected to the position below the vehicle body, a third rotary shaft arranged on the installation seat, a supporting column, a buffer spring, a cross beam, a supporting beam, two supporting legs and two connecting rods; the upper end of the supporting column penetrates the cross beam and is fixedly connected with the third rotary shaft; the lower end of the supporting column is inserted on the supporting beam; the supporting beam can move linearly along the supporting column; the supporting column is sleeved with the buffer spring; and the buffer spring is located between the cross beam and the supporting beam. By the adoption of the environment-friendly unmanned aerial vehicle, due to the fact that the undercarriage is arranged below the vehicle body, a buffering effect can be achieved in the taking-off and landing processes, and the vehicle body is protected against damage.

The invention provides an unmanned aerial vehicle autonomous obstacle avoidance inspection path planning method and device, and belongs to the field of unmanned aerial vehicle inspection, and the unmanned aerial vehicle inspection path planning method comprises the steps: building a three-dimensional model of an inspection region, wherein the three-dimensional model comprises the point cloud dataof equipment in the inspection region; determining a three-dimensional inspection safety area according to the three-dimensional model and a no-fly strategy; determining a first inspection target taskpoint set according to the inspection plan and the three-dimensional model; and establishing a first inspection path according to the three-dimensional inspection safety area, the first inspection target task point set and the unmanned aerial vehicle information. According to the embodiment, absolute safety of the unmanned aerial vehicle during inspection can be guaranteed, the method has the characteristic of small calculation amount, the inspection path can be planned quickly, accurately and automatically, so that the unmanned aerial vehicle is feasible in the inspection area, obstacles areprevented from being collided, and flight safety and flight efficiency of inspection operation of the unmanned aerial vehicle in the inspection area are improved.

The invention discloses an unmanned aerial vehicle navigation control system and method based on big data analysis. The system comprises a flight route pre-planning module, a GPS positioning module, an end point input module, a wind direction detection module, an obstacle flight direction detection module, an obstacle flight speed detection module, an image acquisition module, an image analysis processing module, an obstacle detection module, an obstacle type judgment module, a route safety judgment module and a flight track control module. The system has the advantages that the flight route is preset according to the starting point position and the terminal point position of the unmanned aerial vehicle, in the flight process of the unmanned aerial vehicle, obstacles in a certain range in front are detected, the types of the obstacles are determined according to the moving direction and the moving speed of the obstacles, and different processing modes are selected according to the types of the obstacles; thus, the flight route of the unmanned aerial vehicle is adjusted, the flight efficiency of the unmanned aerial vehicle is improved, the flight safety of the unmanned aerial vehicle in the flight process is guaranteed, and the collision probability is reduced.