107results about How to "Improve flight stability" patented technology

The invention discloses a tunnel crack detection method and a tunnel crack detection system, and belongs to the field of tunnel safety detection.The tunnel crack detection method comprises the steps that a tunnel inspection robot is utilized to conduct inspection in a tunnel to obtain complete three-dimensional data in the tunnel so as to construct a three-dimensional map in the tunnel, and the position of each crack area in the three-dimensional map is determined; determining an inspection tour area corresponding to each crack area and executing path planning, and generating an optimal inspection tour path of the unmanned aerial vehicle; the optimal inspection path enables the unmanned aerial vehicle to sequentially pass through each inspection area and then leave the tunnel after entering the tunnel under the condition that obstacle avoidance conditions are met, and the total time is shortest; enabling the unmanned aerial vehicle to move according to the optimal inspection path, and scanning the crack region by using the depth camera when the unmanned aerial vehicle moves to one inspection region so as to obtain fine three-dimensional data of the crack region; and performing analysis processing on the fine three-dimensional data of the crack area to complete tunnel crack detection. According to the invention, the efficiency and precision of long tunnel crack detection can be improved.

The invention relates to the technical field of unmanned aerial vehicle cooperative control, and discloses a geological surveying and mapping method and system based on an unmanned aerial vehicle and a storage medium. The method comprises the following steps: processing real-time wind field data and a compensation control instruction set to obtain a wind field compensation model, and optimizing the wind field compensation model to obtain adaptive route data; analyzing and processing the battery state data, the adaptive route data and the task completion degree data of the unmanned aerial vehicle through an energy consumption prediction model to obtain task optimization parameters, and dynamically distributing and processing the task optimization parameters to obtain a task execution instruction set; and processing the state information and the task execution instruction set of the multiple unmanned aerial vehicles to obtain cooperative control data, and performing real-time calculation processing on the cooperative control data to obtain a multi-vehicle cooperative control instruction set. According to the invention, by establishing a distributed cooperative control mechanism, intelligent task allocation and anti-collision control during multi-machine cooperative operation are realized, and the efficiency and reliability of geological surveying and mapping are remarkably improved.

The invention relates to a vector propulsion spherical airship with an adjustable structure. The spherical airship is mainly composed of a vector propelling device, an airship capsule, an airship framework, a flight control module, a posture detection module, an environment monitoring module, a battery and the like. By adjusting the thrust direction of the vector propulsion device and the included angle between the airship framework and the capsule body, accurate control over the attitude and the flight path of the airship is effectively achieved. The design has the advantages of being small in size and compact in structure, and the propelling device is installed on the framework with the adjustable included angle, so that the control process is more flexible. Meanwhile, the propelling device achieves dynamic position adjustment through a framework structure and is prevented from being located in the airship movement direction, and potential safety hazards of a traditional external propeller are overcome. Although only two propelling devices are configured, the system can still provide fine control capability through seven controllable degrees of freedom, and the precision and flexibility of flight control are remarkably enhanced.

The invention discloses a method and platform for unmanned aerial vehicle flight management through out-of-step pre-judgment, and relates to the technical field of unmanned aerial vehicles, and the method comprises the steps: carrying out the associated feature extraction of an out-of-step data set of an unmanned aerial vehicle, and obtaining an out-of-step feature data set of the unmanned aerial vehicle; constructing an unmanned aerial vehicle out-of-step pre-judgment network model library; the flight state data flow and the operation environment data flow of the unmanned aerial vehicle are acquired; obtaining a target unmanned aerial vehicle out-of-step pre-judgment network model; performing out-of-step pre-judgment identification to obtain out-of-step pre-judgment abnormal parameters; and constructing an unmanned aerial vehicle flight control strategy space, determining unmanned aerial vehicle flight control strategy parameters, and performing out-of-step flight control on the target unmanned aerial vehicle. The technical problems of poor flight stability and safety and low task execution efficiency of the unmanned aerial vehicle due to the fact that flight out-of-step in a complex flight environment and under operation requirements cannot be predicted in advance in existing unmanned aerial vehicle flight management are solved, and the technical effect of improving the flight stability, safety and task execution efficiency of the unmanned aerial vehicle is achieved.

The invention discloses a disaster relief unmanned aerial vehicle path planning method based on an APF-IRRT fusion algorithm, and the method comprises the following steps: initializing parameters, expanding nodes, optimizing and smoothing a path, carrying out the smoothing of the path through cubic spline curve fitting or polynomial interpolation, and finally, carrying out the planning of a disaster relief unmanned aerial vehicle path. And outputting the optimized and smoothed flight path of the unmanned aerial vehicle by setting an algorithm termination condition. According to the disaster relief unmanned aerial vehicle path planning method based on the APF-IRRT fusion algorithm, the attraction force and the repulsive force are combined with adaptive step length and sampling angle optimization, the high efficiency of path planning and the obstacle avoidance safety are realized, and meanwhile, the smoothness and the performability of the path are improved through path smoothing processing; the method is suitable for efficient path planning of unmanned aerial vehicles in complex disaster relief environments.

The invention discloses a four-flapping-wing aircraft and an attitude control system thereof, and relates to the technical field of micro aircrafts, and the four-flapping-wing aircraft comprises a fixed rack, a guide rod, a slide block mechanism, a pitching frame, a rolling frame, a pulley and a chord driving system. The fixed rack is provided with four cantilevers, a sliding block mechanism is installed on a guide rod, and the pitching frame and the rolling frame control pitching and rolling actions through steering engines respectively. The four pulleys are connected to the pitching frame, and each pulley is hinged to one wing. The string driving system comprises a guide wheel, a string and a crank, one end of the string is connected with the slider mechanism, and the other end bypasses the guide wheel and is connected with the pulley to realize wing flapping. Through the deflectable spars and fine steering engine control, efficient aerodynamic performance, enhanced thrust output and excellent flight flexibility and adaptability are achieved, meanwhile, due to the design of the crank sliding blocks, structural stress is relieved, the service life is prolonged, the aircraft adapts to multiple flight modes, and the environment adaptability and task execution efficiency of the aircraft are improved.

The invention discloses a water gun for a water flushing device of an unmanned aerial vehicle, the water gun comprises a gun body module and a gun barrel, the gun body module sleeves the gun barrel, the gun body module comprises a front section direction control follow-up mechanism and a counter-acting force buffer follow-up mechanism, the front section direction control follow-up mechanism and the counter-acting force buffer follow-up mechanism are fixedly connected through a fixing assembly, and the front section direction control follow-up mechanism is connected with the counter-acting force buffer follow-up mechanism. The front section direction control follow-up mechanism and the counter-acting force buffering follow-up mechanism are arranged on the gun barrel in a sleeving mode, and the front section direction control follow-up mechanism is arranged in front of the counter-acting force buffering follow-up mechanism. The water gun for the water flushing device of the unmanned aerial vehicle has the advantages that recoil force instantly generated when the water gun sprays a water column is relieved through the counter-acting force buffering follow-up mechanism, meanwhile, the vertical angle of the water gun barrel is adjusted through the front section direction control follow-up mechanism, and therefore the flushing range is enlarged, and the water flushing operation efficiency is improved.

The utility model discloses a structure of a bionic butterfly, and relates to the technical field of bionic butterflies. The bionic butterfly structure comprises a main body shell, a motor base and an extension plate, and wings are arranged on the two sides of the main body shell; a motor base is fixedly installed at the bottom of the body shell, a driving motor is fixedly installed at the bottom of the motor base, and a differential mechanism is fixedly installed on the rear side of the motor base. According to the structure of the bionic butterfly, through the differential structure of the eccentric curved bar and the differential mechanism, the trippppery natural posture of the butterfly is accurately simulated, the flight stability and maneuverability of the butterfly robot are remarkably improved, remarkable effects are achieved in the aspects of energy conservation and consumption reduction, mechanical abrasion is greatly reduced, and therefore the service life of the robot is prolonged; meanwhile, by selecting light-weight materials, the overall weight of the robot is successfully reduced, and the flight performance of the robot is improved.

The invention discloses a flying wing layout aircraft landing gear folding and unfolding optimization control method, system and equipment, and relates to the technical field of flying wing layout aircraft control, and the method comprises the steps: employing a numerical simulation calculation method, and obtaining pneumatic data under the influence of a flying wing layout aircraft landing gear hatch cover; on the basis of pneumatic data, the deterioration degree of all states of the flying wing layout aircraft landing gear hatch cover in the folding and unfolding process on the course static instability is analyzed; analyzing the rudder effect of a resistance rudder in each state in the folding and unfolding process of the landing gear hatch cover of the flying wing layout aircraft under the condition of a sideslip angle; according to the analysis result, an undercarriage hatch cover folding and unfolding control strategy and the limiting requirement of the sideslip angle are obtained, and undercarriage folding and unfolding optimization control is carried out. According to the method, a numerical simulation technology is adopted, the aerodynamic characteristic, the operation stability characteristic and the flight control law of the lateral course of the aircraft under the influence of an undercarriage hatch cover are analyzed, an optimized undercarriage folding and unfolding control strategy is designed on the basis, and technical support is provided for development of flying wing layout aircrafts.

The invention discloses a two-stage separation type projectile support for sub-caliber launching of an unstable projectile body. The two-stage separation type projectile support comprises an outer projectile support body, a projectile tail structure, an inner projectile support body and the projectile body. The missile tail structure is driven to decelerate by using the backward opening resistance of the clamping petals, and the missile tail structure is separated from a flying missile body, so that the problem that the missile tail structure with larger mass cannot be separated can be solved; the inner sabot slides backwards along the axis of the projectile body under the action of air resistance in the flying process, so that the flying stability of a combination formed by the inner sabot and the projectile body is improved, target collision at a small attitude angle at a long distance can be achieved, and meanwhile, due to the fact that the flying distance is prolonged, the projectile tail structure and the projectile body are separated more thoroughly; through the arrangement of the resistance table, the inner projectile support can be separated from the projectile body before collision and can also impact the target body together with the projectile body; due to the fact that the inner projectile support can slide in the axial direction of the projectile body and is small in mass, the penetration influence of the inner projectile support on the projectile body can be ignored.

The invention discloses a carrier rocket first-level flight section aerodynamic parameter identification method and related equipment, and relates to the field of carrier rockets, and the method comprises the steps: calculating an attack angle and a sideslip angle of a rocket first-level flight section according to actually measured wind field data and flight telemetry data of the launching day; obtaining angular acceleration information according to angular velocity information in the flight telemetry data; calculating the resultant moment information of the rocket body according to the angular acceleration information and the rotational inertia of the rocket body; according to the rocket body resultant moment information, the dynamic pressure information and the rocket body size information, rocket body moment coefficient information is calculated, and the rocket body size information comprises rocket body reference area information and rocket body length information; reverse interpolation operation is carried out according to known aerodynamic parameters and the aerodynamic torque coefficient to obtain rudder deflection control quantities, the known aerodynamic parameters comprise the attack angle, the sideslip angle and the Mach number, and the rudder deflection control quantities comprise the pitching rudder deflection control quantity, the yawing rudder deflection control quantity and the rolling rudder deflection control quantity; and comparing the rudder deviation control quantity with the rudder deviation during actual flight to judge aerodynamic parameters.

The present invention discloses a propeller pitch control method and system for an aircraft, and relates to the field of aircraft. The method comprises: monitoring flight state parameters in real time through a sensor module on the aircraft, the parameters including the altitude, speed, acceleration and thrust demand of the aircraft; using a control algorithm to calculate the optimal pitch angle of the current flight stage according to the flight state parameters; transmitting the optimal pitch angle calculated by the controller to the propeller actuator; the propeller actuator adjusts the pitch angle according to the instructions of the controller; monitoring the actual pitch angle through a feedback system, and comparing it with the target pitch angle; adjusting the control strategy in real time according to the comparison result to ensure that the pitch angle of the propeller meets the requirements of the current flight conditions. The technical solution of the present invention can effectively improve the thrust output and flight stability of the aircraft in different flight stages.

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a multipurpose amphibious unmanned aerial vehicle which comprises an unmanned aerial vehicle body, a support and a connecting frame, and a supporting mechanism is mounted on the connecting frame; the flying mechanism is mounted on the bracket and comprises a flying part and a heat dissipation part; an air pump is installed at the bottom of the unmanned aerial vehicle body, and the exhaust end of the air pump is connected with an air conveying pipe. Wherein the supporting mechanism comprises an outer cylinder, the outer cylinder is installed on the connecting frame, inner cylinders are slidably connected to the two ends of the outer cylinder in an inserted mode, a control part is installed between the two inner cylinders, buoyancy parts are installed at the front end and the rear end of each inner cylinder, and limiting grooves are annularly distributed in the inner wall of the outer cylinder; through holes are further formed in the two ends of the limiting groove, and a blocking part is arranged on the inner cylinder. The unmanned aerial vehicle can show remarkable advantages in the aspects of improving flight efficiency, enhancing waterproof protection, improving use convenience and adaptability and the like.

The application relates to the technical field of unmanned aerial vehicle mounting devices, in particular to a quick switching mounting device for multi-task loads of an unmanned aerial vehicle, which comprises an unmanned aerial vehicle, a connector arranged below the unmanned aerial vehicle, a connecting sleeve fixedly installed at the inner end of the unmanned aerial vehicle, a supporting sleeve slidably installed in the connecting sleeve, a plug box fixedly installed at the upper end of the connector, the plug box being inserted into the supporting sleeve and forming a plug-in cooperation structure with the supporting sleeve, and a locking device arranged between the plug box and the supporting sleeve. The quick switching mounting device for multi-task loads of the unmanned aerial vehicle is characterized in that the connecting sleeve and the supporting sleeve are slidably matched, the plug box and the supporting sleeve are connected in a plug-in mode, the connector can be quickly mounted and dismounted, the mounting device can keep a safe distance from the wing of the unmanned aerial vehicle in the mounting state through the adjusting action of the supporting sleeve on the connecting height, the interference of the mounting structure on the aerodynamic performance of the unmanned aerial vehicle is effectively avoided, and the flight stability is improved.

The utility model belongs to the technical field of unmanned aerial vehicles, and discloses a loading unmanned aerial vehicle. The loading unmanned aerial vehicle comprises an unmanned aerial vehicle body, a loading basket and an adjustable clamp. And a loading platform is arranged on the top back part of the unmanned aerial vehicle body and is detachably fixed. The object carrying basket is placed on the object carrying platform with an opening facing upwards, and the object carrying basket is used for carrying objects. The adjustable clamp comprises two clamping plates, the two clamping plates are oppositely arranged on the carrying platform, and the two clamping plates can be close to or away from each other to clamp or loosen the carrying basket. The object-carrying unmanned aerial vehicle is good in flight stability; manufacturing and fixing are easy, article loading and unloading are convenient, and the device is more suitable for convenient carrying of miniature articles; and the adaptability to carried articles is high.

The present application relates to the technical field of archery equipment, and particularly relates to a metal mixed carbon fiber arrow shaft, which comprises a middle carbon fiber pipe, a head stainless steel pipe, a tail metal pipe and a solid connecting piece, the head stainless steel pipe is arranged at the front end of the middle carbon fiber pipe, the tail metal pipe is arranged at the rear end of the middle carbon fiber pipe, and the two are connected and fixed through the solid connecting piece arranged in the middle carbon fiber pipe, and the outside is wrapped with carbon cloth and is formed through high-temperature curing. The present application adopts a segmented metal mixed structure, replaces a long-size metal inner core with a short metal accessory matched with a carbon fiber main pipe, and greatly reduces the difficulty of straightness control. The thickened head stainless steel pipe effectively bears the impact force, the solid connecting piece is in surface contact with the inner wall of the carbon pipe to disperse the stress, and the service life of the arrow shaft is significantly prolonged. The present application has reasonable structure, low cost and high efficiency, and is suitable for manufacturing various archery equipment.

The utility model discloses an unmanned aerial vehicle-mounted radar hanger structure with a damping function, which relates to the technical field of unmanned aerial vehicles and comprises an unmanned aerial vehicle body, a base net rack and a pull net rack. The base net rack is connected to the bottom surface of the unmanned aerial vehicle body through bolts, and the lower part of the base net rack is provided with a sunken upper mounting groove; the pull net rack is arranged below the base net rack, the edge of the pull net rack is connected with the base net rack through a plurality of elastic connecting pieces, the upper portion of the pull net rack is provided with a sunken lower installation groove, and the lower installation groove corresponds to the upper installation groove and is used for being connected with the airborne radar in a clamped mode. Through the elastic connecting pieces between the base net rack and the towing net rack and the elastic supporting pieces on the towing net rack, vibration and impact generated in the flying process of the unmanned aerial vehicle can be effectively absorbed and buffered, precise equipment such as airborne radar can be protected, the performance of the unmanned aerial vehicle is improved, and the service life of the unmanned aerial vehicle is prolonged.

The utility model discloses a kind of damping device of unmanned plane rotating shaft, it is related to unmanned plane technical field, including: unmanned plane body and damping protection piece, unmanned plane body has rotor support, the end of rotor support is equipped with rotor drive structure, the end of rotor support is located below rotor drive structure and is equipped with through mounting hole;Damping protection piece is connected in the outside of rotor drive structure by mounting rod through mounting hole, the connecting place of mounting rod and mounting hole has elastic damping part, the outside of mounting rod is formed with damping and protection structure.The utility model sets up mounting hole by being arranged at the end of rotor support, connects damping protection piece in the outside of rotor drive structure, and sets up elastic damping part at the connecting place of mounting rod and mounting hole, can effectively buffer the vibration and impact of rotor rotating shaft, improve the flight stability and reliability of unmanned plane under complex environment.

The utility model discloses an integrated carrying device and an unmanned aerial vehicle. The integrated carrying device comprises a radar support, a carrying bin and a rack which are sequentially connected from top to bottom. The radar support is used for installing a radar, and the carrying bin is used for installing a holder and an airborne computer. The radar support, the carrying bin and the rack are formed by integrally cutting carbon fiber plates, and hollow weight reduction areas are arranged on the radar support, the carrying bin and the rack. The utility model has the characteristics of compact structure, high space utilization rate, high reliability and the like, realizes extreme light weight on the premise of ensuring the structural strength, and modularizes the installation of the radar, the airborne computer and the pan-tilt in the vertical space, so that the installation, debugging and replacement of various task equipment are more convenient, and the installation cost is reduced. And a universal carrying platform with high integration level and high reliability is provided for the multifunctional unmanned aerial vehicle.

The utility model relates to the technical field of soft bomb toy launchers, in particular to a calibrator for a soft bomb launcher, which comprises a hollow calibrator body communicated with the launcher, and the inner diameter of the calibrator body is larger than the outer diameter of a soft bomb. A trumpet-shaped expanding section is formed at the outlet end of the calibrator body; a plurality of spiral grooves are formed in the inner wall of the calibrator body and penetrate through the expanding section. Through the calibrator, the flight stability of the soft bomb can be improved, the drop numerical value of the initial speed of the launcher is reduced, and the repeated utilization rate of the soft bomb is also improved.

The invention relates to the field of unmanned aerial vehicles, in particular to a tandem dual-rotor unmanned aerial vehicle structure which comprises an unmanned aerial vehicle body, a mounting plate slidably connected to the unmanned aerial vehicle body, spiral wings rotatably connected to the two ends of the unmanned aerial vehicle body and a driving device used for driving each spiral wing to rotate. The two spiral wings are located at the front end and the rear end of the unmanned aerial vehicle body correspondingly, the mounting plate slides in the width direction of the unmanned aerial vehicle body, and a plurality of mounting holes used for mounting an operation platform are formed in the mounting plate. The application has the advantages that the application range of the unmanned aerial vehicle can be widened, and the flight stability of the unmanned aerial vehicle can be guaranteed when different operation platforms are installed on the unmanned aerial vehicle.

The invention provides a multi-source sensor obstacle recognition and obstacle avoidance method for low-altitude logistics, and relates to the technical field of low-altitude logistics. The method comprises the following steps: S1, synchronously acquiring data through a laser radar and a binocular camera, respectively performing distortion correction, exposure control and depth map generation on binocular vision data, and performing segmentation denoising and Kalman-particle hybrid filtering denoising on point cloud data; s2, adopting a YOLOv5s network to extract a barrier feature vector; s3, carrying out obstacle fusion association; S4, fusing historical features and laser radar coordinates based on an LSTM model, and predicting a future trajectory of a dynamic obstacle; and S5, generating an obstacle avoidance path in combination with an A * algorithm and an artificial potential field method, and correcting the obstacle avoidance path in real time. The problems of missing detection or misjudgment of low-texture obstacles, sensor data fault, dynamic obstacle prediction deviation and path oscillation are solved, and the obstacle recognition precision and the obstacle avoidance reliability are improved. The method is high in real-time performance and adapts to low-altitude logistics complex scenes.

The invention discloses a basalt fiber unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles, the basalt fiber unmanned aerial vehicle comprises a basalt fiber unmanned aerial vehicle shell, a battery is arranged at the top of the basalt fiber unmanned aerial vehicle shell, supporting frames are uniformly arranged on the periphery of the basalt fiber unmanned aerial vehicle shell, and an adjusting assembly is arranged on one side of each supporting frame; a fan blade assembly is arranged on the side, away from the adjusting assembly, of the supporting frame. A mounting plate is arranged in the basalt fiber unmanned aerial vehicle shell, a controller is arranged on the inner top of the mounting plate, and a sensor is arranged on the top of the basalt fiber unmanned aerial vehicle shell. According to the invention, the environment sensing module and the flight path planning module are combined to extract the flight image of the unmanned aerial vehicle, the features of static and dynamic obstacles are accurately identified, and the scientific setting of the static path and the real-time tracking of the motion trail of the dynamic obstacle are realized.

The application provides a propeller rectification structure and a vertical take-off and landing fixed-wing unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicles. The propeller rectification structure comprises a cantilever, the two ends of the cantilever are respectively provided with motors, the output ends of the motors are provided with double-blade propellers, the two ends of the cantilever are respectively movably connected with rectification covers, a driving mechanism is arranged in the cantilever to drive the rectification covers to move up and down, the rectification covers movably cover the corresponding propellers, and an angle detection mechanism is arranged in the cantilever to detect the rotation angle of the propeller. The application has the following effects: the rectification cover is arranged at the upper end of the propeller, the driving mechanism drives the rectification cover to move away from the propeller during vertical take-off and landing, the angle detection mechanism is matched with the motor to align the double-blade propeller with the rectification cover during level flight and cruising, and then the driving mechanism drives the rectification cover to cover the propeller, so that the rectification of the propeller is realized, the level flight resistance is reduced, and the flight stability is improved.

The embodiment of the invention provides a seedling slinging mechanism and a seedling slinging system, and relates to the technical field of agricultural planting. The seedling throwing mechanism comprises a mounting module, a seedling placing module and a seedling taking module, the mounting module is used for being arranged on the unmanned aerial vehicle, the seedling placing module is arranged on the mounting module and used for conveying blanket seedlings, and the seedling taking module is arranged on the mounting module and located above the seedling placing module; the seedling taking module is used for separating seedlings from the blanket seedlings on the seedling placing module and then throwing the seedlings out. The mounting module is arranged on the unmanned aerial vehicle, the seedling placing module is arranged on the mounting module, and the seedling taking module is arranged above the seedling placing module, so that the seedling taking module is very close to the unmanned aerial vehicle, the distance between the seedling taking module and the unmanned aerial vehicle is shortened, and vibration borne by the unmanned aerial vehicle during blanket seedling separation and seedling throwing operation of the seedling taking module is reduced; and the fuselage of the unmanned aerial vehicle is kept stable in the flying process.

The application belongs to the technical field of intelligent inspection, and provides a vehicle-machine cooperative inspection vehicle path planning method based on multi-objective optimization, which comprises the following steps: establishing a vehicle-machine cooperative inspection path planning model, selecting a minimum set of parking points and planning a vehicle path, completing vehicle scheduling and unmanned aerial vehicle task matching, then for each parking point, generating an initial unmanned aerial vehicle inspection path based on map data using the A-star algorithm, combining visual SLAM to realize environment mapping and real-time positioning, using an improved A-star algorithm and a rolling window mechanism to dynamically avoid obstacles, and in the process of unmanned aerial vehicle flight, fusing multi-source sensor data to estimate the unmanned aerial vehicle attitude position based on a G2O graph optimization framework, combining an adaptive error compensation algorithm to realize robust control of the flight trajectory, and finally judging whether the total length of the inspection path exceeds the single endurance capability of the unmanned aerial vehicle, if yes, segmenting and re-planning the path, and if not, outputting the final path. The application has high inspection efficiency, low cost, stable operation, and is suitable for large-scale tasks.

The invention discloses an undercarriage of a hypersonic unmanned aerial vehicle with a self-locking function, and relates to the technical field of structures of undercarriages of hypersonic unmanned aerial vehicles. A wheel lowering assembly located on the right side comprises a first connecting rod hinged to the right end of a connecting rod through a first pin shaft, and a second connecting rod hinged to the right side wall of a stand column through a second pin shaft; a supporting plate is fixedly arranged at the lower end of the second connecting rod and hinged to the other end of the first connecting rod through a third pin shaft, the wheel lowering assembly located on the right side further comprises a cantilever hinged to the interior of the bin opening through a hinge base, the other end of the cantilever extends into an inner cavity of the machine body, and a wheel is rotationally installed at the extending end. The upper end part of the cantilever is hinged to the other end of the third connecting rod through a fifth pin shaft; a self-locking assembly used for locking the wheels is arranged between the top wall of the cantilever and the top wall of the bin opening. The method has the beneficial effects that the manufacturing cost of the hypersonic unmanned aerial vehicle is greatly saved, and the flight stability of the hypersonic unmanned aerial vehicle is improved.

The invention relates to an electric power inspection unmanned aerial vehicle and a control method. The electric power inspection unmanned aerial vehicle comprises a vehicle body part and a power part. The machine body part comprises a main body frame and a shell, the main body frame comprises a top plate, a bottom plate, a main plate, two side plates and two end plates, the two side plates are arranged between the top plate and the bottom plate, the two side plates are distributed in parallel at intervals, the two end plates are arranged between the two side plates, and a cabin is defined by the top plate, the bottom plate, the two side plates and the two end plates; the main plate is parallel to the top plate, the main plate penetrates through the cabin, the two ends of the main plate in the first direction protrude out of the sides, back to the cabin, of the two end plates correspondingly, and lightening holes communicating the interior and the exterior of the cabin are formed in the side plates and the end plates correspondingly; the power part is arranged outside the main body frame, the power part comprises two groups of power assemblies, the two groups of power assemblies are distributed up and down, and the lower power assembly is mounted on the top plate. The flight stability is good, and electric power inspection is facilitated.