47results about How to "Improve flight stability" patented technology

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 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 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 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 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.

This invention belongs to the technical field of intelligent equipment and unmanned systems for marine fisheries, and particularly relates to a feeding equipment and operation method for marine fisheries drones adapted to high sea states. An environmental perception module acquires environmental information data and attitude data of the flight platform. The operation control terminal controls the attitude compensation mechanism based on the attitude data to ensure that the discharge port of the centrifugal feeding device always remains vertically downward. Simultaneously, based on real-time environmental information data and its built-in feeding trajectory correction model, the operation control terminal calculates the feed landing point offset and accurately corrects the landing point by controlling the flight platform to perform position compensation and / or velocity compensation. This invention improves the flight stability and anti-drift capability of drones in turbulent airflows at high sea states, actively counteracts the impact of wind damage and platform tilt on accuracy, achieves high-precision and uniform feeding under harsh sea conditions, and significantly reduces feed waste and operational risks.

The application discloses a micro-meteorological perception and multi-agent collaborative decision-making method and system for low-altitude scenes, and belongs to the technical field of low-altitude emergency command and unmanned aerial vehicle cluster scheduling. The system comprises a perception layer, a decision-making layer and an execution layer. The perception layer generates a micro-scale three-dimensional wind field through cascading downscaling, and constructs a voxelized risk cost field based on the wind resistance of unmanned aerial vehicles. The decision-making layer adopts a heterogeneous multi-agent collaborative decision-making engine, realizes the binding of a large language model and a domain calculation model through function interface reasoning double channels, combines a four-stage specialized workflow arrangement, and introduces an unoverlappable meteorological veto mechanism. The execution layer generates simulation verification files and supports dynamic strategy correction. The application solves the problems of insufficient micro-scale meteorological perception accuracy of existing systems, lack of meteorological hard constraints in multi-agent collaboration, and low flight safety resilience, and can be widely applied to low-altitude emergency scenes such as medical material delivery and disaster rescue.

The invention discloses an unpowered micro aircraft imitating seeds of a bombycaceae plant, and belongs to the technical field of micro aircrafts. The micro aircraft comprises a load cabin and at least two fruit wings, wherein the fruit wing roots of the at least two fruit wings are uniformly distributed at the top of the load cabin in the circumferential direction; the at least two fruit wings are the same in appearance; a fruit wing center line in the length extending direction of the fruit wing is constructed to be in a continuous or discontinuous bending form which firstly extends upwards in the direction of a central vertical longitudinal axis of the load cabin and then obliquely extends towards the oblique upper portion away from the central vertical longitudinal axis in sequence in the direction from the root of the fruit wing to the wing tip of the fruit wing. Due to the bent shape, stable vortex is formed when airflow flows through the upper surfaces of the fruit wings, lift force is provided for the micro aircraft, the falling speed of the aircraft is reduced in the falling process, and long-time hang flight is achieved. Meanwhile, the device is simple in structure, light in weight and suitable for application scenes such as air-drop delivery, environment detection and special operation.

This utility model discloses a drop arrow for killing wild boars using a drone, relating to the field of drone accessory technology. The utility model includes an arrow shaft with an arrowhead on one side and fletching on the other side. A fixing component is provided on one side of the arrow shaft, including a mounting post installed on the side of the arrowhead. This utility model significantly improves the flexibility and adaptability of the drop arrow through modular design. The detachable connection structure between the arrow shaft and the arrowhead allows for quick replacement of the arrowhead or adjustment of the counterweight, thereby precisely adjusting the striking force for wild boars of different sizes. The counterweight is fitted onto the surface of the arrow shaft, and the weight can be increased or decreased according to actual needs, avoiding the drawback of traditional one-piece drop arrows that require complete replacement. The design of the fixing sleeve and the fletching ensures flight stability, while the interlocking structure of the square groove and the square post further prevents fletching deviation, ensuring the drop arrow maintains a precise trajectory after deployment and effectively improving the hunting success rate.

The utility model discloses a bionic butterfly, which belongs to the technical field of bionic butterflies and comprises a shell of the bionic butterfly, and a driving mechanism for driving the bionic butterfly to fly is mounted in a first rack; the outer portion of the direct transmission gear is meshed with a connecting mechanism, and the front ends of the two connecting rod gears are rotationally connected with a linkage mechanism used for driving wings to move. The speed reduction ratio of 25.4: 1 is achieved through the driving mechanism and the connecting mechanism, 43000 RPM high-speed input of the motor is accurately converted into 17.2 RPM low-speed large-torque output, the problem that torque of a traditional transmission system is insufficient is effectively solved, the flapping frequency is stably controlled within the range of 5-12 Hz, and stepless amplitude adjustment is achieved; closed-loop control is constructed through an RX42 receiving module, the flight attitude is calculated in real time through a three-axis gyroscope and an accelerometer, the rotating speed of a motor is dynamically adjusted in cooperation with a PID algorithm, the hovering positioning precision is improved from + / -15 cm to + / -5 cm, and the precision operation requirement is met.

The invention relates to a spacer mounting assembly and unmanned aerial vehicle equipment, the spacer mounting assembly comprises a support, the support comprises an outer frame and an inner frame located in the outer frame, and the inner frame is connected with the top of the outer frame; the top of the outer frame is further provided with a first clamping module and second clamping modules, the first clamping module and the inner frame are arranged in a spaced mode, the first clamping module is used for clamping the spacer, the two opposite sides of the inner frame are each provided with one second clamping module, and the second clamping modules can be telescopically close to or away from the first clamping module. The driving module and the battery are arranged on the inner frame; the driving module is used for driving the first clamping module and the second clamping module to work; the battery is used for supplying power to external equipment. According to the scheme, a double-layer support structure combining the outer frame and the inner frame is adopted, and the first clamping module, the second clamping module, the driving module and the battery are reasonably arranged, so that the structure compactness and the gravity center optimization are realized, and the flight stability of the unmanned aerial vehicle during carrying operation is improved.

This invention discloses a machine for producing artificial badminton shuttlecock feathers, belonging to the field of artificial badminton shuttlecock processing technology. It includes a frame housing and a right-side alignment conveyor assembly, a shaft conveyor assembly, and a mounting frame sequentially arranged on top of the frame housing. A protective cover is provided on the top of the frame housing next to the shaft conveyor assembly. A feather pressing assembly and a left-side alignment conveyor assembly are mounted on the mounting frame. The left side of the frame housing has a feather unwinding and rewinding assembly, and feather gluing assemblies are located on both sides of the shaft conveyor assembly. The two feather gluing assemblies are respectively connected to the right-side and left-side alignment conveyor assemblies. This invention completely eliminates reliance on manual labor, achieving fully automated production from raw material unwinding, alignment, gluing, shaft conveying, pressing to finished product winding, significantly improving production efficiency, shortening the production cycle, and reducing labor costs.

This invention discloses a drone with a folding wing structure, relating to the field of drone technology. It includes an outer shell mechanism, a camera mechanism mounted on the left side of the outer shell mechanism, a wing mechanism mounted on the top of the outer shell mechanism for gliding, and a horizontal wing mechanism mounted on the bottom of the outer shell mechanism. By mounting the wing mechanism at the top, the horizontal wing mechanism at the bottom, and tail rudder mechanisms at both ends of the outer shell mechanism, a complete flight control system is formed. The wing mechanism enables the outer shell mechanism to glide, the horizontal wing mechanism provides balance and guidance for the overall structure, and the tail rudder mechanism precisely controls the flight attitude. These three mechanisms work together to improve flight stability and maneuverability. The complementary functions and structural synergy between the mechanisms enhance the reliability and flexibility of the drone's flight, improve the overall durability and protective performance of the equipment, and significantly optimize the user experience of the drone.

The application discloses a kind of wing-body fusion layout unmanned aerial vehicle's aerodynamic shape, it is related to low-altitude economic unmanned aerial vehicle high lift-drag ratio flight technical field, including wing-body part, the rear end of the upper surface of wing-body part is equipped with V-tail, engine is installed between the opposite surface of V-tail, the wing-body part with the V-tail is equipped with control surface part on;The lower surface of wing-body part is equipped with landing gear;The wing-body part includes inner wing and outer wing, the inner wing with the outer wing is symmetrically arranged, the edge of outer wing is equipped with wing tip;The leading edge sweep angle of wing-body part is 20 °, the trailing edge sweep angle of wing-body part is 17 °.The application discloses a kind of wing-body fusion layout unmanned aerial vehicle's aerodynamic shape, has better aerodynamic performance, stronger carrying capacity and lower noise;Appearance is simple, and cruise efficiency is high, suitable for engineering practical application.

The present application belongs to the field of reusable launch vehicle trajectory planning and intelligent control, and relates to a reusable launch vehicle cruise phase intelligent trajectory planning method. By constructing a three-degree-of-freedom mass center motion dynamics model of the cruise phase launch vehicle, an offline optimal trajectory sample library covering a wide range of working conditions is generated based on the Gauss pseudospectral method, a deep neural network is designed to learn the mapping relationship between task parameters and trajectory features, and high-quality trajectory planning initial values are output online. In combination with the adaptive collocation method, the collocation distribution is dynamically adjusted, and the nonlinear programming problem is iteratively solved with the high-quality initial values as the starting point, thereby realizing efficient and accurate optimization of the trajectory. Simulation results show that the method significantly reduces the sensitivity of online optimization to initial guesses, still has fast response capability and high robustness under complex constraints and uncertain conditions, effectively improves the autonomous trajectory planning capability of the reusable launch vehicle cruise phase, and guarantees flight reliability and control accuracy.

The application discloses a kind of based on flight attitude multi pesticide tank unmanned aerial vehicle centroid balance liquid supply control method, obtain unmanned aerial vehicle pitch angle data in flight process, each pesticide tank geometric parameter and liquid state information, according to the change of flight attitude, pesticide tank in liquid free surface form is classified, calculates each pesticide tank liquid centroid coordinate and unmanned aerial vehicle whole machine centroid coordinate. 0-1 mixed linear model is established, under the premise of meeting continuous liquid supply time length constraint, pesticide tank mutual exclusion liquid supply constraint, joint liquid supply amount constraint, liquid supply rate constraint and the liquid amount constraint required by liquid spray system, with the minimum unmanned aerial vehicle whole machine centroid offset of each pesticide tank liquid supply operation as target, dynamically determine the liquid supply state and liquid supply rate of each pesticide tank, realize the collaborative liquid supply control of multi pesticide tank.The application with initiative control and prediction model will instantaneous centroid always be constrained in ideal small range, effectively reduce the centroid deviation of multi pesticide tank unmanned aerial vehicle, improve the flight stability of plant protection unmanned aerial vehicle.

The application is suitable for the field of bionic flapping-wing aircraft technology, and provides a tail wing control system of a bionic flapping-wing aircraft and a control method thereof.The tail wing control system comprises a fuselage module, a tail wing actuating mechanism, two groups of SMA driving modules, and a control and communication module.The tail wing actuating mechanism is assembled at the tail of the fuselage module and comprises a horizontal tail, a vertical tail and a fixed rod.Each group of the SMA driving modules is embedded in the fuselage module and comprises an SMA wire, a spring and a pulley transmission mechanism.The one end of the SMA wire is fixedly connected with the fuselage module, the other end of the SMA wire is connected with the spring through the pulley transmission mechanism, the other end of the spring is fixedly connected with the fuselage module, and the pulley transmission mechanism comprises a moving rod and a pulley.The SMA driving module is electrically connected with the control and communication module.The application can realize accurate control of the tail rudder angle under the premise of maintaining light weight, and improve the attitude adjustment capability and flight stability of the aircraft.

The utility model provides an unmanned aerial vehicle airborne pesticide spraying device which comprises a liquid storage tank and a spraying mechanism which are installed at the bottom of an unmanned aerial vehicle body, the spraying mechanism comprises a supporting rod, and one end of the supporting rod is fixedly connected with an undercarriage reinforcing cross beam of the unmanned aerial vehicle body through a first clamp; a spray pipe is mounted on one side of the supporting rod; multiple groups of nozzles are mounted on the outer side of the spray pipe; one side of the supporting rod is connected with a diagonal draw bar, and the other end of the diagonal draw bar is connected with a landing gear vertical beam of the unmanned aerial vehicle body. A triangular mechanical supporting structure is formed by connecting the supporting rod with the first clamp of the cross beam of the undercarriage of the unmanned aerial vehicle and combining fixation of the diagonal draw bar and the vertical beam of the undercarriage, and the wind resistance resistance and the flight stability of the spraying mechanism are remarkably improved; and by arranging the elastic clamping base, the diagonal draw bar can be elastically clamped, the diagonal draw bar can be conveniently fixed when the device is not used, and the occupied space is reduced.

The application belongs to the technical field of unmanned aerial vehicle task planning, and particularly relates to an unmanned aerial vehicle path planning method and system based on energy consumption. The second cost function value of a subnode via a parent node to an end point is calculated based on energy consumption, a battery state penalty factor, a path smoothness factor, an obstacle density factor, an assigned distance weight value and an energy weight value. The total cost function value of each subnode is calculated from the second cost function value and the first cost function value of the subnode via the parent node to a start point. The subnode with the minimum total cost function value is selected as a new parent node, and the process is repeated until the end point information is contained in the searched subnode information. The path formed by connecting all parent nodes is used as the optimal global path for unmanned aerial vehicle flight. The technical scheme of the application can effectively improve the safety of unmanned aerial vehicle flight and reduce the energy consumption of unmanned aerial vehicle flight.

This invention provides a quick-locking UAV external pod with front and rear shells, including a pod mount, a pod shell, a first payload module, a second payload module, a mounting assembly, a payload mounting assembly, and electrical quick-connect fittings. This invention solves the problem of cumbersome operation procedures and low assembly efficiency during payload replacement or maintenance disassembly and assembly due to the lack of an effective guiding and positioning, adjustable position, and repeatable positioning structure in related UAV external pods during mounting.

The invention belongs to the technical field of aircraft control, and discloses a self-adaptive reverse cooperative control method and system for a coaxial dual-rotor aircraft, and the method comprises the steps: obtaining a target attitude instruction; according to whether pitching and rolling instructions exceed a set threshold value or not, a reverse cooperative control strategy or a conventional same-direction control strategy is intelligently selected, and upper and lower rotor wing control instructions are obtained through calculation; according to the yawing and vertical speed instructions, the target rotating speed of the double motors is calculated; and converting the control instruction into a steering engine PWM signal and synchronously outputting the steering engine PWM signal to an execution mechanism. The system correspondingly comprises an attitude instruction acquisition module, a control instruction calculation module, a motor rotating speed calculation module, a steering engine signal conversion module and a synchronous output module. According to the method, the response capacity under large maneuverability is improved through reverse cooperative control, safe takeover and degraded operation under the steering engine set fault are achieved through a fault detection and redundancy control mechanism, and the control precision, maneuverability and reliability of the aircraft under the complex working condition are remarkably improved.

The utility model discloses a support bracket of a hard disk and the hard disk, which belong to the technical field of computer data storage and read-write, and comprise a coil cantilever and a magnetic head cantilever, a protruding strip is arranged at one end of the magnetic head cantilever and located between the first cantilever and the second cantilever, coil limiting grooves are formed in the top and the bottom of the containing groove, and the two coil limiting grooves are connected with the two ends of the protruding strip respectively. According to the utility model, the coil cantilevers are arranged to be the first cantilever and the second cantilever which are opposite to each other, and the coil cantilevers, the protruding strips on the magnetic head cantilever and the coil limiting grooves at the top and the bottom of the accommodating groove are integrally designed, so that multiple cooperative gains are realized. Through the communication design of the raised strip and the coil limiting groove, the electrical connection point of the raised strip of the voice coil is physically fused with the mechanical limiting structure of the coil limiting groove, so that the lead path of the coil is shortened, the fixation is strengthened, the mechanical reliability of the connection point is improved, and the risk that a welding point is broken due to vibration fatigue is avoided.

The application relates to the field of RISC-V-based unmanned aerial vehicle array obstacle avoidance, and an obstacle avoidance system thereof comprises a single unmanned aerial vehicle obstacle avoidance unit and an array cooperative control unit. Through construction of a RISC-V+FPGA double-pipeline vertical orthogonal architecture, a traditional bus scheduling mechanism is abandoned, the instruction execution path and the sensing data carrying path are decoupled and symbiotic at the physical layout and register resource levels, the probability of instruction waiting and data carrying conflict is significantly reduced, the obstacle avoidance response delay is stably controlled at the order of magnitude of microseconds, and the problem of decision lag caused by pipeline pause in a high-speed flight scene is fundamentally solved.

The invention relates to the technical field of unmanned aerial vehicle control, and discloses an unmanned aerial vehicle control method, device and equipment and a storage medium, and the method comprises the steps: obtaining a target flight scene, and carrying out the scene data collection of the target flight scene, so as to obtain a scene data set; performing three-dimensional modeling based on the scene data set to obtain a three-dimensional scene model; generating a preliminary flight path based on the three-dimensional scene model and a preset obstacle avoidance constraint condition; performing paragraph division on the initial flight path to obtain paragraph feature parameters; generating a preliminary control parameter based on the paragraph feature parameter; integrating the preliminary flight path and the preliminary control parameters into a flight control instruction; according to the invention, based on the complete process of scene perception, three-dimensional modeling, path generation, paragraph feature extraction, parameter matching and instruction integration, the flight control instruction adaptive to the actual flight demand is generated, the problem of poor adaptability of the flight path and the control parameter in the prior art is solved, and the flight stability and accuracy of the unmanned aerial vehicle are improved.

The invention discloses a heavy-load unmanned aerial vehicle cooperative control method and system for multi-point material delivery, and relates to the related technical field of unmanned aerial vehicle cooperative control, and the method comprises the steps: recognizing a material delivery point cooperative request, analyzing a load change trend, and determining a first unmanned aerial vehicle changing from a heavy load to a light load and a second unmanned aerial vehicle changing from the light load to the heavy load; an unmanned aerial vehicle monitoring data set is collected in real time, an unmanned aerial vehicle six-degree-of-freedom dynamic model is defined, dynamic simulation data is utilized to train a bidirectional compensation control model, bidirectional compensation optimization analysis is performed on a first unmanned aerial vehicle and a second unmanned aerial vehicle, and first and second compensation control parameters are generated. The technical problems of single-machine control instability, poor multi-machine task coupling and lack of a cooperative bidirectional compensation control mechanism caused by violent dynamic change of a multi-point cooperative delivery scene load in the prior art are solved, and real-time cooperative optimization of unmanned aerial vehicle control parameters is achieved. And the overall flight stability, the task fluency and the delivery precision of multi-aircraft collaborative operation are improved.

The utility model discloses a lightweight bionic butterfly aircraft, which relates to the technical field of bionic aircrafts and comprises a front wing and a rear wing. The front wing and the rear wing are respectively composed of a carbon fiber framework and a thermoplastic polyester film and comprise a left wing and a right wing, and the front ends of the left wing and the right wing of the front wing and the rear wing are hinged to the two sides of the front-back connecting piece; the front connecting piece and the rear connecting piece are connected through a carbon fiber connecting rod, and the tail end of the carbon fiber connecting rod is located at the rear end of the rear wing. A coreless motor is arranged on the front connecting piece, and the output end of the coreless motor is connected with the front end of the front wing through a gear transmission mechanism and a reciprocating connecting rod mechanism in sequence; the front wing and the rear wing are connected through a flexible string, and the connecting position is located between the rear edge of the front wing and the front edge of the rear wing. Steering engines are arranged at the tail ends of the carbon fiber connecting rods, and rudder arms of the steering engines are connected to wing tips of the left wing and the right wing of the front wing through flexible thin ropes. The weight is greatly reduced while the strength is guaranteed, and the flying direction is rapidly adjusted.

The application discloses a kind of micro flapping wing aircraft autonomous obstacle avoidance method and device based on ToF perception, it is related to flapping wing aircraft control technical field.The method comprises the following steps: based on DFS algorithm, according to original depth data matrix and target state code, connected domain clustering is carried out, and obstacle feature is extracted;Based on the hierarchical obstacle avoidance strategy of spatial partition, according to the independent obstacle feature set, partition obstacle avoidance instruction mapping is carried out;Based on historical obstacle avoidance instruction queue, according to autonomous obstacle avoidance instruction, deadlock state check is carried out, and instruction smoothing processing is carried out;Based on the heading control mode, according to the safe navigation parameter, through dual-mode heading control mechanism, attitude closed-loop control is carried out;According to the yaw channel control quantity and safe navigation parameter fusion control signal, drive micro flapping wing aircraft to carry out autonomous obstacle avoidance flight control.The application is a kind of micro flapping wing aircraft autonomous obstacle avoidance method based on ToF perception, hardware light weight, low and high degree of adaptation of computing power expenditure.