21results about How to "Precision landing" patented technology

The invention relates to an unmanned aerial vehicle visual guidance precise landing method, and belongs to the technical field of machine vision and unmanned aerial vehicle control. The method comprises the following steps: capturing surrounding environment information through a camera of an unmanned aerial vehicle to obtain operation environment data, and constructing a flight control model through construction parameters of the unmanned aerial vehicle; setting an expected landing point, extracting a target image from the corresponding operation environment data according to the expected landing point, and establishing visual mapping between the unmanned aerial vehicle and the expected landing point based on the target image; the relative position data and the to-be-flied distance of the unmanned aerial vehicle are calculated according to the visual mapping, and a predicted moving trajectory based on the relative position data and the to-be-flied distance is obtained through a flight control model; and an expected landing point is automatically captured and tracked in the landing process, relative pose information between the unmanned aerial vehicle and the expected landing point is solved in real time, and flight parameters of the unmanned aerial vehicle are adjusted in real time according to the relative pose information and the predicted moving trajectory. Visual guidance precise landing of the unmanned aerial vehicle is realized.

The jettisonable gas sensor comprises a jettisonable unmanned aerial vehicle and a controller, the bottom of the controller is fixedly connected with a jettisonable device, the jettisonable device comprises a fixing plate and a rotating shaft rotationally connected to the fixing plate, and the fixing plate is rotationally connected with the controller through the rotating shaft; two limiting holes are formed in the bottom of the fixing plate, electric push rods are arranged in the two limiting holes, and connecting mechanisms are fixedly connected to the bottoms of the two limiting holes; the effect of accurately detecting gas information is achieved through the buffering mechanism, when the damping mechanism falls to the ground, the buffering air bag absorbs impact energy, a movable rod in the buffering air bag moves to drive related parts to eject the parachute, an air inlet or a sensing part of the detection mechanism is prevented from being covered, and effective contact between a sensor and external gas is guaranteed; therefore, gas information is accurately converted into electric signals, accurate detection is realized after processing, and reliable data is provided for mastering on-site gas conditions.

The invention discloses a distributed power fixed-point take-off and landing portable solar unmanned aerial vehicle, and belongs to the technical field of overall comprehensive design of unmanned aerial vehicles. Comprising a front wing, a rear wing and a folding assembly, the front wing and the rear wing are arranged in a tandem wing mode, the folding assembly is connected between the front wing and the rear wing, the front edge of the front wing and the front edge of the rear wing are each provided with a plurality of rotors in the spanwise direction, and the four rotors located in the spanwise middle of the front wing and the spanwise middle of the rear wing are located at the four vertexes of a quadrangle respectively to form the four-rotor power system of the unmanned aerial vehicle. The other rotor wings form a fixed wing power system of the unmanned aerial vehicle; the front wing and the rear wing are connected into a tandem wing with a space height difference through the folding assembly, and the front wing and the rear wing can be in a stacked state through deformation. The problems that a single-type propeller of a tailstock type configuration machine consumes much energy, the efficiency of the cruising stage is low, and the endurance is short are solved.

This invention discloses a planetary landing guidance method based on rapid search for optimal control, belonging to the field of spacecraft guidance and control technology. The implementation method is as follows: The lander's dynamic model is decoupled into a controlled dynamic model and an uncontrolled dynamic model; an optimization model of the reachable region is constructed using thrust amplitude and thrust direction constraints as constraints, solving for the reachable region of controlled motion in a prediction time domain; a fuel consumption optimization model is constructed using different positions within the reachable region as virtual endpoints, and offline optimization is performed to obtain the optimal fuel consumption control for the lander to reach the specified virtual endpoint position. The optimal control is stored as an optimal control database, and the corresponding virtual endpoint state is stored as an endpoint state database; during landing, the uncontrolled motion is superimposed with the endpoint state database to obtain the lander's state prediction space, the optimal terminal state is searched, and the corresponding optimal control command in the optimal control database is obtained. Planetary landing guidance is then implemented based on the optimal control command.

The invention discloses an Android-based intelligent aircraft nest control method and device and a medium, relates to the technical field of electric power inspection, and solves the problem that the position deviation is large when a current unmanned aerial vehicle lands, and the method comprises the following steps: calculating a landing safety index of an aircraft nest based on aircraft nest environment data and flight data; judging whether the nest has a landing condition according to the landing safety index; performing attitude correction on the unmanned aerial vehicle according to the flight attitude data and the flight environment data; after the attitude correction is completed, performing a guided landing operation on the unmanned aerial vehicle according to the current coordinate of a laser receiving point in the unmanned aerial vehicle in the three-dimensional coordinate system; after receiving the landing signal, the Android control terminal sends a landing instruction to the unmanned aerial vehicle, meanwhile, the nest opens the hatch cover to obtain a landing platform of the unmanned aerial vehicle, the unmanned aerial vehicle executes the landing instruction to land on the landing platform, and accurate and safe landing of the unmanned aerial vehicle is achieved through the intelligent nest.

This application provides a method and apparatus for determining an aircraft's flight strategy. The method includes: acquiring a first model, which is obtained by training based on first training data, the first training data including flight state information of a first aircraft in a first time period, flight state information of at least one second aircraft in the first time period, and a target flight strategy of the first aircraft in the first time period; acquiring first parameters, the first parameters including flight state information of a third aircraft in a second time period and flight state information of at least one fourth aircraft in the second time period; and inputting the first parameters into the first model to obtain the flight strategy of the third aircraft. This method enables multiple agents to autonomously select routes for aircraft and adjust their speeds along flight paths through extensive training, thereby optimizing terminal area traffic allocation and improving air transport efficiency.

The present invention discloses a method and system for accurately landing a UAV based on image recognition and analysis, which specifically relates to the technical field of aircraft landing, and aims to solve the problem of the influence of jitter interference caused by micro-airflow on landing accuracy; by real-time detection of the posture changes of the UAV during the landing process, the jitter signal strength is identified and it is judged whether it is abnormal; when the jitter is abnormal, multi-frame image superposition processing is performed to generate a stable image sequence; based on multi-resolution fractal dimension analysis, subtle texture disturbances between adjacent frames are detected to compensate for the nonlinear effects brought by micro-airflow; the jitter trajectory is recorded and the relative displacement of the landing target is calculated by inverse trajectory reconstruction; the convolutional neural network is combined to extract the calibrated landing area features, generate the offset compensation value of the landing point and dynamically correct the landing path; the present invention improves the landing accuracy of the UAV in complex environments and provides a reliable guarantee for the automatic landing of the UAV.

The invention belongs to the technical field of oil product conveying, and relates to a multi-domain distribution type intelligent refueling system and method. Comprising a tray, an oil tank, a pipeline system, an unmanned refueling action executing device, an unmanned oil conveying device and a placing platform. An oil tank and a pipeline system are arranged at the top of the tray; the pipeline system is connected with the oil tank through the unmanned refueling action execution device; a placing platform is arranged above the tray; the tray and the placing platform are connected through a plurality of stand columns. The unmanned oil conveying device is placed on the placing platform; the pipeline system is connected with the unmanned oil conveying device; according to the invention, unmanned refueling of multiple areas can be realized, and the problem of multi-domain fuel distribution in a disaster environment is solved.

The invention discloses a multi-degree-of-freedom simulated dragonfly flapping-wing flying robot and a brain-like control method, the multi-degree-of-freedom simulated dragonfly flapping-wing flying robot comprises a skeleton device, a flying device, a detection device, a tail device, a console and a leg device, the skeleton device is fixedly connected with the flying device, the detection device, the tail device, the console and the leg device, and the flying device is used for flying control of the robot. The detection device is used for detecting environment information, the tail device is used for stabilizing flight, and the console controls the skeleton device, the flight device, the detection device and the tail device to work. The dragonfly-imitating flapping wing structure design is adopted, the design scheme that four wings are independently driven is used, higher flexibility and maneuverability are provided, and the unmanned aerial vehicle can execute complex flight actions such as hovering, rapid turning and precise landing. Due to the flexibility, the robot is excellent in performance in a narrow or complex environment and can adapt to different task requirements, such as environment monitoring, indoor navigation, search and rescue and the like.

The invention belongs to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle inclined active joint mechanism based on a nest, the unmanned aerial vehicle inclined active joint mechanism comprises an unmanned aerial vehicle main body, fixed wings are fixedly mounted at the left and right ends of the unmanned aerial vehicle main body, driving boxes are fixedly mounted at the front ends of the fixed wings, and a rotating shaft is rotatably connected to the middle of each driving box; a rotating box is fixedly mounted at the end, away from the unmanned aerial vehicle body, of the rotating shaft. The movable shaft is pushed in the main shaft through the ejection spring in a compressed state under the action of elasticity, then the blades are driven to rotate around the fixed shaft through meshing of the racks and the half gears on the blades, the blades are folded on the rotating box, the space occupied by the blades is reduced, and meanwhile the space occupied by the blades is reduced. The end of the paddle located below the fixed wing is in contact with the fixed wing, the ends of the other two paddles are folded above the fixed wing, then the situation that the ends of the paddles hurt people is avoided, and the safety of the device is improved.

The invention discloses a method for taking off and landing an unmanned aerial vehicle in different places in an unmanned aerial vehicle airport, and belongs to the technical field of unmanned aerial vehicles According to the invention, the problem of remote take-off and landing of the existing unmanned aerial vehicle is solved, the navigation task is sent to the unmanned aerial vehicle airport through the terminal, so that the unmanned aerial vehicle navigates according to the received navigation task path, and after the unmanned aerial vehicle executes the navigation task, the nearby unmanned aerial vehicle airport for landing can be found through real-time positioning of the unmanned aerial vehicle. In the above process, taking-off and landing of the unmanned aerial vehicle do not need to be manually operated, remote taking-off and landing of the unmanned aerial vehicle are achieved, and after the unmanned aerial vehicle arrives at an unmanned aerial vehicle airport for landing and before the unmanned aerial vehicle lands, the relative position relation of the unmanned aerial vehicle at the moment can be obtained by extracting large and small images in the landing area images; and the landing point of the unmanned aerial vehicle is accurately positioned according to the relative position relation and the size image, so that the unmanned aerial vehicle can accurately land.

The utility model discloses an unmanned plane deicing device with light flow tracking function mainly relates to unmanned plane deicing field. Including unmanned plane main part with camera, the unmanned plane main part is carried with big dipper positioning module, light flow tracking module, and the unmanned plane main part bottom is connected with resonance deicing mechanism, the resonance deicing mechanism includes the installation shell, be equipped with motor on the installation shell, the both sides of installation shell are rotatably equipped with a plurality of eccentric wheels through eccentric wheel axle, the inside of installation shell is equipped with transmission mechanism, and the motor is respectively connected with a plurality of eccentric wheel axle drive through transmission mechanism, and the installation shell bottom is equipped with wire clamp. The utility model has the beneficial effect that: through unmanned plane drive deicing equipment to high altitude cable deicing, the inertia of eccentric wheel rotation is transmitted to the cable on vibration deicing through wire clamp, and the deicing efficiency is higher, and carries big dipper positioning module and light flow tracking module, makes the positioning and identification of unmanned plane in the deicing process more accurate.

The application discloses a kind of method and device for controlling unmanned plane, wherein the method includes: in the stage of unmanned plane take-off, at least one reference photo is collected and saved, and the reference photo contains target mark deployed on hangar surface;In the stage of unmanned plane returning and landing, current photo is collected, and whether target mark exists in current photo is detected;In the case where target mark exists, the pose information of target mark relative to the body is determined;First control instruction is generated based on the pose information;Second control instruction is generated based on reference photo and current photo;Target control instruction is generated based on first control instruction and / or second control instruction, to control unmanned plane landing.By the present application, the problem that unmanned plane cannot land normally to hangar is solved, and the effect that unmanned plane lands accurately to hangar is achieved.

The invention relates to an unmanned aerial vehicle system capable of accurately guiding landing, which comprises an unmanned aerial vehicle, the unmanned aerial vehicle comprises a vehicle body and a foot stool assembly arranged below the vehicle body, the unmanned aerial vehicle further comprises an electromagnet capable of being arranged at a parking apron, and the foot stool assembly is further provided with a reed switch matched with the electromagnet; when the electromagnet is electrified and magnetized, the two reeds in the reed pipe are attracted and contacted, and a starting circuit of the unmanned aerial vehicle is connected; and when the electromagnet is powered off and demagnetized, the two reeds in the reed pipe are recovered and disconnected, and the starting circuit of the unmanned aerial vehicle is disconnected. The unmanned aerial vehicle can be turned on and turned off in a non-contact mode through cooperation of the reed switch and the electromagnet; on-off state detection can be carried out, external interference resistance is high, influences of strong sunlight, other illumination and electromagnetic radiation are avoided, and cost is low; the operation capability of processors of the unmanned aerial vehicle and the remote controller is greatly reduced, meanwhile, dependence on models of the unmanned aerial vehicle and the remote controller is relieved, adaptability is high, landing safety is better guaranteed, and precise landing can be achieved when light is insufficient at night.

The invention relates to the technical field of safe separation and recovery of batteries of electric aircrafts, in particular to a safe separation and recovery device for batteries of an electric aircraft with replaceable batteries, which is mounted on an aircraft body and comprises an aluminum alloy bracket, a limiting lock, a battery pack, a parachute pack main body, a rotating device, an opening and closing mechanism and a battery protection frame. The problems that in the landing process of a traditional electric aircraft, a battery and the aircraft are difficult to separate, and deceleration and precise landing are difficult to control after separation are solved, and safe battery separation is achieved by pushing the upper and lower hydraulic rods forwards to enable the hydraulic rods to be opened, so that stable release of the battery pack and landing separation of the aircraft are achieved; when the battery pack falls, the parachute is rapidly and comprehensively unfolded, the whole battery system is automatically adjusted to be in a horizontal state, the parachute is contracted in a segmented mode through magneto-rheological control, the parachute and the propeller are prevented from being mixed together, then the propeller further works, and the battery pack accurately falls.

The invention discloses a landing control method and device based on multi-unmanned aerial vehicle cooperation, and the method comprises the steps: enabling a plurality of unmanned aerial vehicles to execute a flight task, enabling the unmanned aerial vehicles to detect the GPS signal intensity, and switching to receive a Beidou signal when the GPS signal intensity does not meet a preset requirement; based on the Beidou signal, the position state of the unmanned aerial vehicle is calculated by adopting a Kalman filtering algorithm, and the motion state of the unmanned aerial vehicle is controlled based on a PID control algorithm; synchronizing the position state by each unmanned aerial vehicle, and judging whether a landing condition is met or not according to the position state; when the landing condition is met, the to-be-landed unmanned aerial vehicle acquires an environment image through an image acquisition device and identifies a landing identifier; and calculating a relative position with the to-be-landed unmanned aerial vehicle according to the center coordinate of the landing identifier, and controlling the to-be-landed unmanned aerial vehicle to land to a preset position according to the relative position. According to the method, the accuracy of unmanned aerial vehicle landing control can be ensured when the GPS signal is unstable.

The application discloses a guiding method and device in a three-dimensional virtual environment, equipment and a medium, and belongs to the virtual environment field. The method comprises the following steps: in response to a marking operation, displaying a target location which is marked, and the target location is a target landing location on the ground of the three-dimensional virtual environment; in the case that the host virtual character jumps out of the aircraft and is in a landing state, displaying a three-dimensional path guide pointing to the target location, the three-dimensional path guide comprises a three-dimensional line connecting the current position of the host virtual character in the air and the target location on the ground, and the three-dimensional path guide is used for indicating a control mode of controlling the host virtual character to land from the current position to the target location; and in response to the change of the current position of the host virtual character, updating the display of the three-dimensional path guide according to the changed current position. The above scheme can provide the operation indication of the parachute according to the target location, and facilitates the control of the host virtual character to land on the target location.

The invention discloses an unmanned aerial vehicle landing method, device and equipment and a storage medium, and relates to the technical field of unmanned aerial vehicle control, and the method comprises the steps: firstly obtaining a light emitting diode beacon video stream of an unmanned aerial vehicle landing platform; based on the light-emitting diode beacon video stream, determining a bright spot conforming to a preset flicker mode, the preset flicker mode comprising a combination feature of a light-emitting diode beacon; identifying a preset number of non-coplanar light emitting diode beacon points based on the bright spots conforming to the preset flicker mode; resolving a landing pose of the unmanned aerial vehicle relative to a landing platform based on the preset number of non-coplanar light emitting diode beacon points; and finally, based on the landing pose of the unmanned aerial vehicle, generating a control instruction to drive the unmanned aerial vehicle to land on the landing platform. According to the invention, through cooperation of light emitting diode beacon positioning and pose calculation, accurate positioning of the unmanned aerial vehicle relative to the landing platform is realized.

The utility model relates to the field of landing guiding device, concretely relates to a kind of unmanned aerial vehicle visual guidance precision landing guiding device, including guiding base, for the device of supporting unmanned aerial vehicle visual guidance precision landing guiding.The utility model a kind of unmanned aerial vehicle visual guidance precision landing guiding device, by the setting of guiding base, handle, rotary drum, first label plate, connecting seat and second label plate, not only design different height platform, simultaneously according to different unmanned aerial vehicle uses different label, the characteristics, color of label are adjusted switching, it is helpful to improve the accuracy of visual guidance positioning, when according to the label on the camera in different unmanned aerial vehicle identified positioning first label plate and second label plate, by pulling handle and driving rotary drum rotation, let rotary drum outside four groups first label plate switch, to meet different unmanned aerial vehicle visual guidance, let unmanned aerial vehicle can accurately visually identify the position of guiding base and connecting seat in high altitude, to accurately land.

The application discloses a kind of unmanned aerial vehicle phased autonomous landing methods for air-ground cooperation, belong to artificial intelligence and robot field.This method includes the first stage based on trajectory tracking fast landing, and the second stage based on visual servo precision landing.First stage uses an improved environment adaptive weighting ant colony algorithm (EAW-ACO) to carry out global path search, and combined with Minimum Snap method generates smooth, safe flight trajectory, guide unmanned aerial vehicle to quickly drop to unmanned vehicle platform nearby.When unmanned aerial vehicle enters the landing area of pre-set, second stage uses the servo control based on visual marker, realizes high-precision terminal alignment and landing.The application has the unique advantage of fast landing in front and accurate docking in the end by the organic combination of two-stage control strategy, provides key technical support for unmanned aerial vehicle-unmanned vehicle air-ground cooperation and cluster continuous operation, has wide application prospect in intelligent warehousing, autonomous inspection and other fields.