2results about How to "Reduce choice" patented technology

The application discloses a kind of unmanned aerial vehicle cluster security obstacle avoidance methods and systems for complex low-altitude airspace;Belong to unmanned aerial vehicle cluster control technical field;The method obtains the communication connection state of each unmanned aerial vehicle, current flight state, task track and shared obstacle avoidance intention before communication break, constructs cluster communication topology and identifies communication subgroup when there is broken edge;Predict the candidate obstacle avoidance channel and predicted arrival time of each communication subgroup within the preset non-communicable time window, judge the channel occupation risk in combination with subgroup size and channel boundary;When there is risk, different communication subgroups are allocated mutually exclusive obstacle avoidance channel or staggered passing time, and converted into local obstacle avoidance control instruction;After communication recovery, check execution deviation and modify subsequent task track.The method can reduce the risk of obstacle avoidance channel occupation and channel exit convergence in communication partition scenario.

The utility model discloses a novel vertical flash tank relates to vertical flash tank technical field, and it aims at solving the problem that the uniform separation of gas and liquid in the cylinder must be ensured, and the cylinder must be left enough liquid phase and gas phase space, and the proportion is usually 1:3, namely 25% liquid phase space 75% gas phase space, which leads to the problem that the cylinder must select larger, and its technical scheme main points are including the flash tank body, the installation base is fixedly connected with the flash tank body lower extreme, the flash tank body upper extreme fixedly connected with the head, the head upper extreme fixedly connected with the gas supplementing pipe, the flash tank body left side fixedly connected with the liquid outlet pipe that communicates with the inside of flash tank body, the flash tank body right side fixedly connected with the liquid inlet pipe that communicates with the inside of flash tank body, the liquid inlet pipe lower end face is higher than the liquid outlet pipe upper end face. Reach the simple structure, and the good commonality of spare part can realize the effect of larger scale production.