129results about How to "Smooth landing" patented technology

The invention discloses a self-adaptive homeward voyage positioning system of a high-altitude operation mooring unmanned aerial vehicle, which relates to the technical field of unmanned aerial vehicles and comprises a data acquisition unit, a control analysis unit and a homeward voyage execution unit. In the aspect of safety, accurate return flight, reasonable trajectory planning in the high-rise stage and stable state adjustment in the low-rise stage are guaranteed through hierarchical control analysis, and the collision and falling risks are reduced. In the aspect of adaptability, the layered landing strategy deals with different heights, the high layer pays attention to preliminary adjustment, and the low layer flexibly controls the speed and direction and adapts to various initial heights; the real-time update instruction can cope with environmental changes, such as airflow interference and the like. In terms of operation efficiency, efficiency is improved through hierarchical planning, unnecessary adjustment is reduced, and homeward voyage time is shortened; the control instruction is automatically generated, the operation process is simplified, the burden of operators is relieved, the human error risk is reduced, the operation efficiency is improved, and meanwhile it is ensured that the unmanned aerial vehicle safely and stably completes the homeward voyage task.

The invention relates to the technical field of airport lighting equipment, in particular to an airport navigational light control system based on flight information, which comprises an irradiation unit for outputting navigational light by using irradiation parameters to generate navigational light information, an aviation interaction unit for generating and outputting real-time flight information, and a control unit for controlling the airport navigational light according to the real-time flight information. The information receiving unit is used for receiving the real-time flight information output by the aviation interaction unit and positioning the real-time position of the aircraft in the air, and the analysis unit is used for determining whether the flight state of the aircraft meets the standard or not and the reason for the non-conformity and generating a corresponding processing instruction. And the control unit is used for receiving the corresponding processing instruction, determining the irradiation parameters of the irradiation unit and sending a corresponding notice to the aviation interaction unit. The corresponding instruction is sent to the aircraft based on the flight environment or the real-time flight state of the aircraft, the irradiation parameters of the lamplight are adjusted in a targeted mode, it is guaranteed that the aircraft can stably land to the designated site, and meanwhile the navigation aiding efficiency of the system for aircraft landing is effectively improved.

The present invention discloses a vertical intelligent take-off and landing field take-off and landing control system, which relates to the technical field of take-off and landing of take-off and landing fields, including an environmental monitoring module, an intelligent flight scheduling module, a vertical catapult take-off module, a take-off and landing field tilt control module, a fault accurate warning and processing module and a flight data in-depth analysis module: an environmental monitoring module: real-time monitoring of environmental parameters of the take-off and landing field, and automatic adjustment of monitoring strategies for extreme weather conditions; an intelligent flight scheduling module: real-time monitoring of environmental parameters and aircraft status, and intelligent planning of the take-off and landing path and time of the aircraft; in the present invention, through the real-time monitoring and strategy adjustment functions of the environmental monitoring module, the system can automatically adjust the monitoring strategy for extreme weather conditions to ensure the safety of aircraft take-off and landing, greatly improving the adaptability and survivability of helicopters in complex environments, especially in places with relatively harsh conditions such as mountainous areas and waters, and can significantly reduce take-off and landing accidents caused by weather factors.

The invention relates to the technical field of forming of plastic state materials or materials, in particular to a full-automatic intelligent freezing rotary drum and a chloroprene rubber freezing and condensing device.The full-automatic intelligent freezing rotary drum comprises a latex storage tank, a freezing rotary drum is arranged in the latex storage tank, and a frozen saline water inlet and a frozen saline water outlet are formed in the freezing rotary drum; the frozen saline water inlet and the frozen saline water outlet are respectively connected with the latex storage tank through the support ring body; a glue scraping piece is arranged on one side of the freezing rotary drum, a knife part of the glue scraping piece is opposite to the outer surface of the freezing rotary drum, a gap is formed between the knife part and the outer surface, and the knife part of the glue scraping piece is used for scraping latex crystallized on the freezing rotary drum; a frozen salt water cooling device is arranged on one side of the freezing rotary drum and is used for cooling and refrigerating the freezing rotary drum; a first driving device or a second driving device for driving the freezing rotary drum to rotate is arranged on one side of the freezing rotary drum; the problem of how to scrape off crystalline latex on the freezing rotary drum is solved.

The utility model discloses a bionic frog jumping robot which comprises a body part, front limb parts, rear limb parts, rear leg force storage guide parts and racks, the body part simulates the body of a frog, the front limb parts simulate the front legs and the front palms of the frog, the rear leg parts simulate the rear legs and the rear palms of the frog, and the body part comprises a shell and a driving mechanism arranged in the shell. The driving mechanism comprises a steering engine and a battery used for supplying power to the steering engine, the steering engine drives the body part to move relative to the posterior limb parts through the driving rack, so that the rear leg force storage guide parts store elastic potential energy, and the rear leg force storage guide parts achieve jumping of the robot by releasing the elastic potential energy and guide jumping of the posterior limb parts. The robot can jump forwards continuously and land stably, and the robot is simple and compact in structure, flexible and efficient in transmission and power storage, small in number of parts, convenient to disassemble and assemble and high in bouncing capacity.

The invention relates to the technical field of concrete electric pole manufacturing, and discloses an optimized steel fiber anti-crack ultra-high performance concrete centrifugal electric pole manufacturing method and system. The method comprises the following steps: dividing an electric pole manufacturing process into a plurality of manufacturing units according to production batches, and collecting material component data, process setting data and online detection data in each manufacturing unit to form a multi-source production data set; calculating an anti-cracking performance index and a strength performance index based on a multi-source production data set, and dynamically outputting an initial process correction value through a dual-threshold monitoring mechanism and a performance adjustment model; performing adaptive adjustment on the initial process correction value of each manufacturing unit according to the production correlation between the adjacent manufacturing units to generate an adjusted process correction value; and carrying out serialization processing on the adjusted process correction value, and outputting a production optimization instruction which is applied to a manufacturing execution process. According to the method, electric pole manufacturing whole-process data integration and dynamic process optimization are achieved, and the production efficiency and the product quality stability can be improved.

The invention discloses a surveying and mapping acquisition device for land resource management, and relates to the technical field of land surveying and mapping, and the surveying and mapping acquisition device comprises an unmanned aerial vehicle main body, a mounting frame, a rotor wing assembly and a buffer assembly for reducing impact force; a radar assembly used for measuring land data is fixedly installed on the front end face of the unmanned aerial vehicle body in an embedded mode. A plurality of groups of mounting frames are arranged, and the end parts of the plurality of groups of mounting frames are mounted on the unmanned aerial vehicle main body; the number of the rotor wing assemblies is multiple, and the rotor wing assemblies are mounted on the mounting frame; according to the technical key points, a hard supporting frame structure of an existing unmanned aerial vehicle is changed, the supporting frame is designed into the buffer frames, the buffer frames are designed to be capable of moving leftwards and rightwards, and the distance between the buffer frames is adjusted through the adjusting assemblies during use, so that the buffer frames can stably fall to the ground, impact force can be reduced, and the service life of the unmanned aerial vehicle is prolonged. And the overall use effect is good, and good use prospects are achieved.

The invention provides an electrorheological damping aircraft nose landing gear and an aircraft. The landing gear comprises a damping cylinder body; one end of the piston rod is slidably arranged in the damping cylinder, the other end of the piston rod is connected with an aircraft wheel, and a supporting shoulder is arranged in the middle of the piston rod; the electrorheological damping assembly comprises a plurality of electrorheological damping units which are stacked on the supporting shoulder; each electrorheological damping unit comprises electrorheological elastomers, a first electrode plate and a second electrode plate, and the adjacent electrorheological elastomers share one electrode plate; each first electrode plate is arranged on the inner wall of the damping cylinder body through a first insulating snap ring seat, and the end away from the snap ring seat is in sliding contact with the outer wall of the piston rod; each second electrode plate is arranged on the outer wall of the piston rod through a second insulating snap ring seat, and the end away from the snap ring seat is slidably contacted with the inner wall of the damping cylinder body; the power supply and the two electrodes are electrically connected with the piston rod and the damping cylinder body respectively to form a conductive loop; the rigidity can be adjusted in a self-adaptive mode, and the stability and comfort of aircraft operation are improved.

The invention discloses a pressure sensing shutdown docking platform suitable for an unmanned aerial vehicle carrying type photovoltaic panel cleaning robot and a docking method, and belongs to the technical field of photovoltaic panel cleaning mechanism accessories. The docking platform comprises a protection mechanism arranged on a parking platform and a rotating rod connected with the parking platform, the protection mechanism comprises a limiting rod groove formed in the edge position of the parking platform, an in-groove spring is arranged in the limiting rod groove, and one end of the in-groove spring is connected with a limiting rod. The in-groove spring is further connected with a connecting rod fixing buckle which is connected with one end of a connecting rod, and the other end of the connecting rod is connected with a guardrail. According to the device, stable butt joint of the cleaning robot carried by the unmanned aerial vehicle on the large-dip-angle photovoltaic panel can be achieved, and the problems that wings impact the photovoltaic panel when the unmanned aerial vehicle stops and releases the robot and the photovoltaic panel cleaning robot slides down are solved.

The present invention belongs to the technical field of crop straw cutting and crushing, and specifically provides a straw crushing device, including a shell and a crushing assembly, wherein the crushing assembly is arranged in the shell, and the crushing assembly includes a rotating shaft, a cutting unit, an adjusting mechanism and a first driving mechanism. When the straw is loaded into the crushing chamber, the cutting unit can be driven by the adjusting mechanism to be in an avoidance posture, so that the first blade and the second blade are retracted in the receiving groove, so that the first blade will not interfere with the landing of the straw, and the straw can smoothly land at the bottom and be stacked layer by layer in the crushing chamber. With such an arrangement, more straw can be loaded without changing the volume of the crushing chamber, which helps to improve the straw crushing efficiency. When the straw is loaded, the adjusting mechanism switches the cutting unit to the cutting posture, and the first driving mechanism drives the rotating shaft to rotate, driving the first blade and the second blade to cut and crush the straw in the crushing chamber.

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 invention relates to a subship homeward voyage method and system of a marine unmanned aerial vehicle, a terminal and a storage medium, and relates to the technical field of subships, and the method comprises the steps: responding to a received electric quantity alarm signal sent by a subship, and sending a homeward voyage signal to the subship; generating a first return path according to the first positioning information of the sub-ship and the second positioning information of the mother ship; calculating the length of a movable path of the sub-ship according to the residual electric quantity; judging whether the length of the movable path is greater than the length of the first return path; if yes, sending a first return path to the sub-ship; if not, calculating a difference value between the length of the first return path and the length of the movable path to obtain a path difference value; determining a target position on the first return path according to the path difference value; generating a second return path according to the first positioning information and the target position; and sending the second return path to the sub-ship, and controlling the mother ship to move to the target position. The method has the effect of indicating the sub-ship to return to the mother ship.

The present invention belongs to the field of air pollution detection technology, and specifically relates to an air pollution source tracing device, including a detection device and an unmanned aerial vehicle, wherein a sampling chamber is provided in the middle of the detection device, the detection device is installed at the upper end of the unmanned aerial vehicle, a sampling channel is provided in the middle of the unmanned aerial vehicle, the sampling chamber is connected to the sampling channel, and landing gears are installed on both sides of the bottom of the unmanned aerial vehicle; the present invention can quickly respond to the monitoring needs of air pollution by carrying the detection equipment on the unmanned aerial vehicle, and realize the rapid tracing of air pollution. This efficient method greatly improves the timeliness and accuracy of pollution monitoring. The landing gear of the present invention adopts a reversible semicircular tube structure, which maintains a horizontal state when the unmanned aerial vehicle is flying, extends the air sampling port, and increases the sampling range; when the unmanned aerial vehicle stops working, it flips into a supporting foot to ensure that the unmanned aerial vehicle lands smoothly. This design not only ensures flight stability, but also takes into account sampling efficiency.

The utility model relates to the technical field of hoisting equipment, in particular to a hoisting device for vertical transportation of chimney cylinder wall steel bars. The fixing arm is connected with the mounting base, and the fixing arm is located above the mounting base; the rotating arm is rotationally connected with the fixed arm, and the rotating axis of the rotating arm is vertically arranged; the placing table is provided with an object placing space, a suspension cable is connected to the placing table, and the other end of the suspension cable is wound on the rotating arm; the winch is connected with the rotating arm, a winding roller of the winch is connected with the suspension cable, and the winding roller is used for storing the suspension cable; the driving unit is used for driving the rotating arm to rotate, the driving unit is connected with the fixed arm, and the driving unit is connected with the rotating arm; the device has the effect of reducing the labor intensity of operators.

This utility model discloses a landing gear for a drone with stable landing, including a support structure consisting of two sets. Each support structure includes a rhomboid block and mounting tubes. Sleeves are fixedly connected to two opposite corners of the front face of the rhomboid block, and sleeves are fixedly connected to the other two opposite corners of the rear face of the rhomboid block. The four mounting tubes are arranged in an X-shape, with one end of each tube installed inside a sleeve and the other end fixedly connected to a mounting plate. A mounting cavity is formed at the center of the mounting plate. Two mounting plates at the bottom are equipped with anti-vibration structures. The X-shaped distribution of the rhomboid blocks and mounting tubes enhances the overall stability of the landing gear, allowing the drone to land more smoothly and reducing the risk of damage due to instability. Furthermore, the combination of mounting tubes and sleeves facilitates efficient assembly, and if one component is damaged, it can be replaced promptly, ensuring the overall service life.

The utility model discloses an unmanned aerial vehicle-based house building reconnaissance equipment relates to unmanned aerial vehicle reconnaissance technical field, the utility model discloses an unmanned aerial vehicle-based house building reconnaissance equipment, the utility model discloses an unmanned aerial vehicle-based house building reconnaissance equipment, the unmanned aerial vehicle-based house building reconnaissance equipment comprises an unmanned aerial vehicle, the left and right sides of the bottom of the outer wall of the unmanned aerial vehicle are fixedly connected with mounting shells, the buffer mechanism comprises a fixed rod fixedly connected to the inner wall the front end and the rear end of the outer wall of the fixing rod are sleeved with and slidably connected with moving blocks correspondingly, the bottoms of the outer walls of the moving blocks are fixedly connected with connecting shells, and the bottom of the moving block located at the rear end is fixedly connected with a sleeve rod. The sleeve rod and the connecting rod drive the connecting shell and the moving block to slide on the outer wall of the fixed rod, the moving block extrudes the spring to deform, and the spring rebounds to push the sleeve rod and the connecting rod, so that the unmanned aerial vehicle lands more stably, damage of landing impact force to parts of the unmanned aerial vehicle is reduced, and the influence on the device is reduced.

The utility model discloses an unmanned aerial vehicle landing protection device which comprises an unmanned aerial vehicle body, a laser range finder is fixedly arranged in the center of the bottom of the unmanned aerial vehicle body, H-shaped supports are hinged to the left side and the right side of the bottom of the unmanned aerial vehicle body, and buffer mechanisms are fixedly arranged in the H-shaped supports. Compared with the prior art, the unmanned aerial vehicle has the advantages that the unmanned aerial vehicle can more accurately sense the ground position through cooperation of the laser range finder and other devices, and therefore stable landing is achieved; through the design of the H-shaped support and the buffer mechanism, impact force during landing is effectively absorbed, damage to the unmanned aerial vehicle body and a landing area is reduced, and the device adopts relatively simple structural design, is easy to manufacture and install, is low in cost and is wide in applicability.

The utility model discloses an unmanned aerial vehicle airborne platform for road defect detection and a detection device, and relates to the technical field of aircraft accessories, the airborne platform comprises an equipment frame and a plurality of supporting legs, each supporting leg is provided with a ball joint structure, and the supporting legs are connected with the equipment frame through the ball joint structures; the ball joint structure comprises a ball seat and a ball head, the ball seat is fixed on the equipment frame, and the ball head is rotatably arranged in the ball seat; the upper end of the supporting leg is fixedly connected with the ball head; the ball joint structure further comprises an elastic washer and a supporting table, the elastic washer and the supporting table are each of an annular structure arranged on the outer side of the supporting leg in a sleeving mode, the supporting table is fixed to the supporting leg, and the elastic washer is clamped between the ball seat and the supporting table. The supporting leg has a preset posture inclining outwards, the lower end of the supporting leg is located on the outer side of the upper end of the supporting leg, and the detection device comprises the airborne platform. According to the structural design adopted by the scheme, the unmanned aerial vehicle can stably land under the complex road surface condition of a road.

The application discloses a full-magnetic-force-supported rotor unmanned aerial vehicle and a flight control method thereof. The rotor unmanned aerial vehicle adopts a high-speed non-iron-core permanent magnet synchronous motor to realize driving rotation, eliminates iron core loss during high-frequency and high-speed operation of the motor, and directly connects the blade and the motor rotor. A Halbach permanent magnet array and an aluminum ring are respectively fixed in corresponding grooves of an outer ring frame of a shell and an outer ring frame of a rotor, so that axial suspension force and partial radial suspension force are generated, the main radial suspension force is provided by a radial passive permanent magnet ring, and the rotor blade system is fully suspended. The shell outer ring frame and the shell inner ring frame are fixed by spokes, so that the overall weight can be reduced while the mechanical strength is ensured. The motor rotating speed and the guide vane angle are adjusted by the flight control method, so that the vertical lifting, air hovering, horizontal flight and stable landing of the rotor unmanned aerial vehicle are realized. The full-magnetic-force-supported rotor unmanned aerial vehicle has small electromagnetic loss, no mechanical friction and high cooperativity, and can improve the system operation efficiency and stability.

The application relates to the technical field of bridge construction equipment, in particular to a prefabricated and assembled rhombic hanging basket and a mounting method thereof. The rhombic hanging basket comprises a main truss system, a walking system, a bottom basket platform, a suspension system and a composite anchoring system. The mounting based on the rhombic hanging basket comprises the following steps: prefabricating a foldable rhombic truss; using a hoisting device to pull the truss to unfold and pin shaft locking; installing a walking system and other components, using multiple frequency conversion winches to cooperate with displacement sensors, and using a synchronous deviation control algorithm to hoist the bottom basket platform as a whole. In the hanging basket, the rhombic truss can be folded and unfolded, the convenience of transporting and installing the hanging basket on site and putting into construction is improved, the walking system and the composite anchoring system are matched, the efficiency of moving the hanging basket is improved, the automatic synchronous control technology solves the hoisting control problem of the bottom basket under complex environment, the construction efficiency and safety of the hanging basket as a whole are improved, and the risk of high-altitude operation is reduced.

The invention discloses an energy absorption device and an energy absorption device using method. The energy absorbing device comprises a plurality of base plates, a plurality of connecting rods and a plurality of connecting rods, wherein the base plates form a long-strip chain plate capable of being unfolded or folded; the first energy absorption half bodies are arranged on one face of each base plate except the base plate located at one end of the long-strip chain plate, and annular bodies are arranged on the first energy absorption half bodies; the second energy absorption half bodies are arranged on one face of each base plate except the base plate located at the other end of the long-strip chain plate, and hook claw structures are arranged on the second energy absorption half bodies. According to the energy absorption device, the hook claw structure with the protruding thorn face and the hair face annular body opposite to the hook claw structure are mutually coupled, the hook claw structure and the annular body which are mutually locked can form relatively stable hooking interaction force, and hooking and disengaging of the hook and the annular body can be repeated for multiple times.

The utility model relates to an unmanned aerial vehicle shockproof undercarriage, which belongs to the technical field of unmanned aerial vehicle undercarriages, and comprises a connecting frame and an undercarriage main body, the top of the undercarriage main body is fixedly provided with a connecting frame, two sides of the bottom of the undercarriage main body are uniformly and fixedly provided with spring damping shock absorbers, and the bottoms of the spring damping shock absorbers are fixedly connected with a connecting base. Torsion springs are evenly and fixedly connected to the two sides of the connecting base, the connecting base is rotationally connected with ground gripping claws through the torsion springs, the connecting frame is fixedly connected with an unmanned aerial vehicle body, a band-type brake stepping motor is fixedly connected to the inner wall of the connecting frame, and two-way lead screws are rotationally connected to the two sides of the inner wall of the connecting frame. The two sides of the outer walls of the two-way lead screws on the two sides are in threaded connection with lead screw nuts. The unmanned aerial vehicle landing device is convenient to disassemble and assemble at the bottom of an unmanned aerial vehicle, so that the unmanned aerial vehicle is convenient to store and box and move, the ground gripping capacity is further improved, and the unmanned aerial vehicle can land more stably on the uneven or slope ground.

This invention discloses a method for missile evasion by a split-type aircraft based on deep reinforcement learning, and the split-type aircraft itself. The method includes the following steps: S1. For the control of the split-type aircraft, a decision network and an evaluation network based on the DDPG algorithm are constructed and trained using reinforcement learning; wherein, the split-type aircraft includes a front sub-aircraft, a rear sub-aircraft, and a front-rear sub-aircraft separation device, the front sub-aircraft has a nose landing gear, a spare main landing gear, and a spare engine, and the rear sub-aircraft has a main landing gear and a main engine; S2. During flight, the x-axis distance, y-axis distance, and directional angle actually observed by the aircraft radar are used as state inputs into the decision network, which controls the aircraft's steering and the separation of the rear sub-aircraft from the front sub-aircraft. This invention can control the split-type aircraft's steering to align the aircraft with the missile's direction and separate the rear sub-aircraft from the front sub-aircraft before the missile hits the aircraft, thus achieving the function of split-type missile evasion.

The utility model discloses a buffer support device for landing of an unmanned aerial vehicle. The buffer support device comprises a bottom plate; the buffer box body is arranged below the bottom plate; the baffle is vertically arranged in the buffer box body; the sliding rail penetrates through the baffle and is horizontally arranged in the buffer box body; the surface roughness of the sliding rail is gradually increased from the middle to the two ends. The sliding block is arranged on the sliding rail; the first buffer spring is arranged on the sliding rail in a sleeving manner, and the two ends of the first buffer spring abut against the sliding block and the baffle correspondingly; the fixed block mechanism is arranged below the sliding block; the hydraulic cylinder mechanism is arranged on the inner bottom surface of the buffer box body and is connected with the fixed block mechanism; the landing bracket is arranged below the fixed block mechanism; and the other end of the second buffer spring is connected with the outer bottom surface of the buffer box body. According to the buffer support device for landing of the unmanned aerial vehicle, buffer can be provided for landing of the unmanned aerial vehicle, damage to the unmanned aerial vehicle caused by buffer springback is avoided, and the unmanned aerial vehicle can land stably.

The utility model discloses an expressway route intercommunication design auxiliary device, which comprises an unmanned aerial vehicle main body and investigation equipment, a plurality of rotor wings and a first connecting rod are respectively arranged on the outer side of the unmanned aerial vehicle main body in an array mode, one end of the first connecting rod is connected with a protective plate, a buffer assembly is arranged in the protective plate, and the buffer assembly is connected with the unmanned aerial vehicle main body. And the buffer assembly comprises a third connecting rod, a second sliding block, a damper and a first spring, the bottom end face of the unmanned aerial vehicle body is connected with a connecting frame, and one end of the connecting frame is connected with exploration equipment. The highway route intercommunication design auxiliary device is reasonable in structure, can perform buffer protection on the unmanned aerial vehicle main body, reduces impact force borne by the unmanned aerial vehicle main body due to collision, avoids the situation that the unmanned aerial vehicle main body is damaged and cannot fly, can clean a reconnaissance lens of reconnaissance equipment, and improves the reconnaissance efficiency of the reconnaissance equipment. Dust and other impurities in the air are prevented from being adhered to the surface of the survey lens during flight to influence survey operation, and the device is worthy of popularization.

The utility model discloses a fishing device for ocean engineering. Belongs to the technical field of ocean engineering and comprises a frame and a sliding frame, the sliding frame is connected to the frame, a connecting flange is arranged on the upper side of the sliding frame, a second mounting seat is arranged at the lower end of the sliding frame, the two ends of the second mounting seat are connected to the sliding frame respectively, and a truss is arranged at the lower end of the frame and fixedly connected to the lower end of the frame. First connecting bases are fixedly connected to the upper ends of the trusses on the two sides respectively, round rods are arranged at the upper ends of the first connecting bases on the two sides and rotationally connected to the first connecting bases, a support is rotationally connected to the round rods, and a fishing grabbing plate is fixedly connected to the lower end of the support. The rotary connecting flange and the round rod driven by the air cylinder are used, the fishing grabbing plate can rapidly and accurately position and grab objects to be fished, the design of the opening enables the fishing grabbing plate to adapt to the objects of different shapes and sizes, and the grabbing success rate is improved.

The present application provides a robot landing detection method, device, computer equipment and storage medium, which relate to the field of robot technology. The method generates a target curve at each moment when the target robot is executing a preset action, and analyzes the target curve and the standard curve generated at the current moment at each moment, so as to accurately determine the landing moment of the target robot. Among them, the robot's landing moment detection can be quickly realized by curve analysis without changing the robot's sole structure, thereby improving the detection efficiency of the landing moment. In addition, based on the detected landing moment, the center of gravity is adjusted through the joint current information at the landing moment, so that the robot can be controlled to land more smoothly in a more expected state, thereby improving the accuracy of the robot's landing control.

The application discloses a parachute harness release device and an airplane. A first explosion cavity and a rope passing channel are formed on a suspension point joint seat. An explosion pin comprises a rope winding end and an explosion end. The explosion end is provided with a sealing part. The rope winding end passes through the rope passing channel. The connection part between the rope winding end and the explosion end and the explosion end are arranged in the first explosion cavity. A sealed first air chamber is formed between the explosion pin and the first explosion cavity near the rope passing channel. A tensioning connecting piece is arranged on the suspension point joint seat and connected with the rope winding end. An igniter is arranged on the explosion end and used for releasing gas into the first air chamber. The tensioning connecting piece is disconnected, the rope winding end moves out of the rope passing channel, and a harness inner loop wound on the rope winding end is released. The parachute harness release device reserves a part of the length of the parachute rope. The parachute rope is released twice. The acceleration of the airplane and the pilot on the airplane when the parachute slows down is reduced. The possibility of injury is reduced.

The invention relates to the technical field of momentum adjusters, in particular to a rotating flywheel momentum adjuster used for adjusting the falling posture of a quadruped robot. In order to overcome the defects in the prior art, three flywheel momentum regulators are arranged, axes of three flywheels are perpendicular pairwise and are located on a virtual x axis, a virtual y axis and a virtual z axis respectively, the angular momentum conservation principle is applied, angular momentum in the pitching, yawing and rolling directions is applied to the quadruped robot, the posture of the quadruped robot in the falling process is adjusted, and therefore the quadruped robot falling posture is adjusted. And stable landing of the quadruped robot is realized.