110results about How to "Stable flight" patented technology

The invention discloses a power station photovoltaic field area automatic inspection unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicle inspection, and the unmanned aerial vehicle comprises the following components: a meteorological self-adaptive intelligent inspection flight system, a power supply module, a rotor wing device and a communication module; the power supply module is used for providing power support for each component of the unmanned aerial vehicle; the communication module is used for realizing data interaction between the unmanned aerial vehicle and the ground control station and between the unmanned aerial vehicle and the photovoltaic field area monitoring equipment; by carrying the meteorological self-adaptive intelligent inspection flight integrated system, meteorological conditions of a photovoltaic field area can be perceived and analyzed in real time, and an inspection path and a flight attitude are dynamically optimized according to the meteorological conditions, so that the unmanned aerial vehicle can preferentially inspect an area where a problem is most likely to occur, and the inspection efficiency is remarkably improved; meanwhile, the unmanned aerial vehicle can keep stable flight under complex meteorological conditions such as strong wind, flight accidents are avoided, and the accuracy of inspection data is ensured.

The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle self-adaptive navigation system which comprises an inertial navigation system, a visible light sensor, a data fusion module, a database and a navigation control module. The inertial navigation system provides attitude, speed and acceleration data; the visible light sensor collects an image and obtains environment feature points through deep learning algorithm processing to realize visual positioning; and the data fusion module fuses two kinds of sensor data by using a dynamic weighted Kalman filtering algorithm, and dynamically adjusts the weight according to the environment to optimize the positioning information. The map library and the feature library store environment data to assist in positioning and dynamically update; the navigation control module generates an instruction according to the fused positioning information, and automatically adjusts a flight strategy by considering various factors based on an adaptive control algorithm. The system improves the positioning precision and environmental adaptability, enhances the flight safety and stability, is high in intelligence and autonomy degree, has flexibility and expandability, and can be widely applied to the field of unmanned aerial vehicles.

The invention discloses a multi-rotor unmanned aerial vehicle stability control method suitable for multiple environments, and relates to the technical field of unmanned aerial vehicle stability control, and the method comprises the following steps: obtaining the environmental factor data of the height of an unmanned aerial vehicle in a flight stage and the internal detection data of a fuselage; establishing an evaluation coefficient of height flight attitude stability of the unmanned aerial vehicle according to the factor data of the environment where the unmanned aerial vehicle is located and the fuselage internal detection data; and comparing the flight attitude stability evaluation coefficient with a preset flight stability coefficient, judging whether the unmanned aerial vehicle flies stably at the height or not, and warning and adjusting the unstable flight attitude in time. The problem that when the unmanned aerial vehicle continuously rises in the flight process, the flight attitude cannot be kept or adjusted to be stable in time is solved.

The invention discloses an unmanned aerial vehicle three-dimensional path planning method based on an improved dung beetle algorithm, and relates to the technical field of unmanned aerial vehicle path planning. According to the technical scheme, an unmanned aerial vehicle flight environment is modeled; establishing constraint conditions; establishing a target function; and performing unmanned aerial vehicle global path planning by adopting an improved dung beetle optimization algorithm. The method has the beneficial effects that initialization is carried out by utilizing a good point set strategy, so that the population diversity is improved; an improved sine algorithm is combined with a variation strategy of Levy flight and Brownian motion to be embedded into position updating of dung beetles, so that the search range is expanded, and the global optimization ability of the algorithm is improved; a simplex method and a self-adaptive reverse learning strategy are added for disturbance, and the algorithm is helped to jump out of a local optimal solution; the efficiency and accuracy of unmanned aerial vehicle path planning are remarkably improved, the robustness and adaptability of the algorithm are enhanced, the flight path of the unmanned aerial vehicle is optimized, and further development of the unmanned aerial vehicle technology is promoted.

The invention discloses a bridge disease detection system based on an unmanned aerial vehicle and a detection method thereof. The system comprises an unmanned aerial vehicle system and a ground station. The unmanned aerial vehicle system comprises a rotor power unit, a navigation control unit, a communication unit and an intelligent detection unit. The rotor power unit provides flight power, and the navigation control unit is responsible for environment sensing, positioning and three-dimensional point cloud model generation and guides the unmanned aerial vehicle system to stably fly along a preset route. The communication unit guarantees the real-time transmission of flight state information, environment information and video images between the unmanned aerial vehicle system and the ground station. The intelligent detection unit captures images of a bridge through a camera and a holder, and analyzes and recognizes the type, size and position of a disease in real time. And the ground station displays the flight state, environment information and route execution of the unmanned aerial vehicle system in real time, supports route planning and displays a disease identification result. The problem of how to inspect when the unmanned aerial vehicle is difficult to obtain effective GPS positioning information is solved.

The invention discloses an unmanned aerial vehicle visual guidance obstacle avoidance system and method based on polarization information, and relates to the technical field of unmanned aerial vehicle navigation and obstacle avoidance. Polarization image information in a flight scene is collected in real time through a polarization sensor, and the perception capability of a complex environment is enhanced. Polarization parameters are extracted through a compression observation method, the efficiency and accuracy of feature extraction are improved, a visual attention mechanism is combined, an obstacle background area is accurately recognized, a self-adaptive decision fusion model is constructed, the feature weight is optimized, and the reliability of target contour features is enhanced. Preliminary path search is carried out based on target contour features, and a centralized optimization sampling method is adopted, so that the probability of generating an optimal flight path in a complex environment is effectively improved. And the obstacle avoidance flight module is used for smoothing the flight path, so that the smoothness and controllability of the flight path are ensured, and the navigation and obstacle avoidance capabilities of the unmanned aerial vehicle in a complex environment are effectively improved.

The invention provides an ammonia / kerosene dual-fuel precooling engine and a fuel cell power generation system, and belongs to the technical field of aviation systems. The problems of poor variable working condition performance of an engine, difficulty in matching of a gas compressor and a turbine, low working efficiency, fuel waste and the like due to the fact that working of the gas compressor is limited by overhigh total temperature of flying incoming flow air under the high Mach number of an aircraft are solved. According to the invention, the electric energy generated by the solid oxide fuel cell system is supplied to the aircraft load and the motor, and the motor drives the secondary gas compressor to do work in a manner of coaxial installation with the secondary gas compressor, so that the previous single-pole compression is changed into multi-stage compression. A dual-fuel pre-cooling propulsion method is adopted, liquid ammonia and aviation kerosene are selected as dual fuels of the system, the heat sink requirement for incoming flow air pre-cooling can be met, the fuel heat value requirement needed when the aircraft flies at the high Mach number can also be met, and therefore stable and safe flight of the aircraft at the hypersonic speed becomes possible.

The embodiment of the invention discloses an unmanned aerial vehicle group flight path optimization method and device, computer equipment and a medium. The method comprises the following steps: configuring current position information in a preset acceleration calculation strategy to calculate an instantaneous acceleration value of each unmanned aerial vehicle; judging whether the instantaneous acceleration value of each unmanned aerial vehicle is greater than a preset maximum acceleration limit value or not; and if the instantaneous acceleration value of the unmanned aerial vehicle is greater than a preset maximum acceleration limit value, according to a trajectory optimization strategy, merging trajectory point coordinate information after acceleration optimization of the related unmanned aerial vehicle to generate flight path trajectory information conforming to an acceleration limit condition. According to the method, through automatic unmanned aerial vehicle group trajectory optimization, the requirement for manually adjusting the flight path is reduced, the acceleration peak value of the unmanned aerial vehicle is reduced, and the safety and stability of the flight process are improved.

The invention relates to the technical field of intelligent unmanned aerial vehicles, in particular to an unmanned aerial vehicle fixed-point launching device and an operation method. The technical problems are as follows: the unmanned aerial vehicle fixed-point launching device in the prior art is insufficient in attitude pre-adjustment, inaccurate in launching control and imperfect in attitude feedback and adjustment mechanism; according to the technical scheme, the unmanned aerial vehicle fixed-point launching device comprises an unmanned aerial vehicle rack, an integrated sensor module, a signal transmission module, a support and a launching assembly; the attitude of the unmanned aerial vehicle is accurately pre-adjusted through the ground control station, it is ensured that the unmanned aerial vehicle is in the optimal stable state before being put, the opening and closing time and force of the electric telescopic rod and the electromagnetic block are dynamically adjusted according to the real-time position and attitude data of the unmanned aerial vehicle, the putting accuracy and reliability are improved, and the putting efficiency is improved. When the unmanned aerial vehicle has attitude deviation, the deviation can be corrected through attitude feedback and an adjustment mechanism, and it is ensured that the unmanned aerial vehicle can continuously fly stably and complete subsequent launching tasks.

The invention discloses a flight control method for a tilt transition stage of a tilt-rotor aircraft. The flight control method comprises the following steps: constructing a tilt corridor of the tilt-rotor aircraft; acquiring the vertical control quantity of the aircraft in the tilting transition stage in real time; the tilt angle corresponding to the upper boundary of the tilt corridor serves as a tilt angle feed-forward instruction of the aircraft in the tilt transition stage; a tilt angle beta is obtained; taking the flight speed of the upper boundary of the tilting corridor corresponding to the tilting angle beta as a flight speed instruction of the aircraft in the tilting transition stage; correspondingly obtaining a final accelerator instruction of the tilting rotor; and performing flight control on the aircraft in the tilting transition stage. The tilt angle can be determined based on the tilt corridor so as to correspondingly obtain the final accelerator instruction of the tilt rotor, meanwhile, the flight height is kept unchanged at the moment of the tilt transition stage, and the flight speed is controlled within the preset range, so that the height and speed control precision of the aircraft is improved, and the control precision of the aircraft is improved. And therefore, the controllability and the safety in the tilting flight process are improved.

The present invention relates to the technical field of unmanned aerial vehicle surveying and mapping, and in particular, to a surveying and mapping unmanned aerial vehicle and a surveying and mapping method for reducing surveying and mapping errors. The present invention utilizes a radar device and a camera of an unmanned aerial vehicle to monitor the surrounding environment in real time, determines the position of obstacles through data fusion technology and image recognition algorithm, establishes an obstacle avoidance decision model according to a target surveying and mapping task, introduces a simulated annealing algorithm to optimize the model and formulate an obstacle avoidance strategy, and finally feeds back the obstacle avoidance strategy to a control center, which performs route planning and controls the attitude adjustment speed of the unmanned aerial vehicle in real time to obtain a final route. The present invention can more accurately detect obstacles, formulate reasonable obstacle avoidance strategies, improve surveying and mapping accuracy, reduce surveying and mapping errors, and ensure the flight safety of the unmanned aerial vehicle and the accuracy of surveying and mapping data through the fusion of multiple sensors and optimization algorithms.

The invention discloses a combined type car running vehicle pneumatic flight intelligent device and method. According to the device and method, technologies such as multi-rotor wings, especially turning, folding and pneumatic layout of a vehicle door into wings, 5G communication, Beidou and a Beidou enhancement system, a composite new material and the like are integrated to form a multifunctional carrying tool; ict technology detection and 5G remote audio and video interactive consultation are used for monitoring life dynamic information and fatigue state indexes of a pilot in real time, and six symmetrical and obliquely upward rotary wings are used for assisting flight and hybrid braking; a rotary aeronautical instrument cross pod is additionally arranged, and a one-key starting and airline-selecting take-off flight control system is arranged; a mobile phone navigator and a support are arranged in a cockpit, an intelligent mobile phone, a CAN bus and an IMU inertial unit are used for detecting the acceleration and the flight attitude, and an aerocar joystick, an airspeed tube and an empennage structure of the airspeed tube are iteratively upgraded and energized, such as an elevator, a navigation light and a rudder; the system is integrated, and 200-meter short-distance take-off and landing and run-up take-off are carried out; therefore, the hovercar can stably fly on land, sea and air and safely drive.

The invention discloses a vertical take-off and landing control method for a distributed power tandem wing unmanned aerial vehicle, and belongs to the technical field of unmanned aerial vehicle flight control. An inner ring power unit and an outer ring power unit of the unmanned aerial vehicle are arranged at the front edges of the front wing and the rear wing of the tandem wing unmanned aerial vehicle; lifting ailerons are symmetrically hinged to the rear edges of the two ends of the rear wing; the front wing and the rear wing are connected into a tandem wing with a space height difference through a connecting assembly; the control method comprises the steps of controlling jumping take-off, transition flight, cruise flight and vertical landing, and performing accelerator quantity distribution on the inner ring power unit and the outer ring power unit for jumping take-off, cruise flight and vertical landing; a continuous climbing transition mode is adopted in the transition flight stage, and the flight state is controlled to be converted into a cruise level flight state after transition is completed. According to the unmanned aerial vehicle, the functions of large-angle jump take-off and 90-degree autonomous vertical landing of the tandem wing unmanned aerial vehicle are achieved, distributed power of the unmanned aerial vehicle is controlled and distributed, the energy utilization rate is increased, and the endurance time is prolonged.

The invention relates to the technical field of unmanned aerial vehicle obstacle avoidance and trajectory planning, in particular to an unmanned aerial vehicle obstacle avoidance trajectory planning method, which comprises the following steps: generating an unmanned aerial vehicle random motion trajectory by using a three-dimensional Gaussian-Markov model; determining the flight attitude of the unmanned aerial vehicle by using a two-dimensional Gaussian-Markov model; judging whether to execute an obstacle avoidance operation or enter a boundary obstacle avoidance mode, calculating a new course angle and a new pitch angle based on the repulsive force field when the unmanned aerial vehicle executes the obstacle avoidance operation, and adjusting the random motion track and the flight attitude of the unmanned aerial vehicle; when the unmanned aerial vehicle enters a boundary avoidance mode, obtaining a new course angle of the current unmanned aerial vehicle according to the two-dimensional position coordinates of the environment center and the two-dimensional position coordinates of the current unmanned aerial vehicle, and adjusting the random motion trajectory of the unmanned aerial vehicle; and obtaining the final flight path and flight attitude of the unmanned aerial vehicle until the preset flight time is reached. The task execution flexibility and efficiency of the unmanned aerial vehicle are improved, and it is ensured that the unmanned aerial vehicle can safely and effectively execute the flight task in the port environment.

The invention provides a control and unfolding locking system suitable for an n-shaped folding wing of a pipe-launched unmanned aerial vehicle, and belongs to the technical field of pipe-launched unmanned aerial vehicle control. The system comprises a rotary driving module for driving the main wing and the outer wings on the two sides to rotate and unfold from the folding position and an unfolding locking module for locking the main wing and the outer wings on the two sides to the complete unfolding position, and is further provided with an outer wing folding locking module for locking the outer wings on the two sides to the folding position and a control module for controlling the outer wings to be unlocked in a time-sharing mode. The wing on one side rotating forwards unlocks the outer wing when the main wing rotates to be perpendicular to the fuselage, and the wing on one side rotating backwards unlocks the outer wing before the other outer wing for a preset time, so that a rolling restoring moment is generated to balance a rolling moment generated by the difference of incoming flow speeds on the wing surfaces of the wings on the two sides at the initial stage of unfolding of the main wing; the problem that the rolling posture of the unmanned aerial vehicle is large in deviation after the unmanned aerial vehicle leaves the tube due to the control mode that the outer wing is restrained and folded in the unmanned aerial vehicle launching tube through the fuselage and is automatically unfolded after the unmanned aerial vehicle is launched and leaves the tube is solved.

The invention discloses a flutter control method and a flutter control device for a high-aspect-ratio wing. The flutter control method comprises the following steps: acquiring an initial flutter speed of the wing; steel cables are installed on the wings, and pre-tightening force is applied to the steel cables in the flight state through a servo mechanism so as to limit torsion of the wings; acquiring the expansion flutter speed of the wing after the pre-tightening force is applied to the steel rope; starting a wingtip angular displacement sensor in the flight process of the unmanned aerial vehicle, wherein the wingtip angular displacement sensor is used for monitoring a wingtip torsion angle and a torsion angular speed in real time; and when the flight speed of the unmanned aerial vehicle exceeds the extended flutter speed, a servo mechanism is used for dynamic control. The problem of how to improve the flutter speed and enable the unmanned aerial vehicle to safely fly at a higher speed so as to improve the flight performance of the unmanned aerial vehicle is solved.

The invention belongs to the technical field of unmanned aerial vehicle control, and discloses a model prediction contour control system and method based on neural network enhancement, the system processes multi-source sensing data of an unmanned aerial vehicle through an S4-Conv adaptive network architecture, and the system comprises an odometer, a thrust output and a PVDF flexible crash sensor. And accurately predicting the position and attitude of the unmanned aerial vehicle at the next moment. Based on the prediction model, a neural network enhanced model prediction contour control framework is provided for optimizing the thrust output of the unmanned aerial vehicle and performing real-time attitude adjustment. According to the method, external collision and dynamic disturbance in a complex environment can be quickly responded, the trajectory tracking precision of the unmanned aerial vehicle and the stability of task execution are remarkably improved, and the method is suitable for unmanned aerial vehicle flight control tasks in complex environments such as urban space and disaster area search and rescue.

According to the time sequence control method for wing unfolding of the n-shaped folding wing unmanned aerial vehicle, outer wings on the two sides are unfolded in a time-sharing unlocking mode, the outer wings on the side rotating backwards are opened firstly, so that rolling restoring torque is generated, and the rolling torque generated due to the incoming flow velocity difference on the wing surfaces of the wings on the two sides in the initial unfolding stage of a main wing is balanced; the invention further provides a method for determining the time-sharing unlocking time difference value t of the outer wings on the two sides, and the time difference value t is obtained through iterative calculation by taking the moment when the main wings are unfolded to be perpendicular to the fuselage and the roll angle of the unmanned aerial vehicle is 0 degree as a final target. The actual test flight result shows that the control method solves the problems that the attitude of the n-shaped folding wing unmanned aerial vehicle has large deviation and is difficult to recover after the n-shaped folding wing unmanned aerial vehicle leaves the cylinder, and stable flight of the n-shaped folding wing unmanned aerial vehicle is achieved.

The invention relates to the technical field of distribution line inspection, and discloses a distribution line unmanned aerial vehicle nest operation coverage capability evaluation method, which comprises the following steps: S1, planning a geographic information system and an unmanned aerial vehicle route; s2, a multi-mode positioning system; s3, dynamic communication priority adjustment; s4, optimizing the charging rate and the battery; s5, induction charging technology; s6, optimizing the route of the unmanned aerial vehicle; s7, performing unmanned aerial vehicle nest operation strategy and task allocation; s8, application of machine learning and artificial intelligence technologies in coverage capability evaluation; s9, performing real-time fault detection and early warning; the geographic information system and unmanned aerial vehicle route planning comprises the step of acquiring topographic features, building distribution and other information by using the geographic information system. By means of a geographic information system, route planning, multi-mode positioning, dynamic communication priority adjustment and the like, operation and maintenance cost can be reduced, existing resources and technologies are fully utilized, and efficiency, safety and reliability of the unmanned aerial vehicle in distribution line inspection and maintenance work are improved.

The utility model discloses a flapping wing structure of a flapping wing air vehicle, which belongs to the technical field of flapping wing air vehicles and comprises a plurality of flapping wing units, every two adjacent flapping wing units are rotatably connected through a hinge piece, and a connecting piece connected with a flapping wing air vehicle body is arranged on the side wall of the flapping wing unit at the front end. One side of the flapping wing unit at the tail end is gradually narrowed to form an arc-shaped wing tail; each flapping wing unit comprises a main frame body and side frame assemblies arranged on the two sides of the main frame body, the middle part of the main frame body is thickest and is gradually thinned towards the two sides, and the thickness of each side frame assembly is gradually reduced from one side to the other side along with the main frame body until a thin edge is formed. The form of the flapping wing is changed by hinging the flapping wing units, so that the flapping wing can be suitable for posture adjustment under different flight conditions, and the form can be changed in time to maintain the flight stability; and a plurality of repeated unit type structures are adopted, so that production and manufacturing are more convenient, and cost is saved.

A power transmission line inspection unmanned aerial vehicle with positioning and line tracking functions comprises an unmanned aerial vehicle body, rotors are installed above the unmanned aerial vehicle body, a flight camera is arranged on the front side of the unmanned aerial vehicle body, a binocular camera and a line laser transmitter are arranged at the bottom of the unmanned aerial vehicle body, and a power module, a GPS module and a wireless transceiver module are installed in the unmanned aerial vehicle body. The unmanned aerial vehicle has the positive effects that the precise positioning and line tracking functions of the power transmission line are realized, the unmanned aerial vehicle can be kept stable in the flying process, the balance of the vehicle body can be kept during clamping, and the hanging adaptability of the unmanned aerial vehicle on an iron tower is improved. The unmanned aerial vehicle is hung on the iron tower after completing the inspection task, the unmanned aerial vehicle can be successfully found for recovery operation according to the position of the iron tower even if the follow-up electric quantity is completely consumed, and the efficiency of the whole circuit inspection operation is effectively improved.

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 dynamic cooperative task planning method for a pilot / unmanned aerial vehicle cluster based on simulated protopigeon circling obstacle avoidance. The method comprises the following steps: step 1, initializing a dynamic cooperative task planning task scene of the pilot / unmanned aerial vehicle cluster of simulated protopigeon circling obstacle avoidance; 2, planning a homotopy path and a homotopy trajectory for the manned aerial vehicle in the task scene; 3, generating a static optimal homotopy trajectory cluster of the manned aerial vehicle / unmanned aerial vehicle based on a protopigeon circling hierarchy interaction mechanism; 4, generating a trajectory re-planning and dynamic optimal homotopy trajectory cluster based on a protopigeon collaborative obstacle avoidance mechanism; 5, outputting the trajectory tracking state of the current manned aerial vehicle / unmanned aerial vehicle in the dynamic cooperative task planning task scene of the active / unmanned aerial vehicle cluster imitating protopigeon circling obstacle avoidance; the method can support large-scale cluster planning control in a dense obstacle field, and is high in efficiency and good in robustness; little track energy consumption is ensured, and long-time stable flight of the cluster is facilitated; the method is high in practicability and good in real-time performance, and meets actual combat requirements.

The invention discloses a multi-rotor aircraft with lift-enhanced wings, which comprises rotor power devices, a fuselage for mounting airborne equipment and connecting the rotor power devices, and a pair of independent and controllable lift-enhanced wings, the high-lift wings are mounted on the fuselage; when the multi-rotor aircraft with the high-lift wings flies, a flight control algorithm controls the tilting angles of the high-lift wings according to the attitude and the flight speed of the aircraft, so that the high-lift wings are in a proper attack angle state, and proper lift force can be provided for the aircraft. The flying speed can be increased, the cruising ability is improved, and transportation and storage are convenient.

A vector tilting coaxial twin-rotor UAV is provided, which is composed of a fuselage (101), a power device (102) and a vector tilting device (103), wherein the power devices (102) and the vector tilting devices (103) on the left and right sides of the UAV are symmetrical and have completely the same structure. The problem of the rearward blade stalling caused by the high-speed forward flight of the UAV can be solved by the characteristics that the upper and lower rotors rotate at opposite speeds and the rearward blades are symmetrically located relative to the body; the roll moment generated by one rotor is balanced by the roll moment of the other rotor.

The utility model belongs to the field of water sample collection equipment, and particularly relates to a water sample collection pipeline telescoping mechanism, which comprises a mounting rack arranged on an unmanned aerial vehicle, a sampling pump, sampling equipment and a water pumping pipe which are respectively arranged on the mounting rack, and is characterized in that the mounting rack is also provided with a telescoping unit and a telescoping driving unit, one end of the water pumping pipe is connected with the telescopic unit and is arranged in an S shape along the telescopic unit, the telescopic unit has the degree of freedom of telescopic in the vertical direction by means of the telescopic driving unit, the telescopic mechanism can effectively reduce the influence of the water pumping pipe on the balance of the unmanned aerial vehicle when the unmanned aerial vehicle flies, and the length of the water pumping pipe can be adjusted according to the sampling depth; and the requirements of water sample collection at different depths are met.

The invention discloses a fire extinguishing bomb hanging mechanism for a heavy-load unmanned aerial vehicle, relates to the technical field of unmanned aerial vehicle application and fire fighting equipment, and aims to solve the problems that an existing fire extinguishing bomb hung on the unmanned aerial vehicle is poor in stability, single in throwing control, poor in adaptability and insufficient in safety. The system comprises a heavy-load unmanned aerial vehicle, a fire extinguishing bomb, a bomb loading cabin and an electric control system, the bomb loading cabin is mounted at the bottom of the heavy-load unmanned aerial vehicle, comprises bomb cabin upper and lower layer frames, a steering engine, a motor, a cabin door, a pin pulling rod and the like, and is used for fixing and delivering fire extinguishing bombs; the electric control system is electrically connected with each component, controls actions and interacts data; the mechanism is stable in mounting, accurate in bomb dropping, wide in adaptation, high in safety, capable of improving the fire extinguishing efficiency and reliability of the unmanned aerial vehicle and suitable for complex fire operation.

The utility model relates to the technical field of multi-rotor unmanned aerial vehicles, and discloses a multi-rotor unmanned aerial vehicle frame, which comprises an unmanned aerial vehicle main body, a landing buffer mechanism is arranged at the bottom of the unmanned aerial vehicle main body, the landing buffer mechanism comprises a positioning cylinder, a first spring is fixedly mounted at the top of an inner cavity of the positioning cylinder, and a second spring is fixedly mounted at the bottom of the inner cavity of the positioning cylinder. A positioning plate is fixedly mounted at the bottom of the first spring, damping rods are fixedly mounted on the left side and the right side of the top of the positioning plate, and the damping rods are fixedly connected with the positioning cylinder. The landing buffering mechanism is arranged, when the supporting base makes contact with the ground, the first spring can buffer impact force, the damping rod can prevent the first spring from rebounding repeatedly, the propeller mechanism is arranged, an inserting rod can be separated from an inserting block by pulling a pull ring, and therefore a propeller body can be conveniently detached, the pull ring is loosened, and the propeller body can be conveniently detached. And the second spring rebounds to drive the insertion rod to be inserted into the insertion block, so that the propeller main body is mounted.

The present invention relates to the technical field of unmanned aerial vehicles, and specifically to a machine vision autonomous navigation unmanned aerial vehicle for inspection tasks, comprising a frame, four motors are arranged in a divergent shape along the central axis of the frame, and the output shafts of the four motors are fixedly connected to blades, a four-in-one electric regulator is fixedly connected to the inside of the frame and is respectively connected to the four motor circuits, a flight control unit is fixedly connected to the top of the four-in-one electric regulator, an autonomous navigation module for controlling the flight control unit is fixedly connected to the inside of the frame, a high-definition camera is arranged inside the frame, a visual module for cooperating with the high-definition camera is fixedly connected to the inside of the frame, a connecting seat fixedly connected to the high-definition camera is arranged inside the frame, a support connected to the frame is arranged inside the connecting seat, an oil shell filled with lubricating oil is arranged inside the support, and a shock-absorbing component for buffering the connecting seat is arranged on the outer surface of the oil shell.

The present invention discloses a method, device, equipment and storage medium for controlling a drone cluster. The method comprises: obtaining drone cluster information and attribute information of high-altitude detection balloons that need to be inspected; based on the drone cluster information and the attribute information of the high-altitude detection balloons that need to be inspected, using a drone path planning algorithm to generate an initial drone inspection plan; with the number of iterations reaching a preset iteration number threshold as the goal, executing the following iterative steps to obtain multiple drone inspection plans, wherein the iterative steps comprise: randomly selecting a high-altitude detection balloon from the path of each drone in the drone inspection plan to form a new high-altitude detection balloon set; for the new high-altitude detection balloon set, using the drone path planning algorithm to generate a new drone inspection plan; calculating an evaluation value of each drone inspection plan; and controlling the drone cluster according to the drone inspection plan with the smallest evaluation value.