23results about How to "Stable flight" patented technology

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.

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 utility model relates to the technical field of shuttlecocks, and particularly discloses a feather piece structure and a shuttlecock thereof, the feather piece structure comprises a feather connecting column, one end of the feather connecting column is provided with a base inserting part, the other end of the feather connecting column is integrally provided with a first feather piece, and one side of the first feather piece is at least provided with a layer of second feather piece. At least one layer of second feather piece and the feather connecting column are of an integrated structure; according to the feather piece structure and the shuttlecock thereof, the first feather piece and the at least one layer of second feather piece are arranged on the feather connecting column, so that at least two layers of feather pieces are formed, the at least two layers of feather pieces can be opened, closed and swung under the action of airflow in the flying process of the shuttlecock, the flying of the shuttlecock is more stable, and the service life of the shuttlecock is prolonged. In addition, under the condition that at least two layers of feather pieces are arranged, after the situation that a single layer of feather piece is damaged or split occurs, the flight path can be kept, and the durability is higher.

The utility model discloses a kind of air-jet loom auxiliary nozzle groups of enhanced airflow, it is related to the technical field of auxiliary nozzle of air-jet loom.The utility model includes outer thread pipe, the outer thread pipe top is fixedly connected with air jet seat, the air jet seat top is fixedly connected with mounting seat, the mounting seat top is fixedly connected with connecting pipe, the first shrinkage cavity is arranged in the mounting seat inner chamber, the connecting pipe is fixedly connected with shrinkage tube with the end away from the mounting seat.The utility model is compressed air by outside through the first shrinkage cavity of mounting seat, completes first acceleration, then, through the second shrinkage cavity of shrinkage tube, realize the second acceleration of airflow, then, through transition pipe, complete third acceleration, finally, airflow is sprayed through the side of flat tube gradually shrinkage type small circle air outlet, because small circle air outlet length is less than the wall thickness of flat tube and aperture is reduced from inside to outside in flat tube, realize fourth acceleration, by compressed air four times acceleration, form high-speed airflow beam to drag weft yarn.

This invention relates to the field of motor technology and discloses a high-power-density permanent magnet motor for unmanned aerial vehicles (UAVs). The motor includes a stator with a winding section and a frequency conversion section. The winding section is arranged in a ring array around the center of the stator, allowing for different coil combinations on a single winding. The winding section includes slots A, B, and C. Slot A is located on the inner wall of the stator, while slots B and C are located on the stator itself. The inner wall of the stator also has inlet holes A, B, and C. Inlet holes A and B communicate with slot A, and inlet holes B and B communicate with slot B. The motor employs a wide-range speed control to adapt to UAV operating conditions, featuring a six-speed adjustment function. The rated speed ranges from 8 r / min (8 Hz) to 48 r / min (48 Hz), and the speed ratio can reach 1:8 during weak field operation. This allows for precise matching of the power requirements of different stages of UAV operation, such as takeoff, cruise, and high-speed flight, achieving full operating condition coverage without motor replacement.

The invention belongs to the technical field of path planning, and more specifically relates to a limited space unmanned aerial vehicle bridge simulation inspection path planning method. The method comprises the following steps: sensing and subscribing point cloud information of an environment by an unmanned aerial vehicle, wherein the point cloud information comes from a laser radar, a depth camera or a fusion point cloud; filtering: carrying out point cloud noisy point self-adaptive multi-level filtering on the point cloud information, executing nine-step self-adaptive noisy point filtering, and outputting filtered point cloud and a free space F; planning and bridge-imitating inspection path generation are carried out, an initial path is generated through a narrow channel RRT *, a safe flight inspection corridor SFIC is constructed, and a middle bridge-imitating inspection path is generated in the SFIC in an optimized mode. The problems of insufficient environmental perception precision, low safety and efficiency of path planning, lack of dynamic adaptability of path planning and low path quality during the inspection process of an existing unmanned aerial vehicle in a limited space in a bridge are solved.

The invention discloses a low-orbit satellite orbit maintenance method and system under GNSS denial, and the method comprises the following steps: S1, enabling a satellite to enter a nominal orbit, collecting the atmospheric density data of the satellite in real time through an atmospheric density sensor, and calculating the windward side flight resistance of the satellite and the side flight resistance of the satellite according to aerodynamics; s2, reasonably selecting the thruster ignition time of the satellite according to the service working period of the satellite; s3, the resistance impulse is calculated according to the flight resistance of the satellite, and the working duration and the working thrust required by the thruster are calculated according to the resistance impulse of the satellite; and S4, realizing stable flight of the satellite in a low orbit through closed-loop feedback control of the satellite. The problem that the satellite autonomously completes orbit attenuation compensation without depending on an external navigation means is achieved, and the survivability of the satellite in a low orbit is enhanced.

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 application discloses a three-axis symmetrical multi-rotor frame. The three-axis symmetrical multi-rotor frame comprises a fuselage, a control module and a battery are arranged on the fuselage, a landing gear is arranged below the fuselage, a rotor arm is arranged on a side wall of the fuselage, a power system is fixed to an outer end of the rotor arm, and the battery is electrically connected with the power system. The application adopts a symmetrical design mode of upper and lower layers of a three-axis machine type, and provides power for six rotors through two independent motors respectively, so that the purpose that the non-coaxial rotors can still stably fly when damaged is achieved, technical effects of power redundancy and safety are realized, and the technical problem of unmanned aerial vehicle falling and being damaged due to rotor damage is solved.

The utility model relates to an unmanned plane technical field, and disclose an unmanned plane flight anti -collision device, including unmanned plane main part, the four around of unmanned plane main part fixed have rotor anti -collision mechanism, the rotor anti -collision mechanism includes rotor support, one end of rotor support is fixed with motor seat, and the bottom of motor seat is fixed with station foot stand. The utility model discloses through the rotor support and rotor seat and outer buffer ring of four around distribution of unmanned plane main part, can form the protection to the four around of rotor blade through rotor seat and the top fixed top outer cover, and rotor seat and top outer cover all adopt the open -work structure, do not affect the normal driving flight of unmanned plane, reduce the quality of self simultaneously, and the elastic extension and buffer sleeve of telescopic link elastic extension and buffer sleeve of cooperation rotor seat four around ring cloth connection form the damping effect when knock, cooperate the buffer protection of four around direction of outer buffer ring, can provide multi -angle multidirectional protection in the flight process, avoid the influence that rotor is received, keep the steady flight process.

In a method for introducing and pulling back a weft thread (5) at a weaving machine (1), the weft thread (5) to be introduced is temporarily stored on a bobbin (8), wherein during the temporary storage the weft thread (5) is fixed on the bobbin (8) by a fixing element (11) which is located in a fixed position, the weft thread (5) is released for the weft insertion, wherein the fixing element (11) is moved from the fixed position into a release position and the weft thread (5) is unwound from the bobbin (8) in an unwinding direction and introduced with formation of a thread loop. The weft thread (5) is pulled back after the weft insertion has been completed by means of a pulling back device (9). Here, the weft thread (5) is gripped and pulled back in the area of the thread loop behind the fixing element (11) in a picking position. In a corresponding pre-twist device (7) for a weaving machine (1), the pulling back device (9) is arranged behind the fixing element (11) in the thread run in the pre-twist device (7) and the pulling back device (9) has a driving element (13) for the weft thread (5), which grips the weft thread (5) in the picking position. A corresponding weaving machine (1) has a weft insertion system (4) and such a pre-twist device (7).

The utility model relates to a kind of unmanned aerial vehicle structure of front and rear wing coordinated control, including bearing shaft, bearing shaft is equipped with installation slot, installation slot is equipped with installation shell, installation shell is fixed with mounting plate, full-actuated steering gear is installed on mounting plate, installation shell is fixedly connected with baffle, baffle is equipped with wing movable link key, wing movable link key is externally rotatably equipped with rudder connecting piece, rudder connecting piece is fixedly connected with extension plate, extension plate is rotatably connected with eccentric wheel connecting rod, and pull rod is arranged between full-actuated steering gear and eccentric wheel connecting rod;By starting full-actuated steering gear, drive pull rod relative movement, to indirectly drive rudder connecting piece rotation, to realize the deflection of different angles of front and rear wing surface, realize the adjustment wing surface aerodynamic distribution of unmanned aerial vehicle, so that unmanned aerial vehicle can respond in time when low-altitude flight, hovering or big maneuvering attitude adjustment, improve the maneuverability and control performance of unmanned aerial vehicle.

The utility model discloses a precise area air floating platform made of a porous material and an ink-jet printer. The precise area air floating platform comprises an air floating plate, wherein the air floating plate is a porous plate; a plurality of air floating blocks are uniformly distributed on the air floating plate, the air floating blocks are positive pressure areas, and the negative pressure area is positioned in the middle of the positive pressure area. The air floating platform is simple in structure, can be produced and manufactured by adopting a common machining mode, and is low in manufacturing cost; and the positive pressure area is of a porous plate structure, and the positive pressure airflow is stable after passing through the positive pressure area, so that the substrate can be stably conveyed.

The application discloses a coaxial unmanned aerial vehicle variable speed and variable pitch control method and device, an unmanned aerial vehicle and a storage medium. The method comprises the following steps: acquiring current flight state data and target flight instructions of the unmanned aerial vehicle; determining the deviation of the target flight instructions and the flight state data, and calculating the total lift demand and the attitude control moment demand of the unmanned aerial vehicle based on the deviation; based on the total lift demand and the attitude control moment demand, the target rotating speed and the target pitch angle of the upper rotor and the lower rotor are solved according to a pre-constructed rotating speed and pitch angle collaborative distribution model, with the minimum power consumption of the power motor as the target; the target rotating speed and the target pitch angle are converted into motor PWM signals and rudder control signals respectively, and are output to the power motor and the rudder of the coaxial unmanned aerial vehicle. The above scheme can improve the control precision of the coaxial unmanned aerial vehicle, improve the response speed, enhance the adaptability to complex working conditions, optimize the energy efficiency and improve the safety.

This invention discloses a remote-controlled paper airplane. The main body has symmetrically fixed long rods on both sides, with hollow motor mounting cylinders at the ends of the rods. A motor is fixed inside the motor mounting cylinder, and a left propeller and a right propeller are fixedly connected to the motor shaft. The main body has a first cavity and a second cavity in the middle, used to fix the battery and control board, respectively. The bottom of the main body has a landing gear groove, and the landing gear is detachably connected to the groove. Wheels are rotatably connected to both sides of the landing gear. A protruding plate on the bottom of the main body has protrusions that abut against the landing gear to prevent it from falling off when installed in the groove. The upper part of the main body has an airplane support frame with a long groove in the middle for mounting the paper airplane folded from thin material. Support strips extend symmetrically from both sides of the airplane support frame. This invention has a simple overall structure, low cost, and is safe and reliable, making it suitable as a remote-controlled toy for children and teenagers, improving the product's versatility and flexibility.

The utility model provides an unmanned aerial vehicle pesticide spraying device with an adjustable nozzle angle, and relates to the technical field of unmanned aerial vehicle pesticide spraying, the unmanned aerial vehicle pesticide spraying device comprises a fixing frame used for being fixed on an unmanned aerial vehicle, the bottom of the fixing frame is provided with an L-shaped pipe, and a downward port of the L-shaped pipe is movably provided with a connecting pipe which is coaxially arranged; the two supporting frames are symmetrically and fixedly installed on the pipe wall of the outer side of the connecting pipe, and the gear, the connecting frame, the spray heads and the hose are symmetrically arranged relative to the connecting pipe, so that counter-acting force generated when the two spray heads spray out can counteract mutually, and the flight stability of the unmanned aerial vehicle cannot be affected; in addition, symmetrical gears, hoses and nozzles can guarantee balance and stability of the whole device, and stable flight of the unmanned aerial vehicle is guaranteed.

This application provides a drone control method and electronic device. The method includes: acquiring first position information of a first drone and second position information of each second drone; determining first neighborhood information and a first local map based on the first position information and the second position information of each second drone; constructing a target graph structure corresponding to the first drone based on the first position information, the second position information, the first neighborhood information, and the first local map, and determining the node feature information and edge feature information of the target graph structure; inputting the target graph structure corresponding to the first drone, the node feature information, and the edge feature information of the target graph structure into a pre-trained flight decision model to obtain flight control information of the first drone; and controlling the flight of the first drone based on the flight control information of the first drone. This application enables stable flight of the first drone in situations such as dense encounters of multiple drones and complex obstacles.

The application discloses a modular reconfigurable coaxial aircraft, controllability analysis and control redistribution method. The aircraft comprises a flight unit module. The controllability analysis method comprises the following steps: obtaining a control distribution matrix of the modular reconfigurable coaxial aircraft according to the up and down propeller rotation directions of each flight unit module in the modular reconfigurable coaxial aircraft; obtaining an actuator efficiency loss matrix according to the state of the up and down propeller actuators; obtaining a control distribution matrix considering the actuator state according to the control distribution matrix and the actuator efficiency loss matrix; and performing controllability analysis according to the control distribution matrix considering the actuator state. The application provides the modular reconfigurable coaxial aircraft which can be quickly disassembled and randomly combined. The application also provides a mathematical modeling method, performs controllability analysis on the reconfigurable coaxial aircraft, and provides a control redistribution method, so that the reconfigurable coaxial aircraft has a certain fault tolerance.

The invention provides a multi-aircraft electric power emergency phased array cooperative route planning processing method and system, and relates to the technical field of electric power communication, and the method comprises the steps: 1, controlling an unmanned aerial vehicle group equipped with phased array communication equipment, carrying out the cooperative scanning of a fault target region of a power transmission line, and obtaining an unmanned aerial vehicle group; preliminary positioning information of a fault target is obtained through phased array beam forming and target locking; and 2, dynamically extracting spatial configuration parameters based on the preliminary positioning information, analyzing the local change rate of the spatial configuration parameters, setting a change threshold, identifying key turning points in the evolution trend of the spatial configuration parameters, and calculating dynamic compensation parameters by combining the incidence relation among the spatial configuration parameters and the characteristics at the turning points. According to the invention, dynamic collaborative route planning of the unmanned aerial vehicle group in complex terrain power emergency is realized, and route adaptability and task execution safety are improved.

This invention relates to a flight control method and system for unmanned aerial vehicles (UAVs) based on fused altitude, comprising the following steps: after controlling the UAV to leave the ground, obtaining a first fused altitude H(k) based on a barometer mounted on the UAV; controlling the UAV to fly based on the first fused altitude H(k) until the first fused altitude H(k) ≥ the ground clearance H. G At that time, the second fused altitude H(p) is obtained based on the laser altimeter and barometer mounted on the UAV; and when the first fused altitude H(k) ≥ the ground altitude H G The drone is continuously controlled based on the second fused altitude H(p). This invention allows for the selection of corresponding altitude fusion strategies when the drone is at different altitudes, maximizing the accuracy of the altitude fusion results and thereby controlling the drone's safe and stable flight based on high-precision altitude information.

The utility model provides a kind of sanitary emergency unmanned aerial vehicle machine dog hoisting mechanism, the sanitary emergency unmanned aerial vehicle machine dog hoisting mechanism includes fixed frame, sliding block, connecting frame and quick release mechanism.The utility model provides sanitary emergency unmanned aerial vehicle machine dog hoisting mechanism, by being provided with fixed frame, the both ends of fixed frame are used to be fixed to the bottom of unmanned aerial vehicle, and two sliding blocks are installed on fixed frame, and connecting frame is detachably installed on the two sliding blocks.The bottom end of connecting frame is fixedly installed on machine dog.When machine dog is installed on unmanned aerial vehicle, fixed frame can be first fixed to unmanned aerial vehicle.Connecting frame is connected to the top of machine dog, and connecting frame is inserted and installed on sliding block by adjusting the position of sliding block, to realize the connection of machine dog and unmanned aerial vehicle.The position of two sliding blocks is synchronously adjusted, so that the center of gravity of machine dog approaches the center position of unmanned aerial vehicle, so that unmanned aerial vehicle can fly stably, and the stability in flight process is guaranteed.