419results about How to "Stable posture" patented technology

The invention discloses an ARM (advanced RISC (reduced instruction set computer) machines) and FPGA (field-programmable gate array) based navigation and autonomous flight control system for an unmanned helicopter. The system comprises a PC (personal computer), an integrated navigation subsystem, a power supply module and controllers, wherein the integrated navigation subsystem comprises a sensor group; the sensor group comprises a GPS (global positioning system), a gyroscope, an accelerometer, a magnetoresistive sensor, a barometric altimeter and a sonar altimeter; the controllers include a main controller and a steering engine controller; the main controller adopts an ARM microprocessor to operate the integrated navigation algorithm and flight control PID (proportion integration differentiation) algorithm and simultaneously completes data acquisition of the GPS, the barometric altimeter and the sonar altimeter; and the steering engine controller adopts an FPGA to realize data acquisition of the gyroscope, the accelerometer and the magnetoresistive sensor and transfers the data to the main controller via a concurrent bus to carry out attitude calculation and control operation on the unmanned helicopter. With the unmanned helicopter as a carrier, the hardware environment of a whole set of flight control system integrating study of the aircraft navigation and control theory problem, data acquisition, information transfer and embedded control is set up.

The invention discloses a handheld triaxial head comprising two motors, an X-axial motor and a Y-axial motor. The two motors are orthogonally distributed in s pace. The X-axial motor is used for controlling pitching; the Y-axial motor is used for controlling rolling. A rotor of the X-axial motor is connected with a carrier; a stator of the X-axial motor is connected with a rotor of the Y-axial motor. The handheld triaxial head is characterized by further comprising a Z-axial motor which is orthogonal to the X-axial motor and the Y-axial motor in space; the Z-axial motor is used for controlling heading axial motion. A rotor of the Z-axial motor is connected with a stator of the Y-axial motor. A stator of the Z-axial motor is connected with a handheld portion. The handheld triaxial head can be held by hand or mounted on other moving platforms; the problem that video recording is unstable and bad due to the fact that a miniature camera may shakes during shooting in motion is solved.

The invention discloses a target tracking method. The method comprises the steps that the high-precision three-dimensional space coordinate of a target is acquired; a high-precision positioning and attitude determination system is used to acquire the high-precision three-dimensional space coordinate and the attitude of a load in real time; according to the moving speed of the load and the geometric position relationship between a GNSS antenna and a camera in the high-precision positioning and attitude determination system, the three-dimensional space coordinate of a camera projection center is calculated; according to the three-dimensional space coordinate of the camera projection center and the three-dimensional space coordinate of the target, the target azimuth angle and the target attitude angle of the target are calculated; according to the target azimuth angle and the target attitude angle, the prediction attitude of a camera is calculated; the attitude of the camera is adjusted to the prediction attitude; and at an exposure position, the target is shot. The prediction attitude of the camera is adjusted in advance, which ensures that the attitude of the camera maintains stable in an exposure process, and a shot image is clear. The azimuth angle and the attitude angle of the camera are corresponding to the azimuth angle and the attitude angle of the target, which ensures that the target is at the middle position of the image shot by the camera.

The invention discloses a following shot control method and device of a cradle head and the cradle head; the cradle head is used for installing a photographic device; the method comprises the following steps of receiving a video image acquired by the photographic device and determining a following shot target of the video image; acquiring first motion information of the following shot target according to the position information of the following shot target in each frame of the video image; acquiring current position information of the following shot target; calculating predicated position information of the following shot target according to the current position information and the first motion information; and acquiring second motion information of the cradle head and adjusting the posture of the photographic device according to the predicted position information and the second motion information. According to the method, in the following shot process, the positions of the followingshot target can be kept consistent in the video image, so that the shot pictures are stable and coherent during the following shot process.

The invention discloses a large-torque magnetic suspension flywheel, which can be used as an execution mechanism for attitude stabilization and attitude maneuver of spacecrafts such as a satellite, an earth observation platform and the like. The magnetic suspension flywheel mainly consists of a base, a sealing cover, a radial decoupling conical magnetic bearing assembly, a core shaft, a rotor assembly, a Lorentz force magnetic bearing assembly, a motor assembly, a sensor assembly and the like. The core shaft is positioned in the center of the wheel body, a stator assembly is positioned at theradial outer side of the core shaft, the rotor assembly is arranged at the radial outer side of the stator assembly, the rotor assembly consists of a wheel flange and a wheel hub, and the Lorentz force magnetic bearing assembly consists of a magnetic bearing stator part and a magnetic bearing rotor part; an adapter plate is connected with the core shaft, the stator assembly and a motor stator; and the sensor assembly consists of a sensor shell and a sensor. The components of the flywheel are arranged reasonably and compactly, the flywheel can be used for attitude stabilization of the spacecraft, and attitude maneuver of the spacecraft can be realized by using large control torque provided by gyroscopic effect of the magnetic suspension flywheel.

The invention discloses an underwater vehicle with the water jet propulsion technology adopted. The underwater vehicle comprises an underwater propulsion device (10) and a control system. The underwater propulsion device (10) comprises a tail portion (13), a water inlet disk (11) and a head portion (12) which are sequentially arranged from left to right. A jet which is used for providing propulsion power is respectively formed in the tail portion (13) and the head portion (12). The water inlet disk (11) is provided with a water inlet used for sucking water and a high-pressure pump used for converting sucked-in water into high-pressure water flow, and the high-pressure pump is respectively connected with the jets through pipelines. Propulsion power on the jets is provided by the high-pressure water flow obtained from the conversion by the high-pressure pump. The caliber of the water inlet (110) of the water inlet disk is larger than the caliber of the jets. Electromagnetic valves are arranged on the pipelines between the jets and a water outlet (115) of the high-pressure pump. Both the high-pressure pump and a water control device are connected with the control system mutually.

The invention discloses a high-reliability unmanned aerial vehicle with tilt rotors. The high-reliability unmanned aerial vehicle comprises a rack, wherein a flight control system is arranged at the center of the rack, the rack is a Y-shaped rack formed by abutting three same arms, and one group of electric power units which is electrically connected with the flight control system and can set angle by rotating is arranged at the end part of each arm. Each electric power unit comprises a motor base rotatably connected to the end part of each arm, a permanent magnet brushless direct current motor fixed on the motor base, a rotor connected to an output shaft of the permanent magnet brushless direct current motor, and a motor steering server which is connected to one side of the motor base and used for driving the motor base to rotate by taking the arm as a shaft, and the input ends of the permanent magnet brushless direct current motor and the motor steering server are electrically connected with the output end of the flight control system. The high-reliability unmanned aerial vehicle has a capacity of keeping the attitude stable after certain rotor fails, and is variable in structure, for example, a three-rotor horizontal structure can be converted into a dual-rotor vertical structure so that the projection area can be reduced, thereby being suitable for flight in a limited space.

The invention relates to a four-rotor unmanned aerial vehicle tolerant control method, and provides a tolerant controller. When an actuator is partially failed, a four-rotor unmanned aerial vehicle is still stable. According to the technical scheme provided by the invention, a tolerant control method for partial failure of the four-rotor unmanned aerial vehicle actuator comprises the steps that the principle of the action of the actuator on the four-rotor unmanned aerial vehicle is analyzed; an unknown diagonal matrix is used to represent the influence of the failed actuator on the dynamics characteristic; by taking into account the disturbance of external unknown disturbance torque, a nonlinear dynamics model of the partially failed four-rotor unmanned aerial vehicle actuator is acquired; and an analysis method based on Lyapunov is used to prove that the whole closed-loop system shown by a formula (12) is asymptotically stable, namely when time tends to be infinite, an attitude angle eta tends to a target attitude angle eta d. The method provided by the invention is mainly used for four-rotor unmanned aerial vehicle tolerant control.

The invention provides a four-rotor unmanned aerial vehicle route following control method based on deep reinforcement learning. The method comprises the following steps of firstly, establishing a Markov model of a four-rotor unmanned aerial vehicle route following deep reinforcement learning algorithm, and then performing deep reinforcement learning by adopting a deep deterministic policy gradient (DDPG) algorithm. The problems of relatively low control precision, continuous control incapability, unstable learning process and the like in a conventional method based on reinforcement learning are solved, and high-precision four-rotor unmanned aerial vehicle route following control is achieved. According to the method, the reinforcement learning is combined with a deep neural network, so that the learning ability and the generalization ability of the model are improved, and the complexity and carelessness of manually operating flight of an unmanned aerial vehicle in the uncertainty environment are avoided, so that completion of a route following task by the unmanned aerial vehicle is safer and more efficient; and meanwhile, the method has good application prospects in scenes of unmanned aerial vehicle target tracking, autonomous obstacle avoidance and the like.

The invention relates to the technical field of automatic control, in particular to a four-rotor aircraft attitude control method and system based on sliding-mode control law and ESO. The method includes: using a sliding-mode control method to the three attitude angle loops of four rotors; using the ESO to estimate total system disturbance in real time; combining the sliding-mode control with the ESO to achieve attitude control of a four-rotor aircraft. Compared with an existing attitude control method, the method has the advantages that attitude stability of the four-rotor aircraft can be achieved, good tracking performance on attitude angle instructions is achieved, and high disturbance resistance is achieved as compared with common sliding-mode control.

The invention relates to an underwater hybrid-power robot platform which comprises a housing, a mainframe cabin and a motion control cabin. The outer contour of the housing is in shape of bionic fish,one end of the housing is connected with a bionic fish tail structure, and propellers are arranged on two sides of the housing. The side, close to the front end of the housing, of the mainframe cabinis connected with a camera, and an electronic compass and a controller are arranged in the mainframe cabin. A pitching gravity center adjusting mechanism is installed in the motion control cabin. Thepropellers, the electronic compass and the pitching gravity center adjusting mechanism are electrically connected with a battery cabin. The underwater hybrid-power robot platform adopts the hybrid-power driving design of the propellers and the bionic fish tail structure, and the operating capability of a robot in a complicated ocean current environment is greatly improved. The underwater hybrid-power robot platform can carry multiple types of detection devices, can meet complicated task demands, can performs operations such as water quality extraction, detection and photography, can sample and detect water at different depths through a water pumping cabin and has a wide application prospect.

The invention relates to the quadrotor unmanned aerial vehicle fault-tolerant control, and aims to realize attitude stability under the condition of an actuator fault of a quadrotor unmanned aerial vehicle. The technical scheme adopted by the invention is that an observer-based quadrotor unmanned aerial vehicle fault-tolerant control method includes the following steps: first defining an inertia coordinate system {I}, a body coordinate system {B} and a target coordinate system {Bd}, and through analysis of an action principle of the actuator on the quadrotor unmanned aerial vehicle, an unknown diagonal matrix is utilized to represent influence of an actuator fault on kinetic characteristics of the quadrotor unmanned aerial vehicle, and a nonlinear kinetic model when a fault occurs in the quadrotor unmanned aerial vehicle actuator is obtained; a unit quaternion-based attitude representation method is adopted; and an observer technology based on an immersion-invariant set method is adopted to observe the actuator. The observer-based quadrotor unmanned aerial vehicle fault-tolerant control method provided by the invention is mainly applied to quadrotor unmanned aerial vehicle design and control occasions.

The invention discloses a calculation method of a tilt corridor of a tilt four-rotor aircraft with periodic variable pitch at constant rotational speed, which comprises the following steps: establishing flight mechanics models of various parts of the aircraft, converting all forces and moments into a body shaft system, and establishing a six-degree-of-freedom balance equation; determining the tiltcontrol mode; solving the upper and lower boundaries of the pitch angle by taking the lift characteristics of the wing as the limiting factor; obtaining the control variables and attitude angles under different state conditions by optimal trimming; finding the corresponding wing lift characteristic limit minimum speed boundary and wing lift characteristic limit high speed boundary; obtaining theavailable power limiting high-speed boundary by solving the required power at different state points. The invention is based on a flight mechanics model, takes into account the parameters of each aspect of the aircraft design, and reflects the specific attributes of each feasible flight point. The invention is also applicable to the tilt corridor calculation of tilt four-rotor aircraft under different control modes.

The invention relates to a bionic galloping robot based on a connecting rod mechanism. The bionic galloping robot is characterized by concretely comprising a robot body (a), a track marching module (b), a galloping mechanism module (c) and a power module (d), wherein the robot body (a) consists of two quadrilateral pierced metal plates with the shape similar to a trapezoid and is used for fixing and installing other parts of the robot; the track marching module (b) mainly comprises two damping pins, a pair of damping springs and three pairs of crawler wheels; the galloping mechanism module (c) mainly comprises thighs, shanks, soles, foot connecting rods and shank connecting rods; and the power module (d) can be divided into two submodules i.e. a unidirectional transmission gear set and an automatic energy storage and release mechanism submodule. The robot can cross a higher obstacle and jump on a higher step on one hand and abandon a pure and complete simulation principle on the other hand. A jumping mode of the robot is combined with a machine track marching mode with convenience, rapidness and strong terrain adaptability, therefore, the bionic robot has the super strong obstacle-surmounting ability.

The invention belongs to the technical field of agricultural machinery, and particularly relates to an automatic profiling intelligent spraying device and method suitable for the terrain of a citrus garden. The spraying device can easily improve the liquid pesticide distribution uniformity of fruit trees in a hillside orchard, improve the pesticide applying efficiency and relieve the labor intensity of operators. By means of the intelligent adjusting spraying rod structure with a crawler type chassis electric vehicle as the driving carrier and capable of rotating a target by 360 degrees, through sensing detection and variable control, intelligent profiling spraying is realized, the purpose of preventing and treating disease and insect pest pollution of a Gannan citrus garden can be easilyrealized, and the technology and equipment support is provided for safety production of the fruit industry in China.

A bicycle seat supported generally by a tubular V-shaped configuration with an offset seat post to allow for padded leg cradle supports, padded handles and adjusting handle grip bars. The bottom of the ergonomically designed offset walker frame has an adjustable rubber tip for height adjustment. The seat is on a fixed top post. The position can be adjusted up and down in height, forward and back and front to back. Using the handle grips the user can straddle the bicycle seat and rest the injured limb on the leg cradle supports without having to strap the injured limb to the walker frame. The walker frame has been ergonomically designed for balance. The tubular construction is comprised of a number of offsetting bends and spacers, which offset the leg cradle to the proper distance for comfort and balance. The padded handles are forward of the seat with rotating handle grip bars on the ends of the padded handles which gives the user more comfort and better control when using the walker frame making it possible to maintain better balance. The hands and wrists keep the frame in a vertical position and maintain control over the stabilization foot for better balance. The offset bends in the frame move the stabilization foot out of the way of the good leg and foot making for a less cumbersome and more comfortable natural stance. The stabilization foot is under the injured limb giving the injured user better balance, which improves comfort and makes for a simple easy to use walking device.

The invention discloses a land-air four-rotor-wing unmanned aerial vehicle capable of rolling on the ground, and belongs to the technical field of four-rotor wing unmanned aerial vehicles. The land-air four-rotor-wing unmanned aerial vehicle capable of rolling on the ground comprises a four-rotor-wing mechanism, a flexible spherical shell mechanism and a control system; the four-rotor-wing mechanism and the flexible spherical shell mechanism are connected in a coupled mode through rotating shafts and bearings, the four-rotor-wing mechanism is made of carbon fibers, the flexible spherical shell mechanism is made of a polyformaldehyde material, and the bearings are made of plastic; the four-rotor-wing mechanism is composed of a base, long shafts, short shafts, installation frames, drive motors and rotor wings, and the control system is arranged in the base; the flexible spherical shell mechanism is composed of two fixing seats and multiple arc-shaped flexible rods, the centers of the arc-shaped flexible rods are provided with rolling rings, and the arc-shaped flexible rods are inserted into the rolling rings in a penetrating mode; the control system comprises a storage battery, a control assembly and a sensor system. The four-rotor-wing unmanned aerial vehicle is wide in application range and can fly randomly, roll and freely walk on the ground and be prevented from being damaged after falling from the high attitude.

The invention discloses a buffer and walking integrated landing device. Several buffer and walking integrated mechanisms are installed on the side wall of the landing device, and each buffer and walking integrated mechanism includes a body connecting plate assembly, a mechanical leg assembly, a buffering and driving integrated primary vibration reducer, buffering and driving integrated auxiliary vibration reducers, a knee joint locking device and a foot pad. Each body connecting plate assembly has the degree of freedom on medial rotation and lateral rotation; each mechanical leg assembly has the degree of freedom on the external swinging, retraction, anteflection and backward extension of hip joints, the stretching and bending of knee joints and the like; each buffering and driving integrated primary vibration reducer, each left buffering and driving integrated auxiliary vibration reducer, and each right buffering and driving integrated auxiliary vibration reducer achieve buffering or driving between the corresponding mechanical leg assembly and the corresponding body connecting plate assembly; the knee joint locking devices achieve flexible movement. The buffer and walking integrated landing device makes up for the shortcomings of a current movable landing device in the aspects of movement flexibility, use convenience and the like, and is extremely excellent in landing device body posture control capability and obstacle surmounting capability in the movement process.

The invention provides a satellite micro-vibration test multi-point suspension system and a design method thereof. The method utilizes the excellent longitudinal low-rigidity characteristic of elastic ropes to design a frequency of the suspension system according to an intrinsic frequency of a suspended object, selects the number and rigidities of the suspension elastic ropes and analyzes difference and similarity of a single-point suspension method and a multi-point suspension method so as to obtain the characteristics and the composition of the suspension system suitable for different working conditions and simulate an in-orbit state of a satellite to fulfill the aim of a micro-vibration test. The suspension method has various forms, is flexible to design and is convenient and rapid to set up; the number and the suspension positions of the suspension elastic ropes can be changed according to the specific test conditions; and the design method is widely applied, is convenient for interface design, effectively utilizes the space and has higher universality.

The invention discloses a dual-axis anti-shake camera module. The dual-axis anti-shake camera module comprises a deflection structure combination, a camera module and a stable control combination; thedeflection structure combination comprises a casing, an upper elastic support body, a lower elastic support body, coils and permanent magnets; the camera module is embedded in the upper elastic support body and the lower elastic support body, and suspends in the casing; the coils are mounted on an outer wall of the camera module; the permanent magnets are disposed on the inner wall of the outer casing corresponding to the coils; and the bottom of the camera module is connected with the stable control combination. The invention also discloses a control method for a dual-axis anti-shake cameramodule, which uses an inertial sensor to sense the angular velocity of biaxial motion of an image sensor, obtains a driving output by running a feedback control algorithm, drives the coils to drive the image sensor to deflect, captures image data information, and performs data processing and output. The invention has the advantages of compact structure, small appearance, low cost, firmness and reliability, stable image performance, no image loss, and is suitable for motion photography.

The invention discloses a multi-region traversal path planning method for an autonomous underwater vehicle, and the method comprises the steps: (1) generating a local region path based on a local region traversal method, and carrying out the statistics of all possible traversal starting points of each local region; (2) analyzing an optimal traversal sequence and an optimal traversal starting pointof each local area based on an L-SHADE optimization method; and (3) combining the local traversal paths according to the obtained optimal traversal starting point position and the optimal traversal sequence to generate an optimal traversal path. According to the scheme, the turning frequency of the underwater vehicle is effectively reduced through the optimization steps, so that the task execution process of the underwater vehicle is easier to control, and the posture is more stable. By constructing a fitness function and calculating and optimizing through an L-SHADE optimization method, it is guaranteed that the optimal region traversal sequence and the optimal local region traversal starting point are obtained, and in conclusion, the method is less affected by the position of the task starting point, is efficient and stable, and has high practical application value.

The invention relates to the technology of three-rotor wing unmanned aerial vehicle fault-tolerant control. In order to research a posture control problem when a three-rotor wing unmanned aerial vehicle has a steering engine blockage fault, a technical scheme adopted by the invention is a fault-tolerant control method for the three-rotor wing unmanned aerial vehicle steering engine blockage fault. The method comprises the following steps of defining an inertial coordinate system {I}, a body coordinate system {B} and a target coordinate system {Bd}, analyzing an action principle of a steering engine to the three-rotor wing unmanned aerial vehicle and considering the influence of external disturbance to dynamic characteristics, so as to obtain a non-linear dynamical model when a three-rotor wing unmanned aerial vehicle actuator has a fault, and designing a corresponding observer and a corresponding controller. The method is mainly applied to a three-rotor wing unmanned aerial vehicle control occasion.

A 9RR-12URU-3URU symmetrical extendable basic unit mechanism includes 10 face plates, 9 swing rods with equal lengths, 6 folded rods I, 6 folded rods II, 3 folded rods III, 33 revolute pairs (R) and 30 Hooke joints (U). Six of the face plates at the periphery in the upper layer are connected with the central face plate through the folded rods I and are connected with each other through the folded rods II. Three of the face plates in the lower layer are connected to each other through the folded rods III. Each of the folded rods is formed by connecting two connecting rods of equal lengths through one of the revolute pairs, and two ends of the folded rod are connected with the face plates through the Hooke joints. Each of the face plates in the lower layer is connected with the central face plate and two of the face plates at the periphery in the upper layer through three of the swing rods. Two ends of each swing rod are connected with the face plates through the revolute pairs. The central face plate and the face plates at the periphery in the upper layer are on the same spherical surface and form a regular hexagon with the face plates at the periphery as vertices. The mechanism is simple in structure, high in rigid, and easy for implementation of engineering manufacture. The mechanism can fold all face plates simultaneously and can adjust the folded face plate attitudes, and has a high folding ratio.

The invention provides a double-body detection underwater robot device and a control method. A robot main body is of a double-body structure consisting of a middle wing-shaped body and two streamline boat bodies symmetrically arranged on two sides of the middle wing-shaped body, wherein an elevating rudder is arranged at the tail end of the middle wing-shaped body; a core control cabin and two vertical thruster cabins arranged at the front and the back are arranged in the middle wing-shaped body; a vertical thruster is arranged in each vertical thruster cabin; a stabilizing wing is arranged on the side surface of the tail part of each streamline boat body; an airfoil profile vertical wing is arranged at the tail part of each streamline boat body; a main thruster is arranged at the tail end of each streamline boat body; battery cabins and detection equipment cabins are further arranged in the two streamline boat bodies; wall touch sonars are further arranged on the robot main body. The double-body detection underwater robot device can make an intelligent decision and can be switched among different operation modes according to a relative flowing speed, so that the posture can be kept stable, and functions of fixed-speed continuation, posture holding, hovering monitoring and the like are realized.

The invention provides an image fusion method and device, an electronic device and a storage medium, and relates to the technical field of image processing. The image fusion method comprises the stepsof obtaining a three-dimensional posture of a human face in a template image; performing three-dimensional posture adjustment on the human face in the to-be-fused image according to the three-dimensional posture of the human face in the template image to obtain a first image; obtaining specified feature points of a human face in the template image and a human face in a first image, and performingtwo-dimensional posture adjustment on the human face in the first image based on the specified feature points to obtain a second image; and fusing the second image and the template image to obtain atarget image. According to the invention, when the face poses in the to-be-fused image and the template image are inconsistent, a better image fusion result can still be generated.

The invention discloses a system for controlling water feeding and water discharging of a water ballast tank of an underwater operation platform. The system is used for controlling automatic water feeding and automatic water discharging of the water ballast tank. The water ballast tank is formed by a plurality of symmetrically-distributed sub-water-tanks, a sea valve is installed at the bottom of each sub-water-tank, at least one high-pressure air valve is distributed in each sub-water-tank, a plurality of air valves are installed at the top of each sub-water-tank, and depth meters are further symmetrically installed on the side walls of the head and the tail of the water ballast tank. The system further comprises a driving valve box installed in a control cabinet, the driving valve box is respectively connected with the high-pressure air valves, the sea valves and the air valves through signal lines, and a water feeding and water discharging PLC is further installed in the control cabinet and sends an instruction to the driving valve box for enabling the driving valve box to control the high-pressure air valves, the sea valves and the air valves to achieve water feeding and water discharging of the water ballast tank. The invention further discloses a multi-variable fuzzy decoupling control method based on state feedback, and the multi-variable fuzzy decoupling control method is used for achieving automatic control over water feeding and water discharging of the water ballast tank. The system is high in automation degree, accurate in control, convenient to operate and high in reliability.

A vehicle mounted mechanism with eight wheel torsion bar spring is prepared by hinge-jointing bottom end and top end of front shoch reducer separately to middle end of front suspension bar and vehicle body sidewall, bottom end and top end of back shoch reducer to middle end of back suspension bar and vehicle body sidewall; firm jointing front torsion bar spring to vehicle body sidewall, back suspension bar top end to back torsion bar spring being firm-jointed with vehicle body sidewall.

The invention discloses an automatic take-off control strategy design for a small unmanned helicopter, comprising steps of 1 determining whether a take-off order is responded, if yes, automatically starting up an engine and applying rotation speed stable control, 2 recording information of current longitude, height and yaw angle and solving mean values,3 if the step 2 determines that the rotation speed of the engine is stable, performing self-increscent on the collective pitch, 4 if the step 3 determines that the collective pitch reaches the pre-off-land collective pitch, performing plane position and posture control on the helicopter and continuously performing self-increment on the collective pitch until the helicopter is off the land, 5 if the step 4 determines that the helicopter is off the land, updating the collective pitch balancing value and invoking a vertical channel control law until the preset take-off height is approached, and if the step 5 determines that the take-off height is reached, and invoking a spot hovering control law to finish the take-off. The automatic take-off control strategy design for the small unmanned helicopter can improve the automatic take-off capability of the miniaturized unmanned helicopter and enhances the usage range, and is small in complexity and high in reliability.

The invention provides a stormproof dual-net wall close type net cage, and belongs to the field of aquaculture net cages. The stormproof dual-net wall close type net cage comprises a net cage frame, an aquaculture net is hung on the net cage frame, and the net cage frame is uniformly connected with connecting arms, an outer layer aquaculture net and an inner layer aquaculture net are suspended on the connecting arms, and the inner layer aquaculture net is sleeved in the external layer aquaculture net; water supply equipment is arranged on the net cage frame, a lift pump is arranged on the water supply equipment, and a water pumping pipe of the lift pump extends into the seawater out of the net cage; a water outlet of the lift pump is connected with a water inlet pipe, the water inlet pipe extends into the net cage; the water outlet is arranged on the water inlet pipe, and the water outlet and the net cage frame tangent line at a corresponding position thereof present an angle at 30 degree; the bottom of each of the outer layer aquaculture net and the inner layer aquaculture net is connected with a dirt collecting device, thereby effectively avoiding the conditions that the fish in the net cage is injured due to larger storm and the net cage is damaged in the large storm, and the water body exchange capacity is strong.